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CNC11 PLC
Programming Manual
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CNC11 PLC Programming Manual
Table of Contents
Introduction to the Manual.........................................................................................................................7
Conventions Used in this Manual.........................................................................................................7
Compiling a PLC Program....................................................................................................................8
PLC Program Statistics.........................................................................................................................8
Language....................................................................................................................................................9
Programming Conventions....................................................................................................................9
Defining Variables...............................................................................................................................11
Data Types...........................................................................................................................................11
Constant Definitions.......................................................................................................................11
Input – INP......................................................................................................................................11
Output – OUT.................................................................................................................................11
Memory Bit – MEM.......................................................................................................................12
Word – 32-bit – W..........................................................................................................................12
Double Word – 64-bit – DW...........................................................................................................12
Floating-point Word – 32-bit – FW................................................................................................12
Double-Floating-point Word – 64-bit – DFW................................................................................12
Timer – 32-bit – T...........................................................................................................................13
One-Shot – PD................................................................................................................................13
Stage – STG....................................................................................................................................14
Fast Stage – FSTG..........................................................................................................................15
CNC11 to MPU11 System Variable – SV_*..................................................................................15
PLC to CNC11 System Variable – SV_*........................................................................................15
Keywords.............................................................................................................................................15
Defining variables – IS ..................................................................................................................15
Conditional Statement – IF/THEN.................................................................................................16
Print Message – MSG.....................................................................................................................17
plcmsg.txt...................................................................................................................................20
System Variables – SV_..................................................................................................................21
Data Type Name.............................................................................................................................21
Indexes – Data Type[Data Type or Constant].................................................................................21
Range Selection – '..' ......................................................................................................................22
DUMP.............................................................................................................................................22
Operators.............................................................................................................................................22
Assignment – =...............................................................................................................................22
Set – SET........................................................................................................................................23
Reset – RST....................................................................................................................................23
Output Coil – ()...............................................................................................................................23
Jump – JMP....................................................................................................................................24
Basic Math Operators – *, \, +, -, %...............................................................................................24
Relational Operators – <, >, <=, >=, !=, ==...................................................................................25
Logical Operators – !,&&, ||, XOR or ^.........................................................................................25
Convert to Word – BTW.................................................................................................................27
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Convert to Binary – WTB...............................................................................................................27
Convert to Binary Coded Decimal – BCD.....................................................................................27
Convert from Binary Coded Decimal – BIN..................................................................................28
Set or Reset a Bit in a Word – BITSET / BITRST.........................................................................29
Check if a Bit is Set in a Word – BITTST......................................................................................29
Left / Right Shift Bits in a Word – LSHIFT/RSHIFT....................................................................29
Trigonometric Functions – SIN, ASIN, COS, ACOS, TAN, ATAN2.............................................30
Square Root – SQRT......................................................................................................................32
Raise Number to a Power – POW..................................................................................................32
Standard PLC Program Layout................................................................................................................34
Defining Variables...............................................................................................................................34
Initial-Condition Setup........................................................................................................................34
Internal PLC Fault and Software Running Checking..........................................................................35
PLC Fault Status.............................................................................................................................35
Software Ready...............................................................................................................................35
Checking PLC Fault and Software Ready......................................................................................36
Jog Panel and Keyboard Jogging........................................................................................................37
Axis Enable.........................................................................................................................................37
Fiber/Wire Connection Checking........................................................................................................37
Drive and PLCBus Checking..........................................................................................................38
PLCBus Checking only..................................................................................................................39
MiniPLCBus Checking...................................................................................................................40
LubeTimers..........................................................................................................................................40
Lube Pump Internal Timer..............................................................................................................40
Lube Pump External Timer.............................................................................................................42
Feedrate Override................................................................................................................................42
Spindle Functionality..........................................................................................................................43
Spindle DAC Output......................................................................................................................43
Spindle Gear Ranges.......................................................................................................................43
MPG Operation...................................................................................................................................44
Coolant Control..............................................................................................................................45
Probe Protection..................................................................................................................................47
PLC Optional Sections.............................................................................................................................48
Debounce or Invert Inputs...................................................................................................................48
Example Input Debounce Setup Program.......................................................................................51
Setting Inputs High or Low for Testing...............................................................................................54
Compiler Errors........................................................................................................................................58
Warnings..............................................................................................................................................58
Already Defined..............................................................................................................................58
Direct PLC Reference.....................................................................................................................58
General Errors.....................................................................................................................................58
Malformed Command Line............................................................................................................58
Unrecognized Command Line Option............................................................................................59
Error Opening File..........................................................................................................................59
Syntax Errors.......................................................................................................................................59
Compilation Failed.........................................................................................................................59
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Too Many Errors.............................................................................................................................59
Undefined Label.............................................................................................................................59
[THEN, Word Type, Stage, Output, Parenthesis] expected............................................................60
End Of File Expected......................................................................................................................60
[Data Type] Out of Bounds.............................................................................................................60
Invalid Action.................................................................................................................................60
Rung Expected IF...........................................................................................................................60
Rung Expected THEN....................................................................................................................60
JMP Expected STG or FSTG..........................................................................................................61
System Variable is Read-Only........................................................................................................61
MSG Expected Word Reference.....................................................................................................61
SMSG Expected String Reference..................................................................................................61
BCD/BIN Expected Word Reference.............................................................................................61
BCD/BIN Cannot Use Bracketed Reference..................................................................................61
WTB Expected Word Reference.....................................................................................................61
WTB Expected OUT/MEM Reference..........................................................................................62
WTB Number of Bits Must be 1-32...............................................................................................62
BTW Expected Word Reference.....................................................................................................62
BTW Expected INP/OUT/MEM Reference...................................................................................62
BTW Number of Bits Must be 1-32...............................................................................................62
BITSET/RST Bit Must be 0-31......................................................................................................62
BITSET/RST Expected an Integer Value.......................................................................................62
BITSET/RST Word Indexing Not Allowed....................................................................................62
BITSET/RST Expected Word Reference........................................................................................63
BITTST MEM Indexing Not Allowed...........................................................................................63
BITTST Expected MEM................................................................................................................63
BITTST Expected Word Reference................................................................................................63
BITTST Bit Must be 0-31...............................................................................................................63
BITTST Expected Integer Value.....................................................................................................63
BITTST Word Indexing Not Allowed............................................................................................63
LSHIFT/RSHIFT Bit Must be 0-31................................................................................................64
LSHIFT/RSHIFT Expected Integer Value......................................................................................64
LSHIFT/RSHIFT Word Indexing Not Allowed.............................................................................64
LSHIFT/RSHIFT Expected Word Reference.................................................................................64
Constant Integer Expression Label Not Found...............................................................................64
Constant Integer Expression Expected Right Parenthesis..............................................................64
Constant Integer Factor Expected...................................................................................................64
Constant Integer Expression Label Does Not Reference an Integer..............................................65
Constant Integer Expression Label not Found................................................................................65
Relational Operator Expected.........................................................................................................65
System Variable Bits Cannot be Used With '..'...............................................................................65
Range Extension Expected OUT/MEM/STG/FSTG/T..................................................................65
Range Error. End is Before Start....................................................................................................65
SET/RST Expected OUT/MEM/STG/FSTG/T/Modifiable SV.....................................................65
Coil Expected PD/OUT/MEM/Modifiable SV..............................................................................66
Expected Right Bracket..................................................................................................................66
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Expected Left Bracket....................................................................................................................66
Bad Definition ...............................................................................................................................66
Number Expected Right Parenthesis..............................................................................................66
Numerical Factor Expected Right Parenthesis...............................................................................66
Numerical Factor Expected Left Parenthesis.................................................................................66
ATAN2/POW Expected Right Parenthesis.....................................................................................67
ATAN2/POW Expected Comma....................................................................................................67
ATAN2/POW Expected Left Parenthesis.......................................................................................67
Expected Right Parenthesis............................................................................................................67
Boolean Factor Expected Right Parenthesis...................................................................................67
Assignment Error............................................................................................................................67
Application Examples..............................................................................................................................68
Toggle an Output Every Second..........................................................................................................68
Aux Key Jogging.................................................................................................................................68
Aux Key Override of M-Code.............................................................................................................68
Wait One Second Before Jogging on Key Press.................................................................................68
Interpret Enter Key as Cycle Start in MDI*........................................................................................68
Count Machine On Time.....................................................................................................................69
Custom M-Codes.....................................................................................................................................70
Using M94/M95 Bits...........................................................................................................................70
Using One M94/M95 Bit and a Parameter..........................................................................................70
Customizing Standard M-Codes.........................................................................................................70
Automatic Spindle On/Off – M3/M4.............................................................................................70
Troubleshooting and Changing PLC Programs.......................................................................................72
Write Down and Think Through Changes to the Program..................................................................72
PLC Diagnostic Screen.......................................................................................................................72
PLC Bit-State Dump...........................................................................................................................72
DUMP.................................................................................................................................................72
Echo to a Memory Bit.........................................................................................................................73
Use Stages...........................................................................................................................................73
Communication In/Out Faults.............................................................................................................73
DriveBus.........................................................................................................................................73
PLCBus...............................................................................................................................................73
Appendix A: Example PLC program.......................................................................................................74
ALLIN1DC DC system example........................................................................................................74
Appendix B: Jog Panel Mapping............................................................................................................111
JogPanel Inputs and Outputs.............................................................................................................111
Appendix C: Keyboard Jog Mapping.....................................................................................................113
Notes on Keyboard Jogging..............................................................................................................113
Keyboard Key Numbering Table.......................................................................................................114
Appendix D: System Variables..............................................................................................................115
System Variable Types.......................................................................................................................115
CNC11 Software Write-Controlled System Variables..................................................................115
PLC Write-Controlled System Variables.....................................................................................120
Appendix E: PLC I/O Location.............................................................................................................124
Input Types...................................................................................................................................124
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Output Types.................................................................................................................................124
ALLIN1DC.......................................................................................................................................124
DC3IOB.............................................................................................................................................125
GPIO4D.............................................................................................................................................125
PLC Expansion..................................................................................................................................125
ALLIN1DC...................................................................................................................................126
DC3IOB........................................................................................................................................126
GPIO4D........................................................................................................................................126
Appendix F: G/M-Code User/System Variable......................................................................................127
Appendix G: What's New in CNC11.....................................................................................................131
There is Only One PLC Program......................................................................................................131
The PLC Program has the Final Word...............................................................................................131
Spindle Speed DAC Command.........................................................................................................131
Direct Control of and Responsibility for Jogging.............................................................................131
Compiler/Language Differences.......................................................................................................131
PLC Inputs and Outputs...............................................................................................................132
Green == 1 == closed == SET......................................................................................................132
Keywords Removed......................................................................................................................132
Timers...........................................................................................................................................132
Stages............................................................................................................................................132
PLC Program Should Detect All Faults........................................................................................132
Appendix H: Definitions of Unobvious Words......................................................................................133
Bit......................................................................................................................................................133
Integer Number..................................................................................................................................133
Floating-point Number......................................................................................................................133
Range.................................................................................................................................................133
Precision............................................................................................................................................133
Data Type...........................................................................................................................................133
Define/Declare...................................................................................................................................133
Variable..............................................................................................................................................134
Constant.............................................................................................................................................134
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Introduction to the Manual

The PLC or Programmable Logic Controller is responsible for deciding what to do based on Inputs and responding by controlling the Outputs. The PLC Program is how you tell the PLC how to react to the Inputs and when to cause Outputs to turn on or off.
This manual is for anyone trying to change or write a PLC program on a Centroid CNC11 system. It assumes a certain level of knowledge and does not explain every basic term that is used. There are some definitions in Appendix H, but it is intended to clarify where there may be confusion between CNC11 PLC program meaning and a more general meaning. If you are unsure of what you are doing, please contact Tech. Support at support@centroidcnc.com and ask questions.
Always take a report and store it in at least one location in case the program change needs to be reverted.
The manual explains the components that can be used to make a PLC Program and goes over the standard parts of PLC programs. There are several appendices including sample programs, detailed key mappings, compare and contrast differences in CNC10 and CNC11 PLC programs, and list errors associated with the compiler. If you are experienced with CNC10 PLC programs be sure to read Appendix H about the differences between CNC10 and CNC11.

Conventions Used in this Manual

There are several text conventions used in this manual. The following list explains the most common ones.
• Code from PLC programs including System Variables and the various data types are in
Consolas font at 10 pt size. An example is SV_PC_VIRTUAL_JOGPANEL_ACTIVE.
• Keyboard Keys are in Arial font at 12 pt. size and bold. An example is Alt.-Q.
• Commands entered in the command line of a prompt window are in Arial font at 12pt.
size in italics and single quotes. The single quotes simply serve to further differentiate the text that is to be typed, it is not included on the command line. An example of this is 'mpucomp ProgramName.src mpu.plc'.
• On and SET are interchangeable, as are Off and RST.
• System Variable may be written as SV, which is interchangeable and means the same
thing.
• PLC Program and program are used interchangeably and mean the same thing.
• Data Type and type are used interchangeably and mean the same thing.
• When a specific name for a Data Type is helpful it is used, but typically the direct name
is used to remove confusion about what type is being used in a given example.
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• Names of Data Types such as Memory Bits and Outputs are capitalized.
• Binary data is written in this document from Most Significant Bit (Msb) to Least
Significant Bit (Lsb) on a Left to Right order when explaining how bits are moving around. This follows the typical convention in programming. Note that the PLC program reads and writes pure Binary data from Left to Right as well, but goes from Lsb to Msb. See BTW and WTB for more information.

Compiling a PLC Program

The source code which you write or change must be converted to something that CNC11 can understand to actually take effect. This is accomplished by compiling the program. The new compiler is called mpucomp which is short for MPU11 compiler. The syntax for compiling a program, in Linux, is 'mpucomp ProgramName.src mpu.plc' whereas in Windows the syntax is 'mpucomp.exe ProgramName.src mpu.plc'. Note that the compiler name is slightly different and that the name of the file must contain no spaces. The first file is the source code and the second file is where the compiled code goes. The second file must be named exactly 'mpu.plc' including the fact that it is is all lower case letters. Once the program is compiled successfully, the system should be powered off completely and powered back on again. The reason for this is that due to the nature of the InitialStage it only runs once for each power on of the MPU11.

PLC Program Statistics

The PLC program is constrained by certain factors and limits. The following list enumerates some of the more important of those. Pushing Alt.-i on the main menu causes the PLC Diagnostic screen to appear. It shows the state of Inputs, Outputs, Stages, Memory Bits and Words as well as the Time that is being taken by the PLC program.
• Presently there is a limit of about 80 Inputs and Outputs using a GPIO4D and four
PLC1616ADD boards. DC3IOB systems can achieve a bit more than this. There is a hard system maximum of 768 Inputs and 768 Outputs in CNC11.
• There are many powerful features that take a long time to execute and thus should be
used sparingly. Usage of them is detailed below and recommendations against using them are included in the Operators section.
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Language

Programming Conventions

It is helpful when debugging and reading a program to know what type a variable is without having to constantly search through the multiple uses of a name to get to the definition at the top of the program. Following is a table of basic suggestions of ways the types can be named to reduce confusion. Inputs and Outputs are typically named to indicate the purpose rather than applying an extra label to them. The basic idea is to put something like the code specific type name at the end of the declaration. Whether you put a underscore between the name and type or just add the letters in all Caps or just capitalize the first letter is up to you.
Type Example Name Comments
Constants
Input
Output
Memory Bit
Word
Double Word
Floating-point Word
Double-Floating-point Word
Timer
One-Shot
Stage
Fast Stage
PLC to CNC11 System
Variable
AXIS_FLT_CLR_MSG
EstopOk
LubeOut
SpinFault_M
Axis3FiberOk_W
BigCounter_DW
SpindleRangeMultiplier_FW
PreciseNumber_DFW
Fault_Clear_T
SlowFast_PD
InitialStage
CountSomething_FSTG
DoToolCheck
All Caps, end with MSG
Alternatively use M or Mem
Alternatively use W or Word
Alternatively use Timer
PD is Positive Differential,
meaning rising edge
Alternatively use STG
SV_PLC_* System variables
are not named, so the
function is prefixed with an
action word 'Do' or 'Select'
and named for the function it
tells CNC11 to do.
Keyboard Keys
M-Codes
Kb_a
M6
Kb is short for Keyboard
Start with Capital M
While no Stages are required to compile a PLC program, they should be used. The benefits include allowing debug of small sections of code by turning off other stages, reduced Program
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running time by running only certain things all the time, and compartmentalizing code for easier comprehension.
The compiler is not case sensitive so EstopOK, ESTOPOK, EsToPoK, and estopok are all references to the same Input. Convention states that capitalization be kept uniform for variable references, but it is not required by the compiler.
All lines should end after 79 columns to prevent printing issues and ensure readability on smaller monitors.
Stage names in the program are surrounded on lines above and below with a full width line of minus signs to designate the start of a stage. Camel-case is used to name Stages and the same naming should be used in the program. Type the Stage name 20 columns from the left.
Section titles within a stage have a full width line of minus signs, and also include the name of the section in that line or not as preference dictates. The name should start after 5 minus signs either way and optionally fill out the rest of the line with minus signs.
;-----INPUT DEFINITIONS-------------------------------------------------------
Section explanations longer than about 5 lines should have a full width line of minus signs before and after the section to show it is a block of comments. Also every line between the two bracketing lines should have a semi-colon to show it is part of the explanation.
Section explanations shorter than about 5 lines should just have a semi-colon in front of each line with no spaces.
;INP769 - INP784 encompass the MPU11 onboard input connections
;which are generally used for MPG and probing functions.
System Variables with names like SV_STOP should not be redefined to a Memory Bit to avoid obfuscation.
In the definition section the IS should line up with all others above and below in the section, not with the entirety of the defines. This increases readability while maximizing comment space. There should be two spaces between the longest variable name in the section and the
IS keyword. Also, if possible line up the comments after the definition.
Use only spaces in the PLC program, never use tabs unless you can figure out how to replace tabs with spaces in your editor. It is helpful to show non-printing characters as well to make sure trailing spaces are not causing extra wrapping of text.
Use only mono-spaced fonts such as Courier, Courier New, and MS Mincho.
The beginning of the actual program and end of the defines should be visibly demarcated with 5 blank lines before and after a title indicating the start of the program.
;\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\
;-----Program Start
;\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\
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Defining Variables

The names or variables used in the PLC program are defined at the top of the PLC program only. Any definition after the first IF...THEN statement will cause an error at compile time. Any label may be used to refer to any of the data types, but there are conventions to make it easier to determine the type of data assigned to a variable. The syntax for defining a variable is EstopOk IS INP11 or Lube IS OUT2.

Data Types

The kind of information that a variable can hold is defined at compile time by the data type when it was declared. All of the types below can be used in a CNC11 PLC program, but are not required to be in many cases. Typically Words and Floating-point Words have enough precision to achieve the desired results versus Double Words and Double Floating-point Words.

Important Note

It is critical to understand when Data Types are updated during the execution of a PLC program. The execution of a PLC program is based on an Interrupt that breaks time into increments of 1000/second for Fast Stages and 20/second for Stages. Each of these increments is referred to as a “pass” of the PLC program. During each pass the entire program is evaluated and Data Types are changed based on the logic in the PLC program.
A question that quickly emerges when writing these programs is, “If I change the value of a variable at the top of a program, do I know that it has changed later in the program?” The answer is, “ It depends.” The reason for this divided up by Data Type. Timers, Inputs and Outputs are all buffered at the beginning of the program. This means that a snapshot is taken of the state of them and that image does not change during the pass of the PLC program. In other words, Timers have the same value at the start of the pass as they do at the end. The same is true for Inputs and Outputs as far as the real-world physical state is concerned. The snapshot of the Inputs never change, but the image of the Outputs can be changed on any line and that brings us to the other category of when things update. Memory Bits, all Words, One-Shots, both kinds of Stages, System Variables, and the image of the Outputs are changed immediately and on the next line of the program will be at the value they were SET to on the previous line.
Another important thing to note is that the PLC Diagnostic screen (Alt. + I) does not show every transition of every variable. Indeed it is much like an Input in its functionality. The state of all the Words and Inputs, Outputs and Memory Bits do not change until after a pass of the PLC program changes. You will not see every state change in a tool change program because of this. You must set Memory Bits in each Stage that get RST at the end of the whole process or on the push of an Aux key for debugging to be sure of the path of execution when there are choices.
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CHECK ON SV_*

Constant Definitions

It is often easier to remember a name for an error rather than the number associated with it. Defining a Constant allows for this ease of use. By convention Constants are put before Variable Definitions, but they can be put anywhere before the first IF statement. Typically, Constants are used for PLC message numbers, but they can be used for anything. Math is allowed when defining constants to help avoid mistyping a number. Parentheses are allowed to force correct math, but only for Integer values. Floating-point numbers cannot have math done on them or be used to create them. See the Syntax Errors section.
PI IS 3.1415926535897932384626433832795
ASYNC IS 2
SYNC IS 1
MULTIPLIER IS 256
FAULT_MSG IS (SYNC+5*MULTIPLIER)

Input – INP

Inputs are physical switches or buttons that can be either on or off. When defining an Input, it is written as Limit_Switch IS INP2. Inputs can be compared with Outputs, Memory Bits,
Timers, One-Shots, Stages, Fast-Stages and System Variables that are bits using Logical Operators, but not Relational Operators. Limit switches, Jog Panel keys and Inverter signals
such as fault or at speed are all examples of inputs. Analog voltage comes into the system, but it must be read into any of the Word type variables.

Output – OUT

Outputs are physical, real-world outputs such as relay contacts, relay driver signlas, or analog signals that can be on or off. Analog voltages are converted from Bits in the PLC program to analog voltage at the header. They can be used to control other relays, lube pumps, spindle enable, inverter analog speed control, coolant, Jog Panel LEDs, etc. The standard way of specifying an output is Lube IS OUT2 or AutoCoolantLED IS JPO21. Outputs can be compared the same way as Inputs.

Memory Bit – MEM

Memory Bits can be on or off and cannot directly affect anything outside the PLC program. These Bits are often used to make logic easier to read by combining many repetitive checks or keystrokes into one variable. MEM Bits are also used in debugging to store whether transient signals have occurred, whether to invert inputs based on parameter 178, etc. Memory Bits can be compared to other Bit type Variables with Logical Operators, but not
Relational Operators.
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Word – 32-bit – W

Words are Integer numbers that can be used to store error codes, parameter values, and System Variables that are Word sized themselves. Words are defined like Error_Code IS W10. Only the first 12 words are currently visible on the PLC Diagnostic screen. They can be compared with other Word types, System variables that are Integer numbers rather than one bit, and Timers. Relational Operators are allowed on any Word type variable, but Logical
Operators are not. Doing a Relational comparison produces a result that can be used in a
Logical Operator, however. An example of this is IF (W1 > W2) || MEM1 THEN SET OUT6. This statement tests whether W1 is greater than W2 first. If that is true or MEM1 is true then the output is turned on. Words can hold values from -2147483648 to 2147483647.

Double Word – 64-bit – DW

Double Words are Integer numbers just like Words, but can hold values from
-9223372036854775808 to 9223372036854775807. A Double Word is defined like
BigNumberDW IS DW3. In general these are unnecessary and should be avoided because they
take a long time for the PLC executor to process. Double Words are otherwise exactly the same in usage as Words.

Floating-point Word – 32-bit – FW

Floating-point Words are real numbers that can store fractional values from 2^-149 to 2^129. It is typically precise enough for any operation in a PLC program. It is defined like
SpindleDACFW IS FW1. Precision problems can occur if comparing very very large and very very
small numbers, but typically this is not a concern. Floating-point Words have the same comparison ability as Words.

Double-Floating-point Word – 64-bit – DFW

Double-Floating-point Words are real numbers that can store fractional values from 2^-1074 to 2^1022. They are more precise and can compare bigger numbers with smaller compared to Floating-point Words. In general is is not advised to use this type at all due to significant time required to do any calculations. The definition of a Double-Floating-point Word is
PreciseNumberDFW IS DFW1. DFWs are compared exactly like Words.

Timer – 32-bit – T

Timers are counters with the special ability to be compared with both Relational and Logical
Operators. This means that you can check IF T1 THEN SET OUT1 to see if the Timer has
reached its set point or IF T1 > 1000 THEN SET OUT2 to see if the Timer has counted past 1 second. Timers are initialized with a 32-bit positive Integer number that is interpreted as the number of milliseconds to count before evaluating to true when checked with Logical Operators.
The value is typically stored in the Timer during the InitalStage. To start a Timer counting use
SET T1. To reset the Timer so that it is waiting to count again use RST T1. Note that you do not
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need to store a value into a Timer each time it is RST unless you want to change the value to which it counts.
Timers evaluate to true after reaching the stored time until they are reset. The actual count of the Timer continues to climb until it gets to about 10 seconds before the max value that Timers can hold. This means that Timers can be checked to see if they are over a certain value with Relational Operators.
Timers can count up to 24 days or 2073600000 ms. Be aware that if you are trying to time something longer than that you will need to come up with a scheme for keeping track of time greater than 24 days. A simple option for counting days is to set the Timer to 1 day worth of ms (24 hrs. * 60 min. * 60 s = 86400000 ms). When the Timer expires, increment a Word day counter and then RST and SET the Timer to begin counting again. See Application Examples for how to setup a Timer for counting days. The following example sets the Timer to one second then SETs the Timer if MEM1 is closed. When T1 counts to 1000, an Output is turned on and the Timer is RST. If the Memory Bit is set next time through the PLC program the Timer will be
SET again. The first time the Timer value has counted past 10 a Memory Bit will be turned on.
T1 = 1000 ;Set the value that the timer counts up to 1 second
IF MEM1 THEN SET T1 ;start the Timer counting
IF T1 THEN RST OUT2, RST T1 ;if 1 second has elapsed turn off the output and reset the
;timer so it can be started again.
IF T1 > 10 THEN SET MEM50 ;if the timer has counted past 10 ms set MEM50

One-Shot – PD

One-Shots or Positive Differentials are used to detect the first rising edge of an event occuring. A One-Shot can only be turned on and off using a Coil. Because of this a One-Shot should only ever be SET/RST on one line of the PLC Program. It can be checked anywhere, but not SET/RST. Once the PD has been SET by the IF test, the conditional section must evaluate to false and thus RST the PD before it can be used again. This means that you cannot hold a button down and cause the One-Shot to trigger more than once. Using this in combination with Debounce allows safer detection of key presses to prevent multiple actions when only one is intended. One-Shots are often used on Jog Panel keys and M-Codes. One-Shots may not be desired in certain circumstances such as the Override +/- buttons for Spindle Speed. Typically one wants to hold down the button and have the Override value change as long as the button is held down. An example definition and usage of a One-Shot follows.
KeyPressPD IS PD1 ;define the One-Shot
IF JPI1 THEN (KeyPressPD) ;if Jog Panel Input 1 is pushed, set the One-Shot
If KeyPressPD THEN SET MEM300 ;if the One-Shot is set, turn on a memory bit

Stage – STG

Stages are useful in many ways. First, they are used to break up different sections of the program to allow easier debugging and testing. Conventional programming dictates that there is at least an InitialStage and a MainStage in any PLC program, but Stages are not required to
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be explicitly used at all. Turning a Stage on and off is just like the process for Outputs.
IF 1==1 THEN SET STG1;Turn on a Stage all the time
IF M6 THEN SET ATC_Main_Stage To turn a Stage on when a tool change is called
When a Stage is RST the PLC executor does nothing with the logic inside the Stage. This means that whatever Variables are SET or RST when the Stage itself is RST maintain that state unless they are modified somewhere else in the program.
Warning: No checks are made against resetting any stages. It is possible to RST every stage
and have nothing executed in the PLC program. This requires a system power off and reboot.
The InitialStage is often used to setup any timers used and the state of tools for ATC machines. At the end of the InitialStage a JMP should be called to the MainStage. The
InitialStage should never be SET again. To troubleshoot a problem, Stages could be turned
off to narrow down the problem section. Also, Stages are usually used to break up the steps of a tool change sequence and various M-Codes so that they are not executed or checked every time through the PLC program and for debugging. Stages are executed at the standard rate of PLC program execution which is 50 times per second.
Warning: Typically Coils should not be used in Stages that are turned on and off, especially if
you come from a CNC10 PLC programming background. This is because typical coil behavior will not occur if a Stage is off. This means that One-Shots should also not be used in Stages that may be turned off. Odd effects can occur with One-Shots in Stages if you do not know what to expect. If, for example, a One-Shot is used to RST a Stage, the One-Shot will not be reset the next time through the PLC program, but will instead wait for the next time the Stage is SET and the Coiled One-Shot is scanned over. This will, instead of setting the One-Shot as might normally be expected, cause the One-Shot to be RST finally and require the One-Shot to be triggered again in the next PLC Program pass, if the Stage is still SET.
Timer counting is not affected by a Stage being RST. This means that if you SET a Timer in a Stage and then RST the Stage the Timer still counts and can be checked outside of the Stage and the expiration of the Timer will be accurate.
If you want to use a One-Shot to exit a stage, say from a button push, then you should put the One-Shot in coils again to make sure it is turned off on the line that resets the Stage. The following example illustrates the concept. With this example, if the Jog Panel key is pressed when the Stage is executed, the Stage will always be reset on the first pass through.
;------------
STG1
;------------
IF JPI1 THEN (PD1) ;push a Jog Panel button to trigger a One-Shot
IF PD1 THEN (PD1), RST STG1 ;accessing the PD again causes it to get RST, Stage is RST

Fast Stage – FSTG

Fast Stages behave exactly like Stages except that they are executed at up to 1000 times per second. These should be used only when extremely precise timing is necessary.
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Warning: Fast Stages do not interrupt the operation of normal speed stages, so if the normal
PLC program takes longer than 1 ms to execute completely, then the Fast Stages will not execute at the stated rate. Make sure that the standard timings are below 1 ms to get the fastest execution time. The average time can be found in the PLC Diagnostic screen.

CNC11 to MPU11 System Variable – SV_*

These are System Variables that are SET or RST by CNC11. There are both Word and Bit type SVs. Both CNC11 and the PLC program can read these System Variables. Convention states that they should be typed in all caps. For a complete list of System Variables and their uses see Appendix D.

PLC to CNC11 System Variable – SV_*

These are System Variables that are SET or RST by the PLC Program. There are both Word and Bit type SVs. Both CNC11 and the PLC program can read these System Variables. Convention states that they should be typed in all caps. For a complete list of System Variables and explanation of usage see Appendix D.

Keywords

Keywords are reserved words in the PLC programming language that cannot be used except for the defined purpose. Often attempting to use the keyword in an undefined way will cause the program to fail compilation. In example code they will always be capitalized by convention and should not be confused with constant defined variables or System Variables.

Defining variables – IS

This keyword is used to setup labels for all the data types. It is only used in the definition section at the top of the program. It is not used in the actual PLC program that gets executed. When the program is compiled all the labels are replaced with what they refer to from the definition section of the PLC program. For example the E-stop Input is defined like:
EStopOK IS INP11.
IS is used on every data type to define a name for that variable. There is also a built in
functionality for defining constant data to have a name. Math can be done in the definition and previous definitions of constants can be used as long as the entire assignment is in parentheses. An example is:
DEFINED_CONSTANT IS (1+2+5*7)
SECOND_CONST IS (DEFINED_CONSTANT*10)

Conditional Statement – IF/THEN

The Conditional Statement is used for every line of the PLC Program that can be executed and is synonymous with a rung in ladder logic. The first IF/THEN in a Program defines the start of the PLC program and the end of the Variable Definitions. The part of the line between the
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IF and the THEN must evaluate to a true or false, 1 or 0. If it cannot be resolved to either value,
then an error is thrown at compile time. This means that Words must be checked with
Relational Operators and a Word itself cannot be the test for truth. IF W1 > 10 THEN (OUT2) is a
valid test whereas IF W1 THEN (OUT2) is not. There can be as many conditions on the truth of a Conditional Test as you need. They are all separated by Logical Operators such as OR(||) and AND(&&).
There is no ELSE Keyword, but the functionality can be achieved by copying the previous test and putting parentheses around it with a NOT symbol in front of it.
The following table defines what can be done in the test part of the Conditional Statement. While the statements are legal it does not mean that they are typically used. For example, typically Stages are not checked in IF/THEN statements.
Data Type Usage
Input
Output
Memory Bit
Stage
Fast Stage
Word
Double Word
Floating-point Word
Double-Floating-point Word
SV bit
SV Word
One-Shot
Timer

Print Message – MSG

IF INP50 THEN (OUT50)
IF OUT50 THEN (MEM50)
IF MEM40 THEN SET STG2
IF STG2 THEN (OUT4)
IF FSTG1 THEN (OUT1)
IF W1 > 156 THEN (OUT30)
IF DW2 > 4000000000000 THEN (MEM300)
IF FW1 > 5.432 THEN SET OUT3
IF DFW1 > 8900.983201293 THEN (OUT80)
IF SV_ENABLE_AXIS_1 THEN (MEM70)
IF SV_PC_CYCLONE_STATUS_2 == 4 THEN (MEM65)
IF PD2 THEN SET OUT7
IF T1 THEN SET OUT 5
IF T1 > 4000 THEN SET OUT 6
Printing a message is useful when the user needs to know about status changes. It is often used in ATC PLC programs to indicate what part of the tool change process is being executed. Error reporting is the other key usage of the PLC messaging functionality. There are two types of messages that can be used with the PLC Message functionality, Synchronous and Asynchronous. Printing synchronous messages is done in its own Stage that is SET only when a message needs to be printed. This Stage should be the last Stage in the PLC program. Asynchronous messages are usually printed right inline with the rest of the code. Synchronous messages are displayed only when the SV_STOP System Variable is SET and Asynchronous messages are printed immediately. There is not a practical limit to the number of messages that can be defined for usage.
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The command to send a message is IF 1==1 THEN MSG W1 where W1 stores a correctly setup message value. A Word variable must be used with the MSG command.
Only one message can be displayed per pass of the PLC program. This explicitly does not mean that one each Async and Sync message can be displayed per pass. There is no queue of messages that get buffered and sent out eventually. If a new message is sent, it overwrites the previous one. Effectively, the last MSG command in the program is what is displayed on screen, if it has changed.
Worth noting is the fact that once a particular Synchronous or Asynchronous message has been sent, a different message number must be sent of the same type (Sync or Async) before that original message can be sent again. For example, if you send a Lube Fault Synchronous message, when that clears you must send another different Synchronous message before the Lube Fault message can be displayed again. This means that if the Lube Fault message is displayed and then the fault is cleared, but no new message is sent, if Lube Fault occurs again, the PLC program will be in the fault state, but there will be no message displayed. It is very important to avoid this case as it will look as though there is no error, but CNC11 will not start a job due to SV_STOP being SET. It can be debugged by putting the Word variable in the first twelve words so that they are displayed on the first PLC Diagnostic screen.
CNC11 takes the value sent via the MSG command and looks in the plcmsg.txt file for the selected message and prints it to the screen. The method of formatting this value is to start with a 1 or 2 for Synchronous or Asynchronous respectively and then add the message number times 256. An example table is shown below. The Word Value column in the following table is what should be stored in the Word to be sent out with the MSG command.
Message Number Type Word Value Notes
1 Synchronous 257 1 + 1*256
2 Asynchronous 514 2 + 2*256
25 Synchronous 6401 1 + 25*256
50 Asynchronous 12802 2 + 50*256
It is easiest and less error prone to write the message number once by defining a Constant to store to a word before messaging it out. Below are the defines used in both Asynchronous and Synchronous messages for the example program.
INP13_GREEN_MSG IS (2 + 1*256) ;258
INP13_RED_MSG IS (2 + 2*256) ;514
INP14_GREEN_MSG IS (1 + 3*256) ;769
NO_SYNC_MSG IS (1 + 99*256) ;25345
NO_ASYNC_MSG IS (2 + 100*256) ;25602
EStopOk IS INP11
Async_I IS INP13
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Sync_I IS INP14
Async_O IS OUT13
Sync_O IS OUT14
Sync_Cleared_M IS MEM1
Stop IS MEM2
Sync_W IS W1
Async_W IS W2
InitialStage IS STG1
MainStage IS STG2
SetError IS STG3
;=============================================================================
InitialStage
;=============================================================================
;setup default Word values
IF 1==1 THEN Sync_W = NO_SYNC_MSG, Async_W = NO_ASYNC_MSG,
RST InitialStage, SET MainStage
;=============================================================================
MainStage
;=============================================================================
IF !EStopOk THEN SET SV_STOP
IF SV_STOP THEN (Stop)
;prevent sync messages from showing up by resetting SV_STOP
IF !EStopOk && Sync_Cleared_M THEN RST Sync_Cleared_M, RST Sync_O, Sync_W = NO_SYNC_MSG
IF EStopOk && !Sync_Cleared_M THEN RST SV_STOP
;sync
;--if the Input is green, set the Sync message and override the Async messages
IF Sync_I THEN Sync_W = INP14_GREEN_MSG, SET SV_STOP, SET SetError, SET Sync_O
IF !Sync_I && Sync_O THEN SET Sync_Cleared_M
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;async
;--show a message if the Input changes
IF Async_I THEN Async_W = INP13_GREEN_MSG, MSG Async_W, SET Async_O
IF !Async_I THEN Async_W = INP13_RED_MSG , MSG Async_W, RST Async_O
;=============================================================================
SetErrorStage
;=============================================================================
IF 1==1 THEN MSG Sync_W
;if the message has been cleared, reset this stage to allow Async messages
IF Sync_W == NO_SYNC_MSG && Sync_Cleared_M THEN RST SetError
The sample plcmsg.txt file use for the above example is:
1 9001 Input 13 Green 2 9002 Input 13 Red 3 9003 Input 14 Green 99 9099 No SYNC Message 100 9010 No ASYNC Message
plcmsg.txt
The plcmsg.txt file contains a list of all the messages that the PLC can send to CNC11. This facility is used to notify the user of status changes and fault conditions. The typical messages should not be overwritten by new custom messages, rather new numbers should be added. The format for each line of the plcmsg.txt file is as follows.
MessageNumber MessageLogNumber Message
There are three fields separated by one space each that must be setup for a line to be valid and usable. If the line is not formed correctly, you will not know it until the message is trying to display. The MessageNumber field is exactly the same number as the Message Number in the above table. The MessageLogNumber causes the printed message to be put in the msglog.txt file so that problems can be diagnosed by Tech. Support. The 9xxx series messages are reserved for PLC program usage. Make sure the Log Level is set to 4 in parameter 140 to ensure the messages are logged. Message is the useful text that will be printed along with the MessageLogNumber. It should contain a pithy message that informs the user about the change that occurred. All text to the end of the line is printed so no comments are allowed in this file. The standard plcmsg.txt file is listed below.
1 9001 PLC Execution Fault 5 9005 Axis 1 Communication In Fault 6 9006 Axis 2 Communication In Fault 7 9007 Axis 3 Communication In Fault 8 9008 Axis 4 Communication In Fault
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9 9009 Axis 5 Communication In Fault 10 9010 Axis 6 Communication In Fault 11 9011 Axis 7 Communication In Fault 12 9012 Axis 8 Communication In Fault 13 9013 Axis 1 Communication Out Fault 14 9014 Axis 2 Communication Out Fault 15 9015 Axis 3 Communication Out Fault 16 9016 Axis 4 Communication Out Fault 17 9017 Axis 5 Communication Out Fault 18 9018 Axis 6 Communication Out Fault 19 9019 Axis 7 Communication Out Fault 20 9020 Axis 8 Communication Out Fault 21 9021 Axis Faults Cleared 22 9022 PLC Communication In Fault (Fiber 3) 23 9023 PLC Communication Out Fault (Fiber 1) 24 9024 PLC Faults Cleared 34 9034 FAULT! REMOVE PROBE FROM SPINDLE!!! 35 9035 KEYBOARD JOGGING DISABLED 36 9036 LUBE FAULT 37 9037 PROBE TRIPPED WHILE JOGGING 38 9038 SPECIFIED SPIN SPEED < MIN SPIN SPEED 39 9039 Software Ready Fault 50 9050 Auto Coolant Mode 51 9051 Manual Coolant Mode 99 9099 Message Cleared 100 9100 BAD MESSAGE VALUE

System Variables – SV_...

System Variable names cannot be used verbatim as constant value labels, variable names, or as the beginning of either. Removing the underscores from the name, for example, gets around this problem. Attempting to do so will cause the program to fail at compile time.

Data Type Name

All of the names of Data Types used in the PLC program are not allowed to be used as constant value labels or variable names. This means that INP1 is invalid as is just INP. Attempting to do so will cause the program to fail at compile time.

Indexes – Data Type[Data Type or Constant]

Using the Index ability is useful when writing generic programs that allow users to set an Input or Output that they want a function to occur at in parameters. It is very important to check for
Index Out of Range errors if this functionality is used. The default value for the PLC Program
parameters is 0.0 and all Data types start at 1, so an Index Out of Range error would occur right away. This cannot be used with System Variables. In the following example Parameter 171 is checked to make sure it is within a certain range, then an Output number is set based on the information it finds.
p171_W IS W1
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LubeOut_W IS W2
;read the parameter
IF 1==1 THEN p171_W = SV_MACHINE_PARAMETER_171
;make sure the parameter is in range, if not default value is used
IF ( p171_W <= 0) || ( p171_W >= 10) THEN LubeOut_W = 2
IF !(( p171_W <= 0) || ( p171_W >= 10)) THEN LubeOut_W = p171_W
;set output based on parameter
IF SV_PROGRAM_RUNNING || SV_MDI_MODE THEN (OUT[LubeOut_W])

Range Selection – '..'

This functionality allows setting or resetting of Bit type Variables including System Variables. Two dots are placed a space apart from the beginning variable and ending variable. All variables between and including the two book-end variables are either SET or RST, regardless of whether they are being used for anything else or if they have a label. This can be useful in error conditions if you want to turn off all Outputs or Stages. Usage is as follows.
IF JPI1 THEN (PD1)
IF PD1 THEN RST OUT1 .. Out80
IF JPI2 THEN (PD2)
IF PD2 THEN SET OUT80 .. OUT1

DUMP

The DUMP command causes CNC11 to print the values stored in all of the first 64 Words, Double Words, Floating-point Words, and Double-Floating-point Words to debug_dump0.txt in the cncm or cnct directory. DUMP should only be used sparingly and then only when debugging the initial implementation of a PLC program because of the cost of writing data to a file on the hard disk. This is useful for making sure Floating-point variables are correct. An example of using this is as follows.
IF JPI1 THEN (PD1)
IF PD1 THEN DUMP

Operators

The operators in a PLC program are used to compare data, to set one piece of data equal to another, invert the data, etc. There are both unary and binary operators in CNC11. The unary operators only require one variable or piece of data to operate. An example of this is inverting a memory bit like this !MEM1 or turning a Memory Bit on like SET MEM1. A binary operator requires two pieces of data that are the same type. Examples of using a binary operator are
W1 >= W2 and W3=W4. There are no Bitwise Operators at present. This means that bit masking
cannot be done by ANDing or ORing constant values with a Word. It can be done by setting
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and resetting bits and shifting as well. The following operators are all valid in a CNC11 PLC
program.

Assignment – =

The equals sign is used to set a Word or Timer on the left of the equals sign to a Word, Timer or numerical value on the right of the equals sign. Some examples are listed below.
IF 1==1 THEN W1 = 10 ;Word1 is set to an integer value of 10
IF 1==1 THEN T1 = W1 ;Timer1 is also set to an integer value of 10 representing 10 ms
IF 1==1 THEN FW1 = 2.5 ;Floating-point Word1 is set to 2.5

Set – SET

SET turns on any of the Bit variables. The bit value is set to 1 and evaluates to true when checked. That is to say that any of the Outputs, Memory Bits, Timers, Stages, Fast-Stages and System Variables that are bits can have this keyword used on them. One-Shots cannot be SET. An example of using this is IF 1==1 then SET MEM1.
Data Types that can be used with SET Example of using SET
Memory Bits
Outputs
Inputs
Timers
Stages
Fast Stages
One-Shots
IF 1==1 THEN SET MEM2
IF 1==1 THEN SET OUT2
IF 1==1 THEN SET INP2
IF 1==1 THEN SET T2
IF 1==1 THEN SET STG2
IF 1==1 THEN SET FSTG2
IF 1==1 THEN SET PD2

Reset – RST

Reset turns off any of the Bit variables. The bit value is set to 0 and evaluates to false when checked. That is to say that any of the Outputs, Memory Bits, Timers, Stages, Fast-Stages and System Variables that are bits can have this keyword used on them. One-Shots cannot be RST. An example of using this is IF 1==1 then RST MEM2.
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Data Types that can be used with RST Example of using RST
Memory Bits
Outputs
Inputs
Timers
Stages
Fast Stages
One-Shots
IF 1==1 THEN RST MEM2
IF 1==1 THEN RST OUT2
IF 1==1 THEN RST INP2
IF 1==1 THEN RST T2
IF 1==1 THEN RST STG2
IF 1==1 THEN RST FSTG2
IF 1==1 THEN RST PD2

Output Coil – ()

Output Coils are used to SET or RST any bit output based on the conditions before the THEN. If the test in the IF is true the output is SET, whereas if the test is false then the output is RST. The use of parenthesis does not constitute Output Coils unless they are used to the right of THEN on any program line. Output Coils cannot be used on Words. Be careful when using Coils because they can cause logical problems in your program. Do not put a variable in Coils on one line and then try to SET or RST it somewhere else in the program as well because it will change while moving through the PLC program and may have surprising results. If you are going to use a variable in Coils, all of the logic to turn it on or off must be on the same line to avoid trouble. Coils cannot be used on Timer Data types to start them counting because they are generally guaranteed to be turned off again on the very next pass of the PLC program. Some examples are shown below to illustrate some Coil concepts.
;basic Coil usage
IF 1==1 THEN (OUT1) ;always turn on OUT1
IF MEM1 THEN (OUT2); SET OUT2 if MEM1 is SET and RST OUT2 if MEM1 is RST
;potentially problematic Coil usage
IF MEM1 || INP5 THEN (OUT4) ;OUT4 is guaranteed to be SET or RST by this line
IF MEM3 THEN SET OUT4 ;OUT4 may be SET by this line if MEM3 is SET
IF INP10 THEN RST OUT4 ;OUT4 may be RST by this line if INP10 is SET
;better usage of Coil
IF (MEM1 || INP5) || MEM3 && !INP10 THEN (OUT4) ;all logic combined

Jump – JMP

Jump RSTs the current Stage and SETs another one. See Stages for the effects of turning on or off a stage. Execution does not jump around in the PLC program as in Assembler, but typically the stages are written one after the other so in essence it will move to that one. A sample usage of Jump is IF 1==1 THEN JMP STG3. If a JMP is called such that the current Stage
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is the stage being jumped to, then the Stage will still be set next time through the PLC program. Jump can only be used on Stage variables. It is not advised to JMP out of the
MainStage, whereas it should be done out of the InitialStage. If you jump out of the MainStage
and no other stages are set, you must exit CNC11 and reboot the MPU11.
;typical usage
InitialStage
IF 1==1 THEN JMP MainStage ;InitialStage is RST and MainStage is SET.

Basic Math Operators – *, \, +, -, %

These are the basic four math functions, multiplication, division, addition and subtraction plus the Modulus operator. They are all binary operators. These operators are allowed to be used on Word types only. The modulus operator, %, is used to find the remainder of the division of two numbers.
Note that the calculation is done and then changed to the appropriate type when the value is assigned to a variable. Assignment of floating-point values to Integer Words results in the decimal point value being truncated. This means that IF 1==1 THEN W1 = 2.5*1 will result in W1 being set to 2. The following examples illustrate usage of some of the operators.
;multiplication
IF 1==1 THEN W1 = 15*2; W1 is set to 30
IF 1==1 THEN FW1 = 0.5*SV_MPU11_ABS_POS_0; FW1 = half of current encoder counts for axis 1
;division
IF 1==1 THEN W2 = 128 / 2; W1 is set to 64
;Modulus
IF 1==1 THEN W3 = 15 % 2; W3 is set to 1 because 15/2 = 7R1
IF 1==1 THEN W4 = 128 % 15; W4 is set to 8 because 128/15 = 8R8

Relational Operators – <, >, <=, >=, !=, ==

Relational Operators are only valid when comparing Words, Word type System Variables and Timers. Bit type variables cannot be compared with these operators. A relational operator compares two variables of the same type and results in a 1 or 0 as the output.
Be aware that checking Timers with Relational Operators does not indicate anything about whether the Timer has expired or not. It merely compares against the current count of ms since the Timer was Set.
Less Than or < checks to see if the variable on the left is less than the value on the right to evaluate to true.
Less Than Or Equal or <= checks to see if the variable to the left is less than or equal to the variable on the right to evaluate to true.
Greater Than or > checks to see of the value on the left is greater than the value on the right to evaluate to true.
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Greater Than Or Equal checks to see if the value on the left is greater than or equal to the value on the right to evaluate to true.
Not Equal or != checks to see if two variables are not exactly equal to evaluate to true. Note that Floating-point != checks will most likely fail on calculated values due to rounding error. >= or <= should be used instead to check Floating-point numbers.
Is Exactly Equal To or == checks to see if two variables are exactly equal to each other to evaluate to true. The same warning applies to == as != about Floating-point numbers.
The following examples show how a sample PLC program line looks with a Relational Operator on it.
IF 1==1 THEN W1 = 10, W2 = 10
IF W1 > W2 THEN (OUT1) ;Out1 is RST because W1 is not greater than W2
IF W1 == W2 THEN (OUT2) ;Out2 is SET because W1 is equal to W2

Logical Operators – !,&&, ||, XOR or ^

Logical Operators are used to compare or change the state of Bit type variables including System Variables.
&& is the operator for AND. This means that both sides of the operator must be true to have
the statement evaluate to true. The following truth table shows all the options for evaluating a binary expression.
Left Side Right Side Result
0 0 0
0 1 0
1 0 0
1 1 1
|| is the operator for OR. This means that only one side of the operator needs to be true for
the statement to evaluate to true.
Left Side Right Side Result
0 0 0
0 1 1
1 0 1
1 1 1
XOR or ^ are the operators for Exclusive OR. This means that one of the sides of the operator
must be true and the other false to have the statement evaluate to true.
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Left Side Right Side Result
0 0 0
0 1 1
1 0 1
1 1 0
The ! is a unary operator for NOT that inverts the state of a bit whether it is true or false.
Bit Value Result
0 1
1 0
Logical Operators cannot be used on Word Type variables. The results of multiple Relational checks can be combined with Logical checks for more complex statements, however. All of the following lines are valid PLC code. Often it increases readability to use parentheses around conditions to ensure correct interpretations.
IF MEM1 && INP2 THEN (OUT1)
IF (W1 > W2) || !MEM4 THEN (OUT5)
IF !MEM1 && INP2 || STG1 || FSTG1 && OUT3 XOR PD1 && T3 XOR SV_PC_POWER_AXIS_1 THEN (OUT6)

Convert to Word – BTW

BTW takes a range of Inputs, Outputs or Memory Bits and does a binary to decimal conversion, storing the result in a Word. The default number of bits is 8, but a value of 1 to 32 is allowed. The first Bit is treated as the Least Significant Bit and the next bit is the next highest number of Input, Output, Memory Bit. For example MEM1 to MEM8 are set, from lowest to highest, as 0110 0100 where 0 is red and 1 is green. When BTW is executed the number is converted as 2+4+32 = 38 decimal. Note that the number of bits specified is a count number to use rather than a specific Bit number to convert up to and including. This means, starting at Bit 0, how many of the bits should be converted. The following example will setup the bits as the example above in code.
;setup the binary information
IF 1==1 THEN RST MEM1, SET MEM2, SET MEM3, RST MEM4
, RST MEM5, SET MEM6, RST MEM7, RST MEM8
;evaluate the Memory Bits as a Binary number and convert it to Decimal, storing in W1
IF 1==1 THEN BTW W1 MEM1

Convert to Binary – WTB

WTB converts a Word type variable to Binary and writes to Outputs or Memory Bits. By default the lowest 8-bits of Binary are written. The lowest bit goes into the first bit and so on
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up to the highest Bit. An Integer number from 1-32 can be specified to print from 1 to 32 of the Binary bits to either Memory or Output locations.
Note that the number of bits specified is a count number to use rather than a specific Bit number to convert up to and including. This means, starting at Bit 0, how many of the bits should be converted.
Note that the Binary bits will write to the next consecutive bits regardless of any other meaning in the PLC program. If you do a default WTB in a Memory section that only has 5 free bits, three of them will change something you likely do not want to change.
For example the Word W1 has a value of 12345 in decimal notation and 11000000111001 in Binary notation. A standard WTB W1 MEM1 will print 00111001 with the Least Significant Bit written to MEM1 and the Most Significant Bit written to MEM8 as seen on PLC Diagnostics. In the first example the default WTB is used and 8 bits will be written out. In the second example 12 bits will be written to OUT17 to OUT28.
Data Types that can be used with WTB Example using WTB
Memory Bits
Outputs
IF 1==1 THEN WTB W5 MEM10
IF 1==1 THEN WTB W5 OUT17 12

Convert to Binary Coded Decimal – BCD

BCD is used primarily for interfacing with external devices that need information in Binary Coded Decimal format. BCD is different than Binary in that each number in a decimal number is converted to a 4-bit binary number.
This means that to represent the decimal number 125 in BCD the number must be broken up into the ones, tens and hundreds positions and each of those numbers is converted to a Binary number. The Binary numbers for 1, 2, and 5 are 0001 0010 0101 which is the BCD version of 125.
The following table shows the conversion for the Decimal and BCD values. To use this feature on outputs, four outputs must be used for each place in decimal that the external device will be looking for. In the case of an ATC with 24 tools two sets of four outputs must be used to represent all possible numbers. An example of using the BCD command is: IF 1==1 THEN BCD
W2. The Word can then be sent to the correct Outputs with the WTB command.
Note that the largest Decimal value that can be converted is 8 digits because only 32-bit Integer Words can be used for the BCD command. This gives 32-bits divided by 4 bits gives 8 decimal places. This means that the BCD of a number greater than 99,999,999 is invalid and undefined. For reference, the bits higher than 8 places are truncated and cannot be recovered.
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Decimal BCD
0 0000
1 0001
2 0010
3 0011
4 0100
5 0101
6 0110
7 0111
8 1000
9 1001

Convert from Binary Coded Decimal – BIN

BIN converts a Word value that is in BCD format to standard Binary format. When the Word is displayed on the PLC Diagnostic Screen it is shown as a Decimal number. The WTB command can be used to then print the Binary version of the number to Memory Bits or Outputs if desired. A simple use case of the BIN command is IF 1==1 THEN BIN W1.
Note that there is no checking on the BCD number to determine if it is a valid BCD number. There are many invalid BCD numbers in each group of four digits, which could be
checked in a PLC program. In every group any BCD number greater than 1001 or 9 is invalid because in decimal notation each place can only hold 0-9. For example a BCD number 57004 is completely invalid because in Binary it is 1101 1110 1010 1100 all of which are above 1001.
One way to test the BCD number is outlined below.
;read the 4 bits in from inputs for one BCD number
IF 1==1 THEN BTW W1 INP1 4
;create a copy of the word
IF 1==1 THEN W2 = W1
;convert the BCD number to Binary
IF 1==1 THEN BIN W2
;convert the now Binary number back to BCD
IF 1==1 THEN BCD W2
;check to see if they are the same BCD again
IF W2 != W1 THEN SET BCD_Fault_MEM, AsyncW = 258, MSG AsyncW

Set or Reset a Bit in a Word – BITSET / BITRST

When manipulating binary data it is often desirable to SET or RST only certain bits in the data.
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BITSET and BITRST can by used on Words or Word Type System Variables. Depending on the command used, the specified bit from 0-31 will be changed in the specified Word. Some System Variables that are Integer Word values are actually 16 to 32 different Binary Bits that can be checked, for example SV_PC_CYCLONE_STATUS_1. Note that the Bit number range is different than the one used in WTB and BTW. The Bit number is the actual Bit that is checked. Because Bit numbering starts at zero, when you reference a Bit by number you are checking the “Bit number + 1” Bit.
IF 1==1 THEN BITSET SV_PLC_DEBOUNCE_1 5 ;Turn on Bit 6 in the first Debounce SV
IF 1==1 THEN BITRST W2 20 ;Turn off Bit 21 in Word 2

Check if a Bit is Set in a Word – BITTST

BITTST checks the specified bit in the specified Word or System Variable and SETs a Memory
Bit if true and RSTs the Memory Bit if it is false. The range of bits that can be tested is 0-31. Note that the Bit number range is different than the one used in WTB and BTW. The Bit number is the actual Bit that is checked. Because Bit numbering starts at zero, when you reference a Bit by number you are checking the “Bit number + 1” Bit. In the example below Word number one, Bit 17 is checked and the state of it is copied to Memory Bit one.
IF 1==1 THEN BITTST W1 16 MEM1

Left / Right Shift Bits in a Word – LSHIFT/RSHIFT

Left and Right Shift are used on Words to move bits to the left or right. Right Shift is a Logical Shift rather than an Arithmetic Shift. This means that, as data is shifted, upper bit positions will always be filled with zero.
A pictorial example of shifting is in the following table with the same commands shown in code afterwards. The left shifting adds zeroes to the right-hand side to bump the number to the left first. The decimal value is 3735928559 originally and then after the left shift it becomes 4009754624. Finally, the right shift adds zeroes to the left-hand side to bump the number to the right and generate a decimal 61184. Notice that this acts as a mask and removes all except the second 8-bits.
Operation Binary 32-bit Word value
Original Value 1101 1110 1010 1101 1011 1110 1110 1111
Left Shift 24 bits 1110 1111 0000 0000 0000 0000 0000 0000
Right Shift 16 bits 0000 0000 0000 0000 1110 1111 0000 0000
IF 1==1 THEN LSHIFT W1 24
IF 1==1 THEN RSHIFT W1 16

Trigonometric Functions – SIN, ASIN, COS, ACOS, TAN, ATAN2

Trig. Functions Sine, ArcSine, Cosine, ArcCosine, Tangent and ArcTangent2 are available in
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the PLC program. That being said, they should not be used except when it cannot in any way be done in G-Code because of the significant time requirement to calculate any of the Trig. Functions.
The values sent into the Trigonometric Functions must be in Radians, not Degrees. If you do SIN(30) the answer you will get is approximately -0.98803162, which is obviously not the SIN(30 degrees) = 0.5. To convert a degree value to Radians, multiply by PI and divide by 180 degrees. It is best to setup a constant in the InitialStage to avoid excessive computation and significantly reduce typographical errors. All of the valid Trig. Functions are used in the following program.
;/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\
;Program: trig.src
;Purpose: Show that the Trig functions work correctly
;Date: 23-APR-2010
;/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\
PI IS 3.1415926535897932384626433832795
DEG_TO_RAD IS (PI/180)
RAD_TO_DEG IS (180/PI)
DoneOut IS OUT1; SET when done calculating
rad_deg1_FW IS FW1 ;sin angle in radians
rad_deg2_FW IS FW2 ;cos angle in radians
rad_deg3_FW IS FW3 ;tan angle in radians
calc_sin_FW IS FW4 ;calculated sin
calc_cos_FW IS FW5 ;calculated cos
calc_tan_FW IS FW6 ;calculated tan
calc_asin_FW IS FW7 ;calculated arcsin in degrees
calc_acos_FW IS FW8 ;calculated arccos in degrees
calc_atan2_FW IS FW9 ;calculated atan2 in degrees
InitialStage IS STG1
MainStage IS STG2
;======================================================================
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InitialStage
;======================================================================
IF 1==1 THEN rad_deg1_FW = 30 * DEG_TO_RAD ;sample degree values must -
IF 1==1 THEN rad_deg2_FW = 60 * DEG_TO_RAD ;get converted to radians -
IF 1==1 THEN rad_deg3_FW = 45 * DEG_TO_RAD ;for Trig Functions
IF 1==1 THEN calc_sin_FW = SIN (rad_deg1_FW) ;calc sin, cos, tan -
IF 1==1 THEN calc_cos_FW = COS (rad_deg2_FW) ;of 30 deg
IF 1==1 THEN calc_tan_FW = TAN (rad_deg3_FW) ;
;calc arcsin
IF 1==1 THEN calc_asin_FW = ASIN (calc_sin_FW)
;calc arccos
IF 1==1 THEN calc_acos_FW = ACOS (calc_cos_FW)
;calc atan2
IF 1==1 THEN calc_atan2_FW = ATAN2 (calc_tan_FW, calc_tan_FW)
IF 1==1 THEN calc_asin_FW = calc_asin_FW * RAD_TO_DEG ;
IF 1==1 THEN calc_acos_FW = calc_acos_FW * RAD_TO_DEG ;convert to deg.
IF 1==1 THEN calc_atan2_FW = calc_atan2_FW * RAD_TO_DEG ;
IF 1==1 THEN JMP MainStage
;======================================================================
MainStage
;======================================================================
IF JPI1 THEN (PD1)
IF PD1 THEN DUMP, RST MainStage
The following list shows what the results are from the above calculations. You can follow along on your PC with the calculator as long as you enter the first three values in Radians.
PLC Dump Start
FW1: 0.52359879 FW2: 1.04719758
FW3: 0.78539819 FW4: 0.50000000
FW5: 0.49999997 FW6: 1.00000012
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FW7:30.00000000 FW8:60.00000000
FW9:45.00000000

Square Root – SQRT

The square root of a number is a different number that, when multiplied by itself results in the given number. Numbers that have the square root taken of them should be stored into a Floating-point Word or Double-Floating-point Word because they will most likely be non­Integer numbers. SQRT results can be stored into a Word, but the non-Integer portion will be truncated. This operation should rarely be used due to the time intensive nature of the operation.
An example of using the SQRT function follows.
IntSqrt_W IS W1
Sqrt_FW IS FW1
;take the sqare root of 2 and store to a Floating-point Word
IF 1==1 THEN Sqrt_FW = SQRT (2) ;returns 1.41421354
;take the sqare root of 17 and store to a Word
IF 1==1 THEN IntSqrt_W = SQRT(17) ;returns 4.12310562, but 4 stored into the Word

Raise Number to a Power – POW

Raising a number to a power means multiplying the number by itself some number of times. The POW command takes two arguments, the first being the number to raise and the second being the number of times to multiply the first by itself. Both numbers can be floating-point values. If the second number is relatively small, it is usually faster to just multiply the number out, for example 2*2*2 instead of 23. The following example shows how to use the POW command.
pow_FW IS FW1
pow2_FW IS FW2
;raise 2 to the 3rd power
IF 1==1 THEN pow_FW = POW(2, 3) ;returns 8.00000000
;raise 2 to the 3.5th power
IF 1==1 THEN pow2_FW = POW(2, 3.5) ;returns 11.31370831
;raise 300 to the 1/8th power
IF 1==1 THEN pow3_FW = POW(300, 0.125) ;returns 2.04004693
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Standard PLC Program Layout

A PLC program is laid out with all definitions at the top of the program until the first IF statement is used. From then on no more definitions are allowed and will generate an error at compile time. When the PLC program is executed it runs from top to bottom and executes every line except under certain circumstances, specifically Stages. Top to bottom execution can lead to logic errors where something is SET in one part of the program and then reset somewhere else. Wherever possible all conditions that could change an output should be gathered together.
The basic functionality described in this chapter is based on the basic DC3IOB PLC program.
The PLC program needs to have certain sections to achieve a minimum of real-world functionality as outlined in this chapter. The PLC program should always check all of the connections between the MPU11, the PLC board including miniPLC boards and the drive board. In order for a Jog Panel or Keyboard Jogging to work they must be written into the PLC program.
Definitions are used to make reading the program easier and as such, the names used for the definitions should reflect the function and polarity when tripped, on or Green in PLC Diagnostics. This means that if a variable is Normally Closed it is named something like
XminusLimitOk. The logic to check it becomes IF !XMinusLimitOk THEN SET MEM9. If the variable
is Normally Open, the naming should be inverted. For a Normally Open Lube Fault input the logic to check it becomes IF LubeFault THEN SET MEM90.
At a minimum a WatchDogStage, InitialStage and MainStage should be used in every PLC program. The basic PLC program has many more stages for things like spindle control, Lube timers, Checking System Variables, etc. The InitialStage is used to setup any timers and default states. The MainStage is set in the InitialStage which then resets itself and is never SET again while CNC11 is running. This means that the InitialStage will only run once for each time the CNC software starts. Exiting CNC11 and restarting it causes the InitialStage to run again.

Defining Variables

Any variable is defined by having the label set to a valid data type using the keyword IS. Further examples can be seen for each data type under Data Types.

Initial-Condition Setup

The on/off state of various modes of operation such as Auto/Manual Coolant, Fast/Slow Jogging, etc. must be set by the PLC program because everything defaults to off. It is desirable to do this without having to push the buttons to set the states the first time because being off means something as much as being on. For example, if the Fast/Slow Jog mode is not actively set, it defaults to Fast Jog. The convention is to use a Memory Bit called
OnAtPowerUp. It is SET in the InitialStage and RST at the end of the MainStage. This means that
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all setup should be done inside the MainStage or before the MainStage executes. This influences the location of the MainStage in a program if setup is done in other Stages with this Memory Bit because if you RST it at the end of the MainStage and reference it after the
MainStage, it will be false and not everything will be setup as desired. Typical things that
should be setup with this variable are the Spindle Override percentage, Auto/Manual Spindle Mode, Spindle Direction, Auto/Manual Coolant Mode, Incremental/Continuous Jogging, Incremental Jog Distance Multiplier and Fast/Slow Jog Mode. An example of setting the Spindle Mode follows.
;--Set spindle to auto mode on startup
;--explanation
;IF (Jog-Panel-Key AND Not-In-Auto-Spindle-Mode) OR First-time-through-the-Program
; Then turn on Auto-Spindle-Mode
;--actual code
IF (SpinAutoManPD && !SpinAutoModeLED) || OnAtPowerUp
THEN SET SpinAutoModeLED

Internal PLC Fault and Software Running Checking

Just before the InitialStage there should be a Stage that checks for catastrophic PLC problems and also CNC11 to be running. Problems currently consist of dividing by zero, invalid op-code and index out of bounds. If any of these errors occurs the PLC executor immediately stops executing the program and starts over again at the beginning. This is why it is important to check these errors in the first Stage before any division or Index usage occurs.

PLC Fault Status

The procedure is to see if any of the three errors are set and if they are, read the related System Variables to Words and use the PLC messaging functionality to tell the user. Note that to generate the invalid op-code error the compiled PLC program must be changed at the hexadecimal level, so it is a very hard error to generate. No sample is given for this case as it involves manipulating the compiled program. A sample program follows that only checks for the three errors. To get either of the divide by zero or index out of bounds errors comment in either of the sections in the MainStage. Note that only the first error to occur will be generated due to the nature of these errors.

Software Ready

The SV_PC_SOFTWARE_READY Bit is checked to see if CNC11 is running. This is mostly used if CNC11 crashes to prevent motion, too changes, etc. SV_STOP is set which will cause E-Stop be activated. When the software starts again, E-Stop must be cycled and then motion can be commanded again. SV_STOP is SET and the InitialStage is run whenever the software starts up again.
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Checking PLC Fault and Software Ready

;-----------------------------------------------------------------------------
WatchDogStage
;-----------------------------------------------------------------------------
;Handle PLC executor faults. The only way to reset a PLC executor fault
;is to reboot the MPU11.
IF SV_PLC_FAULT_STATUS != 0 THEN
PLC_Fault_W = SV_PLC_FAULT_STATUS,
PLCFaultAddr_W = SV_PLC_FAULT_ADDRESS,
ErrorCode_W = PLC_EXECUTOR_FLT_MSG, MSG ErrorCode_W,
SET PLCExecutorFault_M,
RST SetErrorStage,
SET SV_STOP
;Handle software exit.
IF !SV_PC_SOFTWARE_READY && (SV_PLC_FAULT_STATUS == 0) THEN
SET SoftwareReady_M,
SET SV_STOP,
ErrorCode_W = SOFTWARE_EXIT_MSG
IF SV_PC_SOFTWARE_READY && (SV_PLC_FAULT_STATUS == 0) THEN (SoftwareReadyPD)
IF SoftwareReadyPD && !SoftwareReady_M || !true_M THEN SET InitialStage
IF SoftwareReadyPD && SoftwareReady_M THEN RST SoftwareReady_M
;-----------------------------------------------------------------------------
MainStage
;-----------------------------------------------------------------------------
;This is just sample code to generate the errors, they should not actually be done in a ;real PLC program
;divide by zero
;If 1==1 THEN Word2 = 10/0
;index out of bounds
;IF 1==1 THEN Word3 = 2500, Word4 = 2500
;IF 1==1 THEN Word5 = Word3 + Word4
;IF 1==1 THEN SET OUT[Word5]
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Jog Panel and Keyboard Jogging

This is a significant part of the PLC program and as such is not transcribed from the basic program.
Nearly all Jog Panel functions that can be caused by key presses require Keyboard Jogging to be SET in Parameter 170 bit 0 and RST in Parameter 148 bit 1. The exceptions are Escape and Rapid Override.
There are some keys that require the Keyboard Jog Panel to be on screen as well as have Keyboard Jogging enabled. These functions are primarily limited to Jogging.

Axis Enable

Enabling an axis so it can be commanded to move is, in a typical PLC program, just copying one SV to another as shown below. This gives control to the PLC program so that if other conditions need to be checked before allowing an axis to be enabled, they can be implemented here. While this is all that is strictly required to enable the axis for motion, the Fiber Checking section must be included as well the make sure the connections between the MPU11 and drives are good.
IF (SV_PC_POWER_AXIS_1) THEN (SV_ENABLE_AXIS_1)
IF (SV_PC_POWER_AXIS_2) THEN (SV_ENABLE_AXIS_2)
IF (SV_PC_POWER_AXIS_3) THEN (SV_ENABLE_AXIS_3)
IF (SV_PC_POWER_AXIS_4) THEN (SV_ENABLE_AXIS_4)
IF (SV_PC_POWER_AXIS_5) THEN (SV_ENABLE_AXIS_5)
IF (SV_PC_POWER_AXIS_6) THEN (SV_ENABLE_AXIS_6)
IF (SV_PC_POWER_AXIS_7) THEN (SV_ENABLE_AXIS_7)
IF (SV_PC_POWER_AXIS_8) THEN (SV_ENABLE_AXIS_8)

Fiber/Wire Connection Checking

There are two kinds of communication used on MPU11 systems. The DriveBus is used for communication related to motor control and can be either fibers 4 and 5 or the Drive Communication wiring for expanding the number axes that can be controlled. The PLCBus is on fibers 1 and 3 and is used for controlling I/O. If the Buses are being used, the connections must be checked to ensure communication problems are not clouding troubleshooting.
Checking the connections only needs to be done a few times a second to be effective. This means having a stage that is set by a Timer to read the information. Both of the following sections use the same logic to check for errors, but the first checks both connection methods and the second only checks the PLCBus. The third section needs to be added if an expansion board is added to the PLC.
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Drive and PLCBus Checking

Presently the Optic4 and DC3IOB have DriveBus Fiber connections. The Optic4, DC3IOB and ALLIN1DC have Drive Communication In and/or Out Wire connections. The ALLIN1DC has an MPU11 on-board which means there are no visible Fiber connections, but the Drive and PLCBuses are still used and should be checked. If a system using 3rd party drives is used with more than four axes, the Optic4 must be used in conjunction with the GPIO4D and the DriveBus Fiber Checking must be done as well.
;-----------------------------------------------------------------------------
CheckCycloneStatusStage
;-----------------------------------------------------------------------------
IF true_M THEN WTB SV_PC_CYCLONE_STATUS_2 Axis1FiberOk_M
; Generate some messages for fiber or wire to MPU11 having issues
IF SV_AXIS_VALID_1 && !SV_DRIVE_ONLINE_1 THEN ErrorCode_W = AXIS1_INFLT,
SET DriveComFltIn_M
IF SV_AXIS_VALID_2 && !SV_DRIVE_ONLINE_2 THEN ErrorCode_W = AXIS2_INFLT,
SET DriveComFltIn_M
IF SV_AXIS_VALID_3 && !SV_DRIVE_ONLINE_3 THEN ErrorCode_W = AXIS3_INFLT,
SET DriveComFltIn_M
; Generate some messages for fiber or wire to drive having issues
IF SV_AXIS_VALID_1 && SV_DRIVE_ONLINE_1 && SV_MASTER_ENABLE && !Axis1FiberOk_M
THEN ErrorCode_W = AXIS1_OUTFLT, SET DriveComFltOut_M
IF SV_AXIS_VALID_2 && SV_DRIVE_ONLINE_2 && SV_MASTER_ENABLE && !Axis2FiberOk_M
THEN ErrorCode_W = AXIS2_OUTFLT, SET DriveComFltOut_M
IF SV_AXIS_VALID_3 && SV_DRIVE_ONLINE_3 && SV_MASTER_ENABLE && !Axis3FiberOk_M
THEN ErrorCode_W = AXIS3_OUTFLT, SET DriveComFltOut_M
If !EstopOk THEN RST DriveComFltIn_M, RST DriveComFltOut_M
If DriveComFltOut_M || DriveComFltIn_M THEN SET AxisFault_M
;check PLC status bit
IF true_M THEN BITTST SV_PC_CYCLONE_STATUS_1 21 PLCBusExtDevEn_M
;check input fiber
IF !SV_PLC_BUS_ONLINE THEN ErrorCode_W = PLC_INFLT, SET SetErrorStage,
RST PLCBus_Oe_M, SET PLCFault_M
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;check output fiber
IF SV_PLC_BUS_ONLINE && PLCBus_Oe_M && !PLCBusExtDevEn_M
THEN ErrorCode_W = PLC_OUTFLT, SET SetErrorStage, SET PLCFault_M
;clear PLC errors
IF PLCFault_M && SV_PLC_BUS_ONLINE && PLCBusExtDevEn_M && !EstopOk
THEN RST PLCFault_M, ErrorCode_W = PLC_FLT_CLR,
SET SetErrorStage, SET PLCBus_Oe_M
IF true_M THEN RST CheckCycloneStatusStage Axis1FiberOk_M

PLCBus Checking only

The GPIO4D communicates to the MPU11 only over the PLCBus. If a system only has a GPIO4D then only the PLCBus should be checked. This section details the PLC Fiber checking only. The errors are checked for and set in the AxesEnableStage.
;-----------------------------------------------------------------------------
CheckCycloneStatusStage
;-----------------------------------------------------------------------------
; Due to amount of time it takes to retrieve data from the cyclone, this stage
; is only called few times per second to help reduce scan time of the main PLC
; program.
;check PLC status bit
IF TRUE THEN BITTST SV_PC_CYCLONE_STATUS_1 21 PLCBusExtDevEn_M
;check input fiber
IF !SV_PLC_BUS_ONLINE THEN ErrorCode_W = PLC_INFLT, SET SetError,
RST PLCBus_Oe_M, SET PLCFault_M
;check output fiber
IF SV_PLC_BUS_ONLINE && PLCBus_Oe_M && !PLCBusExtDevEn_M
THEN ErrorCode_W = PLC_OUTFLT, SET SetError, SET PLCFault_M
;clear PLC errors
IF PLCFault_M && SV_PLC_BUS_ONLINE && PLCBusExtDevEn_M && !EstopOk
THEN RST PLCFault_M, ErrorCode_W = PLC_FLT_CLR, SET SetError, SET PLCBus_Oe_M
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if true THEN RST CheckCycloneStatus

MiniPLCBus Checking

This section should be added to any PLC program that uses the PLCADD1616 or ADD4AD4DA expansion boards. Specifically the checking should be added to the
CheckCycloneStatusStage. Only the MiniPLCBus Online bits are checked in this section, but
they should be added to the original Stage. Only the Expansion headers that are used should be checked. There is no equivalent to the SV_Axis_Valid_1 - _7 System Variables. Looking in the mpu_info.txt file will show what expansion boards are plugged in to the headers.
;add to Constant Defines
MINI_PLC_1_FLT_MSG IS (1 + 256*60); 15361
;add to CheckCycloneStatusStage
;check the first Expansion board
IF 1==1 THEN BITTST SV_PC_MINI_PLC_ONLINE 0 ADD1616ok1_M
IF !ADD1616ok1_M && PLCBus_Oe_M THEN
ErrorCode_W = MINI_PLC_1_FLT_MSG, SET SetErrorStage, SET PLCFault_M

LubeTimers

There are two options for setting up automatic lubing in the basic PLC program. The first type is used for Lube pumps with no timer internally. This means that the PLC program must turn the output on and off to power the Lube pump correctly. The second type is for Lube pumps with internal timers.

Lube Pump Internal Timer

;------------------------------------------------------------------------------
LubeUsePumpTimersStage
;------------------------------------------------------------------------------
; METHOD 1 (SS == 0) For lube pumps with internal timers.
;
; When using this method, P179 should be set such that MMM is a
; value that is greater than the cycle time set on the internal timers and
; SS should be set to zero. How much greater MMM needs to be depends on the
; accuracy of the lube pump timers, but it is better to be on the long side
; to ensure proper operation.
;
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; Example 1. The internal lube cycle interval is set to 60 minutes.
; Set P179 = 7500. In this example, as long as the accuracy
; of the lube timer interval causes the lube to turn on
; within 75 minutes, it will work. Note that the amount of time
; that lube is output is usually set with another timer control
; on the lube pump and it does not factor into the setting of P179.
;
; It should be noted that lube pumps with internal timers may differ on how
; they operate.
;
; (a) For pumps that lube immediately when power is applied and then start timing
; until the next cycle, it is possible to run out of lube quickly on short job
; runs if, after the program has been run, lube power is removed.
;
; (b) For pumps that do not lube until it has been turned on for the interval time,
; it is possible that lube never gets applied if, after the short program has been run,
; lube power is removed.
;
; A short program or job run is defined as a job that finishes before
; the interval setting (60 minutes in the above example).
;
; For the above mentioned reasons, we want the power to be applied for at least
; the amount of time set by the inteval timer, noting that if the user decides
; to engage the E-stop to remove power after short jobs, then they risk the
; above mentioned problems accoding to the type of pump.
;
; On the start of SV_PROGRAM_RUNNING, the lube pump turns on.
; The lube pump is turned off when a program has NOT been
; running continuously for MMM minutes or E-stop is engaged.
; The reason the lube pump is turned off after a program has NOT been
; running for MMM minutes is to prevent lubing when the user leaves for the
; weekend, leaving the machine on and E-stop disengaged.
IF SV_PROGRAM_RUNNING THEN SET Lube, RST LubeM_T
IF !SV_PROGRAM_RUNNING THEN LubeM_T = LubeM_W, SET LubeM_T
IF LubeM_T || !EStopOk THEN RST Lube
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Lube Pump External Timer

;------------------------------------------------------------------------------
LubeUsePLCTimersStage
;------------------------------------------------------------------------------
;
; METHOD 2 (SS != 0) For lube pumps that do not have internal timers.
;
; When using this method P179 should be set so the lube turns on
; every MMM minutes for SS seconds.
;
; Example 1.
; To set the lube pump power to come on for 5 seconds
; every 10 minutes, set P179 = 1005.
; MMMSS
; Example 2.
; To set the lube pump power to come on for 30 seconds
; every 2 hours, set P179 = 12030
; MMMSS
;
; This method will accumulate time while a program is running until
; it reaches MMM minutes, at which time it will apply power
; for SS seconds (unless E-stop is engaged) and then start over. It is
; possible with frequent use of E-stop that a lube cycle is cut short.
;
IF SV_PROGRAM_RUNNING THEN LubeM_T = LubeM_W, SET LubeM_T
IF !SV_PROGRAM_RUNNING THEN (StopRunning_PD)
IF StopRunning_PD THEN LubeAccumTime_W = LubeAccumTime_W + LubeM_T, RST LubeM_T
IF LubeM_T || (LubeAccumTime_W + LubeM_T > LubeM_W) THEN
SET Lube, LubeS_T = LubeS_W, SET LubeS_T, RST LubeM_T, LubeAccumTime_W = 0
IF LubeS_T || !EStopOk THEN RST Lube, RST LubeS_T

Feedrate Override

Feedrate Override allows changing the master feedrate or commanded velocity if it is enabled. The basic feedrate override starts by reading the Feedrate potentiometer then scaling it to 0% to 200% from 0 to 256. The program then determines whether the Feedrate
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knob or the keyboard feedrate keys should be applied to CNC11. The maximum value is limited by parameter 39. Parameter 78 allows the feedrate value to be adjusted down if the spindle speed does not keep up with the command so CNC11 gets to see if it wants to modify the Feedrate Override. Finally the PLC program has one last chance to change the new value coming back from CNC11, though typically it should not.
There is now a feature that allows using keyboard and Knob override at the same time. By default the Knob is used, but if the Feedrate Override keyboard keys are used, then the Feedrate override displayed is based on the Keyboard value and not the Knob value. When the Knob is turned again more than 3%, however that value is displayed.

Spindle Functionality

Spindle DAC Output

Precise spindle speed is controlled through an inverter by sending an analog signal from the PLC to tell the inverter what speed to go at. The inverter must be calibrated to the analog signal with a tachometer or spindle encoder. This section only details setting up the PLC side of inverter control. Spindle Digital to Analog output or DAC is set by the PLC Program based on the commanded Spindle Speed from the 'S' command in G-Code, the Spindle Override value and the Spindle Gear Ratio. The DAC Spindle Speed command won't be seen by MPU11 until the DoSpindleStart (SV_PLC_FUNCTION_37) goes from off to on or DoSpindleStop (SV_PLC_FUNCTION_38) goes from on to off. This means that the Spindle Start Key cannot be held down at boot and have the spindle start as the software starts. This is a good thing. Both or either one of the Start or Stop can be used to control turning the Spindle on and off. Keep in mind that every time the Start or Stop changes state in the program, the DAC output will be updated, either turning on or off. This means that in most cases you should choose one of the two variables to use, rather than both, to avoid confusion.
The Spindle Analog Output bits are mapped to different places on different PLCs. The following table outlines the MPU11 board and the outputs for the Spindle Analog.
PLC Spindle DAC Outputs
ALLIN1DC 241-252
DC3IOB 17-28
GPIO4D 305-316

Spindle Gear Ranges

The basic PLC programs have two ranges defined. Low Range and High Range. The High Range multiplier is taken from Parameter 33 and Low Range is taken from Parameter 65.
The example code is for a DC3IOB PLC program. The Inputs and Outputs for each of the standard PLC programs is detailed in Appendix E.
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MPG Operation

The MPG or Manual Pulse Generator can be used to supplement Jog buttons. This section is used to enable the MPG mode control in CNC11 for the standard Centroid CNC11 MPG. This includes provisions for up to 4 axis in the basic PLC program with three step amounts. Note that when the MPG is active, with the way this is programmed, jogging will not work. It can be written into the PLC program that when a Jog Key is pushed to turn off MPG mode temporarily. Windup mode is used to make sure that the motor moves all of the commanded steps that the MPG sent. This is not desirable in x100 mode because turning the MPG fast enough will result in motion well after the MPG has stopped turning.
;----------------------------------------------------------------
MPG_Stage
;----------------------------------------------------------------
; MPG Functions
; Turn on/off Jog Panel MPG LED & on the MPG
IF MPGKey then (MpgPD)
IF MpgPD && MPGLED then set MPGManOffFlag_M
IF !SV_MPG_1_ENABLED || (MpgPD && !MPGLED) then RST MPGManOffFlag_M
IF (MpgPD && !MPGLED) || (SV_MPG_1_ENABLED && !MPGManOffFlag_M) &&
!SV_PROGRAM_RUNNING THEN SET MPG_LED_OUT, SET MPGLED
IF (!SV_MPG_1_ENABLED || (MpgPD && MPGLED))
|| SV_PROGRAM_RUNNING THEN RST MPG_LED_OUT, RST MPGLED
;x1, x10, x100 functions
;--------------------------X1-----------------------------------
IF x1JogKey THEN (x1JogPD)
IF x1JogPD || OnAtPowerUp || X1_M || (MPG_Inc_X_1 && MPGLED)
THEN SET x1JogLED, RST x10JogLED, RST x100JogLED
;--------------------------X10----------------------------------
IF x10JogKey THEN (x10JogPD)
IF x10JogPD || X10_M || (MPG_Inc_X_10 && MPGLED)
THEN RST x1JogLED, SET x10JogLED, RST x100JogLED
;--------------------------X100---------------------------------
IF x100JogKey THEN (x100JogPD)
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IF x100JogPD || X100_M || (MPG_Inc_X_100 && MPGLED)
THEN RST x1JogLED, RST x10JogLED, SET x100JogLED
if !KbIncreaseJogInc_M && !KbDecreaseJogInc_M then rst X1_M, rst X10_M,
rst X100_M
; MPG 1 Enable
IF MPG_AXIS_1 || MPG_AXIS_2 || MPG_AXIS_3 || MPG_AXIS_4 ||
MPG_AXIS_5 || MPG_AXIS_6 || MPG_AXIS_7 || MPG_AXIS_8
THEN (SV_MPG_1_ENABLED)
; Select axis to move
IF MPG_AXIS_1 THEN SV_MPG_1_AXIS_SELECT = 1
IF MPG_AXIS_2 THEN SV_MPG_1_AXIS_SELECT = 2
IF MPG_AXIS_3 THEN SV_MPG_1_AXIS_SELECT = 3
IF MPG_AXIS_4 THEN SV_MPG_1_AXIS_SELECT = 4
; Select MPG 1 Multiplier
IF (MPG_Inc_X_100) THEN SV_MPG_1_MULTIPLIER = 100
IF (MPG_Inc_X_10) THEN SV_MPG_1_MULTIPLIER = 10
IF (MPG_Inc_X_1) THEN SV_MPG_1_MULTIPLIER = 1
; Disable "Windup" mode IF x100 selected
IF (!MPG_Inc_X_100) THEN (SV_MPG_1_WINDUP_MODE)

Coolant Control

Coolant refers to the Flood and Mist control. Automatic coolant does not allow turning on the outputs unless the M7/M8 macros are used. Pushing the key to turn off Automatic coolant will then allow manual only control where a button must be pushed to turn on/off the coolant.
;-----------------------------------------------------
; Coolant Functions
;-----------------------------------------------------
;--------------Toggle auto coolant mode---------------
IF CoolAutoManKey || KbTogCoolAutoMan_M THEN (CoolantAutoManualPD)
IF (!CoolAutoManLED && CoolantAutoManualPD) || OnAtPowerUp
THEN SET CoolAutoManLED
IF (CoolAutoManLED && CoolantAutoManualPD)
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THEN RST CoolAutoManLED
;------------Report coolant mode to CNC11-------------
IF CoolAutoManLED THEN (SelectCoolAutoMan)
;-----------Display coolant mode message--------------
;changing to auto coolant mode ;9050 Auto Coolant Selected 2 + 50*256
IF (!CoolAutoManLED && CoolantAutoManualPD)
THEN AsyncMsg_W = 12802, MSG AsyncMsg_W
;changing to manual coolant mode ;9051 Manual Coolant Selected 2 + 51*256
IF (CoolAutoManLED && CoolantAutoManualPD)
THEN AsyncMsg_W = 13058, MSG AsyncMsg_W;, AsyncMsg_W = 0
;--------------------------------------------------------------
; Flood coolant on/off
;--------------------------------------------------------------
IF ((CoolFloodKey || KbFloodOnOff_M) && !CoolAutoManLED) ||
(M8 && CoolAutoManLED) || (DoCycleStart && M8 && CoolAutoManLED)
THEN (CoolantFloodPD)
IF CoolantFloodPD && !CoolFloodLED THEN SET CoolFloodLED, SET Flood
IF SV_STOP || (CoolantFloodPD && CoolFloodLED) || (!M8 && CoolAutoManLED)
|| DoToolCheck THEN RST Flood, RST CoolFloodLED
IF CoolFloodLED THEN (SelectCoolantFlood)
;--------------------------------------------------------------
; Mist coolant on/off
;--------------------------------------------------------------
IF ((CoolMistKey || KbMistOnOff_M)&& !CoolAutoManLED) || (M7 && CoolAutoManLED)
|| (DoCycleStart && M7 && CoolAutoManLED) THEN (CoolantMistPD)
IF (CoolantMistPD && !CoolMistLED) THEN SET Mist, SET CoolMistLED
IF SV_STOP || (CoolantMistPD && CoolMistLED) || (M7 && CoolAutoManLED)
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|| DoToolCheck THEN RST Mist, RST CoolMistLED
IF CoolMistLED THEN (SelectCoolantMist)

Probe Protection

There is some minimal protection built into the default PLC program to try and protect against crashing a probe. If the Mechanical probe trips while jogging, a probe fault is triggered. Jogging is not allowed in the direction that was being commanded when the probe tripped until the probe is cleared.
;----------------------------------------------------------------
; Probe protection while jogging
;----------------------------------------------------------------
If MechnicalProbe && !JogProbeFault_M && (DoAx1PlusJog || DoAx1MinusJog ||
DoAx2PlusJog || DoAx2MinusJog || DoAx3PlusJog || DoAx3MinusJog ||
DoAx4PlusJog || DoAx4MinusJog || DoAx5PlusJog || DoAx5MinusJog)
THEN set JogProbeFault_M, (JogProbeFaultPD)
IF JogProbeFaultPD THEN set SV_Stop, ErrorCode_W = PROBE_JOG_FAULT_MSG
IF JogProbeFaultPD && DoAx1PlusJog THEN SET Ax1PlusJogDisabled_M
IF JogProbeFaultPD && DoAx1MinusJog THEN SET Ax1MinusJogDisabled_M
IF JogProbeFaultPD && DoAx2PlusJog THEN SET Ax2PlusJogDisabled_M
IF JogProbeFaultPD && DoAx2MInusJog THEN SET Ax2MinusJogDisabled_M
IF !MechnicalProbe THEN RST JogProbeFault_M,
RST Ax1PlusJogDisabled_M,
RST Ax1MinusJogDisabled_M,
RST Ax2PlusJogDisabled_M,
RST Ax2MinusJogDisabled_M
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PLC Optional Sections

This chapter covers optional sections of the PLC will go into detail about setting up the Debounce registers and inverting Inputs. There are several new features in CNC11 PLC programs, namely Input debounce and Input inversion. There is a standard value of 1.5 ms of debounce applied to all applicable PLC inputs and 18 ms debounce for the jog panel. No inputs are inverted by default. The PLC program can have debounce applied in excess of the standard value for a particularly noisy input.

Debounce or Invert Inputs

When a physical Input goes from on to off or vice-versa the PLC may see multiple transitions as the input turns on and off very quickly. Debounce is used to make sure that the Input is really on or really off. Once the Input is seen as on or off for the specified time, it is considered to be in that state and reported to the PLC program.
The PLCbus Inputs are Debounced at 1.5 ms by default, which is typically a decent value. Sometimes a switch is extra noisy and require more time to settle into a state. When that happens the debounce System Variables need to be adjusted. Debounce can be set for the first 240 PLCbus physical Inputs, 112 Jog Panel Inputs and 32 MPU11 Local I/O. They are all done with different System Variables, but the procedure is the same. The new Debounce values must be set every time the MPU11 boots, so a good place to do this is in the
InitialStage.
The Debounce procedure scans at a certain rate, which determines the speed that an Input can be Debounced. The following chart lays out the scan rate of each of the Input types with Debounce. Keep in mind that the number of consecutive states of an Input required is determined by dividing the desired Debounce time by the scan rate. For example to get 1.5 ms of Debounce on a standard Input requires 0.0015/0.0000625 = 24 scans. For reference 1 ms (millisecond) = 0.001 s and 1 μs (microsecond) = 0.000001 s.
Note that there are two different updates rates for the PLC Inputs depending on where the Input is located. The Inputs directly on-board the DC3IOB and GPIO4D, for example are updated at 16kHz, whereas the Inputs on the PLCADD1616 are updated at 4kHz. However, the scan time for debounce (62.5μs) is the same for all PLC and and PLC expansion devices. This means that even though the expansion devices update 4000 times per second they are checked at 16000 times per second. Therefore 16000/4000 = 4 times the number of scans must be done on an expansion board. Instead of doing 24 scans for 1.5 ms of debounce 96 scans must be done.
The minimum Debounce Time is 0 which equates to the base Scan Rate and the maximum Debounce Time of 32768 equates to 2.048 s for PLC and MPU11 Local Inputs and 24.576 s.
Always use Debounce Time 2 or greater when making a custom time because Debounce Time 1 is used by most Inputs by default and Debounce Time 0 is always 0 and cannot be modified.
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System Variable Name Scan Rate (μs) Applies to
SV_PLC_DEBOUNCE_1 to _64
SV_JOG_LINK_DEBOUNCE_1 to _32
SV_LOCAL_DEBOUNCE_1 to _13
62.5 PLC Inputs
750 Jog Panel Inputs
62.5 MPU11 On-board Inputs
The default values for all of the Debounce Inputs is listed below.
Default Debounce
Setting Value
Default Debounce
Time Value
Default Debounce
Time (ms)
PLC Inputs 1 24 1.5
Jog Panel Inputs 1 24 18
MPU11 Local I/O 1* 24 1.5
*Input 770 for the DSP Probe Defaults to 0. Do not change this value.
Each group of System Variables is broken up into two sections. The majority of the System Variables are used for Debounce Setting to apply to the Inputs and the last few are for setting up the Debounce Time. This means that there is not a separately named SV for the time and selecting what Input is used, just a different number. The following table illustrates which System Variables are for Inputs and which are for setting up the time.
System Variable Range Function
SV_PLC_DEBOUNCE_1 to _60
SV_PLC_DEBOUNCE_61 to _64
SV_JOG_LINK_DEBOUNCE_1 to _28
SV_JOG_LINK_DEBOUNCE_29 to _32
SV_LOCAL_DEBOUNCE_1 to _9
SV_LOCAL_DEBOUNCE_10 to _13
Select Debounce time to use for each Input
Choose number of scans to Debounce
Select Debounce time to use for each Input
Choose number of scans to Debounce
Select Debounce time to use for each Input
Choose number of scans to Debounce
For each of the three types of Debounced Input there are seven different times that can be used in total. This means that any Input can have one of seven different times applied to it for Debounce.
Each of the System Variables to setup Inputs are broken up into four 8 bit sections devoted to one Input each. The layout for SV_PLC_DEBOUNCE_1 is illustrated in the following table, but all of the System Variables for setting up Inputs are divided the same way.
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SV_PLC_DEBOUNCE_1 Bits Function
0-7 Input 1 Setting
8-15 Input 2 Setting
16-24 Input 3 Setting
25-31 Input 4 Setting
Each of the 8-bit Input Setting Bytes is laid out according to the following table.
Input Setting Bit Number Function
0 Debounce Time Select 1-7 in binary
1
1 = Time 1
...
2
111 = Time 7
3 reserved
4 reserved
5 reserved
6 Invert Input
7 Force Input On
In order to figure out which Debounce System Variable to use, divide the Input number by four and add one. PLC Input 211 is on 211 / 4 = 52.75 plus one gives 53.75 for SV_PLC_DEBOUNCE_53. The fractional component tells which of the four input bytes in the System Variable should be set to get the correct Input. In the example above 0.75 is ¾ which points to Byte 3 out of 4 or bits 16-24.
Setting up the Debounce Time System Variables is more strait forward because there are only four System Variables that can be setup for each Input type. Each of the System Variables is split into two 16-bit values with the lowest one in each category being unused. That is why only Debounce times from 1 to 7 are allowed to be customized. Debounce Time 0 is always set to 0 and cannot be modified. The following table illustrates the seven available Debounce Times by System Variable.
Debounce Time Sys. Vars. Debounce Time
SV_PLC_DEBOUNCE_61
0 – 15 always set to 0
16 – 31 Debounce Time 1
SV_PLC_DEBOUNCE_62
0 – 15 Debounce Time 2
16 – 31 Debounce Time 3
SV_PLC_DEBOUNCE_63
0 – 15 Debounce Time 4
16 – 31 Debounce Time 5
SV_PLC_DEBOUNCE_64
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0 – 15 Debounce Time 6
16 – 31 Debounce Time 7
There are several ways to setup the Debounce values. One option is to calculate out the bit values in decimal for all 32-bits and add them all up. Another option is to create each 8-bits for the Debounce Time or Debounce Setting in a temp Word and Left Shift the value up to the correct place in the Word then add it to the Debounce System Variable. As an example the following program reads sets up INP6 with a debounce time of 13 ms and inverts the input. The values are recorded here in binary to show the bits changing. Note that these bits are written left to right and Msb to Lsb whereas WTB writes bits Lsb to Msb left to right.

Example Input Debounce Setup Program

;Orignal INP6 Debounce Setting Word Value
;0000 0001 0000 0001 0000 0001 0000 0001
;Desired Debounce Setting bits for INP6
;0000 0000 0000 0000 0000 0101 0000 0000
;modified Debounce Setting Word with new bits added in
;0000 0001 0000 0001 0000 0101 0000 0001
;Original Debounce Time Word Value
;0000 0000 0001 1000 0000 0000 0001 1000
;Debounce Time after removing the 16 bits that will be replaced
;0000 0000 0000 0000 0000 0000 0001 1000
;Temp Debounce Time Word with new value shifted into place
;0000 0000 1101 0000 0000 0000 0000 0000
;Final Debounce Time Word with new time value
;0000 0000 1101 0000 0000 0000 0001 1000
;/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\
;Program: debounce.src
;Purpose: Example Debounce Setup for INP6
; Set Time 5 for 13 ms., Invert Input
;Date: 20-APR-2010
;\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/
;--Variable Defines
Debounce_2_Bits_M IS MEM1 ;display the bits from the Word
Debounce_63_Bits_M IS MEM35 ;display the new bits for the Word
Bit0_M IS MEM73 ; Deb Time Select Bit 0
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Bit1_M IS MEM74 ; Deb Time Select Bit 1
Bit2_M IS MEM75 ; Deb Time Select Bit 2
Bit3_M IS MEM76 ; reserved
Bit4_M IS MEM77 ; reserved
Bit5_M IS MEM78 ; reserved
Bit6_M IS MEM79 ; Invert Input
Bit7_M IS MEM80 ; Force Input On
Original_Deb_W IS W1 ;Value read from Deb SV
Temp_Deb_W IS W2 ;Calculated Word value
Final_Deb_W IS W3 ;final combined Word value
Orig_Deb_Time_W IS W4 ;Value read from Deb SV
Shift_Deb_Time_W IS W5 ;value with high 16 bits removed
Temp_Deb_Time_W IS W6 ;Calculated Word value
Final_Deb_Time_W IS W7 ;final combined Word value
InitialStage IS STG1
MainStage IS STG2
;reading INP6 means reading from SV_PLC_DEBOUNCE_?
; ? = 6/4 + 1 = 2.5
;choosing which Byte to set requires looking at the remainder
;the remainder, 0.5 = 2/4 or byte two of four must be set
;use Time 5 to setup the Debounce Time
;5 decimal = 101 binary
;looking at the table gives SV_PLC_DEBOUNCE_63 high 16 bits should be used
;============
InitialStage
;============
IF 1==1 THEN Original_Deb_W = SV_PLC_DEBOUNCE_2 ;read the Settings SV
IF 1==1 THEN Orig_Deb_Time_W = SV_PLC_DEBOUNCE_63 ;read the Time SV
IF 1==1 THEN Final_Deb_W = Original_Deb_W
;zero out the bits that are going to be replaced
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IF 1==1 THEN BITRST Final_Deb_W 8
IF 1==1 THEN BITRST Final_Deb_W 9
IF 1==1 THEN BITRST Final_Deb_W 10
IF 1==1 THEN BITRST Final_Deb_W 11
IF 1==1 THEN BITRST Final_Deb_W 12
IF 1==1 THEN BITRST Final_Deb_W 13
IF 1==1 THEN BITRST Final_Deb_W 14
IF 1==1 THEN BITRST Final_Deb_W 15
;Setup the 8 bits for the Setting Byte
IF 1==1 THEN SET Bit0_M ;
,RST Bit1_M ;binary 5 for Time 5
,SET Bit2_M ;
,RST Bit3_M ;unused
,RST Bit4_M ;unused
,RST Bit5_M ;unused
,RST Bit6_M ;do not Invert the Input
,RST Bit7_M ;do not Force On
;move the 8 bits to a Word
IF 1==1 THEN BTW Temp_Deb_W Bit0_M 8
;shift the values to the 2nd byte as calculated above
IF 1==1 THEN LSHIFT Temp_Deb_W 8
;copy the new 8 bits to the final word
IF 1==1 THEN Final_Deb_W = Final_Deb_W + Temp_Deb_W
;calculate the Debounce scans required for 13 ms
;onboard PLC INP so 0.0130/0.0000625 = 208 scans
IF 1==1 THEN Temp_Deb_Time_W = 208
;shift the bits up to the high 16 bits for the word
IF 1==1 THEN LSHIFT Temp_Deb_Time_W 16
;shift off the high bits from the original Debounce
;registers
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IF 1==1 THEN Shift_Deb_Time_W = Orig_Deb_Time_W
IF 1==1 THEN LSHIFT Shift_Deb_Time_W 16
IF 1==1 THEN RSHIFT Shift_Deb_Time_W 16
;combine the low 16 bits and high 16 bits
IF 1==1 THEN Final_Deb_Time_W = Temp_Deb_Time_W + Shift_Deb_Time_W
;save the values back to the SV
IF 1==1 THEN SV_PLC_DEBOUNCE_2 = Final_Deb_W
IF 1==1 THEN SV_PLC_DEBOUNCE_63 = Final_Deb_Time_W
IF 1==1 THEN RST InitialStage, SET MainStage
;============
MainStage
;============
;write out bits of final Word settings for verification
IF 1==1 THEN WTB Final_Deb_W Debounce_2_Bits_M 32
, WTB Final_Deb_Time_W Debounce_63_Bits_M 32

Setting Inputs High or Low for Testing

The Debounce registers that store the settings for the Inputs can also be used to invert, at the hardware level, the state of the input. This means that a Normally Closed Input can be turned into a Normally Open Input.
Note that on the DC3IOB Inputs 1-6 and 11 are acted on at the hardware level before the Force and Invert bits are looked at. This means that Normally Open Limits and E-Stop still cannot be used.
There is also the ability to Force an Input to be SET. This should really never be used outside of debugging on the bench due to the possibility of masking an input from indicating an error has occurred. Inputs can be Forced off or RST by setting both the Invert and Force on bits.
Looking at the Table above that explains the layout of the Setting Bytes shows that Bit 7 and 6 are used for Forcing the Input and Inverting the Input respectively. Time 1 should always be set if no custom Debounce time is going to be used.
In the following example the same input as above is going to just be Forced On and Inverted, effectively forcing the input off all the time. This can be verified in PLC Diagnostics by toggling INP6 and seeing that it does not change.
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;Orignal INP6 Debounce Setting Word Value
;0000 0001 0000 0001 0000 0001 0000 0001
;Desired Debounce Setting bits for INP6
;0000 0000 0000 0000 0000 0101 0000 0000
;modified Debounce Time Word with new bits added in
;0000 0001 0000 0001 1100 0001 0000 0001
;/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\
;Program: invert.src
;Purpose: Example invert/force Setup for INP6
;\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/
;--Variable Defines
Orig_Deb_Bits_O IS OUT1 ;
Debounce_Bits_M IS MEM1 ;display the bits from the Word
Bit0_M IS MEM73 ; Deb Time Select Bit 0
Bit1_M IS MEM74 ; Deb Time Select Bit 1
Bit2_M IS MEM75 ; Deb Time Select Bit 2
Bit3_M IS MEM76 ; reserved
Bit4_M IS MEM77 ; reserved
Bit5_M IS MEM78 ; reserved
Bit6_M IS MEM79 ; Invert Input
Bit7_M IS MEM80 ; Force Input On
Original_Deb_W IS W1 ;Value read from Deb SV
Temp_Deb_W IS W2 ;Calculated Word value
Final_Deb_W IS W3 ;final combined Word value
InitialStage IS STG1
MainStage IS STG2
;begin program
;============
InitialStage
;============
IF 1==1 THEN Original_Deb_W = SV_PLC_DEBOUNCE_2 ;read the Settings SV
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IF 1==1 THEN Final_Deb_W = Original_Deb_W
;zero out the bits that are going to be replaced
IF 1==1 THEN BITRST Final_Deb_W 8
IF 1==1 THEN BITRST Final_Deb_W 9
IF 1==1 THEN BITRST Final_Deb_W 10
IF 1==1 THEN BITRST Final_Deb_W 11
IF 1==1 THEN BITRST Final_Deb_W 12
IF 1==1 THEN BITRST Final_Deb_W 13
IF 1==1 THEN BITRST Final_Deb_W 14
IF 1==1 THEN BITRST Final_Deb_W 15
;Setup the 8 bits for the Setting Byte
IF 1==1 THEN SET Bit0_M ;
,RST Bit1_M ;binary 1 for Time 1
,RST Bit2_M ;
,RST Bit3_M ;unused
,RST Bit4_M ;unused
,RST Bit5_M ;unused
,SET Bit6_M ;Invert the Input
,SET Bit7_M ;Force On the Input
;move the 8 bits to a Word
IF 1==1 THEN BTW Temp_Deb_W Bit0_M 8
;shift the values to the 2nd byte as calculated above
IF 1==1 THEN LSHIFT Temp_Deb_W 8
;copy the new 8 bits to the final word
IF 1==1 THEN Final_Deb_W = Final_Deb_W + Temp_Deb_W
;save the values back to the SV
IF 1==1 THEN SV_PLC_DEBOUNCE_2 = Final_Deb_W
;write out bits of final Word settings for verification
IF 1==1 THEN WTB Final_Deb_W Debounce_Bits_M 32
IF 1==1 THEN WTB Original_Deb_W Orig_Deb_Bits_O 32
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IF 1==1 THEN JMP MainStage
;no MainStage shown because there is nothing to do there for this example
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Compiler Errors

There are many ways that a program can be changed so that it does not function as intended. Always start at the top of the list of errors because fixing earlier problems may fix repeat errors later on. For example if you fail to define a variable that is used throughout the program, every reference to that variable will generate an error.
If the compiler hangs or doesn't generate any output after ten seconds it is stuck on something and will not compile the program most likely. Press Ctrl.+c to cancel compilation and undo the last changes if the problem just started occuring. If you think the changes are valid double check the usage and then send the file before and after to Tech. Support.
There is a limit of about 1000 characters per line that the compiler can digest so do not go above that limit. Typically you should stick to 80 characters so that the document can be printed and not cause the printout to look different than on your monitor.
The easiest to fix are compiler related syntax or expression errors. The first to sections details what potential errors mean.

Warnings

Already Defined

This message does not cause compilation to fail, but you should address this problem because using two different variables to do two different things will cause very hard to detect logical errors.

Direct PLC Reference

This Warning occurs when you test or use a specific data type directly by name. An example is using MEM1 instead of defining Test_M IS MEM1 and using Test_M in the program.

General Errors

These errors specify problems with the program that are more serious than an undefined variable. They are not related to the code in the Program, but the way that the compiler was called.

Malformed Command Line

This error means the the attempt to compile the program failed because no source file was specified.
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Unrecognized Command Line Option

An invalid switch was used on the command line. Presently there are two options for switches. Neither of them should be used except for testing and debugging the compiler itself. The output is not usable as a PLC Program. The options are -i for outputting a CSV version of the program to be used as an include file and -d is for verbose debugging of what the compiler does with each token in the program. This may be used when there is a suspected problem with the compiler.

Error Opening File

The specified source file was not found in the directory that mpucomp was called from. There are two ways to compile the program. The easiest is to open a command prompt and change directories to the folder where the source file is located. Then you can issue the command 'mpucomp(.exe) source.src mpu.plc'. On Windows you must have mpucomp.exe in the same folder as the source file unless you add c:\cncm\bin to your PATH. In Linux this has been done for you so mpucomp does not need to be in the same folder as the source file. The other way of compiling a program is to call mpucomp and give the absolute path to the source file and/or destination file. For example, the source file is in /cncroot/c and the command line indicates the current folder is /cncroot. To compile the source file and get the PLC program to the correct folder 'mpucomp /cncroot/c/source.src /cncroot/c/cncm/mpu.plc' must be executed.

Syntax Errors

These are errors related to specific lines in the PLC program. Usually the offending line and column number is listed along with the specific error. Sometimes the row is one farther down the program than it should be so look around the area specified.

Compilation Failed

This message occurs when there are problems in the source file. It is displayed as the last message after other error messages. This message will not appear if there are too many errors.

Too Many Errors

This message is displayed when more than 25 errors occur at compile time. This can easily happen if you forget to define a Label and use it often in the program.

Undefined Label

This message occurs when a valid variable name is used without it being defined in the definition section of the PLC program.
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[THEN, Word Type, Stage, Output, Parenthesis] expected

This message is generated when something is expected, but is not found. A Parenthesis is expected on the right if you put on one the left of a variable or expression.
IF INP1) THEN SET OUT1

End Of File Expected

This message can be generated many different ways, but the meaning is that a line was not written correctly. It can be caused because the IF at the start of a line was not used after the first IF statement in the program.

[Data Type] Out of Bounds

This message can occur on any Data Type when using the Indexing ability in the compiler. The error is generated when you make a constant reference to a Data Type number that cannot be accessed. For example if you try IF 1==1 THEN SET OUT[500000000] you will get this error. It is possible to fool the compiler and index out of range. See Internal PLC Fault
Checking for how to detect this occurring and why it is so catastrophic. This error will not be
caught if you type If 1==1 THEN SET OUT[W1+W2] and set W1 and W2 to 250000000 each.

Invalid Action

This error occurs when doing something that is not allowed. This includes trying to store a value into a Bit data type or a Constant define and failing to put a start location for a Range.
CONST1 IS 1 ;constant value
IF 1==1 THEN CONST1 = 10 ;cannot re-assign constant values
IF 1==1 THEN MEM1 = 10 ;cannot store Word values into Bits
IF 1==1 THEN .. OUT20 ;must include starting point for Range
IF 1==1 THEN SET W1 ;SET cannot be applied to Words

Rung Expected IF

The Keyword IF was not found after a valid STG reference.
STG2
1==1 THEN (OUT1)

Rung Expected THEN

The Keyword THEN is missing from the line specified.
IF 1==1 SET OUT1
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JMP Expected STG or FSTG

If you call the JMP command and do not specify what Stage to Jump to, this message is displayed.

System Variable is Read-Only

Attempting to modify a Read-only System Variable will result in this message displayed. The Read-only variables are ones that CNC11 has write control of here.

MSG Expected Word Reference

This error occurs when you try to use the MSG command with no Word variable or with an invalid data type. If no data type is specified, then the error will actually show up on the next line of the program and not show the MSG reference at all in most cases. This occurs because the compiler does not assume that a line feed is the end of a command. For example the first IF statement spanning two lines in the following code will compile whereas the second on only one line will not.
IF 1==1 THEN MSG
W1
IF 1==1 THEN MSG INP1

SMSG Expected String Reference

The SMGS functionality expects a string value and anything else causes this error. A string is defined as text between double quotes.
IF 1==1 THEN SMSG W1 ;not a string

BCD/BIN Expected Word Reference

If you fail to put a Word type variable right after the BCD and BIN command this error occurs.
IF 1==1 THEN BIN MEM1 32

BCD/BIN Cannot Use Bracketed Reference

Indexes are not allowed on Words when doing the BCD or BIN commands.
IF 1==1 THEN BCD W[10]

WTB Expected Word Reference

If you fail to put a Word type variable right after the WTB command this error occurs.
IF 1==1 THEN WTB MEM1 32
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WTB Expected OUT/MEM Reference

If the Memory or Output location is not specified, this error occurs.
IF 1==1 THEN WTB W1 33

WTB Number of Bits Must be 1-32

When using the WTB command you can specify a number of bits to write. That value must be from 1 to 32. The incorrect value is shown after the error.
IF 1==1 THEN WTB W1 MEM1 33

BTW Expected Word Reference

If you fail to put a Word type variable right after the BTW command this error occurs.
IF 1==1 THEN BTW MEM1 32

BTW Expected INP/OUT/MEM Reference

If the Input, Memory or Output location is not specified, this error occurs.
IF 1==1 THEN WTB W1 33

BTW Number of Bits Must be 1-32

When using the BTW command you can specify a number of bits to write. That value must be from 1 to 32. The incorrect value is shown after the error.
IF 1==1 THEN BTW W1 MEM1 33

BITSET/RST Bit Must be 0-31

When using the BITSET or BITRST commands you must specify the bit number to SET or RST. That value must be from 0 to 31. The incorrect value is shown after the error.
IF 1==1 THEN BITSET W1 43

BITSET/RST Expected an Integer Value

Bits can only be changed by positive Constant Integer numbers so using a floating-point number, negative or Word value to try and change one will fail.
IF 1==1 THEN BITRST W1 1.5
IF 1==1 THEN BITSET W1 W2
IF 1==1 THEN BITSET W1 -10

BITSET/RST Word Indexing Not Allowed

Using the Index ability is not allowed when doing a BITSET/RST command.
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IF 1==1 THEN BITSET W[W2] 2

BITSET/RST Expected Word Reference

If you fail to put a Word type variable right after the BITSET or BITRST command this error occurs.
IF 1==1 THEN BITSET MEM1 4

BITTST MEM Indexing Not Allowed

Using the Index ability is not allowed when doing a BITTST command.
IF 1==1 THEN BITTST W2 2 MEM[5+1]

BITTST Expected MEM

The last of three arguments to a BITTST must point to a Memory Bit and it was not found or the wrong type was specified.
if 1==1 then BITTST w1 2 OUT1

BITTST Expected Word Reference

If you fail to put a Word type variable right after the BITTST command this error occurs.
IF 1==1 THEN BITTST INP1 5 MEM1

BITTST Bit Must be 0-31

When using BITTST you must specify the bit number to check in the Word. That value must be from 0 to 31. The incorrect value is shown after the error.
IF 1==1 THEN BITTST W1 43 MEM1

BITTST Expected Integer Value

Bits can only be changed by positive Constant Integer numbers so using a floating-point number, negative or Word value to try and change one will fail.
IF 1==1 THEN BITTST W1 1.5 MEM1
IF 1==1 THEN BITTST W1 W2 MEM1
IF 1==1 THEN BITTST W1 -10 MEM1

BITTST Word Indexing Not Allowed

Using the Index ability is not allowed when doing a BITTST command.
IF 1==1 THEN BITTST W[2+5] 2
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LSHIFT/RSHIFT Bit Must be 0-31

When using the LSHIFT/RSHIFT commands you must specify the number of bits to shift. That value must be from 0 to 31. The incorrect value is shown after the error.
IF 1==1 THEN LSHIFT W1 99

LSHIFT/RSHIFT Expected Integer Value

Bits can only be changed by positive Constant Integer numbers so using a floating-point number, negative or Word value to try and change one will fail.
IF 1==1 THEN LSHIFT W1 1.5
IF 1==1 THEN LSHIFT W1 W2
IF 1==1 THEN LSHIFT W1 -10

LSHIFT/RSHIFT Word Indexing Not Allowed

Using the Index ability is not allowed when doing a LSHIFT/RSHIFT command.
IF 1==1 THEN LSHIFT W[10+2] 2

LSHIFT/RSHIFT Expected Word Reference

If you fail to put a Word type variable right after the LSHIFT/RSHIFT command this error occurs.
IF 1==1 THEN LSHIFT MEM1 4

Constant Integer Expression Label Not Found

If you reference a constant when defining other constants, but the referenced constant does not exist yet you will get this message. The following example will generate this error.
CONST2 IS 2*CONST3

Constant Integer Expression Expected Right Parenthesis

This error is generated when a left parenthesis is used to declare a constant, but the right parenthesis is left off.
CONST1 IS (10+2

Constant Integer Factor Expected

Constant math can only be done on Integer values. Putting a Floating-point value in a constant define that does math will give this error.
CONST1 IS (10+2.2)
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Constant Integer Expression Label Does Not Reference an Integer

If you create a Constant that stores a floating-point value and then use it in the declaration of an Integer Constant you will get this message.
CONST1 IS 11.2
CONST2 IS (CONST1/2)

Constant Integer Expression Label not Found

This error only occurs when a previous Constant expression definition is invalid and it is referenced by another Constant expression definition.
CONST1 IS (11.2) ;invalid because of parentheses, only constant numbers allowed
CONST2 IS (CONST1/2);invalid CONST1 causes another error.

Relational Operator Expected

A comparison of data types that need a Relational Operator used on them to evaluate to true or false is needed rather than the used operator.
IF W1 = W2 THEN SET OUT1 ;assignment not allowed before THEN
IF !W2 THEN SET OUT2 ;Logical Operator not allowed on Words

System Variable Bits Cannot be Used With '..'

The Range selector cannot be used on any System Variables.
IF 1==1 THEN SET SV_ENABLE_AXIS_1 .. SV_ENABLE_AXIS_8

Range Extension Expected OUT/MEM/STG/FSTG/T

When specifying a Range, the end of the Range was not specified. This error will be shown on the next line after the error actually occurs. One of the listed types must be used to finish the Range. It must be the same type that is on the left of the Range select.
IF 1==1 THEN SET OUT1 ..

Range Error. End is Before Start

The Range selectors were specified out of order. They must be used from lower to high bits.
IF 1==1 THEN SET OUT10 .. OUT1

SET/RST Expected OUT/MEM/STG/FSTG/T/Modifiable SV

This message is generated when you try to SET or RST something that the action cannot be applied to or nothing is supplied. Inputs, One-Shots, Words, and Word type System Variables are all examples of things that cannot be SET or RST.
IF 1==1 THEN SET
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IF 1==1 THEN SET INP1
IF 1==1 THEN SET PD1

Coil Expected PD/OUT/MEM/Modifiable SV

This error occurs when trying to use Coils on Data Types that cannot be SET/RST. This includes Word types and Timers. There is no point turning on a Timer to check that only lasts one pass of the PLC program. Words can have bits in them SET and RST using BITSET and BITRST.
IF INP1 THEN (T2)

Expected Right Bracket

This message occurs when a left bracket is used and a right one is not found.
if 1==1 then set out[10+3
if 1==1 then set out[10+3)]

Expected Left Bracket

This error occurs because a variable that can use Indexing had a space after the variable name and no bracket was found. The compiler then expects to see a Left Bracket. You may not be doing an Index reference at all, but merely had a space where there should not be one.
IF 1==1 THE SET OUT 10]
IF 1==1 THEN BTW W 3] 10

Bad Definition

The attempt at defining a variable is not written correctly. Brackets and negative numbers are not allowed. Constant defines are used for messaging mostly.
Const is [10] ; brackets cannot be used in the definition section of a PLC program

Number Expected Right Parenthesis

A right Parenthesis was expected in a math calculation in the Program.
IF 1==1 THEN W1 = (10 + 50

Numerical Factor Expected Right Parenthesis

Any command such as ABS, SIN, etc. is listed and then the calculation to be done is in parentheses afterwards. If the parenthesis on the right is missing, this error occurs.
if 1==1 then W1 = abs (10*5

Numerical Factor Expected Left Parenthesis

Any command such as ABS, SIN, etc. is listed and then the calculation to be done is in
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parentheses afterwards. If the parenthesis on the left is missing, this error occurs.
if 1==1 then FW1 = sin (3.14159265/180

ATAN2/POW Expected Right Parenthesis

In either an ATAN2 or POW operation, the right parenthesis was left off.
IF 1==1 THEN FW1 = ATAN2 (3.141592/180, 3.141592

ATAN2/POW Expected Comma

In either an ATAN2 or POW operation, the right parenthesis was left off.
IF 1==1 THEN FW1 = POW (1 1)

ATAN2/POW Expected Left Parenthesis

In either an ATAN2 or POW operation, the right parenthesis was left off.
IF 1==1 THEN FW1 = ATAN2 3.141592/180, 3.141592)

Expected Right Parenthesis

This error occurs when using a Coil on an Output or Memory Bit when there is a left parenthesis and not a right.
IF 1==1 THEN (OUT1

Boolean Factor Expected Right Parenthesis

In a Boolean check using parentheses, the right parenthesis was left off.
IF (INP1 THEN SET OUT1

Assignment Error

This error occurs when a value is getting stored to a variable and it cannot be completed. One example is to Index to a floating-point variable.
IF INP1 THEN W[10.4] = 1
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Application Examples

These examples strive to give examples of using some of the various PLC functionality that isn't used in a standard PLC program. The examples are not meant to be useful in what is accomplished, but rather in how it is accomplished.

Toggle an Output Every Second

Pseudo-code
In InitialStage Second_On_T = 1000, Second_Off_T = 1000, SET Second_Off_T
IF Second_On_T THEN RST Second_On_T, SET Second_Off_T, RST OUT1
IF Second_Off_T THEN RST Second_Off_T, SET Second_On_T, SET OUT1

Aux Key Jogging

Pseudo-code
IF Aux2 THEN Y+_Jog
IF Aux8 THEN Y-_Jog
IF Aux4 THEN X-_Jog
IF Aux6 THEN X+_Jog
IF Aux3 THEN Z+_Jog
IF Aux9 THEN Z-_Jog
IF Aux1 THEN W+_Jog
IF Aux7 THEN W-_Jog

Aux Key Override of M-Code

Pseudo-code
IF M-Code && (CNC_PROG_RUNNING || AUX14) THEN SET M-Code_Stage

Wait One Second Before Jogging on Key Press

Pseudo-code
IF !(all jog keys) THEN RST Jog_T
IF any jog key THEN SET Jog_T
IF Jog_T THEN DO Ax#_Jog

Interpret Enter Key as Cycle Start in MDI*

*Note that Centroid does not recommend doing this. It is merely an example of what is
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possible as far as customizing the User experience. Often, after typing a command in MDI it is natural to hit Enter to try to run the line, but that merely causes a prompt to push Cycle Start to appear. With this change that will not happen. This functionality should only be allowed when in MDI to prevent unexpected motion.
Pseudo-code
IF MDI_MODE && AllowKBJog && Kb_Enter_Key THEN Cycle_Start

Count Machine On Time

Use a Timer to count one day and then increment a word. Update P171 every 30 min. to keep track of the value. Read the value of P170 in the Initial stage and increment values to it.
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Custom M-Codes

Using M94/M95 Bits

Pick an unused M94/M95 bit and assign it the name of the custom M-Code. Create an mfuncXXX.mac file that has the same number as the assigned M-Code. Put whatever you want in the M-Code and if the PLC program needs to do something, put code in to check for MXXX being SET or RST.

Using One M94/M95 Bit and a Parameter

In the custom M-Code SET the bit with M94 and G10 a parameter in the 171-177 range to a different binary value for each M-Code. Use 1, 2, 4, 8, 16, 32, etc. so that you can use BITTST. Alternatively, you can just use decimal numbers and check Parameter == 1, ==2, ==3, etc.

Customizing Standard M-Codes

In the basic MPU11 PLC programs there are four “customized” M-Codes by default. They are for Spindle directions and Coolant. The reason that they are considered custom is that rather than using the built in CNC11 functionality, files were created to extend the original functionality. Now there is a message printed on screen that halts execution if an auto spindle or coolant function is called and prompts the user to put the control in auto mode. This can be done for many of the M-Codes to expand the usability of or modify the given feature. The following example shows how the M3 and M4 M-Codes were changed.

Automatic Spindle On/Off – M3/M4

When a default M3 is commanded the Spindle should start spinning in the clockwise direction. If the control is in manual spindle mode though, the spindle will not turn on and program execution will continue like everything is fine. This is bad, so a warning should be given to the user and execution paused. The same holds true for Automatic Coolant which is why the custom M7 and M8 are needed.
;------­;M3 macro ; Displays message to select auto spindle mode if it is not SET ;------­;if searching or backplotting a program, skip the macro IF #4202 || #4201 THEN GOTO 200 M95 /2 ; turn off CCW spindle M94 /1 ;turn on CW spindle
;if AutoSpindle i.e. OUT1058 (a.k.a. JPO2) is set, exit the Macro IF #61058 THEN GOTO 200 G4 P.1 #140 = 1.5 N100
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; If not in AutoSpindle Mode display a message and wait IF !#61058 THEN M225 #140 "Please Select Auto Spindle To Continue!" G4 P.5 IF !#61058 THEN GOTO 100 N200
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Troubleshooting and Changing PLC Programs

This chapter contains some suggestions for debugging problems in your PLC program.

Write Down and Think Through Changes to the Program

Before making any changes to a PLC Program you should always take a report. Write out as specifically as possible the exact functionality that is to be implemented. This potentially includes timeouts, fault conditions, interactions with other Inputs and Outputs, messages that will need to be shown to the User, etc.

PLC Diagnostic Screen

When at the main screen, push Alt.-i to cause the PLC Diagnostic screen to appear. It appears over running jobs so it should not be left on all the time, especially if there are user prompts in the program. The red and green dots represent Inputs, Outputs, Memory and Stage Bits. Red means the Bit is off or open and Green means the Bit is closed or on. This is true in all cases for the Bits. Keep in mind that setting the Invert or Force Debounce bits will change the way the Inputs are reported to the PLC program and thus the PLC Diagnostic screen.
The screen shows the state of Bits 80 at a time for the entire range available for that Bit type and 12 Words per page. All 1312 available Inputs and Outputs are shown as are all 1024 Memory Bits and 256 Stages. Presently the 44 Words that are sent up to CNC11 are shown as well. This means that all the Jog Panel buttons and LEDs as well as Spindle DAC outputs can be seen without mirroring them to the 1 to 80 range. This is true as of CNC11 3.0 rev84 beta release.
Future improvements include adding FW, DW, DFW, FSTG, and Timer display to the screen.

PLC Bit-State Dump

When the PLC Diagnostic screen is showing, pushing the Ctrl.- i key combination will cause the state of all the Bit variables to be stored to a file called plcstate.txt. This file is overwritten every time the operation is performed. This feature will be implemented in the future.

DUMP

Use the DUMP PLC command to print all of the values of the first 64 Word type variables to disk. This can be called at any time to check status words or ATC bin position in a certain stage. Make sure to call this infrequently because it does take quite a long time to write to disk compared to the time to execute the PLC program once.
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Echo to a Memory Bit

Transient signals that are on and then quickly off may not show up reliably on the PLC Diagnostic screen long enough to see because the display only updates 30 times/second. In this case, to verify that the bit is changing at all you can SET a Memory Bit if the Bit in question ever gets SET or RST. It is a good idea to incorporate the ability to RST these diagnostic Bits into an unused Aux Key so that you do not have to power off the system to RST them.

Use Stages

Group new features into a Stage so that it can be turned on and off to check for problems. Use more stages for more complex features to narrow down where you need to troubleshoot.

Communication In/Out Faults

DriveBus

These faults occur when the communication on the DriveBus is disrupted. The DriveBus goes out on fibers 4 and 5 from the MPU11 and across the Drive Communication In/Out wire connections on the ALLIN1DC, Optic4 and DC3IOB. If any of these connections exist and are checked in the PLC program correctly, they will help diagnose connection problems.

PLCBus

The PLCBus also should be checked in the PLC program to make sure that communication is in a good state. There should be checks for the Fibers 1 and 3 and miniPLCBus connections if expansion boards are used.
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Appendix A: Example PLC program

ALLIN1DC DC system example

This is the basic PLC program using an ALLIN1DC drive and PLC.
;------------------------------------------------------------------------------­; File: allin1dc-basic.src ; Programmer: Scott Pratt, Keith Dennison ; Date: 7 April 2010 ; Purpose: PLC for MPU11 and allin1dc + keyboard jog ; Requires: Requires CNC11 R83+ ; ; $Id: allin1dc-basic.src 431 2010-08-23 14:06:41Z drew $ ;
;NOTE Changes to keyboard jogging bmp needed. See MEM400+ ; "Invalid key" messages will need to be supressed
; Mpu11 based systems have the ability to invert, force and/or select a custom ; debounce time on PLC inputs 1-240 using SV_PLC_DEBOUNCE_1-SV_PLC_DEBOUNCE_64. ; Jog Panel inputs are modified in the same manner using SV_JOG_LINK_DEBOUNCE_1 ; -SV_JOG_LINK_DEBOUNCE_64. See system variable section for more information.
; The Mpu11 board includes connections for several types of auxillary I/O. ; 4 digital "high speed" inputs (INP769-772) typically used for probe/TT1 ; related functions,, 3 auxillary digital inputs (INP784-786), 11 Digital inputs ; used for MPG increment and axis selection and 2 auxillary digital outputs ; (Out770-771).
; ALLIN1DC Physical I/O: While each ALLIN1DC that is installed reserves (maps) ; 32 inputs and 32 Outputs, only 16 inputs and 9 outputs are accessible through ; hardware.
; Digital Inputs: The ALLIN1DC provides 16 inputs, 10 of which are available for ; general purpose use. The first 6 inputs (1-6) are dedicated for limit switch ; use and must be either wired to a NC limit switch or defeated. All 16 inputs ; can be configured (in banks of 4) for 5, 12 or 24VDC operation in either a ; sourcing or sinking configuration.
; Analog input: The ALLIN1DC provides a single 12 bit analog input which is ; mapped to inputs 241-252. LSB = 241. This input can be configured for the ; following input:
; 1. 0 - 5VDC ; 1. 0 - 10VDC ; 1. -5 - +5VDC ; 1. -10 - +10VDC
; Please see the ALLIN1DC manual for configuration information
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; Outputs: The ALLIN1DC has 9 relay contact closure outputs. Outputs 1-7 are ; are SPST type relays while Outputs 8 & 9 are SPDT type relays.
; Analog outputs: The 12 bit 0-10VDC analog output on the ALLIN1DC is mapped to ; outputs 241-252. NOTE: The spindle speed command that comes down from the PC ; (SV_PC_DAC_SPINDLE_SPEED) is a 16 bit integer value from 0-65535 that must be ; converted to a 12 bit value from 0-4095 by the PLC. The PLC handles gear ranges ; by looking at the state of inputs and reading parameters (or hard coded values) ; to determine the ratio needed for adjusting the spindle speed display system ; variable
;---------------------------------------------------------------­; CONSTANT DEFINITIONS ;----------------------------------------------------------------
PLC_EXECUTOR_FLT_MSG IS 1+256
AXIS1_INFLT IS 1282;(2+256*5) Fiber to MPU11 has a problem AXIS2_INFLT IS 1538;(2+256*6) AXIS3_INFLT IS 1794;(2+256*7) AXIS4_INFLT IS 2050;(2+256*8) AXIS5_INFLT IS 2306;(2+256*9) AXIS6_INFLT IS 2562;(2+256*10) AXIS7_INFLT IS 2818;(2+256*11) AXIS8_INFLT IS 3074;(2+256*12)
AXIS1_OUTFLT IS 3330;(2+256*13) Fiber to axis drive has a problem AXIS2_OUTFLT IS 3586;(2+256*14) AXIS3_OUTFLT IS 3842;(2+256*15) AXIS4_OUTFLT IS 4098;(2+256*16) AXIS5_OUTFLT IS 4354;(2+256*17) AXIS6_OUTFLT IS 4610;(2+256*18) AXIS7_OUTFLT IS 4866;(2+256*19) AXIS8_OUTFLT IS 5122;(2+256*20)
AXIS_FLT_CLR IS 5378;(2+256*21)
PLC_INFLT IS 5634;(2+256*22) PLC_OUTFLT IS 5890;(2+256*23) PLC_FLT_CLR IS 6146;(2+256*24)
SPINDLE_FAULT IS 7681;(1+256*30) PROBE_FAULT_MSG IS 8705;(1+256*34)
KB_JOG_MSG IS 8962;(2+256*35)
LUBE_FAULT_MSG IS 9217;(1+256*36) LUBE_WARNING_MSG IS LUBE_FAULT_MSG+1 PROBE_JOG_FAULT_MSG IS 9473;(1+256*37)
MIN_SPEED_MSG IS 9730;(2+256*38) SOFTWARE_EXIT_MSG IS 1+256*39 MSG_CLEARED_MSG IS 25345;(1+256*99)
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;---------------------------------------------------------------­; INPUT DEFINITIONS ; Closed = 1 (green) Open = 0 (red) ;---------------------------------------------------------------­Ax1_MinusLimitOk IS INP1 Ax1_PlusLimitOk IS INP2 Ax2_MinusLimitOk IS INP3 Ax2_PlusLimitOk IS INP4 Ax3_MinusLimitOk IS INP5 Ax3_PlusLimitOk IS INP6 ;spare IS INP7 ;spare IS INP8 LubeOk IS INP9 ;Lube is "ok" when input is closed SpindleInverterOk IS INP10 ;Inverter is "ok" when input is closed EStopOk IS INP11 SpinLowRange IS INP12 ;spare IS INP13 ;spare IS INP14 ;spare IS INP15 ;spare IS INP16
;Inputs 17-32 are unvailable ;If a PLC expansion board (PLCADD1616) is used, the additional inputs will ;begin at input 33.
;---------------------------------------------------------------­; INP769 - INP784 encompass the MPU11 onboard input connections ; which are generally used for MPG and probing functions. ;---------------------------------------------------------------­MechnicalProbe IS INP769 DSPProbe IS INP770 ProbeDetect IS INP771 ProbeAux IS INP772 MPG_Inc_X_1 IS INP773 MPG_Inc_X_10 IS INP774 MPG_Inc_X_100 IS INP775 MPG_AXIS_1 IS INP776 MPG_AXIS_2 IS INP777 MPG_AXIS_3 IS INP778 MPG_AXIS_4 IS INP779 MPG_AXIS_5 IS INP780 MPG_AXIS_6 IS INP781 MPG_AXIS_7 IS INP782 MPG_AXIS_8 IS INP783
;---------------------------------------------------------------­; Jog panel keys are referenced as JPI1 through JPI256. Alternatively, ; jog panel inputs can also be referenced as INP833-INP1088. ;---------------------------------------------------------------­; Definitions follow JOGBOARD layout top to bottom, left to right
SpinOverPlusKey IS JPI1 ; Row 1 Column 1 SpinAutoManKey IS JPI2 ; Row 1 Column 2
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Aux1Key IS JPI3 ; Row 1 Column 3 Aux2Key IS JPI4 ; Row 1 Column 4 Aux3Key IS JPI5 ; Row 1 Column 5
SpinOver100Key IS JPI6 ; Row 2 Column 1 SpinCWKey IS JPI7 ; Row 2 Column 2 Aux4Key IS JPI8 ; Row 2 Column 3 Aux5Key IS JPI9 ; Row 2 Column 4 Aux6Key IS JPI10 ; Row 2 Column 5
SpinOverMinusKey IS JPI11 ; Row 3 Column 1 SpinCCWKey IS JPI12 ; Row 3 Column 2 Aux7Key IS JPI13 ; Row 3 Column 3 Aux8Key IS JPI14 ; Row 3 Column 4 Aux9Key IS JPI15 ; Row 3 Column 5
SpinStopKey IS JPI16 ; Row 4 Column 1 SpinStartKey IS JPI17 ; Row 4 Column 2 UnusedR4C3Key IS JPI18 ; Row 4 Column 3 UnusedR4C4Key IS JPI19 ; Row 4 Column 4 UnusedR4C5Key IS JPI20 ; Row 4 Column 5
CoolAutoManKey IS JPI21 ; Row 5 Column 1 CoolFloodKey IS JPI22 ; Row 5 Column 2 CoolMistKey IS JPI23 ; Row 5 Column 3 Aux11Key IS JPI24 ; Row 5 Column 4 UnusedR5C5Key IS JPI25 ; Row 5 Column 5
IncrContKey IS JPI26 ; Row 6 Column 1 x1JogKey IS JPI27 ; Row 6 Column 2 x10JogKey IS JPI28 ; Row 6 Column 3 x100JogKey IS JPI29 ; Row 6 Column 4 MPGKey IS JPI30 ; Row 6 Column 5
Ax4PlusJogKey IS JPI31 ; Row 7 Column 1 UnusedR7C2Key IS JPI32 ; Row 7 Column 2 Ax2PlusJogKey IS JPI33 ; Row 7 Column 3 UnusedR7C4Key IS JPI34 ; Row 7 Column 4 Ax3PlusJogKey IS JPI35 ; Row 7 Column 5
UnusedR8C1Key IS JPI36 ; Row 8 Column 1 Ax1MinusJogKey IS JPI37 ; Row 8 Column 2 FastSlowKey IS JPI38 ; Row 8 Column 3 Ax1PlusJogKey IS JPI39 ; Row 8 Column 4 UnusedR8C5Key IS JPI40 ; Row 8 Column 5
Ax4MinusJogKey IS JPI41 ; Row 9 Column 1 UnusedR9C2Key IS JPI42 ; Row 9 Column 2 Ax2MinusJogKey IS JPI43 ; Row 9 Column 3 UnusedR9C4Key IS JPI44 ; Row 9 Column 4 Ax3MinusJogKey IS JPI45 ; Row 9 Column 5
CycleCancelKey IS JPI46 ; Row 10 Column 1 SingleBlockKey IS JPI47 ; Row 10 Column 2
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ToolCheckKey IS JPI48 ; Row 10 Column 3 FeedHoldKey IS JPI49 ; Row 10 Column 4 CycleStartKey IS JPI50 ; Row 10 Column 5
;---------------------------------------------------------------­; Feedrate Override Knob ;---------------------------------------------------------------­JpFeedOrKnobBit0 IS JPI193 JpFeedOrKnobBit1 IS JPI194 JpFeedOrKnobBit2 IS JPI195 JpFeedOrKnobBit3 IS JPI196 JpFeedOrKnobBit4 IS JPI197 JpFeedOrKnobBit5 IS JPI198 JpFeedOrKnobBit6 IS JPI199 JpFeedOrKnobBit7 IS JPI200 JpFeedOrKnobBit8 IS JPI201 ; Current jog panels send first 8 bits JpFeedOrKnobBit9 IS JPI202 ; unused JpFeedOrKnobBit10 IS JPI203 ; unused JpFeedOrKnobBit11 IS JPI204 ; unused JpFeedOrKnobBit12 IS JPI205 ; unused JpFeedOrKnobBit13 IS JPI206 ; unused JpFeedOrKnobBit14 IS JPI207 ; unused JpFeedOrKnobBit15 IS JPI208 ; unused
;---------------------------------------------------------------­; ALLIN1DC PLC Output Definitions ; Logic 1 = OUTPUT ON (Green), 0 = OUTPUT OFF (Red) ;---------------------------------------------------------------­NoFaultOut IS OUT1 ;SPST Type Lube IS OUT2 ;SPST Type Flood IS OUT3 ;SPST Type Mist IS OUT4 ;SPST Type InverterResetOut IS OUT5 ;SPST Type Clamp IS OUT6 ;SPST Type - M10 On, M11 Off & Aux7 SpindleEnableOut IS OUT7 ;SPST Type SpindleDirectionOut IS OUT8 ;SPDT Type ; IS OUT9 ;SPDT Type
;Outputs 10-32 are unavailable
; These bits control the actual analog hardware output on the ALLIN1DC. ; Output = 12bit (0-4095) 0-10VDC. SpinAnalogOutBit0 IS OUT241 SpinAnalogOutBit1 IS OUT242 SpinAnalogOutBit2 IS OUT243 SpinAnalogOutBit3 IS OUT244 SpinAnalogOutBit4 IS OUT245 SpinAnalogOutBit5 IS OUT246 SpinAnalogOutBit6 IS OUT247 SpinAnalogOutBit7 IS OUT248 SpinAnalogOutBit8 IS OUT249
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SpinAnalogOutBit9 IS OUT250 SpinAnalogOutBit10 IS OUT251 SpinAnalogOutBit11 IS OUT252
MPG_LED_OUT IS OUT769
;---------------------------------------------------------------­; Jog Panel Output (LED) Definitions ; Jog Panel LED's can be addressed as JPO1 - JPO256 ; OR ; OUT833 - OUT1088 ;---------------------------------------------------------------­; Definitions follow JOGBOARD layout top to bottom, left to right ; SpinOverPlusLED IS JPO1 ; Row 1 Column 1 SpinAutoModeLED IS JPO2 ; Row 1 Column 2 Aux1LED IS JPO3 ; Row 1 Column 3 Aux2LED IS JPO4 ; Row 1 Column 4 Aux3LED IS JPO5 ; Row 1 Column 5 SpinOver100LED IS JPO6 ; Row 2 Column 1 SpindleCWLED IS JPO7 ; Row 2 Column 2 Aux4LED IS JPO8 ; Row 2 Column 3 Aux5LED IS JPO9 ; Row 2 Column 4 Aux6LED IS JPO10 ; Row 2 Column 5 SpinOverMinusLED IS JPO11 ; Row 3 Column 1 SpindleCCWLED IS JPO12 ; Row 3 Column 2 Aux7LED IS JPO13 ; Row 3 Column 3 Aux8LED IS JPO14 ; Row 3 Column 4 Aux9LED IS JPO15 ; Row 3 Column 5 SpinStopLED IS JPO16 ; Row 4 Column 1 SpinStartLED IS JPO17 ; Row 4 Column 2 UnusedR4C3LED IS JPO18 ; Row 4 Column 3 UnusedR4C4LED IS JPO19 ; Row 4 Column 4 UnusedR4C5LED IS JPO20 ; Row 4 Column 5 CoolAutoManLED IS JPO21 ; Row 5 Column 1 CoolFloodLED IS JPO22 ; Row 5 Column 2 CoolMistLED IS JPO23 ; Row 5 Column 3 Aux11LED IS JPO24 ; Row 5 Column 4 UnusedR5C5LED IS JPO25 ; Row 5 Column 5 IncrContLED IS JPO26 ; Row 6 Column 1 x1JogLED IS JPO27 ; Row 6 Column 2 x10JogLED IS JPO28 ; Row 6 Column 3 x100JogLED IS JPO29 ; Row 6 Column 4 MPGLED IS JPO30 ; Row 6 Column 5 Ax4PlusJogLED IS JPO31 ; Row 7 Column 1 UnusedR7C2LED IS JPO32 ; Row 7 Column 2 Ax2PlusJogLED IS JPO33 ; Row 7 Column 3 UnusedR7C4LED IS JPO34 ; Row 7 Column 4 Ax3PlusJogLED IS JPO35 ; Row 7 Column 5 UnusedR8C1LED IS JPO36 ; Row 8 Column 1 Ax1MinusJogLED IS JPO37 ; Row 8 Column 2 FastSlowLED IS JPO38 ; Row 8 Column 3 Ax1PlusJogLED IS JPO39 ; Row 8 Column 4 UnusedR8C5LED IS JPO40 ; Row 8 Column 5
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Ax4MinusJogLED IS JPO41 ; Row 9 Column 1 UnusedR9C2LED IS JPO42 ; Row 9 Column 2 Ax2MinusJogLED IS JPO43 ; Row 9 Column 3 UnusedR9C4LED IS JPO44 ; Row 9 Column 4 Ax3MinusJogLED IS JPO45 ; Row 9 Column 5 CycleCancelLED IS JPO46 ; Row 10 Column 1 SingleBlockLED IS JPO47 ; Row 10 Column 2
; FOR JOGBRD REV??????, the LED outputs do not match Key inputs ; The PLC program should activate all three of these when ; it wants to turn on FeedHoldLED so that future hardware changes ; to put them in the same order as their corresponding inputs will work. ToolCheckLED IS JPO50 ; Row 10 Column 3 FeedHoldLED IS JPO48 ; Row 10 Column 4 CycleStartLED IS JPO49 ; Row 10 Column 5
;---------------------------------------------------------------­; Memory Bit Definitions ;---------------------------------------------------------------­PLCExecutorFault_M IS MEM1 SoftwareReady_M IS MEM2 MPGManOffFlag_M IS MEM3 MasterEnable_M IS MEM5 DriveComFltIn_M IS MEM6 DriveComFltOut_M IS MEM7 PLCBus_Oe_M IS MEM8 ErrClr_M IS MEM9 PLCBus_Online_M IS MEM10 Ax1PlusJogDisabled_M IS MEM11 Ax1MinusJogDisabled_M IS MEM12 Ax2PlusJogDisabled_M IS MEM13 Ax2MinusJogDisabled_M IS MEM14 LubeFault_M IS MEM49 PLCFault_M IS MEM50 AxisFault_M IS MEM51 PLCBusExtDevEn_M IS MEM52 ProbeFault_M IS MEM53 JogProbeFault_M IS MEM54 Spindle_Fault_M IS MEM55 KbJpActive_M IS MEM60 ; aka SV_PC_VIRTUAL_JOGPANEL_ACTIVE Axis1FiberOk_M IS MEM70 Axis2FiberOk_M IS MEM71 Axis3FiberOk_M IS MEM72 Axis4FiberOk_M IS MEM73 Axis5FiberOk_M IS MEM74 Axis6FiberOk_M IS MEM75 Axis7FiberOk_M IS MEM76 Axis8FiberOk_M IS MEM77 ProbeMsgSent_M IS MEM78 true IS MEM81 SpinLowRange_M IS MEM82 SpinHighRange_M IS MEM85 SpindlePause_M IS MEM86
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DisableKbInput_M IS MEM102 ;If 1, disable kb jogging AllowKbInput_M IS MEM103 ;If 1, allow kb jogging JogOverOnly_M IS MEM105 KbOverOnly_M IS MEM106 UsingFeedrateKnob_M IS MEM117 WaitingForSleepTimer_M IS MEM118 X1_M IS MEM119 X10_M IS MEM120 X100_M IS MEM121
OnAtPowerUp_M IS MEM200 InvLubeOk_M IS MEM300 ; P178 Bit 0 (1) ; add 1 to parm 178 if ; lubeOk is NO InvSpinInverterOk_M IS MEM301 ; P178 Bit 1 (2) ; Add 2 to parm 178 if ; InvSpinInverterOk_M is NO
KbCycleStart_M IS MEM400 ; "alt" + "s" KbCycleCancel_M IS MEM401 ; escape KbToolCheck_M IS MEM402 ; "Ctrl" + "t" KbTogSingleBlock_M IS MEM403 ; "Ctrl" + "b" KbIncreaseJogInc_M IS MEM404 ; "Insert" KbDecreaseJogInc_M IS MEM405 ; "Delete" KbIncFeedOver_M IS MEM406 ; "ctrl" + "keyboard "+" ("=") KbDecFeedOver_M IS MEM407 ; "ctrl" + "keyboard "-" KbFeedOver100_M IS MEM450 ; "ctrl" + "\" KbTogIncContJog_M IS MEM408 ; "ctrl" + "i" KbTogFastSlowJog_M IS MEM409 ; "ctrl" + "f" KbJogAx1Plus_M IS MEM411 ; right arrow + KbJpActive_M KbJogAx1Minus_M IS MEM412 ; left arrow + KbJpActive_M KbJogAx2Plus_M IS MEM413 ; up arrow + KbJpActive_M KbJogAx2Minus_M IS MEM414 ; down arrow + KbJpActive_M KbJogAx3Plus_M IS MEM415 ; page up + KbJpActive_M KbJogAx3Minus_M IS MEM416 ; page down + KbJpActive_M KbJogAx4Plus_M IS MEM417 ; "home"+ KbJpActive_M KbJogAx4Minus_M IS MEM418 ; "end" + KbJpActive_M KbAux1Key_M IS MEM419 ; "ctrl" + "F1" KbAux2Key_M IS MEM420 ; "ctrl" + "F2" KbAux3Key_M IS MEM421 ; "ctrl" + "F3" KbAux4Key_M IS MEM422 ; "ctrl" + "F4" KbAux5Key_M IS MEM423 ; "ctrl" + "F5" KbAux6Key_M IS MEM424 ; "ctrl" + "F6" KbAux7Key_M IS MEM425 ; "ctrl" + "F7" KbAux8Key_M IS MEM426 ; "ctrl" + "F8" KbAux9Key_M IS MEM427 ; "ctrl" + "F9" KbAux10Key_M IS MEM428 ; "ctrl" + "F10" KbAux11Key_M IS MEM429 ; "ctrl" + "F11" KbAux12Key_M IS MEM430 ; "ctrl" + "F12" KbTogRapidOver_M IS MEM431 ; "ctrl" + "r" KbTogSpinAutoMan_M IS MEM432 ; "ctrl" + "a" KbSpinCW_M IS MEM433 ; "ctrl" + "c" KbSpinCCW_M IS MEM434 ; "ctrl" + "w" KbSpinStart_M IS MEM435 ; "ctrl" + "s" KbSpinStop_M IS MEM436 ; "ctrl" + "q"
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KbFloodOnOff_M IS MEM437 ; "ctrl" + "n" KbMistOnOff_M IS MEM451 ; "ctrl" + "k" KbTogCoolAutoMan_M IS MEM438 ; "ctrl" + "m" KbFeedHold_M IS MEM439 ; space bar KbIncSpinOver_M IS MEM440 ; "ctrl" + ">" (.) KbDecSpinOver_M IS MEM441 ; "ctrl" + "<" (,) KbSpinOver100_M IS MEM442 ; "ctrl" + "?" (/)
;----------------------------------------------------------------------------­; ---------SYSTEM VARIABLES-------­; ; For a complete list of System Variables and their functions, please see the ; MPU11 PLC manual. ;-----------------------------------------------------------------------------
; MPU11 based systems provide the PLC with the ability to read/write to a ; limited number of "System Variables". While the use of System Variables ; greatly expands PLC functionality, it comes with additional reponsibility on ; the part of the PLC programmer. Functionality that was once implemented as ; default behavior such as jogging, spindle speed, feedrate override, spindle ; gear ranges etc... is now implemented through System Variables in the PLC ; program. It is now the sole responsibilty of the PLC program to provide a ; method to jog an axis, override the spindle speed or feedrates or even map a ; jog panel keypress to a specific function. Pressing a jog key or Aux key ; won't DO anything unless the PLC assigns an action to the keypress. All jog ; panel functions MUST be explicitly implemented in the PLC program. ; ----IMPORTANT---­; Menu navigation in the CNC software requires that the escape key or Cycle ; Cancel key is used to back out of menus and screens. You must use the PLC ; program to map a jog panel key and/or a keyboard key to the Cycle Cancel ; System Variable (SV_PLC_FUNCTION_1 has been declared as "DoCycleCancel") ; in order to use the control. For example: ; The following lines map the escape key and Jog Panel Cycle Cancel key to ; produce a Cycle Cancel event:
; 1. Map escape keypress event to identifier to describe what key was pressed. ; Kb_Escape IS SV_PC_Keyboard_Key_1
; 2. Map MEM bit to identifier that describes what the keypress is used for. ; KbCycleCancel_M IS MEM401
; 3. Logic to "set" KbCycleCancel_M anytime the escape key is pressed. ; if Kb_Escape THEN(KbCycleCancel_M)
; 4. Logic to cancel job if the escape key or cycle cancle key is pressed. ; IF (CycleCancelKey || KbCycleCancel_M) && SV_PROGRAM_RUNNING THEN ; (DoCycleCancel) THEN (DoCycleCancel)
; Some of the information made available to the PLC through System Variables: ; 1. Encoder positions: SV_MPU11_ABS_POS_1 - SV_MPU11_ABS_POS_7 ; 2. Parameter values: SV_MACHINE_PARAMETER_1 - SV_MACHINE_PARAMETER_999 ; 3. Spindle Speed command from PC: SV_PC_DAC_SPINDLE_SPEED ; 4. PC Keyboard Keypress: SV_PC_FUNCTION_1 - SV_PC_FUNCTION_127
; 5. ...
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; Some of the functionality controlled by the PLC through System Variables: ; 1. Axis jogging: SV_PLC_FUNCTION_12 - SV_PLC_FUNCTION_23 ; 2. "Final" Spindle speed reported to PC: SV_PLC_SPINDLE_SPEED -provides nearly ; unlimited gear ranges ; 3. Feedrate (through override knob): SV_PLC_FeedrateKnob_W ; 4. Custom debounce, invert/force inputs: SV_PLC_DEBOUNCE_1-SV_PLC_DEBOUNCE_64
; 5. ...
;----------------------------------------------------------------------------­; PLC Input manipulation - SV_PLC_DEBOUNCE_1 - SV_PLC_DEBOUNCE_64 ; The System Variables in this section are used to modify the characteristics ; of PLC inputs 1-240. Each input can be inverted, forced or assigned a custom ; debounce time.
;-----------------------------Debounce Times---------------------------------­; SV_PLC_DEBOUNCE_61 - SV_PLC_DEBOUNCE_64 are used to define up to seven custom ; debounce times which can be selected for each input.
; The 32 bit integer System Variables SV_PLC_DEBOUNCE_61 - SV_PLC_DEBOUNCE_64, ; are broken up into 8, 16 bit words, only 7 of which are used. The first word, ; the 16 MSB of SV_PLC_DEBOUNCE_61 is unused. Each 16 bit word can be used to ; store a debounce time of between 0-32767 (the MSB of each word is unused). ; Debounce times are in increments of 62.5 usecs which provides debounce times ; of up to ~2 secs.
; SV_PLC_DEBOUNCE_61 ; Unused:Bits 32-17 (Selection 0) ; MSB 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
; Debounce Time Selection #1 ; 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
; SV_PLC_DEBOUNCE_62 ; Debounce Time Selection #2 ; MSB 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
; Debounce Time Selection #3 ; 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
;------------------------Configuring Input Behavior--------------------------­; Each System Variable from SV_PLC_DEBOUNCE_1 - SV_PLC_DEBOUNCE_60 is a 32 bit ; integer word broken up into 4 bit words to control the behavior of 4 inputs. ; Inputs 1-4 are configured using SV_PLC_DEBOUNCE_1, inputs 5-8 are handled ; using SV_PLC_DEBOUNCE_2 and so on to SV_PLC_DEBOUNCE_60 which controls inputs ; 237-240
; As mentioned above, each 32 bit word defines the charactersitics for 4 inputs. ; SV_PLC_DEBOUNCE_1 defines the characteristics of INP1, INP2, INP3 & INP4 and ; so on through SV_PLC_DEBOUNCE_60 which handles INP237, INP238, INP239&INP240. ; The behavior of an input is set as follows:
; Five new operators have been introduced to simplify bit operations: ; BitSet, BitRst, BitTst, LShift & Rshift. Below we will use bitset to
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; invert an input. This is convenient to use when a device is normally ; open and the logic is written for a normally closed device. Inverting ; the input allows to reuse the existing logic rather than rewrite it.
; bitset and bitrst can not operate directly on SV_PLC_DEBOUNCE_# system ; variables, they can only operate on W32 variables. In order to use bitset and ; bitrst to manipulate the debounce variables you'll have to perform all ; operations on a w32 first:
; Declare a W32: ; Inputs_9_12_W IS W1 ; use bitst or bitrst ; if 1 == 1 THEN bitset Inputs_9_12_W 14 ;invert INP10 (bit14)
; Set Debounce system variable = to W32 variable ; if 1 == 1 THEN SV_PLC_DEBOUNCE_3 = Inputs_9_12_W
;---------------------System Variable = SV_PLC_DEBOUNCE_1--------------------­; Inp1 = bits 31-24 Inp2 = bits 23-16 ; MSB 31 30 29 28 27 26 25 24| 23 22 21 20 19 18 17 16
; Inp3 = bits 15-8 Inp4 = bits 7-0 ; 15 14 13 12 11 10 9 8| 7 6 5 4 3 2 1 0LSB
; Each 8 bit word from above ; MSB 7 6 5 4 3 2 1 0 LSB ; Force Invert Spare Spare Spare Debounce Select (7) ; selects 1 of 7 ; debounce times ; (zero is invalid) ; Force (bit 7): Set this bit to force the input to a 1* (closed) ; Ivert (bit 6): Set this to invert an input ; Spare(bit5-3): Not used ; Debounce(bit 0-2): Selects one of the 7 preset debounce times defined in ; SV_PLC_DEBOUNCE_61 - SV_PLC_DEBOUNCE_64 ; ; *If you wish to force an input to 0, set the both invert AND force bits ; for the input.
;----------------------------------------------------------------------------­; PLC Jog Panel input manipulation - The System Variables in this section are ; used to modify the characteristics of the Jog Panel keys. The jog panel keys ; can be configured in the same manner as the PLC inputs and use debounce times ; as selected/set in SV_PLC_DEBOUNCE_61 - SV_PLC_DEBOUNCE_64. ;-----------------------------------------------------------------------------
;---------------------------------------------------------------­; System variables: Jog Panel Functions ;---------------------------------------------------------------­; Jog panel functions ;Invalid IS SV_PLC_FUNCTION_0 DoCycleCancel IS SV_PLC_FUNCTION_1 DoCycleStart IS SV_PLC_FUNCTION_2
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DoToolCheck IS SV_PLC_FUNCTION_3 SelectSingleBlock IS SV_PLC_FUNCTION_4 SelectX1JogInc IS SV_PLC_FUNCTION_5 SelectX10JogInc IS SV_PLC_FUNCTION_6 SelectX100JogInc IS SV_PLC_FUNCTION_7 SelectUserJogInc IS SV_PLC_FUNCTION_8 SelectIncContJog IS SV_PLC_FUNCTION_9 SelectFastSlowJog IS SV_PLC_FUNCTION_10 SelectMpgMode IS SV_PLC_FUNCTION_11 DoAx1PlusJog IS SV_PLC_FUNCTION_12 DoAx1MinusJog IS SV_PLC_FUNCTION_13 DoAx2PlusJog IS SV_PLC_FUNCTION_14 DoAx2MinusJog IS SV_PLC_FUNCTION_15 DoAx3PlusJog IS SV_PLC_FUNCTION_16 DoAx3MinusJog IS SV_PLC_FUNCTION_17 DoAx4PlusJog IS SV_PLC_FUNCTION_18 DoAx4MinusJog IS SV_PLC_FUNCTION_19 DoAx5PlusJog IS SV_PLC_FUNCTION_20 DoAx5MinusJog IS SV_PLC_FUNCTION_21 DoAx6PlusJog IS SV_PLC_FUNCTION_22 DoAx6MinusJog IS SV_PLC_FUNCTION_23 DoAux1Key IS SV_PLC_FUNCTION_24 DoAux2Key IS SV_PLC_FUNCTION_25 DoAux3Key IS SV_PLC_FUNCTION_26 DoAux4Key IS SV_PLC_FUNCTION_27 DoAux5Key IS SV_PLC_FUNCTION_28 DoAux6Key IS SV_PLC_FUNCTION_29 DoAux7Key IS SV_PLC_FUNCTION_30 DoAux8Key IS SV_PLC_FUNCTION_31 DoAux9Key IS SV_PLC_FUNCTION_32 DoAux10Key IS SV_PLC_FUNCTION_33 SelectRapidOverride IS SV_PLC_FUNCTION_34 SelectManAutoSpindle IS SV_PLC_FUNCTION_35 DoSpindleStart IS SV_PLC_FUNCTION_37 DoSpindleStop IS SV_PLC_FUNCTION_38 DoAux11Key IS SV_PLC_FUNCTION_39 DoAux12Key IS SV_PLC_FUNCTION_40 ;SelectCoolantMan IS SV_PLC_FUNCTION_41 ;deprecated ;SelectCoolantAuto IS SV_PLC_FUNCTION_42 ;deprecated SelectCoolantFlood IS SV_PLC_FUNCTION_43 SelectCoolantMist IS SV_PLC_FUNCTION_44 DoFeedHold IS SV_PLC_FUNCTION_45 SelectSpindleCCW IS SV_PLC_FUNCTION_98 SelectSpindleCW IS SV_PLC_FUNCTION_99 SelectCoolAutoMan is SV_PLC_FUNCTION_104 DoIncreaseSpindleOr IS SV_PLC_FUNCTION_106 DoDecreaseSpindleOr IS SV_PLC_FUNCTION_107 SelectSpinOr100 IS SV_PLC_FUNCTION_108
;---------------------------------------------------------------­; System variables: Keyboard jogging functions ;---------------------------------------------------------------­;-------------------------------------------------------------------------------
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; Keyboard Jogging Keys - The System Variables in this section inform the PLC ; that a PC keyboard keypress has occured. Keep in mind that some key presses ; only come down while the keyboard jogging screen is enabled (alt-j) and that ; NONE of these keys not perform ANY default actions unless programmed to do so. ; The assignments provided below are for reference only. For an example of ; mapping a keyboard key press to an MPU11 action, see the logic assigned to ; KbCycleStart_M or KbCycleCancel_M. ; ;Note: ; Keypresses are sent down as individual keys. It is the resposibility of ; the PLC programmer to insure that a keypress is only acted on at the ; appropriate times. ; The "SV_PC_VIRTUAL_JOGPANEL_ACTIVE" system variable can be used to prevent ; a keypress form being acted on unless the keyboard jog screen is being ; displayed. NOTE The above,29 character sys variable is mapped to
; KbJpActive_M (MEM80) to make it a "little" shorter......
;------------------------------------------------------------------------------­Kb_a IS SV_PC_KEYBOARD_KEY_60 Kb_b IS SV_PC_KEYBOARD_KEY_79 Kb_c IS SV_PC_KEYBOARD_KEY_77 Kb_d IS SV_PC_KEYBOARD_KEY_62 Kb_e IS SV_PC_KEYBOARD_KEY_41 Kb_f IS SV_PC_KEYBOARD_KEY_63 Kb_g IS SV_PC_KEYBOARD_KEY_64 Kb_h IS SV_PC_KEYBOARD_KEY_65 Kb_i IS SV_PC_KEYBOARD_KEY_46 Kb_j IS SV_PC_KEYBOARD_KEY_66 Kb_k IS SV_PC_KEYBOARD_KEY_67 Kb_l IS SV_PC_KEYBOARD_KEY_68 Kb_m IS SV_PC_KEYBOARD_KEY_81 Kb_n IS SV_PC_KEYBOARD_KEY_80 Kb_o IS SV_PC_KEYBOARD_KEY_47 Kb_p IS SV_PC_KEYBOARD_KEY_48 Kb_q IS SV_PC_KEYBOARD_KEY_39 Kb_r IS SV_PC_KEYBOARD_KEY_42 Kb_s IS SV_PC_KEYBOARD_KEY_61 Kb_t IS SV_PC_KEYBOARD_KEY_43 Kb_u IS SV_PC_KEYBOARD_KEY_45 Kb_v IS SV_PC_KEYBOARD_KEY_78 Kb_w IS SV_PC_KEYBOARD_KEY_40 Kb_x IS SV_PC_KEYBOARD_KEY_76 Kb_y IS SV_PC_KEYBOARD_KEY_44 Kb_z IS SV_PC_KEYBOARD_KEY_75 Kb_spacebar IS SV_PC_KEYBOARD_KEY_95 Kb_L_Shift IS SV_PC_KEYBOARD_KEY_74 Kb_R_Shift IS SV_PC_KEYBOARD_KEY_85 Kb_L_Alt IS SV_PC_KEYBOARD_KEY_94 Kb_R_Alt IS SV_PC_KEYBOARD_KEY_96 Kb_L_Ctrl IS SV_PC_KEYBOARD_KEY_92 Kb_R_Ctrl IS SV_PC_KEYBOARD_KEY_99 Kb_Ins IS SV_PC_KEYBOARD_KEY_31 Kb_Home IS SV_PC_KEYBOARD_KEY_32 Kb_End IS SV_PC_KEYBOARD_KEY_53 Kb_PgDown IS SV_PC_KEYBOARD_KEY_54
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Kb_PgUp IS SV_PC_KEYBOARD_KEY_33 Kb_Del IS SV_PC_KEYBOARD_KEY_52 Kb_Back IS SV_PC_KEYBOARD_KEY_30 Kb_Tab IS SV_PC_KEYBOARD_KEY_38 Kb_Up IS SV_PC_KEYBOARD_KEY_87 Kb_Down IS SV_PC_KEYBOARD_KEY_101 Kb_Left IS SV_PC_KEYBOARD_KEY_100 Kb_Right IS SV_PC_KEYBOARD_KEY_102 Kb_Escape IS SV_PC_KEYBOARD_KEY_1 ;Performs Cycle Cancel Kb_F1 IS SV_PC_KEYBOARD_KEY_2 Kb_F2 IS SV_PC_KEYBOARD_KEY_3 Kb_F3 IS SV_PC_KEYBOARD_KEY_4 Kb_F4 IS SV_PC_KEYBOARD_KEY_5 Kb_F5 IS SV_PC_KEYBOARD_KEY_6 Kb_F6 IS SV_PC_KEYBOARD_KEY_7 Kb_F7 IS SV_PC_KEYBOARD_KEY_8 Kb_F8 IS SV_PC_KEYBOARD_KEY_9 Kb_F9 IS SV_PC_KEYBOARD_KEY_10 Kb_F10 IS SV_PC_KEYBOARD_KEY_11 Kb_F11 IS SV_PC_KEYBOARD_KEY_12 Kb_F12 IS SV_PC_KEYBOARD_KEY_13 Kb_Prt_Scrn IS SV_PC_KEYBOARD_KEY_14 Kb_Scrl_Lck IS SV_PC_KEYBOARD_KEY_15 Kb_Break IS SV_PC_KEYBOARD_KEY_16 Kb_Num_Lock IS SV_PC_KEYBOARD_KEY_34 Kb_1 IS SV_PC_KEYBOARD_KEY_18 Kb_2 IS SV_PC_KEYBOARD_KEY_19 Kb_3 IS SV_PC_KEYBOARD_KEY_20 Kb_4 IS SV_PC_KEYBOARD_KEY_21 Kb_5 IS SV_PC_KEYBOARD_KEY_22 Kb_6 IS SV_PC_KEYBOARD_KEY_23 Kb_7 IS SV_PC_KEYBOARD_KEY_24 Kb_8 IS SV_PC_KEYBOARD_KEY_25 Kb_9 IS SV_PC_KEYBOARD_KEY_26 Kb_0 IS SV_PC_KEYBOARD_KEY_27 Kb_10_Key_Div IS SV_PC_KEYBOARD_KEY_35 Kb_10_Key_Mlt IS SV_PC_KEYBOARD_KEY_36 Kb_10_Key_Sub IS SV_PC_KEYBOARD_KEY_37 Kb_10_Key_0 IS SV_PC_KEYBOARD_KEY_103 Kb_10_Key_1 IS SV_PC_KEYBOARD_KEY_88 Kb_10_Key_2 IS SV_PC_KEYBOARD_KEY_89 Kb_10_Key_3 IS SV_PC_KEYBOARD_KEY_90 Kb_10_Key_4 IS SV_PC_KEYBOARD_KEY_71 Kb_10_Key_5 IS SV_PC_KEYBOARD_KEY_72 Kb_10_Key_6 IS SV_PC_KEYBOARD_KEY_73 Kb_10_Key_7 IS SV_PC_KEYBOARD_KEY_55 Kb_10_Key_8 IS SV_PC_KEYBOARD_KEY_56 Kb_10_Key_9 IS SV_PC_KEYBOARD_KEY_57 Kb_10_Key_Dec_Pt IS SV_PC_KEYBOARD_KEY_104 Kb_10_Key_Plus IS SV_PC_KEYBOARD_KEY_58 Kb_Num_Enter IS SV_PC_KEYBOARD_KEY_91 Kb_L_Sq_Bracket IS SV_PC_KEYBOARD_KEY_49 Kb_R_Sq_Bracket IS SV_PC_KEYBOARD_KEY_50 Kb_Hypen IS SV_PC_KEYBOARD_KEY_28
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Kb_Equals IS SV_PC_KEYBOARD_KEY_29 Kb_Comma IS SV_PC_KEYBOARD_KEY_82 Kb_Period IS SV_PC_KEYBOARD_KEY_83 Kb_Slash IS SV_PC_KEYBOARD_KEY_84 Kb_Backslash IS SV_PC_KEYBOARD_KEY_86
;---------------------------------------------------------------­; M functions - The System Variables in this section inform the ; PLC that an M function has been requested. ;---------------------------------------------------------------­M3 IS SV_M94_M95_1 ;(Spindle CW) M4 IS SV_M94_M95_2 ;(Spindle CCW) M8 IS SV_M94_M95_3 ;(Flood On) M10 IS SV_M94_M95_4 ; Clamp M7 IS SV_M94_M95_5 ;(Mist) ; IS SV_M94_M95_6 ; ; IS SV_M94_M95_7 ; ; IS SV_M94_M95_8 ; ; IS SV_M94_M95_9 ; ; IS SV_M94_M95_10; ; IS SV_M94_M95_11; ; IS SV_M94_M95_12; ; IS SV_M94_M95_13; ; IS SV_M94_M95_14; ; IS SV_M94_M95_15; ; IS SV_M94_M95_16;
;---------------------------------------------------------------­; Word Definitions (int32) ;---------------------------------------------------------------­ErrorCode_W IS W1 TwelveBitSpeed_W IS W2 LubeAccumTime_W IS W3 KbOverride_W IS W4 FeedrateKnob_W IS W5 CycloneStatus_W IS W6 FinalFeedOverride_W IS W7 PLC_Fault_W IS W8 PLCFaultAddr_W IS W9 Last_FeedrateKnob_W IS W10 AsyncMsg_W IS W11 P148Value_W IS W12 Lube_W IS W21 LubeM_W IS W22 LubeS_W IS W23 Inputs_9_12_W IS W28 P170Value_W IS W30 P178Value_W IS W31 SpinSpeedCommand_W IS W32
;---------------------------------------­; Word Definitions cont. (f32) ;----------------------------------------
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SpinRangeAdjust IS FW1 RPMPerBit_FW IS FW2 CfgMinSpeed_FW IS FW3 CfgMaxSpeed_FW IS FW4 TwelveBitSpeed_FW IS FW5
;-----------------------------------­; One Shot Definitions ;-----------------------------------­IncrContPD IS PD1 SlowFastPD IS PD2 MpgPD IS PD3 SingleBlockPD IS PD4 FeedHoldPD IS PD5 SpinAutoManPD IS PD6 SpindlePlusPD IS PD7 SpinOverMinusPD IS PD8 SpinOver100PD IS PD9 SpinStartPD IS PD10 SpinStopPD IS PD11 SpinCWPD IS PD12 SpinCCWPD IS PD13 F9PD IS PD14 x1JogPD IS PD15 x10JogPD IS PD16 x100JogPD IS PD17 Aux11KeyPD IS PD18 RapidOverPD IS PD19 CoolantAutoManualPD IS PD21 CoolantFloodPD IS PD22 CoolantMistPD IS PD23 ToolCheckPD IS PD24 JogProbeFaultPD IS PD25 RigidTapPD IS PD26 PCSpindleStartStopPD IS PD30 PCSpindleManualPD IS PD31 PCSpindleCWPD IS PD32 PCSpindleCCWPD IS PD33 StopRunning_PD IS PD35 SoftwareReadyPD IS PD36 ;---------------------------------------------------------------­; Timer Definitions ;---------------------------------------------------------------­; 1000 = 1 second for all timers. ; MsgClear_T IS T1 SleepTimer IS T2 CycloneStatusTimer IS T3 InitializeTimer IS T4 LubeM_T IS T13 LubeS_T IS T14
;---------------------------------------------------------------­; Stage Definitions
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;---------------------------------------------------------------­WatchDogStage IS STG1 InitialStage IS STG2 JOG_PANEL IS STG3 MainStage IS STG4 AxesEnableStage IS STG5 SpindleStage IS STG6 MPG_Stage IS STG7 CheckCycloneStatus IS STG8 LoadCNC11Parameters IS STG9 KeyboardEvents IS STG10 LubeUsePumpTimers IS STG13 LubeUsePLCTimers IS STG14
SetError IS STG50 BadError IS STG51
;---------------------------------------------------------------­; Program Start ;----------------------------------------------------------------
;---------------------------------------------------------------­ WatchDogStage ;----------------------------------------------------------------
; Handle PLC executor faults. The only way to reset a PLC executor fault ; is to reboot the MPU11. if SV_PLC_FAULT_STATUS != 0 THEN PLC_Fault_W = SV_PLC_FAULT_STATUS, PLCFaultAddr_W = SV_PLC_FAULT_ADDRESS, ErrorCode_W = PLC_EXECUTOR_FLT_MSG, MSG ErrorCode_W, SET PLCExecutorFault_M, RST SetError, SET SV_STOP
; Handle software exit. if !SV_PC_SOFTWARE_READY && (SV_PLC_FAULT_STATUS == 0) THEN SET SoftwareReady_M, SET SV_STOP, ErrorCode_W = SOFTWARE_EXIT_MSG
if SV_PC_SOFTWARE_READY && (SV_PLC_FAULT_STATUS == 0) THEN (SoftwareReadyPD) if SoftwareReadyPD && !SoftwareReady_M || !true THEN SET InitialStage
if SoftwareReadyPD && SoftwareReady_M THEN RST SoftwareReady_M
;---------------------------------------------------------------­ InitialStage ;---------------------------------------------------------------­IF 1==1 THEN SET true, SET OnAtPowerUp_M, SET AxesEnableStage, SET MainStage, SET JOG_PANEL, SET LoadCNC11Parameters, SET MPG_Stage,
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SET PLCBus_Oe_M, RST DriveComFltIn_M, RST DriveComFltOut_M, SET ErrClr_M, RST PLCFault_M, CycloneStatusTimer = 300, ErrorCode_W = MSG_CLEARED_MSG, RST BadError, SET SetError, InitializeTimer = 1000, set InitializeTimer, RST InitialStage
;---------------------------------------------------------------­ LoadCNC11Parameters ;----------------------------------------------------------------
; There are two methods of control for the lube pump and they are set by CNC11 ; Machine Parameter 179, where the value is between 0 - 65535 and is formatted ; as MMMSS where MMM is a time in minutes and SS is a time in seconds. ; ; METHOD 1 (SS == 0) For lube pumps with internal timers. ; METHOD 2 (SS != 0) For lube pumps with no timers (controlled soley by PLC). ; ; Load lube pump times from P179 and convert to milliseconds. IF true THEN Lube_W = SV_MACHINE_PARAMETER_179, LubeM_W = (Lube_W / 100) * 60000, LubeS_W = (Lube_W % 100) * 1000
; Set the apprpriate stage according to method of control IF LubeS_W == 0 THEN SET LubeUsePumpTimers, RST LubeUsePLCTimers IF LubeS_W != 0 THEN SET LubeUsePLCTimers, RST LubeUsePumpTimers
if true THEN P148Value_W = SV_MACHINE_PARAMETER_148, P170Value_W = SV_MACHINE_PARAMETER_170, P178Value_W = SV_MACHINE_PARAMETER_178
If true THEN BitTst P148Value_W 1 DisableKbInput_M if true && !DisableKbInput_M THEN BitTst P170Value_W 0 AllowKbInput_M If true THEN BitTst P170Value_W 1 JogOverOnly_M If true THEN BitTst P170Value_W 2 KbOverOnly_M if JogOverOnly_M && KbOverOnly_M THEN rst KbOverOnly_M
If true THEN BitTst P178Value_W 0 InvLubeOk_M If true THEN BitTst P178Value_W 1 InvSpinInverterOk_M
;-----------------------------------------------------------------------------­ LubeUsePumpTimers ;------------------------------------------------------------------------------
; METHOD 1 (SS == 0) For lube pumps with internal timers. ; ; When using this method, P179 should be set such that MMM is a ; value that is greater than the cycle time set on the internal timers and
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; SS should be set to zero. How much greater MMM needs to be depends on the ; accuracy of the lube pump timers, but it is better to be on the long side ; to ensure proper operation. ; ; Example 1. The internal lube cycle interval is set to 60 minutes. ; Set P179 = 7500. In this example, as long as the accuracy ; of the lube timer interval causes the lube to turn on ; within 75 minutes, it will work. Note that the amount of time ; that lube is output is usually set with another timer control ; on the lube pump and it does not factor into the setting of P179. ; ; It should be noted that lube pumps with internal timers may differ on how ; they operate. ; ; (a) For pumps that lube immediately when power is applied and then start timing ; until the next cycle, it is possible to run out of lube quickly on short job ; runs if, after the program has been run, lube power is removed. ; ; (b) For pumps that do not lube until it has been turned on for the interval time, ; it is possible that lube never gets applied if, after the short program has been run, ; lube power is removed. ; ; A short program or job run is defined as a job that finishes before ; the interval setting (60 minutes in the above example). ; ; For the above mentioned reasons, we want the power to be applied for at least ; the amount of time set by the inteval timer, noting that if the user decides ; to engage the E-stop to remove power after short jobs, then they risk the ; above mentioned problems accoding to the type of pump. ; ; On the start of SV_PROGRAM_RUNNING, the lube pump turns on. ; The lube pump is turned off when a program has NOT been ; running continuously for MMM minutes or E-stop is engaged. ; The reason the lube pump is turned off after a program has NOT been ; running for MMM minutes is to prevent lubing when the user leaves for the ; weekend, leaving the machine on and E-stop disengaged.
IF SV_PROGRAM_RUNNING THEN SET Lube, RST LubeM_T IF !SV_PROGRAM_RUNNING THEN LubeM_T = LubeM_W, SET LubeM_T IF LubeM_T || !EStopOk THEN RST Lube
;-----------------------------------------------------------------------------­ LubeUsePLCTimers ;-----------------------------------------------------------------------------­; ; METHOD 2 (SS != 0) For lube pumps that do not have internal timers. ; ; When using this method P179 should be set so the lube turns on ; every MMM minutes for SS seconds. ; ; Example 1. ; To set the lube pump power to come on for 5 seconds ; every 10 minutes, set P179 = 1005. ; MMMSS
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; Example 2. ; To set the lube pump power to come on for 30 seconds ; every 2 hours, set P179 = 12030 ; MMMSS ; ; This method will accumulate time while a program is running until ; it reaches MMM minutes, at which time it will apply power ; for SS seconds (unless E-stop is engaged) and then start over. It is ; possible with frequent use of E-stop that a lube cycle is cut short. ;
IF SV_PROGRAM_RUNNING THEN LubeM_T = LubeM_W, SET LubeM_T IF !SV_PROGRAM_RUNNING THEN (StopRunning_PD) IF StopRunning_PD THEN LubeAccumTime_W = LubeAccumTime_W + LubeM_T, RST LubeM_T IF LubeM_T || (LubeAccumTime_W + LubeM_T > LubeM_W) THEN SET Lube, LubeS_T = LubeS_W, SET LubeS_T, RST LubeM_T, LubeAccumTime_W = 0 IF LubeS_T || !EStopOk THEN RST Lube, RST LubeS_T
;---------------------------------------------------------------­ KeyboardEvents ;---------------------------------------------------------------­; This stage handles functions that are required for menu navigation ; by CNC11, require multiple keypresses and/or need to be interlocked ; with SV_PC_VIRTUAL_JOGPANEL_ACTIVE and/or AllowKbInput_M. Regarding ; "AllowKbInput_M": This PLC program reads a bit from a system parameter, ; in this case bit 0 of SV_MACHINE_PARAMETER_170, and sets "AllowKbInput_M" ; if the bit is a "0". If the operator wishes to allow keyboard input ; to trigger PLC events, they must set parameter 170 to a "1" ; (or any odd number for that matter). It should be mentioned that ; the programmer will not want to interlock all keyboard keys with ; SV_PC_VIRTUAL_JOGPANEL_ACTIVE and/or AllowKbInput_M. For example: ; The "escape" key must be echoed by the PLC to CNC11 to aid in menu ; navigation. NOTE: For backward comaptibility with CNC10, setting bit 1 ; of SV_MACHINE_PARAMETER_148 OR clearing bit 0 of SV_MACHINE_PARAMETER_170 ; will disable keyboard jogging.
;-------------------------Not interlocked-----------------------­; The for cycle cancel has been moved to the main stage. ; It is commented out below but remains for referrence ;Cycle Cancel ;if Kb_Escape THEN (KbCycleCancel_M)
;Rapidoverride: Ctrl-r if Kb_r && (Kb_L_Ctrl || Kb_R_Ctrl) THEN (KbTogRapidOver_M)
;----------------Interlocked with AllowKbInput_M------------------­;KbCycle Start: alt-s if Kb_s && (Kb_R_Alt || Kb_L_Alt) && AllowKbInput_M then (KbCycleStart_M)
;KbToolCheck_M: Ctrl-t if Kb_t && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then (KbToolCheck_M)
;KbTogSingleBlock_M: ctrl-b if Kb_b && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then (KbTogSingleBlock_M)
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;KbTogSpinAutoMan_M: ctrl-a if Kb_a && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then (KbTogSpinAutoMan_M)
;KbSpinCW_M: ctrl-c if Kb_c && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then set KbSpinCW_M, rst KbSpinCCW_M
;KbSpinCCW_M: ctrl-w if Kb_w && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then set KbSpinCCW_M, rst KbSpinCW_M
;KbSpinStart_M: ctrl-s if Kb_s && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then (KbSpinStart_M)
;KbSpindle stop: Ctrl-q if Kb_q && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then (KbSpinStop_M)
;KbIncSpinOver_M: ctrl (">") if Kb_Period && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then (KbIncSpinOver_M)
;KbDecSpinOver_M: ctrl ("<") if Kb_Comma && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then (KbDecSpinOver_M)
;KbSpinOver100_M: ctrl + / if Kb_Slash && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then (KbSpinOver100_M)
;KbTogCoolAutoMan_M: Ctrl-m if Kb_m && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then (KbTogCoolAutoMan_M)
;KbFloodOnOff_M: Ctrl-n if Kb_n && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then (KbFloodOnOff_M)
;KbMistOnOff_M: Ctrl-k if Kb_k && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then (KbMistOnOff_M)
;KbTogIncContJog_M: "ctrl" + "i" if Kb_i && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then (KbTogIncContJog_M)
;KbTogFastSlowJog_M: "ctrl" + "f" if Kb_f && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then (KbTogFastSlowJog_M)
;KbAux1Key_M: "ctrl" + "F1" if Kb_F1 && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then (KbAux1Key_M)
;KbAux2Key_M: "ctrl" + "F2" if Kb_F2 && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M THEN (KbAux2Key_M)
;KbAux3Key_M: "ctrl" + "F3" if Kb_F3 && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M THEN (KbAux3Key_M)
;KbAux4Key_M: "ctrl" + "F4" if Kb_F4 && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M THEN (KbAux4Key_M)
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;KbAux5Key_M: "ctrl" + "F5" if Kb_F5 && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M THEN (KbAux5Key_M)
;KbAux6Key_M: "ctrl" + "F6" if Kb_F6 && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M THEN (KbAux6Key_M)
;KbAux7Key_M: "ctrl" + "F7" if Kb_F7 && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M THEN (KbAux7Key_M)
;KbAux8Key_M: "ctrl" + "F8" if Kb_F8 && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M THEN (KbAux8Key_M)
;KbAux9Key_M: "ctrl" + "F9" if Kb_F9 && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M THEN (KbAux9Key_M)
;KbAux10Key_M: "ctrl" + "F10" if Kb_F10 && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M THEN (KbAux10Key_M)
;KbAux11Key_M: "ctrl" + "F11" if Kb_F11 && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M THEN (KbAux11Key_M)
;KbAux12Key_M: "ctrl" + "F12" if Kb_F12 && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M THEN (KbAux12Key_M)
;KbIncFeedOver_M: "ctrl" + "keyboard +" (actually "=") if Kb_Equals && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M THEN (KbIncFeedOver_M)
;KbDecFeedOver_M: "ctrl" + "keyboard -" if Kb_Hypen && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then (KbDecFeedOver_M)
;KbFeedOver100_M: "ctrl" + "keyboard \" if Kb_Backslash && (Kb_L_Ctrl || Kb_R_Ctrl) && AllowKbInput_M then (KbFeedOver100_M)
;--------Interlocked with AllowKbInput_M && KbJpActive_M-----------
;KbIncreaseJogInc_M: "insert" if Kb_Ins && AllowKbInput_M && KbJpActive_M then (KbIncreaseJogInc_M) if KbIncreaseJogInc_M && x1JogLED && !X1_M && !X10_M && !X100_M then set X10_M if KbIncreaseJogInc_M && x10JogLED && !X1_M && !X10_M && !X100_M then set X100_M
;KbDecreaseJogInc_M: "delete" if Kb_Del && AllowKbInput_M && KbJpActive_M then (KbDecreaseJogInc_M) if KbDecreaseJogInc_M && x10JogLED && !X1_M && !X10_M && !X100_M then set X1_M if KbDecreaseJogInc_M && x100JogLED && !X1_M && !X10_M && !X100_M then set X10_M
;KbJogAx1Plus_M: Right arrow
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if Kb_Left && AllowKbInput_M && KbJpActive_M THEN (KbJogAx1Plus_M)
;KbJogAx1Minus_M: Right arrow if Kb_Right && AllowKbInput_M && KbJpActive_M THEN (KbJogAx1Minus_M)
;KbJogAx2Plus_M: Up arrow if Kb_Up && AllowKbInput_M && KbJpActive_M THEN (KbJogAx2Plus_M)
;KbJogAx1Minus_M: Down arrow if Kb_Down && AllowKbInput_M && KbJpActive_M THEN (KbJogAx2Minus_M)
;KbJogAx3Plus_M: Page up if Kb_PgUp && AllowKbInput_M && KbJpActive_M THEN (KbJogAx3Plus_M)
;KbJogAx3Minus_M: Page Down if Kb_PgDown && AllowKbInput_M && KbJpActive_M THEN (KbJogAx3Minus_M)
;KbAx4PlusJog: "home" if Kb_Home && AllowKbInput_M && KbJpActive_M then (KbJogAx4Plus_M)
;KbAx4MinusJog: "end" if Kb_End && AllowKbInput_M && KbJpActive_M then (KbJogAx4Minus_M)
if true THEN rst KeyboardEvents
;---------------------------------------------------------------­ MPG_Stage ;---------------------------------------------------------------­; MPG Functions ; Turn on/off Jog Panel MPG LED & on the MPG IF MPGKey then (MpgPD) IF MpgPD && MPGLED then set MPGManOffFlag_M IF !SV_MPG_1_ENABLED || (MpgPD && !MPGLED) then RST MPGManOffFlag_M
IF (MpgPD && !MPGLED) || (SV_MPG_1_ENABLED && !MPGManOffFlag_M) && !SV_PROGRAM_RUNNING THEN SET MPG_LED_OUT, SET MPGLED
IF (!SV_MPG_1_ENABLED || (MpgPD && MPGLED)) || SV_PROGRAM_RUNNING THEN RST MPG_LED_OUT, RST MPGLED
;x1, x10, x100 functions ;--------------------------X1----------------------------------­IF x1JogKey THEN (x1JogPD) IF x1JogPD || OnAtPowerUp_M || X1_M || (MPG_Inc_X_1 && MPGLED) THEN SET x1JogLED, RST x10JogLED, RST x100JogLED
;--------------------------X10---------------------------------­IF x10JogKey THEN (x10JogPD) IF x10JogPD || X10_M || (MPG_Inc_X_10 && MPGLED)
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THEN RST x1JogLED, SET x10JogLED, RST x100JogLED
;--------------------------X100--------------------------------­IF x100JogKey THEN (x100JogPD) IF x100JogPD || X100_M || (MPG_Inc_X_100 && MPGLED) THEN RST x1JogLED, RST x10JogLED, SET x100JogLED
if !KbIncreaseJogInc_M && !KbDecreaseJogInc_M then rst X1_M, rst X10_M, rst X100_M
; MPG 1 Enable IF MPG_AXIS_1 || MPG_AXIS_2 || MPG_AXIS_3 || MPG_AXIS_4 || MPG_AXIS_5 || MPG_AXIS_6 || MPG_AXIS_7 || MPG_AXIS_8 THEN (SV_MPG_1_ENABLED)
; Select axis to move IF MPG_AXIS_1 THEN SV_MPG_1_AXIS_SELECT = 1 IF MPG_AXIS_2 THEN SV_MPG_1_AXIS_SELECT = 2 IF MPG_AXIS_3 THEN SV_MPG_1_AXIS_SELECT = 3 IF MPG_AXIS_4 THEN SV_MPG_1_AXIS_SELECT = 4
; Select MPG 1 Multiplier IF (MPG_Inc_X_100) THEN SV_MPG_1_MULTIPLIER = 100 IF (MPG_Inc_X_10) THEN SV_MPG_1_MULTIPLIER = 10 IF (MPG_Inc_X_1) THEN SV_MPG_1_MULTIPLIER = 1
; Disable "Windup" mode IF x100 selected IF (!MPG_Inc_X_100) THEN (SV_MPG_1_WINDUP_MODE)
;---------------------------------------------------------------­ JOG_PANEL ;---------------------------------------------------------------­; Select Incremental or Continuous Jog Mode IF IncrContKey || KbTogIncContJog_M THEN (IncrContPD) IF (IncrContPD && !IncrContLED) || OnAtPowerUp_M THEN SET IncrContLED IF (IncrContPD && IncrContLED) THEN RST IncrContLED
; Select Fast or Slow Jog Mode IF FastSlowKey || KbTogFastSlowJog_M THEN (SlowFastPD) IF (SlowFastPD && !FastSlowLED) || OnAtPowerUp_M || MechnicalProbe THEN SET FastSlowLED IF (SlowFastPD && FastSlowLED) THEN RST FastSlowLED
;--------------------------------------­; Single Block Mode ;--------------------------------------­IF SingleBlockKey || KbTogSingleBlock_M THEN (SingleBlockPD) IF SingleBlockPD && !SingleBlockLED && !SV_PROGRAM_RUNNING THEN SET SingleBlockLED IF SingleBlockPD && SingleBlockLED THEN RST SingleBlockLED IF SingleBlockLED THEN (SelectSingleBlock)
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;--------------------------------------­; Toolcheck ;--------------------------------------­IF (ToolCheckKey || KbToolCheck_M) && EstopOk THEN (ToolCheckPD) IF ToolCheckPD THEN (DoToolCheck)
;--------------------------------------­; Feed Hold Mode ;--------------------------------------­IF (FeedHoldKey || KbFeedHold_M) && SV_PROGRAM_RUNNING THEN (FeedHoldPD) IF FeedHoldPD && !FeedHoldLED THEN SET FeedHoldLED IF FeedHoldPD && FeedHoldLED && !SV_PROGRAM_RUNNING && !SV_MDI_MODE THEN RST FeedHoldLED IF FeedHoldLED && (DoCycleStart || DoCycleCancel || ToolCheckPD) THEN RST FeedHoldLED IF FeedHoldLED THEN SET DoFeedHold IF !FeedHoldLED THEN RST DoFeedHold
;--------------------------------------­; Feedrate Override Section ;--------------------------------------­;------------------------------------------------------------------------­; Feedrate override works as follows: ; ; 1. The PLC reads the 8 bit value of the FeedrateKnob_W directly (0-255) ; 2. The PLC scales this value to a 0-200 value (0-200%) by dividing by ; the knob value by 127.5 and then multiplying the result by 100 ; 3. If keyboard joggin is not disabled (it is enabled by default), the PLC ; determines whether the operator is using the keyboard override or ; the FeedrateKnob_W to override the feedrate by watching which was changed ; most recently. The most recently changed value is saved as ; "FinalFeedOverride_W" ; 4. Parameter 39 in (From the "params" scrren in CNC11 software) stores ; a value which allows which the PLC program can use to limit the amount ; of override applied to the programmed feedrate. This value is specified ; as a percentage. ; 5. The PLC limits the override percentage by reading parameter 39 and, if ; the feedrate override percentage as read from the knob is greater than ; parameter 39, it sets the FinalFeedOverride_W value to the value of ; parameter 39. ; 6. Once the override percentage has been determined and limited (if needed) ; The PLC send this value up to the CNC11 software by setting ; SV_PLC_FeedrateKnob_W = FinalFeedOverride_W ; 7. CNC11 reads SV_PLC_FEEDRATE_KNOB, factors in it's on own override based ; on parameter 78 (see operators manual for more info on parm 78) and then ; returns an override value to the PLC in the system variable ; SV_PC_FEEDRATE_PERCENTAGE ; 8. The PLC reads SV_PC_FEEDRATE_PERCENTAGE and (typically) echoes the system ; variable to SV_PLC_FEEDRATE_OVERRIDE which the MPU11 uses as the final ; determination of the feedrate override percentage. ;----------------------------------------------------------------------­; 1. The PLC reads the 8 bit value of the FeedrateKnob_W directly (0-255) ; NOTE: BTW = Bit To Word
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; BTW reads the specified number of bits (if none is specified it defaults to 8) ; starting from a bit location and writes them to a word with the starting bit ; location being written to the LSB of the word used. Below, BTW reads the bit ; values from JpFeedOrKnobBit0 to JpFeedOrKnobBit7 and writes them into to the ; word "FeedrateKnob_W" which sets FeedrateKnob_W to a value of 0-255 ;----------------------------------------------------------------------­IF true THEN FeedrateKnob_W = 0 if true THEN BTW FeedrateKnob_W JpFeedOrKnobBit0 8
;----------------------------------------------------------------------­; 2. Scale this value to a 0-200 value (0-200%) ;----------------------------------------------------------------------­IF true THEN FeedrateKnob_W = (FeedrateKnob_W/127.5)*100
;----------------------------------------------------------------------­; 3. Determine whether to us FeedrateKnob_W or KbOverride_W ;----------------------------------------------------------------------­; This section determines when to use the feedrate override value sent down ; by the jogpanel (FeedrateKnob_W) or the feedrate override as determined ; by the PLC monitoring the keyboard override keys (KbOverride_W).
;------------------------------------------------------------------------------­; At powerup, default feedrate override is jog panel (FeedrateKnob_W) ; To use both keyboard or jogpanel overrides set p170 to 0 (default) ; To use jogpanel override only set p170 to 2 ; To use keyboard only set p170 to 4 ;------------------------------------------------------------------------------­IF OnAtPowerUp_M && KbOverOnly_M || KbFeedOver100_M THEN KbOverride_W = 100 IF OnAtPowerUp_M && !KbOverOnly_M THEN set UsingFeedrateKnob_M, KbOverride_W = FeedrateKnob_W, Last_FeedrateKnob_W = FeedrateKnob_W
;----------------Calculate keyboard feedrate override--------------------------­; SleepTimer is used to limit the KbOverride_W update rate to 20% per sec ;------------------------------------------------------------------------------­if AllowKbInput_M && KbIncFeedOver_M && !WaitingForSleepTimer_M THEN KbOverride_W = KbOverride_W + 1, rst UsingFeedrateKnob_M, set WaitingForSleepTimer_M, SleepTimer = 50, set SleepTimer
if AllowKbInput_M && KbDecFeedOver_M && !WaitingForSleepTimer_M THEN KbOverride_W = KbOverride_W - 1, rst UsingFeedrateKnob_M, set WaitingForSleepTimer_M, SleepTimer = 50, set SleepTimer
if SleepTimer THEN rst WaitingForSleepTimer_M, rst SleepTimer
;------------Switch to FeedrateKnob_W if it changes more 3%---------------------­; Once it has changed by more than 3%, it will update as normal (1% increments) ; until it sees another KbOverride_W command at which point it will take ; another 3% change to re-activate the FeedrateKnob_W
if (abs(Last_FeedrateKnob_W - FeedrateKnob_W) >= 3) || UsingFeedrateKnob_M THEN FinalFeedOverride_W = FeedrateKnob_W, KbOverride_W = FeedrateKnob_W, Last_FeedrateKnob_W = FeedrateKnob_W, set UsingFeedrateKnob_M
;Limit keyboard override to parm 39. Allowing the FeedrateKnob_W to go past
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;parm 39, but keeping the KbOverride_W limited keeps the "dead space" ;down and allows the PLC to respond to changes in the FeedrateKnob_W even if ;above 120. Overall override is still limited later but this gives better ;response in changing between KbOverride_W & the FeedrateKnob_W if KbOverride_W > SV_MACHINE_PARAMETER_39 THEN KbOverride_W = SV_MACHINE_PARAMETER_39
if !UsingFeedrateKnob_M && !JogOverOnly_M THEN FinalFeedOverride_W = KbOverride_W
;----------------------------------------------------------------------­; 4 & 5. Limit override percentage to value set in Parameter 39 ;----------------------------------------------------------------------­;------------------Limit final override percentage to parm 39------------------­if FinalFeedOverride_W > SV_MACHINE_PARAMETER_39 THEN FinalFeedOverride_W = SV_MACHINE_PARAMETER_39
if FinalFeedOverride_W < 0 THEN FinalFeedOverride_W = 0
;----------------------------------------------------------------------­; 6. Send override percentage to CNC11 ;----------------------------------------------------------------------­;----------------Send override to PC for modification if needed----------------­if true THEN SV_PLC_Feedrate_Knob = FinalFeedOverride_W
;----------------------------------------------------------------------­; 7. Copy the feedrate override sent from the PC to the MPU11. ;----------------------------------------------------------------------­;-------------------------------------------------------------------------­; Normally a number from 0.0-2.0, no limitations although V will not exceed ; Vmax. A negative number in here would be extremely bad. ;-------------------------------------------------------------------------­IF true THEN SV_PLC_FEEDRATE_OVERRIDE = SV_PC_FEEDRATE_PERCENTAGE/100.0
;--------------------------------------------------------­; MPU11 Jog Panel Functions ;--------------------------------------------------------­IF KB_F9 then (F9PD) IF KbTogRapidOver_M || (F9PD && SV_PROGRAM_RUNNING) THEN (RapidOverPD) IF RapidOverPD^ SelectRapidOverride THEN (SelectRapidOverride) IF OnAtPowerUp_M THEN SET SelectRapidOverride IF (CycleCancelKey || KbCycleCancel_M) && SV_PROGRAM_RUNNING THEN (DoCycleCancel) IF (CycleStartKey || KbCycleStart_M) THEN (DoCycleStart)
IF (Ax1PlusJogKey || KbJogAx1Plus_M) && !Ax1PlusJogDisabled_M && !(IncrContLED && FinalFeedOverride_W == 0) THEN (DoAx1PlusJog) IF (Ax1MinusJogKey || KbJogAx1Minus_M) && !Ax1MinusJogDisabled_M && !(IncrContLED && FinalFeedOverride_W == 0) THEN (DoAx1MinusJog) IF (Ax2PlusJogKey || KbJogAx2Plus_M) && !Ax2PlusJogDisabled_M && !(IncrContLED && FinalFeedOverride_W == 0) THEN (DoAx2PlusJog) IF (Ax2MinusJogKey || KbJogAx2Minus_M) && !Ax2MinusJogDisabled_M &&
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