Roland RML-1 Manual de instrucciones

RML-1 PROGRAMING GUIDELINE

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RML-1

PROGRAMING GUIDELINE

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䇭1.00䇭䇭

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䇭䇭28,MAY,2002

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RML-1 PROGRAMING GUIDELINE

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INDEX

1 ; Overview of RML-1

2 ; Command Format

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䇭3 ; Descriptions of Commands

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䇭3-1;Mode –1

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䇭䇭 3-2;Mode –2

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䇭䇭䇭䇭

䇭䇭 3-3;Commands Common to Mode-1 and Mode-2

4 ; Device Control Commands

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䇭4-1䋻

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䋻Format of Device Control Commands

4-2䋻

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䋻Descriptions of Device Control Commands

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䇭䇭䇭䇭䇭䇭

䇭䇭䇭 ESCK Commands

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䇭䇭䇭䇭䇭䇭

䇭䇭䇭 Other Device Control Commands

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䇭5 ; Appendix

5-1;Three-dimensional Movement

5-2䋻

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䋻Spindle motor

5-3䋻

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䋻Effects of Certain Commands on Other Commands

RML-1 PROGRAMING GUIDELINE

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1;Overview of RML-1

1-1;Command Set

RML-1 commands are grouped as commands for mode 1, commands for mode 2, and

commands that are common to both mode 1 and mode 2.

Mode 1:Composed of one letter or symbol; based on DXY-GL.

Mode 2:Composed of two letters; based on RD-GL.

Common to mode 1 and mode 2: Composed of an "!" plus two letters.

For all 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 MSB assumed to be zero.

1-2;Supported RML Commands

Mode 1 D

Mode 2 DF

Common to mode 1 and mode 2

!DW

!MC

!NR

!PZ

!RC

!VZ

!ZM

!ZO

!ZZ

!ZE

RML-1 PROGRAMING GUIDELINE

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2;Command Format

2-1;Description

Commands are made up of letters and some symbols, and parameters are or a combination

of the two. Parameters are made up of numerals, which may be signed. Commands and

parameters are separated by delimiters and terminators.

Also, commands and parameters are eight bits, and have significance as character strings

when the most significant bit is zero. When this is not zero, the character string is neither a

command nor a parameter.

Each of these is described below.

2-2;Format for Mode 1

Format example * D ** 5000 ** [,] ** 5000 ** [terminator]

[Delimiter]

"*" indicates a character whose ASCII code is for the space or lower, or the ";"

character. One or more may be used, without restriction.

"**" indicates 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 is recognized, 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]

The location shown by "5000" is the parameter. [,] is used as the delimiter for

parameters. Details are similar to parameters for mode 2.

[Terminator]

This is formally "CR + LF".

Unless specially noted otherwise, this can be omitted when followed by the next

command.

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Special conditions are described in section 2-5.

2-3;Format for Mode 2

Format example * P ** A ** 5000 ** [,] ** 5000 ** [terminator]

[Delimiter]

"*" indicates a character whose ASCII code is for the space or lower, or the ";"

character. One or more may be used, without restriction.

"**" indicates 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]

PA is the command, and is shown by two letters.

Only a space or tab may validly appear between the P and the A. There is no

restriction as to the number of space or tab characters. If a character other than

space or tab is used, it is read and discarded it with error 1. If P 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 composed of two letters 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" must follow without any intervening extra

characters. If a character other than a numeral or "+", "-", and "." appears, the

character string up to that point is taken to be a single parameter.

A parameter has no E expression. They are composed only of numerals and ".", "+",

and "-". A parameter that is larger or smaller than the expected value results in error

3. Except for portions such as PU/PD that have already been executed, this portion

of the parameter is not executed.

(Valid numerical ranges of parameters:)

int type This indicates a range of -32768 to 32767. A size of two bytes is

ssumed.

long type This indicates a range of -8388608 to 8388607. A size of four

bytes is assumed.

RML-1 PROGRAMING GUIDELINE

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float type This indicates a range of -8388608.0 to 8388607.0. A size of four

bytes and IEEE format are assumed.

Special conditions are described in section 2-5.

[Terminator]

This is ";". The [terminator] is formally ";".

Unless specially noted otherwise, this can be omitted when followed by the next

command.

It is required if not followed by the next command.

Special conditions are described in section 2-5.

2-4;Format for Commands Common to Mode 1 and Mode 2

Format example * ! ** P ** Z ** -200 ** [,] ** 100 ** [terminator]

[Delimiter]

"*" indicates a space or lower, or the ";" character. One or more may be used,

without restriction.

"**" indicates 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]

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 description of mode 2 commands for the P and Z

portions.

[Parameter]

This is similar to the parameters for mode 2.

[Terminator]

The [terminator] is formally "CR + LF" for mode 1 and ";" for mode2.

Unless specially noted otherwise, this can be omitted when

followed by the next command.

2-5;Specific Examples of Special Cases Not Described Above

When a parameter contains a special character, and a "+", "-", "." (period), or

numeric string in a parameter string delimited by a command character and a

RML-1 PROGRAMING GUIDELINE

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delimiter or terminator loses its significance as a numerical value, the

character is treated as a terminator.

(Examples)

PA100,,100; is equivalent to PA100,;,100;

PA100++100; is equivalent to PA100;++100;

PA100..100; is equivalent to PA100.;.100;

PA100,.100.0; is equivalent to PA100,0.100;.0;

PA 100 . 0, 100; is equivalent to PA100,0;0,100;

PA - 100, 100; is equivalent to PA-;100,100;

PA . 100, 100; is equivalent to PA0;100,100;

PD, is equivalent to PD;,

PD$ is equivalent to PD;$

PD< is equivalent to PD;<

PD^C is equivalent to PD;^C

PD[TAB]0,1; is equivalent to PD0,1;

PD-[CR]0,1; is equivalent to PD-;0,1;

When getting 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; is executed with four parameters. Only the required

parameters are obtained. The final ",300" is passed to

the next command search.

PD-; is executed with zero parameters.

PD 100,-; is executed with one parameter.

Also, if the value of a parameter is out of range for its type (such as int), it is limited

to the type's maximum or minimum value.

In command processing, two letters must be obtained for mode 2 commands and

RML-1 PROGRAMING GUIDELINE

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common commands. Even when the portion is only one letter and the determination

is made that there is no corresponding command, it is necessary to get one more

letter.

3;Descriptions of Commands

3-1;Mode 1

@ (Input Z1 & Z2 command)

@ z1 (, z2) [terminator]

z1: long

z2: long

z1: Negative Z-axis operating range to 0

z2: 0 䌾8388607

This sets point Z1,Z2 in the workpiece coordinate system.

Z1,Z2 specify a relative value from Z0 in the workpiece coordinate system.

When Z2 is 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.

Error3 results if Z1 is higher than zero or if Z2 is less than zero.

Error 3 similarly results when Z1 is outside the work area.

No error results when Z2 is outside the work area.

When Z2 is outside the work area, no error is generated and the setting is

made, but actual Z2 operation stop at the topmost location. (This is

because movement is physically impossible.)

D (Draw -- Line-cutting command)

D x1, y1, x2, y2,..., xn, yn [terminator]

RML-1 PROGRAMING GUIDELINE

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D [terminator]

<Type>

xn: float

yn: float

-8388608.0 䌾8388607.0

This sequentially cuts line segments between coordinates specified from

the present tool location, in the sequence x1,y1, x2,y2,..., xn,yn. The

coordinate values are all absolute coordinates. Thereafter the system is in

the absolute-coordinate mode.

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 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.

I (Relative draw -- Relative-coordinate line-cutting command)

I dx1, dy1, dx2, dy2,..., dxn, dyn[terminator]

I [terminator]

<Type>

float

-8388608.0 䌾8388607.0

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 change along the Y axis dy1. It next performs cutting at the

Z1 height from the position moved to, to the coordinates specified by the

amounts of change dy1, dy2 for the corresponding X and Y axes. This

sequentially performs cutting up through the final specified coordinates.

This cuts line segments between coordinates.

The coordinate values are all relative coordinates, and the system goes

into the relative-coordinate mode.

RML-1 PROGRAMING GUIDELINE

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When the machine is at a height other than Z1 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 Z1 height is effected at

the speed specified by !VZ or V. Thereafter movement to the coordinates

specified by dx1, dy1 is effected.

In cases where this command appears when the height is already at Z1,

the spindle is rotated if it is in a rotatable state, and after rotation stabilizes,

movement directly to the coordinates specified by dx1, dy1 is effected.

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 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)

M x1, y1, x2, y2,..., xn, yn [terminator]

M [terminator]

<Type>

float

-8388608.0 䌾8388607.0

This sequentially moves linearly at the Z2 height between coordinates

specified from the present tool location, in the sequence x1,y1, x2,y2,...,

xn,yn.

The coordinate values are all absolute coordinates, and the system goes

into the absolute-coordinate mode.

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 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.

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