PALPC Programming Instruction

www.isel.com
Programming Instruction
®
PAL-PC 2.0
General
The Manual:
In this manual, you will find various symbols that will draw your attention to some important
information.
Caution:
Example:
Hint:
Information:
© iselautomation KG 2004
All Rights Reserved.
Despite all care taken, printing errors and mistakes cannot be ruled out entirely.
Suggestions for improvement or comments on errors are always welcome.
No part of this publication may be copied or distributed, transmitted, transcribed, or stored in a
retrieval system, without the expressed written permission of iselautomation KG.
All information is supplied without liability. Changes may be made at any given time without prior
notice.
Producer:
iselautomation KG
Buergermeister-Ebert-Straße 40
36124 Eichenzell
Germany
Phone: +49 (0) 66 59 98 10
Fax: + 49 (0) 66 59 98 17 76
E-mail: [email protected]
http://www.isel.com
Version: 06/2004
2
PAL-PC Programming Instruction
Contents
Contents
CONTENTS .......................................................................................................................................................... 3
1
INTRODUCTION .......................................................................................................................................... 4
1.1
1.2
1.3
PRODUCT .................................................................................................................................................... 4
SUPPORTED CONTROLLERS ........................................................................................................................ 5
FUNCTIONS OF PAL-PC ............................................................................................................................. 5
2 LANGUAGE ELEMENTS OF PAL-PC ...................................................................................................... 6
2.1 OVERVIEW.................................................................................................................................................. 6
2.2 CONSTRUCTION OF A PAL-PC PROGRAM .................................................................................................. 6
2.3 THE EDITOR ............................................................................................................................................... 7
3 COMMANDS PAL-PC .................................................................................................................................. 9
3.1 COMMANDS OF THE DECLARATION BLOCK ................................................................................................. 9
3.1.1 Overview of commands of the declaration block ................................................................................ 9
3.1.2 The command #axis .......................................................................................................................... 10
3.1.3 The command #steps......................................................................................................................... 11
3.1.4 The command #units ......................................................................................................................... 12
3.1.5 The command #elev .......................................................................................................................... 13
3.1.6 The command #define ....................................................................................................................... 14
3.1.7 The command #redefine.................................................................................................................... 17
3.1.8 The command #start ......................................................................................................................... 18
3.1.9 The command #ref_speed ................................................................................................................. 19
3.1.10 The command #include .................................................................................................................... 20
3.1.11 The command Comment................................................................................................................... 21
3.1.12 The command #GN .......................................................................................................................... 22
3.1.13 The command #input........................................................................................................................ 23
3.2 THE STATEMENT PART .............................................................................................................................. 24
3.2.1 Overview commands of the statement part ....................................................................................... 24
3.2.2 The command label........................................................................................................................... 25
3.2.3 The command move .......................................................................................................................... 26
3.2.4 The command moveto ....................................................................................................................... 28
3.2.5 The command movep ........................................................................................................................ 30
3.2.6 The command send ........................................................................................................................... 31
3.2.7 The command wait............................................................................................................................ 32
3.2.8 The command loop............................................................................................................................ 34
3.2.9 The command port and pulse............................................................................................................ 35
3.2.10 The command time and delay .......................................................................................................... 36
3.2.11 The command reference................................................................................................................... 37
3.2.12 The command tell............................................................................................................................. 38
3.2.13 The command stop ........................................................................................................................... 39
3.2.14 The command line............................................................................................................................ 40
3.1.15 The command repeat ... until ........................................................................................................... 41
3.2.16 The command goto........................................................................................................................... 42
3.2.17 The command null............................................................................................................................ 43
3.2.18 The command on_key....................................................................................................................... 44
3.2.19 The command on_port ..................................................................................................................... 45
3.2.20 The command set_port..................................................................................................................... 46
3.2.21 The command 3D linear interpolation............................................................................................. 47
3.2.22 The command circle......................................................................................................................... 48
INDEX ................................................................................................................................................................. 50
Pal-PC Programming Instruction
3
1
Introduction
1
1.1
Introduction
Product
Product description:
PAL-PC is a programming system of isel’s interface card series which is
used as a solution to problems encountered with regard to simple process
controllers. With PAL-PC, a maximum of 3 axes can be controlled.
PAL-PC can be run directly (in DNC mode) or in memory mode (CNC
mode). Therefore, applications are possible in the stand-alone mode as
well as in conjunction with the controller PC.
By using the CNC extension of the IMC4 controller, the machines of the
CPM-series/GFM 4433 can also be used independently.
PAL-PC in Windows is the successive version of PAL-PC in DOS.
It includes the entire range of functions that the DOS version contains.
The graphical user interface is designed in such a way that the most
important functions of the program can be accessed by buttons in the
toolbar.
PAL-PC contains an integrated editor and compiler. Usual editor
functions such as "search", "substitute", "copy" and "paste", as well as
formatting functions for colour and font design, allow a comfortable and
quick development of a program, even a bug-free application program in
translation.
The hardware-(based)-option “battery backup” guarantees durable storage
of the program even after shutdown of the system. With a memory card,
the translated application program can be saved and directly reloaded into
the memory of the controller.
Pal-PC runs under the operating systems of Windows 98, Windows 2000
and Windows XP.
DNC and CNC mode :
In the DNC mode, the transmission of the application program to the
controller is done command-wise/in a segmental manner with direct
execution. The program is only bootable in this mode with a connected
controller PC (direct mode).
In the CNC mode, upon transmitting (downloading) the application program
to the controller (end controller), the program will be saved onto the
interface card. It is directly bootable from the controller, as the case may be,
or from the machine (memory mode or stand-alone mode). A PC is only
required for program creation, testing and download.
4
PAL-PC Programming Instruction
1
1.2
Supported Controllers
Controllers:
The following controllers are supported:
•
•
•
•
Machines:
Interface card V5.c
Compact system EP10905
Single-axis controlling IT116Fehler! Textmarke nicht definiert.
4-axis stepping motor controller CSI 464
The following machines are compatible with PAL-PC:
•
•
1.3
Introduction
All machines of the CPM-family (IMC4 with CNC extension)
GFM 4433 (IMC4 with CNC extension)
Functions of PAL-PC
Administration with
PAL-PC:
Program functions:
•
•
1-axis system with a maximum of 4 axes (X, Y, Z, A)
Communication with other computer systems over a serial interface
•
•
•
•
•
Direct execution (DNC mode) and memory mode (CNC mode)
Memory card for storing the CNC program onto an external storage
medium
Battery backup to save the program after shut down of the system
Transmission rates from 2,400 baud to 19,200 baud
Start and processing of the program without controller PC possible
•
•
•
•
Teach/reference speed adjustable
Teach-in
Set workpiece zero-point
Reference point driving
•
•
•
•
•
•
Pal-PC Programming Instruction
Integrated editor for programming
Compiler for translating the application program
Instructions for relative and absolute positioning
2D interpolation which can be switched to 3D interpolation
Analysis of the in- and output signals for process controlling
Loops for repetition of the instruction part, unconditional and
conditional branching, and time delay
5
2
Language elements of PAL-PC
2
2.1
Language elements of PAL-PC
Overview
Overview:
PAL-PC is a programming language that uses strictly defined tokens in
connection with instruction-specific parameters. In general, “tokens” are
written in lower case and can contain letters, numbers and underscored
symbols.
Self-defined symbols should be written in capital, so that there will not be
any conflict with the standard expressions (instruction set) of PAL-PC.
The program PAL-PC distinguishes between the controller commands and
the saveable instructions. The controller commands are in the declaration
part of the program and are marked at their outset with the hash symbol #.
The saveable instructions contain the executable commands. They are
transmitted to the interface card, respectively to the connected controller,
and then saved. If the option “battery backup” is installed, the saved
instructions will still be available after a system shutdown. After switching
on the machine, this saved program can be recalled by pressing the start
button on the machine without any connection to a superior computer.
In PAL-PC, the commands for the declaration part and the instruction part
are predefined.
refer to:
3.1.1 Overview of commands of the declaration blocpart on page 9
refer to:
3.2.1 Overview commands of the statement part on page 24
One should avoid using the specified command notation for one’s own
definitions, otherwise the original functions will no longer be available.
2.2
Construction of a PAL-PC Program
Basics:
6
A PAL-PC program consists of the optional declaration part, which contains
pre-adjustments of the connected mechanics, and further parameters
which deliver important data for the commands in the subsequent
instruction part of the program. The commands in the declaration part
consist of a keyword with the hash symbol (#) as a prefix, and the
parameter definitions.
The instruction part with the saveable commands generally begins with the
command Fehler! Textmarke nicht definiert.#input.
These instructions consist of the command word followed by the command
specific parameters. The instruction part contains, among other things, the
move commands, loops, direct jumps and keypad enquiries, which are
required in the application program in order to fulfil the desired automated
application flow.
Comments can be inserted into both programs parts for better
transparency of the application program. In order to indicate the end of the
program, the command stop is used; the command #start implies that a
block of data handed over to the controller is commenced after the
transmission.
PAL-PC Programming Instruction
2
Language elements of PAL-PC
Sentence structure:
A sentence in PAL-PC generally consists of one command word followed by
its associated parameters. In this case the command line does not have to
be compulsively ended with a semicolon.
The usage of more than one command word in a sentence is also allowed,
but then there has to be a semicolon at each end of the command
declaration. A sentence may have a label as a prefix which contains, in
distinction from the command word, a colon.
An explanation detailing which parameters have to follow the command
word, or if the command only fulfils a switch function into a certain mode,
can be found in Chapter 3: “Commands of PAL-PC”.
Also refer to:
3.2.4 Command moveto (command with parameter block) on page 28
3.2.21 Command set3d on/set3d off (command with switch function)
on page 47
Hint:
Simplifications were made to some commands after consideration of the
complexity of the syntax. Those simplifications should lead to a better
understanding of the instructions and a more feasible parameter input.
All existing syntax regulations are still valid in order to provide for a complete
compatibility of PAL-PC under DOS.
refer to: 3.2.20 The command set_port on page 46
2.3
The Editor
Source file:
With the program system PAL-PC, the user now can create his own
programs (e.g. programs for process controlling or editing programs)
following the discovery of an algorithm in accordance with the technological
concept implemented in order to deal with the problem.
The algorithm is transferred into the program text structure (sequence,
loop, branching). This kind of programming is called textual
programming.
The source file is created as a text file by the integrated editor of the PALPC. Each source file has the extension *.txt.
In addition, a text file created outside of PAL-PC (e.g. with WordPad) can be
loaded and processed with PAL-PC.
Upon creation of the program text, certain conditions have to be kept.
These rules are to be defined, in all languages, as grammar.
The grammar defines as well syntax (“which sequence of words produces
a valid sentence?”) as semantics (“what is the meaning of this sentence?”)
of the programming language.
The valid grammar is described in detail and with examples in Chapter 3 of
this handbook.
Pal-PC Programming Instruction
7
2
Language elements of PAL-PC
User file:
The user file is generated after a compilation and is saved as a file with the
extension *.out in the same directory as the source file.
The user file is only generated if, during compilation, no syntactical errors
were found. A corresponding display and an error protocol will point out the
syntactical mistakes.
An example of a bug-free syntactical source program can be found in the
following sequence:
Example:
****************************************************************************
/ File:
test
/
/ created:
06/09/2003, iselautomation KG
/
/ ***************************************************************************
/ Declaration part
#axis x;
{choice of axis: x-axis}
#reference x; {reference start point: x-axis}
#units mm;
{set dimension unit; mm is default}
#input;
/ Begin instruction part, following commands are transmitted to
/ the controller and saved
repeat ; infinite loop ...
reference x;
repeat
set_port A1,1=1;
delay 1;
set_port A1,1=0;
until 2;
moverel 100(500);
moverel -100(9000);
delay 10;
8
/ set Bit1 at output port A1
/ delete Bit1 at output port A1
{x-axis 100 mm proceed with 500 Hz}
{x-axis -100 mm proceed with 9,000 Hz}
{wait 1 sec}
until 0;
{end of loop}
stop.
#start;
{end of program}
{start execution}
PAL-PC Programming Instruction
3
3
Commands PAL-PC
Commands PAL-PC
3.1
Commands of the declaration block
Pre-settings for the
program:
3.1.1
The declaration part serves to inform the compiler of the pre-settings which
are necessary for the treatment. These important parameters are, among
other things, the number of attached axes (max. 3 axes), working and
reference speed of the axes, spindle upward gradient, and a definition of
the used unit for all instructions.
The declaration block can be ruled null and void, however in such an
event, the pre-settings then become effective.
Default values can be found in the detailed description of the individual
instructions.
Overview of commands of the declaration block
Command
Content
#axis
Allocation of the attached axes (Chapter 3.1.2 on page 10)
#define
Define text replacement (Chapter 3.1.6 on page 14)
#elev
Define spindle gradient (Chapter 3.1.5 on page 13)
#GN
Define device number (Chapter 3.1.12 on page 22)
#include
Insert file (Chapter 3.1.10 on page 20)
#input
Set memory mode (Chapter 3.1.13 on page 23)
#redefine
Redefine text replacement (Chapter 3.1.7 on page 17)
#ref_speed
Define reference speed (Chapter 3.1.9 on page 19)
#start
Initiate execution (Chapter 3.1.8 on page 18)
#steps
Indicate number of steps/revolution (Chapter 3.1.3 on page 11)
#units
Define unit of measurement (Chapter 3.1.4 on page 12)
{..} or /
Insert comments (Chapter 3.1.11 on page 21)
Pal-PC Programming Instruction
9
3
Commands PAL-PC
3.1.2
The command #axis
#axis
Choice of axis
Syntax:
#axis [axis];
Explanation:
axes {x, y, z}
These instructions must initiate the program.
By handing over the number of axes, the processor card is initialized once again.
In doing so, the data memory is deleted and reset for memory optimization
according to the number of axes.
The default setting is the axes configuration x, y and z.
Example:
#axis x;
#axis xz;
Hint:
The axes can be defined by the operator under Menu Settings - General … .
The number of defined axes should agree with the number of targeted axes.
For example, the separate choice of the x-axis can lead to undefined procedure
movements with respect to three attached axes of the IMC4.
Caution:
The command "set number of axes" deletes all existing data in the RAM even if,
through the use of the integrated option "memory back-up", the data were stored
after omission of power supply in the RAM memory of the processor card.
10
{only x-axis is connected}
{x- and z-axes are connected}
PAL-PC Programming Instruction
3
3.1.3
Commands PAL-PC
The command #steps
#steps
Number of steps/revolution
Syntax:
#steps [number of steps X],[number of steps Y],[number of steps Z]];
Explanation:
[number of steps]
Number of steps/revolution of the connected axes
For each axis separated by commas, the number of steps/revolution of the
engine of the respective axis is indicated.
The number of steps per revolution indicates the necessary conversion factor to
the compiler, so that the latter will be able to transform the working unit in
stepping motor steps.
Example:
Example 1:
If the engine of the x-axis has 400 steps/revolution and the pertinent spindle has
an upward gradient of 4 mm, then the following allocation results occur:
Generally accepted formula:
motorsteps/revolution
= steps/millimetre
spindleincrease(mm)
400 steps
= 100 steps/mm
4 mm
Results:
#steps 100;
In the event of the use of a transmission stepping motor, the reduction is to be
multiplied by the number of the motor steps/revolution.
Example 2:
The engine of the x-axis has 400 steps/revolution and a 1:9-transmission, and the
pertinent spindle upward gradient amounts to 4 mm:
Generally accepted formula:
motor steps/revolution x reduction
= steps/millimetre
spindle increase
400 steps x 9
= 900 steps / mm
4 mm
Result:
#steps 900;
The instruction must be used after the choice of axes since, if no axis has been
chosen beforehand, the number of axes is initialized to xyz.
Pal-PC Programming Instruction
11
3
Commands PAL-PC
3.1.4
The command #units
#units
Define unit of measurement
Syntax:
#units [unit];
Explanation:
Indication of the unit for procedure movements.
The following are allowed:
#units mm;
#units cm;
#units inch;
#units inch/10;
#units inch/20;
#units inch;
#units inch/10;
#units inch/20;
Where the working unit is not indicated, "mm" is accepted as the default unit.
Inch/10 and inch/20 are the common units for conductor boards, since these are
drilled into the inch-grid.
12
PAL-PC Programming Instruction
3
3.1.5
Commands PAL-PC
The command #elev
#elev
Define spindle gradient
Syntax:
#elev [gradient x],[gradient y],[gradient z];
Explanation:
[gradient]
Specifies the spindle gradient of the x-, y- and z-axes
If #units is not differently agreed upon, then the default unit is mm.
In order to make a correct conversion of the working unit into stepping motor
steps, the spindle gradient of the attached axes must be handed over.
Example:
.
Example 1:
A plant has 4 mm spindles in the x- and y-axes, as well as a 2.5 mm spindle in
the z-axis.
The associated instruction is then defined as:
#elev 4, 4, 2.5;
Example 2:
At a plant with a 2 mm spindle in the x-axis and a 4 mm spindle in the y-axis, the
instruction is defined as (please note that the z-axis is missing):
#elev 2, 4;
If no spindle gradient instruction is used, a spindle gradient of 4 mm is accepted
for all attached axes.
Pal-PC Programming Instruction
13
3
Commands PAL-PC
3.1.6
The command #define
#define
Define text replacement
Syntax:
#define [(string) (statement)\;...\;(statement)];
Explanation:
[string]
Indicates the defined name of the following text/statement. For
generation of the name, all letters, numbers and the sign "_" are
allowed.
The name always has to start with a letter. If a separator (blank or
tabulator) is recognized, this is interpreted as the end of the name.
[statement]
Indicates the desired texts/instructions for the defined name.
If several statements, which are terminated with a semicolon, are
defined in one text replacement, this has to be written in front of
each semicolon, which does not, in turn, terminate the text
replacement, or the so-called escape character "\".
Caution:
Points to be considered: The selected definition and defined jump address should
not be identical; also, the latter may not be contained as a string in a jump
address.
If, for definitional purposes in a rational way of writing, only one symbol is used,
please use special characters such as &, §, $ or as well as letters enclosed within
parentheses, such as (V) and (S).
Attention should also be paid to the large and lower cases, since this represents
a distinguishing feature as well.
You are allowed, in PAL-PC, to define text replacement symbols. Text
replacement means that you only have to define the used text or one or more
statement sequences once; thereafter, you can use them in the text under this
name. Text replacement can be very simple (refer to example 1) or can also
contain a complex statement block (refer to example 2) with loops and several
individual instructions.
Text replacement of a complex statement block has an analogue function as a
sub-routine.
The entire instruction must be terminated with a semicolon.
Example:
Example 1: Definition of simple statements
#define () (3000);
#define & 0(21),0(21);
#define drill 20(1000),-20(9000);
The first definition selects for the round parentheses () without indication of a
speed of 3,000 Hz.
The symbol & indicates that no movement of the z-axis has been assigned.
Depending on at which position in the instruction this definition is inserted, this
can stand for, for example, the indication of the z-coordinate in the move
instruction. The minimum statement for the speed is 21.
refer to 3.2.3 The command move on page 26
14
PAL-PC Programming Instruction
3
Commands PAL-PC
The third definition drill is used instead of the z-coordinate in order to be able to
adjust the drilling depth constantly for the entire program.
Using the above definitions the following program section can be created:
/move x and y each 20 mm
move 20(),20(),&;
/ move x= 2mm, y= 5 mm, drill a hole with a depth of 20 mm
move 2(),5(5000),drill;
During translation, the compiler would interpret the above instruction sequence
as the following statements:
move 20(3000),20(3000),0(21),0(21);
move 2(3000),5(5000),20(1000),-20(9000);
Example 2: Definition of statement blocks
Since the instruction "text replacement" needs a semicolon as its end-character,
the occurrence of a semicolon in the text must be particularly marked.
Therefore a special symbol is inserted directly in front of the semicolon, the socalled “escape” character. An example of this is the definition of a 14-pin ICsocket:
#define DIL14
repeat
move 1(),0(),drill\;
until 7\;
move 1(),3(),&\;
repeat
move 1(),0(),drill\;
until 7;
Please note that there is no “escape character” before the semicolon in the last
line of the instruction. This semicolon terminates the definition.
The symbol defined above falls back to the symbols &, () and drill as defined in
example 1. These symbols must be specified before the definition of DIL14,
otherwise a compiler run error will surface thereafter.
Now you can use the defined symbol DIL14 as follows in your own programs:
Pal-PC Programming Instruction
15
3
Commands PAL-PC
...
move 20(),30(),&;
Repeat
DIL14;
move 1(),20(),&;
until 2;
Constraint:
16
{move to start point}
{two sockets ...}
{drill DIL-14}
{start point next socket}
{and next socket}
Note that the compiler differentiates between large and lower cases. The use of
the symbol "dil14" would therefore result in an error.
The maximum number of definitions which can be stored amounts to 500.
The length of a definition may amount to a maximum of 250 symbols. The length
of the line, in which the definition is replaced, may not exceed 255 symbols.
PAL-PC Programming Instruction
3
3.1.7
Commands PAL-PC
The command #redefine
#redefine
Redefinition
Syntax:
#redefine *[(string) (statement)\;...\;(statement)];
Explanation: [string]
Indicates the definition name of the following text/
statement. For the generation of the name, all letters,
numbers and the sign "_" are allowed.
The name always has to start with a letter. If a separator
(blank or tabulator) is recognized, this is interpreted as
the end of the name.
[statement]
Hint:
Indicates the desired texts/instructions for the defined
name.
If several statements which are terminated with a
semicolon, are defined in one text replacement, this has
to be written in front of each semicolon, which does not
subsequently terminate the text replacement, or the socalled escape character "\".
Points to be considered: The selected definition and defined jump address should not
be identical; also, the latter may not be contained as a string in a jump address.
If, for definitional purposes in a rational way of writing, only one symbol is used, please
use special characters such as &, §, $ or as well as letters enclosed within parentheses,
such as (V) and (S).
Attention should also be paid to the large and lower cases, since this represents a
distinguishing feature as well.
In order to change definitions of speed or other declarations in an NC-program, the
instruction "#define" cannot be used repeatedly.
The function “#redefine*" replaces a definition already taking place.
Usually this function is used for the assignment of processing and entrance speeds for
the teach-in if an NC-program with more than two speeds is to be worked.
Example:
Changes to, for example, the speed definition would not be suitable for the following
program construction:
#define () (2000);
......
#define () (3000);
This method of writing can lead to unexpected results being obtained.
This is correct:
#define ()(2000);
#redefine *() (3000);
The function "#redefine" replaces a definition already taking place. A new speed (3,000
Hz) is assigned to the text () and used from this point onwards.
Pal-PC Programming Instruction
17
3
Commands PAL-PC
3.1.8
The command #start
#start
Initiate execution
Syntax:
#start;
Explanation:
After termination of the data field, the transferred data field can be immediately
initialised with the command "start execution”. If the instruction is used, the data
field has to be terminated with the stop command. If no data field was
transferred, the instruction starts an existing data field in the interface card.
18
PAL-PC Programming Instruction
3
3.1.9
Commands PAL-PC
The command #ref_speed
#ref_speed
Definition of reference speed
Syntax:
#ref_speed [speedr X],[speedr Y],[speedr Z];
Explanation:
The speeds for the reference driving of the axes are set with this instruction. If no
information is handed over with regard to reference speed, the execution takes
place with a default value of 800 Hz. A changed value remains after switching off
if the option “battery backup” is inserted.
Please also refer to Menu Settings - Control Parameters.
The reference speed must lie in the range of the permissible speeds (21 to 3,000
Hz).
Example:
Adjusting the reference speed to 2000 Hz for the axes x and y, and to 800 Hz for
the z-Axis:
#ref_speed 2000,2000,800;
Pal-PC Programming Instruction
19
3
Commands PAL-PC
3.1.10 The command #include
#include
Insert file
Syntax:
#include <[file name]>;
Explanation:
The possibility exists of using program parts in several programs with PAL-PC.
For that purpose, the more frequently needed program part is created in its own
file or by inserting a file into an existing program.
At the position in which this instruction sequence in the program is needed, the
instruction #include can be used.
Example:
The compiler expects a file name after this instruction, optionally with prefixed
indication of drive assembly and/or indication of its path.
#include <C:\User\editor\reference.txt>;
This instruction would insert the file “reference.txt" from drive ”C:" into the
submenu "User\editor". The file name in the instruction must be included either in
pointed parentheses or quotation marks.
If the indicated file does not exist, the compiler displays an appropriate message.
At the position of the instruction “#include”, all instructions will be inserted in such
a way into the indicated file, such that these instructions are located in the file
which will be translated subsequently.
20
PAL-PC Programming Instruction
3
Commands PAL-PC
3.1.11 The command Comment
{ } or
/
Insert comments
Syntax:
{ [comment] } or / [comment]
Explanation:
Comments can occur everywhere in the program. You should use comments to
fix important information within your program sequence.
There are two certified ways of commenting:
• Comments which are initiated by the opening curved clip "{" and comments
terminated by the closing curved clip "}"
• Comments which start with the symbol „/“ and are terminated by the end-ofline symbol CR = Carriage Return (enter key code)
A comment contains text and can stand apart or independently of an instruction
within an instruction sequence.
Example:
#define VEL (3000); {VEL represents the speed 3,000 Hz}
/ move the x- and y-axis 2 mm with 100 Hz
move 2(100),2(100)
Pal-PC Programming Instruction
21
3
Commands PAL-PC
3.1.12 The command #GN
#GN
Set device number
Syntax:
#GN [device no.];
Explanation:
This instruction defines which device number possesses the addressed interface
card.
The interface card must be adjusted to the device number used.
Example:
#GN 1
{interface card with device number 1 is programmed}
#GN 2
{interface card with device number 2 is programmed}
22
PAL-PC Programming Instruction
3
Commands PAL-PC
3.1.13 The command #input
#input
Set memory mode
Syntax:
#input
Explanation:
All the instructions that follow the command #input, are stored in the internal data
memory.
The execution of the saved data field is initiated by pressing the start button at
the interface card/controller/machine, by choosing the instruction “start” in the
Menu Transfer, or by including the instruction #start in the user program.
Pal-PC Programming Instruction
23
3
Commands PAL-PC
3.2
The statement part
Storable statements:
3.2.1
The statement part contains all the instructions which are transferred to the
interface card and saved there.
It contains instructions detailing moves, process controlling (management
and analysis of synchronisation characters, in- and output signals), loops
and direct branches, as well as instructions for reference driving and
definition of the zero point.
Overview commands of the statement part
Command
Content
circle_ccw / circle_cw
Circle interpolation (Chapter 3.1.22 on page 48)
goto
Branching (Chapter 3.2.16 on page 42)
label
Set branch destination (Chapter 3.2.2 on page 25)
line
Set level of interpolation (Chapter 3.2.14 on page 40)
loop
Loop (Chapter 3.2.8 on page 34)
move/moverel
Relative movement (Chapter 3.2.3 on page 26)
movep
Movement until impulse (Chapter 3.2.5 on page 30)
moveto/moveabs
Absolute movement (Chapter 3.2.4 on page 28)
null
Set zero point (Chapter 3.2.17 on page 43)
on_key
Keyboard query (Chapter 3.2.18 on page 44)
on_port
Read input-port (Chapter 3.2.19 on page 45)
port and pulse
Impulse input (Chapter 3.2.9 on page 35)
reference
Reference drive (Chapter 3.2.11 on page 37)
repeat ... until
Repetition (Chapter 3.2.15 on page 41)
send
Send sync character (Chapter 3.2.6 on page 31)
set_port
Set output port (Chapter 3.2.20 on page 46)
set3d on / set3d off
3D linear interpolation (Chapter 3.2.21 on page 47)
stop
End of program (Chapter 3.2.13 on page 39)
tell
Output of control characters (Chapter 3.2.12 on page 38)
time and delay
Time delay (Chapter 3.2.10 on page 36)
wait
Wait for sync character (Chapter 3.2.7 on page 32)
24
PAL-PC Programming Instruction
3
3.2.2
Commands PAL-PC
The command label
Label
Set branch destination
Syntax:
[label]:
Explanation:
A label is a word which can contain letters, numbers and the underscore
character. The first character of the label has to be a letter. A colon has to come
after the label in order to mark the end of the label. The label presents a branch
address.
The mixing of large and lower cases is allowed; however, a consistent style of
writing is essential for the clear allocation of the branch addresses.
Some instructions of the interface card permit branches. Those branches can be
indicated individually and consist of a whole positive or negative number.
Depending on the algebraic sign, the program branches out forwards or
backwards, as per the indicated number of instructions.
“Goto -5" creates a repeated sequence of five consecutive instructions in the
program. Such instructions can contain errors, since one can easily mis-estimate
with further jumps, and insertions immediately require a correction of these
branch statements.
Bearing this in mind, PAL-PC is permitted to use branch destinations (so-called
labels) in the program text.
Example:
Some examples of acceptable labels:
BEGIN:
prog_drill:
begin_secondly:
The compiler differentiates between the label "BEGIN" and "begin" because in
PAL-PC, large and lower case is different.
Some examples of incorrect labels:
124:
1.Subroutine:
PROG MILL:
a number is not accepted as a label
contains an incorrect character and starts with a number
contains a space (invalid character)
In the instructions which use branch destinations, the use of labels is described in
the respective instruction.
Pal-PC Programming Instruction
25
3
Commands PAL-PC
3.2.3
The command move
move
moverel
Relative movement
Syntax:
move [X(Xv)],[Y(Yv)],[Z1(Zv1)],[Z2(Zv2)];
or
moverel [X(Xv)],[Y(Yv)],[Z1(Zv1)],[Z2(Zv2)];
[X(Xv)]
[Y(Yv)]
[Z1(Zv1)]
[Z2(Zv2)]
Explanation:
Destination coordinate x relative to the current starting point.
Indication of speed for x-axis
Destination coordinate y relative to the current starting point.
Indication of speed for y-axis
1. Destination coordinate z relative to the current starting point.
Indication of speed for z-axis
2. Destination coordinate z relative to the starting point and
Indication of speed for z-axis
The indication of the moves of the axes (x, y, z) takes place in the selected
measurement unit (default unit of measurement being the millimetre [mm]), and
the conversion into stepping motor steps is done on the basis of the mechanical
parameters defined in the declaration part.
When using fractional numbers for the indication of the coordinates, a point must
always be used instead of a comma.
The speed is indicated by a whole number in Hertz (Hz); the minimum value is
21.
For each axis, measurements of motion and speed are indicated. The speed is
noted in round parentheses before the motion size. The data for the individual
axes are separated by commas.
For each attached axis a pair of parameters will be entered (destination
coordinate, speed).
For the z-axis two pairs of parameters are expected, since during phases of
operation, the procedure to lower and raise the tool occurs frequently.
26
PAL-PC Programming Instruction
3
Example:
Commands PAL-PC
/ move x-axis 2 mm with a speed of 2,000 Hz
move 2(2000);
/ move x-axis 2 mm with 2,000 Hz, y-axis 2 mm and 3,000 Hz
move 2(2000),2(3000);
/ move x-axis 20 mm with 900 Hz, z-axis 30 mm in positive and 30 mm in
/ negative direction with 1,000 Hz
moverel 20(900),30(1000),-30(1000);
/ move x-axis 2 mm and y-axis with 100 Hz
/ z-axis 2.8 mm in positive direction and 2 mm in negative direction with 100 Hz
move 2(100),2(100),2.8(200),-2(100);
The motion sequence always takes the following form: first the attached x-/y-axes
are moved and interpolated, then the first z-coordinate is moved. Thereafter, the
second z-coordinate is executed.
The interpolation of the axes is freely selectable (refer to command line).
For axes which should not execute a movement, the motion size can be set to
zero. Thereby the speed must be set to a correct value (valid speed values are
between 21 and 20,000 Hz).
Please note that neither PAL-PC nor the interface card can verify whether the
movement falls outside of the permissible range of the attached mechanics.
Pal-PC Programming Instruction
27
3
Commands PAL-PC
3.2.4
The command moveto
moveto
moveabs
Absolute movement
Syntax:
moveto [X(Xv)],[Y(Yv)],[Z1(Zv1)],[Z2(Zv2)];
or
moveabs [X(Xv)],[Y(Yv)],[Z1(Zv1)],[Z2(Zv2)];
Explanation:
[X(Xv)]
Destination coordinate x, indication of speed for x-axis
[Y(Yv)]
Destination coordinate y, indication of speed for y-axis
[Z1(Zv1)]
Destination coordinate z1, indication of speed for z-axis
[Z2(Zv2)]
Destination coordinate z2, indication of speed for z-axis
The indication of the movement of the axes (x, y, z) takes place within the
selected measurement unit (default unit of measurement being the millimetre
[mm]), the conversion into stepping motor steps is done on the basis of the
mechanical parameters defined in the declaration part.
When using fractional numbers for the indication of the coordinates, a point must
always be used instead of a comma.
The speed is indicated by a whole number in Hertz (Hz); the minimum value is
21.
The command moveto/moveabs causes a linear movement of the axes to the
indicated destination coordinates with the defined speeds, this corresponds to a
path instruction with absolute specification; i.e. the destination coordinates refer
to the set zero point of the workpiece coordinate system.
For compatibility reasons in terms of the relative positioning instruction for the zaxis, two pairs of numbers are expected. Since in this instance, the destination
coordinates were defined, the z2-value always has to be zero and is ignored.
28
PAL-PC Programming Instruction
3
Example:
Commands PAL-PC
/ move x-actual +2 mm with a speed of 2,000 Hz
moveto 2(2000);
/ move x-actual +2 mm with 2,000 Hz, y-actual +2 mm and 3,000 Hz
moveabs 2(2000),2(3000);
/ move x-actual +20 mm with 900 Hz, z-actual +30 mm in positive and 30 mm in
/ negative direction with 1,000 Hz
moveto 20(900),30(1000),-30(1000);
/ move x-actual +2 mm and y-actual +2mm with 100 Hz
/ z-actual +2.8 mm in a positive direction and 2 mm in a negative direction with
100 Hz
moveabs 2(100),2(100),2.8(200),-2(100);
The motion sequence always takes the following form: first the attached x-/y-axes
are moved and interpolated, then the z-coordinate is moved. The interpolation of
the axes is freely selectable (refer to command line).
For axes which should not execute a movement, the motion size can be set to
zero. Thereby the speed must be set to a correct value (valid speed values are
between 21 and 20,000 Hz).
Hint:
The instruction can only be used after the number of axes has been set.
Please note that neither PAL-PC nor the interface card can verify whether the
movement falls outside of the permissible range of the attached mechanics.
Pal-PC Programming Instruction
29
3
Commands PAL-PC
3.2.5
The command movep
movep
Movement until impuls
Syntax:
movep [X(Xv)],[Y(Yv)],[Z1(Zv1)],[Z2(Zv2)],[A(AV)];
[X(Xv)]
[Y(Yv)]
[Z1(Zv1)]
[Z2(Zv2)]
Explanation:
Destination coordinate x relative to the current starting point,
indication of speed for x-axis
Destination coordinate y relative to the current starting point,
indication of speed for y-axis
1. Destination coordinate z relative to the current starting point,
indication of speed for z-axis
2. Destination coordinate z relative to the current starting point,
indication of speed for z-axis
The measurement unit of the destination position (x, y, z) is the millimetre [mm]
(default value).
When using fractional numbers for the indication of the coordinates, a point is
always to be used instead of a comma.
The speed is indicated by a whole number in Hertz (Hz); the minimum value is
21.
The instruction "movement until impulse" behaves exactly like the instruction
"movement relatively", but if an impulse occurs at the impulse entry point (e.g. a
stop impulse due to pressing the stop button), the movement is terminated and
the next instruction is executed.
If during the movement no impulse is received, the movement takes place within
the indicated distance and the program continues with the next or subsequent
instruction.
The occurring impulse must have a minimum width of around 20 µsec.
The maximum width of the impulse may not exceed 100 µsec.
It should be considered when using this instruction that the impulse rests against
the stop button input of the interface card.
If an impulse occurs and the interface card executes a normal positioning, this
movement is stopped and the next instruction is executed.
If problems with the resting pulse width should arise, one recommends the
insertion, after the movep-command, of a time or delay instruction with a waiting
period > = 1 (100 msec).
Example:
30
#axis x; {connected axis = x-axis }
#input ; save the following instructions
movep 20(1000); {move the x-axis 20 mm until impulse occurs}
reference x;
{reference movement of the x-axis}
PAL-PC Programming Instruction
3
3.2.6
Commands PAL-PC
The command send
send
Send sync character
Syntax:
send [number];
Explanation:
[number]
Number between 33 and 126 (ASCII character)
In order to make a process synchronisation for the interface card with a second
interface card or a superordinate computer possible, a sync character can be
sent within reach of a certain point in the data field.
The sync character must lie in the range of 33 and 126; the character 64 (@)
should not be used.
This character set contains, among other things, all numbers as well as large and
small case letters.
The synchronise characters used can be assigned names at the beginning of the
program with the instruction #define, which are defined by the instruction send
instead of the number.
The choice of meaningful names improves the transparency of the program and
facilitates the process of synchronisation.
Example:
/ the sync character 90 is the text drilling_is_ready assigned
#define drilling_is_ready 90;
....................
send drilling_is_ready;
You can define the declarations for the two synchronising devices by using the
instruction #include in one shared file together.
Example of the
communication
function:
To show/visualise the instructions send/wait, you can test the following program
with the help of the communication window:
#axis x;
repeat
move 20(800);
send 90;
wait 65;
move -20(800);
until 5;
stop
After translating and transferring the program to the controller, please start the
program from the communication window (Menu Transfer - Terminal …) with the
shortcut (Shift + F1).
The x-axis is moved 20 mm forward and sends, as a request, a "Z" (“Z”
corresponds to the character 90). Now the program waits for the character 65.
Enter the character by pressing the Alt-key and typing 65 on the numeric
keyboard.
The character A appears in the communication window; after this input the
program is continued until the next wait-instruction in the program loop.
Pal-PC Programming Instruction
31
3
Commands PAL-PC
3.2.7
The command wait
wait
Waiting for sync character
Syntax:
wait [number], [offset];
Explanation:
[number]
Number between 33 and 126 (ASCII-character)
[offset]
Number, which indicates, how many lines are to be jumped
forwards or backwards
or
Label (jump address) to which it should be branched and
continued with.
Analogous to the command last discussed, "waiting for sync character" is also
used in order to make possible a process synchronisation of the interface card
with a second interface card or a superordinate computer.
The interface card can accomplish several actions during the execution of the
instruction. These actions cover the following possibilities:
The character itself is received:
The interface card then works on the next instruction saved in the data field
The character +1 is received:
The interface card branches (relatively) to the point which is defined in the
instruction.
The character 127 is received:
The interface card releases a reset and waits for instructions from the computer.
Example:
Example 1:
wait 90; {wait for character 90 and process after receipt of this, the next
instruction in the saved CNC program}
wait 90,-5; {upon receipt of the character 90, go to the next instruction in the
program; upon receipt of the character 91, go back 5 lines in the
program}
wait 80,anfang; {upon receipt of the character 81, go to the label "anfang"}
32
PAL-PC Programming Instruction
3
Commands PAL-PC
Example 2:
A superordinate computer examines the parts and communicates to the interface
card, after its request, whether or not the examination was successful.
If the part is correct, TEIL_OK+1 is handed over; the interface card then puts the
part into the working machine; otherwise it sends the superordinate computer
the sequence TEIL_OK+0, and the interface card puts the part aside and
proceeds with the next part.
Following the illustrated sample, very complex systems can be developed and
controlled.
label1:
move ...
send TEIL_DA;
wait TEIL_OK, go_on;
move ...
goto label1;
{fetch part}
{signals ready for examination}
{wait for release}
{put part aside (defect part)}
{try next part}
move ...
move ...
goto label1;
{put part into machine}
{in starting position}
{branch again to label1}
go_on:
Pal-PC Programming Instruction
33
3
Commands PAL-PC
3.2.8
The command loop
loop
Loop
Syntax:
loop [quantity] times [label];
Explanation:
[quantity]
Number between 0 and 32767. 0 denotes an infinite loop.
[label]
Marks the beginning of the loop and is addressed with each loop
cycle according to the number of repetitions.
Loops serve to summarize the consecutively occurring similar operational and/or
motion sequences. Therefore, the available storage space is used more
effectively.
Example:
Example 1:
loop_1:
move ...
;movement instruction
;repeat all instructions starting from label "loop_1" five times
loop 5 times loop_ 1;
Example 2:
loop_ continuous:
move …
; movement instruction
; continuous loop: repeat all instructions starting from label "loop_ continuous"
; continuously
loop 0 times loop_ continuous;
For the creation of a loop, the instructions ”repeat" and ”until" can also be used.
34
PAL-PC Programming Instruction
3
3.2.9
Commands PAL-PC
The command port and pulse
port
pulse
Impulse input/impulse output
Syntax:
port [state]
pulse [state]
Explanation:
[state] Indicates the desired condition of the exit.
Syntax
State
port on;
Port output on
port off;
Port output off
pulse out;
Give 50 msec impulse
pulse in;
Wait for impulse
pulse sync out;
Send pulse, wait for acknowledgement
pulse sync in;
Wait for impulse, send acknowledgement
If the hardware option "impulse output" is attached to the interface card, then the
card can be addressed by using these instructions.
Once again, the individual options are briefly specified here; the compiler
understands the command "port" as well the command "pulse".
The impulse output can also be used for the synchronisation of two devices (the
last two options). One of the major tasks of the impulse control is it to wait for the
start button during the operation of a data field. This can be necessary if, at a
certain position, a manual interference into the process cycle becomes essential,
and where the interface card is only allowed to continue working after completion
of the interference.
Since the start button is attached to the impulse input, the instruction “pulse” can
be used.
Example:
pulse in;
Pal-PC Programming Instruction
{wait for acknowledgement of the start button}
35
3
Commands PAL-PC
3.2.10 The command time and delay
time
delay
Time delay
Syntax:
time [time];
delay [time];
Explanation:
[time] Indicates the waiting time. The indication of this time takes place within a
tenth of a second.
A time delay causes the interface card to wait for the specified waiting time. The
waiting time cannot be cancelled by pressing the stop button.
Example:
Example:
time 500;
delay 20;
{wait 50 seconds}
{wait 2 seconds}
The maximum waiting time amounts to 3276.7 seconds.
The instructions must be completed with a semicolon.
36
PAL-PC Programming Instruction
3
Commands PAL-PC
3.2.11 The command reference
reference
Reference drive of the axes
Syntax:
reference [axes];
Explanation:
Axes {x, y, z}
PAL-PC expects, after the reference instruction, an indication of which axes for
which a reference drive is to be released. Here one can indicate each axis which
is contained in the axis choice instruction.
Example:
Example 1:
reference xy; {accomplishes a set to zero position of the x- and y-axis}
reference x;
{accomplishes a set to zero position of the x-axis}
reference xyz; {accomplishes a set to zero position of all three axes}
It has to be considered that the axes are moved in the order zyx, i.e. first the
reference drive of the z-axis, then the reference drive of the y-axis, and, finally,
the reference drive of the x-axis. If this behaviour is not desired, two reference
instructions must be used (refer to Example 2).
Example 2:
Hint:
reference x;
{accomplishes a set to zero position of the x-axis}
reference y;
{accomplishes a set to zero position of the y-axis}
This is to be referenced from a speed derived from the default value, please
agree on the reference speed in the declaration part of the program.
refer to:
3.1.9 The command #ref_speed on page 19
PAL-PC Programming Instruction
37
3
Commands PAL-PC
3.2.12 The command tell
tell
Output of control characters
Syntax:
tell [GN] [options];
Explanation:
[GN]
[options]
Indicates the device number of interface cards which can be
addressed
Indicates the instructions for the interface card which can be
addressed (refer to examples).
The output of control characters belongs to the group of instructions of the
process synchronisation. The instruction results in the output of up to four
characters during its execution. Primarily, the instruction is meant to release a
start or reference at a second attached interface card. It can, however, also be
used arbitrarily for other purposes.
Example:
tell 0 start;
tell 0 start,wait;
tell 0 reference xyz;
tell 0 reference,wait xyz;
{start device 0}
{start device 0, wait for end}
{activate reference drive at device 0}
{activate reference drive at device 0, wait for end}
The execution of the instructions may best be tested by the function
communication.
38
PAL-PC Programming Instruction
3
Commands PAL-PC
3.2.13 The command stop
stop.
Marks end of program
Syntax:
stop.
Explanation:
This command marks the end of a program.
Example:
Example:
#axis x;
#units mm;
#input
reference x;
move 100(8000);
stop.
{choose x-axis}
{unit of measurement = millimetre}
{set to zero position of the x-axis}
{drive 100 mm in x-direction}
{mark end of program}
This command must be contained within each program.
PAL-PC Programming Instruction
39
3
Commands PAL-PC
3.2.14 The command line
line
Set level of interpolation
Syntax:
line [axis];
Explanation:
Axes {x, y, z}
Indicates the axes which are to be interpolated:
In the standard setting of the interface card, the attached x-/y-axes are
interpolated against each other (straight-lined moves to the destination point).
With the choice of the interpolation level, however, the possibility exists of
defining every other level configuration as the main level.
Example:
line xy;
line xz;
line yz;
{interpolate x and y}
{interpolate x and z}
{interpolate y and z}
A setting of the interpolation level remains active within an NC program until
another "line" instruction is used. Generally, with the start of a program, "line xy"
is adjusted.
The allocation of the interpolation level does not have any influence on the
reference sequence; i.e., the reference drive is still done in the order "zyx".
40
PAL-PC Programming Instruction
3
Commands PAL-PC
3.1.15 The command repeat ... until
repeat ...
until
Repetition
Syntax:
repeat
until [quantity];
Explanation:
[quantity]
Indicates the number of times a section is repeated. If the value
“0” is used as the quantity, a continuous loop develops.
The instructions ”repeat" and ”until" are used to repeat sections within a program.
”Repeat" marks the starting point of the repetition, and ”until", the end.
Example:
repeat {mark begin of loop}
move 5(800) {relative movement}
delay 20
{wait 2 seconds...}
until 7; {end of loop}
After ”repeat" there is no need for a semicolon because the instruction contains
no parameters. ”Repeat" and ”until" can be used inclusively, i.e. one repetition
can contain another. The maximum number of instructions which are allowed
between "repeat" and "until" is limited by the maximum memory space available
on the interface card.
The command "until" has to be terminated with a semicolon.
PAL-PC Programming Instruction
41
3
Commands PAL-PC
3.2.16 The command goto
goto
Branching
Syntax:
goto [destination];
Explanation:
[destination]
Number of lines which are leaped over in the program process
or
Label (jump destination), marks the program line from which the
process should be continued
The number can be positive or negative, according to whether it should be
branched forward or backward.
For the definition of “label” please refer to:
3.2.2 The command label on page 25
The command “goto” enacts the continuation of the program, starting from the
indicated jump destination.
Example:
42
goto 5;
goto -5;
goto anfang;
goto ende;
{leap over the next five instructions}
{branch five instructions backward}
{branch back to label "anfang"}
{branch forward to label "ende"}
PAL-PC Programming Instruction
3
Commands PAL-PC
3.2.17 The command null
null
Set zero point
Syntax:
null [axes];
Explanation:
Axes {x, y, z}
Definition of a zero point on the actual position of the referenced axes.
The workpiece zero point can again be put on the mechanical zero point of the
system by a reference drive.
Example:
#define () 800;
reference xyz;
/ move to position x = 20 mm, y = 30 mm, z = 15mm
moveto 20( ),30( ),15( ),0( );
/ set workpiece zero point at this position
null xyz;
/ move to position x = 10 mm, y = 20 mm, z = 20mm relative to
/ workpiece zero point or x = 30mm, y = 50mm, z = 35mm relative to
/ machine zero point
moveto 10( ),20( ),20( ),0( );
PAL-PC Programming Instruction
43
3
Commands PAL-PC
3.2.18 The command on_key
on_key
Keyboard query
Syntax:
on_key [key no.], [label];
Explanation:
[key no.]
Indicates the respective keyboard number.
[label]
Indicates the label to which the keyboard number should be
branched after the button is depressed..
This instruction applies at the time of the connection of an "isel" program
selection unit. At the user's disposal, this acts as a programmable keyboard
(there is no possibility of programming the interface card by the program
selection unit).
The isel-program selection unit features a keyboard consisting of 12 keys and is
connected to the interface card via the serial interface.
Example:
#axis x;
#units mm;
#elev 4;
Begin:
on_key 1, do_reference;
on_key 2, do_move;
on_key 3, ende;
goto anfang;
do_reference:
reference x;
goto anfang;
do_move:
move 5(8000);
goto anfang;
End:
stop.
If the key F1 of the program selection unit is pressed, the program branches out
according to the subroutine do_reference, and the interface card executes the
instruction reference drive.
If the key F2 of the program selection unit is pressed, the program branches out
according to the subroutine do_move, and the interface card executes the
instruction move.
If the key F3 of the program selection unit is pressed, the program branches out
for the subroutine “Ende”, and the interface card executes the instruction stop.
44
PAL-PC Programming Instruction
3
Commands PAL-PC
3.2.19 The command on_port
on_port
Read input port
Syntax:
on_port [ADDRESS], [BIT NO.]=[VALUE],[OFFSET];
Explanation:
[ADDRESS]
Specification of the input port E1 or E2 (replaces the numerical
values 65531 and 65532 from the DOS version)
[BIT NO.]
Bit-by-bit reading BIT NO. = [1,...,8]
Byte-by-byte reading BIT NO. = 0 or 128
[VALUE]
Bit-by-bit reading VALUE = 0 or 1
Byte-by-byte reading Request for the bit pattern at the input port
[OFFSET]
Numerical value or label, which causes a branching forward or
backward in the program sequence
The input port is tested for the desired bit or bit pattern. If the condition is fulfilled,
a branching is accomplished.
The interface card reads an input port and is branched at a true condition.
Example:
1. Case: Reading bit-by-bit
Command
Qualifier
Branch
------------------------------------------ --------------------------------- --------------------------on_port E1,2=0,3;
Bit 2 = off
3 lines forward
on_port E1,8=1,-2;
Bit 8 = on
2 lines backward
2. Case: Reading byte-by-byte
Command
Qualifier
Branch
------------------------------------------ --------------------------------- --------------------------on_port E1,0=10,3;
Dual 00001010
3 lines forward
on_port E1,0=0,-2;
Dual 00000000
2 lines backward
on_port E1,0=205,-4;
Dual 11001101
4 lines backward
PAL-PC Programming Instruction
45
3
Commands PAL-PC
3.2.20 The command set_port
set_port
Set output port
Syntax:
set_port [ADDRESS], [BIT NO.]=[VALUE];
Explanation:
[ADDRESS]
Specification of the output port A1 or A2 (replaces the numerical
values 65531 and 65532 from the DOS version)
[BIT NO.]
Numerical value, which is used for the case differentiation
between “set bit-by-bit” or “set byte-by-byte” of the output pattern.
Set bit-by-bit BIT NO. = [1,...,8]
Set byte-by-byte BIT NO. = 0 or 128
[VALUE]
Set bit-by-bit ÆVALUE= 0 or 1
Set byte-by-byte ÆNumber between 0 and 255 which can
optically be defined at the output port as bit pattern (dual
number), as well as in a technical circuit.
A desired output pattern or defined output bit is set at the interface card.
Example:
1. Case: Set bit-by-bit
Command
Output port
Bit
State
------------------------------------------ ------------------------- --------------- ------------------set_port A1,5=0;
A1
5
off
set_port A1,4=1;
A1
4
on
set_port A2,4=0;
A2
4
off
set_port A2,1=1;
A2
1
on
2. Case: Set byte-by-byte
Command
Output port
Dual
------------------------------------------ ------------------------- ------------------set_port A1,0=10;
A1
00001010
46
set_port A1,0=27;
A1
00011011
set_port A2,0=205;
A2
11001101
set_port A2,0=255;
A2
11111111
set_port A2,0=0;
A2
00000000
PAL-PC Programming Instruction
3
Commands PAL-PC
3.2.21 The command 3D linear interpolation
set3d on
set3d off
3D interpolation
Syntax:
set3d on
set3d off
Explanation:
Switches the three-dimensional (spatial) interpolation on or off.
The instruction works modally, which means that all the instructionset3d (i.e.
“move/moverel”, “moveto/moveabs”) are processed three-dimensionally until this
mode is switched off again with the instruction “set3d off”.
The indication of z2-parameters in these procedures is ignored.
The value of the x-axis is consulted as an indication of the speed of the
interpolation.
The maximum speed of a 3D interpolation amounts to 10,000 Hz.
Example:
#axis xyz;
reference xyz;
set3d on;
{switch to 3D interpolation}
/ movement of x-, y-, z-Axis simultaneously
move 10(700),15(700),3(400),0(30);
set3d off;
{switch off 3D interpolation}
Hint:
The introduction of a reference drive resets the program automatically to a 2.5
dimensional interpolation.
The correct treatment of a 3D interpolation assumes, as a reference level, an xylevel.
Also refer to 3.2.14 The command line on page 40
PAL-PC Programming Instruction
47
3
Commands PAL-PC
3.2.22 The command circle
circle_cw
circle_ccw
Circle interpolation in clockwise direction
Circle interpolation in counter clockwise direction
Syntax:
circle_cw [r(v)], [angle1], [angle2]
circle_ccw [r(v)], [angle1], [angle2]
Explanation:
48
cw
ccw
Direction of rotation is clockwise
Direction of rotation is counter clockwise
[r(v)]
r = radius
v = speed of operation
[angle1]
Starting angle of the circular path in [degrees]
[angle2]
Final angle of the circular path in [degrees]
A circular motion will be carried out, depending on the radius defined and on the
starting and end point (defined over starting and final angle).
The direction of rotation is determined by the parameters cw (clockwise) in a
clockwise direction (mathematically negative direction of rotation) and ccw
(counter clockwise) in an counter clockwise direction (mathematically positive
direction of rotation) and is to be seen from the starting point.
With the circle instruction, at maximum, a complete circle (difference between
starting and final angles = 360 degrees) can be driven.
The following illustrated circle is the basis of the definition of the circle segment
which can be driven.
PAL-PC Programming Instruction
3 Commands PAL-PC
Example:
1. Movement of different circles or circle sections in a positive direction (in
a counter clockwise direction). The diameter of the radius amounts to 20 mm and
the movement speed, 5,000 Hz.
/ Complete circle, beginning with 0 degrees and ending with 360 degrees
circle_ccw 20(5000),0,360
/ Circle segment with an angle = 45 degrees
/ beginning with 0 degrees and ending with 45 degrees
circle_ccw 20(5000),0,45
/ Circle segment with an angle = 150 degrees
/ beginning with 60 degrees and ending with 210 degrees
circle_ccw 20(5000),60,210
/ Complete circle, beginning with 225 degrees and ending with 225 degrees
circle_ccw 20(5000),225,585
2. Movement of different circles or circle sections in a negative direction (in
a clockwise direction). The diameter of the radius amounts to 20 mm and the
movement speed, 5,000 Hz. Here, it is to be noted that the starting angle is
always larger than the final angle. This is arrived at by the addition from 360
degrees to the starting angle.
/ Complete circle, beginning with 0 degrees and ending with 360 degrees
circle_cw 20(5000),360,0
/ Circle segment with an angle = 305 degrees
/ beginning with 0 degrees and ending with 45 degrees
circle_cw 20(5000),360,45
/ Circle segment with an angle = 150 degrees
/ beginning with 60 degrees and ending with 270 degrees
circle_cw 20(5000),420,270
/ Complete circle, beginning with 225 degrees and ending with 225 degrees
circle_cw 20(5000),585,225
PAL-PC Programming Instruction
49
Index
Index
3
M
3D interpolation................................................ 47
battery backup ................................................... 4
branch destignation ......................................... 25
branching ......................................................... 42
measurement ................................................... 12
memory card ...................................................... 5
memory mode .................................................. 23
move................................................................. 26
moveabs........................................................... 28
movement until impuls ..................................... 30
movep............................................................... 30
moverel............................................................. 26
moveto.............................................................. 28
C
N
ccw................................................................... 48
choice of axis ................................................... 10
circle_ccw ........................................................ 48
circle_cw .......................................................... 48
CNC mode ......................................................... 4
comments ........................................................ 21
CSI 464 .............................................................. 5
cw..................................................................... 48
null.................................................................... 43
number of steps ............................................... 11
A
axis................................................................... 10
B
D
declaration part .................................................. 6
define ............................................................... 14
delay ................................................................ 36
DNC mode ......................................................... 4
O
on_key.............................................................. 44
on_port ............................................................. 45
output of control characters ............................. 38
P
port ................................................................... 35
pulse................................................................. 35
R
final angle ........................................................ 48
read input port .................................................. 45
redefination ...................................................... 17
redefine ............................................................ 17
ref_speed ......................................................... 19
reference .......................................................... 37
reference drive of axes..................................... 37
repeat ............................................................... 41
repetition .......................................................... 41
G
S
GN.............................................................. 22, 38
goto .................................................................. 42
gradient............................................................ 13
send.................................................................. 31
serial interface.................................................... 5
set output port .................................................. 46
set_port ............................................................ 46
set3d off......................................................47, 48
set3d on............................................................ 47
stand-alone mode .............................................. 4
start .................................................................. 18
starting angle.................................................... 48
steps................................................................. 11
stop................................................................... 39
Sync character ................................................. 31
E
elev .................................................................. 13
end of program ................................................ 39
F
I
impuls input...................................................... 35
impuls output ................................................... 35
include.............................................................. 20
input ................................................................. 23
insert file .......................................................... 20
Interface card..................................................... 5
K
keyboard query ................................................ 44
L
label ................................................................. 25
level of interpolation......................................... 40
line ................................................................... 40
loop .................................................................. 34
50
T
tell..................................................................... 38
text replacement............................................... 14
time................................................................... 36
time delay......................................................... 36
transmission rate................................................ 5
PAL-PC Programming Instruction
Index
U
waiting for sync character................................ 32
units..................................................................12
until...................................................................41
Z
zero point ......................................................... 43
W
wait ...................................................................32
PAL-PC Programming Instruction
51