Programming with Macro's on the Haas CNC

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Programming with Macro's on the Haas CNC

• Dave Wolf
• Haas Automation
• October 26, 2000

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I. Goals of this class

• Understand the differences between a macro and a
  macro statement.
• Learn how to use macro statements to simplify CNC
  programming and to aid in troubleshooting.
• Improve G-code programming skills
• Learn to analyze G-code programs with which you
  may come in contact.

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I.a.Topics of Discussion

• Macros- What are they? How are they used?
• G-codes that are useful for macros- a review
• Aliasing a macro to a G- or M-code.
• The elements of macro programming- variables,
  operators, functions, expressions, and
  statements.
• System macro variables
• The effect of settings on macros

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II. Macros- what are they?

• Definition - Any program that performs a common
  function and will be executed repeatedly within a
  g-code program.
• Macro statements - Any non-G-code command.
• Why? - Macros provide flexibility.
• Macro parameter bit- Required before loading of
  any macro statement.

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Problem 1 - Macro Enable parameter

• Setup- Get the simulator ready for programming.
  Begin by creating and editing program O9000.
• The purpose of this exercise is to demonstrate
  the effects of the macro enable parameter.
• Attempt to load a macro statement both with and
  without the macro enable parameter enabled.
• Subsequent problems will build on the programs
  that are created in previous problems.

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III. G-codes that are useful for macros- a review

• The following are some G-codes that are of
  particular interest to the macro programmer.
• M98 Pxx - Sub Program Call.
• G65 Pxx - Macro subprogram call. Allows passing
  of variables.
• M97 Pxx - Local Sub Routine Call.
• M96 Pxx Qxx - Conditional Local Branch when
  Discrete Input Signal is 0.
• M00, M01, M30 - Stop Program.
• M99 - Sub Program Return or Loop.
• G04 - Dwell.
• G103 - Block Lookahead Limit. No cutter comp
  allowed.

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Problem 2 - Program stop

• The purpose of this exercise is to demonstrate
  the effects of various program end types.
• Programs in MDI do not require a program end.
• Observe the effects of the various program ends
  on the program counter (highlighted block)
• This exercise will use M30, M00, and M99 as well
  as without any end statement.

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Problem 3 - Program lookahead

• The purpose of this exercise is to demonstrate
  the effects of program lookahead.
• Observe the effects of G103 on the timing of when
  the output is turned on and off.
• The goal of this exercise is to turn an output
  on, wait for 2 sec., then turn it off and stop.

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IV. Program syntax

• Parentheses - ( )
• Are used to enclose comments.
• Not executed as a part of the program.
• Brackets -
• Are used to enclose macro expressions.
• Used to control the order of execution.
• Executed as part of the program.
• Line numbers - Nxxxx

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V. Aliasing a macro to a G- or M-code

• Aliasing is assigning a G-code name to a program.
• Aliasing takes the place of a G65 or M98.
• The assignment takes place through parameters
  81-100.
• Only programs O9000-9019 may be aliased.

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Problem 4 - Sub-program calls

• The purpose of this exercise is to demonstrate
  the usage of sub-program calls.
• Create a program(O0010) that will call the
  program created previously (O9000)
• Use any method of sub program call- M98, G65, or
  aliasing

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VI. The elements of macro programming

• Variables
• Operators
• Functions
• Expressions
• Statements

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VI.a.The elements of macro programming - Variables

• A variable is a symbol that can assume a changing
  value. They provide great flexibility in macro
  programming.
• Local variables - Local variables are not passed
  to other programs.
• Global variables - Global variables are general
  purpose. They are saved at power-down.
• System variables - System variables are global
  and are assigned a specific function in cnc
  software.

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VI.b. The elements of macro programming -
Operators

• Operators are symbols and commands that modify
  data.
• Arithmetic operators - Arithmetic operators
  perform simple math functions. They are , -, ,
  /, and MOD.
• Logical operators - Logical operators work on
  binary bit numbers. They are OR, AND, and XOR.
• Boolean operators - Boolean operators are always
  evaluated as true(1) or false(0). They are EQ,
  NE, GT, LT, GE, and LE.

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Problem 5 - Counters

• The purpose of this exercise is to demonstrate
  the usage of variables.
• Add a counter to program O0010.

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VI.c. The elements of macro programming -
Functions

• Functions are complex mathematical operations.
  They are SIN, ASIN, COS, ACOS, TAN, ATAN, SQRT,
  ABS, ROUND, and FIX.
• DPRINT is a special case. It is used for
  outputting data through the serial port. It is a
  stand-alone function.

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VI.d. The elements of macro programming -
Expressions

• Expressions are defined as a sequence of
  variables and values surrounded by brackets .
• Arithmetic Expressions - Arithmetic Expressions
  produce a floating point number or integer.
• Conditional Expressions - Conditional Expressions
  produce a value that is either true(1) or
  false(0).

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Problem 6 - Working with Macro variables

• The purpose of this exercise is to integrate the
  use of macro expressions with standard G-codes.
• Add machine moves to program O9000. Use macro
  variables to set the position of these moves.
  Pass the move location or distance via local
  variables.
• Watch for correct formatting of the data.

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VI.e. The elements of macro programming -
Statements

• Statements are complete commands that perform an
  action.
• Assignment Statements - Used to assign a value to
  a variable.
• Control Statements - Effect the order of
  execution of a program.
• Unconditional Branch - GOTOnnnn - always jump to
  line nnnn.
• Conditional Branch/Execution - IF ltconditional
  expression gt THEN ltstatementgt - Execute
  statement only if the condition is met.
• Looping - WHILE ltconditional expressiongt DOn
  ltstatementsgt ENDn - Loop while the condition
  is true.

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Problem 7 - Conditional Statements

• The purpose of this exercise is to demonstrate
  the usage of conditional statements IF or WHILE.
• Stop calling program O9000 after n-times.
  Program will then stop execution.
• Use IF or WHILE to determine if the max number of
  times has been exceeded.

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VII. System macro variables

• 709 macro not complete (hidden variable)
• 3000 programmable alarm
• 3001 millisecond timer
• 3004 feed hold override
• 3006 programmable stop
• 4101-4126 last block address data
• 5021-5026 current machine position
• Discrete I/O 10xxinputs, 11xxoutputs

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Problem 8 - System Variables

• The purpose of this exercise is to demonstrate
  the usefulness of system variables.
• Measure how long it takes to perform the above
  test. Store this value in a variable.

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VIII. The effect of settings on macros

• 23- 9xxxx Progs Edit lock
• 74- 9xxxx Progs Trace
• 75- 9xxxx Progs Single Block

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IX. Conclusion

• Use macros to simplify operation for the
  operator
• Use macro assignments to manually test or
  troubleshoot
• Use macros to control complex sub-assemblies
  that involve discrete I/O

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Problem 9 - Final exam - Dog dish problem

• This is the final exam. The purpose of this
  exercise is to use the knowledge gained earlier
  to create a complete macro.
• You may pick either problem 9 or 10.
• You are the owner of a dog dish factory. You
  make the size of the dish to suit the customer.
  Your machinist does not know how to program in
  G-code.
• Create a program(s) that will make any size of
  rectangular dog dish. For the purpose of this
  exercise, ignore the middle of the dish and tool
  diameter (cutter comp).
• The machinist is given the following information
  x,y,z dimensions, material (3 max, determines
  feedrate, spindle speed, and z increment), and
  number of parts.

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Problem 10 - Final Exam (optional) - Tool
changer problem

• This exercise is optional. The purpose of this
  exercise is to use the knowledge gained earlier
  to create a complete macro.
• You may pick either problem 8 or 9.
• You are an engineer creating a new tool changer.
  The motion for the carousel is complete in M39.
  You must complete the tool change shuttle motion
  and incorporate the M39.
• The shuttle works exactly the same as for a
  standard vertical.

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Problem 9 - Final exam - Dog dish problem-
Solution

• O09001 (DOG DISH PROBLEM)
• (THE PROGRAM IS CALLED VIA G65 P9000 Xnn Ynn Znn
  Inn Jnn)
• (WHERE XYZ ARE DIMENSIONS, Inn IS THE MATERIAL
  TYPE,)
• (AND Jnn IS THE NUMBER OF PARTS TO BE MADE)
• (MATERIAL DATA IS IN 130.., 140..., AND
  150...)
• (MATERIAL 1-PLASTIC, 2-ALUMINUM, 3-STEEL)
• (100 IS COUNTER)
• (110-120 ARE TEMP STORAGE)
• G103 P1 (LIMIT LOOKAHEAD)
• 100 0 (RESET COUNTER)
• 110 24 (STORE X)
• 111 25 (STORE Y)
• 112 26 (STORE Z)
• 113 4 (STORE I)
• 114 5 (STORE J)
• 116 113 10 120 (this is the address
  location for the selected material)
• N10 115 0 (RESET DEPTH COUNTER)
• (ALARM IF TOOL LENGTH Z DEPTH gt MAX DEPTH)
• IF 116 1 112 GT 4.5 THEN
  3000 1 (2 DEEP FOR TOOL)

• IF 115 GT 112 THEN 115 112 (IF NEW
  DEPTHgtMAX THEN SET DEPTHMAX)
• M97 P999 (3 BLANK LINES)
• G01 G53 G90 F 113 10 122 Z -
  115 (FEED TO NEW DEPTH)
• M97 P999 (3 BLANK LINES)
• M97 P300 (PERFORM XY MOVES)
• M97 P999 (3 BLANK LINES)
• END1 (END LOOP)
• 1124 0 (TURN OFF AIR BLAST)
• M97 P999 (3 BLANK LINES)
• G00 G53 G90 X0 Y0 Z0 (MOVE SPINDLE TO ZERO)
• M97 P999 (3 BLANK LINES)
• IF 100 EQ 114 GOTO500 (END IF MAX PARTS
  REACHED)
• 3006 1 (LOAD NEW PART)
• GOTO10
• N300 (MILL OUT SQUARE)
• G01 G53 G90 F 113 10 122 X -
  110
• G01 G53 G90 F 113 10 122 Y -
  111
• G01 G53 G90 F 113 10 122 X0
• G01 G53 G90 F 113 10 122 Y0

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Problem 10 - Final exam - Tool Changer problem-
Solution

• O9001 (TOOL CHANGE EXAMPLE)
• G103 P1 (enable lookahead)
• M05 (spindle stop)
• M09 (coolant off)
• G00 G90 G53 Z0. (Z-axis to zero)
• M19 (orient spindle)
• M97 P999 (3 blank lines)
• 3001 0 (reset millisecond timer)
• 1108 1 (turn shuttle motor on)
• N10 IF 3001 GT 3000 GOTO200 (3sec timeout on
  motor)
• IF 1000 EQ 0 GOTO10 (wait for shuttle in
  condition)
• M97 P999 (3 blank lines)
• 1108 0 (turn shuttle motor off)
• M97 P999 (3 blank lines)
• M82 (unclamp tool)
• M97 P999 (3 blank lines)
• G00 G53 G90 Z3.5 (move Z-axis out of the way)
• M97 P999 (3 blank lines)
• M39 T4120 (rotate carousel to correct pocket)

• 3001 0 (reset millisecond timer)
• 1109 1 (turn shuttle motor on)
• N20 IF 3001 GT 3000 GOTO200 (3sec timeout on
  motor)
• IF 1001 EQ 0 GOTO20 (wait for shuttle out
  condition)
• M97 P999 (3 blank lines) 1109 0 (turn shuttle
  motor off)
• N100 (normal end)
• G103 (turn off lookahead)
• M99 (return to main program)
• N999 (3 BLANK LINES)
• M99
• N200 (FAULT ROUTINE)
• 1108 0 (turn shuttle motor off)
• 1109 0 (turn shuttle motor off)
• 3000 1 (TC FAULT)