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Roland RML-1, Programming Manuallines

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                                                                                       RML-1

 PROGRAMING GUIDELINE

- 18 -

<Other Matters>

PU/PD

  (Pen Up/Down -- Tool up/down command)

<Format>

PU x1, y1, (, x2, y2,....) [terminator]

PU [terminator]

PD x1, y1, (, x2, y2,....) [terminator]

PD [terminator]

<Type>

x:  float

y:  float

<Parameter Range>

x:   -8388608.0 to 8388607.0

y:   -8388608.0 to 8388607.0

<Description>

PU  or  PD  without  parameters  performs  only  a  tool-up  or  tool-down

operation.

When  parameters  are  present,  the  command  performs  the  tool-up  or

tool-down operation, then operates to the coordinate value specified by

the parameters.

The parameters used for operation are absolute coordinates when a PA

command has previously been given or relative coordinates when a PR

command has previously been given.

The up or down position uses the height specified using the control panel

or the !PZ or @ command.

The tool-up location is the Z2 location.

The tool-down location is the Z1 location.

When Z2 is outside the cutting range, the tool rises to the maximum height

at which the device can operate.

If X and Y movement is necessary thereafter, the movement is performed

at the maximum height.

If a PD command appears thereafter, there is no pause when moving from

outside to inside the clipping area, even if such a setting has been made.

Operation is performed without change.

Summary of Contents for RML-1

Page 1: ...RML 1 PROGRAMING GUIDELINE 1 RML 1 PROGRAMING GUIDELINE Ver䇭 䇭 䇭 䇭1 00䇭䇭 䇭䇭 䇭䇭 䇭䇭28 MAY 2002 䇭 ...

Page 2: ...mmands 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 ...

Page 3: ...l 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 M...

Page 4: ...ates 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...

Page 5: ...etters 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 m...

Page 6: ... 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 d...

Page 7: ...ng 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 i...

Page 8: ...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...

Page 9: ...ining 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 ch...

Page 10: ...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 Parameter Range 8388608 0 䌾 8388607 0 Description This sequentially moves linearly at the Z2 height between coordi...

Page 11: ... The coordinate values are all relative coordinates and the system goes into the relative coordinate mode When the machine is at a height other than Z2 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 Z2 height is effected at the speed specified by VZ or V Thereafter movement to the coordinates spe...

Page 12: ...ation of an error by the mode 2 command is possible Also if the called mode 2 command does not exist then in principle error 2 for mode 2 is generated at that time H Home Origin movement command Format H terminator Description This moves the tool to the uppermost position then moves to the workpiece coordinate origin point on the XY plane It then stops the spindle motor If the workpiece coordinate...

Page 13: ...del s capacity or higher the model s Maximum speed is used When the value of the parameter is the model s capacity or lower the model s minimum speed is used In operation achieving the actual given parameter value cannot be guaranteed Depending on the length of the line segment operation may be slower than the value specified by the parameter because of an inability to accelerate fully Also even w...

Page 14: ...ult speed When a parameter is present and is a settable speed the speed is set to the value of the parameter When the parameter is not a settable value the maximum or minimum settable value is set automatically Errors An out of range parameter results in error 3 When the parameter is within range no error occurs even if its value cannot be set on the particular model W dwell Dwell specification co...

Page 15: ...ase of a three dimensional movement command such as ZZ it is performed just before the operation of that command is carried out Operations other than the command s are unaffected Errors A value less than 0 or over 32767 results in error 3 Other Matters Z XYZ move Three axis simultaneous feed command Format Z x1 y1 z1 terminator Type float Parameter Range 8388608 0 䌾 8388607 0 Description This move...

Page 16: ...mmand Format DF terminator Description This sets some present settings to their standard values 1 PA This is set to absolute coordinates 2 VS Speed is set to the default value The actual value is model dependent 3 VZ Speed is set to the default value The actual value is model dependent 4 DW Dwell time is set to 0 5 MC Rotation is permitted 6 PZ The value is initialized The actual value varies acco...

Page 17: ...y float Parameter Range x 8388608 0 to 8388607 0 y 8388608 0 to 8388607 0 Description A PA command without parameters effects a change to the absolute coordinate mode When parameters are present the command effects the absolute coordinate mode and performs operation for the coordinate values specified by the parameters without change the present state of the tool up or down Errors For the paramete...

Page 18: ...used for operation are absolute coordinates when a PA command has previously been given or relative coordinates when a PR command has previously been given The up or down position uses the height specified using the control panel or the PZ or command The tool up location is the Z2 location The tool down location is the Z1 location When Z2 is outside the cutting range the tool rises to the maximum ...

Page 19: ... it may be set at a lower value in some cases The specified speed is of course reached when the line segment is of the required length for acceleration but in cases where sufficient acceleration is not possible a slower speed is automatically used 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...

Page 20: ...n 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 Other Matters VS velocity select Tool speed setting command Format VS tool speed terminator VS terminator Type Basically int float for noninteger values such as vs ...

Page 21: ...hed accuracy may be low Examples for some models VS 0 may be 0 5 mm sec VS 0 1 to VS 1 0 may be in increments of 0 1 mm sec Values of VS 1 0 or higher may be in increments of 1 mm sec The default value may be for example 2 mm sec Errors No error is generated Other Matters 3 3 Commands Common to Mode 1 and Mode 2 DW Dwell Command to specify dwell Format DW dwell time terminator DW terminator Type i...

Page 22: ...ch as ZZ it is performed just before the operation of that command is carried out Operations other than the command s are unaffected Errors A value less than 0 or greater than 32767 results in error 3 MC Motor Control Motor control command Format MC n terminator MC terminator Type n int Parameter range n 32768 through 32767 Description When parameter n is other than 0 or when the parameter is omit...

Page 23: ...egoing are the only methods available NR Not Ready Preparation incomplete command Format NR terminator Description This effects a paused state No parameter is required Errors Other Matters This can only be canceled using the control panel Depending on the specifications of the model movement to some specific location may be performed PZ Set Z1 Z2 command Format PZ z1 z2 terminator Type z1 long z2 ...

Page 24: ...if Z1 is higher than zero or if Z2 is less than zero Error 3 also results when Z1 is outside the work area No error results when Z2 is outside the work area Other Matters Same as the command RC Revolution Control command Format RC n terminator RC terminator Type n long Parameter range n 0 to 8388607 Default Values None in particular Note that although it may be possible to save the spindle rotatin...

Page 25: ...f digits is model dependent For example a value of 3124 may produce such differing results as 3 000 rpm 3 100 rpm 3 120 rpm or 3 124 rpm depending on the model Digits other than effective digits are discarded Also when a spindle speed exceeding the model s capacity is specified the model s maximum speed is used Similarly when a spindle speed below the model s capacity is specified the model s mini...

Page 26: ... relationship when the tool moves along the Z axis or when movement is performed using the three axis simultaneous movement command VZ without a parameter is set to the default speed When a parameter is present and is a settable speed the speed is set to the value of the parameter When not a settable value the maximum or minimum settable value is set automatically On some models VZ 0 may be for ex...

Page 27: ...his command the Z parameter is interpreted as an absolute coordinate and the specified value from the device s reference coordinate is taken to be the Z axis origin point regardless of where the present Z axis origin point Z0 may be Conversely if a PR command was executed before this command the parameter is interpreted as a relative coordinate and the specified value referenced from the present Z...

Page 28: ...Z axis origin point regardless of where the present Z axis origin point Z0 may be Conversely if a PR command was executed before this command the parameter is interpreted as a relative coordinate and the specified value referenced from the present Z axis coordinate is made the Z axis origin When no command has been received the parameter is interpreted as an absolute coordinate It is also interpre...

Page 29: ...cified as an angle The minimum resolution angle and the direction of rotation vary according to the model used ZE A30 5 terminator This rotates the A axis by 30 5 degrees The axis parameters may be specified in any order ZE Z300X100Y200 terminator is equivalent to ZE X100Y200Z300 terminator The movement speed is as set by the V or VZ command Also when rotation of the rotation axis is involved the ...

Page 30: ...ignored but the other axes operate When ZE X100Y200Z300 terminator is specified for a model that has no Y axis the parameter for Y axis movement is ignored but the other axes X and Z move to their respectively specified locations Movement operation occurs only after interpretation of the separator or terminator When ZE X100Y200 Z300A400 is given the X and Y axes respectively move to 100 200 when t...

Page 31: ...l value without stating the name of an axis also results in error 3 ZE X100Y terminator No movement destination coordinate is specified for the Y axis resulting in an error ZE 100 terminator No axis name is specified resulting in an error One or more spaces occurring between the command ZE and a parameter such as X100 or between a parameter such as X and a numerical value such as 100 does not resu...

Page 32: ...ordinates prior to this command Errors For the parameters three values x y and z make up one set and more than one set may be stated When the number of parameters is not a multiple of three the parameters are interpreted and executed in sequence from the start as x y and z and the final one or final two results in error 2 The final set is not executed Other Matters Similar to the Z command The des...

Page 33: ... the end of the sequence Parameter values may be omitted when omitted the setting is made using the default value Examples ESC M In the foregoing case all are assumed to be omitted and defaults are used for all ESC M 13 In the foregoing case the first through third parameters are interpreted as being omitted the fourth parameter is interpreted to be 13 and parameters thereafter are interpreted as ...

Page 34: ...he 1000 2000 parameters are processed correctly The appearance of X results in error 12 and the sequence ends XYZ and after are passed to the data buffer ESC T1000 2000 ESC The 1000 2000 parameters are processed correctly The appearance of ESC results in error 12 and the sequence ends This is interpreted as a new device control sequence occurring again When ESC is received In the same way as above...

Page 35: ... default value 13 Parameter overflow The parameter that generated the error is set again using its default value 14 Too many parameters 15 A framing error parity error or overrun error occurred 16 The receive buffer experienced overflow This occurs in cases such as when the handshake settings do not match 17 Not used On some models this is assigned to baud rate error but this error cannot be detec...

Page 36: ...ial connection are also possible Note that those commands which are physically inoperable such as those that perform response are naturally not supported Replot Nothing is performed 4 2 Descriptions of Device Control Commands ESCK Command ESC K Command quit command Format ESC K ESC is actually one character It corresponds to 1B hexadecimal Description This ends operation of the command now being e...

Page 37: ... no movement of the X or Y axes Move only the Z axis to recover at the location of movement outside 2 Movement extends outside the side and again enters the clipping area at the same side with movement of the X and Y axes Raise the tool all the way up once move the X and Y axes to the recovery location then lower the Z axis to the recovery height C The cutting range is a regular parallepiped and m...

Page 38: ...and enters from the same top surface Perform direct movement Because the Z axis is all the way up no operation is performed G The cutting range is a regular parallepiped and movement extends from a particular top surface and enters a side surface With the Z axis in a completely raised state move only the X and Y axes to the location of entry into the side Next lower only the Z axis H The cutting r...

Page 39: ... at that point K The cutting range is a regular parallepiped and movement extends from a particular bottom surface and enters the top surface on the opposite side When the protrusion is only from the bottom surface move only the X and Y axes without moving the Z axis While in this state move only the X and Y axes at the speed set by the ZZ command If there is extension from a side no operation is ...

Page 40: ...cutting range is a regular parallepiped and movement extends from a particular bottom surface and a PU or PD operation from the bottom surface is performed The case for I The cutting range is a regular parallepiped and movement extends from a particular bottom surface and enters a side surface applies P The cutting range is a regular parallepiped and movement extends from a particular top surface ...

Page 41: ...s involved movement is performed after waiting for a certain time to allow rotation to stabilize If the spindle is already rotating movement is performed immediately without any wait time 2 Cases of positive stopping from a rotating state At the time of a MC 0 command At the time of an IN command 3 Operations unrelated to rotation When a command that does not involve movement is received 5 3 Effec...

Page 42: ...values for parameters even when in the absolute coordinate mode F There are no affected parameters V W DW MC NR RC VZ Tool up down 1 Tool up and tool down operation when PA and PR commands are combined with other commands Group 1 H M R D I IN PU and PD When a PA or PR command if executed after execution of a group 1 command tool up or tool down operation is performed according to the result of the...

Page 43: ... If necessary the raised state is maintained during movement H M R IN PU 2 The tool is put into the lowered state If necessary the lowered state is maintained during movement D I PD 3 No change in the tool state before and after execution Movement is performed if necessary F V W Z DF DW MC ZZ ZO ZM ...

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