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Autochange software

Commands and responses

CodeAs a command to ACC2-3As a response from ACC2-3
AChange cycle enable

Possible resposes to rack status request

B-

Possible resposes to rack status request

C

Rack status request

Possible resposes to rack status request

DDatum mode select

Possible resposes to rack status request

E-

Possible resposes to rack status request

F-

Possible resposes to rack status request

G

Mechanism lock / unlock

Lock / unlock complete
H

Probe inhibit (1)

-
IProbe inhibit (2)-
JProbe enable-
KResetDatum mode 1
L-

Datum mode 2

MChange cycle disableChange cycle disabled
N-

Change cycle and probe disabled

O--
P-

Parked state

Q-

Change cycle started

RSelf test

Rack disconnected

SAutochange status request

Stand-alone mode probe enabled

T-

Stand-alone mode disabled

U--
VVersion request 1-
W

Version request 2

-
X-

Rack overtravelled

YMechanism lock

Probe enabled

ZMechanism unlockProbe disabled

Commands to ACC2-3

Command A: Change cycle enable

This command will re-enable the change cycle detect function following an M' command.

Command B

Not used.

Command C: Rack status request

This command requests the status of the ACR1.  The response will be a string of four ASCII characters as shown below:

(i)(ii)CRLF

(i) and (ii) will be HEX code in ASCII format.  The HEX codes will be determined as specified in the following table:

Hex codes:

HexBinaryHexBinary
0

0000

8

1000

1

0001

9

1001

2

0010

A

1010

3

0011

B

1011

4

0100

C

1100

5

0101

D

1101

6

0110

E

1110

7

0111

F

1111

(i)  This command specifies the state of the infra-red beams, rack overtravel and rack connected flags in the following formats (high for significance).

Rack status flags:

Flag number7654
Meaning

Not over-travelled

Front beam madeRear beam madeRack connected

(ii)  This command specifies the position of the motor-driven screwdrivers (high for significance).

Rack status flags:

Flag number3210
MeaningLockedBacked offIntermediateUnlocked

e.g. F4 = Rack ready, screwdrivers locked and backed off ready to receive a head and probe combination.

F1 = Rack ready, screwdrivers in unlocked position ready to receive an unloaded head

Command D: Datum mode (mode 6) select

This command causes the system to enter a datum mode as follows:

Datum mode 1 if a port lid is open

Datum mode 2 if all the port lids are all closed

NOTE: When datum mode has been entered, the system will switch freely between mode 1 and mode 2 by operating the port lids.

Datum mode can be cancelled by:
  • K - Reset command
  • Operation of the front panel reset switch
  • Operation of the external reset line

Command E

Not used.

Command F

Not used.

Command G: Mechanism lock / unlock

This command changes the lock state of the ACR1 during a change cycle.  The procedure is specified in the change cycle mode (See section mode 3, see section 8.3).

NOTE: This command is not available as stand-alone.

Command H: Inhibit touch probe interface (1)

This command inhibits the probe interface.  When the internal (ACC2-3) probe interface is selected, this command forces the interface to indicate a seated probe irrespective of the state of the CMM probe.

When PICS operation is selected this command causes the ACC2-3 to assert PPOFF (probe power OFF) and to override any PDAMP (probe DAMPing) signal from the CMM.  This in turn causes the PICS interface to force the probe seated state and allows automatic probe type selection.

This inhibited state can be cancelled by:

  • J - Enable interface command
  • K - Reset command
  • Operation of front panel reset switch
  • Operation of the external reset line

The only difference between an H command and an I command is the automatic cancelling of an I inhibit.

Command I: Inhibit touch probe interface (2)

This command inhibits the touch probe interface.  When the internal (ACC2-3) probe interface is selected, this command forces the interface to indicate a seated probe irrespective of the state of the CMM probe.

When PICS operation is selected this command causes the ACC2-3 to assert PPOFF (probe power OFF) and to override any PDAMP (probe DAMPing) signal from the CMM, this in turn causes the PICS interface to force the probe seated state and allows the automatic probe type selection.

This inhibited state is cancelled by:

  • Completion of a probe pick-up operation (automatically)
  • J - Enable interface command
  • K - Reset command
  • Operation of front panel reset switch
  • Operation of the external reset line

This inhibit procedure is automatically applied when a change cycle is started.  The advantage of being able to apply it before a change cycle is that a very sensitive probe could be triggered when the autojoint contacts the port lid.

Command J: Enable probe interface

This command re-enables the internal touch probe interface following an H or I command.  For PICS operation the PPOFF (probe power OFF) and probe DAMPing override signals are released.

Command K: Reset autochange

This command causes a software restart of the system.

Command L

Not used.

Command M: Change cycle disable

This command disables the change cycle detect function.  Following this command the detection of a lid beam break will be ignored.

This condition will be reported with an MO or NO if the probe interface is disabled or PPOFF is applied.  The status will remain as MO or NO until the change cycle detect function is re-enabled.

NOTE: In this condition only the following commands will be available:

  • Front panel reset
  • External reset
  • A, C, H, I, J, K, M, S, V, and W commands

Change cycle is re-enabled by:

  • A - Change cycle enabled command
  • K - Reset command
  • Operation of front panel reset switch
  • Operation of the external reset line

Command N

Not used.

Command O

Not used.

Command P

Not used.

Command Q

Not used.

Command R: Self test request

This command initiates the following tests:

  • Memory test
  • Rack and controller LED test
  • Mechanism test

and is completed by a software reset.

If an error or a reset request is detected during the LED test, the mechanism test will not be performed.

At the start of testing the following report will be transmitted:

MESSAGE 1 : SELF TEST IN PROGRESS

Following each test, the messages below will be transmitted:

MESSAGE 2 : MEMORY TEST COMPLETE

MESSAGE 3 : SELF TEST COMPLETE

The self test will be completed by a software reset routine which will report the current status of the unit.

Command S: System status

This command causes the ACC2-3 to send details of its present status.  This command is available in all modes.  The ACC2-3 automatically sends its status details when its status changes, but the S command allows the CMM to request status information when it requires it.

Command T

Not used.

Command U

Not used.

Command V: Version

This command causes the ACC2-3 to send its version number.

The format is as follows:

Bxx.yy

Where:

B denotes ACC2-2

  

xx is the enhancement level number

  

yy is the release level number


Command W: Extended version

This command causes the ACC2-3 to send its extended version number.

The format is as follows :

Line 1 - (C) Renishaw Metrology Year

Line 2 - Part No. Date

This message may be modified or extended to include additional information.  The ‘W' command must not be used within a standard operational programme.

Command X

Not used.

Command Y: Mechanism lock

This command instructs the ACR1 to move the screwdriver blades to the lock position.  The main use of the Y command is to correct the screwdriver blade position when loading or unloading autojoint extension bars.

Command Z: Mechanism unlock

This command instructs the ACR1 to move the screwdriver blades to the unlocked position.  The main uses of the Z code are the correction of the screwdriver blade position when loading or unloading autojoint extension bars, and setting the screwdriver blades for easy loading of probes into the ACR1 (this is best carried out in the unlocked position).

Responses from ACC2-3

Responses from the ACC2-3 fall into three categories:

  • Normal status messages
  • Error state messages
  • Rack status messages

These responses are automatically transmitted when the system status has changed (e.g. at the start of a change cycle, after an instruction from the CMM has been implemented).  The current system status can also be requested using the S command.

Normal status messages:

Status

Message

Datum mode 1

K0

Datum mode 2

L0

Change cycle started

Q0

Parked state

P0

Cycle lock / unlock complete

G0

Change cycle disabled

M0

Change cycle and probe disabled

N0

CMM control probe enabled

Y0

CMM control probe disabled

Z0

Stand-alone mode probe enabled

S0

Stand-alone probe disabled

T0

For a detailed explanation of these messages see 'Operating modes'.

NOTE: The 0 after the first character indicates no errors.

Error status messages:

These are automatically transmitted when an error is detected.  As the system remains in error mode until a reset is received, the reply to a subsequent S command is the error state.

State

Message

Lock mechanism error

Q1

Lid time-out error

Q3

G message not received

Q4

Command not acceptable

Y5 *

Excessive entry speed

Q6

Invalid command

Y7 *

Rack overtravel

X8

Rack not connected

R9

Lock operation aborted

YA *

Change cycle operation aborted

YB *

The first character is the state in which the error occurred, the second character is the error code.

° These errors do not cause the system to remain in error mode, they are reported and the system returns to the previous mode.

* These error messages can have a different status byte (eg Q5, ZB).

Rack status messages:

These status messages are only transmitted in response to a C command. They detail the functional status of the ACR1.

Operating modes

The software structure of the six operating modes is shown in the following figure.  Full details of each mode are given in the 'Operating modes' section.

Mode 1Switch on / restart
Mode 2Main software nucleus
Mode 3Change cycle
Mode 4Error mode
Mode 5Direct command mode
Mode 6Datum mode

ACR1 Operating modes 

*LMELock mechanism error
 LTELid timeout error
 GNRG (Go) not received
 EESExcessive entry speed
 ROERack overtravel error
 RNCRack not connected