Getting Started. Help version created 2/3/2022. Configuration and Customization

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Help version created 2/3/2022 Configuration and Customization

Getting Started

This setup guide includes instructions for an OEM to configure and customize the Yaskawa CompassTMsoftware for visual pref- erences and equipment specific to their machines. Compass is part of a complete G-code solution for the MP3300iec Con- troller. Compass includes components 1, 2, 3 and 6 as shown in the diagram.

Compass is highly configurable to allow the OEM to provide a custom look and feel. In addition to many customizable standard interface elements, Compass also supports custom user panels developed in C# as WPF User Library Control DLLs.

A separate document, AN.MPIEC.34, gives instructions to prepare and customize the required MotionWorks IEC companion template project. This setup guide provides instructions for customizing the compass interface once the controller has been prepared with the required companion project.

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Hardware Requirements

These requirements are the minimum for Compass alone. Users planning to include other software on the machine, such as part post processing editors, must consider the full system requirements.

l 1.6 GHz CPU.

l 4 GB memory, mainly a requirement of the operating system.

l 1280 x 1024 display or higher resolution, mounted horizontal or vertical.

l Any modern hard drive size is sufficient. Flash drive / non moving mechanism recommended.

l 100 BaseT Ethernet connection.

l Running very large G-Code files (greater than 200 MB) may require a higher performance PC.

Launch Behavior:

By default, the Compass application is launched maximized in windowed mode. An option exists in the Options Menu (OEM login level) to launch Compass in full-screen (non-windowed) mode. Full-screen mode hides the title bar, Minimize / Maximize settings and the Windows task bar.

To configure the full-screen option, open the Main Menu and choose "Options".

Click on the General tab. Click the "Launch Compass in fullscreen" checkbox to enable this feature.

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When the title bar will be hidden, the close-window feature will not be available. To close Compass, click the "Exit" button in the main menu.

The F11 key is the default Hotkey to toggle Full-screen mode.

The Hotkey assigned to Full-screen mode can be configured by clicking the Edit button and providing a new hotkey sequence.

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User Levels

Three user levels are provided, listed here from least to most permissive:

l Level 1: Operator. This is the default login with no Passcode required.

l Level 2: Technician. The default Passcode is 867530.

l Level 3: OEM. The default Passcode is 224466.

To login, choose the "Login" option from the Main Menu. The current Login can be viewed from the Main Menu as well.

To change passcodes, login as OEM and choose the "User Manager" from the Main Menu.

The following options are available via their respective Login levels:

Feature Operator Technician OEM

About x x x

Help x x x

Work Offsets x x x

Home Presets x x x

Tool Manager x x x

Notification Options x x x

I/O Panel x x

Tool Manager station locations x x

Hotkeys x x

Edit support information & logo x

User Management x

Machine Configuration x

Network Setup x

Interface Customization x

Custom Notifications x

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Restart Settings x

Local Zero Behavior x

To change a passcode, select a User level and choose the "Change Passcode" button. The passcode must be entered twice to confirm. No passcode is required for the Machine Operator level.

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Network Setup

To configure Compass to communicate with the MPiec controller, choose “Network Setup”from the Main Menu. This function is only available when logged in at the OEM level.

Setting the IP Address

Enter the MPiec Controller's IP address in the text box. The controller can be pinged with Ping button to verify connection to the controller.

Changing the IP address of the MPiec controller does not take effect immediately. To connect to or disconnect from the MPiec controller, click the Connect / Disconnect button at the lower left corner of Compass.

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Advanced Options

Click the arrow to expand the Advanced Options. These options default to the settings in the MotionWorks IEC companion template project and in most cases will not need to be changed.

The TCP and UDP ports used by the Read_GCode_Stream function block are found in the Initialize POU of the MotionWorks IEC template project. Only the TCP port number is configured directly; the UDP port is always TCP port plus one. Set the port num- bers in Compass to match.

The main interface variables are found in the Global variables list of the MotionWorks IEC companion project. The variables names entered are of the Data Type shown in the table below. If these variables are configured to match the name used by the companion project, an error will be shown in Compass (“GroupComm.dll: Unable to find structure.”)

Data Type Template Default Variable Name

MachineStruct MyMachine PendantDataStruct HostData ToolDataStruct Tool

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Automatic Software Launch

Compass can be automatically launched when the PC is booted by configuring a Windows operating system start-up feature.

Create a shortcut to Compass. Using Windows Explorer, find the Compass executable by navigating to the folder shown. When the shortcut is created, it will be displayed as a file in this folder.

Move the shortcut file to C:\ProgramData\Microsoft\Windows\Start Menu\Programs\Startup

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Machine Setup

To properly display status and position for the machine axes, Compass must be configured to match the physical hardware settings of the companion MotionWorks IEC project running on the MPiec Controller. 3D Printer is the only machine choice supported via drop down menu selection, although other machines such as routers, and water jet cutters can be configured with the 3D Printer setting.

Using Machine Configuration, the OEM can include the configured axes, set machine limits, set offsets for up to three extruder heads and configure temperature zones.

Once logged in as OEM, open the menu and select "Machine Config".

The Machine Configuration window will be shown:

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Importing a Configuration

To minimize duplication of effort, portions of the configuration can be imported from the MPiec Controller or the MotionWorks IEC project. These items include:

1. Number of Axes 2. Axes Names 3. Position Limits

Select the configuration source using the "Import from Controller" or "Import from File" button.

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Configuring Cartesian Axes

Select the group name from the dropdown menu at the top of the section.

Once the group has been selected, fields containing the individual axes will be available for further configuration. Click the checkbox located to the far left of each axis to enable it for use in Compass. Ideally the Hardware Configuration contained the correct settings, but it's possible to override them. To edit machine limit values, enter the desired value into the provided text boxes. To revert the machine limit back to infinity, type "infinity" into the textbox.

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Configuring Extruders

Extruders 0-2 all follow the same setup routine, which begins by clicking the Enable checkbox at the top of each section.

There are options to name each extruder and the ability to override the default units of measurement.

Temperature Zones may also be configured, which is done by setting the Zones value. Zone configuration offers the option to set the Minimum Warm Temperature, Temperature Tolerance and the Default Setpoint of each zone. These settings are written to the MyMachine.Printer.Extruder structure.

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Configuring a Bed Heater

Enable the checkbox and enter a name for the Bed Heater. The number of zones applied to the Bed Heater may be configured.

The Default Setpoint and Temperature Tolerance may also be configured by entering the desired value into their respective text boxes. These values are written to MyMachine.Printer.BedTempSetting[] and can be overwritten by specific G-Codes for setting Bed Temperature, M140 and M190.

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Configuring an Enclosure Heater

To set up the Enclosure Heater, begin by clicking the enable check box at the top of the section.

Next, enter a name for the Enclosure Heater. The customization options for the enclosure heater include both the Default Set- point and Temperature Tolerance, which may be adjusted by entering values into their respective text boxes. These settings are written to MyMachine.Printer.EnclosureTempSetting and can be overriden by G-Codes M141 and M191.

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3D Printing

Some special configuration is required to enable 3D printing support.

Configure the Group in Hardware Configuration

Starting with MotionWorks IEC 3.6, there are two methods available to configure extruders; either as rotational axes of an nD gantry, or as additional axes. Configure either a 3D or nD gantry.

Extruder Configuration Required for MotionWorks IEC 3.5 and Older

Configure the extruder [E0] as the Rz axis. Also consider the FeedConstant value for the Extruder on the Configuration tab for the Extruder axis. The user units for the Extruders must be the same as for the Cartesian (XYZ) axes. Two additional

Extruders can also be configured. See the Extruder Mapping Chart that follows.

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Extruder Configuration for MotionWorks IEC 3.6 and Newer

Configure the Extruders as additional axes to a 3D or nD gantry. This is the preferred method, although the older method is still supported and there is no need to change an existing configuration when upgrading. Extruders configured as additional axes can be observed in AxesGroup.Machine[7] [8] and [9] or AxesGroup.Part[7] [8] and [9].

Extruder Mapping

Extruder axes as configured in Hardware Configuration MotionWorks IEC 3.5 and

Older

MotionWorks IEC 3.6 and Newer

Description Reference Tool

#

Group Toolbox v350 and Older

Group Toolbox v352 and Newer

Default Extruder E0 T0 Rz Rz or Add Auxiliary Axis

Additional

Extruder E1 T1 Ry Ry or Add Auxiliary Axis

Additional

Extruder E2 T2 Rx Rx or Add Auxiliary Axis

MachineStruct Configuration for a 3D Printer

The system must be configured so the function blocks can correctly interpret some special features unique to a 3D Printer.

Configure the following in the "Initialize" POU.

MyMachine.MachineType:=GTB_MachineType#Printer;

There are several other initializations which should be considered. See the MotionWorks IEC Template Projects documentation listed at www.yaskawa.com/compass. Click on the software tab.

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Temperature & Fan Management

The functions in the group toolbox recognize G Codes that pertain to extruder, bed, enclosure temperature and fan speed and copy data into the MachineData structure. There is no built in functionality for physically setting these features. The MPiec project must be customized by connecting the data in the MachineData structure with the appropriate control devices configured in the system.

Temperature related G Codes:

M104 Set Extruder Temperature

M109 Set Extruder Temperature and Wait M140 Set Bed Temperature

M141 Set Chamber Temperature

M190 Wait for bed temperature to reach target temp M191 Wait for chamber temperature to reach target temp

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Data Type: PrinterStruct

Contains information for 3D printing applications, including externally operated devices, such as heaters, and fans. The functions in the Group Toolbox do not directly manage temperature and fan control features. Support for these features must be added to the MotionWorks IEC application based on the machines specific hardware. The Read_GCode_File and Read_GCode_

Stream function block will recognize various M Codes for temperature and fan and copy the parameter values into the Print- erStruct for the MotionWorks IEC project to reference.

Data Type Declaration (0120190110)

* Element Data

Type

Description Usage

PrinterStruct

U BedTempActual YTB_RealAr-

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The user application can write the actual bed temperatures back to this structure if desired, but they are not used by any function in the Group Toolbox. These values along with the entire MachineStruct are sent to the host application such as CNCWorks once per second for display pur- poses.

MyMachine.Printer.BedTempActual[x]

U BedTempSetting YTB_RealAr-

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When receiving an M140 command, bed temperatures are stored in this structure for use by the MotionWorks IEC application program.

MyMachine.Printer.BedTempSetting[x]

U BedTempTolerance REAL The PC software such as CNCWorks, the MotionWorks IEC Application Program, or M190 code can set the minimum temperature to wait for when using M190.

MyMachine.Printer.BedTempMinTarget

U EnclosureTempActual REAL The MotionWorks IEC project must be customized by connecting the actual temperature of the Enclosure to this variable, which will be communicated to the GroupComm DLL and the PC software.

MyMachine.Printer.EnclosureTempActual

U EnclosureTempSetting REAL When receiving an M190 command, the S register value will be stored in this variable.

The MotionWorks IEC project must be customized to use this data to control the Enclosure temperature.

MyMachine.Printer.EnclosureTempSetting

U EnclosureTempTolerance REAL For future use. MyMachine.Printer.EnclosureTempMinTarget

U BedTempReady BOOL When receiving an M140 command, bed

temperatures are stored in this structure for use by the MotionWorks IEC application program.

MyMachine.Printer.BedTempReady

U EnclosureTempReady BOOL When receiving an M140 command, bed temperatures are stored in this structure for use by the MotionWorks IEC application program.

MyMachine.Printer.EnclosureTempReady

U Fan BOOL Flag which can be used by the

MotionWorks IEC application program to control the Fan. This is set by M106 and M107 commands.

MyMachine.Printer.Fan

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U Extruder ExtruderArray Array of three ExtruderStruct containing information for up to three extruders. (See below.)

MyMachine.Printer.Extruder[0].CmdPos

C ExtruderScalerEffective BOOL This variable is managed by MC_MovePath.

The purpose is to allow the PC software such as CNCWorks to report when a change to the Extruder scaler is live on the machine. When the scaler is changed, the correction values are applied to new motion segments, which get placed into a queue, and may not actually cause motion for several seconds. Each time the scaler is changed, this flag is set FALSE and the byte offset of the stream noted. When MC_

MovePath determines that the motion instruction including the changed scaler is live (causing motion), the variable is set back to TRUE.

MyMachine.Printer.ExtruderScalerEffective

C ExtruderOffsetValid BOOL For internal use by MC_MovePath. The extruder offset must be valid before a G1 command can command the extuder.

When extruders are changed via the T0 ~ T2 command, the G92 command typically defines the start point for the extruder.

MyMachine.Printer.ExtruderOffsetValid

C ActiveExtruder INT Reports the Active Extruder for systems which are configured to operate more than one device. Extruders are switched using the T0 ~ T2 command.

MyMachine.Printer.ActiveExtruder

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ExtruderData

Starting in v350, there is an array of ExtruderData to support machines with multiple extruder heads.

In the following chart, the left column indicating 'U'ser or 'C'ontroller - Controller indicates that the MC_MovePath function block manages the value.

* Element Data Type Description Usage

ExtruderData

U Axis AXIS_REF Reserved for future use. MyMachine.Printer.Extruder

[0].Axis.AxisNum U XOffset ^LREAL If the machine is equipped with multiple extruders,

these offsets define the physical relationship between the primary and secondary extruders. Can also be used to adjust the general X offset of any extruder.

MyMachine.Printer.Extruder [0].XOffset

U YOffset ^LREAL If the machine is equipped with multiple extruders, these offsets define the physical relationship between the primary and secondary extruders. Can also be used to adjust the general X offset of any extruder.

MyMachine.Printer.Extruder [0].YOffset

U ZOffset ^LREAL If the machine is equipped with multiple extruders, these offsets define the physical relationship between the primary and secondary extruders. Can also be used to adjust the general X offset of any extruder.

MyMachine.Printer.Extruder [0].ZOffset

C EOffset ^LREAL For internal use by MC_MovePath. MyMachine.Printer.Extruder

[0].EOffset U ScaleFactor ^REAL The G Code data specified for the extruder position can

be overridden by this factor. The allowable range is lim- ited between 05. to 1.5.

MyMachine.Printer.Extruder [0].ScaleFactor

C CmdPos ^LREAL For internal use by MC_MovePath. MyMachine.Printer.Extruder

[0]CmdPos

C CmdVel ^REAL For internal use by MC_MovePath. MyMachine.Printer.Extruder

[0].CmdVel U TempSetting YTB_RealArray4 An array of extruder temperature settings which can be

populated by M104 or M109 commands.

MyMachine.Printer.Extruder [0].TempSetting

U MinWarmTemp YTB_RealArray4 This value can be customized based on application needs. For example, set the value to a temperature that is too hot to touch without burning the skin, such as 45 C. If using CNCWorks, the background color of the Extruder setting area will be blue if TempActual is less than MinWarmTemp and Orange if TempActual is greater than MinWarmTemp but not within the required tolerance.

MyMachine.Printer.Extruder [0].MinWarmTemp

U TempTolerance YTB_RealArray4 Enter a tolerance as required before the M109 command will pass program flow to the next command. This applies for either heating to a specified temperature, or cooling to the new desired temperature.

MyMachine.Printer.Extruder [0].TempTolerance

U TempActual YTB_RealArray4 Connect the value from the real world temperate sensor in the units of your choice.

MyMachine.Printer.Extruder [0].TempActual

U TempOffset REAL Enter a value as required to override the temperature settings specified in the G ode file.

MyMachine.Printer.Extruder [0].TempOffset

U RetractLength LREAL Reserved for future use. MyMachine.Printer.Extruder

[0].RetractLength

U UnRetractLength LREAL Reserved for future use. MyMachine.Printer.Extruder

[0].UnRetractLength

U RetractFeedRate LREAL Reserved for future use. MyMachine.Printer.Extruder

[0].RetractFeedRate

U ZLift LREAL Reserved for future use. MyMachine.Printer.Extruder

[0].ZLift U AirPressure BOOL User customizable to report to the PC software. Not

used by any Toolbox function block.

MyMachine.Printer.Extruder [0].AirPressure

U VacuumPressure BOOL User customizable to report to the PC software. Not used by any Toolbox function block.

MyMachine.Printer.Extruder [0].VacuumPressure U LowTorque BOOL User customizable to report to the PC software. Not MyMachine.Printer.Extruder

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U HighTorque BOOL User customizable to report to the PC software. Not used by any Toolbox function block.

MyMachine.Printer.Extruder [0].HighTorque

U TempReady BOOL User customizable to report to the PC software. Not used by any Toolbox function block.

MyMachine.Printer.Extruder [0].TempReady

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Software Layout

The user interface is arranged into configurable Zones and Panels. Zones are the major sections of the interface in which Panels can be inserted. Panel examples include: G-Code display, buttons, jog controls, etc. In the graphic below, six Zones are configured as marked by the yellow lines. In addition to Zones and Panels, a configurable Header, Control and Status Bar are available.

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Customization Overview

Customizing the Compass Graphical User Interface (GUI) requires being logged in as OEM, then choosing the Customize button on the Main Tool Bar. The Main Tool Bar can be activated by clicking the "Hamburger Icon" with three horizontal lines at the upper right corner of Compass.

Zone Layout

Consider this Step 1, Zone Layout is the configuration of Zones, Header Bar, Control Bar and Status Bar sizes used throughout Compass.

Zone Config

Consider this step 2, many panels (or plugins) may be added multiple times to a zone or in multiple locations across the three modes (Manual / MDI / Auto) as necessary and relevant. The Panels within a Zone can be arranged vertically (top-to-bottom) or horizontally (left-to-right).

Panel Config

Consider this step 3, Panel Config allows for Panels and Plugins to be configured within zones.

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Status Bar Config

Configure items to be added to the status bar at bottom of screen. These items may also be edited from the Status Bar Con- figure menu.

Header Bar Config

Configure items to be added to the header bar (top of screen). These items may also be edited from the Header Bar Configure menu.

Control Bar Config

Allows for items to be added to the control bar (right-side of screen). These items may also be edited from the Control Bar Con- figure menu.

Color Config

Configure colors for the Toolbars, Panels, Margins and Buttons. These items may also be edited from the Color Configure menu.

Pop-up Zone Config

The Pop-up Zone Configuration displays all pre existing pop-up zones. Existing pop-up zones can be edited or previewed and new ones may be created. The pop-up zones can also be configured to Launch Maximized or Full Screen.

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Tech Panel Config

Modules can be created and added to the Technician Panel.

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Configuring Zone Layout and Appearance

To configure the zone layout, open the main menu and choose Customize. Then, choose "Zone Layout" to open the Edit Zones Menu.

The Zone Layout menu allows sizing the Header Bar, Control Bar, Status Bar, Pop-Up Zone Margin and main Zone displayed throughout Compass. Changes made to the settings are shown in the preview in the center of the dialog. Once satisfied with the layout, click the check mark button in the bottom right of the Edit Zones menu to apply the changes.

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Editing the Zone Layout

Enter the desired number of columns and rows into their respective fields. The spacing (in pixels) can be edited via the Hori- zontal and Vertical fields.

Editing Zone Sizing

To edit the zone sizing, enter the desired dimensions into the fields provided near the zone preview. The values entered rep- resent the size of the zones relative to each other rather than a specific unit of measurement. For example, 50:50 equates to 1:1 and 50:25 equates to 2:1.

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Editing the Header, Control, and Status Bars and Pop-Up Zone Margin Siz- ing

To edit the Header Bar, Control Bar, Status Bar and Pop-Up Zone Margin Sizes, enter the desired size (in pixels) in the fields.

Click the "Auto" checkbox to set the sizes to the Default value.

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Configuring Colors

Open the main menu and choose Customize, then choose "Color Config."

This feature allows configuration of the zone colors used throughout Compass. Changes made to these settings will change the preview in the top half of the dialog. Once satisfied with the colors, click the check mark button in the bottom right of the Con- figure Global Colors menu to apply the changes.

Editing Zone Colors

Choose the attribute of the zones or buttons to edit from the presented options and click the drop down menu fixed to the color preview. Note that not all color changes will be represented in the preview. Click the "Reset to Default" button at any time to revert back to the Default colors.

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Configuring Zones

To configure zones, open the main menu and choose customize. Then, choose "Zone Config."

Once selected, "Zone Edit" icons will appear at the top right corner of all configurable zones. Many panels (or plugins) may be added multiple times to a zone or in multiple locations across the three modes. Each of these are independent panels. Some panels, such as Position Monitor panels, are single-instance panels. This means that they show the same information in all locations. Some Zones are specific to the active mode.

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Click on any of the "Zone Edit" icons and the following window will appear:

In this example, there are already default plugins configured in the zone.

Adding and Removing Panels

To add a Panel to a zone, select it from the list on the left and then choose the right-facing arrow.

To remove a Panel from a zone, select it from the list on the right and then click the left-facing arrow.

Note: Overloading a zone with too may Panels may result in a cluttered appearance and/or cut-off panels.

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Editing Zones

To edit a Panel, click on one of the Panels in the list on the right. Click on the "Edit Selected Zone" icon and a menu tailored to the selected Panel will appear, where further configuration can be performed.

To change the order in which the Panels appear in a zone, click on a Panel from the list on the right and refer to the four arrows on the far right.

To enable Panel stretch, check the Stretch check box above the list on the right then the boxes in front each Panel to be stretched.

Check the "Arrange panels horizontally" box to organize the Panels in a left-to-right format. This may require additional sizing of each Panel to fit the Zone correctly.

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Built-In Panel Library

Each built-in Panel includes a panel-specific configuration screen accessible by the OEM in Panel Config mode. Use the Panel Config to customize the appearance and features of these panels.

Active Modal Display (Compact)

Shows the active G-Code modes. This is a compact view; no description text is included. For a more complete view, consider the ‘Active Modal Display Expanded’ instead.

Active Modal Display (Expanded)

Same functionality as the compact view, but with text descriptions.

Analog Button Panel Show and set the value of any analog variable used for any purpose by the machine. In Panel Config mode, enter the name of a MotionWorks IEC Global variable to which this panel control is linked.

Use any non-boolean datatype such as INT, REAL, LREAL. This is the same panel used for some pre-defined functions such as Feedrate Override.

Analog Slider Link to any non-boolean MotionWorks IEC global variable such as INT, REAL, LREAL.

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Enclosure Heater Temp Panel

Works with the data in the MyMachine.Printer structure to display a colorized view of the Enclosure temperature setting and actual temperature.

Extruder Temp Panel Works with the data in the MyMachine.Printer structure to display Extruder temperature and set- point.

Feed Override Panel Works with HostData.From.Tag.VelFactor and MyMachine.Control.VelocityScaler (the maximum feedrate override) to manage the feedrate override feature.

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Grid Panel Create a panel of an array of buttons which can be interfaced with the following types of information: Boolean, Analog, String, G-Code.

The buttons can be linked to G-Codes, Global variables or predefined functions, such as Single Block Mode. Another option is to invoke a pop-up zone, which may be ideal for customized plug-ins or infrequently used panels that consume a lot of screen space, such as a Tool Changer setup panel.

Jog Coordinate Frame

Adds the ability to jog the machine in particular coordinate systems or frames. For a gantry system, this is typically unnecessary because the default is Machine frame (MCS), and there are no kin- ematics linking the machine frame to the axis frame. For systems using 6 axis robots or other kinematically linked groups, it may be advantageous to jog the machine with reference to the Work (PCS) or Axis (ACS) frame.

Jog Increment Adds the ability to Jog the machine a set distance each time a button on the Jog Panel is pressed.

This panel only enables the jog increment feature and sets the jog increment, it will not cause motion. The operator can select a custom distance or one of three presets.

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Jog Panel This is the main panel for jogging machine “Group” axes. Axes which are not configured as part of the group, such as tangent axes and spindles, must be jogged separately using the Grid panel or other button configuration.

Jog Speed Provides the ability to select one of four Jog speeds. This panel only sets a speed to be applied to a jog operation on another Panel, it does not cause motion. Two sets of units display are configurable by the OEM based on the mechanism having rotary axes, such as a rotary table or other kinematically operated axes, such as robots.

Jog Speed and Incre- ment

This combo Jog Panel provides the ability to choose between jogging at a velocity or jogging the indicated distance while a jog button is held down on a separate panel. Jog Speed and Jog Incre- ment choices are mutually exclusive.

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MDI Panel The MDI (Manual Data Input) Panel can be configured by the operator for Terminal Mode as shown where the <Enter> key executes a single command, or in Multi-Line Mode for entering multiple commands which will be executed as a mini program when the Cycle Start button is pressed.

Part Viewer Preview the G-Code file open in the Program Display Panel to confirm it is the intended part, and that it fits within the machine and stock material properly. A live view of the TCP is also possible.

This panel also helps with setting a Work Offset (G54) or Local Zero Offset (G92) to properly position the TCP for production.

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Position Display Displays the axis positions in either the Machine (MCS) or Work (PCS) coordinate system. The "To Go" feature shows the amount of travel remaining before each axis arrives at it's commanded target position. This is most useful during setup when only one motion command is executed at a time rather than a series of commands that make up a path.

Position Monitor Loaded

An alternative position display panel that includes a second column for displaying extra position, speed, or torque information. It can also be configured to display a variety of indicators such as servo power status, home position status, over-travel status, or other axis-specific indicators.

Position Monitor Min- imalist

A simplified version of the Position Display Panel.

Printer Fan Control Panel

This Panel interfaces with the MotionWorks IEC global variable MyMachine.Printer.Fan and MyMachine.Printer.FanSpeed. The G-Code commands M106 and M107 will update MyMachine.Printer and be reflected on this panel.

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Program Display This is the Panel where G-Code files are opened. A yellow highlighter bar indicates the line being executed. A red highlighter bar indicates a line which had an error. Files can be edited by the operator using the “Enter Edit Mode” icon. The "Prepare Program Restart" button prepares the system to restart the G-Code from a specific line number. The G-Code syntax can be checked using the

"Check Syntax" icon. The "View Execution History" icon is used to view details of previous G-Code files that have been run. Configuration supports file extension filters.

Spindle Control Interfaces with data in the MotionWorks IEC global variable MyMachine.Spindle[]. The structure supports up to three spindles. The Compass configuration for this panel includes a selection for the spindle index. If the machine is equipped with more than one spindle, use multiple Spindle Panels and change the title bar to identify each spindle clearly.

User Control User controls are created in Visual Studio as a C# WPF User Control. See Creating Custom Plug-ins in C#.

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Configuring Grid Panels

A variety of different displays can be included in a Grid Panel. Select the type of element to display in each cell of the grid then either choose an existing element of that type from the drop-down list or create a new one by clicking the New button. Option- ally, existing grid panel elements can be edited or deleted with the corresponding buttons.

The number of rows and columns in the grid panel are set at the top of the configuration dialog. The spacing between rows and columns are configured in pixels. Each section of the grid will be evenly sized in the space provided for the panel.

The following customizations are available for the grid panel:

Button

See the Configure Custom Function Button topic.

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Boolean Indicator

ID Name: All Boolean Indicators must have a unique name for internal reference in Compass.

Style: There are four styles to choose from:

1. Fixed Ratio: The indicator will fill the available space while maintaining the ratio configured using the width and height values.

2. Fixed Size: The indicator will be the exact size configured using the width and height values. If the indicator is larger than the available space then it will be cropped.

3. Stretch: The indicator will fill the available space in all directions.

4. Labeled: The indicator is displayed with a label. The label can be displayed above, below, or to either side of the indicator. The label and the label color are configurable in the appropriate fields.

True/False: The text for both true and false states is entered separately. Background and Text colors are also configurable for each state.

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Function: Two methods are available for connecting to Boolean variables. The most common is Global Variable, which allows connection to any global Boolean variable on the controller. Additionally, Boolean indicators can be connected to G-Code variables. A value of zero is considered false, and any other value is evaluated as true.

Preview: A preview of the indicator is displayed. The exact size and look may vary depending on the available space for the indicator in the grid panel.

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Analog Indicator

Three different Cell Colors can be applied based on the analog value in relation to specified Lower and Upper Thresholds.

ID Name: All Analog Indicators must have a unique name for internal use in Compass.

Label and Color: Labels can span multiple lines. The color of the Label text can also be defined.

Style: The style indicates where the label is located relative to the indicator. The label can be above, below, or to either side of the indicator, or it can be hidden.

Indicator Size: The width of the indicator relative to the available space can be set to large, medium, or small.

Precision: The precision is the number of digits after the decimal point.

Text Color: Text color will be the same for all indicator colors.

Background Colors and Thresholds: Three background colors can be set for the indicators; one below the lower threshold, one between the two threshold settings, and one above the upper threshold. This allows indication of whether a value is within a proper range for operation. For example, a temperature indicator can display whether the detected temperature is too cold or too warm for the operation.

Function: Two methods are available for connecting to analog variables. The most common is Global Variable, which allows connection to any global analog variable on the controller. Additionally, analog indicators can be connected to G-Code variables.

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Analog Scale Indicator

The analog indicator can display a dynamic scale by changing the background color of the indicator. For example, the analog scale indicator can display the percentage of completion for a process with the scale growing as the part is executed.

ID Name: All Analog Scale Indicators must have a unique name for internal management in Compass.

Label and Color: Labels can span multiple lines. The color of the Label text can also be defined.

Style: The style indicates where the label is located relative to the indicator. The label can be above, below, or to either side of the indicator, or it can be hidden.

Indicator Size: The width of the indicator relative to the available space can be set to large, medium, or small.

Precision: The precision is the number of digits after the decimal point.

Text and Fill Color:

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l The Bar Text Color defines the text color of the indicator.

l The Bar Fill Color defines the color of the moving scale. When the value is at the Max Value, the bar will be entirely filled with this color.

l The Bar Back Color defines the background color of the indicator. When the value is at the Min Value, the bar will be entirely filled with this color.

Read Only selection: By default, the Analog Scale Indicator is a read-only display. However, by un checking the Read Only check box, the value can be changed manually by clicking on the indicator.

Min/Max Values: These define the distance the moving scale progresses across the control. They do NOT limit the minimum or maximum value of the analog variable. When the value is at or below Min, no scale will be shown. When the value is at or above Max, the scale will be at it’s maximum extension.

Units: This text will be displayed on the indicator after the value.

Function: Two methods are available for connecting to analog variables. The most common is Global Variable, which allows connection to any global analog variable on the controller. Additionally, analog indicators can be connected to G-Code variables.

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String Indicator

A String Indicator displays a string value in a grid panel cell.

ID Name: All String Indicators must have a unique name for internal management in Compass.

Method: The source of the string text is determined by one of the following methods:

1. Preset: The text is configured automatically. The “Preset” field contains a list of all pre-defined string variable.

2. Global Variable: The text is determined by a global STRING variable in the controller.

The string is displayed using the text and background colors as configured in the Zone Layout screen.

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Configuring Panels

To configure panels, open the main menu and click Customize, then click Panel Config.

Once selected, "Panel Edit" icons will appear at the top right corner of all configurable panels. By selecting one of the icons, a configuration menu specific to the panel will open.

All panels have the title bar configuration option: Title Bar, Inline and Hide.

The table below provides an example of these three options:

Title Bar Inline

Hide

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Configuring the Header Bar

Customized buttons may be added to the Header Bar to send or report information to / from the MPiec Controller as a PLCi Vari- able, Predefined function, standard G-Code or custom G-Code. For information regarding the procedure to add support for custom G-Codes, refer to the MotionWorks IEC Toolbox Manual, document TM.MWIEC.01 at www.yaskawa.com/iectb. Search for the sections titled “Getting Started with G-Code” and “Adding Custom G- and M-Codes.”

Open the main menu and select the "Customize" button to open the customization tool bar.

With the customization tool bar open, select the "Header Bar Config" button.

The "Header Bar Setup" menu will open, displaying the existing user-defined controls (e.g. buttons, indicators, etc) in the project. To create a new button, click on the triangle next to the specific control and then double-click "Create New", or if buttons have been previously configured they will be available in the list.

Buttons can be configured with both a “Function” and a “Status.” See the Configure Custom Function Button page for details on this subject.

Once the Header bar has been configured with custom buttons, it will appear similar to this:

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Configuring the Control Bar

Customized buttons may be added to the Control Bar to send information to the MPiec Controller as a PLCi Variable, standard, or custom G-Code.

To configure the Control Bar, open the main menu and choose Customize, then choose "Control Bar Config".

The "Control Bar Setup" menu will open, displaying the existing user-defined controls (e.g. buttons, indicators, etc) in the project. To create a new button, click on the triangle next to the specific control and then double-click "Create New", or if buttons have been previously configured they will be available in the list.

Buttons can be configured with both a “Function” and a “Status.” See the Configure Custom Function Button page for more information on this subject.

To add an image to the included buttons, select the "Configure Custom Images" button after selecting an item from the Included list.

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This will open the Control Bar Standard Buttons Configuration dialog, which will allow the user to customize button images in accordance to their status. The Default status images may not be edited, however the True and False status images are customizable. To add an image, click on the "Click to add image" item.

With the Image Browser now open, click on the "Add New Image" item to open the file browser and select the desired image.

Once an image is added, it will appear in the image browser, where it can be removed by right-clicking on it.

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Once the Control bar has been configured with custom buttons, it will appear similar to this:

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Adding Spacers on Header and Control Bars

When buttons are added to the Header or Control bars, the new buttons are placed immediately adjacent to the Mode Select or Control buttons. To add a space between the predefined buttons and the custom buttons, add an invisible button at the top of the button list.

Method:

1. Create a new button.

2. Choose style "fixed ratio."

3. Clear the label field.

4. Set both the Background and Text/Border colors to "transparent."

a. Do this for both the TRUE and FALSE Formats.

b. Un-check the "Use default button colors" box.

5. Select a Method:

a. Pop-up Zone without a selected pop-up reference. Note: If the area is clicked, a message will be added to the Alarm Listing.

b. Global Variable with a matching "dummy" variable added to the MotionWorks IEC project.

6. Adjust the width of the spacer by adjusting the ratio of the button.

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Pop-up Zone Method:

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Global Variable Method:

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Configuring the Status Bar

To configure the status bar, open the main menu and choose Customize. Then, choose "Status Bar Config" to open the Status Bar Configuration Menu.

All configured status bar items will be displayed.

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Adding a Status Bar Item

To add a new item, select the button with the "Add Item" icon located at the bottom left of the menu. After a new item is added to the menu (defaulting as a “Current Time” item,) select the desired function from the drop-down menu. The Alignment can also be selected, with the choices of Left, Center and Right.

List of items which can be added to the status bar:

Feature Note / Example

Active Alarm

Active Motion Command Active Tool

Current File

Current Line As listed in the Program Panel, not the N line number if supplied.

Current Time hh:mm:ss

Dimension Mode G20 / G21

Estimated Completion

Time hh:mm:ss

Estimated Part Percent 37%

Estimated Remaining

Time hh:mm:ss

Part Elapsed Time hh:mm:ss

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Deleting a Status Bar Item

To delete a status bar item, select the item and then click the "Delete" icon.

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Configuring the Logo

To edit the logo shown at the upper left of Compass and on the About window, login at the OEM level, open the menu and select

"About."

Click the edit icon as shown to change the logo image. Logo image formats must be BMP, GIF, or PNG. Recommended folder loc- ation for storing logo images is C:\ProgramData\Yaskawa\Compass\Config\Images\Logo.

The default Yaskawa logo can be re-displayed by clicking the icon shown below. The tooltip indicates “Reset Logo Image.”

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Configuring Pop-up Zones

To configure pop-up zones, open the Main Menu and choose Customize. Then, choose "Pop-up Zone Config" to open the Pop- up Zone Configuration menu.

The Pop-up Zone Configuration displays all configured pop-up zones. Existing pop-up zones can be edited or previewed and new pop ups may be created. These options are accessible via the respective buttons at the lower left corner of the menu.

The Pop-up Zone Margin Thickness can be adjusted in the Zone Layout menu. The Pop-up Zone Margin Color can be adjusted in the Color Config menu in the "Margins" section.

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Creating a New Zone

To create a new zone, select the "New Zone" button and enter a unique name for the pop-up zone.

In the Configure Zones menu, choose the panels to include in the pop-up zone. Individual panels can be edited by selecting them and clicking the pencil icon "Edit Selected Zone." Choose the desired panels from the list of available panels on the left and press the right arrow button to add them to the zone. Once finished, click the check mark icon to save the configuration.

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Editing Zones

To edit a pop-up zone, select it from the menu and click the "Edit Selected Zone" icon. This will reopen the Configure Zones menu, allowing edits to be made.

Deleting Zones

To delete a pop-up zone, select it from the menu and then click the "Delete Selected Zone" icon.

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Previewing Zones

To preview a pop-up zone, select it from the menu and click the "Preview Selected Zone" icon. The size (in pixels) of the pop- up window can be edited via the "Default Height" and"Default Width" fields. To open the pop up at maximum screen size, click the "Launch Maximized" check box.

The preview icon shown above will open a pop-up window containing a preview of a created zone.

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Configuring Custom Function Buttons

Custom function buttons can be created and added to the Header Bar, Control Bar and Grid panel.

Click the main menu and choose Customize. Select Configure Header or Configure Control Bar and choose the "(Create New..)

" option from the setup menu to open the Custom Function Button Configuration menu.

The Custom Function Button Configuration menu may also be reached by adding a button to a Grid Panel, and then choosing

"New" or "Edit" from the Grid Panel menu.

Once to the Custom Function Button Configuration menu, the following options will be presented:

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Setup

The initial setup of a custom button will provide fields for a component name, a button style and a button label. Also provided in the initial setup are options for usage, allowing a button to be enabled in specific modes such as Manual, MDI or Auto.

Button style may be selected from the drop-down menu, which contains the following options: Fixed Pixel Size, Fixed Ratio and Stretch. The height and width of the button may also be edited via their respective fields.

The button's label may also be customized by adjusting the overall size via the drop-down menu adjacent to the label field. The option to bold the text is also available, as well the option to choose where the text appears on the button by the selecting a square on the grid.

For Technician & OEM Usage level, button visibility is based on the user log in. If neither of the user levels are checked, the button will be visible for all users.

If the "Disable during G-Code streaming" box is checked, the button function will not be executed when G-code processing is active from either AUTO or MDI mode. When the button is clicked, a notification will appear indicating that the feature is not allowed.

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Function

The methods available for selection via the drop-down menu are: G-code, Global Variable, Pop-up Zone and Predefined.

Method Description Example

G-code Enter a G-Code command directly into the Command text box.

Global Variable

Enter a Global BOOL variable name which matches the name of a variable in the MotionWorks IEC project. Case sensitivity is important.

Pop-up Zone Zones created by the user are available via a drop-down menu.

Predefined Predefined commands such as "Single Block" are available via a drop-down menu.

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TRUE and FALSE Format

The background color, text/border color and button image are separately configured for each button state.

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Status

If enabled, the option to input a Status Variable becomes available, as well as the ability to customize the color of the Status Indicator.

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Button Preview

The Button Preview displays the button's appearance when set to TRUE and FALSE, and will update as the button's appearance is configured in the menu.

The icon to the right of the preview is a "Pop-out View", which provides a view of what the button will look like in various grid sizes.

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Configuring the Technician I/O Panel

The Technician I/O panel must be configured using the "Tech Panel Config" button before the "Technician Panel" icon will appear in the main menu. To configure the Technician I/O panel, open the main menu and choose Customize. Then, choose

"Tech Panel Config" to open the Technician Panel Module Setup.

To use the Technician I/O Panel, the user must be logged in as Technician Level or higher. To access the Technician Panel, open the main menu and select "Technician Panel".

Once the Technician Panel Module Setup menu is open, all available hardware modules will be listed.

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Configuring variables in MotionWorks IEC

Before a variable can be added to the Technician I/O Panel, it must be added to the MotionWorks IEC project. To do this, the variable must be a VAR_GLOBAL and must be marked with the PDD attribute and the project compiled and downloaded to the MPiec controller. Only BOOL and REAL/LREAL datatypes are supported.

To mark the variable with the PDD attribute, check the box in the PDD column of the Global Variable list.

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Forcing BOOL Output Variables

To allow forcing of outputs, an additional variable must be created for each output to be forced. The second variable has the characters “_force” appended after the variable name. For example, if forcing is desired for a variable named Output1, a variable Output1_force must also be created, and must also be marked with the PDD attribute. In addition, a VAR_GLOBAL must be created to indicate when forcing is enabled. This variable must be named TechPanelForceEnable and must be a VAR_GLOBAL of type BOOL. The PDD attribute is not required for this variable.

For each variable where forcing is allowed, MotionWorks IEC code must be written to handle the forcing and releasing of the force. See the function called CompassForceVar in the Logical POU tree of the Compass project template.

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MotionWorks IEC ST Code

A function named CompassForveVar is available in the Compass Template Project.

Output_Variable_Prog is the outputs normal value based on the MotionWorks IEC project code.

Output_Variable_force is the forced value from Compass.

Output_Variable is the actual output connected to a physical device.

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Adding a Module

To add a module, click the "Add Module" button. After entering a name for the module, it will appear on the module field in the center of the menu.

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Editing a Module

To edit a module, select a module and then click the "Edit Module" button.

With the Module Configuration dialog open, all PPD variables will appear on the far left menu. From there, the variables can be transferred into four module sections: Digital In, Digital Out, Analog In and Analog Out.

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Deleting a Module

To delete a module, select a module from the list and then click on the "Delete Module" icon.

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Exporting a Module

To export a module, click on the "Export Module" button. This will open the file browser, allowing the module configuration XML file to be saved separate from the Compass configuration.

Importing a Module

To import a module, click on the "Import Module" button. This will open the file browser, allowing the user to view module configuration XML files to be imported.

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Technician I/O Panel Troubleshooting Tips

Problem Solution

When configuring variables within a module, the expected variable is not shown in the “Available Vari- ables” list.

In MotionWorks IEC, verify that the variable is declared as a GLOBAL_VAR and the PDD attribute is checked.

When using the Technician I/O panel, the “Allow Forcing” check box cannot be set.

Verify that the BOOL GLOBAL_VAR TechPanelForceEnable exists in the MotionWorks IEC project.

When “Allow Forcing” check box is TRUE, the Force Indicator square for and output variable is not shown.

Verify that the associated BOOL force variable (VariableName_force) exists in the MotionWorks IEC IEC project code as a GLOBAL_VAR and the PDD attribute is checked.

When the “Allow Forcing” check box is TRUE, the Force Indicator square is shown but the output cannot state cannot be forced.

Verify that the MotionWorks IEC code to handle forcing is downloaded and executing on the MPiec controller.

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Configuring User Dialogs

The OEM can trigger dialog boxes to be displayed. These dialogs include customzied text and two buttons: Green Check (accept) and Red X (cancel.)

To configure User Dialogs, open the main menu and choose Options.

Then choose the "User Dialogs" tab.

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Adding User Dialog Boxes

To add User Dialogs, click on the "Add User Dialog" icon at the bottom left of the menu.

A global BOOL Variable name to trigger the dialog box. The Boolean variable logic must be coded in the MotionWorks IEC project.

Add a Dialog box title

Add text to be displayed in the body of the dialog box Add text for the buttons of the dialog box

Add Global Variables to be set TRUE when the Accept button is pressed and when the Cancel button is pressed.

Notes:

1. MotionWorks IEC code should use the R_TRIG and SET coil strategy so that the MPiec can only set the Trigger Variable TRUE, leaving the responsibility for setting it back to FALSE to Compass once the Dialog box is displayed.

2. The Dialog Title and Dialog Text can be configured as variables by including the '%' character followed by the variable name.

3. When the Trigger Variable transitions from FALSE to TRUE, the Dialog is displayed AND Compass will automatically set

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7. Pressing the Red X, or closing the dialog box with the Windows system "X" or ESC sets the Cancel Variable to TRUE and the Trigger and Accept Variables to FALSE.

8. If a variable is not the required datatype (BOOL,) the following error message will be displayed: 'Variable Error: Cus- tom Dialog Variable <variablename> is not a <ExpectedDataType> variable.'

9. If a variable does not exist in the MPiec Controller, the following error message is displayed: 'Variable Error: Custom Dialog Variable <variablename> does not exist as a Global Variable.'

Deleting a User Dialog

To delete a User Dialog, select an item from the list and then click on the "Delete" icon.

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Configuring a G5 Message Dialog

Compass software supports the ability to display message dialogs as a result of executing a special command which sets and reads some interface data. This feature requires configuring G5 (or any other available command) as an override. As a special override with a string parameter, no other registers with traditional numeric values are allowed.

Example G-Code file

Example Override Configuration

See Creating Custom G-Codes or Overrides for the procedure for adding the function blocks described here to the MotionWorks IEC project.

Line 16: BlockFlags as BlockUpdateFlags was added in Group Toolbox v373 to support string message in overrides. Set this flag TRUE to indicate that the remainder of the command is to be treated as a STRING.

Line 18: Choose a unique identifier for this command which will also be referenced in Custom_Code_Execute.

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Example Custom_Code_Processor Configuration

No customizations are required.

Example Custom_Code_Execute Configuration

Variables on lines 69 through 77 can be chosen by the OEM and must also be used in Compass dialog configuration.

Example Compass Dialog Configuration

Note that variable name case sensitivity must match in the Compass and MotionWorks IEC project. Notice the "%" symbol in Dialog Text before the actual variable name in the MotionWorks IEC project. This prefix indicates that the string contents of the variable should be displayed, not the actual dialog text in the User Dialogs configuration window.

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Adding Notification Messages

Custom notifications display a message in response to a logical condition programmed in the MotionWorks IEC Project. Noti- fications are triggered when the MPiec program sets a global BOOL variable TRUE. Compass monitors variables configured as notification triggers and displays the notification text associated with the variable. Compass will set to notification variables back to FALSE. This creates a good handshake so determining an adequate time to hold the trigger variable TRUE is not necessary.

To create a custom notification, choose Options from the main menu then click the Notifications tab.

"Show" Checkbox

l Allows OEM to turn off notifications.

l Default: Show Notifications

Notification Delay

Specifies how long a notification appears on the screen.

l Configurable from 1 to 30 seconds.

l Default: 5 seconds.

Use the icons to add or delete a notification.

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This is how the message will be displayed when the variable is set TRUE:

Design the MotionWorks IEC code so that the notification only appears in response to the operator initiating an action, or limit the SET coil to occur only once per minute for example. It may be cumbersome if the notification variable is SET continuously as the message will reappear very frequently.

MotionWorks IEC Code Example #1

In this example, the custom notification will appear if "ActualTemperature" exceeds the "TemperatureSetpoint," but only when the machine is in AutoMode. The variable 'AutoMode' is assumed to be another BOOL programmed by the OEM, possibly linked to the status bit such as"AxesGroup.Input.ControlMode." The code is written so that the "MyNotification" variable will be set one time when the condition is first met (R_TRIG_1). It's important in this context to use the SET coil method so the variable will remain TRUE for the relatively short time it will take for Compass to receive the variable in the TRUE state.