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Manual MiniPos M11 - M88 

21

With a rotary table (N790 X2) the number of steps per rotation of the table must be 
input. 
 
Example: 
A stepping motor with 800 steps drives a rotary table with a gear of 18:1. The 
resulting values are: 
800 steps x 18 = 14400 steps for 360 degrees. 
N706 X..14400 
N707 X....360 
 
 
For servomotors the resolution of the measuring system multiplied by 4 must be 
input. 
Example: A transducer on the X axis gives 250 pulses per (1) mm. 
N706  X...1000 
N707  X......1 
 
By this kind of input also values like 200 steps per 3 millimeters can be processed. 
 
 

N708XYZUVABC  MODULO  (0) 

Modulo function for the position display. 
Linear axes: 0, rotary axes: 360000. 
 

N710XYZUVABC  F REFERENCE  (500) 

Feedrate in mm/min for G74. 
  

N711XYZUVABC  WAY OFF FROM LIMIT SWITCH  (1000)  

In G74, this value in µm  will be moved off the limit switch with the feedrate 
programmed in N705. 
 

N712XYZUVABC  MAXIMAL WAY OFF (50000)  

If the limit switch is not desactivated in between this value in µm while moving away 
from the limit switch, the MINIPOS stops and displays an error message. 
 

N713XYZ MAXIMAL DISTANCE FOR STOP (0) 

 

If this value is programmed, a movement is stoped within this maximal distance, 
when a limit switch is reached. 
 

N714XYZ BACKLASH in µm (0) 

This value in µm will be added to the following movement at each change in the 
moving direction. 
 
 
 
 
 
 
 
 
 

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Содержание Minipos M Series

Страница 1: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

Страница 2: ...ns 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 mail engelhardtgmbh de web www engelhardtgmbh de Artisan Technology ...

Страница 3: ...ar 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Страница 4: ...DITION 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 Artisan Technology G...

Страница 5: ...nsmit 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 transmi...

Страница 6: ...ual 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Страница 7: ...tion 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 ca...

Страница 8: ...hich 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 Thi...

Страница 9: ... 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 exa...

Страница 10: ...OGRAMMS 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...

Страница 11: ...g 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 T...

Страница 12: ... 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisant...

Страница 13: ...ush 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...

Страница 14: ...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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Страница 15: ...e 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 Y J I J A complete circle can be programmed as follows N G02 X 0 000 Y 0 000 I 20 000 J 0 000 A helix interpola...

Страница 16: ... 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...

Страница 17: ... 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 fo...

Страница 18: ...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 programme...

Страница 19: ...rt 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 A...

Страница 20: ...re 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 fu...

Страница 21: ...ncy with given FMAX and STEPS MM is calculated as follows FMAX f Hz x STEPS MM FMAX 60 x f Hz STEPS MM 60 N701XYZUVABC F START 100 N702XYZUVABC F STOP 100 Start and Stop frequency in mm min of an interpolation The smallest programmable value ist 1 N703XYZUVABC B START 500 N704XYZUVABC B STOP 500 Acceleration and deceleration in mm sec N705XYZUVABC F OFF REF 200 After a reference movement this feed...

Страница 22: ...tion display Linear axes 0 rotary axes 360000 N710XYZUVABC F REFERENCE 500 Feedrate in mm min for G74 N711XYZUVABC WAY OFF FROM LIMIT SWITCH 1000 In G74 this value in µm will be moved off the limit switch with the feedrate programmed in N705 N712XYZUVABC MAXIMAL WAY OFF 50000 If the limit switch is not desactivated in between this value in µm while moving away from the limit switch the MINIPOS sto...

Страница 23: ...REFPULS N902A until the reference pulse of the transducer is detected Here the internal counters of the MINIPOS are zeroed Conclusion Value Function 01 Main axis 02 Linear axis 04 Negative moving off direction with rotary axis 08 Spline Option 16 Servomotor 32 Referencepulse search 64 Referencepulse search without first going to limit switch 128 256 Limitswitch connected 512 Limitswitch connected ...

Страница 24: ...ted axis 1 X 2 Y 4 Z 8 U N813Z N833Z FATAL LAGERROR 32000 If the lagerror of one axis exceeds this value the servoamplifiers are disabled This value should always be greater than N804XYZUVABC N900X CODE 0 When going to INPUT MODE EXTERNAL DATA TEACH IN and CLEAR MEMORY the MINIPOS requests a usercode which can be determined here A value of 0 disables this request N901Z DIGITS AFTER DECIMAL POINT 3...

Страница 25: ...e 1 M2342 2 M2343 4 M2344 8 With the value 256 no initialisation will be done N902A F REFPULSE 20 Feedrate in mm min for search of referencepulse on transducer if N790 is programmmed with 16 N903XYZUVABC I O INITIAL VALUES 0 These values will be put to the ouputs of the I O cards 1 8 when switching on or when changing to MENU If a value of 256 is programmaed the corresponding IO card will not be i...

Страница 26: ... Y___ Z___ U___ V___ A___ B___ C___ WAY FROM LIMIT SWITCH 1000 N712 X___ Y___ Z___ U___ V___ A___ B___ C___ MAXIMAL WAY OFF 50000 N790 X___ Y___ Z___ U___ V___ A___ B___ C___ AXISDEFINITION N800 X___ Y___ Z___ U___ XYZU P FACTOR 20 N820 X___ Y___ Z___ U___ VABC P FACTOR 20 N803 X___ Y___ Z___ U___ XYZU IN POSITION 10 N823 X___ Y___ Z___ U___ VABC IN POSITION 10 N804 X___ Y___ Z___ U___ XYZU LAGMAX...

Страница 27: ...he memory contents are already bad erroneous memory chip Help clear the complete memory as often as possible run a memory test If only one block has an error the block can be erased and then memorized one more time filter the powerline Error handling P9998 If P9998 is in memory it will be invoked in the AUTOMATIC MODE if an error has occured limit switch external interrupt Initialization of the MI...

Страница 28: ...o memory returns given position status operating mode error status The status corresponds to the output of I O card 4 returns actual value from the DILAG cards This is the actual value of the axes XYZU and VABC with a time jitter of 500 returns given position in HEX format returns the numbers of the programs in memory Programs can be sent to the MINIPOS over the V24 interface X21 This can be done ...

Страница 29: ...The cylinder will move down where it activates limit switch nr 1 Then the cylinder should move upwards until limit switch nr 2 is activated Then the MINIPOS has to move to position X200 Y100 Connections Connect limit switch nr 1 to I1 of the I O card 1 Connect limit switch nr 2 to I2 of the I O card 1 Connect the magnet valve to O1 of the I O card 1 Program N001 G90 Absolute input N002 G00 X100 Y5...

Страница 30: ...wing meaning In 1 External Interrupt Out 1 Clamping X In 2 External Stop Out 2 Clamping Y In 3 External Start Out 3 Positioning 1 End of bloc 0 In 4 Keyboard off only ext Out 4 Brake X Start Stop activ In 5 Wait for pressure down Out 5 Brake Y In 6 Wait for pressure X Out 6 Pulse if position reached In 7 Wait for pressure X Out 7 Programm started 1 Programmend 0 In 8 Wait for pressure Y Out 8 Erro...

Страница 31: ...ormer must be located near the MINIPOS the cabling must be as short as possible X8 INPUT OUTPUT pin signal pin signal 1 a1 output 1 white 14 c1 input 1 white 2 a2 output 2 yellow 15 c2 input 2 yellow 3 a3 output 3 green 16 c3 input 3 green 4 a4 output 4 brown 17 c4 input 4 brown 5 a5 output 5 grey 18 c5 input 5 grey 6 a6 output 6 black 19 c6 input 6 black 7 a7 output 7 rose 20 c7 input 7 rose 8 a8...

Страница 32: ...ternal stop Out 7 Programm running 1 Programm finished 0 In 3 External start Out 8 Error during a program run 1 The input In1 must not be used as emergency input without switching off the mains power supply If the machine date N902X04 is activated the following I O s also are predefined In 4 Keyboard off only external start is active In 6 Wait for pressure X In 7 Wait until pressure X present In 8...

Страница 33: ... 5 white Ua1 6 green 6 blue Ua2 1 rose 7 green Ua0 3 red 8 Ua0 4 black 9 code pin The inputs Ua1 Ua1 Ua2 Ua2 Ua0 Ua0 are connected to the inputs of an optocoupler If the transducers are powered externally the are completely galvani cally isolated Note Use shielded cable Connect shield to the case of the MINIPOS to the ground connection Use transducer with TTL output With a 12V transducer additiona...

Страница 34: ...or drivers with optocoupled inputs X85 LIMIT SWITCH pin signal pin signal 1 14 2 a2 X 15 c2 Y 3 a3 Z 16 c3 U 4 a4 V 17 c4 A 5 a5 B 18 c5 C 6 a6 X 19 c6 Y 7 a7 Z 20 c7 U 8 a8 V 21 c8 A 9 a9 B 22 c9 C 10 a1 0V External 23 c1 0V External 11 code pin 24 12 25 The inputs need 24V 5mA and are optocoupled The machinedatum N790 defines for each axis separately if the limitswitches used are opener or close...

Страница 35: ... should fail no danger causing movement is allowed to result Therefore safety limit switches generating an emergency stop with power shut down should be located after the normal limit switches Maximum movement X actuated X actuated safety limit switches Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Страница 36: ...coupled and can switch 24V 20mA The servoamplifier must have a differential input 10V The connection from the MINIPOS to the amplifier should be shielded and grounded on one side to the MINIPOS Hints for selection of machine data for servo mode Switch N790 to servo mode add the value 16 Activate N813X f e 7 1 2 4 axes X Y Z The axes now can now be moved at low speed if connector X90 and X29 are co...

Страница 37: ...36 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Страница 38: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

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