He Thong Dieu Khien May Khoan Mach in Bang May Tinh

LUAN VAN TOT NGHIEP
SVTH : NGUYEN TH CHNH
CHNG M AU
I _ KHAI QUAT VAN E
He thong ieu khien may khoan bang may tnh ien t la mot tap hp cac thiet b va phu kien lien quan. e nam c het cac nguyen ly hoat ong va cau tao cua chung ro rang la mot vec khong n gian. Tham ch ngay ca ten goi cua mot so bo phan trong he thong cung gay phien ha cho ngi s dung. Trc nhng tien bo nh vu bao cua nganh cong nghiep ngay nay va nhu cau ng dung may tnh vao moi lnh vc, he thong ieu khien t ong ngay cang c phat trien mot cach hoan hao va co o chnh xac cao. Hoat ong c ban cua he thong ieu khien may khoan bang may tnh c thc hien cung giong nh cac loai giao tiep khac. D lieu c cha trong bo nh cua may tnh, sau o c xuat ra qua cong giao tiep noi tiep a en may khoan e ieu khien ong c nh v ung v tr can khoan, va c the het v tr nay en v tr khac en khi nao ma may tnh gi lenh dng th ong c khong hoat ong na. Khi ay he thong khoan mach in hoan thanh.
II_ GII HAN E TAI

Do thi gian nghien cu va thc hien e tai ch gii han trong vong 6 tuan, vi von kien thc va viec tm hieu ve he thong ieu khien va c cau cau tao, cung nh cac bo phan chi tiet trong he thong ieu khien con han che, luan van nay ch thc hien trong pham vi ng dung phan mem Pal-El e khoan mach in bao gom cac phan sau: Phan I : C s ly thuyet ve giao tiep Giao tiep vi may tnh Gii thieu ve chuan RS-232 Phan II : Cac khai niem ve may ieu khien theo chng trnh so ai cng ve ieu khien theo chng trnh so Truyen ong bang ong c bc
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Phan III : Phan mem ng dung phan mem PAL-El e khoan mach in
III _ MUC TIEU NGHIEN CU

Da tren tai lieu va thiet b ieu khien, at biet may khoan co san, cung nh phan men ieu khien c dch t tai lieu PAL_EP .. e viet mot chng trnh ng dung thc te n gian nham gop phan phong phu them cho viec hieu biet ve lnh vc nay ong thi co the m rong va nh hng cho nhng e tai sau
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CHNG I
GIAO TIEP MAY TNH

I _ CAC VAN E C BAN VE MAY TNH Trai qua mot thi gian dai t phat minh au tien ra may tnh cho en nay, may tnh a khong ngng nang cao va phat trien qua nhieu the he. Tuy nhien hau het may tnh ang pho bien hien nay eu co nguon goc xuat phat t ho PC (Personal Computer). au tien la kieu may PCXT do hang IBM che tao vi bo x ly (CPU) 8088 cua hang Intel. ay la he thong x ly d lieu 16 bit nhng dung bus d lieu 8 bit. Tiep theo o la may AT ra i vi bo x ly 80286 co tnh nang hn han chip 8088 cua may PC XT. No co kha nang tao ra bo nh ao, a nhiem vu, toc o nhanh, o tin cay cao va dung bus d lieu 16 bit. a nhiem (Multitasking) la kha nang thc hien mot luc nhieu nhiem vu: - Va in mot tai lieu - Va tnh toan mot phep tnh Cong viec nay thc hien c nh hoan chuyen nhanh theo s theo doi cua CPU en cac chng trnh ma no ang nam quyen ieu khien .Viec nay c thc hien ngay ben trong CPU cong vi mot vai giup cua he ieu hanh.Bo nh ao (Virtull Memory) cho phep may tnh lam viec vi mot bo nh dng nh ln hn nhieu so vi bo nh vat ly hien co: Cong viec nay thc hien c nh mot phan mem va s thiet ke phan cng cc ky tinh xao. Ngay nay cac may AT 386, 486, Pentium dung chip CPU lan lt la 80386, 80486, P5 la ket qua cua trnh o ky thuat va cong nghe hien ai. Chng trnh mot bo nh ln hn to tien la : 8088 hay 80286 cung vi nhieu chc nang mi, them na la toc o vi x ly khong ngng c nang cao o rong cua data bus cung m rong len 32bit roi 64 bit vi Pentium.
II _ CAC PHNG PHAP IEU KHIEN VAO RA:
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1.
Thiet b ngoai vi ieu ghep vi Bus he thong vi x ly thong qua cac phan thch ng ve cong nghe che tao va logic. Thch ng ve cong nghe che tao la ieu chnh mc cong nghe san xuat thiet b ngoai vi va cong nghe san xuat cua mach trong he vi x ly. Thch ng ve Logic la nhiem vu tao tn hieu ieu khien ngoai vi tn hieu tren bus he thong. Trong he vi x ly mot vung nh dung lam ni cha a ch cong vao ra va CPU xuat hoac nhap d lieu t cac cong vao ra nay cac lenh xuat nhap In/Out Luc nay cong vao ra c xem nh thanh ghi ngoai, chung c viet vao hoac oc ra nh o nh Ram qua hai lenh tren. e phan biet hng xuat hoac nhap d lieu t cong vao ra CPU phat ra tn hieu ieu khien oc hoac viet. e phan biet vung nh vi thiet b vao ra CPU phat ra tn hieu ieu khien IO/M. Khi co cac lenh nay th cac lenh In/Out mi co tac dung. Ngoai cac lenh qui chieu bo nh, cung nh kha nang trao oi d lieu gia thiet b ngoai vi va he vi x ly. Luc o vao ra c gan nh mot a ch o nh cua bo nh. Cac thanh ghi lien quan ti cong vao ra c xem nh ngan nh. Khi bo vi x ly goi a ch va xung ieu khien oc hay viet bo nh khong can xac nh ni gi la bo nh hay thiet b vao ra. No ch hoi ni gi d lieu vao trong khoang thi gian cho phep. Bo logic ben ngoai se giai ma a ch ket hp vi xung MR, MW, e chon thiet b ma khong phan biet ngan nh hay thiet b vao ra.
2. Vao
Vao ra ieu khien bang chng trnh:
Vi phng phap ieu khien vao ra bang chng trnh, CPU phai lien tuc kiem tra trang thai cua thiet b ngoai vi en khi san sang, o la s lang ph thi gian cua CPU va chng trnh dai va phc tap. Khi bo vi x ly co nhieu thiet b ngoai vi CPU khong ap ng yeu cau cua chung. Co the ap ng yeu cau ngoai vi nhanh chong va khong theo trnh t nh nh trc nh c cau ngat CPU. Nh tnh chat ap ng tc thi cua vi x ly khi co yeu cau ngat t thiet b ngoai vi do o cac
ra ieu khien bang ngat:
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ngat thng c dung nhng trng hp yeu cau ap ng nhanh, thi gian tra li ngan, thc hien bat ky thi iem nao. Khi o CPU phai chuyen en chng trnh con, yeu cau ngat cuoi bat ky lenh nao trong chng trnh chnh. Cac chng trnh con phuc vu ngat co the lu tr noi dung cac thanh ghi va khoi phuc lai khi thc hien xong chng trnh phuc vu ngat va trc khi tr lai chng trnh chnh. Giao tiep vi may tnh la trao oi d kien gia mot may tnh vi mot hay nhieu thiet b ngoai vi. Theo tieu chuan san xuat, may tnh giao tiep vi ngi s dung bang hai thiet b:
- Ban phm e nhap d lieu

- Man hnh e hien th Ngoai ra nha san xuat cho ta nhieu cach giao tiep khac thong qua cac port nh la cac ngo giao tiep: - Giao tiep qua port com (noi tiep) - Giao tiep qua port Parallel(song song) Tuy theo trng hp ng dung cu the ma chon cach giao tiep thch hp.
III _ PHNG PHAP GIAO TIEP
1. Giao tiep vi may tnh thong qua slot card:
Ben trong may tnh, ngoai nhng khe cam dung cho card vao - ra, card man hnh, van con nhng ranh cam e trong. e giao tiep vi may tnh, ta co the thiet ke card m rong e gan vao khe cam m rong nay. may tnh PC/XT ranh cam ch co 1 loai vi o rong 8 bit va tuan theo tieu chuan ISA (Industry Standard Architecture). Ranh cam theo tieu chuan IS co 62 ng tn hieu, qua cac ng tn hieu nay may tnh co the giao tiep de dang vi thiet b ben ngoai thong qua card m rong. Tren ranh cam m rong, ngoai 20 ng a ch, 8 ng d lieu, con co mot so ng ieu khien nh: RESET , IOR , IOW, AEN, CLK, ... Do o card giao tiep vi may tnh qua slot card n gian, so bit co the tang de dang, giam c nhieu linh kien, toc o truyen d lieu nhanh (truyen song song). Tuy nhien, do
LUAN VAN TOT NGHIEP
khe cam nam ben trong may tnh nen khi muon gan card giao tiep vao th phai m nap ra, ieu nay gay bat tien cho ngi s dung.
2. Giao tiep qua Serial Port (Port COM) :
IBM PC cung cap 2 cong noi tiep: COM1 va COM2. Cac cong nay giao tiep theo tieu chuan RS232. Chung co the c noi vi mot Modem e dung cho mang ien thoai, hay noi trc tiep vi mot may tnh khac. D lieu c truyen qua cong nay theo cach noi tiep, ngha la d lieu c gi i noi tiep nhau tren 1 ng day. Do cac d lieu c truyen i tng bit mot nen toc o truyen cham, cac toc o truyen co the la 300, 600, 1200, 2400, 4800bps, 9600bps, chieu dai d lieu co the la 5, 6, 7 hoac 8 bit va ket hp vi cac bit Start, Stop, Parity tao thanh mot khung (frame). Ngoai ra cong nay con co cac ieu khien thu (Receive), phat (Trans), kiem tra. Cach giao tiep nay cho phep khoang cach truyen d lieu xa, tuy nhien toc o truyen rat cham toc o toi a la 20kbps.
3. Giao tiep qua cong PRINT (Cong may in):
IBM PC cho phep s dung en 3 cong song song co ten la LP1, LP2 va LP3. Kieu giao tiep song song c dung e truyen d lieu gia may tnh va may in. Khac vi cach giao tiep qua Port Com, cach giao tiep nay d lieu c truyen song song cung mot luc 8 bit. V the no co the at toc o cao. Connector cua Port nay co 25 chan bao gom 8 chan d lieu va cac ng tn hieu bat tay (Handshaking ). Tat ca cac ng Data va tn hieu ieu khien eu mc logic hoan toan tng thch vi mc TTL. Hn na, ngi lap trnh co the ieu khien cho phep hoac khong cho phep cac tn hieu tao Interrupt t ngo vao nen viec giao tiep n gian va de dang. Tuy nhien, giao tiep vi mc logic TTL nen khoang cach truyen b han che so vi cach truyen qua Port Com, ong thi cap truyen cung phc tap hn. o la nhc iem cua cach giao tiep nay.
LUAN VAN TOT NGHIEP
CHNG II
GII THIEU CHUAN RS-232C

Vao nam 1960, cung vi s phat trien manh cua cac thiet b au cuoi may tnh chia se thi gian, cac Modem a c tung ra ngay cang nhieu nham am bao cho cac thiet b au cuoi co the dung cac ng ien thoai e thong tin gia cac may tnh vi nhau nhng khoang cach xa. Modem va cac thiet b c dung e gi so lieu noi tiep thng c goi la thiet b thong tin so lieu DCE (Datommunication Equipment). Cac thiet b au cuoi hoac may tnh ang gi hay nhan so lieu c goi la cac thiet b au so lieu DTE (Data Terminal Equipment). Nham ap ng vi nhu cau ve tn hieu va cac chuan bat tay (handshake standards) gia DTE va DCE, hiep hoi ky thuat ien t EIA a a ra chuan RS232C. Chuan nay mo ta chc nang 25 chan tn hieu va bat tay cho viec chuyen d lieu noi tiep. No cung mo ta cac mc ien ap, tr khang, toc o truyen cc ai va ien dung cc ai cho cac ng tn hieu nay. RS-232 an nh 25 chan tn hieu, va quy nh cac au noi DTE phai la male (c) va cac au noi DCE phai la female (cai). Mot loai au noi ac biet khong c cho, nhng thng dung nhieu nhat la au noi mele DB-25P (hnh 2-1). Ngoai ra, oi vi nhieu he thong con dung loai 9 chan nh loai DE-9P mele (hnh 2-2).
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Hnh 2-1
Hnh 2-2
c EIA a vao nam 1969 e truyen d lieu noi tiep va tn hieu ieu khien gia Modem va thiet b au cuoi (hoac may tnh) vi toc o truyen toi a la 20kbps c ly khoang 15m. ay la mot dang giao tiep loai TTL + bo kch ng day khong can bang. Viec mo ta chuan nay c chia lam ba phan: Cac ac iem ky thuat ve ien, mo ta cac ng d lieu ieu khien va s dung bo ket noi chan ra.
I _ AC IEM KY THUAT VE IEN CUA RS232C

IN NUMBER S FOR 9 PINS 3 2 7 8 6 5 1 PIN NUMBERS FOR 25 PINS 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 COMMO N NAME RS232C NAME SIGNAL DIRECTIO N ON DCE IN OUT IN OUT OUT OUT OUT OUT IN OUT OUT OUT -
TxD RxD RTS CTS DSR GND CD
AA BA BB CA CB CC AB CF SCF SCB SBA B SBB
LUAN VAN TOT NGHIEP

4 9 19 20 21 22 23 24 25

SCA CD CG CE CH/CI DA IN IN OUT OUT IN/OUT IN -
DTR
Hnh 2-3 Qui nh ve chan cua RS232C
Mc ien ap logic cua RS-232C la khoang ien ap gia +15V va 15V. Cac ng d lieu s dung mc logic am: logic 1 co ien the gia 5V va 15V, logic 0 co ien the gia +5V va +15V. tuy nhien cac ng ien khien (ngoai tr ng TDATA va RDATA) s dung logic dng: ga tr TRUE = +5V en +15V va FALSE =-5V en 15. chuan giao tiep nay, gia ngo ra bo kch phat va ngo vao bo thu co mc nhieu c gii han la 2V. Do vay ngng ln nhat cua ngo vao la 3V trai lai mc 5V la ngng nho nhat vi ngo ra. Ngo ra bo kch phat khi khong tai co ien ap la 25V. Cac ac iem ve ien khac bao gom RL (ien tr tai) c nhn t bo kch phat co gia tr t 3 7k. CL (ien dung tai) c nhn t bo kch phat khong c vt qua 2500pF. e ngan can s dao ong qua mc, toc o thay oi (Slew rate ) cua ien ap khong c vt qua 30V/s. oi vi cac ng ieu khien, thi gian chuyen cua tn hieu (t TRUE sang FALSE, hoac t FALSE sang TRUE ) khong c vt qua 1ms. oi vi cac ng d lieu, thi gian chuyen (t 1 sang 0 hoac t 0 sang 1) phai khong vt qua 4% thi gian cua 1 bit hoac 1ms.
LUAN VAN TOT NGHIEP
II _ CAC NG D LIEU VA IEU KHIEN CUA RS232

- TxD: D lieu c truyen i t Modem tren mang ien thoai. - RxD: D lieu c thu bi Modem tren mang ien thoai.
Cac ng bao thiet b san sang:
DSR : e bao rang Modem a san sang. DTR : e bao rang thiet b au cuoi a san sang Cac ng bat tay ban song cong. RTS : e bao rang thiet b au cuoi yeu cau phat d lieu. CTS : Modem ap ng nhu cau can gi d lieu cua thiet b au cuoi cho thiet b au cuoi co the s dung kenh truyen d lieu. Cac ng trang thai song mang va tn hieu ien thoai: CD : Modem bao cho thiet b au cuoi biet rang a nhan c mot song mang hp le t mang ien thoai. - RI : Cac Modem t ong tra li bao rang a phat hien chuong t mang ien thoai a ch au tien co the ti c cua cong noi tiep c goi la a ch c ban (Basic Address). Cac a ch ghi tiep theo c at ti bang viec cong them so thanh ghi a gap cua bo UART vao a ch c ban. - Mc tn hieu tren chan ra RxD tuy thuoc vao ng dan TxD va thong thng nam trong khoang 12 en +12. Cac bit d lieu c gi ao ngc lai. Mc ien ap oi vi mc High nam gia 3V va 12V va mc Low nam gia +3V va +12V. Tren hnh 2-4 mo ta mot dong d lieu ien hnh cua mot byte d lieu tren cong noi tiep RS-232C. - trang thai tnh tren ng dan co ien ap 12V. Mot bit khi ong (Starbit) se m au viec truyen d lieu. Tiep o la cac bit d lieu rieng le se en, trong o cac bit gia tr thap se c
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gi trc tien. Con so cua cac bit thay oi gia 5 va 8. cuoi cua dong d lieu con co mot bit dng (Stopbit) e at tr lai trang thai ngo ra (12V).
Starbi Stopb t a +12 c ban cua cong noi tiep cua may tnh ch it PC co the tom tat trong bang cac a ch sau: V LOW
COM 1 (cong noi tiep th nhat)D7a ch c D3 D6 D0 D4 ban = 3F8(Hex) D1 D5 D5 -12V 2 (cong noi tiep th hai) D5 D5 HIGHT COM a ch c ban = 2F8(Hex) 1 1 0 1 0 0 COM 3 (cong noi tiep th ba) a ch c ban 1 0 = 3E8(Hex) T COM 4 10 (cong noi tiep th t) a ch c ban =1/fBaud 4 = 2E8(Hex)
S
Cung nh cong 1.04ms in, cac ng dan tn may Hnh 2-4: Dong d lieu tren cong RS hieu rieng biet cung cho phep trao oi qua cac a 232 vi toc o 9.600 baud ch trong may tnh PC. Trong trng hp nay, ngi ta thng s dung nhng vi mach co mc o tch hp cao e co the hp nhat nhieu chc nang tren mot chip. may tnh PC thng co mot bo phat/nhan khong ong bo van nang (goi tat la UART: Universal Asnchronous Receiver/ Transmitter) e ieu khien s trao oi thong tin gia may tnh va cac thiet b ngoai vi. Pho bien nhat la vi mach 8250 cua hang NSC hoac cac the he tiep theo. Thong thng vi cac yeu cau ng dung toc o thap ngi ta giao tiep qua ngo noi tiep, no giao tiep theo tieu chuan RS232C va dung e giao tiep gia may tnh vi Modem hoac Mouse. Ngoai ra cung co the dung giao tiep vi printer hay plotter nhng khong thong dung lam bi toc o truyen qua cham. oi vi may AT cho ta hai ngo giao tiep COM1 va COM2. Trong mot so card I/O ta co the co en 4 cong COM. e giao tiep noi tiep vi 2 ngo COM nay Bus he thong cua CPU (Data Bus va Address Bus) hang IBM s dung hai Chip lap trnh cua Intel la 8250 UART (Universal Asynchronus Receiver Transmitter). a ch theo bo nh cua hai Chip nay la 0040:0000 cho UART cua ngo COM1 va 0040:0002 cho UART cua ngo COM2 (a ch logic do
LUAN VAN TOT NGHIEP
he ieu hanh ch nh) va a ch theo Port e truy xuat khi s dung la 3F8-3FF cho COM1 va 2F8-2FF cho COM2. D lieu truyen qua cho Port COM di dang noi tiep tng Bit mot, n v d lieu co the la 5 Bit, 6 Bit hay 1 byte tuy theo s cai at luc khi tao Port COM. Ngoai ra e truyen d lieu qua Port COM con can nhng tham so sau: Bit m au cho mot n v d lieu START Bit. STOP Bit (Bit ket thuc). Parity (Kiem tra chan le). Baud Rate (Toc o truyen) tao thanh mot Frame (Khung truyen). Port COM la mot the khi tao bang BIOS thong qua chc nang 0 cua Interrupt 14, nap vao thanh ghi DX1 ch so chon kenh (COM1 = 0, COM2 = 1). Thanh ghi AL c nap vao cac tham so cua viec truyen d lieu. A L D7 D6 D5 D4 D3 D2 D1 D0
Bit D0 D1 : Cho biet o rong cua d lieu
0 0 1 1
Bit D2
0 1 0 1
: : : :
D D D D
lieu lieu lieu lieu
co co co co
o o o o
rong rong rong rong
5 6 7 8
Bit Bit Bit Bit.
0 1 0 1 0 1 0 0 0 0 1 1 0 1 1 0 0 0 1 1 0 0
: Cho biet so Stop Bit. : S dung mot bit Stop : S dung hai bit Stop : : : : 0 1 0 1 0 1 : : : : : : Khong kiem tra tnh Parity Khong kiem tra tnh Parity Odd (le) Even (chan) Toc Toc Toc Toc Toc Toc o o o o o o truyen truyen truyen truyen truyen truyen 110bps (bit per second) 150bps (bit per second) 300bps (bit per second) 600bps (bit per second) 1200bps (bit per second) 2400bps (bit per second)
Bit D3 D4 : Cac Bit parity (chan le)
Bit D5D6D7 : Cho biet toc o truyen (Baud Rate)
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1 1 0 : Toc o truyen 4800bps (bit per second) 1 1 1 : Toc o truyen 9600bps (bit per second)
III _ MODEM RONG CUA RS232C

Mac du chuan RS_232C cua EIA c danh rieng e ap dung ket noi gia Modem vi thiet b au cuoi, nhng mot thue bao cua RS_232C cung thng c s dung khi hai thiet b au cuoi c noi vi nhau, hoac mot may tnh va mot may in ma khong s dung cac Modem. Trong nhng trng hp nh vay, cac ng TxD va RxD phai c at cheo nhau va cac ng ieu khien can thiet phai c at TRUE hoac phai c trao oi thch hp ben trong cap ket noi. S noi lap cap cua RS232C ma co s trao oi ng day c goi la Modem rong (null Modem). Cap nh vay thch hp e noi trc tiep 2 thiet b DTE qua cac port RS232C. Hai s o co the ket noi lan nhau c trnh bay trong hnh 2-5 va hnh 2-6 chu y rang trong trng hp n gian nhat ch can ket noi 4 day lan nhau, trong thc te 2 ng day at (SIG GND 0 va CHAS GND) thng c ket hp lai, mac du ieu nay khong c e cap ti.
IV _ CAC IC KCH PHAT VA THU CUA RS232C

Nh tnh pho bien cua giao tiep, ngi ta a che tao cac IC kch phat va thu. Hai vi mach nh vay c Motorola san xuat la IC kch phat MC 1488 co dang vo vuong. Va MC 1489.Moi IC kch phat 1488 nhan mot tn hieu mc TTL va chuyen thanh tn hieu ngo ra tng thch vi mc ien ap cua RS232C. IC 1489 phat hien cac mc vao cua RS232C va chuyen chung thanh cac ngo ra co mc TTL.
V _ MINH HOA THONG TIN NOI TIEP BAT ONG BO

oi vi cac may PC, cac cong lien lac noi tiep (serial port) con c goi la cac cong COM. Hoan toan co the s dung cac cong nay e ket noi may PC
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vi cac may tnh khac, vi cac Modem, cac may in, may ve, cac thiet b ieu khien, mouse, mang Tat ca cac may tnh PC co kha nang lam viec toi a la 4 cong noi tiep khi s dung cac card giao tiep I/O chuan. Cac cong noi tiep thng c thiet ke theo cac qui nh RS-232 theo cac yeu cau ve ien va ve tn hieu. BIOS ch ho tr cac cong noi tiep RS-232C. Con cac chuan khac nh: RS-422, BiSync, SDLC, IEEE-488 (GPIB), can phai co cac trnh ieu khien thiet b bo sung e ho tr.
2 3 20 6 4 5 8 1 7 CHAS GND TxD R xD DTR DSR R TS C TS CD S IG N A L G N D 7 1 TxD R xD DTR D SR RTS CTS CD 8 2 3 20 6 4 5 DTE B
DTE A
H N H 2 - 5
Toc o toi o cua cong noi tiep tuy thuoc vao bo phat toc o Baud trong card giao tiep cong noi tiep, phan mem BIOS, va he thong co the thc hien chng trnh BIOS noi tiep nhanh en mc nao. Ngoai ra, neu he thong ang x ly chng trnh khac co o u tien cao hn th toc o tin cay co the b suy giam ang ke. Hoat ong cua cong noi tiep chu yeu cung c x ly bi 1 chip UART. Cac thiet ke ban au a s dung mot chip NS-8250. Cac thiet b sau nay chuyen sang mot phien ban CMOS, chip 1650, co chc nang hoat ong giong nh 8250. Mot so thiet b mi s dung chip 16550 hay cac bien the khac nham bo sung them viec em d lieu e giam bt ganh nang cho CPU.
LUAN VAN TOT NGHIEP
Mot phan cua BIOS he thong (ngat 14 h) cung cap cac dch vu e lien lac vi cac card giao tiep noi tiep. Giong nh cac cong song song, POST (Power on Self Test- chng trnh cua BIOS t kiem tra cau hnh he thong khi bat may) kiem tra xem lieu mot cong noi tiep co c gan vao he thong khong, va ghi lai cac a ch I/O cua cac cong hoat ong trong vung d lieu cua BIOS. Tat ca cac he thong en 4 cong noi tiep, BIOS khong ho tr cac cong bo sung them khac. e truy suat phan cng cua mot cong noi tiep, can oc mot trong 4 t (word) trong vung d lieu BIOS cha a ch I/O c s oi vi 4 cong noi tiep co the co. V du: e truy suat cong noi tiep so 2, trc tien phai oc a ch cong I/O c s t vung d lieu BIOS. ieu nay co ngha la mot cong noi tiep khong co a ch cong I/O co nh.
2 3 20 6 DTE A C TS 4 R TS TxD RxD DTR DSR TxD R xD DTR D SR R TS C TS CD S IG N A L G N D CHAS GND ( o p t io n a l) H N H 2 - 6 8 7 1 2 3 20 6 4 5 DTE B
5 C TS 8 1 7 CD
a. La chon cong COM

Moi cong noi tiep s dung 8 byte cua bo nh may PC va mot ngat phan cng ac biet. Viec s dung cac a ch bo nh va ngat phan cng nay la ieu quan trong oi vi ngi lap cac chng trnh
LUAN VAN TOT NGHIEP
lien lac va cac chng trnh ieu khien thiet b oi vi cac thiet b noi tiep. Bang sau mo ta cac a ch bo nh va cac ngat phan cng oi vi 4 cong noi tiep chuan cho cac may tnh tng thch vi may tnh PC. Thong tin quan trong nhat ay la a ch c s, la a ch bo nh au tien trong moi cong COM (vung em phat/thu Transmit/ Receive Buffer) a ch cua ng yeu cau ngat (IRQ) oi vi moi cong. Mot thiet b noi tiep ch co the s dung mot a ch cong COM. Khi cai at mot Modem noi trong may PC, hay bat ky thiet b nao khac s dung cong noi tiep cho giao dien cua no, trc tien phai am bao rang a xac lap no oi vi mot cong COM (bao gom a ch va so IRQ).
COM1 COM2 COM3 COM4 Mo ta IRQ4 IRQ3 IRQ4 IRQ3 Interrupt Request Line 3F8 2F8 3E8 2E8 Transmit/Receive Buffer va LSB of the Divisor Latch 3F9 2F9 3E9 2E9 Interrupt Enable Register va MSB of the Divisor Latch 3FA 2FA 3EA 2EA Interrupt Identification Registers 3FB 2FB 3EB 2EB Line Control Register 3FC 2FC 3EC 2EC Modem Control Register 3FD 2FD 3ED 2ED Line Status Register 3FE 2FE 3EE 2EE Modem Status Register
b. Hoat ong cua cong noi tiep. S khi ong cua BIOS.
Sau khi bat may (hay Reset may), chng trnh POST kiem tra xem lieu co bat ky cong noi tiep nao c cai at hay khong. POST khao sat nhom cong I/O: 3F8 3FEh. e phat hien mot cong hoat ong, thanh ghi IIR (Interrupt Identification Register) c oc t cong 3FAh hay 2FAh. Neu tat ca cac bit t 3 7 cua thanh ghi IIR eu la 0, th POST xem nh cong noi tiep co hoat ong. Mot khi a xac nh c nhom cong I/O noi tiep co hoat ong, a ch cong I/O c s c lu tr trong v tr BIOS RAM cong noi tiep cha s dung
LUAN VAN TOT NGHIEP
thap nhat. Co 4 t c danh trong RAM bat au tai a ch 40:0h e cha a ch I/O cua cong noi tiep co hoat ong. Nhieu POST cua cac hang cung cap may se khong bao gi kiem tra cac cong COM3 va COM4, v IPM khong nh ngha mot a ch cong chuan cho cac cong nay. Noi chung, hau het cac he thong ch kiem tra co 2 cong. Tuy nhien, cac he thong cung ho mi hn thng kiem tra 4 a ch cong co the co. Cac he thong MCA kiem tra 8 a ch cong noi tiep khac nhau co the co trong mot lan th e tm ra 4 cong noi tiep co hoat ong.
Th t kiem tra Th 1 Th 2 Th 3 Th 4 Th 5 Th 6 Th 7 Th 8 Hau 3F8 2F8 Khong Khong Khong Khong Khong Khong Mot so he thong AT va EISA 3F8 2F8 Khong Khong Khong Khong Khong Khong Cac he thong MCA 3F8 2F8 3220h 3228h 4220h 4228h 5220h 5228h
Bang tren mo ta th t theo o cac BIOS se tm kiem cac cong hoat ong. Ch cong I/O c s oi vi moi nhom c hien th trong bang nay. Tren he thong MCA, mot khi 4 cong a c tm thay, cac cong khac khong c kiem tra na. Khi hoan tat cac cong viec kiem tra POST noi tiep, cac a ch cong noi tiep c cat gi. ieu nay thng tao ra mot trong 4 trng hp c mo ta trong bang sau:
a ch RAM Cong noi tiep Trng hp 1 a ch I/O Trng hp 2 a ch I/O Trng hp 3 a ch I/O Trng hp 4 a ch I/O
40:0h 40:2h 40:4h 40:6h
1 2 3 4
3F8 2F8 0 0
3F8 0 0 0
2F8 0 0 0
0 0 0 0
LUAN VAN TOT NGHIEP
Cac ket qua POST co the co ve viec phat hien cong noi tiep.
Trng hp 1 : Mo ta POST phat hien 2 cong noi tiep. Trng hp 2 va 3 : Cho thay ch co mot cong noi tiep c phat hien. Trng hp 4 : Cho thay khong phat hien c cong noi tiep nao.
Cac phep th nay khong khang nh lieu co mot thiet b noi tiep thc s c noi vi cong I/O hay khong. Phep th ch kiem tra xem lieu phan cng cong noi tiep co ton tai hay khong tai mot a ch I/O cu the. Tong so cong noi tiep hoat ong c phat hien thay (0 4) c cat gi trong byte thiet b tai a ch BIOS RAM 40:10h t cac bit 9 11. Qua trnh phat noi tiep e phat mot byte tren ng day ket noi noi tiep, cong c gia nh la a c khi s vi toc o baud va cac phan chon khung (Frame) noi tiep thch hp. Chung ta cung gia nh rang cac byte se c phat i tren cong noi tiep so 1 (COM1).
1. Trc tien, xac nh a ch c s cong I/O bang cach oc mot t (Word) t vung d leu BIOS tai 40:OH oi vi cong noi tiep COM1. Neu tr = 0: Khong co cong noi tiep hoat ong nao c gan ay va d nhien khong co d lieu nao c gi i. 2. Hai ng ieu khien MODEM la DTR (DATA Terminal Ready) va RTS (Request to Send) c xac lap len mc cao (DTR = 1, RTS = 1). DTR thong bao cho thiet b ket noi biet rang may tnh ang hoat ong va san sang e lien lac. RTS bao cho thiet b ket noi biet rang may tnh muon gi d lieu.
LUAN VAN TOT NGHIEP
Hai ng nay c kch khi bang cach ghi tr 3 thanh ghi MCR (MODEM control Regester) cua UART. 3. Ke o, kiem tra hai ng trang thai CTS (Clear To Send). Nhng ng nay nam trong cac bit 4 va 5 cua thanh ghi MSR (MODEM Status Regester). DSR bao cho may tnh biet thiet b ket noi a c bat len va san sang. CTS bao cho may tnh biet rang thiet b ket noi a san sang oi vi d lieu. Cac ng trang thai nay nen c kiem tra trong 2ms hay cho en khi ca hai eu chuyen sang mc cao. Khi ca hai ng nay eu mc cao, thiet b c ket noi vi cong noi tiep a bao hieu cho biet no a san sang cho mot byte. Mot loi ao han (timeout error) c bao hieu bi phan mem neu mot trong hai ng dan con mc thap lau hn khoang 2ms. 4. en ay thiet b ket noi a san sang tiep nhan mot byte, UART phai c kiem tra xem lieu thanh ghi cha d lieu phat THR (Transmit Holding Regester) a san sang co mot byte cha. Thanh ghi LSR (Line Status Regester), bit 5, c xac lap len mc cao khi thanh ghi cha d lieu nay trong rong va san sang cho mot byte. Mot lan na, giong bc 3 neu thanh ghi THR khong the tr nen hu dung trong 2ms, th phan mem se bao mot loi ao han, va bo qua viec phat i. 5. Neu cho en bay gi cha xay ra viec ao han, byte co the c gi en thanh ghi cha d lieu phat cua UART. 6. Sau o, UART phat byte t thanh ghi cha d lieu phat vao thanh ghi dch TSR (t ay cac bit d lieu c dch ra va gi i), va tao dang khung noi tiep. Qua trnh nhan noi tiep. e nhan 1 byte t ng day ket noi noi tiep, cong c gia nh nh tren (cho cong COM3): 1. Trc tien, xac nh a ch c s cong I/O bang cach oc mot t (Word) t vung d lieu BIOS tai 40:4H oi vi cong noi tiep COM3. Neu tr = 0:
LUAN VAN TOT NGHIEP
Khong co cong noi tiep hoat ong nao c gan ay va d nhien khong co d lieu nao c gi i. 2. Hai ng ieu khien MODEM la DTR (DATA Terminal Ready) va RTS (Request to Send) c xac lap len mc cao (DTR = 1, RTS = 1). ieu nay thong bao cho thiet b ket noi biet rang may tnh ang hoat ong va san sang lien lac. ieu nay c thc hien bang cach ghi tr 1 cac thanh ghi MMC cua UART. 3. Ke o kiem tra tn hieu tren ng trang thai DSR. Tn hieu nay xuat hien trong bit 5 cua thanh ghi MSR. DSR bao cho may tnh biet rang thiet b ket noi a c bat len va san sang. DSR se c kiem tra cho en khi no len mc cao hay cho en khi het 2ms trc khi mot loi ao han c bao hieu. 4. Ke o, vung em nhan c kiem tra e xem d lieu a nhan c d lieu nao cha. Bit 0 cua thanh ghi LSR cha mot c hieu bao d lieu a san sang. No c xet len 1 khi vung em co d lieu. Neu c bao d lieu san sang khong c xet sau 2ms, th phan mem se khai bao mot loi ao han, va tac vu b bo qua. 5. Neu cho en bay gi cha xay ra viec ao han, byte co the c oc t vung em nhan cua UART. Trong che o bat ong bo, 8251 A dch so lieu tren day RxD t bit mot. Sau moi bit, thanh ghi thu c so sanh vi thanh ghi cha ky t SYN. Neu hai thanh ghi cha bang nhau th 8251 A dch bit khac va tiep tuc so sanh cho en khi hai thanh ghi bang nhau. 8251 A ket thuc che o bat ong bo va a tn hieu SYNDET (Synch Detect) e bao ong bo a hoan tat. Neu USART c nap t ieu khien e lam viec vi hai ky t SYNC, qua trnh bat ong bo cung nh tren. Nhng hai ky t ke tiep nhau se c so sanh vi hai ky t SYNC trc khi at c s ong bo. che o bat ong bo bit chan/le se khong phai kiem tra. USART che o uoi bat ong bo vi hai ieu kien:
LUAN VAN TOT NGHIEP
USART c khi ong che o ong bo. USART a nhan lenh che o bat ong bo.
Khoi phat Khoi nay nhan so lieu song song t n v trung tam, chen them cac thong tin roi chuyen sang noi tiep va gi ra than TxD (Transmiter DATA). che o bat ong bo, khoi phat chen them bit START, bit kiem tra chan le paraty va mot hay hai bit STOP. Trong che o ong bo, khoi phat chen them cac ky t SYNC. Nhng ky t ong bo nay phai c phat trc khi ban tin bat au. Neu trong khi phat co khoang trong gia hai ky t th USART t ong chen cac ky t ong bo vao. Trong ca hai che o ong bo va bat ong bo, qua trnh phat ch c cho phep khi tn hieu TxE (Transmiter Enable) va tn hieu CTS, trang thai tch cc. Neu USART c at che o ong bo t ngoai, chan SYNDET se la ca vao va nhan tn hieu e ong bo khi thu. Khoi phat co the gi tn hieu cat (BREAK). o la mot chu ky lien tuc cac bit SPACE tren ng day lien tuc va oc dung che o truyen song cong e cat qua trnh gi thong tin au cuoi. USART se gi tn hieu cat lien tuc neu bit D3 cua byte lenh c thiet lap Khoi ieu khien Modem Khoi nay tao va nhan tn hieu RTS (Request to Send). Ngoai ra, con co cac tn hieu ra DTR (Data Terminel Ready) va tn hieu vao DSR (Data Set Ready). o la nhng tn hieu van nang. Tn hieu DTR ieu khien bi bit D2 bi byte lenh. Tn hieu DSR the hien bit D7 cua thanh ghi trang thai. USART khong nh ngha cac tn hieu nay mot cach cng ngac. Thong thng:
LUAN VAN TOT NGHIEP
- Tn hieu DTR qua Modem e ch rang thiet b au cuoi san sang truyen. - DSR la tn hieu t Modem e ch trang thai san sang lien lac. Khoi ieu khien vao/ra Logic ieu khien oc/ghi giai ma cac tn hieu ieu khien t Bus ieu khien cua n v trung tam thanh nhng tn hieu eu khien cac cong dan so lieu en Bus noi cua USART. Bang sau cho biet s lien quan gi cac tn hieu CE, C/D\ RD\ CE
0 0 0 0 1
C/D\
0 1 0 1 x
RD\
0 0 1 1 x
WR\
1 1 0 0 x CPU CPU CPU CPU Bus tr
Y Ngha
oc so lieu t USART oc trang thai t USART ghi so lieu vao USART ghi lenh vao USART cua USART trang thai khang cao
Khoi thu Khoi thu nhan d lieu noi tiep chan RxD va chuyen thanh so lieu song song (P/PC). Trc khi bo thu lam viec, bit D2 trong Command world cua byte lenh phai trang thai cho phep. Neu bit nay khong c lap, bo thu se khong tao ra tn hieu RxRDI. Trong che o bat ong bo, 8251 A kiem tra mc ien ap cua au vao RxD. Khi co thay oi mc logic t 1 xuong 0, 8251 A khi ong bo em thi gian trong khoi thu khi at thi gian bit, 8251 A kch mau au vao RxD. Tai thi iem nay co 2 trng hp xay ra: Neu au vao RxD co mc logic cao th s thay oi t 1 xuong 0 RxD trc luc kch mau la do nhieu hay khoi thu a khi ong bo em trong khi nhan bit so lieu. Nh vay co sai 8251 bo lenh ang thc hien va chuan b ky t mi. Neu au vao RxD co mc logic thap trong thi iem kch mau. 8251 tiep tuc kch mau e
LUAN VAN TOT NGHIEP
nhan gia tr cua cac bit so lieu, bit kiem tra chan le va cac bit dng. Sau o, 8251 tach cac bit khung va chuyen so lieu qua Bus trong en thanh ghi em so lieu thu. Tn hieu RxRDI c tao ra e bao cho trung tam biet so lieu thu a san sang. Trong che o ong bo, khoi thu kch mau cac bit so lieu cua ky t roi a en em so lieu thu va lap c RxRDI. V bo thu nhom mot so bit thanh ky t nen c xac nh bit so lieu au tien la can thiet. e ong bo gia bo thu va bo phat, neu co trong trong day ky t th 8251 t ong chen ky t SYNC vao. Qua trnh ong bo c thc hien trong qua trnh bat ong bo.
Khoi em vao ra - Khoi em vao ra cha: Thanh ghi trang thai, thanh ghi so lieu thu (thanh ghi em so lieu thu), thanh ghi so lieu phat va lenh (thanh ghi em so lieu phat va lenh). - Nh vay, ch co mot thanh ghi cha thong tin chuyen t n v trung tam vao USART. Thong tin nay bao gom so lieu va lenh, do vay phai co s phan chia thi gian gia lenh va so lieu. Lenh phai c gi trc so lieu. Trc khi gi so lieu vao USART. n v trung tam phai kiem tra tn hieu san sang phat TxRDI. Neu gi thong tin khi TxRDI trang thai cha san sang so lieu chuyen i co the sai
LUAN VAN TOT NGHIEP
AI CNG VE IEU KHIEN THEO CHNG TRNH SO

I _ KHAI NIEM VE IEU KHIEN THEO CHNG TRNH SO may thong thng viec ieu khien chuyen ong cung nh thay oi van toc cua cac bo phan may ieu khien c thc hien bang tay. Vi cach ieu khien nay thi gian phu thuoc kha ln, nen khong the nang cao nang suat lao ong. e giam thi gian phu, can thiet tien hanh t ong hoa qua trnh ieu khien. Trong san xuat hang khoi, hang loat ln, t lau ngi ta dung phng phap gia cong t ong vi viec t ong hoa qua trnh ieu khien. ac iem cua loai may t ong nay la rut ngan thi gian phu, nhng thi gian chuan b san xuat qua dai (thi gian thiet ke va che tao,thi gian ieu chnh may ). Nhc iem nay khong ang ke, neu san xuat vi khoi lng ln. Trai lai vi lng san xuat nho, mat hang thay oi thng xuyen, loai may t ong tr nen khong kinh te. Do o can phai tm ra phng phap ieu khien mi, am bao thi gian ieu chnh may e gia cong t loai chi tiet nay sang chi tiet khac c nhanh. Yeu cau nay c thc hien vi viec ieu khien theo chng trnh.
CHNG I
ieu khien theo chng trnh la mot dang ieu khien t ong ma tn hieu ieu khien (tn hieu ra) c thay oi theo mot qui luat trc. Noi cach khac, tren may ieu khien theo chng trnh, th t, gia tr cua cac chuyen ong cung nh th t ong m cac bo phan may, ong m he thong lam nguoi, boi trn, thay mui khoan ieu c thc hien ung theo mot chng trnh a vach san. Cac c cau mang chng trnh nay c at vao thiet b ieu khien, va se lam t ong theo chng trnh a cho. Neu cac chng trnh tren c ghi lai bang cac dau t, bang he thong cam, bang mau ghep hnh Ta goi he thong
LUAN VAN TOT NGHIEP
ieu khien o la he thong ieu khien theo chng trnh phi so. Neu cac chng trnh c bieu th bang cac ch so di dang ma hieu, ta goi he ieu khien theo chng trnh so. Nh vay ieu khien theo chng trnh so la mot qua trnh t ong cho phep a mot c cau di ong t v tr nay en v tr khac bang mot lenh. S dch chuyen ay co the la lng di ong thang (hoac mot goc quay theo cac bac t do). Trong nhieu trng hp, phng phap ieu khien theo chng trnh so c thiet ke t ong hoa viec di chuyen mot c cau t v tr nay en v tr khac, ta goi la "ieu khien theo iem". Nhng ta cung de dang khi rut ngan vo han khoang cach gia cac iem di ong ke tiep nhau va se at en mot qua trnh ieu khien quy ao goi la ieu khien theo ng. Phng phap ieu khien theo chng trnh so co the dung e di ong bat ky mot c cau nao c truyen ong bang ong c. Pham vi s dung no rat rong, nhng chu yeu la t ong hoa may cong cu. V chng trnh so co the tien hanh cach xa may va may co he thong o lng rieng, nen he thong ieu khien nay co the ieu khien mot cach de dang va nhanh chong. He thong ieu khien theo chng trnh so con c goi tat la he thong NC (Numerical Control) va may ieu khien theo chng trnh so c goi la may NC. Nh the: May NC la loai may cong cu hoat ong t ong mot phan hoac toan phan vi cac lenh c the hien bang dang tn hieu la cac ch so c ghi tren bang t, a t hoac phim Bc phat trien cao cua may ieu khien theo chng trnh so la s ra i cua trung tam gia cong CNC. Vay trung tam gia cong la mot loai may ieu khien theo chng trnh so co c cau t ong e thc hien nhieu loai nguyen cong khac nhau sau mot lan kep chi tiet, vi s tr giup cua may tnh ien t. CNC co the phan thanh 2 loai: Loai dung e gia cong co dang than hop tam, loai gia cong chi tiet tron xoay.
II _ AC IEM CUA CNC

Tap trung nguyen cong cao o. Co c cau cap dao t ong vi dung lng ln. Phan ln CNC thng co ban may phu va o ga. at c o chnh xac cao nguyen cong tinh. Cac CNC thng dung he thong ieu khien theo ng.
III _ HE TOA O MAY

Cac iem ma trong khi gia cong c xac nh trong mot chng trnh e mo ta v tr cua cac iem nay trong vung lam viec, ta dung he toa o. No bao gom ba truc vuong goc vi nhau cung cat nhau tai iem goc 0.
LUAN VAN TOT NGHIEP
Vi he toa o ba truc, bat ky iem nao cung c xac nh thong qua cac toa o cua no. He toa o may do nha che tao xac nh, thong thng no khong the thay oi.
Hnh 1-1 : He toa o vuong goc tren may Truc X la truc chnh trong mat phang nh v. Tren may khoan nam song song vi ban may ( ban kep chi tiet). - Truc Y la truc th 2 trong mat phang nh v. Tren may khoan no nam tren mat may va vuong goc vi ban may. - Truc Z luon luon trung vi truc truyen ong chnh. Truc nay c nha che tao xac nh. Chieu dng cua truc Z chay t chi tiet hng en mui khoan. ieu o co ngha la trong chuyen ong theo chieu am cua truc Z, mui khoan se i ti be mat chi tiet. e xac nh nhanh chieu cai se tro ve chieu cua cua cac truc, dung luat ban truc x va ngon tay tro se tay phai(Hnh 1-1): Ta at ch theo chieu cua truc Y. ngon gia ban tay phai theo He toa o c ban c chieu cua truc Z th ngon tay gan lien vi chi tiet. Bi vay khi lap trnh ta phai luon luon xuat phat t cho xac nh chi tiet ng yen con mui khoan th chuyen ong. ieu o co nghia la: Hnh 1-2: Xac nh Khi khoan ro rang chi tiet chuyen ong la chnh, nhng e n nhanh chieu truc toa gian hn cho viec lap trnh hay quan niem la chi tiet ng yen o con mui khoan th dch chuyen. Ta goi o la chuyen ong tng oi cua mui khoan. e mo ta ng dch chuyen cua mui khoan (d lieu toa o) tren mot so may CNC co ca hai kha nang. a) Dung toa o e_Cac : Khi dung d lieu toa o e Cac, ta a ra khoang cach o song song vi truc t mot iem ti mot iem khac. Cac khoang cach theo chieu dng cua truc co kem theo dau dng (+) pha trc. Cac khoang cach theo chieu am cua truc co kem theo dau am (-) pha trc.
Cac so o co the a ra theo hai phng thc: o tuyet oi: Vi cac so o tuyet oi, ta a ra toa o cac iem ch tnh t mot iem co nh trong vung lam viec. Ngha
LUAN VAN TOT NGHIEP
Vi cac so o theo chuoi kch thc, ta a ra toa o cac iem ch tnh t cac iem dng lai cua mui khoan sau mot lo khoan c khoan. Ngha la trong moi chuyen ong eu a ra so lieu cua mui khoan can c dch chuyen tiep mot lng la bao nhieu na theo tng truc toa o.
la trong moi chuyen ong eu xac nh mui khoan phai dch chuyen en au ke t mot iem goc 0 tuyet oi. o theo chuoi kch thc:
b) Dung toa o cc : Khi s dung cac d lieu trong he toa o cc, ta a ra v tr cua mot iem thong qua khoang cach va goc so vi mot truc c s. Cac toa o cc ch co the o tren mot mat phang chnh. Trong pham vi cua mot he toa o cc co 3 mat phang chnh. T 3 truc x, y va z cua he thong se co 3 mat kep, o la: Mat x/y, mat x/z, mat y/z.
Nhng iem quan trong trong mot he toa o cc iem chuan : La iem goc 0 cua he toa o may. iem 0 chi tiet : La iem goc 0 cua he toa o chi tiet, no c gi co nh cho mot chi tiet. iem 0 lap trnh : La iem goc 0 t o xac nh cac d lieu cap nhat trong mot chng trnh. iem nay co the thay oi thong qua lech dch chuyen iem 0.
IV _ CAC DANG IEU KHIEN

Phu hp vi yeu cau a dang trong thc te, ngi ta phan biet he ieu khien theo ba mc ieu khien khac nhau : - ieu khien theo iem. - ieu khien theo oan. - ieu khien theo ng. 1. ieu khien theo iem:
LUAN VAN TOT NGHIEP
La he thong ieu khien chnh xac mui khoan hoac chi khong co moi quan he ham tiet vao v tr yeu cau. He so (vo ham) gia cac chuyen thong nay khong kiem tra ong doc theo truc toa o. theo qui ao, van toc, ma Nhiem vu chu yeu cua he kiem tra theo v tr nh v. thong ieu khien la nh v ien hnh nhat cua he thong nay la ieu khien e khoan lo tc la can ieu khien chuyen ong tng oi gia dao va phoi en tng iem xac nh. Chang han t iem A(X1,Y1 ), B(X2,Y2 ). ac iem cua loai ieu khien nay la trong qua trnh ieu khien mui khoan khong lam viec. Qua trnh gia cong ch
Y
y2 y1
A
x1
x2
Hnh 1-3: S o ieu khien theo iem

c tien hanh theo bat c toa o nao: Co the trc tien theo toa o X, sau o theo Y hoac ngc lai, hoac ong thi thc hien cung mot luc tren hai truc vi van toc ln nhat . 2. ieu khieu theo oan : Cung giong nh he thong viec nen khong the nh v ieu khien theo iem, tc theo mot ng bat ky, ma la khong co quan he ham thong thng phai theo so gia cac chuyen ong hng song song vi mot theo toa o. iem khac la truc toa o. khi nh v, mui khoan lam Th du : Y Khi khoan canh song song vi truc toa o c xac nh bi cac iem (X1,Y1) va (X2,Y2) th phai di ong ban may (hoac mui khoan) theo toa o Y. Trong luc o y2 ban trt theo hng X phai ng yen. Ch sau khi khoan xong cac iem song song vi truc Y roi mi tien hanh nh v cac iem song song vi truc X. y1 Cau truc c ban cua he thong ieu khien theo iem va X theo oan khong khac nhau. Do o, ta co the thc hien he x1 x2 thong nay theo s o sau. S o cau truc he thong ieu khien theo iem va oan Hnh 1-4: va so lieu khi au bang cac so lieu ve hnh dangS o ieu cong nghe chi tiet gia cong. Hai so lieu ay tao theo oan lieu gia khien thanh d cong. Thong qua qua trnh lap trnh, nh c cau ghi ma hieu, cac d lieu gia cong c bien thanh cac ma hieu ghi vao chng trnh. Chng trnh nay bao gom tat ca moi tn hieu can thiet cho viec ieu khien cac c cau cua may.
LUAN VAN TOT NGHIEP
Nhng khau ke tren co the thc hien bat c ni nao, tach xa khi may, nen goi la phan x ly d lieu ben ngoai. D lieu gia cong cung co the a trc tiep vao bang ieu khien so at tren may (nh may NC n gian) hoac truy nhap trc tiep vao may tnh trung tam nh he thong CNC. Cac khau ke tiep cua xch ieu khien ieu at ben trong may, nen goi la phan x ly d lieu ben trong. Khau au tien cua phan x ly d lieu ben trong la c cau oc. V chng trnh ghi cac d lieu gia cong di dang ma hieu, nen phai qua c cau giai ma e bien ma hieu thanh nhng tn hieu ieu khien: Tn hieu hanh trnh va tn hieu khi ong. Tn hieu khi ong co nhiem vu ong ngat cac c cau tac ong, nen ta khong e cap en trong s o cau truc. Con tn hieu hanh trnh la nhng tr so a c xac nh e nh v ban maySo lieu o X-Y. Tn hieu So lieu cong a qua c theo toa hnh hanh trnh can nghe cau chuyen dangnham tao nen nhng tn hieu giong nhau e oi, a vao c cau so sanh. D lieu gia C cau so sanh co hai tn hieu vao: mot tn hieu la nhng cong a en goi la gia tr can, mot tr so xac nh t chng trnh tn hieu la nhng tr so thc te t thiet b o hanh trnh cua Lap chng ban may a en goi la gia tr thc. Qua c C cau so sanh, neu trnh hai ga tr chenh lech nhau, se tao nenhmot tn hieu sai lech. C cau ghi Qua c cau khuech ai, tn hieu sai lech lam khi ong ong c ma hieu (ong c quay ban may) e bu sai so. Khi at en v tr a hieu nh, gia tr can va gia tr thc bang nhau, tn hieu sai lech se n C bang khong, c cau khi ong dng. g Ben
ngoai X ly d lieu Ben trong
tc ra S O CAU TRUC n u HE THONG IEU KHIEN T h THEO IEM VAnOAN n g hie hie i u C u a ha kh n i ca i h o u m tr n chu a ca nh g ye u n ca so oi u sa Thiet Thiet kh n b o b o ue h hanh hanh c ong c ieu trnh trnh h khien a i
C cau oc
C C
Ban may
X
Ban may
LUAN VAN TOT NGHIEP
C cau khuech ai ong c ieu khien
He thong ieu khien va mo ta tren la he thong kn. e tao nen he thong kn thong thng rat ton kem. V the, ngi ta ang co gang e tao nen mot he thong ieu khien n gian hn. Th du nh he thong dung c cau ngat. ay, cac tn hieu khi ong ieu khien trc tiep cac ong c ieu khien, ch khong phai tm hieu so sai lech cua c cau so sanh sau khi c khuech ai. Viec so sanh tn hieu can vi tn hieu thc cung c tien hanh nh tren. Nhng khi co sai lech no se tac ong ong c ngat, lam dng ong c ieu khien.
LUAN VAN TOT NGHIEP
CHNG II
TRUYEN ONG BANG ONG C BC

I _ CAU TAO VA PHAN LOAI ONG C BC
ong c bc c phan thanh ba loai chu yeu sau : 1. ong c nam cham vnh cu : Hay con goi la ong c bc kieu tac dung va thng c che tao co cc mong. ong c nay co goc bc thay oi t 60 450 trong che o ieu khien bc u, momen ham t 0,5 25 Ncm, tan so khi ong ln nhat la 0,5 va tan so lam viec ln nhat che o khong tai la 5 Khz.
Hnh 2-1: Cau tao ong c bc vnh cu

1 va 2) Hai na Stator co dang cc mong c t hoa vi cc N va S xen ke nhau; 3) Hai cuon stato (mot cuon ieu khien n cc va mot cuon ieu khien lng cc) c at ben trong hai na stator; 4)Rotor nam cham vnh cu co cac cc t xen ke. 2. ong c bc co t tr thay oi : Hay con goi la ong c phan khang. Kieu ong c nay co goc nam trong gii han t 1,80 300 trong che o ieu khien bc u, momen ham t 1 50 Ncm, tan so khi ong ln nhat la 1 Khz, va tan so lam viec ln nhat trong ieu kien khong tai la 20 Khz. Stato c che tao thanh dang rang vi bc cc s. Cuon day pha (2) c quan tren 2 hoac 4 rang oi xng nhau, roto cua ong c cung c che tao thanh dang rang co bc cc r.
LUAN VAN TOT NGHIEP
Hnh 2-2 :Cau tao ong c bc co t tr thay oi 1) Stato c che tao thanh dang rang; 2) Cuon day pha; 3) Roto co t tr thay oi c che tao thanh dang rang.
3. ong c bc hon hp : Hay con goi la ong c bc cam ng, co goc bc thay oi trong khoang 0,36 - 150 trong che o bc u, momen ham t 3 - 1000 Ncm, tan so khi ong ln nhat la 40 khz. Trong cac loai ong c bc ke tren th ong c bc hon hp c s dung nhieu hn ca. V loai ong c nay ket hp cac u iem cua hai loai ong c tren o la: ong c nam cham vnh Cu vi dang cc mong, va ong c co t
tr thay oi.
c/vong
Cau tao cua ong c bc thay oi hon hp la s ket hp gia ong c bc nam cham vnh cu va ong c bc co t tr thay oi. Phan Stato c cau tao hoan toan giong Stator cua ong c bc co t tr thay oi. Tren cac cc cua Stato c at cac cuon day pha, moi cuon day pha c quan thanh 4 cuon day (h.2-3) hoac c quan thanh 2 cuon day (h.2-4) at xen ke nhau e hnh thanh len cac cc N va S ong thi oi dien vi moi cc cua boi day la rang cua Roto va cung c at xen ke gia hai vanh rang so 3 cua Roto. ong c hon hp cung c che tao vi 2, 4 va 5 pha, ong c 2 va 4 pha thng cho goc bc t s = 0,90 - 150 co ong c 5 pha thng co co goc bc t s = 0,180 - 0,270 . Bc rang cua Roto c xac nh bang bieu thc sau: 2 360 0 r = = Zr Zr Trong o: Zr la so rang cua Roto
C
LUAN VAN TOT NGHIEP
Qua trnh ieu khien bc u.
1) Hai pha ieu khien lng cc 2) Stator dang rang. 3) Cuon day pha ieu khien lng cc. 4) Hai vanh rang ngoai cua rotor. Nam cham vnh cu c
Goc bc cua ong c la ty so gia bc rang r va so Hnh 2-4: Cau tao ong c pha m cua ong c khi cuon day c ieu khien lng cc : r s = m ong c hon hp co tan so bc va o phan giai cao, co momen quay va momen ham ln. Trong che tao ong c bc ngoai ba loai chnh ke tren, e co goc bc thay rat nho ngi ta con che tao ong c bc t tr thay oi co nhieu tang, ket cau cua loai nay c trnh bay hnh . Loai ong c nay thng c che tao 2, 3, 4 tang trnh bay ket cau cua ong c bc t tr thay oi co ba tang. Trong moi tang so rang cua Stato va Roto giong nhau. V tr rang cua 3 Stato c at giong nhau va c co nh tren truc Roto, nhng v tr rang cua 3 Stato c at lech nhau 1/3 bc rang.
LUAN VAN TOT NGHIEP

Goc lech gia hai tang ke nhau c xac nh bang bieu thc sau: r 360 0 = = m Zrm
Neu Roto co Zr = 12 rang th goc lech nhau gia hai tang ke nhau la 100 Khi co mot xung dong ien ieu khien at vao tang 1 th rang cua Roto va Stato oi nh nhau (v t thong ch khep kn tai v tr co t tr nho nhat). Luc nay rang cua Roto va Stato tang 2 lech nhau 1 goc la 100, con rang cua Roto va Stato tang 3 lech nhau la 200. Cat xung dong ien ieu khien vao tang 1 va cac xung dong ien ieu khien vao tang th Roto cua tang 2 quay mot goc 100 e nh rang cua Roto trung vi nh rang cua stato tang 2, luc nay rang cua Roto va Stato cua tang 3 lech nhau mot goc la 100 so vi tang 2. Qua trnh ieu khien tiep tuc cho ti khi tr lai tang 1. Cuoi cung ta co qua trnh ieu khien theo trnh t 1-2-3-1
ong c bc thc chat la ong c ong bo hoat ong di tac dung cua cac xung ri rac va ke tiep nhau. Khi mot xung dong ien hoac ien ap at vao cuon day phan ng cua ong c bc, th roto (phan cam) cua ong c se quay i mot goc nhat nh, va c goi la bc cua ong c, khi cac xung dong ien at vao cuon day phan ng lien tuc th roto se quay lien tuc.
II _ AC IEM CHUNG CUA ONG C BC
V tr cua truc ong c bc c xac bang so lng xung, va van toc cua ong c ty le vi tan so xung, va c xac nh bang so bc/giay (second). Tnh nang lam viec cua ong c bc c at trng bi bc c thc hien, at tnh goc (quan he cua momen ien t theo goc gia truc cua Roto va truc cua t trng tong), tan so xung gii han sao cho cac qua trnh qua o, khi hoan thanh mot bc co the tat i trc khi bat au bc tiep theo. Tnh nang m may cua ong c, c at trng bi tan so xung cc ai co the m may ma khong lam cho Roto mat ong bo (bo bc). Tuy theo ket cau cua tng loai ong c, ma tan so ong c co the
Trang
tiep nhan c t 10 en 10.000 Khz.
LUAN VAN TOT NGHIEP
Bc cua ong c (gia tr cua goc gia hai v tr on nh ke nhau cua Roto) cang nho th o chnh xac trong ieu khien cang cao. Bc cua ong c phu thuoc vao so cuon day phan ng, so cc cua Stato, so rang cua Roto va phng phap ieu khien bc u hoac ieu khien na bc. Tuy theo yeu cau ve o chnh xac va ket cau cua ong c, ma bc cua ong c thay oi trong gii han t 1800 - 0,180. Trong o: ong c bc nam cham vnh cu dang cc mong va co t tr thay oi t 60 - 450, ong c bc co t tr thay oi co goc bc nam trong gii han t: 1,80- 300, va ong c bc hon hp co goc bc thay oi trong khoang 0,360 - 150. Cac gia tr goc cua cac loai ong c ke tren c tnh trong che o ieu khien bc u. Chieu quay cua ong c bc khong phu thuoc vao chieu dong ien chay trong cac cuon day phan ng, ma phu thuoc vao th t cuon day phan ng c cap xung ieu khien. Nhiem vu nay do bo chuyen phat thc hien. So cuon day phan ng (hay co goi la cuon day pha) cua ong c bc c che tao t 2 - 5 cuon day pha (hay con goi la boi day) va c at oi dien nhau trong cac ranh Stato. oi vi cuon day phai co hai cuon day th ch dung cho ieu khien lng cc (cuon day co cc tnh thay oi), vi 4 cuon day co the dung cho ca hai che o ieu khien lng cc va ieu khien n cc.
III _ PHNG PHAP IEU KHIEN BC U VA NA BC

1. Phng phap ieu khien bc u The hien trnh t ieu khien bc u cua dong c bc nam cham vnh cu c t hoa vi cac cc t xen ke. Nguyen ly lam viec cua ong c bc la da tren s tac ong tng ho gia t trng cua Stato va Roto, hnh thanh momen ien t lam quay Roto i mot goc nhat nh. Khi cho xung dong ien tac ongvao cuon day pha AA'( hnh 2-6a) th Roto se quay en v tr, ma truc t trng cua Roto (cung chnh la truc doc cua Roto) trung vi truc t trng cua pha A
LUAN VAN TOT NGHIEP

Neu cat xung dong ien vao pha A, va cho xung dong ien tac dung vao cuon day pha BB' (h.2-6b) th vect t hoa cua dong ien se quay i mot goc la 180,
do o Roto cung quay i mot goc la 180 e cho truc cua t trng Roto trung vi truc cua t trng tong.
Sau o cat xung tac ong vao pha B va lai cho xung dong ien vao pha A (hnh 2-6c), nhng oi dau th Roto lai quay tiep mot goc la 180. Neu tnh t iem au th Roto a quay c mot goc la 360. Qua trnh chuyen phat xung dong ien tac dung vao mot trong hai pha cho ti khi Roto quay mot vong, ong c se thc hien c 20 bc (hay con goi la 20 nhp). Qua trnh chuyen mach cac cuon day ieu khien theo mot trnh t (A+, B+, A-, B-,) va qua trnh chuyen mach theo trnh t (A+,B+), (A+, B-),(A-,B+), (A-,B-) Trong hai trng hp nay, th trong mot chu trnh chuyen mach co 20 nhp (bc), va moi nhp co so cuon day ieu khien c cap xung dong ien cho nhau. Dang ieu khien nay c goi la ieu khien bc u hay con goi la ieu khien oi xng. 2. Phng phap ieu khien na bc: The hien trnh t ieu khien na bc, qua trnh ieu khien na bc tng t nh qua trnh ieu khien bc u, nhng trnh t chuyen mach cac cuon day ieu khien co khac nhau: cu the la t A+, (A+,B+), B+, (A-,B+), A-, (A-,B-), B-, (A+,B-), Vi trnh t chuyen mach nay, mot chu trnh hoan chnh bao gom 40 nhp, va trong moi nhp so cuon day ieu khien c cung cap xung khac nhau, khi o Roto quay c mot vong thc hien 40 nhp ieu khien co goc bc la 90. Phng phap ieu khien nay c goi la phng phap ieu khien na bc hay con goi la ieu khien khong oi xng. Trong hai phng phap ieu khien tren, th phng phap ieu khien na bc cho gia tr goc bc nho hn hai lan, va so bc/vong tang len hai lan so vi phng phap ieu khien bc u.
bc hon hp 5 pha ieu khienthay oi co tr lng cc Hnh 2-7: Phng phap ieu khien na
C
ba tang EMBED PBrush
LUAN VAN TOT NGHIEP
Xet ve yeu cau am bao o chnh xac trong ieu khien, th phng phap ieu khien na bc de dang ap ng hn, nhng bo chuyen phat xung ieu khien phc tap hn nhieu so vi phng phap ieu khien bc u.
IV _ NGUYEN LY HOAT ONG CUA ONG C BC

1. ong c nam cham vnh cu: Nguyen ly lam viec cua ong c nay la da vao tac ong cua mot trng ien t tren mot momen ien t, tc la tac ong gia mot trng ien t va mot hoac nhieu nam cham vnh cu. Roto cua ong c tao thanh mot hoac nhieu cap t va momen ien t cua nam cham c dat thang hang tren t trng quay do cac cuon day tao nen. Xet cau truc cua ong c bc nam cham vnh cu nh:
Hnh 2-8: S o ket cau cua ong c bc c

on b i ong c co hai cuon day lap hai cc cua Stato, va mot a nam cham vnh cu Roto. Khi kch g thch motcuon day cua Stato (ong thi ngat ien cuon kia) se tao nen hai cc Bac n h (North) va Nam (South) cua nam cham. Roto se thang ng vi hng t trng Neu ta cho dong ien vao cuon day W1 th v tr 1 va 3 ro h cua Stato tng ng se la cc Nam va cc Bac. a Gia s truc cua nam cham vnh cu cua Roto ang lech at vi truc 1-3 mot goc di tac dung cua lc hut do cac cc n be trai dau cua nam cham se sinh ra mot lc quay Roto ve v tr 1, v tr nay goi la v tr can bang. Sau o cho dong ien I2 vao cuon day W2 (luc nay dong ien cuon W1 b ngat), thanh nam cham se quay nhanh en v tr 2 mot goc 900 neu viec cap ien lien tuc va tuan t vao cuon day W1, W2, W1, W2, . Va ao chieu dong ien sau moi bc, thanh nam cham se quay thanh nhng vong tron, t mot phan t vong tron en mot phan t vong tron khac. Cac cuon day cua Stato goi la cac pha. ong c bc co the co nhieu pha: 2, 3, 4, 5 pha, no c cap ien cuon nay sang cuon khac vi viec ao chieu dong ien sau moi bc quay. Chieu cac ong c phu thuoc vao th t cung cap ien cho cac cuon day va hng cua t trng. 2. ong c bc t tr thay oi: Nguyen ly lam viec cua ong c bc t tr thay oi da tren c s nh luat cam ng ien t, tc la da tren s tac ong gia mot trng ien t va mot Roto co t tr thay oi theo goc quay.
LUAN VAN TOT NGHIEP
Cau truc tieu bieu cua ong c bc co t tr thay oi

Hnh 2-9: ong c bc ba pha t tr thay oi b H -6 t Roto ong c ien c che tao bang vat lieu dan t, tren be mat Roto thng co nhieu rang. Moi rang cua Roto hoac cua Stato goi la mot cc. Tren hai cc oi dien c mac noi tiep hai cuon day (v du nh cuon day AA') tao thanh mot b g h phan cua ong c. Nh vay ong c nh hnh ve co ba pha A, B, C, t tr thay oi theo goc quay cua rang. Khi cac rang cua Roto ng thang hang vi cac cc cua Stato, t tr o se nho nhat. Neu ta cho dong ien chay vao cuon day BB' no se tao nen t trng keo cc gan no nhat cua roto va lam Roto quay mot goc 300 theo chieu ngc chieu kim ong ho. Neu dong ien c a vao cuon day CC', Roto lai tiep tuc quay mot goc 300 na Cac cuon day AA', BB', CC' goi la cac pha. Hng quay cua ong c khong phu thuoc vao chieu cua dong ien ma phu thuoc vao th t cap ien cho cuon day. Nhiem vu nay do cac mach logic trong bo chuyen phat thc hien. Vi cach thay oi th t hoac thay oi cach kch thch cac cuon day ta cung lam thay oi cac v tr goc quay. ong c bc co t tr thay oi co chuyen ong em, so bc ln va tan so lam viec cung kha ln (t 2 en 5 Khz). Mot so cong thc tnh cho ong c bc t tr thay oi: Nr : So rang roto Ns : So rang stato Np : So pha Pr : Goc o rang roto s : Goc bc Rs : Gia tr bc X = Ns/Np : so rang stato cho mot pha Goc o rang gia hai rang ke nhau c xac nh nh sau : 369 0 360 0 ; Ps = Pr = Nr Pr Goc bc c xac nh bi bieu thc : 360 0 s = (o / bc) Nr.Np Gia tr bc 360 Rs = s Neu tan so xung la f th toc o Roto la: 69 f 60 f s = = = (vong / phut) Rs Np.Nr 6
C
LUAN VAN TOT NGHIEP

-
So rang Roto cho mot pha: Nr X= Np + 1 3. ong c hon hp: ong c hon hp la s ket hp nguyen tat lam viec cua ong c co bc nam cham vnh cu va ong c bc co t tr thay oi nham co c at tnh tot nhat cua hai loai ke tren la momen ln va so bc ln.
1 2
Hnh 2-10: s o ong c bc hon hp ong c gom hai na Roto (1) va (2). Na(1) co nhieu rang tren Roto, na (2) la nam cham vnh cu. Do o co s ket hp gia hai phan nen tao ra s kch thch roto manh hn. ong c loai nay co so bc at en 400 bc, nhng gia thanh at. 4. ong c nhieu Stato:
Hnh 2-11: s o ong c nhieu stato ong c gom nhieu stato tren cung mot truc. Neu ta dch chuyen stato i mot goc ong thi gi Roto thang hang hoac ngc lai co bc rat nho. Khi cung cap ien cho stato mot cach lien tuc, ta se co mot ong c (quay lien tuc), ac tnh cua no khong tot bang ong c co t tr thay oi.
V _ AC TNH CUA ONG C BC

1. ac tnh tnh: Goc bc : la tr so goc quay cua mot bc, la goc quay cua truc ong c di tac dung cua mot xung ien chay qua cuon day ien ke tiep. No phu hp vi so bc/ vong. ieu khien ong c hon hp bang bo chuyen phat cho phep nhan so bc thc te e ieu
LUAN VAN TOT NGHIEP
khien na bc (khi hai pha c cap ien cung mot luc) va ieu khien vi bc (khi cho dong ien co tr so khac nhau vao cac pha). So bc co the la 2000 en 25000 bc/vong. Moment : Moment thay oi theo goc quay cua truc c goi la ac tnh cua ong c bc. No c bieu hien nh hnh sau : M gi a c me n
y Mf Mk
M B Hnh 2-12 Momem cua ong c bc Moment tnh (Mo): Khi ong c c cap ien, roto co xu hng nam tren truc cua t thong, hnh thanh mot momen rat ln e ong c co the quay. Gia tr nay goi la momen tnh. Momen ham la momen can do truc cua ong c nam cham vnh cu tao nen khi cac cuon day stato khong c kch thch. e ong c co the hoat ong chnh xac th momen luon luon nho hn momen tnh. Momen duy tr la momen ln nhat do cuon day kch thch tao nen tren truc ong c t tr thay oi khong co momen nay. 2. ac tnh ong cua ong c bc: Van toc cua ong c bc phu thuoc vao tan so xung ieu khien. Tan so nay do bo ien t cung cap ac iem van toc cua roto tren mot bc the hien tnh dao ong cua truc ong c. ac tnh nay co the c cai thien bang viec thiet ke mot hop bien toc ac biet nham han che va loai tr s cong hng e co c hang so thi gian tot hn. Khi co mot xung dong ien vao cuon day Stato, Roto ong c khong chuyen ong ngay t goc nay sang goc khac, ma no dao ong mot thi gian can e quay 5% vong th mi at c v tr on nh. Hang so thi gian phu thuoc vao moment quan tnh cua t thong . Tan so xung cang cao th hang so thi gian ien t se cang ngan. Neu xung ieu khien ong c co tan so qua cao th roto se quay lien tuc va lam viec qua tan so gii han. che o nay ong c khong the dng ot ngot va cung khong the ao chieu. Muon thchien dng ong c, can phai giam tan so en vung lam viec theo bc.
LUAN VAN TOT NGHIEP
Hai ng at tnh hnh thanh vung gii han lam viec la ng cong Mc va Mk. Mc la momen ti han, momen ln nhat tac ong len truc lam ong c quay tan so a cho. Tren gii han on nay ong c b sai bc va khong the thayP oi tan so g cc B bc. h 2 Mk la2momen khi ong ln nhat, thng bang 2/3 a4 B 1 T ga tr momen duy tr. Tren o th co hai vung lam viec ong c A va B T4 cha 3 Vung c: la vung khi ong. vung nay ong c A . 1 m the khi ong, dng va ao chieu ma khong b se co na sai bc. Vung B :hla vung boi toc. ay ong c khong u the ap ng tc thi cac lec\nh khi ong, dng va 3 v ao chieu.TNo ch co the quay neu tan so tang tuan t en mot ga tr thch hp. vung nay khong cho phep khi ong, dng va ao chieu nhng co the tang, giam toc t t. Muon dng chnh xac ong c, van toc xung phai giam toc t t en kmomen khi ong Hnh 2-13 ng ac tnh cua ong c bc Tan so ti han fmax: la tan so bc ln nhat khi ong c chay khong tai. Tan so ti han ft : la tan so bc ln nhat ma ong c co the lam viec khong sai bc khi quay khong tai. Tan so khi ong fk: la tan so bc ln nhat ma ong c co the khi ong khi co tai. Tan so fkmax: la tan so bc ln nhat ma ong c co the khi ong luc khong tai IEU KHIEN ONG C BC
ieu khien ong c bc do mot thiet b ien t goi la bo chuyen phat thc hien. No bao gom mot so chc nang sau ay: Tao cac xung vi nhng tan so khac nhau. Chuyen oi cac phan cho phu hp vi th t kch t. Lam giam cac dao ong c hoc. S o mach logic ien t cua bo chuyen phat e ieu khien hnh trong ong c bc 4 pha c trnh bay
au vao cua mach nay la cac xung do may phat xung tao nen. Thanh phan cua mach la cac ban dan, vi mach. Kch thch cac phan cua ong c bc theo th t 1-2-3-4 do cac transistor
LUAN VAN TOT NGHIEP
cong suat T1 en T4 thc hien.Vi viec thay oi v tr bo chuyen mach, ong c co the quay theo chieu kim ong ho hoac ngc lai. ATat ca moi transistor eu do mach logic "VA" ieu khien. Hai bo on nh hai chieu T1 va T2 tao cac tn hieu ong m cho cac cong tat ie khien. Trang thai cua hai bo on nh hai chieu ieu khien 4 trasistor theo cach thc nh sau: Hnh 2-14: S o mach logic bo chuyen phat ieu khien ong c bc Trang thai on nh Trangthai transisr A = B = 1T1 lam viec A = B = 1T2 lam viec A = B = 1T3 lam viec
LUAN VAN TOT NGHIEP
SVTH: NGUYEN TH CHNH
PHAN KHAI BAO CHNG TRNH

Phan khai bao chng trnh cung cap cac thong tin ieu chnh can thiet cho qua trnh thc hien chng trnh ieu khien. Trong mot chng trnh co the khong co phan khai bao, tuy nhien sau o cac thong tin ieu chnh nay se c cung cap bang cac lenh rieng trong chng trnh.
V du:
CHNG I
Phan khai bao cua chng trnh co the c viet nh sau: #AXIS XYZ; #STEPS 400, 400, 400; #REF_SPEED 2000, 2000, 2000; #ELEV 4, 4, 2; Y ngha cac dong khai bao theo th t t tren xuong di, chng trnh ieu khien ba truc X, Y va Z theo che o mach h, toc o chuan cua moi truc la 2000HZ, khoang dch chuyen cua truc x va y la 4mm va cua truc z la 2mm. Phan khai bao co the bao gom nhieu dong khai bao hn trong v du tren, moi khai bao c viet tren mot dong rieng biet.
CAC LENH TRONG PHAN KHAI BAO
1. Lenh #AXIS Y ngha : Chon truc ieu khien Cu phap : #AXIS ng dung : Trc khi thc hien chng trnh PAL_PC can phai xac nh so lng truc c ieu khien trong khi gia cong. Giai Thch So lng truc hp le c mo ta nh sau: #AXIS X (ch co truc X) #AXIS XY (truc x va y) #AXIS XZ (truc x va z) #AXIS XYZ (truc x, y va z) Ket thuc lenh nay bang dau cham phay.
LUAN VAN TOT NGHIEP
Lenh nay phai la lenh au tien trong chng trnh v so lng truc can ieu khien se co tac dung en tat ca cac lenh khac, so lng thong so trong cac lenh khac phu thuoc va so lng truc c chon. Trong trng hp chng trnh khong co lenh nay th so truc c chon mac nh la x, y va z. 2. Lenh #STEPS Lenh : So bc/vong Cu phap : #STEPS [so bc_x], [so bc_y], [so bc_z] ng dung : Thong bao cho chng trnh dch mot he so quy oi e chuyen oi t so bc thc hien cua ong c bc sang khoang cach di chuyen thc. Giai Thch [so bc - x]:so bc /vong cua truc x [so bc - y]:so bc /vong cua truc y [so bc - z]: so bc /vong cua truc z Cac lenh c phan cach bang dau phay, so bc/vong cua tng ong c se co tac dung vi So bc/von So = Khoang di g bc/mm chuyen(mm) truc tng ng
V du 1:
Neu ong c x co so bc/vong la 400 va khoang cach di chuyen thc te la 4mm. Cong thc tong quat: v du: 400bc/4mm = 100bc/mm Ket qua: #STEPS100; Neu dung ong c co bo giam toc th phai nhan he so giam toc vi so bc/vong. V du 2: ong c truc x co so bc/vong la 400 va he so giam toc la 1:9, khoang cach di chuyen la 4mm.
LUAN VAN TOT NGHIEP
chuyen(mm) Cong thc tong quat: (400bc x 9)/4mm = 900 bc/mm Ket qua: #Steps 900; Lenh uc ket thuc bang dau cham phay. Lenh nay phai c at sau lenh chon truc, trong trng hp khong co lenh chon truc th so lng chon truc mac nhien la XYZ. 3. Lenh #Units Y ngha : Xac nh n v. Cu phap : #Units [ n v]. ng dung : Chon n v cho khoang cach dch chuyen. Giai Thch [n v] cac n v hp le nh sau: #units mm; #Units cm; #Units Zoll/10; #Units Zoll/20; #Units Inch; #Units Inch/10; #Units Inch/20; Ket thuc lenh nay bang dau cham phay. Neu khong xac nh n v th n v mac nhien c chon la mm, Zoll/10 va Zoll/20 c dung e gia cong mach in v kch thc bc hng dan khi khoan co n v la Zoll.
4. Lenh #Elev
So bc /vong x he so giam So = toc bc/mm Khoang di
Y ngha : xac nh khoang dch chuyen. Cu phap : #Elev [khoang x], [khoang y], [khoang z]; ng dung : Quy oi so bc thc hien cua ong c mang khoang dch chuyen theo n v a nh. Giai Thch [Khoang x]: Khoang dch chuyen truc x
LUAN VAN TOT NGHIEP
[Khoang y]: Khoang dch chuyen truc y [Khoang z]: Khoang dch chuyen truc z Khoang cach dch chuyen co the dan len truc tng ng hoac o nh hng dan trong phan Card giao tiep, khoang cach dch chuyen cua tng truc c cach nhau bang dau phay va ket thuc bang dau cham phay. V du 1: Mot may khoan co khoang dch chuyen truc x va y la 4mm va z la 2,5mm, co cu phap lenh nh sau: #Elev4, 4, 2,5; V du 2: Mot may khoan co khoang dch chuyen truc x la 2mm , truc y la 4mm (khong co ieu khien truc z). #Elev 2, 4; Trong trng hp khong co lenh nay, khoang cach dch chuyen mac nhien cua 3 truc la 4mm. 5. Lenh #Define Y ngha : Xac nh nh ngha thay the. Cu phap : #Define [ten (nh ngha)\; . . .\; (nh ngha)]; ng dung : PAL-PC cho phep s dung mot dong van ban hoac mot ky hieu e thay the cho mot thao tac nao o, nen dung cac ky hieu nh ngha ngan gon, de hieu. Giai Thch Name: Thao tac (lenh) can thay the. nh ngha: dung van ban hoac ky hieu thay the. Ket thuc lenh nay bang dau cham phay. V du 1: Xac nh cac nh ngha thay the sau: #Define ( ) (300); #Define Nop 0(21), 0(21); #Define khoan 20(1000), -20(9000); nh ngha au tien dung e ky hieu ( ) thay cho toc o 300bc/giay. nh ngha th hai dung ky hieu Nop e thay the thao tac khong thc hien c g ca. nh ngha th ba dung ch khoan e ieu khien len xuong truc Z.
LUAN VAN TOT NGHIEP
Ca 3 nh ngha tren c ng dung cho oan chng trnh sau ay: MOVE 20( ), 20( ), Nop; [dch chuyen x va y 20mm] MOVE 2( ), 5(5000); khoan; [dch chuyen x 2mm, y 5mm] Chng trnh dch se dch oan chng trnh tren nh sau: MOVE 20(300), 20(3000), 0(21), 0(21); MOVE 2(3000), 5(5000), 20(11000), -20(9000);
V du 2: nh ngha mot oan thang
V mot nh ngha c ket thuc bang dau cham phay, nen trong nh ngha phai co mot ky hieu ac biet o la dau gach cheo. V du sau ay la nh ngha thay the mot oan chng trnh khoan lo vi mach 14 chan. #Define DIL14 Repeat Move 1( ), 0( ), khoan\; Until 7\; Move 1( ), 3( ), Nop\; Repeat Move 1( ), 0( ), khoan\; Until 7; Lu y la dong lenh cuoi cung trc dau cham phay khong co dau gach cheo, dau cham phay nay se ket thuc nh ngha. Cac ky hieu ( ), Nop, khoan; phai c nh ngha trc nh ngha Dil 14 neu khong chng trnh dch se khong hieu. V du chng trnh sau ay s dung Dil 14 Move 20( ), 30( ), Nop; [Ve v tr ban au ] Repeat [Khoan hai vi mach] DIL 14 [Khoan 14 chan] Move 1( ), 20( ), Nop; [Ve v tr cua vi mach ke tiep] Until 2; [Khoan vi mach th hai] Mot iem can lu y la chng trnh dch co phan biet ch in hoa va ch thng, neu viet dil la khong hp le.
LUAN VAN TOT NGHIEP
Gii han: Ch c phep dung toi a 50 nh ngha. o dai moi nh ngha toi a la 250 ky hieu, trong mot dong nh ngha khong c viet qua 255 ky hieu 6. Lenh # REDEFINE Y ngha : Xac nh lai nh ngha Cu phap : # Redefine*[ (name) (lenh)\, . . .\, (lenh)]; ng dung : e thay oi toc o va cac mo ta khac trong mot chng trnh ieu khien NC. Nhng lenh # REDEFINE khong c dung nhieu lan. # REDEFINE ( ) (200); . . . . . . . . . .. . . # REDEFINE /( ) (3000); Dong lenh tren khong hp le, ma phai sa lai nh sau: # REDEFINE ( ) (2000); - - - - - -- - # REDEFINE *( ) (3000); Lenh # REDEFINE ( ) (2000); - - - - - -- - # REDEFINE se thay the nh ngha trc o 7. Lenh #START Y ngha : Bat au thc hien chng trnh Cu phap : # START ng dung : Lenh Start se lap tc thc hien chng trnh va c nap vao may va phai cham dt bang lenh stop, trong trng hp khong nap d leu mi th lenh nay se thc hien d leu co san trc o trong Card giao tiep. 8. Lenh #Ref-speed Y ngha Cu phap [speed-y], sped-z]; : at toc o chuan : #Ref-speed [speed-x],
LUAN VAN TOT NGHIEP

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ng dung : Toc o chuan se khong c t ong xac nh sau khi m may tr trng hp co pin backup. Do o, phai dung lenh #Ref-speed e at toc o. ng dung [speed-x] Toc o chuan cua truc x [speed-y] Toc o chuan cua truc y [speed-z] Toc o chuan cua truc z Toc o phai c at trong pham vi cho phep. V du: #Ref-speed 2000, 2000, 2000; 9. Lenh Include Y ngha : Nhap toa o. Cu phap : #Include <[ ten tap tin]>; ng dung : PAL-PC co kha nang s dung cac oan chng trnh trong nhieu chng trnh. Co ngha la co the tao oan chng trnh trong mot tap tin hoac dung lenh sao chep khoi t mot chng trnh vao mot tap tin. Giai Thch [Ten tap tin] : c at trong ng dan sau lenh #Include.
V du:
#Include <c:\ michael\ editor\ incl.tst>; Lenh se nhap tap tin incl.tst co trong ng dan vao chng trnh; ten tap tin c at trong hai hoac nhon. Neu tap tin khong ton tai, chng trnh dch se hien th thong bao, tat ca cac dong lenh trong tap tin c at. Tai v tr cua lenh #include. 10. Lenh {and} Y ngha : Nhap li bnh Cu phap : {[li bnh]} ng dung : Li bnh co the at tai v tr trong chng trnh trong hai au { } Giai Thch [Li bnh ] : Li bnh c dung e lam ro ngha cac dong lenh hoac mot oan chng trnh. 11. Lenh #GN
LUAN VAN TOT NGHIEP

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SVTH: NGUYEN TH CHNH : Xac nh so hieu cua
Y ngha
may Cu phap : #GN [so hieu] ng dung : Lenh #GN bao cho chng trnh dch so hieu cua may c noi en card giao tiep, lenh nay ch co hieu lc card co version t 3.0 tr len. Giai Thch [so hieu ] : So hieu cua may V du: .................. #GN1 {Card giao tiep c lap trnh vi may so 1}. ........ .......... #GN2 {Card giao tiep c lap trnh vi may so 2} . . . . . . . . . . . . . . . .. . . . 12. Lenh #speed Y ngha : Toc o trong mo thc hoi thoai Cu phap : #Speed [speed-x], [speed-y], speed-z]; ng dung : Mot vai chc nang trong mo thc teach-in thc hien trc tiep vi cac v tr a c nh ngha tren may (v du: iem 0 cua chi tiet gia cong), toc o lam viec trong trng hp nay co the c xac nh bang lenh #speed. V du: #speed 8000, 5000,2000; {Toc o truc x, y va z} #speed 2000, 7000; {Toc o truc x va y} n v cua toc o la so bc/giay, cac gia tr nay khong c x dung khi tr ve chng trnh NC ma chung ch co hieu lc trong mo thc teach-in. 13. Lenh #Limits Y ngha : at gii han trong Teach-in Cu phap : # Limits [x-limits], [y-limits], [z-limits]; ng dung : Cho biet pham vi cho phep toi a cua may trong che o Teach-in. Giai Thch
LUAN VAN TOT NGHIEP
[x-limits], Gii han cua truc x [y-limits], Gii han cua truc y [z-limits], Gii han cua truc z V du 1: #limits 200, 300, 80; Lenh tren cho biet vung gii han trong mo thc Teach-in la 200nn x 300mm x 80mm. V du 2: #Units zoll/10; #Elev 4, 4, 2; #Limits 100, 100, 10; Cac tr so cho biet vung gii han Teach-in c s dung nham muc ch han che kha nang ri vao vung gii han cua may. 14. Lenh #null Y ngha : Xac nh iem 0 cua chi tiet trong Teach-in. Cu phap : #null [null-x], null-y], [nullz]; ng dung : Dung e at iem 0 (v tr ban au) cua chi tiet trong mo thc Teach-in. Giai Thch [ null-x] iem 0 cua truc x [ null-y] iem 0 cua truc y [ null-z] iem 0 cua truc z Cac gia tr nay co thhe ch can nh ngha mot lan trong moi chng trnh NC va khong can phai nh ngha lai. V du: #null 50, 50, 10; Toa o iem 0 50, 50, 10 co the chon n v la: mm, cm, zoll . . . Trong chng trnh NC, v tr diem 0 cua chi tiet cung c xac nh bang lenh null.
LUAN VAN TOT NGHIEP
TAP LENH
Chng II
S LC
1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 20. Tap lenh Lenh Label Lenh move Lenh moveto Lenh movep Lenh Send Lenh wait Lenh loop Lenh port va pulse Lenh reference Lenh tell Lenh Stop Lenh line Lenh repeat . . .until Lenh go to Lenh null Lenh on-key Lenh on-port Lenh st-port Lenh arc-r hoac :arc-l
LUAN VAN TOT NGHIEP
S LC
Phan chng trnh cha cac lenh ieu khien se c chuyen vao card giao tiep va lu tr tai ay. Vi chng trnh qua ln co the vt qua dung lng cua card giao tiep, trong trng hp nay phai giai quyet bang cach chia qua trnh thc hien thanh nhieu bc, sau o nap vao card va thc hien tuan t. I _ TAP LENH 1. Lenh Label Y ngha : at nhan. Cu phap : [label]. ng dung : Mot vai lenh phan nhanh (nhay), v tr nhay c cho tng oi va ch bat au bang mot so V du: goto-5 lenh nay nhay luon ve lenh th 5. Nhng lenh nh the nay rat de nham lan. Do o PAL-PC cho phep at v tr nhay bang lenh di dang van ban. Giai Thch [Label] : Nhan bao gom ky t, ky so va dau gach di khong c phep bat au bang ky so va ket thuc nhan bang dau hai cham. V du: Cac nhan hp le ANFANG: prog-bokren: anfang-zwitns: Nhan ANFANG va anfang c chng trnh xem la khac nhau v PAL-PC phan biet ch in va ch thng. Cac nhan khong hp le : 124: khong cho phep dung ky so lam nhan. 1.Unterprog: Co dau cham . Va bat au bang mot so. PROG FRAESEN : Co khoang trang. Trong chng trnh, nhan c dung cho cac lenh nhay. 2. Lenh MOVE
Y ngha
: Di chuyen tng oi.
Cu phap : MOVE [x1 (xv)], [y1(v)], [z11 (zv1)], [z12(zv2)] ng dung : ay la lenh c ban nhat dung e di chuyen truc lam viec. Giai Thch [x1(xv)] : Khoang dch chuyen va toc o cua truc x [y1(yv)] : Khoang dch chuyen va toc o cua truc y [z11(zv1)] : Khoang dch chuyen va toc o lan 1 cua truc z
LUAN VAN TOT NGHIEP
[z12(zv2)] : Khoang dch chuyen va toc o lan th 2 cua truc z Phai cho biet khoang dch chuyen va toc o dch chuyen cua tng truc, toc o c at trong dau hoac n sau khoang dch chuyen. Cac tr so c phan cach bang dau phay va cham dt lenh bang dau cham phay. Rieng oi vi truc z co hai thong so v qua trnh dch chuyen cua truc nay thng la len va xuong. Phan thap phan cua khoang dch chuyen c phan cach bang dau cham, toc o phai la mot so 21. V du: MOVE MOVE MOVE MOVE 2(2000); 2(2000), 2(3000); 20(900), 30(1000), -30(100); 2(100), 2(100), 2.8)200), -2(100); {Di {Di {Di {Di chuyen truc chuyen truc chuyen truc chuyen truc x} xy} xz} xyz}
Lu y rang PAL-PC co the kiem tra pham vi di chuyen cho phep cua may. Qua trnh dch chuyen luon luon bat au theo th t vi truc xy sau o en thong so th nhat cua truc z va cuoi cung la thong so th nh cua truc z. Th t nay co the thay oi bang lenh line. oi vi cac truc khong can di chuyen, phai at khoang dch chuyen bang 0, toc o at trong pham vi cho phep (21 en 20.000). 3. Lenh moveto: Y ngha : Di chuyen en v tr xac nh Cu phap : Moveto [x1(xv)], [y1(yv)], [z11(zv1)], [z12(zv2)]; ng dung : Cung giong nh lenh move, tuy nhien lenh nay co tac dung di chuyen cac truc en mot v tr xuat phat xac nh. Giai Thch [x1 (xv)] : Khoang dch chuyen va toc o cua truc x [y1 ( (v)] : Khoang dch chuyen va toc o cua truc y [z11 (zv1)] : Khoang dch chuyen va toc o lan 1 cua truc z [z12(zv2)] : Khoang dch chuyen va toc o lan th 2cua truc z e hieu ro hn ve khai niem v tr tng oi va tuyet oi e ngh xem them tai lieu hng dan card giao tiep 4.0. 4. Lenh movep: Y ngha : Dch chuyen theo xung Cu phap : MOVE [x1(xv)], [y1(yv)], [z11(zv1)], [z12(zv2)]; ng dung : Giong nh lenh move, tuy nhien qua trnh dch chuyen
LUAN VAN TOT NGHIEP
se dng khi xuat hien xung ngo vao va lenh tiep theo se c thc hien
Giai Thch [x1 (xv)] [y1 ( (v)] [z11 (zv1)]
: Khoang dch chuyen va toc o cua truc x : Khoang dch chuyen va toc o cua truc y : Khoang dch chuyen va toc o lan 1 cua truc : Khoang dch chuyen va toc o lan th 2cua
z [z12(zv2)] truc z
Xung vao phai co mot be rong toi thieu va khoang cach 20s va toi a la 100s, xung nay c a en ngo vao stop cua card giao tiep, trong trng hp xung qua rong th sai lech movep nen them mot lenh tr hoan. 5. Lenh send: Y ngha : Phat ky hieu ong bo Cu phap : Send [zahl]; ng dung : e tao kha nang ong bo gia hai card giao tiep hoac vi may tnh th phai gi i ky hieu ong bo tai mot v tr xac nh trong vung d lieu Giai Thch [Zahl] la so t 33 en 126 (MA ASCII) Tn hieu ong bo phai trong khoang t 33 en 126, khong nen dung ky so 64. Ngay au chng trnh nen nh ngha cac ky hieu ong bo bang lenh #define, sau o co the dung mot ten cho ky hieu ong bo. V du: ................. #define Bohren-ist-fertig 90; {ky hieu ong bo bang 90} . . . . . .. . .. . .. . . . . .. . . Send bohren-ist-fertig 6. Lenh wait: Y ngha : Ky hieu ong bo Cu phap : Wait [zahl], [offset]; ng dung : i kem vi lenh send nh a trnh bay tren e ch ky hieu ong bo t mot card giao tiep hoac may tnh khac. Giai Thch [Zahl] ky so t 33 en 126 (Ma ASCII) [Offset] la mot so cho biet v tr so dong lenh trc hay sau hoac mot nhan ma tai o chng trnh se tiep tuc. Card giao tiep con co the thc hien nhieu thao tac co the tom tat nh sau: Tiep tuc thc hien sau khi nhan ky hieu ong bo.
LUAN VAN TOT NGHIEP
Card giao tiep t ong thc hien lenh tiep theo trong vung d lieu khi nhan ky hieu ong bo. Thc hien tai v tr tng oi: - Card giao tiep nhay en v tr c cho biet trong dong lenh. Nhan ky hieu 127 - Card giao tiep thc hien reset va i lenh t may tnh. V du : ............. Wait 90, - 5; {i ky hieu 90 va sau khi nhan nhay lui lai 5 dong trong chng trnh} ............... Wait 80, ngang; {i ky hieu 80 va nhay ve phai ngang sau khi nhan c ky hieu.} V du 2: Label1: Move . . . . {Phan lo} Send TELL-DA; {San sang kiem tra} Wait TELL-OK, weiter; {i cho phep} Move . . . {at phan khong dung (phan h)} Goto label1; {Th phan tiep theo} Weiter: Move . . . {at phan trong may} Move . . . {Tai v tr ra} Goto label1; {Lam lai t au} May tnh se kiem tra cac phan va thong bao cho card giao tiep theo mot yeu cau TELL-DA, sau khi ket thuc va cac phan ieu tot th TEELL-OK + 1 se c chuyen i va card giao tiep se at phan nay vao may, trong cac trng hp khac may tnh se phat TEIL-OK + 0 va card giao tiep se at cac phan khong x dung va lo vao phan tiep theo. 7. Lenh loop Y ngha : Thc hien vong lap Cu phap : Loop [so] Times [label]; ng dung : Lap lai cac thao tac giong nhau Giai Thch [so] so t 0 en 32767, neu bang 0 co ngha la vong lap khong cham dt. [Label] Lap lai t nhan xac nh. V du 1: Loop _1: Move . . . . . {Di chuyen . . . . . . .} - - - - - - - - -- - - Loop 5 times loop_1; {Lap lai 5 lan t nhan loop_1} V du 2: Loop :
LUAN VAN TOT NGHIEP
Move . . . . . {Di chuyen . . . . . . .} - - - - - - - - -- - - Loop 0 times loop_1; {Lap lai t nhan loop} Nen dung lenh Repeat va Until v de dung va dch chuyen nhanh hn, lenh loop con x dung la do tng thch vi cac version cu. 8. Lenh Port va Pulse Y ngha : Nhap xung Cu phap : Port [Trang thai ] Y ngha : Phat xung Cu phap : Pulse [ Trang thai ] ng dung : Lenh ch co tac dung vi tuy chon Impulsesausgable tren card giao tiep Giai Thch [Trang thai ] cho biet trang thai can co tai ngo ra, xem bang sau: Cu phap Trang thai Port on; Ngo ra on Port off; Ngo ra off Pulse out; Phat xung 50 ms Pulse in ; Ch nhan xung Pulse sync out; Phat xung, i xac nhan Pulse sync in; Ch xung, gi xac nhan Ngo ra xung cung c s dung cho yeu cau ong bo gia hai thiet b (hai tuy chon cuoi cung). Nhiem vu chnh cua ieu khien xung la trong khi thc hien chng trnh co the cho phep thao tac bang tay tai mot v tr nao o bang cach tac ong vao nut nhan start, do nut Start c ket noi vi ngo vao xung nen phai dung lenh Pulse in.
Pulse in; {i tac ong nut Start} 9. Lenh Times va Delay Y ngha : Tao thi gian tr hoan. Cu phap : Times [zeit]; hoac delay [zeit]; ng dung : Tao mot thi gian tr hoan, trong khoang thi gian nay card giao tiep khong lam g ca. Giai Thch [ Zeit ] Thi gian tr hoan (phan mi cua giay ). V du: Times 50; {Tr hoan 50 giay} Delay 20; {Tr hoan 2 giay} Thi gan tr hoan toi a la 3276,7 giay
V du
LUAN VAN TOT NGHIEP

10.
Lenh Refrence Y ngha : Xac nh v tr chuan ( v tr 0) Cu phap : Refrence [Truc ]; ng dung : Rat can thiet khi thi gian thc hien qua dai, cang luc cang xa v tr chuan nham bu lai sai sot cua ong c bc, v he thong tuyen tnh Isel lam viec theo che o ieu khien vong h nen khong co tn hieu bao loi hoi tiep. Giai Thch [ Truc ] Lam viec V du: Refrence xy; {Qua v tr 0 cua truc x va y} Refrence x; {Qua v tr 0 cua truc x } Refrence xyz; {Qua v tr 0 ca 3 truc } Lu y: Th t thc hien luon la zyx, co ngha la trc tien qua v tr 0 cua z, sau o y va cuoi cung la x. Khi muon thay oi th t th phai dung hai lenh. V du 2: Refrence x; {Qua v tr 0 cua truc x} - - - - - -- - - Refrence y; {Qua vi tr 0 cua truc y } Ve v tr 0 c ung th trong phan khai bao phai xac nh toc o chuan ( Xem muc 19. Lenh # Ref_sped). 11. Lenh Tell Y ngha : Xuat ky hieu ieu khien Cu phap : Tell [GN ] [Option]; ng dung : Viec xuat tn hieu ieu khien phu thuoc vao qua trnh he c ong bo, lenh nay xuat 4 ky hieu e khi ong mot card giao tiep th hai hoac cung co the s dung cho cac muc ch khac. Giai Thch [ GN ] So hieu may [Option ] Lenh ieu khien V du: Tell 0 start; {Khi ong may so 0} Tell 0 start, wait {Khi ong may 0 va ch dt} Tell 0 Refrence xyz {Ve v tr chuan may 0 } Tell 0 Refrence, wait xyz {Ve v tr 0, ch cham dt} Tot nhat nen dung chc nang truyen thong e kiem tra qua trnh thc hien lenh nay. 12. Lenh Stop Y ngha Cu phap ng dung : at iem dng chng trnh : Stop : Bao cham dt chng trnh.
V du
LUAN VAN TOT NGHIEP
#axit x; {chon truc lam viec} #units mm; {chon n v mm} Refrence x; {Ve v tr 0 cua truc x} Move 100(8000); {di chuyen truc x 100mm} Stop. Moi mot chng trnh phai co lenh stop va phai ket thuc bang dau cham phay. 13. Lenh Line Y ngha : Xac nh th t Cu phap : Line [ Truc ] ng dung : Th t mac nh la x/y, lenh nay dung e thay oi th t neu can. Giai Thch [ Truc ] can thay oi th t. V du: Line xy; {Th t xy} Line xz; {Th t xz} Line yz; Th t yz} Lenh van con hieu lc trong chng trnh cho en khi c thay oi lai bang lenh Line. Khi khi ong th t mac nh se la xy. Lenh khong anh hng khi truc quay ve v tr 0, th t nay la xyz. 14. Lenh Repeat . . . until - Y ngha Thc hien vong lap - Cu phap Repeat --------until[so ] ng dung Thc hien lap lai mot oan chng trnh bat au t v tr repeat cho en until. Giai Thch [ so ] so lan lap lai, neu bang khong th qua trnh lap lai khong ket thuc V du: Repeat {V tr bat au lap } Move . . . {Dch chuyen . . . } Move . . . {Dch chuyen . . . } Until 7; {Lap lai 7 lan} Sau lenh repeat khoang co dau cham phay, do lenh khong co thong so nen trong vong lap co the cha mot vong lap khac, so lng repeat va until phu thuoc vao bo nh cua card giao tiep. Phai ket thuc lenh until bang dau cham phay. 15. Lenh goto - Y ngha : Re nhanh (nhay) - Cu phap : Goto [ ch ]
LUAN VAN TOT NGHIEP
ng dung : Khi gap lenh nhay, bo em lenh se thay oi gia tr va tiep tuc thc hien tai v tr ch. Giai Thch [ch ] La ky so cho biet v tr dong lenh tiep tuc trc hoac sau dong lenh hien hanh hoac mot nhan ( so co the ng hoac am) se khong kiem tra neu v tr nhay pha sau lenh dng cua chng trnh. {Nhay en lenh th 5 ke tiep} {Nhay lui lai 5 lenh } {Nhay en lenh Begin} {Nhay en lenh End}
V du: Goto 5; Goto-5; Goto begin; Goto end;
16. Lenh null: - Y ngha : Xac nh v tr 0 - Cu phap : Null [Truc] - ng dung : Tao iem 0 cho chi tiet Giai Thch [ Truc ] Chon truc can tao iem 0. V du: Refrence xyz; Moveto 20( ), 30( ), 15( ), 0( ); Null xyz; Moveto 10( ), 20( ), 20( ), 0( ); Lenh tren cung dch chuyen cac truc ve iem 0 cua may, iem 0 cua chi tiet at tai v tr 20, 30, 15 va lenh di chuyen tiep theo se xem v tr nay la chuan, khoang cach sau khi dch chuyen so vi iem 0 chi tiet la 10, 20, 20 hoac so vi iem 0 cua may la 30, 50, 35 V trong che o Teach-in toa o tng oi c so sanh vi iem 0 chi tiet au tien. Do o ch nen dung mot iem 0 trong chng trnh bang lenh #null. iem 0 chi tiet co the at tr ve v tr iem 0 cua may, xem them chi tiet trong tai lieu hng dan card giao tiep 4.0. 17. Lenh on-key - Y ngha : oc t ban phm - Cu phap : On-key [so phm ], [ nhan ]; Va - Cu phap : Goto [ nhan begin] - ng dung : Thc hien ng dung thong qua viec ket noi vi mot n v chon chng trnh. V du ban phm gom 12 phm c noi en au giao tiep cua card. Giai Thch [ So phm ] cho biet so cua phm [ Nhan ] nhan tng ng vi phm a chon V du: #axit x;
LUAN VAN TOT NGHIEP
#until mm; #elev 4; Begin On-key1, do_refernce; On_key2, do_move; On_key3, end; Goto begin; Do_refernce Refernce x; Goto begin; Do_move: Move 5(8000); Goto begin; End: Stop. Neu tac ong phm F1 chng trnh se nhay en do_refernce Neu tac ong phm F2 chng trnh se nhay en do_move Neu tac ong F3 chng trnh se nhay en end va dng luon. 18. Lenh On_port Y ngha : oc t cong vao. Cu phap : On-port [Address ], [Bitnr] = [wert], [OFFSET]; ng dung : Card 4.0 oc cong vao va re nhanh theo ieu kien. Giai Thch [Address ] la con so cho biet a ch, oi vi lenh nay gia tr la 65531. [BITNR ] xem muc 1.1 [WERT ] Xem muc 1.1 {OFFSET ] la 1 con so hoac nhan cho biet v tr re nhanh trong chng trnh. Cong vao c oc theo dang bit hoac byte, neu thoa ieu kien th thc hien bc nhay. V du: 1. Dang bit Lenh On-port 65531 = 0,3; On-port 65531,8 = 1, -2; 2. Lenh On-port 65531,0 = 10,3; On-port 65531,0 = 0, -2; On-port 65531,0 = 205, -4; 19. Lenh Set-port Gia tr Bit 2 = Off Nit 8 = on Dang Byte Gia tr 0000.1010 0000.0000 1100.1101 Nhay Nhay ti 3 dong Nhay lui 2 dong Nhay nhay ti 3 dong Nhay lui lai 2 dong Nhay lui lai 4 dong
LUAN VAN TOT NGHIEP
Y ngha : at cong ra Cu phap : St_port [ ADDRESS ], {BITNR ], = [WEIT}; ng dung : Card 4.0 at gia tr cho cong ra Giai Thch [ADDRESS] la so ch a ch c cho bang sau Gia tr Cong 65529 Cong ra 1 (8 bit) 65530 Cong ra 2 (8 bit) [BITNR ] La so dung e phan biet dang bit hoac byte 1. Dang bit 1 [BITNR ] 8 2. Dang bit [BITNR ] = 0 [WERT] La so tuy theo {BITNR], gia tr la thap phan t 0 en 255 va chuyen sang nh phan tai ngo ra tng ng. V du: 1. Dang bit Lenh Cong ra bit Trang thai Set-port 65529,5 = 0; Port 1 5 OFF Set-port 65529,4 = 1; Port 1 4 ON Set-port 65529,4 = 0; Port 2 4 OFF Set-port 65529,1 = 1; Port 2 1 ON 2. Dang byte Lenh Cong ra Gia tr Set-port 65529,128 = 10; Port 1 0000 1010 Set-port 65529,128 = 27; Port 1 0001 1000 Set-port 65529,128 = 205; Port 2 1100 1101 Set-port 65529,128 = 255; Port 2 1111 1111 Set-port 65529,128 = 0; Port 1 0000 0000 20. Lenh Arc-r hoac Arc-l Y ngha : Ve vong tron theo chieu phai hoac trai. Cu phap : Arc-r [r(v), [WINRELZ], [o phan giai]; Hoac: Cu phap : Arc-l [r(v)], [WINKEL1], [WINKELZ], [o phan giai]; ng dung : Ve mot cung tron hoac vong tron Giai Thch [r(v) Ban knh va toc o ve [WINKEL1] Goc bat au (tnh bang o) [WINEKEL] Goc ket thuc (tnh bang o) o phan giai o phan giai (tnh bang o)
V du : Arc-r 10(1000), 0, 360, 5; Lenh tren thc hien mot vong tron co : - Chieu ve la ben phai - Ban knh 10mm
LUAN VAN TOT NGHIEP
- Toc o 1000HZ - Goc bat au 00 - Goc ket thuc 3600 - o phan giai 50 V du 2: Arc-l 5(5000), 180, 270, 3; Lenh tren ket qua nh sau: - Chieu ve la ben trai - Ban knh 5mm - Toc o 5000HZ - Goc bat au 1800 - Goc ket thuc 2700 - o phan giai 30 Khong nen chon o phan giai qua nho v cung tron la ket hp nhieu oan thang nen b han che bi bo nh cua card giao tiep.
LUAN VAN TOT NGHIEP
THONG BAO LOI

I _ THONG BAO LOI CUA CHNG TRNH SOAN THAO
1. Tap tin khong co 2. Tap tin khong m ngo vao 3. Tap tin khong m ngo ra 4. Tap tin khong m 5. oc sai hoac khong thay th muc 6. Ghi sai 7. Dang so khong hp le 8. Tap tin nh ngha sai 9. Tran bo em 10. Ca so qua nho 11. Khong the xoa ca so 12. Ca so khong the lien ket chnh no 13. T qua dai so vi le 14. Khoi cha nh ngha 15. Khoi khong co trong ca so hien hanh 16. anh dau khong hp le 17. Dau a c xac nh 18. Dau khong co trong ca so hien hanh 19. Le khong hp le 20. Khong cho phep tren thiet b la logic 21. Khong cho phep trong che o trc tiep 22. Khong the nh hng tren file chuan 23. Het bo nh 24. So khong hp le 25. Huy bo lenh 26. Khong tm thay 27. a ay 28. File qua ln 29. Dong qua dai 30. Tao file sai 31. Khong the ong file ch 32. Khong the ong file nguon 33. Khong the tao file.BAK 34. File khong tm thay 35. Sai lu tr mac nh 36. In sai 37. oc file in sai 38. ong file in sai 39. Khong tm thay file in 40. Cho phep toi a 2 ca so 41. Ca so th 2 khong m
CHNG III
LUAN VAN TOT NGHIEP

42. 43. 44. 45. 46. 47. 48. 49.
ng dan khong hp le Thieu bao cao o dai Khong tm thay cuoi file Cuoi file khong hp le Ghi vao a sai Th muc ay Kch thc file tran File a mat
II _ THONG BAO LOI CUA CHNG TRNH DCH

1. Unexpected end of file. Xuat hien cuoi file trc khi cham dt lenh ang thc hien 2. Expected Phai ket thuc lenh bang dau cham phay 3. Illegal axis entry Trong mot lenh phai co thong so cua truc can ieu khien, cac thong so nay khong hp le. 4. x, xy, xz or xyz expected Quen nhap thong so cho cac truc 5. Axis alreadydefined a xac nh so lng truc ieu khien, neu muon thay oi so truc lam viec phai ap dung ngay t au chng trnh 6. mm, cm, zoll, zoll/10 or zoll/20 expected n v khong hp le 7. Missing stop, stop assumed Thieu lenh stop trong chng trnh 8. Input already actime Chng trnh dch a chuyen phan au tien cua vung d lieu cho card giao tiep, lenh input th hai khong c phep. 9. Too much nested repeats ( limit iszo) Cau truc chng trnh co o long qua sau. 10. Repeat without until detected Thieu lenh until ket thuc oan chng trnh lap. 11. #-Command not recognized. Lenh at sau ky hieu # khong ung. 12. Duplicate axis entry in command. Truc c xac nh hai lan trong mot lenh. 13. X, y, or z expected Truc khong hp le. 14. Interger expected So khong hp le, nam ngoai pham vi cho phep t 32768 en +32767 15. , expected Mot lenh co nhieu thong so, cac thong so phai cach nhau bang dau phay. 16. Positve interger expected.
LUAN VAN TOT NGHIEP
So nguyen dng khong hp le, ra ngoai pham vi cho phep t 0 en + 32767 17. Until without repeat Vong lap thieu lenh Repeat 18. Real number expected. Khoanh cach dch chuyen la mot so thc c cho di dang so mu (0,23E3) phai phan cach bang dau cham thay v dung dau phay. 19. Positive real number expected. Can mot so thap phan dng 20. ( expected Toc o phai c ghi trong dau ngoac n, loi nay cung xuat hien neu dung dau phay ngan cach gia khoang di chuyen toc o. 21. ) expected Toc o phai c ong lai bang dau ngoac n, loi nay cung xuat hien hien khi dung dau phay. 22. . Expected Phai ket thuc lenh stop bang mot dau cham thay v dau phay. 23. Too much definitims. Qua nheu nh ngha trong phan khai bao, so lng toi a la 50. Trong trng hp phai dung nhieu nh ngha nen s dung lenh #include 24. Definitim name expected Sau cac lenh nh ngha t nhat phai cho mot ten cua nh ngha o, ten co the bao gom ky t, so hoac gach noi di. 25. Illegal character for send or wait. So cho trong lenh thu/phat khong hp le. 26. or unit number expected . Sau lenh Tell phai cho biet so may hoac mot chuoi ky t. 27. expected Phai ong chuoi ky t bang dau ngoac kep, loi nay cung xuat hien khi chuoi ky t trong lenh Tell qua dai. 28. Wait expected. Khi sau lenh Tell <gerit> reference hoac Tell <gerit> star co dau phay th phai dung lenh wait 29. Unit entry expected Lenh can mot thong tin ve thiet b e co the lam viec. 30. Command not recognized Lenh sai, trong trng hp dung nhan th phai co dau hai cham ket thuc. Nen lu y la PAL_PC phan biet gia ch in va ch thng 31. Too much labeldefinitims Qua nhieu nhan toi a la 50 32. Positive interger between 1 and 126 expected So phai nam trong khoang t 1 en 126. 33. Label not found. S dung nhan khong ro rang.
LUAN VAN TOT NGHIEP
34. No label defintim in text. Khong khai bao mot nhan duy nhat 35. , or times expected Vong lap can dau phay hoac t times e phan cach cac thong so. 36. In or out expected Sau lenh pulse sync ch cho phep 2 t khoa in va out. 37. On, off or sync expected Sau lenh pulse hoac port ch co cac t khoa ke tren la hp le. 38. End of remark missing. a en cuoi file, mac dau phan anh dau cha ket thuc co the a quen ong ngoac. 39. Serial transmission error (time out in receiver) Card giao tiep khong ap ng co the loi truyen d lieu 40. Elevation must be . 0,001 Thong tin khong hp le 41. File not found Khong thay tap tin, kiem tra lai ng dan. 42. Letter or - expected Ky t au tren nhan hoac mot ten khong c dung so. 43. Replace text exceed 250 chars. Mot cau khong dai qua 250 ky t. 44. Line exceeds 250 chars after replace of defintim. nh ngha tren mot dong dai hn 250 ky t, neu tren mot dong dung nhieu nh ngha th co the chia thanh nhieu dong. 45. Illegal defintim occurred Mot nh ngha c lap lai 2 lan hoac la trong mot thay the co cha ten nh ngha. 46. or < expected Ten tap tin sau lenh # include phai trong ngoac nhon hoac ngoac kep. 47. () expected. Ten tap tin phai ong bang ngoac kep khi a m bang ngoac kep. 48. > expected Ten tap tin phai ong bang ngoac nhon khi a m bang ngoac nhon. 49. Include file not found on I/O error. Tap tin include a cho khong tm thay, kiem tra lai ten va ng hng dan. 50. I/O error on read. Trong khi oc tap tin gap loi I/O, th oc tap tin bang trnh soan thao va sau o ghi vao a.
III _ THONG BAO LOI CUA CARD GIAO TIEP
PAL-PC cong them 100 e phan biet vi cac loi cua chng trnh dch.
LUAN VAN TOT NGHIEP

113. Er error 150. Dng khan cap 151. Nhap truc sai 152. Cha chon truc 153. Cu phap sai 154. Het bo nh 155. So thong so sai 166. Lenh jump sai 167. Vong lap sai 168. Toc o khong hp le 171. Khong co lenh lu tr 190. Sai sot ben trong
LUAN VAN TOT NGHIEP
NG DUNG
1_ KHAI QUAT VE HE NH V BA CHIEU Mot he thong nh v ba chieu la he thong co kha nang ieu chnh v tr cua mot iem trong khong gian e thc hien bang ba toa o xyz. He thong ta biet ay la mot may khoan mach in c ieu khien theo chng trnh bang may tnh. Khi muon khoan mot lo mach in th ta nhap toa o xy t ban phm, luc o ban khoan se dch chuyen theo hai chieu xy va se dng lai khi en ung toa o (xy). Sau o mui khoan se dch chuyen theo phng z t tren xuong e thc hien cong viec khoan mach in. 2_ S O KHOI MAY KHOAN Chng trnh ieu khien may khoan c viet tren phan mem PAL-EP bang cac lenh, ngi s dung nhap toa o v tr cac lo khoan t ban phm, cac v tr lo khoan se c lu tr tren mot tap tin trong a, tap tin nay co the goi lai e bo xung, chnh sa bi he thong cua chng trnh. Sau khi a nhap xong d lieu cac lo can khoan, ngi s sung ra lenh cho may khoan lam viec. Trc khi may khoan thc hien cong viec khoan, th chng trnh se t ong khoan theo th t. May tnh ch lam nhiem x ly d lieu theo ngi viet chng trnh.
CHNG iv
Bo chuyen phat ieu khien ong c bc
ong c x (he chuyen ong theo truc x) ong c y (he chuyen ong theo truc y) ong c z (he chuyen ong theo truc z)
Card giao tiep
X,Y,Z Tn hieu hoi tiep
May tnh 3_ CHNG TRNH IEU KHIEN
LUAN VAN TOT NGHIEP
Chng trnh ieu khien c viet bang cac lenh, khi nhap toa o cac lo khoan cua tam mach in co kch thc xac nh, he thong may khoan se hoat ong theo chng trnh ieu khien e khoan cac iem co toa o nhap vao. e ieu khien may khoan, au tien may khoan phai c Reset ve toa o goc (0,0). Sau khi may Reset ve (0,0) hay en toa o mong muon lam nhiem vu khoan cua mnh. May tnh se ieu khien he thong khoan tuan t theo x,y,z Tn hieu ra t may tnh se ieu khien cho ong c hoat ong, ban au ong c x hoat ong cho en khi en iem quy nh th dng lai, tiep theo la ong c y hoat ong lam cho may khoan di chuyen theo chieu y va ong c y se dng lai khi en iem quy nh. ong c x,y dng lai th en ong c z se hoat ong lien sau o e a mui khoan xuong iem quy nh. Muon cho cac ong c xyz dng ung v tr can khoan, may khoan can co he thong phan hoi ve may tnh. May tnh se nhan xung phan hoi va so sanh vi toa o iem can khoan roi mi ieu khien ng i ket tiep cua ong c. Tren ay la quy trnh dung khoan mot lo, muon khoan nhieu lo tren mach in th ta nhap toa o cac iem can khoan va may se hoat ong khoan tuan t en iem cuoi cung. Sau o Reset ve toa o goc (0,0). 4 _ CHNG TRNH KHOAN VI MACH 40 CHAN Trong phan khai bao cung nh tap lenh ma ta a biet trong chng .I va II, sau ay la phan khai bao va dung cac lenh e khoan mot vi mach 40 chan. #axis xyz; #units zoll/10; #reference xyz; move 0(9000), 38(9000), 27(9000), 0(9000); repeat move 1(9000), 0(9000), 2(2000), -2(9000); until 20; move 1(9000), 6(9000), 0(9000), 0(9000); repeat move -1(9000), 0(9000), 2(9000), -2(9000); until 20; move 0(9000), 2(9000), 0(4000), 0(9000); repeat move 1(9000), 0(9000), 0(2000), 0(9000); until 7; move 1(9000), 3(9000), 0(4000), 0(9000); repeat move -1(9000), 0(9000), 2(2000), -2(9000); until 7; Refarence xyz; Stop.
LUAN VAN TOT NGHIEP
PHU LUC
CHNG TRNH TR GIAO PAL-PC Chng trnh tr giao PAL-PC la mot phng tien giup tm hieu ve PAL-PC: cac s dung va hng dan cac bc can thiet khi viet chng trnh ieu khien. 1. Yeu cau ve he thong Mot may tnh IBM PC hoac tng thch vi he ieu hanh dos hoac PC dos t 2.1 tr len. Co t nhat mot o a mem Bo nh 256 kb 2. Phng phap bao quan a goc Trong thc te cho thay rat can phai tao mot ban sao cua a chng trnh e e phong h hong, cac bc tao ban sao a goc thc hien bang lenh DISKCOPY. a a dos vao vao o A va nhap lenh DISCOPY A: A: Tren man hnh se xuat hien thong bao Insert source diskette in drive A: Press any key when ready . . . Bay gi a a goc vao o A va an phm bat ky tren man hnh se xuat hien mot thong bao Kopie A tracks 9 sectors/track, 2 side (s) Thong bao nay cho biet qua trnh COPY a bat au, sau mot luc tren man hnh se xuat hien thong bao. Insert target diskette in drive A: Press any key when ready . . . at a cha Format 360kb vao o A va an phm bat ky, tren man hnh xuat hien thong bao Formatting while coping Thong bao nay cho biet noi dung a goc ang c chuyen vao a copy, sau mot luc tren man hnh se xuat hien thong bao Copy another diskette (y/n) ? Khi chon N (No) th se ket thuc qua trnh copy va tr lai dau nhac he thong. Cat a goc vao mot ni an toan va ch s dung a copy (a lam viec) neu h hong th lap lai qua trnh chep neu tren. 3. Khi ong chng trnh Cac bc khi ong Noi day cap vao ngo ra noi tiep (COM) cua may tnh Chuyen sang o A, nhap ten lernen va an Enter Phu luc s dung PAL-PC 1.1 trong che o Teach-in PAL-PC 1.1 la mot cai tien cua ngon ng ve qua trnh t ong PAL-PC, trong version nay co nhieu lenh mi tng thch vi card giao tiep ke tha toan bo tap lenh card 4.0. Trong che o
LUAN VAN TOT NGHIEP
Teach-in cac v tr tren thiet b co the xac nh va lap trnh, tai leu nay c chia lam ba phan: phan mot mo ta cac lenh mi trong version 1.1, phan hai ng dung che o Teach-in va phan ba la bo sung va sa cha cua version. Noi dung tai lieu da tren c s card giao tiep 4.0 co the la card 3345 (ngo vao d lieu SUBD 9 chan ) hoac card 2240 (vi au cam tn hieu vao 3 chan) va phan mem 4.0. Cac lenh bo sung nham khai thac het kha nang cua card 4.0 lenh movep trong PAL-PC thay bang lenh move . . . until paulse
CAC LENH MI
Xac nh so hieu may #GN Lenh nay thong bao cho chng trnh dch so hieu cua may c noi vi card, co hieu lc vi card t version 3.0 tr len. #GN 1: card giao tiep c lap trnh vi may so 1 #GN 2: card giao tiep c lap trnh vi may so 2 1. Dch chuyen en v tr (move to) S dung giong nh lenh move nhng moi truc c cho biet v tr en khac nhau vi chuyen ong trong lenh move, e hieu ro hn ve v tr tuyet oi va tng oi xin oc them tai lieu hng dan card giao tiep 4.0 Dch chuyen en xung (movep) at tnh nay giong lenh dch chuyen tng oi. Tuy nhien, qua trnh dch chuyen se dng khi nhan xung tai ngo vao va lenh tiep theo trong chng trnh se c thc hien, be rong xung toi thieu phai khoang 20s va toi a la 100s. Lu y khi s dung lenh nay, xung phai c at tai ngo vao phm stop cua card, khi card ang thc hien lenh dch chuyen ma xung xuat hien th chuyen ong nay se dng. 2. at v tr 0 (null) Muc ch lenh nay nham tao v tr 0 ao cho he thong tng thch vi cac truc lam viec Reference xyz; Movto 20( ), 30( ), 15( ), 0( ); Null xyz; Dung lenh nay cung di chuyen ve v tr 0 cua may va v tr tai 20, 30, 15 va v tr 0 cua chi tiet. Chuyen ong tiep theo se xem tiep v tr nay la v tr chuan. Co ngha la cach v tr chi tiet la 10, 20, 20 nhng cach v tr 0 cua may la 30, 50, 35 (sau tai lieu hng dan card 4.0) va trong che o Teach-in, toa o c so tng oi vi chi tiet nen chon mot v tr duy nhat trong chng trnh bang lenh #null. V tr 0 chi tiet co the c at ve iem 0 cua may bang lenh reference, thao tac nay c mo ta chi tiet trong tai lieu hng dan card 4.0.
LUAN VAN TOT NGHIEP
Chon th t (line): Th t mac nh chon san la x/y (chuyen ong thang en ch) neu muon thay oi co the dung l line va phm sau lenh la truc can thay oi th t: Line xy; th t x va y Line xz; th t x va z Line yz; th t y va z Sau khi chon xong, th t cac truc se co hieu lc cho en khi lenh line c s dung lai mot lan na, th t mac nh khi khi ong he thong la xy. Lenh nay khong anh hng khi cac truc di chuyen ve v tr, khoang dch chuyen, v.v V du 1: #limitss 200, 300, 80; Lenh tren xac nh vung gii han trong che o Teach-in la 200mm x 300 mm x 80 mm. V du 2: #units zoll/10; #Elev 4, 4, 2; #limits 100, 100, 10; Vung gii han c xac nh bi cac lenh tren la : 100 x 2,54mm (x), 100 x 2,54mm (y), 10 x 2,54mm (z) = 254mm x 254mm x 25,4mm Cac gii han nay c tao ra nham han che trng hp dch chuyen ra ngoai pham vi cho phep cua may. - V tr 0 cua chi tiet (#0): Xac nh v tr 0 cua chi tiet trong che o Teach-in, moi chng trnh NC ch nh ngha mot lan: #null <x>, <y>, <z>; - Lenh #null 50, 50, 10 at iem 0 chi tiet tai toa o 50, 50, 10 theo n v a chon (mm, cm, zoll . . . ). Trong chng trnh NC, iem 0 chi tiet cung c xac nh bang lenh null. - Xac nh toc o (#speed) #speed <x>, <y>, <z> cho xyz #speed <x>, <y> cho xy #speed <x>, <z> cho xz #speed <x> cho x <x>, <y., <z> co n v la bc/giay, cac thong t nay khong c dung e thay oi lai toc o dch chuyen cua chng trnh NC, chung ch co tac dung khi chuyen mot v tr trong Tach-in. - nh ngha lai (#redfine) : e thay oi toc o va cac khai bao khac trong mot chng trnh NC khong the dung nhieu lenh (#define). #define ( )(2000); #define ( )(3000); Sai ! V du tren khong ung ma phai sa lai nh sau: #define ( )(2000); #redefine ( )(3000); ung ! Lenh #define se thay the mot nh ngha a co san bang mot nh ngha mi (trong v du tren la 3000). - Che o Teach-in ng dung Teach-in <F3>
LUAN VAN TOT NGHIEP
Khoang dch chuyen khong chnh xac trong nhieu van e cua he thong ieu khien, e co the hieu va thc hien c cac chuyen ong can phai dung en che o Teach-in. Trong che o nay ngi dung co the ch cho may nhng g phai lam thong qua ban phm, cac toa o lam viec la toa o tng oi tuy co lu y en v tr tng oi so vi iem 0 chi tiet, khuyet iem iem ien hnh cua che o nay la ieu khien bang tay. 3. Goi che o Teach-in Goi che o Teach-in Bang cach an phm <F3> va <,F4>, ngay lan goi au tien PAL-PC se oc phan khai bao chng trnh va ieu chnh cac gia tr nh: Khoang dch chuyen, so bc vung gii han cho phep e viec ieu chnh c ung, tai lan goi nay phai di chuyen cac truc lam viec ve v tr 0. Trong trng hp phan khai bao a thay oi th phai an phm <F4> e goi va thc hien lai toan bo cac cai at. Con tro soan thao phai nam tren dong sau v tr Teach-ende, trong trng hp tren dong nay co lenh dch chuyen tuyet oi th che o Teach-in se bat au t v tr nay khi c goi. 4. Tn Hieu Hoi Tiep T Teach-In Che o Teach-in se thong bao cho chng trnh NC toa o cua con tro trc khi goi Tach-in, cac tn hieu hoi tiep t Teach-in bao gom: Tat ca cac khai bao cua chng trnh da tr6n iem 0 chi tiet. Khoang cach bc a chon, vi n v la 1/10. Th mot bc tng ng vi 2,54mm. n v c thay oi bang lenh #units. 5. Xmax, Ymax, Zmax Khong di chuyen toi a cua thiet b , Teach-in goi gii han pham vi di chuyen tai cac tr so nay nham han che h hong thiet b hoac cong cu, thay oi cac tr so nay bang lenh #limit, trong phan khai bao chng trnh. e cac gia tr c chnh xac th thong so ieu chnh khoang dch chuyen phai ung va toc o thiet b phai giam thap trc khi en khi gan cac mc gii han. VT: la van toc trong che o Teach-in n v la mm/sec, toc o co the thay oi bang phm + va 6. Position Cho biet v tr dch chyen theo n v a chon, tr so nay co the chuyen oi t dang goc sang dang thang. 7. Rel.Pos Cho biet v tr tng oi, an nut Enter e at v tr tng oi ve v tr tng oi c dung e o khoang cach. Khong co tn hieu hoi tiep cua v tr tng oi a ve chng trnh NC ma ch nhap vao ay v tr tuyet oi.
Chuyen ong Cua Cac Truc
Cac truc co the dch chuyen theo hai cach e at en v tr xac nh.
LUAN VAN TOT NGHIEP
8. Lien Tuc Vi cac phm chc nang t <F1> en <F6> e di chuyen cac truc lien tuc cho en khi phm tng ng c nha ra, chc nang cac phm c mo ta nh sau: <F1> = x+ <F3> = y+ <F5> = z+ <F2> = X<F4> = y<F6> = z<+> = tang toc o <-> = giam toc o V tr mi se c hien th lai sau khi nha phm ieu khien, e di chuyen chnh xac phai chon toc o di chuyen thap. Che o nay co lu y en tat ca cac gii han a xac nh. 9. Tng Bc Thc hien bang cac phm mui ten, moi mot phm se dch chuyen may theo mot hng co nh, bc di chuyen co the thay oi bang cach chnh Stp, xem bang sau: <Home> = x+ <Links> = y+ <End>. = z+ <Pg up> = x<Rechts> = y<Pg Dn> = Z<Up> = Tang bc dch chuyen <Down> = Giam bc dch chuyen <+> = Tang toc o <-> = Giam toc o Lu y khi x dung cac phm mui ten trong vung phm so th phai tat chc nang anh so cua cac phm nay (en num lock phai tat). 10. at V Tr Khi a at c v tr can en, v tr nay c chuyen vao man hnh soan thao PAL-PC. Neu nhan phm <F10> th v tr nay se c hien th dong tiep theo sau con tro. An phm chc nang <F3> e thc hien chuyen ong ke tiep. 11. Cham Dt Che o Teach-In e cham dt che o Teach-in phai an phm <ESC>, v tr va en se khong c chuyen vao PAL-PC. Trong lan goi Teach-in tiep theo chng trnh NC se hien th v tr hien hanh cua thiet b. 12. Cac Chc Nang Cua Che o Teach-In Chc nang dch chuyen (move) <F7>. Trong menu nay cho phep thc hien tng chuyen ong rieng le bang cach an phm. Dch chuyen co kiem tra (mov pos chck ) <F7> <F1> Khi cac truc c dch chuyen ve v tr chuan va e bao am chnh xac cac truc lai c di chuyen mot lan na v tr cuoi cung va co the kiem tra v tr c hien th xem co con ung hay khong. Sai so phat sinh chu yeu la do sai so cua ong c bc. Di chuyen ve iem 0 chi tiet (Mov floatzro) <F7> <F2> e tr ve iem 0 chi tiet, trc tien truc z phai c nang len e tranh h hong va sau o lai c ha xuong.
LUAN VAN TOT NGHIEP
Di chuyen ve gii han +/+ < F7> <F5>. Thiet b c di chuyen en gii han toi a va cung nen lu y chnh ung g tr nay e tranh ri vao vung gii han cua may Di chuyen ve gii han -/- <F7> <F6>. Thiet b c di chuyen ve v tr nho nhat cho phep. Di chuyen z ve iem 0 (move z-zero) <F7><F7>. 13. Nang Truc Z Len Cham dt di chuyen <F7> <F10>. Cham dt menu di chuyen. V du : {1{#Define (x) (2000); #Define (y) (2000); #Define (z) (1000); {2{#Define (xx) (8000); #Define (yy) (8000); #Define (zz) (2000); {3}Moveto 20(x), 30(y), 40(z), 0(z); Sau khi goi che o Teach-in, di chuyen en v tr (20, 35, 20) va at v tr vi Eilg.ok va thc hien chuyen ong moveto 20(xx), 35(yy), 20(zz), 0(zz), chng trnh nh sau: {1}#Define (x)(2000); #Define (y)(2000); #Define (z)(1000); {2}#Define (xx)(8000); #Define (yy)(8000); #Define (zz) (2000); {3}Moveto 20(x), 30(y), 40(z), 0(z); {4}Moveto 20(xx), 30(yy), 40(zz), 0(zz); Chuyen ong {3} co toc o ( 2000, 2000, 1000), dong lenh {4} co toc o cao hn (8000, 8000, 2000). Toc o dch chuyen trong chng trnh NC co the c nh ngha lai bang lenh #Redefine. 14. Chc Nang Define <F9> at cac thong so trong che o Teach-in, nen chu y co the co mot vai thong so (iem chi tiet) co the ngc vi chuyen ong hien hanh trong chng trnh. 15. at iem 0 Chi Tiet <F9><F1> V tr thc te cua thiet b c xem nh la v tr 0 chi tiet. Lenh nay co the can thiet khi trong mot chng trnh phai lam viec vi nhieu v tr 0. Tuy nhien, e tranh rac roi ch nen nh ngha mot iem 0 cho chng trnh bang lenh #null va :null. 16. Arc (angle) <f9> <f2> V tr hien th c chuyen t n v o dai sang n v goc di dang goc 1, goc 2 tr so nay c so tng oi vi iem 0 cuoi cung (tao iem 0 nay bang cach an phm Enter), chc na7ng nay hoat ong theo kieu ON/OFF co ngha la khi goi lai lan th hai th n v goc lai chuyen tr lai thanh n v o dai. 17. at Gii Han Mim (Teach Mim) <F9> <F3> Co the at gii han nay tai v tr hien hanh 18. at Gii Han Max (Teach Max) <F9< <F4> Lenh nay sau lenh Teach mim 19. Xoa iem 0 Chi Tiet (Fzero Off) <F9> <F5>
LUAN VAN TOT NGHIEP
iem 0 chi tiet c at tai (0,0,0) ay la iem 0 cua may nen chu y trong chng trnh d0iam 0 chi tiet co the lam cho chiuyen ong sai. 20. Xoa Gii Han Mim (Tmim Off) <F9> <F6> Gii han min cua Teach - in lai c a ve iem 0 cua may 21. Xoa Gii Han Max (Tmax Off)<F9> <F7> Gii han max cua Teach-in lai c a ve gii han a nh ngha cua may. 22. at Gii Han (Limit On) <F9> <F8> Gii han nay co the tom tat bang lenh Tmim off va Tmax off. Trong lan ke tiep cua Teach-in (<F4>)th gii han nay la (0,0,0). 23. Pos.Ok (Pos High Sp) nh ngha hai cap o trong Teach-in, toc o lam viec (Pos.ok.<F10>) va mot toc o nhanh (Eilg.ok.<F8>). Chc nang nay c thong bao trnh soan thao Nc. V du : {1}#Define (x)(2000); #Define (y)(2000); #Define (z)(1000); {2}#Define (xx)(8000); #Define (yy)(8000); #Define (zz)(2000); {3}Moveto 20(x), 30(y), 40(z), 0(z); Sau khi goi Teach-in, di chuyen en v tr (20, 35, 20) va at bang lenh Pos.ok, sau o thc hien lenh moveto 20(x), 35(y), 20(z), 0(z), chng trnh nh sau: {1}#Define (x) (2000); #Define (y)(2000); #Define (z)(1000); {2}#Define (xx)(8000); #Define (yy)(8000); #Define (zz)(2000); {3}Moveto 20(x), 30(y), 40(z), 0(z); {4}Moveto 20(x), 359y), 20(z), 0(z); Dong lenh {3} va {4} co toc o (2000, 2000,1000) - Toc o lam viec trong chng trnh co the c at lai bang lenh #Redefine. - Do toc che o Teach-n khong ch ket noi vi card giao tiep ma con vi chng trnh NC nen co the sinh hai loi. - Loi trong phan khai bao cua chng trnh Nc. - Che o Teach-in co khong hoat ong neu trong phan khai bao cua chng trnh co loi, Teach-in se thong bao trong mot ca so luc nay phai an phm <Enter>, e ve trnh soan thao NC,v tr co loi trong phan khai bao c anh dau, sau khi sa goi lai Teach-in bang phm <F4>. - Loi giao tiep (card khong hoat ong) - Trong ca so Teach-in khong co thong bao v card khong a ve gi v tr cua thiet b, thoat ra bang phm <Esc> va sau o an <Enter> e ve trnh soan thao NC. - e kiem tra giao tiep, co the dung chc nang t kiem tra cua card (xem tai lieu hng dan card 4.0). - (!) nen nh rang chng trnh t kiem tra se cham dt khi card trong trang thai off.
V _ THONG BAO LOI CUA CHNG TRNH DCH

1. Unexpected end of file
LUAN VAN TOT NGHIEP
Chng trnh soan thao a cham dt mac du PAL-PC con i lenh tiep theo, co the quen cham dt li bnh hoac lenh cuoi cung cua chng trnh con thieu thong so. 2. ; expected Phai ket thuc lenh bang dau cham phay ngoai tr lenh repeat va stop. 3. Illegal axis-entry Truc c chon 2 lan hoac khong phu hp vi card giao tiep. 4. x, xy, xz hoac xyz expected. Truc khong ung V du : #axis yz 5. Axis already defined. Lenh chon truc phai la lenh au tien, th t sau ay la khong hp le. #Elev 4, 4, 4; #Axis xy; 6. mm, cm, zoll, zool/10 hoac zoll/20 expected. Sau lenh #units cac thong so tren la hp le, co the thay zoll bang inch 7. Missing stop, stop assumed. Thieu lenh stop trong chng trnh 8. Input already active. a co lenh #input 9. Too much nested repeats (limit is zo). Kiem tra o long cua vong lap co the qua kha nang cho phep cua card, toi a khoang 15 oi vi card 4.0. 10. Repeat without until detected. So lng repeat nhieu hn until, kiem tra lai tng vong lap Repeat Repeat Move . . . . Until Move. . . . . Until 11. #-command not recognized. Lenh khong ung, nen lu y ch in va ch thng 12. Duplicate axis entry in command. Truc c nh ngha nhieu lan V du : #axis xxz 13. x, y hoac z expected. Moi truc phai c nh ngha bang mot ky t x, y va z 14. Integer expected. So khong hp le, pham vi cho phep t 0 en 32767 V du : 20 la sai.
LUAN VAN TOT NGHIEP
15. , expected. Phai phan cach bang dau phay 16. Positive integer expected. Tai v tr nay ch cho phep so dng 17. Until without repeat. Until nhieu hn Repeat 18. Real number expected. So thap phan phai phan cach bang dau cham phay 19. Positive real number expected. Phai la so dng 20. Missing #input. Thieu input 21. ( expected. Toc o phai at trong dau ngoac n 22. ) expected. Toc o phai at trong dau ngoac n 23. . Expected. Phai ket thuc lenh stop bang dau cham 24. Too much definitions. Co qua nhieu nh ngha 25. Definiton name expected. Mot nh ngha phai co t nhat mot ten #define ; la khong hp le, dau cham phay khong phai la ten. 26.Illegal character for send or wait (number between /. . ./ 26) expected. Ky hieu trong lenh send va wait phai t 1 en 126 27. or unit number expected. Lenh can mot ky hieu hoac mot so 28. expected. Chng trnh dch can ky hieu hng dan 29. wait expected. Lenh wait phai v tr nay 30. Until entry expected. n v phai v tr nay 31. Comand not recognized. Lenh khong ung 32. Too much label defintion Co qua nhieu nhan 33. Positive integer between 1 and 126 can mot v tr t 1 en 126 34. Label not found Khong tm thay nhan 35. No label defintion in text Khong co nh nhan 36. , or times expected Can dau phay hoac t khoa times 37. , or out expected Can lenh in hoac out sau sync 38. On, off, in, out or sync expected Can cac t khoa ke tren cho thao tac xung
LUAN VAN TOT NGHIEP
39. End of remark missing Chng trnh a cham dt nhng li bnh cha ket thuc 40. Serial times missing error (times out in receive) Qua trnh truyen d lieu b ngat do an phm, dung chc nang t kiem tra (m/ tat card giao tiep) 41. Elevation must be > 0,001 Khoang di chuyen phai ln hn 0,001 42. File not found Khong tm thay file 43. Letter or - expected Nhan phai bat au bang ky t hoac dau gach ngang di 44. Replace text exceed 250 char nh ngha dai hn 250 ky t 45. Line exceed 250 char after replace of definition Dong co cha nh ngha dai hn 250 ky t, nen a nh ngha rieng tren mot dong 46. Illegal defintion occurred nh ngha trung lap V du: #Define stop noch nicht stop; stop xuat hien 2 lan 47. or < expected Phai at tap tin can chen gia hai ngoac nhon hoac dau hng dan 48. expected Phai cham dt bang dau V du : #include abc.tex> la sai 49. > expected Phai cham dt bang dau > V du : #include <abc.txt la sai 50. Include file not found or I/O error Khong oc c file can chen 51. I/O error on read Loi oc a, nen kiem tra a mem 52. Illegal unit-no So hieu card khong ung, so hp le t 0 en 9 53. xy, xz or yz expected Lenh line ch co the chon ky t xy, xz va yz, line xyz khong hp le va line yx cung sai. 54. Positive real number expected Can mot so dng 55. No matching defintion for redefine nh ngha can thay oi khong co trong chng trnh, lenh #define ch co the thay oi nhng nh ngha a c dung 56. () expected Phai anh dau nh ngha muon sa bang dau V du :
LUAN VAN TOT NGHIEP
nh ngha co san #define AA, BB; muon sa phai viet #redefine AACC; la hp le
Cac Thong Bao Loi T 149 en 170 La Cua Card Giao Tiep. 149. 150. 151. 152 153. 154. 155. 156. 161. 164. 165. 166. 167. 168. 169. 170. So khong hp le Chuyen mach chuan Truc khong hp le Khong co thong so cua truc Cu phap sai Het bo nh So lng thong so khong ung Lenh khong ung (CR) sai T kiem tra b dng hoac loi ket noi Xung khong ung Lenh TELL sai Ch (CR) Toc o khong ung Vong lap sai Dng do ngi s dung
LUAN VAN TOT NGHIEP
CAC NG DUNG CUA PHAN MEM CUA PAL-EP

{******************************************************PB01
Erlauterung Zum Pal-Beispeilprogramm: Interface-Manual 4.0 Seite 10 Oben Schena Zum Bohren Einer Dll-14-Fassung ***********************************************************} # AXIS XYZ ; #REFERENCE XYZ ; #UNITS ZOLL/10; MOVE 2(9000) , 2(9000) , 0(9000) , 0(9000); REPEAT MOVE 1(9000), 0(9000), 2(9000), -2(9000); UNTIL 7 ; MVOE 1(9000), 3(9000), 0(9000), 0(9000); REPEAT MOVE -1(9000), 0(9000), 2(9000), -2(9000); UNTIL 7 ; STOP. #START {*******************************************************PB02 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 4.0 Seite 12 Oben Anwendungssbeispiel Fur Relativ Positioniersteuerung **********************************************************} # AXIS XYZ; #REFERENCE XYZ ; #ELVE 4,4,4; #DEFINE N 0(21); #DEFINE ( )(2000); #DEFINE BOHRE 1(350), -1(2000); MOVE 66( ), 82( ) , N , N ; MVOE 54 ( ) , 33 ( ) , BOHRE ; MVOE 0 ( ), 40 ( ), BOHRE ; MVOE 65 ( ) , 0 ( ) , BOHRE ; MVOE 0 ( ) , =40 ( ) , BOHRE ; #REFERENCE XYZ ; STOP. {**************************************************** PB03 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 4.0 Seite 13 unten Anwendungsbeipiel Fur Absolute Positionierteuerung **********************************************************} #AXIS XYZ ; #ELVE 4, 4, 4 ; #DEFINE n 0 (21) ; #DEFINE ( ) (2000) ; #DEFINE BOHRE 1(350), -1(2000) ; MOVE 66( ),82( ), n , n ; NULL ;
LUAN VAN TOT NGHIEP
Erlauterung Zum PAL-Beispeilprogramm: InterfaceManual 4.0 Seite 32 Oben Referenzfahrt Direkt Ausfuhren
**********************************************************} #AXIS XYZ ; MOVE 20(1000), 20(9000); REFERENCE XY ; STOP. {*************************************************** PB06 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 4.0 Seite 32 Mitte Beispiel fur Specichreung **********************************************************} #AXIS XYZ ; MOVE 20(10000), 20(9000); REFERENCE STOP ; REFERENCE XY ; STOP . {****************************************************PB08 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 4.0 Seite 35 Oben Arbeiten in CNC_Betrieb **********************************************************} #AXIS X ; #REFERENCE X ; #INPUT MOVE 2(9000) ; MOVE -2(9000) ; MOVE 4(1000) ; STOP . #START {*****************************************************PB09 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 4.0 Seite 37 Oben Setzen der Referenzgeshwindigkeit *********************************************************} #AXIS XY ; #REF_SPEED 3000, 5000 ; #REFERENCE XY ; {***************************************************** PB10 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 4.0 Seite 38 Oben Arbeiten Im Speichermodus (CNC_MODUS) der Interfacekarte **********************************************************} #AXIS XZ ; #REFERENCE XZ ;
MOVE TO 54( ), 33( ), BOHRE ; MOVE TO 54( ), 73( ), BOHRE ; MOVE TO 119( ), 73( ), BOHRE; MOVE TO 119( ), 33( ), BOHRE ; REFERENCE XY ; STOP . {***************************************************** PB05
LUAN VAN TOT NGHIEP

#INPUT MOVE 5(100), 4(100), 0(100) ; STOP .
{***************************************************** PB11 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 4.0 Seite 40 Oben Senden von synchronisationszeichen **********************************************************} #AXIS XYZ ; #REFERENCE XYZ ; #INPUT SENT 90 ; STOP . START {***************************************************** PB12 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 4.0 Seite 42 Unten Warten auf Sychronisationszeiche **********************************************************} #AXIS x ; #REFERENCE X ; #INPUT LABEL: MOVE 3(1000) ; WAIT 50, LABEL ; STOP . #START {****************************************************** PB13 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 4.0 Seite 44 mitte scheleife/verzweigung in speicherbetrieb **********************************************************} #AXIS X ; #REFERENCE X ; #INPUT REPEAT MOVE 2(1000); UNTIL 5; MOVE -10(2000) ; UNTIL 10 ; STOP . #START {***************************************************** PB14 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 4.0 Seite 46 Oben Ausgabe eines impulses mit der optionalen impulssteuerung **********************************************************} #AXIS X ; #REFERENCE X ; #INPUT PULSE IN ; MOVE 2(9000) ;
LUAN VAN TOT NGHIEP
STOP . START {***************************************************** PB15 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 47 Oben Ausfuhern einer zeitverzogerung **********************************************************} #AXIS X ; #REFERENCE X ; #INPUT MOVE 2(1000) ; DEPLAY 100 ; MOVE -2(1000) ; STOP . #START {***************************************************** PB16 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 48 unten Ausfuhren einerbBewegung bis Erhart eines inpulses **********************************************************} #AXIS X ; #REFERENCE X ; #INPUT MOVEP 2(9000); MOVEP 4(9000) ; MOVE 4(9000); STOP . #START {***************************************************** PB17 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 50 Oben starten einer zweiten interfacekart ***********************************************************} #AXIS XY ; #REFERENCE XY; #INPUT REPEAT MOVE 2(200), 2(200); TELL 0 REFERENCE X; TELL 0 START; MOVE -2(200), -2(200) ; UTIL 0; STOP . #START {***************************************************** PB18 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 54 verschieben des Anlagennullpunketes **********************************************************} #AXIS XY; #REFERENCE XY; #ELV 4, 4; #MOVE 80(900), 8(900); NULL XY;
4.0 Seite
4.0 Seite
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LUAN VAN TOT NGHIEP
MOVE TO 2(900), 4(900); STOP . {***************************************************** PB22 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 4.0 Seite 65 Oben Auswahlen einer Beareitungsebene **********************************************************} #AXIS XYZ; #REFERENCE XYZ; LINE YZ; MOVE 20(200), 30(9000), 33(900), 0(21); STOP . {***************************************************** PB23 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 4.0 Seite 6 unten Ausgabe von impulsen mit der impulssteuerung **********************************************************} #AXIS XYZ; #REFERENCE XYZ; REPEAT PULSE OUT; DELAY 20; UNTIL 10; STOP . #START {***************************************************** PB24 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 4.0 Seite 7 Oben test des impulseingang **********************************************************} REPEAT PULSE IN ; UNTIL 10; STOP . #START {***************************************************** PB25 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 4 Seite Oben Abfragen einer angeschlossenen programmwahleinheit In Gegensatz zur Anleitung sind mit dem PAL PC_Programm AB version 1.2 auch vorwartsbezuge bei labels moglich **********************************************************} #AXIS X; LABEL 1; REPEAT ON_KEY 1, FAHRE ; ON_KEY 2, REFERENCEZ; ON_KEY 3, STOP ; UNTIL 0; FAHRE : MOVE 10(1000); GOTO LABEL1; REFERENZ : reference X; GOTO LABEL; STOP . {**************************************************** PB26
LUAN VAN TOT NGHIEP
Erlauterung Zum PAL-Beispeilprogramm: E/ A_Erweiterungseinheit seite 23 Bitweises setzen von Ausgangsports der E/A_Erweiterung **********************************************************} #AXIS XYZ; #REFERENCE XYZ; MOVE 50(1000), 50(1000), 30(3000), -2(6000); SET_PORT 65529, 5 = 0; SET_PORT 65529, 4 = 0; SET_PORT 65530, 4 = 0; REFERENCE XYZ; STOP . {***************************************************** PB27 Erlauterung Zum PAL-Beispeilprogramm: E/ A_Erweiterungseinheit seite 23 unten byteweises setzen von Ports der E/A_Erweiterung **********************************************************} #AXIS XYZ; #REFERENCE XYZ; MOVE 50(1000), 50(1000), 30(3000), -20(6000); SET_PORT 65529, 128 = 0; SET_PORT 65529, 128 = 27; SET_PORT 65530, 128 = 205; SET_PORT 65530, 128 = 255; SET_PORT 65530, 128 = 0; REFERENCE XYZ; STOP . {**************************************************** PB28 Erlauterung Zum PAL-Beispeilprogramm: E/ A_Erweiterungseinheit seite 24 mitte byteweises lesen eines Port der E/A_Erweiterung **********************************************************} #AXIS XYZ; #REFERENCE XYZ; MOVE 50(3000), 50(3000), 30(3000),-20(6000); ON_PORT 65531, 2 = 0, 3; ON_PORT 65531, 8 = 1, -2; REFERENCE XYZ; MOVE 70(6000), 70(6000)30(4000), -20(6000); REFERENCE XYZ; STOP . {***************************************************** PB29 Erlauterung Zum PAL-Beispeilprogramm:E/ A_Erweiterungseinheit seite 24 uten byteweises lesen eines Port der E/A_Erweiterung ***********************************************************} #AXIS XYZ; #REFERENCE XYZ; MOVE 50(3000), 50(3000), 30(3000),-20(3000); MOVE -40(3000), -40(3000),-5(1000), 0(1000); ON_PORT 65531, 128 = 10, 3;
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ON_PORT 65531, 128 = 0, -2; ON_PORT 65531, 128 = 205, -4; MOVE 60(6000), 60(6000), 30(3000), 0(3000); REFERENCE XYZ; STOP . {*******************************************************PB31 Anwendungsbeispiel: Programmwaheit Art.Nr.1783 Programm "Pb31" zur Interface_karte ubertragen subD_Buchse von der Interfacekaarte abziechen und Programmwaheinheit anschlieben STAART_TASTER durcken und die tasten F1 bis F12 sind funktionsbereit ***********************************************************} #AXIS XYZ; #DEFINE ( ) (21); #ELVE 4, 4, 4; ANFANG; REPEAT ON_KEY 1, REFERENCE Z; ON_KEY 2, FAHREZ; ON_KEY 3, FAHREZ; ON_KEY 4, FAHREZXY; ON_KEY 5, FAHREY; ON_KEY 6, FAHREXY; ON_KEY 7, FAHREX; ON_KEY 8, REFERENCEZ; ON_KEY 9, FAHREX; ON_KEY 10, FAHREXY; ON_KEY 11, FAHREY; ON_KEY 12, FAHREXY; UNTIL 0; FAHREZ: MOVE 0( ), 0( ), -1(2000), 0( ); GO TO ANFANG; FAHREZ: MOVE 0( ), 0( ), 1(2000), 0( ); GO TO ANFANG; FAHREXY: MOVE 10(2000 ), -10(2000 ), 0( ), 0( ); GO TO ANFANG; FAHREX: MOVE 10(2000 ), 0( ), 0( ), 0( ); GO TO ANFANG; FAHREXY: MOVE 10(2000 ), 10(2000 ), 0( ), 0( ); GO TO ANFANG; FAHREX: MOVE 0( ), -10(2000 ), 0( ), 0( ); GO TO ANFANG; FAHREZ: REFERENCE XYZ; GO TO ANFANG; FAHREY: MOVE 0( ), 10(2000 ), 0( ), 0( ); GO TO ANFANG; FAHREXY: MOVE -10(2000 ), -10(2000 ), -10(2000), 0( ), 0( ); GO TO ANFANG; FAHREX: MOVE -10(2000 ), 0( ), 0( ), 0( ); GO TO ANFANG; FAHREXY: MOVE -10(2000 ), 10(2000 ), 0( ), 0( ); GO TO ANFANG; END. STOP. {****************************************************** PB32 Anwendungsbeispiel: Interface-kart mit E/A_Erweiterungseinheit Programm zum Testen der E/A Einheit Programm mit den Befehl "TRNFER" im window_menue zur Interfacekart ubertragen. Nach erfolgreicher ubertragung und compierung solten sie den Befehl "COMMUNICATION" im window_menu aufrufen. Nun betatigen
LUAN VAN TOT NGHIEP
sie die "START" Taste und in window wird "PORT = 0" angezeigt, ercheint die meldung "PORT = 1". Schalten sie nun auf alle Eingange nacheianander die Meldung "PORT = 1, 2, 3, 4, 5, 6, 7, 8" KOMMEN. Schalten sie nur Eingang 7 (bit 7) leuchten zunachst die LED'STOP am Ausgangsport I nacheinande auf, anschliebend am Ausgangsport II. Dieser vorgang wiederholt sich nocheinmal Schalten sie nur Eingang 8 (bit 8), leuchten zunachst die LED am Ausgangsport I nacheinander auf, verfahibewegung X_Achse und aufleuchten der LED'STOP am Ausgangsport II nacheiander Dieser vorgang wiederholt sich noch eininol ***********************************************************} #AXIS X; #ELEV 2; #DEFINE M MOVE 1(9000); #DEFINE L MOVE -1(9000) #DEFINE INPUT ON_PORT 65531, 128 = ; #DEFINE P1 SET_PORT 65529, 128 = ; #DEFINE P SET_PORT 65530, 128 = ; #DEFINE T TIME 3; #DEFINE T1 TIME 2; START : PULSE IN; TIME 5; INPUT 0, A; INPUT 1, B; INPUT 3, C; INPUT 7, D; INPUT 15, E; INPUT 31, F; INPUT 63, G; INPUT 127, H; INPUT 255, I ; INPUT 128, K; INPUT 64, N; A: SEND 80; SEND 79; SEND 82; SEND 61; SEND 48; SEND 13; GOTO START ; B: SEND 80; SEND 79; SEND 82; SEND 61; SEND 49; SEND 13; GOTO START ; C: SEND 80; SEND 79; SEND 82; SEND 61; SEND 49; SEND 44; SEND 50; SEND 13; GOTO START ; D: SEND 80; SEND 79; SEND 82; SEND 61; SEND 49; SEND 44; SEND 50; SEND 44; SEND 51; SEND 13; GOTO START ; E: SEND 80; SEND 79; SEND 82; SEND 84; SEND 61; SEND 49; SEND 44; SEND 50; SEND 44; SEND 51; SEND 44; SEND 52; SEND 13; GOTO START ; F: SEND 80; SEND 79; SEND 82; SEND 84; SEND 61; SEND 49; SEND 44; SEND 50; SEND 44; SEND 51; SEND 44; SEND 52; SEND 44; SEND 53; SEND 13; GOTO START ;
LUAN VAN TOT NGHIEP

G: H:
I:
K:
N: 13;
SEND 80; SEND 79; SEND 82; SEND 84; SEND 61; SEND 49; SEND 44; SEND 50; SEND 44; SEND 51; SEND 44; SEND 52; SEND 44; SEND 54; SEND 13; GOTO START ; SEND 80; SEND 79; SEND 82; SEND 84; SEND 61; SEND 49; SEND 44; SEND 50; SEND 44; SEND 51; SEND 44; SEND 52; SEND 44; SEND 53; SEND 44; SEND 54; SEND 44; SEND 55; SEND 13; GOTO START ; SEND 80; SEND 79; SEND 82; SEND 84; SEND 61; SEND 49; SEND 44; SEND 50; SEND 44; SEND 51; SEND 44; SEND 52; SEND 44; SEND 53; SEND 44; SEND 54; SEND 44; SEND 55; SEND 44; SEND 56; SEND 13; GOTO START ; SEND 80; SEND 79; SEND 82; SEND 84; SEND 61; SEND 56; SEND 13; GOTO START ; REFERENCE X; REPEAT P1 1; T; P1 2; T; P1 4; T; P1 8; T; P1 16; T; P1 32; T; P1 64; T; P1 128; T; P1 0; T; P 1; M; T1; P 2; L; T1; P 4; M; T1; P 8; L; T1; P 16; M; T1; P 32; L; T1; P 64; M; T1; P 128;L ; T1; P 0; T1; UNTIL 2; GOTO START ; SEND 80; SEND 79; SEND 82; SEND 84; SEND 61; SEND 55; SEND REPEAT P1 1; T; P1 3; T; P1 7; T; P1 15; T; P1 31; T; P1 63; T; P1 127; T; P1 255; T; P1 127; T; P1 63; T; P1 31; T; P1 15; T;
LUAN VAN TOT NGHIEP

P1 P1 P1 P1
7; T; 3; T; 1; T; 0; T; P1 1; T; P1 3; T; P1 7; T; P1 15; T; P1 31; T; P1 63; T; P1 127; T; P1 255; T; P1 127; T; P1 63; T; P1 31; T; P1 15; T; P1 7; T; P1 3; T; P1 1; T; P1 0; T; P1 15; T; UNTIL 2; GOTO START ; STOP . {****************************************************** PB33 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual zursatzblatt 30_Interpolation und kreisiterprolation **********************************************************} #AXIS XYZ; #REFERENCE XYZ; MOVE 50(1000), 50(1000), 10(1000), 0(1000); DELAY 50; SET3D ON; MOVE 50(1000), 50(1000), 50(1000), 0(1000); SET3D OFF; DELAY 50; MOVE -80(3000), -80(3000), -50(3000), 0(3000); REFERENCE XYZ; STOP . START ;
4.0
{****************************************************** PB34 Erlauterung Zum PAL-Beispeilprogramm: PAL_PC Manual seite 91 unten kreis rechtsdrehend **********************************************************} #AXIS XYZ; #REFERENCE XYZ; MOVE 50(3000), 50(3000), 50(3000), 0(3000);
LUAN VAN TOT NGHIEP

ARC_R 10(100), 0, 360, 5; REFERENCE XYZ; STOP . #START ;
{********************************************************PB35 Erlauterung Zum PAL-Beispeilprogramm: PAL_PC Manual seite 92 unten kreis rechtsdrehend ***********************************************************} #AXIS XYZ; #REFERENCE XYZ; MOVE 50(3000), 50(3000), 50(3000), 0(3000); ARC_L 6(5000), 180, 270, 3; REFERENCE XYZ; STOP . #START ; {****************************************************** PB36 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 4.0 zursatzblatt 30_Interpolation und kreisiterprolation kreis rechtsdrehend; mit knostanter Bahngeschwindigkeut **********************************************************} #AXIS XYZ; #REFERENCE XYZ; MOVE 50(3000), 50(3000), 50(3000), 0(3000); LINE YZ; CIRCLE_CW 10(1000), 720, 360; REFERENCE XYZ; STOP . #START ; {****************************************************** PB37 Erlauterung Zum PAL-Beispeilprogramm: Interface-Manual 4.0 zursatzblatt 30_Interpolation und kreisiterprolation kreis rechtsdrehend; mit knostanter Bahngeschwindigkeut ***********************************************************} #AXIS XYZ; #REFERENCE XYZ; MOVE 50(3000), 50(3000), 50(3000), 0(3000); CIRCLE_CCW 10(1000), 0, 360; REFERENCE XYZ; STOP . START ;

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LUAN VAN TOT NGHIEP

SVTH : NGUYEN TH CHNH

II_ GII HAN E TAI

LUAN VAN TOT NGHIEP

SVTH : NGUYEN TH CHNH

III _ MUC TIEU NGHIEN CU

LUAN VAN TOT NGHIEP

SVTH : NGUYEN TH CHNH

GIAO TIEP MAY TNH

II _ CAC PHNG PHAP IEU KHIEN VAO RA:

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SVTH : NGUYEN TH CHNH

Vao ra ieu khien bang chng trnh:

ra ieu khien bang ngat:

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SVTH : NGUYEN TH CHNH

- Ban phm e nhap d lieu

III _ PHNG PHAP GIAO TIEP

1. Giao tiep vi may tnh thong qua slot card:

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SVTH : NGUYEN TH CHNH

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SVTH : NGUYEN TH CHNH

GII THIEU CHUAN RS-232C

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SVTH : NGUYEN TH CHNH

I _ AC IEM KY THUAT VE IEN CUA RS232C

TxD RxD RTS CTS DSR GND CD

AA BA BB CA CB CC AB CF SCF SCB SBA B SBB

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SVTH : NGUYEN TH CHNH

Hnh 2-3 Qui nh ve chan cua RS232C

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SVTH : NGUYEN TH CHNH

II _ CAC NG D LIEU VA IEU KHIEN CUA RS232

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SVTH : NGUYEN TH CHNH

LUAN VAN TOT NGHIEP

SVTH : NGUYEN TH CHNH

lieu lieu lieu lieu

rong rong rong rong

Bit Bit Bit Bit.

Bit D3 D4 : Cac Bit parity (chan le)

Bit D5D6D7 : Cho biet toc o truyen (Baud Rate)

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SVTH : NGUYEN TH CHNH

III _ MODEM RONG CUA RS232C

IV _ CAC IC KCH PHAT VA THU CUA RS232C

V _ MINH HOA THONG TIN NOI TIEP BAT ONG BO

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SVTH : NGUYEN TH CHNH

LUAN VAN TOT NGHIEP

SVTH : NGUYEN TH CHNH

a. La chon cong COM

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SVTH : NGUYEN TH CHNH

LUAN VAN TOT NGHIEP

SVTH : NGUYEN TH CHNH

40:0h 40:2h 40:4h 40:6h

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SVTH : NGUYEN TH CHNH

LUAN VAN TOT NGHIEP

SVTH : NGUYEN TH CHNH

LUAN VAN TOT NGHIEP