Accell MPC-68K Series User Manual

MPC-684 Programing tutorials ACCEL Last update May 24,2005 (MPC-684F) This tutorial is an outline for MPC-684 programming. Please see the “M

Input commands There are 3 types of input control.  Direct executed commands: Single command statements executed immediately.  Program executed

I/O check There are 2 ways to check input and output conditions. To check by command  The following are commands used to complete a basic I/O chec

 You can check about MPG-314's INPUT by "INCHK_314" command. #INCHK_314 /* scan start X_S1 ON Y_S1 ON Z_S1 __ U_S1 __ X_S2

How to input program  To write a program include a line number before the command. Press the enter key after writing each command, so it can be tran

Subroutine  A subroutine is a piece of code, much like any code in a program. A subroutine has an entry point and an exit point. At the entry of a

Parameter of subroutine, return value  You can set a subroutine with parameters. The parameter values are activated by the main routine using the

Edit of a program  Explanation of useful operations for editing a program LIST display  ‘LIST’ is the command used most. LIST [n,m] n: Start l

Insert statement 10 *LOOP 20 ON 0 30 OFF 0 40 GOTO *LOOP 10 *LOOP 20 ON 0 25 TIME 50<Enter> 30 OFF 0 4

Other key operations 18

How to program save to the PC, load from the PC Program save to the PC  You can save the program to your PC by pushing 'F9' then selecti

Index MPC-684 family...

Program load from the PC  You can load the program from your PC by pushing 'F9' then selecting 'Program Load' from the menu. 

I/O control  You can control an I/O Port for every bit or byte.  Bit operating is for simple device control. ex. solenoid valves, relays and switch

Variable, Array variable, String variable, Memory I/O  MPC-684 has a lot of variables, array variables, string variables and memory I/Os. These are

Array variable  A DIM command secures specific array variable partitions in the memory. 10 DIM ARRY(100) /* secure ARRY(0)ARRY(99) 20

Calculation + addition A=B+C - substruction A=B-C * multiplication A=B*C / division A=B/C % surplus A=B%C & logical multiplication (AND) A

Pulse generation  This chapter introduces pulse generating using the MPG-314 board.  It explains how to utilize the MPG-314 for an XY robot. Initi

Setup of maximum high speed and acceleration.  Maximum high speed and acceleration can be set by using the ACCEL command. Drive speed can be decide

Move to the origin (HOME)  HOME is the command for programming the movement of a robot back to the staring point of its action.  Format HOME n

Absolute coordinate movement 1) MOVL is the command for linear interpolation. You can give variables or constants to define the parameters. 10 P

Relative coordinate movement 1) RMVL is the command for linear interpolation of relative coordinate movement. You can give variables or constants t

Memory I/O...

Continuous interpolation  The following figure is an example of continuous interpolation by using the MOVT command.  It sets point data between t

PALET declaration  PALET is the command for moving between palettes.  The PALET command calculate all working points (PLn(N)) on a palette by u

Conditional stop Pulse generation stops after sensors receive data indicating the need for the stop condition to take effect.  1) The STOP command

Multi-task  MPC-684 has 32 tasks ( task0 : Main-task. task1~31 : sub-tasks)  Main-task executes immediately after the RUN command (program mode) o

RS-232 communication  MPC-684 has two RS-232 communication ports for interfacing to external devices. You can control the ports by using commands.

Debugging Basic debugging (run/stop/check)  One useful basic process of debugging of the MPC is by executing the program, stopping it and then che

How to know the cause of machine stoppage  When the machine stops while in automatic operation, please connect the MPC-684 to FTMW without turning

Special program  The prompt returns to the FTMW when task 0 is ended using the END command. Then you can execute the commands for an I/O and variab

Use touch panel  The MPC-684 supports the 'Direct access protocol' on the Digital Electron Corporation’s GP series touch panel.  You can

When you use MBK-SH  The MBK-SH connects to the touch panel at RS-422 38400bps.  The MBK-SH board is an independent CPU board, therefore doesn&ap

Timer...

Command List I/O ? Reading of Bit (HSW Alternative) ALT Switch ON/OFF CLR_OUTP Initialize Output (specified the board) HI

HPT Read Input Port INCHK_314 Input Monitor INSET_314 Set Input Port Function M_RMVS Asymmetric Acceleration/Deceleration Mov

PALET4 PALET Declaration PG PG Declaration PGSEL PG Declaration PL1 Palette Point PL2 Palette Point PL3

Floating Point Operation CALF Arithmetics GETF Retrieve Data PRF Display Internal Data SETF Delivery of Data Sy

Memory Access PEEK Readout of User Memory POKE Write User Memory Maintenance ERASE Clear Program of Flash ROM MEM

GOSUB Subroutine Call (Argument Pass) GOTO Unconditional Branch IF Conditional Branch LOOP Loop NEXT Loo

MPC-684 family  Outline of MPC-684 series MPC-684 main CPU board serial communication port (RS-232) 3ch 4 outputs 8 inputs MOP-096 output bo

The feature of the MPC-684  Program capacity 500Kbytes( about 25000 lines)  Point data 4 by 13000 points  Global variable 2000  Local vari

Program development environment Hardware  Personal computer OS: Microsoft Windows supported  Programming cable Connect to a MPC-684 and a per

How to connect  Connect a personal computer to the MPC by the programming cable, then turn the MPC on. MPC-684 Windows PC Programming Cable Compute

 When it is able to connect normally, an opening message will display on the edit screen. Opening message Prompt (Edit screen)  The meaning of t