Read/punch alarm signal RPALM<F180#3>
Signal Address
Parameter
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#7 0010
#6 #5 #4 PRG9
#3 #2 #1 #0
[Data type] Bit
PRG9 Editing of subprograms with program numbers 9000 to 9999 0 : Not inhibited 1 : Inhibited
The following edit operations are disabled:
(1)Program deletion (Even when deletion of all programs is specified, programs with program numbers 9000 to 9999 are not deleted.)
(2)Program punching (Even when punching of all programs is specified, programs with program numbers 9000 to 9999 are not punched.)
(3)Program number search
(4)Program editing after registration
(5)Program registration
(6)Program collation
(7)Displaying programs
#7 0015
#6 REP
#5 #4 #3 #2 #1 #0
[Data type] Bit
REP Action in response to an attempt to register a program whose number is the same as that of an existing program 0 : An alarm is generated. 1 : The existing program is deleted, then the new program is registered.
Note that if the existing program is protected from being edited, it is not deleted, and an alarm is generated.
#7 0019
#6 NEOP
#5 #4 #3 #2 #1 #0
[Data type] Bit
NEOP With an M02, M30, or M99 block, program registration is assumed to be: 0 : Completed 1 : Not completed
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#7 0045
#6 #5 #4 #3 #2 #1 RAL
#0 RDL
[Data type] Bit
RDL When a program is registered by input/output device external control 0 : The new program is registered following the programs already
registered. 1 : All registered programs are deleted, then the new program is
registered. Note that programs which are protected from being edited are not deleted.
RAL When programs are registered through the reader/puncher interface 0 : All programs are registered. 1 : Only one program is registered.
#7 0389
#6 #5 #4 #3 #2 PRG8
#1 #0
[Data type] Bit
PRG8 Editing of subprograms with program numbers 8000 to 8999 0 : Not inhibited 1 : Inhibited
The following edit operations are disabled:
(1)Program deletion (Even when deletion of all programs is specified, programs with program numbers 8000 to 8999 are not deleted.)
(2)Program output (Even when outputting all programs is specified, programs with program numbers 8000 to 8999 are not output.)
(3)Program number search
(4)Program editing after registration
(5)Program registration
(6)Program collation
(7)Displaying programs
13 INPUT/OUTPUT OF DATA B–61393E–2/02
688
������ Message Description
079 BP/S ALARM In memory or program collation,a pro- gram in memory does not agree with that read from an external I/O device. Check both the programs in memory and those from the external device.
085 BP/S ALARM When entering data in the memory by using Reader / Puncher interface, an overrun, parity or framing error was generated. The number of bits of input data or setting of baud rate or specifi- cation No. of I/O unit is incorrect.
086 BP/S ALARM When entering data in the memory by using Reader / Puncher interface, the ready signal (DR) of reader / puncher was turned off. Power supply of I/O unit is off or cable is not connected or a P.C.B. is defec- tive.
087 BP/S ALARM When entering data in the memory by using reader /puncher interface, though the read terminate command is specified, input does not stop after 10 characters read. I/O unit or P.C.B. is defective.
180 BP/S ALARM Remote buffer connection alarm has generated. Confirm the number of cables, parameters and I/O device.
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
III.8.4 PROGRAM INPUT/OUTPUT
OPERATOR’S MANUAL (For Lathe) (B–61394E)
III.8.4 PROGRAM INPUT/OUTPUT
Alarm and message
Reference item
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While an automation operation is being performed, a program input from an I/O device connected to the reader/punch interface can be executed and stored in memory. Similarly, a program stored in memory can be executed and output through the reader/punch interface at the same time.
(1)Search the head of a program (file) you want to run and input.
(2)Set the signal (G127#5) for DNC operation to logical 1.
(3)Set the input and run simultaneous mode select signal STRD to logical 1.
(4)Activate automatic operation.
(5)The system repeats to input and run one block of data alternately.
(1)Select a program you want to run and output.
(2)Set the signal (G127#5) for DNC operation to logical 1.
(3)Set the output and run simultaneous mode select signal STWD to logical 1.
(4)Activate automatic operation.
(5)The system repeats to output and run one block of data alternately.
[Classification] Input signal
[Function] When this signal becomes logical 1, the control unit: � Selects the input and run simultaneous mode.
To select the input and run simultaneous mode, it is necessary to select the DNC operation mode and to set this signal to logical 1.
13.6 SIMULTANEOUS INPUT AND OUTPUT OPERATIONS (M SERIES)
General
Basic procedure for input and run simultaneous operation
Basic procedure for output and run simultaneous operation
Signal
Input and run simultaneous mode select signal STRD <G140#5>
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[Classification] Input signal
[Function] When this signal becomes logical 1, the control unit: � Selects the output and run simultaneous mode.
To select the output and run simultaneous mode, it is necessary to select the DNC operation mode and to set this signal to logical 1.
#7 G140
#6 STWD
#5 STRD
#4 #3 #2 #1 #0
������ Message Description
123 CAN NOT USE MACRO COMMAND IN DNC
Macro control command is used dur- ing DNC operation. Modify the program.
210 CAN NOT COMAND M198/M199
M198 and M199 are executed in the schedule operation. M198 is executed in the DNC operation. Modify the pro- gram.
NOTE 1 M198 (file access) cannot be executed in the input, output
and run simultaneous mode. An attempt to do so results in alarm No. 210.
2 A macro control command cannot be executed in the input, output and run simultaneous mode. An attempt to do so results in alarm No. 123.
3 If an alarm condition occurs during the input, output and run simultaneous mode, a block being processed when the alarm condition occurs and all blocks before that are input or output.
4 In the output and run simultaneous mode, if a device used is a floppy disk drive or FA card, the file name is the execution program number.
5 When a program is being executed in the output and run simultaneous mode, if a subprogram is called, only the main program is output.
Output and run simultaneous mode select signal STWD <G140#6>
Signal address
Alarm and message
Note
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By using the external program input start signal, a program can be loaded from an input unit into CNC memory. When an input unit such as the FANUC Handy File or FANUC Floppy Cassette is being used, a file can be searched for using the workpiece number search signals, after which the program can be loaded into CNC memory.
[Classification] Input signal
[Function] This signal starts loading of a program from an input unit into CNC memory.
[Operation] When the signal is set to 1, the control unit operates as follows: � When memory operation mode is set, but no automatic operation is
being performed and program loading is not inhibited by the setting of the memory protection key, the CNC deletes all currently loaded programs, then loads a program from the external input unit into CNC memory.
� When the FANUC Handy File or FANUC Floppy Cassette is being used as the input unit, a desired file can be searched for using the workpiece number search signals (PN1 to PN8), after which the program can be loaded into CNC memory. File numbers are indicated using the workpiece number search signals, as follows:
13.7 EXTERNAL PROGRAM INPUT
General
Signal
External program input start signal MINP<G120#0>(M series)/ <G117#0>(T series)
(*)
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Workpiece no. search signal File no
PN8 PN4 PN2 PN1 File no.
0 0 0 0 00
0 0 0 1 01
0 0 1 0 02
0 0 1 1 03
0 1 0 0 04
0 1 0 1 05
0 1 1 0 06
0 1 1 1 07
1 0 0 0 08
1 0 0 1 09
1 0 1 0 10
1 0 1 1 11
1 1 0 0 12
1 1 0 1 13
1 1 1 0 14
1 1 1 1 15
(*)File No. 00 is used for special specification; specifying file No. 00 means that no search operation is to be performed. Therefore, numbers 01 to 15 can be assigned to files.
[Application] This function is applicable to the following case: When a program to be used for machining is too large to be loaded into CNC memory, the program is divided into several segments. These segments are loaded into memory and executed, one by one.
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In this case, the general operation flow is as shown below.
Press the cycle start button.
Issuing the external program input start
signal (MINP) starts program input.
The automatic operation mode signal (STL)
is set to 1, then program input starts.
When input terminates, the STL
signal is set to 0.
A change to 0 in the STL signal is
detected, then CNC operation starts.
Machining by the CNC
End of machining?
A miscellaneous function, previously added to the
end of the program, is executed. An appropriate
code is defined for this miscellaneous function in the
machine to input the next program.
Operation terminates.
Yes
No
This miscellaneous function is detected, then
operation is interrupted by a single block
signal or automatic operation stop signal.
The STL signal is set to 0. Then, input of
the next program is started according to the
MINP signal.
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The timing chart for data reading is shown below.
Execution of a machining program
M code command for the Mxxx
next program input
Code signal M00AM31
Strobe signal MF
Single–block signal SBK
Completion signal FIN
Cycle start lamp signal STL
External program input MINP start signal
Program input Automatic operation ST start signal
CAUTION The M code used for input of the next program must not be buffered.
NOTE While a program is being input, the automatic operation mode signal STL is set to 1. Upon termination of program input, STL is set to 0.
G117 MINP (T series) #7 #6 #5 #4 #3 #2 #1 #0
G120 MINP (M series)
#7 MCINP0011
#6 #5 #4 #3 #2 #1 #0
[Data type] Bit
MCINP Specifies whether to load a program into memory according to the external program input start signal (MINP). 0 : Does not load a program into memory. 1 : Loads a program into memory.
Signal Address
Parameter
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NOTE A program can be input according to the external program input start signal only when the program has only one program number. To read programs having multiple program numbers, reset the CNC each time the CNC reads one program. After reset, search for a desired program by using the workpiece number search signals, then input the program according to the external program input start signal.
Note
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14 MEASUREMENT
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The value displayed as a relative position can be set in the offset memory as an offset value by a soft key.
Call offset value display screen on the CRT. Relative positions are also displayed on this screen. Reset the displayed relative position to zero. Set the tool for measurement at the same fixed point on the machine by a manual operation. The relative position display at this point shows difference between the reference tool and the tool measured and the relative position display value is then set as offset amounts.
ÄÄ ÄÄ ÄÄ ÄÄ ÄÄ
ÄÄ ÄÄ ÄÄ ÄÄ
Reference tool
This difference is set as offset amount
Fixed point
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
III.11.4.2 Tool Length Measurement
14.1 TOOL LENGTH MEASUREMENT (M SERIES)
General
Reference Item
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When a tool is moved to the measurement position by execution of a command given to the CNC, the CNC automatically measures the difference between the current coordinate value and the coordinate value of the command measurement position and uses it as the offset value for the tool.
[Classification] Input signal
[Function] If the measuring position specified by a program command differs from the measuring position which a tool has reached in practice, that is, the position at the moment the measuring position reached signal has just been turned ”1”, the difference in the coordinate value is added to the current tool compensation value to update the compensation value. The tool is first fed to the specified measuring position by rapid traverse in a block where one of the following commands has been specified:
G37 (M series) G36, G37 (T series)
The tool decelerates and temporarily stops at the distance O before the measuring position. The tool then moves to the measuring position at the speed preset by a parameter no. 0558. If the measuring position reached signal corresponding to the G code is turned ”1” after the tool has approached within distance ε of the measuring position and before the tool overshoots the measuring position by distance ε, the control unit updates the compensation value and terminates the move command for the block. If the measuring position reached signal is not turned ”1” even after the tool has overshot the measuring position by distance ε, the control unit enters an alarm state and terminates the move command for the block without updating the compensation value.
14.2 AUTOMATIC TOOL LENGTH MEASUREMENT (M SERIES) / AUTOMATIC TOOL OFFSET (T SERIES)
General
Signal
Measuring position reached signals XAE<X008#0>, YAE<X008#1>, ZAE<X008#2>(M series) XAE<X008#0>, ZAE<X008#1>(T series)
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�
�
�
Feedrate
Start point
Rapid traverse
Rapid traverse rate
Presumed measuring position
Measuring speed
Measuring position reached signal
[Operation] When the signal is turned ”1”, the control unit operates as follows:
� Reads the position of the tool along the axis currently specified and updates the current compensation value based on the difference between the specified measuring position and the read measuring position in the following case: When the measuring position reached signal corresponding to the G code is turned on in a block where G36 (T series) or G37 is specified after the tool is within distance ε of the measuring position specified by a program and before the tool overshoots the measuring position by distance ε. The control unit then stops the tool, and terminates the move command for the block.
� Enters an alarm state and terminates the move command for the block without updating the compensation value in the following case: When the measuring position reached signal corresponding to the command is turned ”1” in a block where G36 (T series), G37 is specified after the tool is within distance γ of the measuring position but before the tool is within distance ε of the measuring position.
� The control unit does not monitor the measuring position reached signal for its rising edge but monitors the state of the signal. If the signal remains ”1” when the next corresponding automatic tool length measurement (automatic tool compensation) is specified, the control unit enters an alarm state when the tool is within distance γ of the measuring position.
NOTE 1 The measuring position reached signal requires at least 10
msec. 2 The CNC directly inputs the measuring position reached
signals from the machine tool; the PMC does not process them.
3 If automatic tool compensation nor automatic tool length measurement is not used, the PMC can use the signal terminals corresponding to the measuring position reached signal as the general-purpose input signals.
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#7 X008
#6 #5 #4 #3 #2 #1 ZAE
#0 XAE (T series)
ZAE YAE XAE (M series)
0558 Feedrate during measurement of automatic tool compensation (T series)
Feedrate during measurement of tool length automatic compensation (M series)
[Data type] Word
��������� ������ ��� �� ���
��� ��� �����
��������� ������ ��� �� ���
����� ���� ����
Millimeter machine 1 mm/min 6 to 15000 6 to 12000
Inch machine 0.1 inch/min 6 to 6000 6 to 4800
Rotation axis 1 deg/min 6 to 15000 6 to 12000
This parameter sets the feedrate during measurement of automatic tool compensation (T series) and tool length automatic compensation (M series).
0731 � value on X axis during automatic tool compensation (T series)
0732 � value on Z axis during automatic tool compensation (T series)
0813 � value during tool length automatic compensation (M series)
[Data type] Two–word
[Unit of data]
Increment system IS–A IS–B IS–C Unit
Metric input 0.01 0.001 0.0001 mm
Inch input 0.001 0.0001 0.00001 inch
[Valid data range] 1 to 99999999
These parameters set the� value during automatic tool compensation (T series) or tool length automatic compensation (M series).
CAUTION Set a radius value irrespective of whether the diameter programming or the radius programming is specified.
Signal address
Parameter
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0733 � value on X axis during automatic tool compensation (T series)
0734 � value on Z axis during tool automatic compensation (T series)
0814 � value during tool length automatic compensation (M series)
[Data type] Two–word
[Unit of data]
Increment system IS–A IS–B IS–C Unit
Metric input 0.01 0.001 0.0001 mm
Inch input 0.001 0.0001 0.00001 inch
[Valid data range] 1 to 99999999
These parameters set the� value during automatic tool compensation (T series) or tool length automatic compensation (M series).
CAUTION Set a radius value irrespective of whether the diameter programming or the radius programming is specified.
������ Message Description
080 G37 ARRIVAL SIGNAL NOT ASSERTED
(M series)
In the automatic tool length measure- ment function (G37), the measure- ment position reached signal (XAE, YAE, or ZAE) is not turned on within an area specified in parameter 0814 (value ε). This is due to a setting or operator er- ror.
G37 ARRIVAL SIGNAL NOT ASSERTED
(T series)
In the automatic tool compensation function (G36, G37), the measure- ment position reached signal (XAE or ZAE) is not turned on within an area specified in parameter 0733, and 0734 (value ε). This is due to a setting or operator er- ror.
081 OFFSET NUMBER NOT FOUND IN G37
(M series)
Tool length automatic measurement (G37) was specified without a H code. (Automatic tool length measurement function) Modify the program.
OFFSET NUMBER NOT FOUND IN G37
(T series)
Automatic tool compensation (G36, G37) was specified without a T code. (Automatic tool compensation func- tion) Modify the program.
Alarm and Message
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������ DescriptionMessage
082 H–CODE NOT ALLOWED IN G37
(M series)
H code and automatic tool compensa- tion (G37) were specified in the same block. (Automatic tool length measure- ment function) Modify the program.
T–CODE NOT ALLOWED IN G37
(T series)
T code and automatic tool compensa- tion (G36, G37) were specified in the same block. (Automatic tool com- pensation function) Modify the program.
083 ILLEGAL AXIS COM- MAND IN G37
(M series)
In automatic tool length measurement, an invalid axis was specified or the command is incremental. Modify the program.
ILLEGAL AXIS COM- MAND IN G37
(T series)
In automatic tool compensation (G36, G37), an invalid axis was specified or the command is incremental. Modify the program.
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NOTE 1 Measurement speed, γ, and εare set as parameters.ε must
be positive numbers so that γ>ε. 2 The compensation value is updated by the following
formula: New compensation value =(Current compensation
value)+[(Current position of the tool along the specified axis when the measuring position reached signal is turned on) – (specified measuring position)]
The following compensation values are updated: (1)In a M series, the compensation value corresponding to
the tool compensation number selected by an H code. When offset memory A is used, the offset value is changed. When offset memory B is used, the tool wear compensation value is changed. When offset memory C is used, the tool wear compensation value for the H code is changed.
(2)In a T series, the compensation value corresponding to the tool compensation number selected by a T code and to the specified axis (X, Z) in G36, G37.
3 The maximum measuring error is calculated as shown below.
ERRmax: Maximum measuring error (mm) Fm : Measuring feedrate (mm/min) If Fm = 100 mm/min, for example, ERRmax = 0.007 mm
4 After the measuring position reached signal has been detected, the tool moves for a maximum of 20 msec, then stops. Values for calculating the compensation amount, that is the coordinate of the tool where the tool reached the measuring position are not those obtained after stop, but those obtained at the position where the measuring position reached signal was detected. The overtravel amount for 20 msec is calculated as follows.
Qmax: Maximum overtravel amount (mm) Fm : Measuring feedrate (mm/min) Ts : Servo time constant [msec] (1/loop gain)
ERRmax = Fm × × 60 1000 1 4
Qmax = Fm × × 60 1000 1 1
(20 + Ts)
Note
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OPERATOR’S MANUAL (For Machining Center) (B–61404E)
II.14.2 AUTOMATIC TOOL LENGTH MEASUREMENT (G37)
OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.14.5 AUTOMATIC TOOL OFFSET (G36, G37)
Reference item
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Linear interpolation can be commanded by specifying axial move following the G31 command, like G01. If an external skip signal is input during the execution of this command, execution of the command is interrupted and the next block is executed. The skip function is used when the end of machining is not programmed but specified with a signal from the machine, for example, in grinding. It is used also for measuring the dimensions of a workpiece.
The coordinate values when the skip signal is turned on can be used in a custom macro because they are stored in the custom macro system variable #5061 to #5064, as follows:
#5061 X axis coordinate value #5062 Z axis coordinate value #5063 3rd axis coordinate value #5064 4th axis coordinate value
[Classification] Input signal
[Function] This signal terminates skip cutting. That is, the position where a skip signal turns to “1” in a block containing G31 is stored in a custom macro variable, and the move command of the block is terminated at the same time.
[Operation] When a skip signal turns to “1”, the control unit functions as described below.
(1)When a block contains a skip cutting command G31, the control unit reads and stores the current position of the specified axis at that time. The control unit stops the axis, then cancels the remaining distance that the block was supposed to be moved.
(2)The skip signal is monitored not for a rising edge, but for its state. So, if a skip signal continues to be “1”, a skip condition is assumed to be satisfied immediately when the next skip cutting is specified.
14.3 SKIP FUNCTION
14.3.1 Skip Function
General
Signal
Skip signal SKIP<X008#7>
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NOTE 1 The skip signal requires at least 10 msec. 2 The CNC directly reads the skip signal SKIP<X008#7> from
the machine tool; the PMC no longer requires to process the signal.
3 If the skip function G31 is not used, the PMC can use the signal terminal SKIP<X008#7> corresponding to the skip signal as a general purpose input signal.
#7 SKIPX008
#6 #5 #4 #3 #2 #1 #0
#7 0015
#6 #5 #4 #3 SKPF
#2 #1 #0
[Data type] Bit
SKPF Dry run, override, and automatic acceleration/deceleration for G31 skip command 0 : Disabled 1 : Enabled
������ Message Description
035 CAN NOT COMMANDED G31
(T series)
Skip cutting (G31) was specified in tool nose radius compensation mode. Modify the program.
036 CAN NOT COMMANDED G31
(M series)
Skip cutting (G31) was specified in cutter compensation mode. Modify the program.
WARNING Disable feedrate override, dry run, and automatic acceleration/deceleration (enabled with parameter No.0015#3 SKPF=1) when the feedrate per minute is specified, allowing for reducing an error in the position of the tool when a skip signal is input. These functions are enabled when the feedrate per rotation is specified.
Signal address
Parameter
Alarm and message
Warning
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NOTE 1 The G31 block is set to G01 mode. The feedrate is specified
by an F code. 2 When the measuring motion is made by utilizing the skip
signal, program a constant feedrate; otherwise, if the feedrate changes, the measuring error will be noticeable. With a constant feedrate, the maximum measuring error can be calculated as follows:
ERRmax : Maximum measuring error (mm or inch) Fm : Measuring feedrate (mm/min or inch/min)
3 Overtravel amount Qmax after skip signal has been turned to ”1” is calculated by the following:
Qmax : Overtravel amount (mm or inch) Fm : Feedrate (mm/min or inch/min) Tc : Cutting time constant (ms) Ts : Servo time constant (ms) ( )
ERRmax = Fm × × 60 1000 1 4
Qmax = Fm × × 60 1000 1 1
(20 + Tc + Ts)
loop gain 1
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
II.4.8 SKIP FUNCTION(G31)
OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.4.9 SKIP FUNCTION(G31)
Note
Reference item
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The skip function operates based on a high-speed skip signal instead of an ordinary skip signal (X008#7). In this case, up to eight signals can be input.
Delay and error of skip signal input is 0 - 2 msec at the NC side (not considering those at the PMC side).
This high-speed skip signal input function keeps this value to 0.1 msec or less, thus allowing high precision measurement.
14.3.2 High–speed Skip Signal
General
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In a block specifying P1 to P4 after G31, the multistage skip function stores coordinates in a custom macro variable when a skip signal (4 points) is turned on. Also in a block specifying Q1 to Q4 after G04, the multistage skip function skips a dwell when the skip signal (4 points) has turned on. A skip signal from equipment such as a fixed-dimension size measuring instrument can be used to skip programs being executed. In plunge grinding, for example, a series of operations from rough machining to spark-out can be performed automatically by applying a skip signal each time rough machining, semi-fine machining, fine- machining, or spark-out operation is completed.
[Classification] Input signal
[Function] These signals terminate skip cutting. That is, the position where a skip signal turns to “1” in a command program block containing G31P1 (or G31), G31P2, or G31P3, G31P4 is stored in a custom macro variable, and the move command of the block is terminated at the same time. Furthermore, in a block containing G04, G04Q1, G04Q2, G04Q3 or G04Q4, the dwell command of the block is terminated.
In either case, until all other commands (such as miscellaneous functions) of the block are completed, machining never proceeds to the next block.
Which of the four skip signals is applicable to blocks containing the G codes can be determined by parameter (No.0033 to 0035). The eight skip signals can correspond to the G codes on a one-to-one basis. One skip signal can also be made applicable to multiple G codes. Conversely, multiple skip signals can be made applicable to one G code.
[Operation] When a skip signal turns to “1”, the control unit functions as described below.
(1)When a block contains a G code from (G31, G31P1 to P4) for skip cutting, and the skip signal is made applicable by parameter setting to the command, the control unit reads and stores the current position of the specified axis at that time. The control unit stops the axis, then cancels the remaining distance that the block was supposed to be moved.
(2)When a block contains a G04, or G04Q1 to Q4 code for dwell, and the skip signal is made applicable by parameter setting to the command, the control unit stops dwell operation, and cancels any remaining dwell time.
14.3.3 Multi–step Skip (0/00–GCC)
General
Signal
Skip signal SKIP, SKIP2 to SKIP4 <X008#7, #2 to #4>
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(3)The skip signal is monitored not for a rising edge, but for its state. So, if a skip signal continues to be “1”, a skip condition is assumed to be satisfied immediately when the next skip cutting or dwell operation is specified.
#7 SKIPX008
#6 #5 #4 SKIP4
#3 SKIP3
#2 SKIP2
#1 #0
#7 P2S40033
#6 P2S3
#5 P2S2
#4 P2S1
#3 P1S4
#2 P1S3
#1 P1S2
#0 P1S1
P4S40034 P4S3 P4S2 P4S1 P3S4 P3S3 P3S2 P3S1
0035 DS4 DS3 DS2 DS1
[Data type] Bit
P1S1 to P1S4, P2S1 to P2S4, P3S1 to P3S4, P4S1 to P4S4, DS1 to DS4 Specify which skip signal is enabled when the skip command (G31, or G31P1 to G31P4) and the dwell command (G04, G04Q1 to G04Q4) are issued with the multi–step skip function.
The following table shows the correspondence between the bits, input signals, and commands.
The settings of the bits have the following meanings:
0 : The skip signal corresponding to the bit is disabled. 1 : The skip signal corresponding to the bit is enabled.
Multi–step skip function
Command
Input signal
G31 G31P1 G04Q1
G31P2 G04Q2
G31P2 G04Q2
G31P4 G04Q4 G04
SKIP 1S1 2S1 3S1 4S1 DS1
SKIP2 1S2 2S2 3S2 4S2 DS2
SKIP3 1S3 2S3 3S3 4S3 DS3
SKIP4 1S4 2S4 3S4 4S4 DS4
Signal address
Parameter
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NOTE The skip cutting commands G31 P1, G31 P2, G31 P3, and G31 P4 are all identical, except that they correspond to different skip signals. The tool moves along the specified axis until the SKIP signal is set to “1” or the end point of the specified movement is reached, while performing linear interpolation. The feedrate is specified in the program. G31 is the same as G31 P1. Dwell commands G04, G04 Q1, G04 Q2, G04 Q3, and G04 Q4 are also identical, except that they correspond to different skip signals. When no Qn command follows the G04 command, and when DS1 to DS4, bit 0 to bit 3 of parameter No.0035, are not set, dwell is not skipped.
OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.4.10 MULTI–STEP (0–GCC/00–GCC/0–GCD)
Note
Reference item
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Specifying a move command after G31 P99 (or G31 P98) with a motor torque limit set (for example, specifying a torque limit on the PMC window) allows the same cutting feed as that specified with G01 to be performed.
While the tool is moved with a motor torque limit set during cutting feed, skip is performed when a signal indicating that the motor torque limit has been reached is input as a result of an operation such as pushing something against the motor.
When the motor torque limit is reached during the execution of G31 P99, the execution of the next block starts without executing the remaining portion of the move command.
When no torque limit is specified before executing G31 P99, the move command is executed without performing the skip operation.
For G31 P99, the coordinate, indicating the position to which the tool is to be positioned after skip, is stored in the system variable of the custom macro.
Alarm occurs if errors have accumulated to an amount (32767) that cannot be corrected in one distribution before the torque–limit–reached signal is input during the execution of G31 P99.
[Classification] Output signal
[Function] Indicates that the torque limit has been reached.
[Output condition] Set to “1” when:
· The torque limit has been reached for the corresponding axis.
Set to “0” when:
· The torque limit has not been reached for the corresponding axis
Numbers 1 to 8 indicate the corresponding axis numbers.
14.3.4 Torque Limit Skip (T series)
General
� Basic operations
Signal
Torque limit reached signals TORQ1 to TORQ8 <F170#0 to #5>
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#7 F170
#6 #5 TORQ8
#4 TORQ7
#3 TORQ4
#2 TOQR3
#1 TOQR2
#0 TORQ1
#7 0389
#6 #5 #4 #3 TSKECR
#2 #1 #0
[Data type] Bit
TSKECR When a skip operation is performed by the G31 P99 command used to specify torque limit skip: 0 : Corrects servo errors. (1) 1 : Does not correct servo errors. (2)
Position stored in the system variable when TSKECR = 0
Position stored in the system variable when TSKECR = 1
Error amount (2)(1)
Feed stops Torque limit Specified value
100
200
100 200 300 400 500
Signal address
Parameter
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������ Message Description
015 TOO MANY AXES COM- MANDED
In the block including the command for the skip function (G31 P99/P98), to be executed under the control of the torque limit reach signal, no axis move command is specified, or two or more axes are specified. In a single block, specify one axis only.
244 P/S ALARM When the skip function to be executed under the control of the torque limit reach signal is enabled, an error value (32767) that exceeds the maximum return value that can be handled with a single distribution is detected before input of the torque limit reach signal. Retry the processing after changing the axis feedrate, torque limit, or other conditions.
WARNING Specify a torque limit before G31 P99. If G31 P99/P98 is executed with no torque limit specified, the move command is executed without a skip operation.
CAUTION 1 Before specifying G31 P99, cancel tool–tip radius
compensation with G40. 2 Set the SKPF bit (bit 3 of parameter No.0015) to 0 to disable
the dry run, override, and automatic acceleration/deceleration functions for the G31 skip command.
Alarm and message
Warning
Caution
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This is a function of setting an offset value by key-inputting a workpiece diameter manually cut and measured from the MDI keyboard.
First the workpiece is cut in the longitudinal or in the cross direction manually. When the position record signal is turned “1” (prepare a button on the machine operator’s panel) on completion of the cutting, the work- piece coordinate value of X axis and Z axis at that time is recorded in the CNC. Then, withdraw the tool, stop the spindle, and measure the diame- ter if the cutting was on the longitudinal direction or measure the distance from the standard face if the cutting was on the facing. (The standard face is made as Z = 0.) When the measured value is entered on the offset value display screen, NC inputs the difference between the input measured value and the coordinate value recorded in NC, as the offset value of the offset number.
If you release the tool without moving the tool in the axis along which an offset value is entered but moves the tool along the other axis, an offset value can be set without using the position record signal.
The workpiece coordinate system can be shifted using the technique of directly inputting the measured value for offset. This technique is used when the coordinate system planned in the program does not match with the coordinate system actually set.
The procedures are the same as those for direct input for offset, except a difference of using the standard tool on the work shift screen.
14.4 ENTERING COMPENSATION VALUES
14.4.1 Input of Offset Value Measured A (T series)
General
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[Classification] Input signal
[Function] This signal is prepared for the function of input of offset value measured A. It is used to store in the control unit the data on the positions of the tool for tentative cutting. After measuring a dimension of the workpiece, input the measured value by the specified manual operation. The difference is then stored as the specified tool compensation value.
[Operation] The control unit stores the current position along X and Z axes when the signal turns to “1”.
NOTE To use this signal, set parameter MORB (No.0015#4) to 1.
#7 G103
#6 PRC
#5 #4 #3 #2 #1 #0
#7 0015
#6 #5 MORB
#4 #3 #2 #1 #0
[Data type] Bit
MORB Direct input of tool offset value and workpiece coordinate-system shift value 0 : Not use a PRC signal 1 : Uses a PRC signal
OPERATOR’S MANUAL (For Lathe) (B–61394E)
III.11.4.2 Direct Input of Tool Offset Value
Signal
Position record signal PRC<G103#6>
Signal address
Parameter
Reference item
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When the touch sensor is provided, the tool offset value is automatically settable in the tool offset memory, by moving the tool to make contact with the touch sensor during manual operation. The workpiece coordinate system shift amount is also automatically settable.
This touch sensor makes contact in two directions in each axis, and outputs four signals when it detects a tool contact. The contact faces are selected according to the tool nose figures to be measured.
a) +MIT1 (+MITX) : Contact to X-axis (+) contact face (Contact in X + direction)
b) –MIT1 (–MITX) : Contact to X-axis (–) contact face (Contact in X – direction)
c) +MIT2 (+MITZ) : Contact to Z-axis (+) contact face (Contact in Z + direction)
d) –MIT2 (–MITZ) : Contact to Z-axis (–) contact face (Contact in Z – direction)
+Z
+X
Z axis (+) con- tact face (+MIT2)
Z axis (–) contact face (–MIT2)
X axis (–) contact face (–MIT1)
X axis (+) contact face (+MIT1)
Touch sensor
Determine a specific point on the machine tool as the measuring reference position. In advance, set the distance from this point to the measuring position (contact face of the touch sensor) as a reference value, using parameter nos. 0743 to 0746. Select the tool whose offset value is to be measured, and bring it to touch the sensor, receiving a contact detection signal (tool compensation value write signal). The mechanical coordinate value is the distance from the tool nose position of the measuring tool at the mechanical reference (home) position to the measuring position; set the difference between this value and the reference value (parameter setting) into the tool offset value memory as the tool geometry offset value. The corresponding tool wear offset value becomes 0.
14.4.2 Input of Tool Offset Value Measured B (T series)
General
� � �� ���� �
� ���� �� � � ����� �����
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(Tool offset value to be set)
= (Mechanical coordinate value when tool compensation value write signal has become “1”) – (Reference value (parameter value) corresponding to the tool compensation value write signal)
The tool offset value to be set differs according to the method of determining the measuring reference position.
(Example 1) The difference between the reference tool nose tip position and the measuring tool nose tip position is settable as the tool offset value. Define the reference tool nose tip position at the mechanical reference position (machine zero position) as the measuring reference position, then set the distances Xp, Zp, Xm, Zm, from the measuring reference position to the contact faces of the sensor as parameters.
+X
+Z
(0,0)
(0,0)
Zm
Zp
Zt
OFSX
OFSZ
Xm
Xp
Xt
XP : Distance from the measuring reference position to X-axis (+) contact face (parameter no. 0743)
Xm : Distance from the measuring reference position to X-axis (–) contact face (parameter no. 0744)
Zp : Distance from the measuring reference position to Z-axis (+) contact face (parameter no. 0745)
Zm : Distance from the measuring reference position to Z-axis (–) contact face (parameter no. 0746)
Xt : X-axis direction moving distance of the measuring tool up to the contact face of sensor (X-axis machine coordinate value)
Zt : Z-axis direction moving distance of the measuring tool up to the contact face of sensor (Z-axis machine coordinate value)
(when Xt and Zt touch the X-axis (–) contact face and Z-axis (–) contact face in the above figure)
OFSx : Tool offset value to be set (X-axis): OFSx = Xt - Xm
OFSz : Tool offset value to be set (Z-axis): OFSz = Zt - Zm
Z axis (–) contact face
X axis (–) contact face
Measuring reference position (reference tool nose position at the me- chanical reference posi- tion)
Measuring tool nose position at the me- chanical reference position
When the reference tool nose tip position is set as the measuring reference position
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(Example 2) The measuring reference point may be an imaginary point (imaginary point zero), as shown in the figure below. The difference between the imaginary zero point and the measuring tool nose tip position at the mechanical reference point is settable as the tool offset value of the measuring tool, by setting the distances from the imaginary zero point to the respective contact faces as parameters.
+X
(0 , 0)
Z t
Zm
Zp Xp
Xm OFSx
OFSZ
Xt
+Z
Measuring tool nose position at the mechanical reference position
Machine zero point
Measuring reference position
(Imaginary zero point)
When the imaginary zero position is set as the measuring reference position
The workpiece coordinate system shift amount for the Z-axis is settable as follows: Bring the tool to touch the workpiece end face. Subtract the tool geometry offset value of the tool (the value shifted in the coordinate system by the tool geometry offset) from the machine coordinate value (the distance from the measuring tool nose tip position at the mechanical reference position (machine zero point) to the workpiece end face).The result is set as the workpiece coordinate system shift value.
(Z axis workpiece coordinate system shift amount to be set (EXOFSz) )
= (Z axis tool geometry offset value of the corresponding tool (OFSz)) – (Z axis machine coordinate value(Zt))
Using the above methods, the workpiece coordinate system is set with the workpiece end face (the contact point of the sensor) specified as the programmed zero point of the workpiece coordinate system of the Z-axis.
� ���� � � � ����� ���
����� ��� ������ � ��
���� �
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(0,0) +Z
–EXOFSZ
OFSX
OFSZ
Zt+X
Measuring tool nose position at the mechani- cal machine position
Machine zero point
Workpiece coordinate system zero point (programmed zero point)
EXOFSz : Workpiece coordinate system shift amount to be set
OFSz : Tool geometry offset value
Zt : Mechanical coordinate value (Distance to the workpiece end face)
Setting of workpiece coordinate system shift amount
To deviate the programmed zero point of the workpiece coordinate system from the workpiece end face, such as adding a cutting allowance, use the incremental input of the workpiece coordinate system shift amount in MDI operation. By setting the distance from the programmed zero point to the workpiece end face with a sign, the numeric value input is added to the preset amount.
EXOFSZ(NEW)
+X
W
+Z
EXOFSZ(OLD)
Cutting allowance
Imaginary zero point
Workpiece coordinate system programmed zero point
EXOFSZ(OLD) : Workpiece coordinate system shift amount being set by the function of input of tool offset value measured B
W : Cutting allowance (incremental input value)
EXOFSZ(NEW) : Workpiece coordinate system shift amount after adding the cutting allowance.
Setting of cutting allowance
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1 Execute manual reference position return. By executing manual reference position return, a machine coordinate system is established. The tool offset value is computed on the machine coordinate system.
2 Select manual handle mode or manual continuous feed mode and set the tool compensation value write mode select signal GOQSM to ”1”. The CRT display is automatically changed to the tool offset screen (geometry), and the ”OFST” indicator starts blinking in the status indication area in the bottom of the screen, which informs that the tool compensation value writing mode is ready.
3 Select a tool to be measured.
4 When the cursor does not coincide with the tool offset number desired to be set, move the cursor to the desired offset number by page key and cursor key. Besides, the cursor can also be coincided with the tool offset number desired to set automatically by the tool offset number input signals (when parameter QNI(No.0024#6)=1). In this case, the position of the cursor cannot be changed on the tool compensation screen using page keys or cursor keys.
5 Near the tool to the sensor by manual operation.
6 Place the tool edge to a contacting surface of the sensor by manual handle feed. Bring the tool edge in contact with the sensor. This causes the tool compensation value writing signals (+MIT1, –MIT1, +MIT2 or –MIT2) to input to CNC. The tool compensation value writing signal is set to ”1”, and the : � The axis is interlocked in this direction and its feeding is stopped. � The tool offset value extracted by the tool offset memory (tool
geometry offset value) which corresponds to the offset number shown by the cursor is set up.
7 For both X-axis and Z-axis, their offset value are set by the operations 5 and 6.
8 Repeat operations 3 to 7 for necessary tools.
9 Set the tool compensation value writing mode signal GOQSM to ”0”. The writing mode is canceled and the blinking ”OFST” indicator light goes off.
1 Set the tool geometry offset values of each tool in advance.
2 Execute manual reference position return. By executing manual reference position return, the machine coordinate system is established. The workpiece coordinate system shifting amount is computed based on the machine coordinate system of the tool.
3 Set the workpiece coordinate system shifting amount writing mode select signal WOQSM to “1”. The CRT display is automatically switches to the workpiece shifting screen, the ”WFST” indicator starts blinking at the status indicator area in the bottom of the screen, which inform that the workpiece coordinate system shifting amount writing mode is ready.
Basic Procedure to Set Tool Offset Value
Basic Procedure to Set Workpiece Coordinate Shift Value
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4 Select a tool to be measured.
5 Check tool offset numbers. The tool offset number corresponding to the tool required for measurement, shall be set in the parameter (No.0122) in advance. Besides the tool offset number can be set automatically by setting the tool offset number input signal (with parameter QNI(No.0024#6)=1).
6 Manually approach the tool to an end face of the workpiece.
7 Place the tool edge to the end face (sensor) of the workpiece by manual handle feed. When the tool edge contacts with the end face of the workpiece, input the workpiece coordinate system shift amount signal WOSET. The workpiece coordinate system shifting amount on the Z–axis is automatically set.
8 Release the tool.
9 Set the workpiece coordinate system shift amount write mode select signal WOQSM to ”0”. The writing mode is canceled and the blinking ”WSFT” indicator light goes off.
[Classification] Input signal
[Function] Selects the mode for writing tool compensation.
[Operation] When this signal is turned ”1” in a manual operation mode, the mode for writing tool compensation is selected. The control unit then automatically switches the screen displayed on the CRT to the tool geometry compensation screen and blinks the OFST status display in the bottom of the screen to notify that the mode has been changed to the mode for writing tool compensation.
Signal
Tool offset write mode select signal GOQSM <G132#7>
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[Classification] Input signal
[Function] Each of these signals inhibits the tool from being fed along the corre- sponding axis during manual operation. When signal GOQSM for select- ing the mode for writing tool compensation is set to ”1”, the manual feed is inhibited and also the tool geometry compensation along the axis is au- tomatically calculated and the result is set in tool compensation memory.
[Operation] When these signals are turned ”1”, the control unit operates as follows: � Inhibits tools from being fed along the corresponding axis during
manual operation. +MIT1 : Inhibits the tool from being manually fed in the positive
direction along the X-axis. –MIT1 : Inhibits the tool from being manually fed in the negative
direction along the X-axis. +MIT2 : Inhibits the tool from being manually fed in the positive
direction along the Z-axis. –MIT2 : Inhibits the tool from being manually fed in the negative
direction along the Z-axis. � When signal GOQSM for selecting the mode for writing tool
compensation is turned ”1”, the manual feed interlock signal also automatically calculates the tool geometry compensation for the tool compensation number pointed to by the cursor and sets the result in tool compensation memory.
NOTE This signal is used as the manual feed interlock signal in each axis direction.
[Classification] Input signal
[Function] Selects the tool offset number.
[Operation] When the mode for writing tool compensation is selected, the cursor is automatically positioned on the tool geometry compensation number selected by these signals. A tool offset number is specififed by 7–bit binary number. Number 0 to 31 corresponds to the compensation number 1 to 32.
NOTE This signal is available only when parameter QNI (No. 0024#6) =1.
Tool offset write signal +MIT1, +MIT2 <X008#2, #4> –MIT1, –MIT2 <X008#3, #5>
Tool offset number select signals OFN0 to OFN4 <G132#0 to #4>
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[Classification] Input signal
[Function] Selects the mode for writing the shift amount for the workpiece coordinate system.
[Operation] When this signal is turned ”1” in a manual operation mode, the mode for writing the shift amount for the workpiece coordinate system is selected. The control unit then automatically switches the screen displayed on the CRT to the WORK SHIFT screen and blinks the OFST status display in the bottom of the screen to notify that the mode has been changed to the mode for writing the shift amount for the workpiece coordinate system. However, this is not performed when the mode for writing tool compensation values is selected.
[Classification] Input signal
[Function] Automatically calculates and sets the shift amount for the workpiece coordinate system.
[Operation] When this signal turns to ”1” in the mode for writing the shift amount for the workpiece coordinate system, it triggers automatic calculation and setting of the shift amount for the workpiece coordinate system.
[Classification] Input signal
[Function] Enables cursor movement during tool compensation number automatic selection.
[Operation] Even if the tool compensation number automatic selection parameter (bit 6 of parameter No. 024) is 1, setting TNFS to 1 enables cursor movement.
Workpiece coordinate system shift value write mode select signal WOQSM <G132#6>
Workpiece coordinate system shift value write signal WOSET <G133#7>
Tool compensation number automatic selection disable signal TNFS <G132#5>
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#7 X008
#6 #5 –MIT2
#4 +MIT2
#3 –MIT1
#2 +MIT1
#1 #0
GOQSMG132 WOQSM TNFS OFN4 OFN3 OFN2 OFN1 OFN0
WOSETG133
#7 EDILK0024
#6 QNI
#5 #4 #3 #2 #1 #0
[Data type] Bit
EDILK Interlock for each axis direction 0 : Enabled 1 : Disabled
QNI In the function of input of offset value measured B 0 : Not automatically select the tool offset number 1 : Automatically selects a tool offset number
#7 0395
#6 #5 #4 #3 #2 #1 TLSCUR
#0
[Data type] Bit
TLSCUR 1 : When the offset screen is switched using a soft key, the previous cursor position for the tool compensation number is preserved.
0 : When the offset screen is switched using a soft key, the previous cursor position for the tool compensation number is not preserved.
0743 Distance (XP) betweeen reference position and X axis + contact surface
0744 Distance (XM) betweeen reference position and X axis – contact surface
0745 Distance (ZP) betweeen reference position and Z axis + contact surface
0746 Distance (ZM) betweeen reference position and Z axis – contact surface
[Data type] Two–word
[Unit of data]
Increment system IS–A IS–B IS–C Unit
Metric input 0.01 0.001 0.0001 mm
Inch input 0.001 0.0001 0.00001 inch
[Valid data range] –99999999 to 99999999
These parameters are related to the function of input of tool offset value measured B.
They set the distance (with sign) between the measurement reference position and sensor contact surface. For an axis under diameter program- ming, set it by a diameter value.
Signal address
Parameter
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Z axis – contact face
Z axis + contact face
X axis – contact face
X axis + contact face
Zp
Zm
Xm
Xp
+X
+Z
Measuring reference position
0122 Tool offset number used for the input of tool offset value measured B
[Data type] Byte
[Valid data range] 0 to the number of tools to be compensated.
Set tool offset number used for the input of tool offset value measured B function (i.e. when workpiece coordinate system shift value is set). (The tool offset number corresponding to the measured tool shall be set in ad- vance.) This parameter is valid when the tool offset number is not selected automatically (QNI, #6 of parameter 0024, is zero).
OPERATOR’S MANUAL (For Lathe) (B–61394E)
III.11.4.3 Direct Input of Tool Offset Measured B
By directly entering the measured deviation of the actual coordinate system from a programmed work coordinate system, the workpiece zero point offset at the cursor is automatically set so that a command value matches the actual measurement.
Reference item
14.4.3 Input of Measured Workpiece Origin Offsets
General
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[Classification] Output signal
[Function] Indicates when a specified compensation amount becomes less than the minimum allowable grinding wheel diameter (specified in a parameter).
[Operation] The signal becomes 1 when:
#7 F165
#6 #5 #4 #3 GWLF
#2 #1 #0
0838 Minimum grinding wheel diameter used in a grinding wheel diameter check
[Data type] Two–word
[Unit of data] 0.001 (mm input), 0.0001 (inch input)
[Valid data range] 0 to 999999
[Description] The parameter specifies the minimum grinding wheel diameter to be used in a grinding wheel diameter check.
NOTE When a specified compensation amount becomes less than the minimum allowable grinding wheel diameter, GWLF (bit 3 of F165) becomes 1.
14.4.4 Grinding Wheel Diameter Automatic Compensation
Signal
Grinding wheel diameter automatic compensation signal (0–GSC) GWLF <F165#3>
Signal address
Parameter
15. PMC CONTROL FUNCTION B–61393E–2/02
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15 PMC CONTROL FUNCTION
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The PMC can directly control any given axis, independently of the CNC. In other words, moving the tool along axes that are not controlled by the CNC is possible by entering commands, such as those specifying moving distance and feedrate, from the PMC. This enables the control of turrets, pallets, index tables and other peripheral devices using any given axes of the CNC.
Whether the CNC or PMC controls an axis is determined by the input signal provided for that particular axis.
The PMC can directly control the following operations:
(1) Rapid traverse with moving distance specified
(2) Cutting feed – feed per minute, with moving distance specified
(3) Cutting feed – feed per revolution, with moving distance specified (*)
(4) Skip – feed per minute, with moving distance specified (*)
(5) Dwell
(6) Jog feed
(7) Reference position return
(8) 1st reference position return (*)
(9) 2nd reference position return (*)
(10) 3rd reference position return (*)
(11) 4th reference position return (*)
(12) External pulse synchronization – Main spindle (*)
(13) External pulse synchronization – first manual handle (*)
(14) External pulse synchronization – second manual handle (*)
(15) External pulse synchronization – third manual handle (for M series only) (*)
(16) Feedrate control (*)
(17) Auxiliary function
(*)The operation cannot be used for the 5th and 6th axes.
Two specification types are applicable to PMC axis control: specification A and specification B.
When specification A is used with the M series, the X axis, Y axis, Z axis, or fourth axis is controlled using the DI/DO signals of a PMC command group.
With the T series, the third axis is controlled using the DI/DO signals of two PMC command groups.
15.1 PMC AXIS CONTROL/PMC AXIS SPEED CONTROL FUNCTION
General
15. PMC CONTROL FUNCTION B–61393E–2/02
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When specification B is used with the M series or T series, any one axis selected from all axes including the 7th and 8th axes can be controlled, using the DI/DO signals of two PMC command groups. In other words, an axis can be selected from the available axes, then controlled using commands issued through two paths. From the two PMC command paths, the path to be used is selected for each axis by parameter setting. When multiple axes are simultaneously selected for one command path, the tool can be moved along these axes synchronously.

When the increment system is set to 1/10, only 6.5 m/min can be specified as the maximum cutting speed for the PMC axis.
If this restriction proves inconvenient, set parameter No. 052 so that the least input increment for the PMC axis equals the standard specification (0.001 mm, 0.0001 inch, 0.001 deg).
Motion along a PMC controlled axis is independent of the CNC controlled axes (basic and additional axes) or other PMC controlled axes. Specification A or B is selected by setting bit 6 (EACSB) of parameter No. 0032.
M series: One of the X axis, Y axis, Z axis, and fourth axis can be selected as a controlled axis by setting bits 0 and 1 (EAC0 and EAC1) of parameter No. 0030. The corresponding signal group is group A.
T series: The third axis and fourth axis can be controlled. The corresponding signals are of groups A and B respectively.
NOTE If the 3rd axis is used as the Cf axis, the 3rd axis cannot be controlled.
PMC axis configuration
Master PC board Multi axes
1st axis
2nd axis
3rd axis
4th axis
5th axis
6th axis
T series � � � �
� � �
M series � � �
M series � � �
� � �
For both the M series and T series, any axis can be selected from the X–axis to 4th axis and the 7th and 8th axes, to perform simultaneous control.
NOTE For controlling the fourth axis, expansion I/O C7 is required.
Specification
Controlled axis <Specification A>
<Specification B>
EAC1
0
0
1
1
EAC0
0
1
0
1
B–61393E–2/02 15. PMC CONTROL FUNCTION
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(a) The controlled axis is not affected by the mode select signal.
(b) When the fourth axis is to be controlled, the fourth–axis interface option is required.
(c) By setting bit 5 (EAXOV) of parameter No. 0063, the same signals as those used in the CNC can be used to control rapid traverse override, cutting speed override, and dry run operations, in the same way as for the CNC. By setting bit 7 (EAXOVE) of parameter No. 0078, the signals dedicated to PMC axis control can be used to perform override and dry run operations, independently of the CNC.
(d) The CNC–controlled feed hold, single block, reset, and interlock functions are not effective for the PMC controlled axis. However, control similar to such CNC control is enabled by manipulating the PMC signals.
(e) The CNC–controlled machine lock and emergency stop functions are enabled. Machine lock, however, can be disabled by setting bit 4 (PNGMLK) of parameter No.0032.
(f) Where control of the same axis is switched between the CNC and PMC, when the axis is controlled by the PMC, the actual speed can be indicated without including motion along the PMC controlled axis by setting bit 6 (AXPCF) of parameter No.0062.
(g) In both the M series and T series, if the multi–axis printed circuit board and PMC–M are provided, the PMC can control the 5th and 6th axes.
(a) When the controlled axis is the fourth axis, the fourth axis ignore signal (X004.7 4NG) is enabled.
(b) An axial movement by the PMC during or after search for restarting a program has the same effect as the manual intervention for the axis. This operation, however, is invalid if the 4th axis is controlled and if no additional axis is provided. (The 4th–axis coordinate of the restart position is always displayed as 0.)
(c) When the controlled axis is the fourth axis, manual feed control cannot be performed by PMC axis control alone if the additional axis option for the fourth axis is not provided.
(d) In the same way as for machine lock, the Z–axis command cancel signal (G103.6 ZNG) is enabled.
(e) The setting parameter mirror image function (mirror X, mirror Y, and mirror 4) is enabled.
(f) If the setting of a workpiece coordinate system is specified by the CNC (G54 to G59) during tool movement along an axis under PMC control, the coordinate system cannot be set correctly.
Controlled axis
Controlled axis in M series
15. PMC CONTROL FUNCTION B–61393E–2/02
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(a) Radius specification is always used regardless of the settings of bit 2 (XRC) of parameter No. 0019.
(b) If the 3rd axis is used as the Cs axis, the 3rd axis cannot be controlled.
(c) When the controlled axis is the 3rd axis, manual feed control cannot be performed by PMC axis control alone. When the 3rd axis is used as the Cf axis, however, manual feed control can be performed.
Commands from path 1
Commands from path 2
α axis control
β axis control
Group A
Group B
PMC CNC
DI/ DO
In the following description, input/output signals from the four paths are called group A (path 1) and group B (path 2) respectively.
The name of an input/output signal used for PMC axis control always contains a lowercase g, as in EBUFg. However, there is no such signal as EBUFg. The actual signal names represented by EBUFg are EBUFA and EBUFB, which respectively correspond to signals of group A (path 1) and group B (path 2).
(1) In bits 0 to 5 of parameter No.0061, specify which DI/DO signal group (A or B) is to be used for PMC axis control on a per–axis basis.
When using the same group for simultaneously controlling two or more axes, check that the settings of the parameters related to feedrate (rapid traverse rate, acceleration/deceleration time constant, diameter/radius, linear axis/rotation axis, etc.) are identical for each axis to be controlled.
(2) To enable direct PMC axis control, set each control axis selection signal (EAX1 to EAX8), that corresponds to an axis to be controlled, to 1.
(1) Determine the operation.
The axis control command signals (EC0g to EC6g) specify the type of operation. The axis control feedrate signals (EIF0g to EIF15g) specify the feedrate. The axis control data signals (EID0g to EID31g) specify the moving distance and other data. These signals, together with block stop prohibition signal EMSBKg (described later), determine one complete operation, which is tantamount to one block executed during CNC–controlled automatic operation. These signals may be collectively called the axis control block data signals.
Controlled axis in T series
Axis selection at specification B
Basic procedure
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� List of Signals Determining Data, Tantamount to One Block for PMC Axis Control
Generic name Signal name Symbol Data type
Block stop prohibi- tion signal
EMSBKg Bit
Axis control block data
Axis control command signal
EC0g to EC6g Byte
block data signals Axis control feedrate
signal EIF0g to EIF15g Word
Axis control data signal
EID0g to EID31g Two words
(2) When the data governing a complete operation (one block) is determined, reverse the logical state of axis control command read signal EBUFg (i.e., from “0” to “1” or vice versa). Note that, for this to occur, axis control command read completion signal EBSYg must be in the same logical state as EBUFg.
� The CNC is capable of storing axis control functions from the PMC in its buffer so that multiple operations can be performed in series, under the control of the PMC. This allows the CNC to accept a new command block from the PMC during the execution of another block if the buffer has free space.
The following figure illustrates an example in which command [1] is being executed, commands [2] and [3] are stored in the buffers, and command [4] has been issued (the axis control block data signal is set).
[4] Input buffer
Executing buffer
Waiting buffer
Command [1]
Command [2]
Command [3]
Command [5]
Block 1
Block 2
Block 3
Block 4 Command [4]
Block 5
Block n
PMC Commands Setting of the axis control block data signal
CNC’s buffers
[1]
[2]
[3]
↓
↓
When the execution of command [1] is completed:
⋅ command [2] is transferred from the waiting buffer to the executing buffer;
⋅ command [3] is transferred from the input buffer to the waiting buffer; and
15. PMC CONTROL FUNCTION B–61393E–2/02
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⋅ command [4] is transferred to the input buffer as the command block (axis control block data signal).
After the reception of command [4] by the input buffer, the PMC can issue command [5] to the CNC (the axis control block data signal is set).
The timing chart for the command operation is shown below.
Command block (Input)
EBUFg (Input)
(1) (2) (3) (4) (5)
EBSYg (Output)
The buffer is full.
Input buffer [3] [4]
Waiting buffer [2] [3]
Executing buffer
[1] Beginning of execution
End of execution
[1] [2] [3] [4] [5]
[2] Beginning of execution
(1), (2), (3), (4), (5) : A new block cannot be issued during these intervals (while EBUFg and EBSYg are in different logical states).
� The status of the CNC buffer can be determined by the exclusive OR of axis control command read signal EBUFg, input from the PMC, and axis control command read completion signal EBSYg, output from the CNC.
EBUFg �
EBSYg
Exclusive OR
(XOR) CNC buffer status
0 1 � �
0 1 0
The previous block has already been read into the CNC buffer. The PMC can issue the next block.
0 1 � �
1 0 1
The previous block has not yet been read com- pletely. It is just being read or waiting for the CNC buffer to become available. Do not issue the next block, nor reverse the logical state of EBUFg. Reversing the EBUFg state invalidates any block that has been already issued.
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(3) Repeat steps (1) and (2) until all the blocks have been issued.
When the final block has been issued, set control axis selection signals EAX1 to EAX8 to “0”. Before setting these signals to “0”, however, check that the blocks stored in the CNC’s input, waiting, and executing buffers have all been executed. Setting the signals to “0” while a block is being executed, or while a block remains in any of these buffers, results in the issue of a P/S alarm. This alarm suspends the current block execution and invalidates the blocks stored in the input and waiting buffers.
To ensure no block is being executed, or that there are no blocks remaining in the input or waiting buffer, check that control axis selection status signal *EAXSL is set to “0”.
For those axes that are always subject to PMC control, such as those controlling turrets, pallets, and ATCs, ensure that the EAX1 to EAX8 signals are always set to “1”. There is no need to set these signals to “0” after issuing commands from the PMC to the CNC. When all command blocks have been executed (there are no blocks remaining to be executed), the CNC automatically stops execution.
(4) When control axis selection signals EAX1 to EAX8 are set to “0”, control is returned to the CNC.
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Symbol Signal nameNo.
EAX1 to EAX8 Control axis selection signals
EC0g to EC6g Axis control command signals
EIF0g to EIF15g Axis control feedrate signals
EID0g to EID31g Axis control data signals
EBUFg Axis control command read signal
EBSYg Axis control command read completion signal
ECLRg Reset signal
ESTPg Axis control temporary stop signal
ESBKg Block stop signal
EMSBKg Block stop disable signal
EM11g to EM28g Auxiliary function code signals
EMFg Auxiliary function strobe signal
EFINg Auxiliary function completion signal
ESOFg Servo–off signal
*EAXSL Control axis selection status signal
EINPg In–position signal
ECKZg Following zero checking signal
EIALg Alarm signal
EGENg Axis moving signal
EDENg Auxiliary function executing signal
EOTNg Negative–direction overtravel signal
EOTPg Positive–direction overtravel signal
*OV1E to *OV8E Feedrate override signals
OVCE Override cancellation signal
ROV1E, ROV2E Rapid traverse override signals
DRNE Dry run signal
RTE Manual rapid traverse selection signal
EOV0 Override 0% signal
ESKIP Skip signal
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
Signal
Signal list
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[Classification] Input signal
[Function] When the signal is set to “1”, the corresponding axis becomes subject to PMC control.
When the signal is set to “0”, PMC control becomes invalid. Changing the setting of the control axis selection signal is possible only when control axis selection status signal *EAXSL is set to “0”. Changing the setting when *EAXSL is set to “1” results in the issue of a P/S alarm (No. 139). Alarm signal EIALg is set to “1”.
While *EAXSL is set to “0”, the status of alarm signal EIALg does not change to 1 when the control axis selection signal is set to 1 and a P/S alarm (No. 139) is generated. In this case, the axis can be controlled from the PMC, even when the CNC is in the alarm status.
NOTE After setting control axis selection signals EAX1 to EAX8 to 1, it takes at least 8 msec before the PMC can issue commands to the CNC.
[Classification] Input signal
[Function] Specifies the following operations through each path.
Axis control command
(hexadecimal code)
Operation
00h Rapid traverse (linear acceleration/deceleration)
00h Performs the same operation as G00, used by the CNC.
01h
Cutting feed – feed per minute (exponential acceleration/deceleration or linear acceleration/ deceleration after interpolation)
Performs the same operation as G94 G01, used by the CNC.
02h
Cutting feed – feed per revolution (exponential acceleration/ deceleration or linear acceleration/deceleration after inter- polation)
Performs the same operation as G95 G01, used by the CNC.
Signal Detail
1 Control axis selection signals EAX1 to EAX8 (Specification B)
2 Axis control command signals EC0g to EC6g
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Axis control command
(hexadecimal code)
Operation
Skip – feed per minute
03h Performs the same operation as G31 G01, used by the CNC.
04h Dwell
04h Performs the same operation as G04, used by the CNC.
Reference position return
05h Moves the tool in the direction of reference position return specified by ZM, bits 0 to 3 of parameter No.0003, in rapid traverse mode, then performs the same operation as manual reference position return, done by the CNC.
Jog feed (exponential acceleration/deceleration)
06h Moves the tool in the specified direction in jog feed mode. Performs the same operation as that of JOG feed, done by the CNC.
1st reference position return
07h Performs the same operation as done when positioning the tool to the reference position from the intermediate point specified by G28 of the CNC.
2nd reference position return
08h Performs the same operation as done when positioning the tool to the reference position from the intermediate point specified by G30 P2 of the CNC.
3rd reference position return
09h Performs the same operation as done when positioning the tool to the reference position from the intermediate point specified by G30 P3 of the CNC.
4th reference position return
0Ah Performs the same operation as done when positioning the tool to the reference position from the intermediate point specified by G30 P4 of the CNC.
0Bh External pulse synchronization – main spindle
0Bh Synchronizes with the main spindle.
0Dh External pulse synchronization – 1st manual handle
0Dh Synchronizes with the 1st manual handle.
0Eh External pulse synchronization – 2nd manual handle
0Eh Synchronizes with the second manual handle.
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Axis control command
(hexadecimal code)
Operation
0Fh External pulse synchronization – 3rd manual handle
0Fh Synchronizes with the 3rd manual handle.
10h Speed command (linear acceleration/deceleration)
10h Performs jog feed at the specified speed.
10h Speed command (linear acceleration/deceleration)
10h Performs jog feed at the specified speed.
Auxiliary function
12h Performs the same function as the miscellaneous function (M function), used by the CNC.
When using the rapid traverse command (EC0g to EC6g: 00h), the feedrate can be specified in either the same parameter as that used by the CNC or the PMC’s axis interface feedrate signals EIF0g to EIF15g. This can be set with EFERPD, bit 7 of parameter No.0387.
When the cutting feed – feed per minute command (EC0g to EC6g: 01h) is specified, the cutting feed time constant parameter (parameter Nos. 0651 to 0654; PEFDT to PEFDT4) and the lower cutting feedrate limit (FL) parameter (parameter Nos.0657 to 0660; PEAFLX to PEAFL4) can be set for each PMC axis, independently of the CNC.
When using the cutting feed – feed per revolution command (EC0g to EC6g: 02h).
M series : The optional function for threading in synchronous feed mode is necessary.
T series : The operation depends on spindle selection signal PC2SLCT <G146.7>.
The operation cannot be performed when ITPCNT, bits 4 to 6 of parameter No. 0055, specifies high–speed cycle machining.
When the function for returning to the reference position without dogs is enabled, and no reference position return has been performed since power–on operation, specifying a reference position return (EC0g to EC6g: 05h) command returns the tool to the reference position (positioning to the grid point nearest the current point) without having to issue a deceleration signal for reference position return. To do this, specify a jog feed (EC0g to EC6g: 06h) command to move the tool along each axis in the predetermined direction (positioning to a point near the reference position). Then, specify a reference position return (EC0g to EC6g: 05h).
Note that, when positioning the tool to a point near the reference position, the tool must be moved in the direction of reference position return at such a speed that the servo position error exceeds 128.
Rapid traverse rate
Feed per minute
Cutting feed – feed per revolution
Reference position return
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The direction of the grid relative to the proximate position depends on ZM*, bits 0 to 3 of parameter No.0003.
After the reference position has been established, reference position return can be performed at high speed by issuing the reference position return command (EC0g to EC6g: 05h), irrespective of the reference position return direction specified by ZM*, bits 0 to 3 of parameter No.0003.
When reference position return is specified, a low feedrate (FL) can be set for the PMC axis, independently of the CNC, by using parameter No. 0672 (EZRNFL).
When the function for returning to the reference position without dogs is enabled, and the tool has not been returned to the reference position since the power–on operation, specifying the 1st reference position return (EC0g to EC6g: 07h) causes a P/S alarm (No.090).
When using the 1st and 4th reference position return commands (EC0g to EC6g: 07h to 0Ah), the feedrate can be specified using EFERPD, bit 7 of parameter No.0387, in the same manner as when using the rapid traverse command (EC0g to EC6g: 00h).
Note that, in the case of the 1st reference position return, if the tool has not been manually returned to the reference position after the power was turned on, the feedrate specified by parameter applies.
When using the external pulse synchronization commands (EC0g to EC6g: 0Bh, 0Dh to 0Fh), the tool moves backwards if the external pulse has a negative value. When a manual handle interrupt is executed for the axis to which the external pulse is being applied, the moving distance is the sum of the external pulse and the interrupt pulse.
When diameter programming is used, the amount of travel is doubled.
When using the jog feed command (EC0g to EC6g: 06h) and the external pulse synchronization command (EC0g to EC6g: 0Bh, 0Dh to 0Fh), the displayed remaining distance is always “0”.
When using the speed command (EC0g to EC6g: 10h), specify the axis to be controlled as a rotation axis.
While position control is being executed for the jog feed command (EC0g to EC6g: 06h), the speed command (EC0g to EC6g: 10h) exerts speed control over the servo motor, thus allowing the speed to be dynamically changed during jog feed. This makes this command suitable for driving a rotation tool with a servo motor.
A linear acceleration/deceleration time constant can be set for each axis, using parameter.
Note that, while jog feed is being executed by the speed command, no coordinate system values are changed. This will result in the loss of the tool position. Therefore, after jog feed has been completed, always return the tool to the reference position before executing the move command.
Also, note that absolute pulse coder specification is not allowed.
Reference position return without dogs
1st to 4th reference position return
External pulse synchronization
Display of remaining distance
Speed command
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Command block
Operation Axis control code signal EC0g to EC6g Command data
Rapid traverse 00h Total moving distance EID0g to EID31g Rapid traverse rate EIF0g to EIF15g
The rapid traverse rate is valid when EFEPRD, bit 7 of parameter No.0387, is set to “1”.
Cutting feed – feed per minute
01h Total moving distance EID0g to EID31g Feedrate
Skip – feed per minute 03h Feedrate EIF0g to EIF15g
Cutting feed – feed per revolution
02h Total moving distance EID0g to EID31g Feed per rotation EIF0g to EIF15g
Dwell 04h Dwell time EID0g to EID31g
Reference position return
05h None
Jog feed 06h Feed direction EID31g Jog feedrate EIF0g to EIF15g
1st reference position return
07h Rapid traverse rate EIF0g to EIF15g
2nd reference position return
08h The rapid traverse rate is valid when EFEPRD, bit 7 of parameter
3rd reference position return
09h bit 7 of parameter No.0387, is set to “1”.
4th reference position return
0Ah
External pulse synchronization – main spindle
0Bh Pulse weight EIF0g to EIF15g
External pulse synchronization –
0Dh synchronization – manual handle 0Eh
0Fh <For M series only>
Speed command 10h Jog feedrate EIF0g to EIF15g
Auxiliary function 12h Auxiliary function code EID0g to EID15g
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[Classification] Input signal
[Function] (1) Rapid traverse (EC0g to EC6g: 00h)
(2) 1st reference position return (EC0g to EC6g: 07h)
(3) 2nd reference position return (EC0g to EC6g: 08h)
(4) 3rd reference position return (EC0g to EC6g: 09h)
(5) 4th reference position return (EC0g to EC6g: 0Ah)
(6) Machine coordinate system selection (EC0g to EC6g: 20h)
For these commands, signals EIF0g to EIF15g are used to specify the rapid traverse rate, in binary format, when bit 7 (EFERPD) of parameter 0387 is set to “1”. For 1st reference position return, however, the rapid traverse rate specified with parameter is used if manual reference position return has not been performed after the power was first turned on.
Data unit Unit
IS–B IS–C Unit
Linear Metric machine 1 mm/min axis Inch machine 0.1 inch/min
Rotation axis 1 deg/min
[Valid data range] Specify data within the range given in the following table.
� � � �
� ��
���� ����
� ��
Linear Metric machine 30 to 15000 30 to 12000 mm/min axis Inch machine 30 to 6000 30 to 4800 inch/min
Rotation axis 30 to 15000 30 to 12000 deg/min
(7) Cutting feed – feed per minute (EC0g to EC6g: 01h)
(8) Skip – feed per minute (EC0g to EC6g: 03h)
For these commands, the signals are used to specify, in binary format, the feedrate along an axis. The specified feedrate can be magnified by ten by the setting of bit 5 (EFML10) of parameter No.0049.
[Unit of data] When bit 5 (EFML10) of parameter No.0049 is set to 0
Data unit Unit
IS–B IS–C Unit
Linear Metric machine 1 0.1 mm/min axis Inch machine 0.01 0.001 inch/min
Rotation axis 1 0.1 deg/min
3 Axis control feedrate signals EIF0g to EIF15g
[Unit of data]
B–61393E–2/02 15. PMC CONTROL FUNCTION
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When bit 5 (EFML10) of parameter No.0049 is set to 1
Data unit Unit
IS–B IS–C Unit
Linear Metric machine 10 1 mm/min axis Inch machine 0.1 0.001 inch/min
Rotation axis 10 1 deg/min
[Valid data range] 1 to 65535 (Actual values must fall within the ranges given in the following table.)
Data range Unit
IS–B IS–C Unit
Linear Metric machine 1 to 100000 0.1 to 12000.0 mm/min axis Inch machine 0.01 to 4000.00 0.001 to 480.000 inch/min
Rotation axis 1 to 100000 0.1 to 12000.0 deg/min
WARNING Cutting feedrate clamp is disabled.
CAUTION When “0” is specified, the CNC continues to perform buffering without moving the tool. In such a case, release the buffering by issuing reset signal ECLRg.
(9) Cutting feed – feed per rotation (EC0g to EC6g: 02h)
For this command, the signals are used to specify the amount by which the tool is moved for every rotation of the spindle.
<For T series>
[Unit of data] The data increment depends on the settings of bits 6 (FRVF1) and 7 (FRVF2) of parameter No.0066, as listed in the following table.
Parameter Metric input Inch input Rotation axis FRVF2 FRVF1
p (mm/rev)
p (inch/rev) (deg/rev)
1 1 0 0001 0 000001 0 0001
0 0 0.0001 0.000001 0.0001
0 1 0.001 0.00001 0.001
1 0 0.01 0.0001 0.01
[Valid data range] 1 to 65535 (Actual values must fall within the ranges given in the following table.)
Data range Unit
IS–B IS–C Unit
Linear Metric input 0.0001 to 500.0000 mm/rev axis Inch input 0.000001 to 9.999999 inch/rev
Rotation axis 0.0001 to 500.0000 deg/rev
15. PMC CONTROL FUNCTION B–61393E–2/02
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<For M series>
[Unit of data] The data unit depends on the settings of bits 6 (FRVF1) and 7 (FRVF2) of parameter No. 0066, as listed in the following table.
Parameter Metric input Inch input Rotation axis
FRVF2 FRVF1
p (mm/rev)
p (inch/rev) (deg/rev)
1 1 0 01 0 0001 0 01
0 0 0.01 0.0001 0.01
0 1 0.1 0.001 0.1
1 0 1 0.01 1
[Valid data range] 1 to 65535 (Actual values must fall within the ranges given in the following table.)
Data range Unit
IS–B IS–C Unit
Linear Metric input 0.01 to 500.00 mm/rev axis Inch input 0.0001 to 9.9999 inch/rev
Rotation axis 0.01 to 500.00 deg/rev
WARNING 1 The value of parameter No. 0698 is used as the upper limit
for clamping the feedrate. 2 Override for the feedrate is effective. Dry run is invalid.
CAUTION The specified feedrate can be magnified by 1, 10, or 100 by setting bits 6 (FRVF1) and 7 (FRVF2) of parameter No. 0066 accordingly.
(10) External pulse synchronization – main spindle (EC0g to EC6g: 0Bh)
(11) External pulse synchronization – first manual handle (EC0g to EC6g: 0Dh)
(12) External pulse synchronization – second manual handle (EC0g to EC6g: 0Eh)
(13) External pulse synchronization – third manual handle (EC0g to EC6g: 0Fh)
For these commands, the signals are used to specify the weight of the external pulses. A weight range of�1/256 to �127 can be set by using signals EIF0g to EIF7g for the figures after the decimal point. When a negative weight is specified, the tool is moved in the reverse direction. When a new pulse weight is specified while the tool is moving in synchronization with external pulses, inverting signal EBUFg causes the tool to move with the new pulse weight.
As commands for (10) to (13) are executed without buffering, axis control command read completion signal EBSYg usually need not be checked.
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CAUTION The pulse weight is clamped according to the value set for parameter (parameter for the manual rapid traverse rate for each axis).
NOTE When bit 2 (XRC) of parameter No.0019 is set to diameter programming, the tool moves with double pulse weight.
(14) Jog feed (EC0g to EC6g: 06h)
Set the feedrate as the same as for cutting feed – feed per minute (EC0g to EC6g: 01h). The feedrate can be changed during jog feed.
Specify the feedrate with signals EIF0g to EIF15g, and invert the axis control command read signal EBUFg during jog feed, then the tool moves at the new feedrate.
As commands for jog feed are executed without buffering, axis control command read completion signal EBSYg usually need not be checked.
The specified feedrate can be magnified by 10 by setting bit 5 (EFML10) of parameter No.0049.
CAUTION The maximum feedrate depends on whether override is applied or canceled. The following table lists the maximum feedrate when override is canceled.
IS–B IS–C
Metric input Inch input Metric input Inch input
Magnified by 1
65535 mm/min
655.35 inch/min
6553 mm/min
65.53 inch/min
Magnified by 10
655350 mm/min
6553.50 inch/min
65535 mm/min
655.35 inch/min
NOTE The actual speed may not be displayed correctly, depending on the feedrate.
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(15) Speed command (EC0g to EC6g: 10h)
For this command, the signals are used to specify, in binary format, the servo motor speed.
Specify a positive value for rotation in the forward direction. Specify a negative value (twos complement) for rotation in the reverse direction.
When a new servo motor speed is specified, inverting the axis control command read signal EBUFg accelerates or decelerates the servo motor until it attains the new speed.
Data range Unit
–32768 to +32767 rpm
NOTE 1 The servo motor speed may contain a slight error, as
follows:
Gears
↑
Motor
Axis
Detector
(a)
(b)
Speed command
Amplifier↑
(a)The speed command for PMC axis control requires specification of the servo motor speed, not the feedrate along an axis. To specify a feedrate along the axis when gears are used to link the servo motor and axis, the feedrate must be converted to a rotation speed of the servo motor speed. As the motor speed must be specified with an integer, the converted speed is subject to a round–off error.
(b)The minimum increment for specifying the motor speed is calculated by the following formula and rounded to the nearest integer:
Fmin : Minimum increment for the motor speed
P : Number of pulses per rotation of the detector for velocity feedback
Specify the speed command using the value calculated by the following formula:
F : Speed command value (integer)
N : Servo motor speed (rpm) P : Number of detector
pulses issued per rotation for velocity feedback
2 In speed command mode, the speed after acceleration/deceleration is specified to the servo control unit. The loop gain for position control is invalid.
 PMC CONTROL FUNCTION
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[Classification] Input signal
IS–B IS–C Unit
Metric input Degree input
0.001 0.0001 mm deg
Inch input 0.0001 0.00001 inch
[Valid data range] (1) Rapid traverse (EC0g to EC6g: 00h) (2) Cutting feed – feed per minute (EC0g to EC6g: 01h)
(3) Cutting feed – feed per rotation (EC0g to EC6g: 02h)
(4) Skip – feed per minute (EC0g to EC6g: 03h)
For these commands, signals EID0g to EID31g are used to specify, in binary format, the incremental moving distance, according to the input increment used for the axis.
IS–B IS–C Unit
Metric input Degree input
�99999.999 �9999.9999 mm deg
Inch input �9999.9999 �999.99999 inch
When diameter programming is used, the specified data is doubled for axial movement.
(5) Dwell (EC0g to EC6g: 04h)
For this command, the signals are used to specify, in binary format, the dwell time.
Data range Unit
1 to 9999999 ms
When diamete programming is used by bit 2 (XRC) of parameter No. 0019, dwell is executed double the specified time.
(6) Jog feed (EC0g to EC6g: 06h)
For this command, signal EID31g is used to specify the direction of jog feed, as follows:
0: Positive direction 1: Negative direction
Signals EID0g to EID30g are undefined.
(7) Auxiliary functions (EC0g to EC6g: 12h)
For this command, the signals are used to specify, in binary format, an auxiliary function code to be sent to the PMC.
4 Axis control data signals EID0g to EID31g
[Unit of data]
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[Classification] Input signal
[Function] Directs the CNC to read a block of command data for PMC axis control. See “Basic procedure” for details of the operation performed when this signal is set from “0” to “1” or from “1” to “0”.
[Classification] Output signal
[Function] Notifies the system that the CNC has read a block of command data for PMC axis control and has stored the block in the input buffer. See “Basic procedure” for details of the output conditions and the procedure.
[Classification] Input signal
[Function] Resets the corresponding PMC–controlled axis. When this signal is set to “1”, the following is performed:
(1) When the tool is moving along the axis: Decelerates and stops the tool.
(2) When the tool is dwelling: Stops the operation.
(3) When an auxiliary function is being executed: Stops the operation.
Simultaneously, all buffered commands are canceled. Any control command is ignored while this signal is set to “1”.
The jog feed command (EC0g to EC6g: 06h) and external pulse synchronization command (EC0g to EC6g: 0Bh, 0Dh to 0Fh) can be terminated by setting reset signal ECLRg to “1”. When these commands are terminated, the servo motor decelerates and stops, the axis moving signal EGENg is set to “0”, and the control axis selection status signal *EAXSL is set to “0”. Confirm that the control axis selection status signal *EAXSL has been set to “0” before issuing the next command. Do not set reset signal ECLRg to “0” until the control axis selection status signal *EAXSL has been set to “0”.
The speed command (EC0g to EC6g: 10h) can also be terminated by setting the reset signal ECLRg to “1”. When this command is terminated, the servo motor decelerates and stops, and the axis moving signal EGENg is set to “0”. Confirm that the axis moving signal EGENg has been set to “0” before issuing the next command. Do not attempt to set the reset signal ECLRg to “0” until the axis moving signal EGENg has been set to “0”.
5 Axis control command read signal EBUFg
6 Axis control command read completion signal EBSYg
7 Reset signal ECLRg
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[Classification] Input signal
[Function] When this signal is set to “1”, the following is performed:
(1) When the tool is moving along the axis: Decelerates and stops the tool.
(2) When the tool is dwelling: Stops the operation.
(3) When an auxiliary function is being executed: Stops the operation when auxiliary function completion signal EFINg is input.
The stopped operation can be restarted by setting this signal to “0”.
[Classification] Input signal
[Function] When block stop signal ESBKg is set to “1” during the execution of a command issued from the PMC, axis control is stopped after the block being executed is completed. When this signal is set to “0”, the buffered command is executed. Block stop signal ESBKg is disabled when block stop disable signal EMSBKg is set to “1” for the block.
The timing chart for the command operation is shown below.
ESBKg (input)
Command block (input)
EBUFg
(input)
EBSYg (output)
Input buffer
Waiting buffer
Executing buffer
|← More than →| 8 msec
Beginning of execution
[1] [2] [3]
[1]
The buffer is full.
[2]
[3]
[1]
[2]
8 Axis control temporary stop signal ESTPg
9 Block stop signal ESBKg
10 Block stop disable signal EMSBKg
15. PMC CONTROL FUNCTION B–61393E–2/02
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[Classification] Output signal
[Classification] Output signal
[Classification] Input signal
[Function] When an auxiliary function command (EC0g to EC6g: 12h) is issued by the PMC, the CNC sends the auxiliary function code specified in signals EID0g to EID7g to auxiliary function code signals EM11g to EM28g and awaits auxiliary function completion signal EFINg. When the auxiliary function completion signal EFINg is returned, the CNC starts executing the next block. The timings for sending the auxiliary function code signals and auxiliary function strobe signal, as well as for receiving the auxiliary function completion signal, are the same as those for the miscellaneous functions (M functions) under the control of the CNC. See “Auxiliary function executing signal” for details.
[Classification] Input signal
[Function] When this signal is set to “1”, the servo motor for the corresponding PMC–controlled axis is turned off (servo–off state).
When this signal is set to “0”, the servo motor is turned on.
[Classification] Output signal
[Function] When this signal is set to “0”, control axis selection signals EAX1 to EAX8 can be changed.
This signal is set to 1 in the following cases:
(1) When the tool is moving along a PMC–controlled axis (2) When a block is being read into a buffer (3) When the servo–off signal ESOFg is set to “1”
When this signal is set to “1”, control axis selection signals EAX1 to EAX8 cannot be changed. Any attempt to change these signals results in the output of P/S alarm No. 139.
11 Auxiliary function code signals EM11g to EM28g
12 Auxiliary function strobe signal EMFg
13 Auxiliary function completion signal EFINg
14 Servo–off signal ESOFg
15 Control axis selection status signal *EAXSL (Specification B)
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If an attempt to change signals EAX1 to EAX4 is made when servo–off signal ESOFg is “1”, P/S alarm No. 139 occurs and cannot be released simply by setting reset signal ECLRg to “1”. In such a case, restore signals EAX1 to EAX4 or set servo–off signal ESOFg to “0” before setting reset signal ECLRg to “1”.
When a command is issued for any of the two paths with PMC axis control, signal *EAXSL is set to “1” to disable axis selection. Thus, changing signals EAX1 to EAX4 results in the output of P/S alarm No. 139. For paths for which commands are not issued, however, axis selection is enabled if the parameter EADSL (No.0389#4 (M)/No.0398#0 (T)) is set accordingly.
[Classification] Output signal
[Function] This signal is set to “1” when the corresponding PMC–controlled axis is in the in–position state.
[Classification] Output signal
[Function] This signal is set to “1” when following zero check or in–position check is being performed for the corresponding PMC–controlled axis.
[Classification] Output signal
[Function] This signal is set to “1” when a servo alarm, overtravel alarm, or P/S alarm No. 130 or 139 occurs for the corresponding PMC–controlled axis. This signal is set to “0” when reset signal ECLRg is set to “1” after the alarm is released, as described below. � Servo alarm
Eliminate the cause of the alarm, then reset the CNC. � Overtravel alarm
Move the tool into the area within the stored stroke limit, then reset the CNC. The following commands can be used to move the tool into the area within the stored stroke limit during an overtravel alarm:
(1) Rapid traverse (EC0g to EC6g: 00h) (2) Cutting feed–feed per minute (EC0g to EC6g: 01h) (3) Cutting feed–feed per rotation (EC0g to EC6g: 02h) (4) Jog feed (EC0g to EC6g: 06h) (5) External pulse synchronization – first manual handle
(EC0g to EC6g: 0Dh) (6) External pulse synchronization – second manual handle
(EC0g to EC6g: 0Eh)
16 In–position signal EINPg
17 Following zero checking signal ECKZg
18 Alarm signal EIALg
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(7) External pulse synchronization – third manual handle (EC0g to EC6g: 0Fh)
� P/S alarm (130 or 139) Reset the CNC. See “Alarms and messages” for details.
Reset signal ECLRg cannot be used to reset the CNC in the above cases. Use the reset button on the setting panel, external reset signal ERS, or emergency stop signal *ESP.
[Classification] Output signal
[Function] This signal is set to “1” when the tool is moving along the corresponding PMC–controlled axis according to commands such as rapid traverse (EC0g to EC6g: 00h) and cutting feed (EC0g to EC6g: 01h).
NOTE This signal is set to “0” when distribution for the axis is completed (the signal is set to “0” during deceleration).
[Classification] Output signal
[Function] When an auxiliary function (EC0g to EC6g: 12h) is specified by the PMC, this signal is set to “1” during the period from when auxiliary function codes EID0g to EID7g are sent to auxiliary function code signals EM11g to EM48g until auxiliary function completion signal EFINg is returned.
The timing chart for the command operation is shown below.
Command block (input)
EM11g to EM48g (output)
EMFg (output)
EFINg (input)
EDENg (output)
Auxiliary function command Next command
TFIN
TMF
TMF and TFIN are set with parameter 0009.
19 Axis moving signal EGENg
20 Auxiliary function executing signal EDENg
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[Classification] Output signal
[Function] These signals are set to “1” when an overtravel alarm is detected. When the stroke limit in the negative direction is exceeded, signal EOTNg is set to “1”. When the stroke limit in the positive direction is exceeded, signal EOTPg is set to “1”. Simultaneously, alarm signal EIALg is set to “1”.
These signals are set to “0” when the overtravel alarm is released and reset signal ECLRg is set to “1”. See “Alarm signal EIALg” for details of how to release an overtravel alarm.
[Classification] Input signal
[Function] Like the CNC’s feedrate override signals *OV1 to *OV8, these signals can be used to select the override for the cutting feedrate, in steps of 10% from 0 to 150%, independently of the CNC using bit 7 (EAXOVE) of parameter No.0078.
NOTE OVRIE is set with bit 4 of parameter No. 0078.
Contact signal status on machine side Override value
*OV1E *OV2E *OV4E *OV8E OVRIE=1 OVRIE=0
0 0 0 0 0% 150%
1 0 0 0 10% 140%
0 1 0 0 20% 130%
1 1 0 0 30% 120%
0 0 1 0 40% 110%
1 0 1 0 50% 100%
0 1 1 0 60% 90%
1 1 1 0 70% 80%
0 0 0 1 80% 70%
1 0 0 1 90% 60%
0 1 0 1 100% 50%
1 1 0 1 110% 40%
0 0 1 1 120% 30%
1 0 1 1 130% 20%
0 1 1 1 140% 10%
1 1 1 1 150% 0%
21 Negative–direction overtravel signal EOTNg
22 Positive–direction overtravel signal EOTPg
23 Feedrate override signals *OV1E to *OV8E
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[Classification] Input signal
[Function] When override is enabled, independently of the CNC, by setting bit 7 (EAXOVC) of parameter No.0078, setting this signal to “1” fixes the cut- ting feed override to 100%. This signal does not affect the rapid traverse override.
[Classification] Input signal
[Function] These signals can be used to select the override for the rapid traverse rate, independently of the CNC, by setting bit 7 (EAXOVC) of parameter No.0078.
Contact signal status on machine side Override value
ROV1E ROV2E OVRIE=1 OVRIE=0
1 1 100% F0
0 1 50% 25%
1 0 25% 50%
0 0 F0 100%
F0 is the minimum feedrate specified with parameter No.0685.
[Classification] Input signal
[Function] These signals can be used to perform dry run or manual rapid traverse, independently of the CNC, by setting bit 7 (EAXOVE) of parameter No.0078. When dry run signal DRNE is set to “1”, the specified rapid traverse rate and cutting feedrate are ignored and the tool moves at the dry run speed multiplied by the specified override. Bit 6 (RDRNE) of parameter No.0078 can be used to specify whether to enable or disable dry run for rapid traverse.
When manual rapid traverse selection signal RTE is set to “1” during dry run, the tool moves at the rapid traverse rate for rapid traverse and at the maximum jog feedrate for cutting feed. When the signal is set to “0”, the tool moves at the jog feedrate. When dry run signal DRNE is set to “0”, the specified rapid traverse rate or cutting feedrate is restored.
Manual rapid traverse select
Command from PMC traverse select
signal Rapid traverse Feed
1 Rapid traverse rate Maximum jog feedrate
0 Jog feedrate(*) Jog feedrate
* Can also be set to the rapid traverse rate with bit 6 (RDRNE) of parameter No.0078.
24 Override cancellation signal OVCE
25 Rapid traverse override signals ROV1E and ROV2E
26 Dry run signal DRNE 27 Manual rapid traverse
selection signal RTE
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Contact signal status on Jog feedg machine side OVRIE=1 OVRIE=0
*OV1E *OV2E *OV4E *OV8E Metric system
[mm/min]
Inch system
[inch/min]
Metric system
[mm/min]
Inch system
[inch/min]
0 0 0 0 0 0 1260 50
1 0 0 0 2.0 0.08 790 30
0 1 0 0 3.2 0.12 500 20
1 1 0 0 5.0 0.2 320 12
0 0 1 0 7.9 0.3 200 8.0
1 0 1 0 12.6 0.5 126 5.0
0 1 1 0 20 0.8 79 3.0
1 1 1 0 32 1.2 50 2.0
0 0 0 1 50 2.0 32 1.2
1 0 0 1 79 3.0 20 0.8
0 1 0 1 126 5.0 12.6 0.5
1 1 0 1 200 8.0 7.9 0.3
0 0 1 1 320 12 5.0 0.2
1 0 1 1 500 20 3.2 0.12
0 1 1 1 790 30 2.0 0.08
1 1 1 1 1260 50 0 0
[Classification] Output signal
[Function] Signal EOV0 is turned “1” at 0% override value, when override is valid independently of the CNC by setting the parameter EAXOVE (bit 7 of No.0078).
[Classification] Input signal
[Function] When this signal is set to “1”, the block being executed is immediately stopped and the next block is executed. Bit 3 (EPMSKP) of parameter No.0066 can be used to select whether to use signal SKIP, which is the common skip signal for the PMC and CNC, or PMC–specific skip signal ESKIP.
28 Override 0% signal EOV0
29 Skip signal ESKIP
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CNC � PMC
#7 *EAXSLF188
#6 #5 EOV0
#4 #3 #2 #1 #0 PMC
ADDRESS
#7 EBSYAF270
#6 EOTNA
#5 EOTPA
#4 EGENA
#3 EDENA
#2 EIALA
#1 ECKZA
#0 EINPA
F271 EMFA
EM28AF272 EM24A EM22A EM21A EM18A EM14A EM12A EM11A
For group A
#7 EBSYBF273
#6 EOTNB
#5 EOTPB
#4 EGENB
#3 EDENB
#2 EIALB
#1 ECKZB
#0 EINPB
F274 EMFB
EM28BF275 EM24B EM22B EM21B EM18B EM14B EM12B EM11B
For group B
Signal name Symbol
Reference position return decel- eration signal
*DEC7 *DEC8
Servo off signal SVF7 SVF8
Reference position return completion signal
ZP7 ZP8
2nd, 3rd, or 4th reference posi- tion return completion signal
ZP27, ZP37, ZP47 ZP28, ZP38, ZP48
MT � CNC
#7 *EAXSLX016
#6 #5 #4 #3 #2 *DEC7
#1 #0 PMC
ADDRESS
X017 *DEC8
PMC � CNC
#7 G105
#6 #5 SVF8
#4 SVF7
#3 #2 #1 #0 PMC
ADDRESS
CNC � PMC
#7 ZP28F166
#6 ZP27
#5 ZP8
#4 ZP7
#3 ZP48
#2 ZP47
#1 ZP38
#0 ZP37
PMC ADDRESS
Signals for the 7th and 8th axes
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#7 0030
#6 #5 #4 #3 #2 #1 EAC1
#0 EAC0
[Data type] Bit
EAC1, EAC0 One of the axes from the X axis to the fourth axis is selected as the controlled axis. (For M series with specification A only)
EAC1 EAC0 PMC controlled axis
0 0 Fourth axis
0 1 X axis
1 0 Y axis
1 1 Z axis
#7 0032
#6 EACSB
#5 #4 PNGMLK
#3 #2 #1 #0
[Data type] Bit
PNGMLK 1 : Machine lock signal MLK is invalid for the PMC controlled axis. 0 : Machine lock signal MLK is valid for the PMC controlled axis.
EACSB 1 : Specification B is used for the PMC axis control function. 0 : Specification A is used for the PMC axis control function.
#7 0049
#6 #5 EFML10
#4 #3 #2 #1 #0
[Data type] Bit
EFML10 1 : The cutting feedrate command for PMC axis control is multiplied by ten.
0 : The ordinary specification is valid.
#7 0052
#6 #5 NODIC6
#4 NODIC5
#3 NODIC4
#2 NODIC3
#1 NODIC2
#0 NODIC1
[Data type] Bit
NODICn n=1 to 6 1 : The increment system 1/10 for the n–th axis is ignored. 0 : The increment system 1/10 for the n–th axis is not ignored.
#7 0061
#6 #5 EBC8
#4 EBC7
#3 EBC4
#2 EBCZ
#1 EBCY
#0 EBCX (M series)
0061 EBC8 EBC7 EBC4 EBC3 EBCZ EBCX (T series)
[Data type] Bit
EBCx 1 : Group B is used for the DI/DO signals for the PMC axis control function.
0 : Group A is used for the DI/DO signals for the PMC axis control function.
Parameter
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#7 0062
#6 AXPCF
#5 #4 #3 #2 #1 #0
[Data type] Bit
AXPCF 1 : Movement along the PMC controlled axis is not included in the actual speed display.
0 : Movement along the PMC controlled axis is included in the actual speed display.
NOTE This parameter is valid when control of an axis is switched between the CNC and PMC.
#7 0063
#6 #5 EAXOV
#4 #3 #2 #1 #0
[Data type] Bit
EAXOV 1 : The same override and dry run operations as those for the CNC are valid for the PMC axis. (This setting is ignored when bit 7 (EAXOVE) of parameter No. 0078 is set to 1.)
0 : The same override and dry run operations as those for the CNC are invalid for the PMC axis.
#7 ERVF20066
#6 ERVF1
#5 #4 #3 EPMSKP
#2 ENSU
#1 #0
[Data type] Bit
ERVF1, ERVF2 Sets the multiplier for the feedrate when the cutting feed – feed per rotation command (EC0g to EC6g: 02h) is specified.
ERVF2 ERVF1 Multiply
0 0 �1
1 1 �1
0 1 �10
1 0 �100
ENSU 1 : Acceleration/deceleration is not performed for an axis which is controlled in sync with the external pulse signal.
0 : Acceleration/deceleration is performed for an axis which is controlled in sync with the external pulse signal.
EPMSKP 1 : A skip signal dedicated to the PMC is used. 0 : The same skip signal as that for the CNC is used.
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#7 EAXOVE0078
#6 RDRNE
#5 #4 OVRIE
#3 #2 #1 #0
[Data type] Bit
EAXOVE 1 : Override and dry run in PMC axis control independent of the CNC are valid.
0 : Override and dry run in PMC axis control independent of the CNC are not valid.
RDRNE 1 : Dry run for the rapid traverse command in PMC axis control independent of the CNC is also valid.
0 : Dry run for the rapid traverse command in PMC axis control independent of the CNC is not valid. (This setting is allowed only when EAXOVE = 1.)
OVRIE 1 : In PMC axis control, the polarity of the override signal is set independently of the CNC so that specifying “1” increases the feedrate.
0 : n PMC axis control, the polarity of the override signal is set independently of the CNC so that specifying “0” increases the feedrate. (This setting is allowed only when EAXOVE = 1.)
0350 PVRIDX
PVRIDX Axis number of an axis for which a velocity command is issued. Setting value T series M sereis
1 X axis X axis 2 Z axis Y axis 3 3rd axis Z axis 4 4th axis 4th axis 5 7th axis 7th axis 6 8th axis 8th axis
If a value that falls outside the above range is set, a velocity command cannot be issued for any axis. When this parameter has been set, the power must be turned off then back on before operation is continued.
#7 EFERPD0387
#6 #5 #4 #3 #2 #1 #0
[Data type] Bit
EFERPD 1 : Any rapid traverse rate can be specified in PMC axis control independently of the CNC.
0 : The rapid traverse rate in PMC axis control depends on the parameter setting made for the CNC.
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0651 EFDTX
0652 EFDTY (M series)
0652 EFDTZ (T series)
0653 EFDTZ (M series)
0653 EFDT3 (T series)
0654 EFDT4
EFDTx Set the time constant of exponential acceleration/deceleration for cutting feed along each axis when the axis is used as the PMC axis.
[Valid data range] 1 to 4000
[Unit of data] msec
When 0 is set, the FEEDT value set in parameter No. 0529 is used.
0657 EAFLX
0658 EAFLY (M series)
0658 EAFLZ (T series)
0659 EAFLZ (M series)
0659 EAFL3 (T series)
0660 EAFL4
EAFLx Set the lower feedrate limit (FL) for exponential acceleration/deceleration for cutting feed along each axis when the axis is used as the PMC axis. When metric output mode is used, the specifiable range is 6 to 15000 (mm/min). When inch output mode is used, the specifiable range is 6 to 5000 (inches/min). When 0 is set, the FEDFL value set in parameter No. 0530 is used.
0672 EZRNFL
EZRNFL Sets a low feedrate (FL) at which reference position return is performed along the PMC axis. When metric output mode is used, the specifiable range is 6 to 15000 (mm/min). When inch output mode is used, the specifiable range is 6 to 6000 (inches/min). When 0 is set, the ZRNFL value set in parameter No. 0534 is used.
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0679 PVRTC1 (T series)
0462 PVRTC1 (M series)
PVRTC1 Time constant for linear acceleration/deceleration for a specified feedrate. Set the time required to increase/decrease the servo motor speed by 1000 rpm.
[Valid data range] 1 to +32767
[Unit of data] msec/1000rpm
When 0 is set, acceleration/deceleration control is not performed.
0685 RPDFLE
RPDFLE Specifies the lowest feedrate (Fo) for rapid traverse overrides performed in PMC axis control independently of the CNC. When metric output mode is used, the specifiable range is 6 to 15000 (mm/min). When inch output mode is used, the specifiable range is 6 to 6000 (0.1inches/min).
NOTE When the increment system is 1/10, the same unit is used.
0698 PFEDMX
PFEDMX Sets the upper speed limit on feed per rotation used for the PMC axis. When metric output mode is used, the specifiable range is 6 to 15000 (mm/min). When inch output mode is used, the specifiable range is 6 to 6000 (0.1inches/min).
#7 0021
#6 #5 APC8
#4 APC7
#3 #2 #1 #0
APC7,8 1 : When there is absolute pulse coder detector. 0 : When there is no absolute pulse coder detector.
#7 0022
#6 #5 ABS8
#4 ABS7
#3 #2 #1 #0
ABS7,8 1 : Reference point position is established by absolute pulse coder. 0 : Reference point position is not established by absolute pulse coder.
Parameters for 7th axis and 8th axis
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#7 NODIC80052
#6 NODIC7
#5 #4 #3 #2 #1 #0
NODIC7,8 1 : Current position display remains as standard specification without following decimal point position of setting units of 1/10.
0 : Current position display follows decimal point of setting units of 1/10.
#7 0061
#6 DSP78
#5 #4 #3 #2 #1 #0
DSP7,8 1 : 7th axis and 8th axis are displayed absolutely and relatively at current position.
0 : 7th axis and 8th axis are not displayed absolutely and relatively at current position.
#7 C8NG0062
#6 #5 ADLN8
#4 ADLN7
#3 #2 #1 #0
ADLN7,8 1 : Sets linear axis. 0 : Sets rotation axis.
C8NG 1 : When removing 8th axis. 0 : When using 8th axis.
#7 0066
#6 #5 ZM8
#4 ZM7
#3 #2 #1 #0
ZM7,8 1 : Sets reference point return direction and backlash initial direction when turning on power as minis.
0 : Sets reference point return direction and backlash initial direction when turning on power as plus.
GRD7DMR7 #7
0067 #6 #5 #4 #3 #2 #1 #0
GRD8DMR80068
DMR7,8 Setting for detection multiply. GRD7,8 Setting for capacity of reference counter
0275 CMR7
0276 CMR8
CMR7,8 Setting of command multiply.
0285 DPAX7
0286 DPAX8
DPAX7,8 Setting of axis name (character code). (When value is “0”, “55” and “56” are set as defaults.)
15. PMC CONTROL FUNCTION B–61393E–2/02
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0632 LPGM7
0633 LPGM8
LPGM7,8 Loop gain for position control. (Enabled when No.0517=0)
0637 INP7
0638 INP8
IPN7,8 Width of in–position.
0639 SERR7
0640 SERR8
SERR7,8 Position deviation amount limit value.
0641 GRDS7
0642 GRDS8
GRDS7,8 Setting of grid shift value.
0643 RPDF7
0644 RPDF8
RPDF7,8 Rapid traverse rate. (Because no rapid traverse rate is specified for jog feed, these parameters are used also under the 1st reference position return command.)
0645 LINT7
0646 LINT8
LINT7,8 Time constant for linear type acceleration/deceleration. (For rapid traverse)
0647 BKL7
0648 BKL8
BKL7,8 Backlash value.
0649 STPE7
0650 STPE8
STPE7,8 Position deviation amount limit value during stop.
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0655 EFDT7
0656 EFDT8
EFDT7,8 Time constants of exponential acceleration/deceleration of PMC axis cutting feed for each axis.
[Valid data range] 1 to 4000
[Unit of data] msec When 0 is set, the data for FEEDT (PRM No.529) is used.
0661 EAFL7
0662 EAFL8
EAFL7,8 Lower limit speeds (FL) at exponential acceleration/deceleration of PMC axis cutting feed for each axis. 6 to 15000 Unit : mm/min (metric output) 6 to 6000 Unit : 0.1 inch/min (inch output) When 0 is not set, the cutting FL speed for FEDFL (parameter No.530) is used.
0821 LT171
0822 LT181
0823 LT172
0824 LT182
LT171,LT181 Stored stroke limit.
LT172,LT182
0825 PRS7
0826 PRS8
PRS7,8 Coordinate value of reference position when performing automatic coordinate system setting.
0827 ABS7P
0828 ABS8P
ABS7P,ABS8P When using absolute pulse corder, value of counter data at reference position return position. (unnecessary to set)
0866 REF27
0867 REF28
REF27,8 Distance between 1st reference position and 2nd reference position.
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0868 REF37
0869 REF38
REF37,8 Distance between 1st reference position and 3rd reference position.
0870 REF47
0871 REF48
REF47,8 Distance between 1st reference position and 4th reference position.
Control of 7th axis and 8th axis is enabled when the 4th axis interface and 7th /8th axis printed board are installed. Control of 7th axis and 8th axis also becomes disabled at the same time as control of 4th axis is disabled by the 4th axis ignore signal (No.X004 4NG). When control of 7th axis and 8th axis is enabled, control of 8th axis only can be disabled if the parameter C8NG (bit 7 of No.0062) is set to on.
� Display of current position When control of 7th axis and 8th axis is enabled, if the parameter DSP78 (bit 6 of No.0061) is set on, position of 7th axis and 8th axis are displayed on the current position absolute/relative coordinate screen.
� Presetting the relative coordinates The relative coordinate of the 7th or 8th axis can be preset as specified in ALLPRE (bit 1 of parameter No. 0064) while it is displayed by pressing numeric key 7 or 8 of the MDI panel.
� Reading position information by custom macro (A specification and B specification in common) Position information can be obtained by reading the values of system variables.
System variable Position information Reading during shift
#5027
#5028
7th axis Current position (ABSMT)
8th axis Current position (ABSMT)
Not possible
#5047
#5048
7th axis Current position (ABSOT)
8th axis Current position (ABSOT)
Not possible
#5067
#5068
7th axis Skip signal position (ABSKP)
8th axis Skip signal position (ABSKP)
Possible
7th axis and 8th axis
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1) Absolute pulse coder (APC) alarm
Number Contents and remedy
370 Manual reference position return is required for the 7th–axis.
371 7th–axis APC communication error.
372 7th–axis APC overtime error.
373 7th–axis APC framing error.
374 7th–axis APC parity error.
375 7th–axis APC pulse error alarm.
376 7th–axis APC battery voltage has decreased to a low level so that the data cannot be held.
377 7th–axis axis APC battery voltage reaches a level where the bat- tery must be renewed.
378 7th–axis APC battery voltage has reached a level where the bat- tery must be renewed (including when power is OFF).
380 Manual reference position return is required for the 8th–axis.
381 8th–axis APC communication error.
382 8th–axis APC overtime error.
383 8th–axis APC framing error.
384 8th–axis APC parity error.
385 8th–axis APC pulse error alarm.
386 8th–axis APC battery voltage has decreased to a low level so that the data cannot be held.
387 8th–axis axis APC battery voltage reaches a level where the bat- tery must be renewed.
388 8th–axis APC battery voltage has reached a level where the bat- tery must be renewed (including when power is OFF).
2) Servo alarms
Number Contents and actions
406 7–axis, 8–axis overload signal is on. Or, READY signal (DRDY) for velocity control went off.
470 The position deviation value when the 7–th axis stops is larger than the set value.
471 The position deviation value when the 7–th axis moves is larger than the set value.
473 The value of position error of the 7th axis exceeds the limit of �32767. Alternatively, the value of velocity command for the D/A converter exceeds the range of –8192 to +8191. This error usually occurs as the result of an improperly set pa- rameters.
474 7–th axis digital servo system fault. Refer to diagnosis display No. 726 for details.
Alarm list
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Number Contents and actions
475 A speed higher than 511875 units/s was attempted to be set in the 7–th axis. This error occurs as the result of improperly set CMR.
476 Position detection system fault in the 7–th axis pulse coder (dis- connection alarm).
477 This alarm occurs when the n–th axis is in one of the conditions listed below. (Digital servo system alarm)
1) The value set in Parameter No. 8720 (motor form) is out of the specified limit.
2) A proper value (111 or –111) is not set in parameter No. 8722 (motor revolution direction).
3) Illegal data (a value below 0, etc.) was set in parameter No. 8723 (number of speed feedback pulses per motor revolution).
4) Illegal data (a value below 0, etc.) was set in parameter No. 8724 (number of position feedback pulses per motor revolution).
480 The position deviation value when the 8–th axis stops is larger than the set value.
481 The position deviation value when the 8–th axis moves is larger than the set value.
483 The value of position error of the 8th axis exceeds the limit of �32767. Alternatively, the value of velocity command for the D/A converter exceeds the range of –8192 to +8191. This error usually occurs as the result of an improperly set pa- rameters.
484 8–th axis digital servo system fault. Refer to diagnosis display No. 727 for details.
485 A speed higher than 511875 units/s was attempted to be set in the 8–th axis. This error occurs as the result of improperly set CMR.
486 Position detection system fault in the 8–th axis pulse coder (dis- connection alarm).
487 This alarm occurs when the n–th axis is in one of the conditions listed below. (Digital servo system alarm)
1) The value set in Parameter No. 8820 (motor form) is out of the specified limit.
2) A proper value (111 or –111) is not set in parameter No. 8822 (motor revolution direction).
3) Illegal data (a value below 0, etc.) was set in parameter No. 8823 (number of speed feedback pulses per motor revolution).
4) Illegal data (a value below 0, etc.) was set in parameter No. 8824 (number of position feedback pulses per motor revolution).
3) Over travel alarms
Number Contents and remedy
570 Exceeded the 7–th axis + side stored stroke limit.
571 Exceeded the 7–th axis – side stored stroke limit.
580 Exceeded the 7–th axis + side stored stroke limit.
581 Exceeded the 7–th axis – side stored stroke limit.
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#7 OVL0726
#6 LV
#5 OVC
#4 HCAL
#3 HVAL
#2 DCAL
#1 FBAL
#0 OFAL 7th axis
OVL0727 LV OVC HCAL HVAL DCAL FBAL OFAL 8th axis
Indicate the details of servo alarm 474 for the 7th axis and of servo alarm 484 for the 8th axis respectively.
OFAL An overflow alarm is being generated.
FBAL A disconnection alarm is being generated.
DCAL A regenerative discharge circuit alarm is being generated.
HVAL An overvoltage alarm is being generated.
HCAL An abnormal current alarm is being generated.
OVC A overcurrent alarm is being generated.
LV A low voltage alarm is being generated.
OVL An overload alarm is being generated.
0806 SVERR7
0807 SVERR8
SVERR7,SVERR8 Indicate the values of position errors of the 7th axis and the 8th axis respectively.
0826 ABSMT7
0827 ABSMT8
ABSMT7,ABSMT8 Indicate the machine positions of the 7th axis and 8th axis respectively.
An order–made macro can also control the PMC–controlled axis, using an interface similar to the PMC interface.
Axis control command read signal EBUF is checked from both the PMC signals (G210 and G218) and order–made macro data. The axis control command of the signal or data that has changed is taken to perform axis control. Both the PMC signals and order–made macro data are valid also for reset signal ECLR, axis control temporary stop signal ESTP, servo–off signal ESOF, and block stop signal ESBK.
Auxiliary function code signals EM11 to EM28 and auxiliary function strobe signal EMF are always output to the PMC. These signals are not output to the order–made macro.
Auxiliary function completion signal EFIN is input from the PMC. The order–made macro cannot set the signal. (If the order–made macro sets the signal, the setting is ignored.)
The following show the addresses of the command data of the order-made macro corresponding to the signals from PMC.
Diagnosis display
Order–made macro (OMM) interface
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DI/DO signal A DI/DO signal B
PMC address
Order-made macro address
PMC adress
Order–made macro address
G210 0DBA0 H G218 0DBA8 H
G211 0DBA1 H G219 0DBA9 H
G212 0DBA2 H G220 0DBAA H
G213 0DBA3 H G221 0DBAB H
G214 0DBA4 H G222 0DBAC H
G215 0DBA5 H G223 0DBAD H
G216 0DBA6 H G224 0DBAE H
G217 0DBA7 H G225 0DBAF H
F270 0DBB0 H F273 0DBB3 H
A servo alarm or overtravel alarm for a PMC–controlled axis is detected in the same way as an alarm for a CNC–controlled axis.
If an alarm occurs, the alarm is handled by applying the normal procedure, alarm signal EIALg being set to “1” to inform the PMC of the alarm.
(If an overtravel alarm occurs, either negative overtravel signal EOTNg or positive overtravel signal EOTPg is also set to “1”.)
If the PMC issues a command for a CNC–controlled axis, a P/S alarm No. 130 occurs.
Commands issued by the PMC are effective if the axis is in feed hold or single block stop mode. The command results in the issue of an alarm if cutting feed is executed with an override of 0%, or if the interlock is enabled.
If the CNC issues a command for a PMC–controlled axis, a P/S alarm No. 130 occurs.
If the PMC issues a movement command for an axis in the plane of polar coordinate interpolation in polar coordinate interpolation mode (G112), a P/S alarm No. 130 occurs.
������ Message Description
130 ILLEGAL AXIS OPERA- TION
An axis control command was given by PMC to an axis controlled by CNC. Or an axis control command was giv- en by CNC to an axis controlled by PMC. Modify the program.
139 CAN NOT CHANGE PMC CONTROL AXIS
A PMC controlled axis was again se- lected. Or, the CNC issued a control command for an axis that has been set as a PMC–controlled axis for which no command has been speci- fied. Or, an axis under control of CNC was selected by PMC.
Alarm and message
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WARNING 1 The mode selection, CNC reset, and other CNC statuses
have no effect. 2 Feed hold, single block stop, reset, or interlock of one or all
axes, performed by the CNC, does not affect a PMC–controlled axis. Similar control is possible by using the equivalent signals issued from the PMC.
3 The mirror image functions (setting, parameter, input signal) are disabled.
CAUTION 1 Emergency stop or machine lock is enabled. Machine lock
can be disabled if the PNGMLK bit (bit 4 of parameter No.0032) is specified accordingly. However, machine lock for an individual axis is always enabled.
2 In consecutive cutting feed blocks, a new block starts its operation without waiting for the following zero of the servo acceleration/deceleration. In other than the above blocks, a new block starts its operation after the following zero of the servo acceleration/deceleration is confirmed.
3 For a PMC–controlled axis, manual absolute mode is always set. If the PMC starts control of an axis after manual intervention (manual continuous feed, manual handle feed, etc.) is performed during automatic operation while manual absolute mode is not set (*ABSM is set to 1), manual absolute mode is set.
NOTE 1 The actual speed excluding the effect of the movement
along a PMC–controlled axis can be displayed if the AXPCF bit (bit 6 of parameter No.0062) is specified.
2 If an absolute pulse coder is used, a specified reference position is retained in memory, even after the power is turned off.
3 If the index table indexing function of the M series is added, the PMC cannot control the fourth axis.
Warning
Caution
Note
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When a multi–axis printed circuit board is provided, this function specified by the PMC enables axis control independent of the CNC axis control. The order–made macro can also perform axis control by issuing a command similar to the PMC command. The axial movement command can be specified in incremental mode only. Radius programming must always be performed.
Motion along the controlled axis is independent of the motion along the basic CNC controlled axes or other PMC controlled axes.
5th axis and 6th axis.
a) Feed hold, single block, reset, and interlock controlled by the CNC are not effective for the PMC–controlled axes. Similar control can be performed by manipulating the PMC signals.
b) Machine lock and emergency stop controlled by the CNC are effective.
c) Axis control by the PMC is not affected by the mode selection signal.
The axis names of the 5th and 6th axes can be selected by DSPSUB1, parameter No. 7130, and DSPSUB2, parameter No. 7131. (The default names are 53 and 54.) DSPSUB, parameter No. 0029, determines whether the axis names are displayed on the current position display screen.
Axis control command signals EC0C to EC6C and EC0D to EC6D from the PMC specify the type of operation as indicated below:
Axis control command signal Operation
00H Rapid traverse (linear acceleration/deceleration) Performs the same operation as G00, used by the CNC.
01H Cutting feed (exponential acceleration/deceleration) Performs the same operation as G98 G01, used by the CNC.
04H Dwell Performs the same operation as G04, used by the CNC.
05H Reference position return Moves the tool in the direction of reference position return specified by ZM5 and ZM6, parameter No. 7003, by means of rapid traverse, then performs the same operation as manual reference position return, done by the CNC.
06H Continuous feed (exponential acceleration/deceleration) Moves the tool along the controlled axis in a single direction by means of continuous feed.
12H Auxiliary function Performs the same operation as the miscellaneous func- tion, used by the CNC.
Control for 5th axis and 6th axis
General
Specification
Controlled axis
Notes for controlled axis
Axis name
Command
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a) Axis control command method by PMC When the axis control command end signal EBUF is inverted (ON → OFF/OFF → ON) after inputting axis control command signals EC0C to EC6C and EC0D to EC6D and the command data on the C side, the CNC accepts those command block and executes the command.
Movement Axis control command
signal Command data
Rapid traverse 00H Total move distance (EID0C to EID31C ,EID0D to EID31D)
Cutting feed 01H Total move distance (EID0C to EID31C , EID0D to EID31D)
Cutting feedrate (EID0C to EID31C , EID0D to EID31D)
Dwell 04H Dwell time (EID0C to EID31C , EID0D to EID31D)
Reference position return
05H
Continuous feed
06H Feedrate (EIF0C to EIF15C , EIF0D to EIF15D)
Continuous feed direction (EID31C, EID31D)
Auxiliary func- tion
12H Auxiliary function code (EID0C to EID7C , EID0D to EID7D)
b) Commanding two or more operations continuously With the axis control function by PMC, the command blocks of two or more operations are buffered on the CNC side so that they are made continuously by PMC. Namely even if one command is being executed, the CNC accepts the next command as long as there is a vacancy in the buffer on the CNC side.
Block 1
Block 2
Block 3
Block 4
Block 5
Block N
Execution wait buffer 1
PMC command
� Command [1] � [4] � [3]
� Command [2]
� Command [3] [2]
� Command [4]
� Command [5] [1]
Buffer on CNC side
Execution wait buffer 2
Executing buffer
�
�
PMC command
When command (1) (block 1) has been executed, the following transfers are made:
Command(2) → Executing buffer
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Command(3) → Executing wait buffer2 Command(4) → Executing wait buffer1
After command (2) (block 2) starts to execute, command (5) (block 5) can be sent to the CNC side.
c) Buffer status on CNC side It is possible to judge the buffer status on the CNC side by obtaining exclusive OR of the axis control command end signal EBUF on the PMC side and the axis control command read signal EBSY on the CNC side.
EBUF = EBSY Exclusive(XOR) Operation
0 =1
1= 1
0 It is possible to accept the command from the PMC side because the buffer is in the “vacant” status.
0 = 1
1= 0
1 It is impossible to accept the command from the PMC side because the buffer is in the “full” sta- tus. When the command currently being executed has ended and a vacancy has been created in the buffer, the command is accepted and the axis control command read signal EBSY is inverted.
d) Time chart The command operation time chart is shown below.
Command data (Input)
[1] [2] [3] [4] [5]
EBUF (Input)
Command not available
EBSY (Output)
Executiion wait Buffer 1
Executiion wait Buffer 2
Executing buffer
Start End Start
[1] [2]
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Metric input system Inch input system
Least input increment 0.001 mm 0.0001 inch
Least command increment 0.001 mm 0.0001 inch
Metric input system Inch input system
Rapid traverse rate 1 to 24000 mm/min 1 to 960.00 inch/min
Cutting feedrate 1 to 15000 mm/min 1 to 600.00 inch/min
EAXOVS, parameter No. 7063, enables or disables the override function.
The feedrate specified by the PMC can be overridden by the value ranging from 0% to 150% specified by the override signals (in steps of 10%).
The rapid traverse rate can be overridden by any of the values indicated below, as specified by the rapid traverse override signals.
Fo, 25%, 50%, 100%
Fo: Certain rate specified by RPDFLS, parameter No. 7533
NOTE If EAXOVS, parameter No. 7063, is OFF, override of 50% can be applied when the rapid traverse override signal (ROVS) is ON or override of 100% when the ROVS signal is OFF.