GE Fanuc Automation
Computer Numerical Control Products
Series 0 / 00 / 0-Mate
Connection Manual (Function)
GFZ-61393E-2/02 September 1998
GFL-001
Warnings, Cautions, and Notes as Used in this Publication
Warning
Warning notices are used in this publication to emphasize that hazardous voltages, currents, temperatures, or other conditions that could cause personal injury exist in this equipment or may be associated with its use.
In situations where inattention could cause either personal injury or damage to equipment, a Warning notice is used.
Caution
Caution notices are used where equipment might be damaged if care is not taken.
Note Notes merely call attention to information that is especially significant to understanding and operating the equipment.
This document is based on information available at the time of its publication. While efforts have been made to be accurate, the information contained herein does not purport to cover all details or variations in hardware or software, nor to provide for every possible contingency in connection with installation, operation, or maintenance. Features may be described herein which are not present in all hardware and software systems. GE Fanuc Automation assumes no obligation of notice to holders of this document with respect to changes subsequently made.
GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or usefulness of the information contained herein. No warranties of merchantability or fitness for purpose shall apply.
©Copyright 1998 GE Fanuc Automation North America, Inc.
All Rights Reserved.
B–61393E–2/02 DEFINITION OF WARNING, CAUTION, AND NOTE
s–1
DEFINITION OF WARNING, CAUTION, AND NOTE
This manual includes safety precautions for protecting the user and preventing damage to the machine. Precautions are classified into Warning and Caution according to their bearing on safety. Also, supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly before attempting to use the machine.
WARNING
Applied when there is a danger of the user being injured or when there is a danger of both the user being injured and the equipment being damaged if the approved procedure is not observed.
CAUTION
Applied when there is a danger of the equipment being damaged, if the approved procedure is not observed.
NOTE
The Note is used to indicate supplementary information other than Warning and Caution.
� Read this manual carefully, and store it in a safe place.
B–61393E–2/02 PREFACE
p–1
�������
This manual describes the following NC functions required to enable machine tool builders to design their CNC machine tools.
1. General Describes feature of the function. Refer to Operator’s manual as requied.
2. Signals Describes names, functions, output conditions and addresses of the signals required to realize a function.
3. Parameters Describes parameters related with a function.
4. Alarms and messages Lists the alarms and messages related with a function in a table.
5. Reference item List the related items of the related manuals in a table.
A list of addresses of all signals and a list of signals are described in the appendix of this manual. Refer to it as required.
The models covered by this manual, and their abbreviations are :
Product Name Abbreviations Series
FANUC Series 0–MC 0–MC
FANUC Series 0–MD II 0–MD II
FANUC Series 0–MF 0–MF
FANUC Series 0–GSC 0–GSC M series
FANUC Series 0–GSD II 0–GSD II M series
FANUC Series 00–MC 00–MC
FANUC Series 0–Mate MC 0–Mate–MC
FANUC Series 0–Mate MF 0–Mate MF
FANUC Series 0–TC 0–TC
FANUC Series 0–TD II 0–TD II
FANUC Series 0–TF 0–TF
FANUC Series 0–TTC 0–TTC
FANUC Series 0–GCC 0–GCC T series
FANUC Series 0–GCD II 0–GCD II
FANUC Series 00–TC 00–TC
FANUC Series 00–GCC 00–GCC
FANUC Series 0–Mate TC 0–Mate TC
Applicable models
PREFACE B–61393E–2/02
p–2
This manual describes signals used with the following software series and editions. It may not be used for other software series and editions.
Product Name Series Edition
FANUC Series 0–MC 0466 0469
Edition 20 or later Edition 01 or later
FANUC Series 0–MD II 0473 Edition 02 or later
FANUC Series 0–MF 0467 Edition 06 or later
FANUC Series 0–GSC 0866 Edition 04 or later
FANUC Series 0–GSD II 0892 Edition 02 or later
FANUC Series 00–MC 0468 Edition 01 or later
FANUC Series 0–Mate MC 0455 Edition 03 or later
FANUC Series 0–Mate MF 0454 Edition 02 or later
FANUC Series 0–TC 0666 0669
Edition 18 or later Edition 01 or later
FANUC Series 0–TD II 0673 Edition 02 or later
FANUC Series 0–TF 0667 Edition 08 or later
FANUC Series 0–TTC 0680 0681 0682
Edition 16 or later Edition 16 or later Edition 16 or later
FANUC Series 0–GCC 0861 Edition 07 or later
FANUC Series 0–GCD II 0882 Edition 02 or later
FANUC Series 00–TC 0668 Edition 01 or later
FANUC Series 00–GCC 0862 Edition 01 or later
FANUC Series 0–Mate TC 0655 Edition 03 or later
One address accommodates eight signals. Symbol (#0 to #7 indicates bit position)Address
#7 OPF148
#6 SA
#5 STL
#4 SPL
#3 ZP4
#2 ZP3
#1 ZP2
#0 ZP1
In case the signal address differs between the T and M series, which series the signal address belongs to is indicated above its description.
#7 Signal address
#6 #5 #4 #3 #2 #1 #0 (T series)
Signal address (M series)
Applicable software series and editions
Expression of signals
B–61393E–2/02 PREFACE
p–3
Parameters are classified by data type as follows :
Dta type Valid data range
Bit 0 or 1
Byte 0 to 255
Word 0 to �32767
2–word 0 to �99999999
NOTE 1 For the bit type parameters, a single data number is
assigned to 8 bits. Each bit has a different meaning. 2 The valid data range for each data type indicates a general
range. The range varies according to the parameters. For the valid data range of a specific parameter, see the explanation of the parameter.
Data (#0 to #7 indicates bit position)Data No.
#7 APRS0010
#6 #5 #4 PRG9
#3 #2 OFFVY
#1 EBCL
#0 ISOT
0518 Data
DataData No.
In case the parameter data number differs between the T and M series, which series the data number belongs to is indicated above its description.
Data (T series)Data number
Data (M series)Data number
Explanation of parameters
� � ���� � ��� ����
���������
� Notation of parameters other than bit type
PREFACE B–61393E–2/02
p–4
[Machine without PMC]
Series 0 Series 00 Machine
X016 to X022
Y048 to Y053
[Machine with PMC]
Series 0 Series 00
Series 0–Mate PMC Machine
G100 –
F148 –
X000 –
Y048 –
[0–TTC]
0–TTC
PMC Machine
G100 –
F148 – X000 –
Y048 –
Tool post #1
Tool post #2
G1300 –
F1348 –
NOTE 1 When the PMC is not provided, for an explanation of X and
Y signals, see the explanation of the G and F signals, respectively, having the addresses obtained by adding 100 to their addresses.
2 What X and Y addresses are usable in a specific unit depends on the type of the I/O card installed in the unit.
3 What F and G addresses are usable in a specific unit depends on the type of the PMC installed in the unit.
4 For the 0–TTC, signal addresses for tool post 2 are obtained by adding 1200 to those for tool post 1. This manual describes only the signals for tool post 1.
5 For the PMC–M, the self–diagnosis data number is obtained by adding 2000 to the signal address.
B–61393E–2/02 PREFACE
p–5
The table below lists manuals related to the Series 0/00/0–Mate C and Series 0–D/0–D II. In the table, this manual is marked with an asterisk(*).
Table 1 Manuals related to the FANUC Series 0/00/0–Mate C
Manuals name Specification number
DESCRIPTIONS B–61392E
CONNECTION MANUAL (Hardware) B–61393E
CONNECTION MANUAL (Function) B–61393E–2 *
PROGRAMMING MANUAL (Macro Compiler/Macro Executer) B–61393E–1
OPERATOR’S MANUAL (For Lathe) B–61394E
OPERATOR’S MANUAL (For MachiningCenter) B–61404E
MAINTENANCE MANUAL B–61395E
PARAMETER MANUAL (For Lathe) B–61400E
PARAMETER MANUAL (For Machining Center) B–61410E
DESCRIPTIONS (Remote Buffer) B–61392EN–1
Table 1 Manuals related to the FANUC Series 0–D/0–D II
Manuals name Specification number
DESCRIPTIONS B–62542EN
CONNECTION MANUAL (Hardware) B–61393E
CONNECTION MANUAL (Function) for Series 0–D B–62543EN–1
CONNECTION MANUAL (Function) for Series 0–D II B–61393E–2 *
OPERATOR’S MANUAL (For Lathe) B–61394E
OPERATOR’S MANUAL (For MachiningCenter) B–61404E
MAINTENANCE MANUAL B–61395E
PARAMETER MANUAL (For Lathe) B–61400E
PARAMETER MANUAL (For Machining Center) B–61410E
� �� �� ��� ��� ��
�� �� �������� �� �
�� �� �� ������� ��
� Series 0/00/0–Mate C
� Series 0/0–D II
PREFACE B–61393E–2/02
p–6
The table below lists manuals related to the Servo Motor α series.

1.
2.
B–61393E–2/01Table of Contents
c–2
3.
4.
5.
6.
B–61393E–02/01 ����� � � �� ��
c–3
7.
8.
9.

B–61393E–2/02 1. AXIS CONTROL
1
1 ��� ��� ���
B–61393E–2/021. AXIS CONTROL
2
The total number of controlled axes and the number of controlled axes that can be used at the same time in a specific unit vary depending on the model and the configuration of its options. Refer to the relevant operator’s manual. In manual operation, basically, only one axis can be controlled at a time; the number of axes that can be controlled at the same time can be extended to three by parameter setting, however.
#7 0049
#6 #5 #4 S3JOG
#3 #2 #1 #0
S3JOG Specifies the number of axes that can be controlled at the same time during manual operation, as follows: 1 : Up to three 0 : One
������ Message Description
015 TOO MANY AXES COM- MANDED
The number of the commanded axes ex- ceeded that of simultaneously controlled axes. Correct the program.
NOTE When the 9” CRT is fitted, the overall position display screen and the position display screen for manual handle interrupt can display up to eight axes. The positions of the 9th and 10th axes are not displayed on these screens when used 0–TTC having nine or more axes.
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
II.2.1 CONTROLLED AXES
OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.2.1 CONTROLLED AXES
1.1 CONTROLLED AXES
General
Parameter
Alarm and message
Note
Reference item
B–61393E–2/02 1. AXIS CONTROL
3
The axis names are as follows:
(M series)
Axis number 1 2 3 4
Axis name X Y Z Parameter (No.0008#2, #3, #4)
(T series)
Axis number 1 2 3 4
Axis name X Z Parameter (No.0030#0)
Parameter (No.0030#4)
(0–TTC)
Axis number 1 2 3 4 5 6
Axis name X Z Parameter (No.0030#0)
Parameter (No.0030#4)
X Z
(0–GCC/when axis names are changed)
Axis number 1 2 5 6
Axis name X Z Parameter (No.0210)
Parameter (No.0211)
#7 0008
#6 #5 #4 ADW2
#3 ADW1
#2 ADW0
#1 #0 (M series)
ADW0, ADW1, ADW2 Specify the name of the fourth axis as listed below:
ADW2 ADW1 ADW0 Axis name
0 0 0 A
0 0 1 B
0 1 0 C
0 1 1 U
1 0 0 V
1 0 1 W
1.2 SETTING EACH AXIS
1.2.1 Name of Axes
General
Parameter
B–61393E–2/021. AXIS CONTROL
4
#7 0030
#6 #5 #4 ADW40
#3 #2 #1 #0 ADW30 (T series)
ADW30 Specifies the name of the third axis as follows: 1 : C 0 : B
ADW40 Specifies the name of the fourth axis as follows: 1 : Y 0 : B
#7 0069
#6 B3AX
#5 BABS
#4 BAX
#3 #2 #1 #0 (T series)
For G–code system A in the T series, the names of the third axis and fourth axis can be changed by parameter setting as listed below:
B3AX BABS BAX Third axis Fourth axis
B3AX BABS BAX ABS INC ABS INC
0 0 0 C H Y V
0 0 1 C H Y B
0 1 1 C H B V
1 0 1 C B Y V
1 1 1 B H Y V
(0–GCC/when axis names are changed)
0210 Axis name of third axis
0211 Axis name of fourth axis
The axis names of the third and fourth axes are set according to the following table:
Axis number Setting value Axis name Setting value
U 85 A 65
V 86 B 66
W 87 C 67
B–61393E–2/02 1. AXIS CONTROL
5
NOTE 1 In 0–TTC, when information (such as the current position)
about each axis is displayed on the CRT screen, an axis name may be followed by a subscript to indicate a path number (e.g.,X1 and X2). This is axis name to help the user to easily understand which path an axis belongs to. When writing a program, the user must specify X, Y, Z, U, V, W, A, B, and C without attaching a subscript.
2 If the second auxiliary function is used, it is impossible to use address B as an axis name.
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
II.2.2 NAMES OF AXES
OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.2.2 NAMES OF AXES
Note
Reference item
B–61393E–2/021. AXIS CONTROL
6
The increment system consists of the least input increment (for input ) and least command increment (for output). The least input increment is the least increment for programming the travel distance. The least command increment is the least increment for moving the tool on the machine. Both increments are represented in mm, inches, or degrees. The increment system is classified into IS–B and IS–C (Tables 1.2.2(a) and 1.2.2 (b)).When selecting IS–C, the option of increment system 1/10 is necessary.
Table 1.2.2 (a) Increment system IS–B
Least input increment Least command increment
Metric system
mm input
0.001mm(Diameter) 0.0005mm system machine
input 0.001mm(Radius) 0.001mm machine
0.001deg 0.001deg
inch inp t
0.0001inch(Diameter) 0.0005mm input 0.0001inch(Radius) 0.001mm
0.001deg 0.001deg
Inch s stem
mm inp t
0.001mm(Diameter) 0.00005inch system machine
input 0.001mm(Radius) 0.0001inch machine
0.001deg 0.001deg
inch inp t
0.0001inch(Diameter) 0.00005inch input 0.0001inch(Radius) 0.0001inch
0.001deg 0.001deg
Table 1.2.2 (b) Increment system IS–C
Least input increment Least command increment
Metric s stem
mm inp t
0.0001mm(Diameter) 0.00005mm system machine
input 0.0001mm(Radius) 0.0001mm machine
0.0001deg 0.0001deg
inch inp t
0.00001inch(Diameter) 0.00005mm input 0.00001inch(Radius) 0.0001mm
0.0001deg 0.0001deg
Inch s stem
mm inp t
0.0001mm(Diameter) 0.000005inch system machine
input 0.0001mm(Radius) 0.00001inch machine
0.0001deg 0.0001deg
inch inp t
0.00001inch(Diameter) 0.000005inch input 0.00001inch(Radius) 0.00001inch
0.0001deg 0.0001deg
1.2.2 Increment System
General
B–61393E–2/02 1. AXIS CONTROL
7
NOTE Diameter programming is used only for X axis at T series. Whether diameter programming or radius programming is used is selected by parameter XRC (No.0019#3).
Setting parameter INCH Specifies the input unit as follows:
0 : Millimeter 1 : Inch
#7 0001
#6 #5 #4 #3 #2 #1 #0 SCW
NOTE When this parameter has been set, the power must be turned off before operation is continued.
[Data type] Bit
SCW Specifies the least command increment of linear axes as follows: 0 : Millimeter (metric machine) 1 : Inch (inch machine)
#7 0019
#6 #5 #4 #3 XRC
#2 #1 #0 (T series)
NOTE When this parameter has been set, the power must be turned off before operation is continued.
[Data type] Bit
XRC Specifies whether the X–axis travel distance is specified based on the diameter or radius, as follows: 1 : Radius–based specification 0 : Diameter–based specification
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
II.2.1 CONTROLLED AXES
OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.2.1 CONTROLLED AXES
Parameter
Reference item
B–61393E–2/021. AXIS CONTROL
8
It is possible to specify whether the fourth axis of the M series unit and the third of fourth axis of the T series unit are a linear or rotation axis, using parameters ADLN (bit 2 of parameter No.0011) and LIN3/LIN4 (bit 2/3 of parameter No.0032), respectively. The basic axes can be specified only as linear, however. The rollover function can prevent the coordinates of a rotation axis from overflowing. The rollover function is enabled by setting bit 1 of parameter No.0398 (M) and bit 1 of parameter No.0388 (T) to 1 (for the rotation axis). In a incremental command, the travel distance is determined directly by a value specified in the command. For an absolute command, the coordinates after the tool has moved are values set in parameter No.0860 (M)/No.0788 (T), and rounded by the angle corresponding to one rotation. The tool moves in the direction in which the final coodinates are closest when parameter No.0398#2 (T) /No.0388#2 (T) is set to 0. The display of the relative coordinates can be rounded to the travel amount per rotation (when bit 3 of parameter No.0398 (M) or bit 3 of parameter No.0388 (T) is 1).
#7 0011
#6 #5 #4 #3 #2 ADLN
#1 #0 (M series)
ADLN Specifies whether the fourth axis is a linear or rotation axis, as follows: 1 : Linear axis 0 : Rotation axis
#7 0032
#6 #5 #4 #3 LIN4
#2 LIN3
#1 #0
(T series)
LIN3 Specifies whether the third axis is a linear or rotation axis, as follows: 1 : Linear axis 0 : Rotation axis
LIN4 Specifies whether the fourth axis is a linear or rotation axis, as follows: 1 : Linear axis 0 : Rotation axis
1.2.3 Specifying the Rotation Axis
General
Parameter
B–61393E–2/02 1. AXIS CONTROL
9
#7 0388
#6 #5 #4 #3 ROCNT
#2 RODRC
#1 ROAXC
#0 (T series)
0398 ROCNT RODRC ROAXC (M series)
[Data type] Bit
ROAXC The roll–over function of a rotation axis is 0 : Invalid 1 : Valid
NOTE ROAXC specifies the function only for a rotation axis.
RODRC In the absolute commands, the axis rotates in the direction 0 : In which the distance to the target is shorter. 1 : Specified by the sign of command value.
NOTE RODRC is valid only when ROAXC is 1.
ROCNT Relative coordinates are 0 : Not rounded by the amount of the shift per one rotation 1 : Rounded by the amount of the shift per one rotation
NOTE 1 ROCNT is valid only when ROAXC is 1. 2 Assign the amount of the shift per one rotation in parameter
(No.0860 (M)/No.0788 (T)).
0788 Amount of a shift per one rotation of a rotation axis (T series)
0860 Amount of a shift per one rotation of a rotation axis (M series)
NOTE 1 After setting the parameter, turn off the power once and turn
it on again to operate the machine. 2 This parameter is valid only when ROAXC = 1.
[Data type] Two–word
Increment system Unit of data Standard value
IS–A 0.01 deg 36000
IS–B 0.001 deg 360000
IS–C 0.0001 deg 3600000
[Valid data range] 1000 to 9999999
Set the amount of a shift per one rotation of a rotation axis.
[Unit of data]
B–61393E–2/021. AXIS CONTROL
10
NOTE Rotary axis roll–over function cannot be used together with the indexing function of the index table.
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
II.22 ROTARY AXIS ROLL–OVER
OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.22 ROTARY AXIS ROLL–OVER
Note
Reference item
B–61393E–2/02 1. AXIS CONTROL
11
The PMC can be used to indicate the movement status of each axis.
[Classification] Output signal
[Function] These signals indicate that the respective controlled axes are moving. The signals correspond to the controlled axes on a one–to–one basis. A numeral or letter at the end of each signal name represents the controlled axis number.
MV x
X ..... X–axis movement is under way. Y ..... Y–axis movement is under way. Z ..... Z–axis movement is under way. : : : :
[Output condition] Each signal becomes 1 when:
· The corresponding axis begins to move.
· The corresponding axis is selected as a handle feed axis during manual handle feed mode.
Each signal becomes 0 when:
· Distribution of the move command for the corresponding axis ends.
#7 MV4F148
#6 MV3
#5 MVZ
#4 MVX
#3 #2 #1 #0 (T series)
MV4 MVZ MVY MVX (M series)
CAUTION These signals are output regardless of whether the operation is automatic or manual.
1.2.4 Controlled Axes Detach
General
Signal
Axis–movement–under– way signals MVX to MV4 <F148#4 to #7>
Signal address
Caution
B–61393E–2/021. AXIS CONTROL
12
Mirror image can be applied to each axis, either by signals or by setting parameters. All movement directions are reversed during automatic operation along axes to which a mirror image is applied.
When M1 signal turned to “1” at point A
X B
B’
0
A
Z
Mirror image (Example for T series)
However, the following directions are not reversed: – Direction of manual operation and direction of movement, from the
intermediate position to the reference position during automatic reference position return (for the M and T series)
– Approach direction for single direction positioning (G60) and shift direction for boring cycles (G76 and G87) (for M series only)
Mirror image check signals indicate whether mirror image is applied to each axis. System variable #3005 contains the setting data (refer to the operator’s manual).
[Classification] Input signal
[Function] Apply mirror image to the specified axes.
[Operation] Apply mirror image to those axes for which the signals are 1. These signals are provided for the controlled axes on a one–to–one basis. A number or alphabet appended to a signal represents the controlled axis number. MI x (T series) MIR x (M series)
X ..... Applies mirror image to the X axis. Y ..... Applies mirror image to the Y axis. Z ..... Applies mirror image to the Z axis. : : : :
1.2.5 Mirror Image
General
Signal
Mirror image signal MIRX, MIRY, MIR4 <G127#0, #1, #7>(M)
MIX, MIZ <G120#0, G127#1>(T)
B–61393E–2/02 1. AXIS CONTROL
13
The mirror image signal can be turned to “1” in the following cases:
a) During offset cancel;
b) When the CNC is in the automatic operation stop state and not in the feed hold state.
[Classification] Output signal
[Function] These signals indicate the mirror image condition of each axis. The mirror image is set by taking the logical sum of the signal from the MDI panel and the input signal of the machine tool, then relaying the information to the machine tool. These signals are provided for every control axis; the numeral in the signal name indicates the relevant control axis number.
MMI n
1 ..... Mirror image is applied to the 1st axis 2 ..... Mirror image is applied to the 2nd axis 4 ..... Mirror image is applied to the 4th axis
[Output condition] These signals turn to “1” when:
· Mirror image signal MIn of the corresponding axis is “1”; or
· Mirror image of the corresponding axis is turned on by setting data from the MDI panel.
These signals turn to “0” when:
· Mirror image signal (MIn) of the corresponding axis is “0” and the setting of the mirror image in the control unit is turned off.
#7 G120
#6 #5 #4 #3 #2 #1 #0 MIX (T series)
(M series)
G127 MIZ (T series)
MIR4 MIRY MIRX (M series)
F155 MMI2 MMI1 (T series)
(M series)
#7 #6 #5 #4 #3 #2 #1 #0
F158 (T series)
MMI4 MMI2 MMI1 (M series)
Mirror image check signal MMI1, MMI2, MMI4 <F158#0, #1, #3>(M)
MMI1, MMI2 <F155#0, #1>(T)
Signal address
B–61393E–2/021. AXIS CONTROL
14
REVX, REVY, REV4 Turn on or off the mirror image of each axis, as follows: 0 : Off 1 : On
WARNING 1 When programmable mirror image and ordinary mirror
image are specified at the same time, programmable mirror image is applied first.
2 No programmable mirror image affects mirror image check signals MMI1 to MMI4 <F155(T)/F158(M)>.
CAUTION Even when the mirror image is applied, commands which do not actuate mirror image (such as automatic reference position return and manual operation) do not affect mirror image check signals MMI1 to MMI4 <F155 (T)/F158 (M)>.
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
III.4.8 MIRROR IMAGE
OPERATOR’S MANUAL (For Lathe) (B–61394E)
III.4.9 MIRROR IMAGE
Setting parameters (M series)
Warning
Caution
Reference item
B–61393E–2/02 1. AXIS CONTROL
15
When position control is disabled for the controlled axes (when the servo is off, during emergency stop, or during a servo alarm), if the machine is moved, a positional error occurs. Follow–up is a function for changing the current position of the CNC and reset the error counter to zero, assuming a command corresponding to the error has been specified. Follow–up requires the mechanical handle function and PMC. Follow–up is always performed during emergency stop or a servo alarm.
When signal *FLWU is 1, follow–up is not performed. The error is added to the error counter as a servo error. In this case, the machine moves to compensate for the error when the servo off signal changes to 0. In general, follow–up is not used if the machine is mechanically clamped when position control is disabled for the controlled axes.
When *FLWU is “0”, the follow-up function is engaged. The present position of the CNC is changed to reset the error counter to zero. The machine tool remains in a deviated position, but since the present position of the CNC changes correspondingly, the machine moves to the correct position when the absolute command is next applied. In general, follow–up should be used when motors are driven by mechanical handles.
[Classification] Input signal
[Function] Select whether to perform follow–up when the servo is turned off for those axes.
[Operation] 0: Performs follow–up. 1: Does not perform follow–up.
#7 G104
#6 #5 *FLWU
#4 #3 #2 #1 #0
CONNECTION MANUAL (This manual)
1.2.7 Servo Off (Mechanical handle)
1.2.6 Follow–up
General
� When follow–up is not performed for axes for which the servo is turned off
� When follow–up is performed for the axes for which the servo is turned off
Signal
Follow–up signal *FLWU <G104#5>
Signal address
Reference item
B–61393E–2/021. AXIS CONTROL
16
Place the controlled axes in the servo off state; that is, they stop the current to the servo motor, which disables position control. However, the position detection feature functions continuously, so the current position is not lost. These signals are used to prevent the servo motors from overloading when the tools on the axes are mechanically clamped under certain machining conditions on the machine, or to move the machine by driving the motors by mechanical handles.
[Classification] Input signal
[Function] Select whether to place each axis in the servo off state. These signals are provided for the controlled axes on a one–to–one basis. A number appended to a signal represents a controlled axis number.
X ..... Servo off for the X axis Y ..... Servo off for the Y axis Z ..... Servo off for the Z axis : :
* SVF x
[Operation] These signals place those axes for which the signals are 1 in the servo off state (the current to the servo motor is stopped), thus disabling position control. However, the position detection feature continues to function, so the current position is not lost.
#7 G105
#6 #5 #4 #3 SVF4
#2 SVF3
#1 SVFZ
#0 SVFX (T series)
SVF4 SVFZ SVFY SVFX (M series)
1.2.7 Servo Off (Mechanical Handle)
General
Signal
Servo off signal SVFX to SVF4 <G105#0 to #3>
Signal address
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CAUTION 1 In general, interlock is applied to an axis while the servo off
signal for that axis is 1. 2 When one of these signals turns to “1”, the servo motor is
turned off. The mechanical clamp is done by using the auxiliary function. Set the timing for the auxiliary function, mechanical clamp and servo off signals as shown in the diagram below. The clamp command auxiliary function should be executed only after the distribution end signal (DEN) turned to “1”.
Clamp
Machine clamp
Unclamp command
Servo off state
FIN
MF
SVFX
CONNECTION MANUAL (This manual)
1.2.6 Follow–up
Caution
Reference item
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Position switch signals can be output to the PMC while the machine coordinates along a controlled axes are within a specified ranges.
[Classification] Output signal
[Function] Notifies that the machine coordinates along the controlled axes specified by parameters (0310 to 0319) are within the ranges specified by parameters (0840 to 0849 and 0850 to 0859). Up to ten position switch signals can be output.
[Output condition] These signals are 1 in the following case: · When the machine coordinates along the controlled axes are within the
specified ranges.
These signals are 0 in the following case:
· When the machine coordinates along the controlled axes are not within the specified ranges.
#7 PSW08F190
#6 PSW07
#5 PSW06
#4 PSW05
#3 PSW04
#2 PSW03
#1 PSW02
#0 PSW01
F191 PSW10 PSW09
1.2.8 Position Switch
General
Signal
Position switch signal PSW01 to PSW10 <F190#0 to F191#1>
Signal address
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0310 Axis corresponding to the first position switch
0311 Axis corresponding to the second position switch
0312 Axis corresponding to the third position switch
0313 Axis corresponding to the fourth position switch
0314 Axis corresponding to the fifth position switch
0315 Axis corresponding to the sixth position switch
0316 Axis corresponding to the seventh position switch
0317 Axis corresponding to the eighth position switch
0318 Axis corresponding to the ninth position switch
0319 Axis corresponding to the tenth position switch
[Data type] Byte
[Valid data range] 1, 2, 3, . . . , Number of control axis
These parameters specify the control–axes numbers corresponding to the first through tenth position switch functions. A corresponding position switch signal is output to PMC when the machine coordinate value of a corresponding axis is within the range that is set using a parameter.
NOTE Set 0 for those position switch numbers that are not to be used.
Parameter
� Setting the correspondence between the position switch signals and the controlled axes
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0840 Maximum operation range of the first position switch
0841 Maximum operation range of the second position switch
0842 Maximum operation range of the third position switch
0843 Maximum operation range of the fourth position switch
0844 Maximum operation range of the fifth position switch
0845 Maximum operation range of the sixth position switch
0846 Maximum operation range of the seventh position switch
0847 Maximum operation range of the eighth position switch
0848 Maximum operation range of the ninth position switch
0849 Maximum operation range of the tenth position switch
[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
Rotation axis 0.01 0.001 0.0001 deg
[Valid data range] –99999999 to +99999999
These parameters set the maximum operation range of the first through tenth position switches.
� Setting the machine coordinate ranges for which the position switch signals are output
� Maximum operation range
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0850 Minimum operation range of the first position switch
0851 Minimum operation range of the second position switch
0852 Minimum operation range of the third position switch
0853 Minimum operation range of the fourth position switch
0854 Minimum operation range of the fifth position switch
0855 Minimum operation range of the sixth position switch
0856 Minimum operation range of the seventh position switch
0857 Minimum operation range of the eighth position switch
0858 Minimum operation range of the ninth position switch
0859 Minimum operation range of the tenth position switch
[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
Rotation axis 0.01 0.001 0.0001 deg
[Valid data range] –99999999 to +99999999
These parameters set the minimum operation range of the first through tenth position switches.
� Minimum operation range
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If pitch error compensation data is specified, pitch errors of each axis can be compensated in detection unit per axis. Pitch error compensation data is set for each compensation position at the intervals specified for each axis. The origin of compensation is the reference position to which the tool is returned. Pitch error compensation data can be set with external devices such as the Handy File (see Operator’s manual). Compensation data can also be set directly with the MDI panel. The following parameters must be set for pitch error compensation. Set the pitch error compensation value for each pitch error compensation position number set by these parameters. In the following example, 33 is set for the pitch error compensation number at the reference position.
1
2
3
333231 34 35 36 37
–1
–2
34 35 36 3731 32 33
+3 –1 –1 +1 +2 –1 –3
Reference position
Pitch error compensation value (absolute value)
Compensation number parameter for the reference position (No.n000)
Compensation magnification parameter (No.0011#0, 1)
Compensation position number
Compensation interval parameter (No.0712 – 0715 (M)) (No.0756 – 0759 (T))
Compensation value to be set
· Number of the pitch error compensation position at the reference position (for each axis): Parameter n000 (n : axis number)
· Pitch error compensation magnification (for each axis): Parameter 0011#0, 1
· Interval of the pitch error compensation positions (for each axis): Parameter 0712 – 0715 (M), 0756 – 0759 (T)
1.3 ERROR COMPENSATION
1.3.1 Stored Pitch Error Compensation
General
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⋅ Machine stroke: –400 mm to +800 mm ⋅ Interval between the pitch error compensation positions: 50 mm ⋅ No. of the compensation position of the reference position: 40 If the above is specified, the correspondence between the machine coordinate and the compensation position No. is as follows:
33 39 40 41 42 56
–400 –350 –100 –50 0 50 100 750 800 Machine coordinate (mm)
Compensation point number
Compensation values are output at the positions indicated by .
Therefore, set the parameters as follows:
Parameter Setting value
n000 (n : axis number) : Compensation number for the reference position
40
0011#0, 1 : Compensation magnification 0, 0
0712 – 0715 (M), 0756 – 0759 (T) : Interval between pitch error compensation positions
50000
The compensation amount is output at the compensation position No. corresponding to each section between the coordinates. The following is an example of the compensation amounts.
–400 –300 –200 –100 100 200 300 400 (mm) 0
33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49
–1
–2
–3
–4
+1
+2
+3
+4 Pitch error compensation value (absolute value)
Reference position
33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49
+2 +1 +1 –2 0 –1 0 –1 +2 +1 0 –1 –1 –2 0 +1 +2
No ��� �� ����� ����
56
1
Examples
� For linear axis
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⋅ Amount of movement per rotation: 360° ⋅ Interval between pitch error compensation positions: 45° ⋅ No. of the compensation position of the reference position: 60 If the above is specified, the correspondence between the machine coordinate and the compensation position No. is as follows:
0.0
45.0
90.0
135.0
180.0
225.0
270.0
315.0 (68) (60)
(67)
(66)
(65)(64)
(63)
(62)
(61)
(+)
Reference position
Compensation values are output at the positions indicated by .
If the sum of the compensation values for positions 61 to 68 is not 0, pitch error compensation values are accumulated for each rotation, causing positional deviation. The same value must be set for compensation positions 60 and 68.
Therefore, set the parameters as follows:
Parameter Setting value
n000 (n : axis number) : Compensation number for the reference position
60
0011#0, 1 : Compensation magnification 0, 0
0712 – 0715 (M), 0756 – 0759 (T) : Interval between pitch error compensation positions
45000
The following is an example of compensation amounts.
(deg)0
60 61 62 63 64 65 66 67 68
+1 –2 +1 +3 –1 –1 –3 +2 +1
No ��� �� ����� ����
61 62 63 64 65 66 67 68 (60)
–1
–2
–3
–4
+1
+2
+3
+4
Pitch error compensation value (absolute value)
Reference position
45 90 135 180 225 270 315
61 62 63 64 65 66 67
45 90 135 180 225 270 315 0
61 62
45 90
68 (60)
� ��� ����� � ��
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n000 Number of the pitch error compensation position for the reference position
(n : axis number)
[Data type] Byte
[Unit of data] Number
[Valid data range] 0 to 127
Set the number of the pitch error compensation position for the reference position for each axis.
#7 0011
#6 #5 #4 #3 #2 #1 PML2
#0 PML1
#0 PML1
#1 PML2 Specify the pitch error compensation multiply value as listed below:
#1 PML2 #0 PML1 Multiply
0 0 �1
0 1 �2
1 0 �4
1 1 �8
0756 – 0759 Interval between pitch error compensation positions (T series)
0712 – 0715 Interval between pitch error compensation positions (M series)
[Data type] Two–word
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
Rotation axis 0.01 0.001 0.0001 deg
[Valid data range] 0 to 99999999
The pitch error compensation positions are arranged with equally spaced. Set the space between two adjacent positions for each axis.
The minimum interval between pitch error compensation positions is limited and obtained from the following equation:
Minimum interval of pitch error compensation positions = maximum feedrate (rapid traverse rate)/1875
Unit: mm, inch, deg
[Example] When the maximum rapid traverse rate is 15000 mm/min, the minimum interval between pitch error compensation positions is 8 mm.
Parameter
[Unit of data]
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WARNING 1 Compensation value range
Compensation values can be set within the range from –7 x compensation magnification (detection unit) to +7 x compensation magnification (detection unit). The compensation magnification can be set for each axis within the range from 1, 2, 4, and 8 in parameters 0011#0, and #1.
2 Intervals of compensation positions The pitch error compensation positions are arranged with equally spaced. Set the space between two adjacent positions for each axis to the parameter (No.n000 (n: axis number)).
3 Pitch error compensation of the rotary axis For the rotating axis, the interval between the pitch error compensation positions shall be set to one per integer of the amount of movement (normally 360°) per rotation. The sum of all pitch error compensation amounts per rotation must be made to 0. Also, set the same compensation value to a position and the same position with one rotation.
4 Conditions where pitch error compensation is not performed Note that the pitch error is not compensated in the following cases: · When the machine is not returned to the reference
position after turning on the power. This excludes the case where an absolute position detector is employed.
· If the interval between the pitch error compensation positions is 0.
Warning
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Function for compensating for lost motion on the machine. Set a compensation value in parameter Nos.0535 – 0538, in detection units from 0 to �2550 pulses.
More precise machining can be performed by changing the backlash compensating value depending on the feedrate, the rapid traverse or the cutting feed.
Let the measured backlash at cutting feed be A and the measured backlash at rapid traverse be B. The backlash compensating value is shown below depending on the change of feedrate (cutting feed or rapid traverse) and the change of the direction of movement.
Cutting feed to cutting feed
0 �α � (�α)
�A �B �(B+α) � (B+α)
Change of feedrate
Change of direction of movement
Rapid traverse to rapid traverse
Rapid traverse to cutting feed
Cutting feed to rapid traverse
Same direction
Opposite direction
0
� � = (A�B)/2
� The positive or negative direction for compensating values is the direction of movement.
⇒ ⇒
α α A B
Stopped during cutting feed Stopped during rapid traverse
� : Overrun
� Assign the measured backlash at cutting feed (A) in parameter Nos.0535 – 0538 and that at rapid traverse (B) in parameter Nos.0686 – 0689 (M)/Nos.0673 – 0676 (T).
1.3.2 Backlash Compensation
General
� Backlash compensation
� Backlash compensation for each rapid traverse and cutting feed
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#7 0076
#6 #5 #4 ADBLS
#3 #2 #1 #0
[Data type] Bit
ADBLS Backlash compensation applied separately for cutting feed and rapid traverse 0 : Not performed 1 : Performed
0535 – 0538 Backlash compensating value
[Data type] Word
[Unit of data] Detection unit
[Valid data range] 0 to �2550
Set the backlash compensating value.
When ADBLS is 1, set the backlash compensating value for cutting feed.
When the machine moves in the reference position return direction after the power is turned on, the first backlash compensation is performed.
0673 – 0676 Backlash compensating value used for rapid traverse (T series)
0686 – 0689 Backlash compensating value used for rapid traverse (M series)
[Data type] Word
[Unit of data] Detection unit
[Valid data range] 0 to �2550
Set the backlash compensating value used in rapid traverse for each axis.
This parameter is valid when ADBLS, is set to 1.
CAUTION The backlash compensation for each rapid traverse and cutting feed is not performed until the first reference position return is completed after the power is turned on. Under this state, the normal backlash compensation is performed according to the value specified in parameter Nos.0535 – 0538 irrespective of a rapid traverse and a cutting feed.
NOTE When backlash compensation is applied separately for cutting feed and rapid traverse, jog feed is regarded as cutting feed.
Parameter
Caution
Note
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The servo interface of the Series 0 features the following: Digitally controlled AC servo motor Motor feedback with serial pulse coders (1) Absolute pulse coder with a resolution of 1,000,000 pulses/rev (2) Absolute pulse coder with a resolution of 65,536 pulses/rev (3) Incremental pulse coder with a resolution of 10,000 pulses/rev Scale feedback with A/B/Z signal interface
Explanation of terms frequently used in CNC
Least command increment The minimum unit of a command to be given from CNC to the machine tool
Detection unit The minimum unit which can detect the machine tool position
Command multiplier (CMR) A constant to enable the weight of CNC command pulses to meet the weight of pulses from the detector
Detection multiplier (DMR) A constant to enable the weight of CNC command pulses to meet the weight of pulses from the detector
CAUTION The relations among the least command increment, detection unit, CMR, and DMR are as specified below. Least command increment = CMR � detection unit
The flexible feed gear function in the digital servo defines constant DMR using two parameters (Nos.8x84 and 8x85 (x : axis number)) n and m (DMR = n/m).
Move amount per revolution of motor DMR � number of pulses of detector per revolution
Detection unit =
1.4 SETTINGS RELATED TO SERVO– CONTROLLED AXES
1.4.1 Parameters Related to Servo
General
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DMRx Specify the detection multiply value (DMR) for each axis as follows:
#6 #5 #4 Detection multiplier
0 0 0 1/2
0 0 1 1
0 1 0 3/2
0 1 1 2
1 0 0 5/2
1 0 1 3
1 1 0 7/2
1 1 1 4
#7 0010
#6 #5 #4 #3 #2 #1 OFFVY
#0
[Data type] Bit
OFFVY When velocity control ready signal VRDY is set ON before position control ready signal PRDY comes ON 0 : A servo alarm is generated. 1 : A servo alarm is not generated.
#7 0021
#6 #5 APC8
#4 APC7
#3 APC4
#2 APC3
#1 APCZ
#0 APCX (T series)
APC8 APC7 APC4 APCZ APCY APCX (M series)
APCx Specify whether to use absolute pulse coder detector for each axis, as follows: 0 : Do not use 1 : Use
#7 0022
#6 #5 ABS8
#4 ABS7
#3 ABS4
#2 ABS3
#1 ABSZ
#0 ABSX (T series)
ABS8 ABS7 ABS4 ABSZ ABSY ABSX (M series)
ABSx Specify whether the reference position for the absolute pulse coder of each axis has been established, as follows: 0 : Not established 1 : Established
#7 0037
#6 #5 SPTP8
#4 SPTP7
#3 SPTP4
#2 SPTP3
#1 SPTPZ
#0 SPTPX (T series)
SPTP8 SPTP7 SPTP4 SPTPZ SPTPY SPTPX (M series)
SPTPx Specify whether to use a separate pulse coder for each axis, as follows: 0 : Do not use 1 : Use
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Command multiply (CMR)0100 – 0103
NOTE When this parameter has been set, the power must be turned off before operation is continued.
[Data type] Byte
Set a command multiply indicating the ratio of the least command increment to the detection unit for each axis.
Least command increment = detection unit x command multiply
Relationship between the increment system and the least command increment
Least command increment
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
Rotation axis 0.01 0.001 0.0001 deg
The value set in the parameter is obtained as follows:
(1)When command multiply is 1/2 to 1/27
Set value = + 1001 (Command multiply)
Valid data range: 102 to 127
(2)When command multiply is 1 to 48
Set value = 2 � command multiply Valid data range: 2 to 96
NOTE When command multiply is 1 to 48, the set value must be determined so that an integer can be set for command multiply.
Positioning deviation limit in movement0504 – 0507
[Data type] Word
[Unit of data] Detection unit
[Valid data range] 0 to 32767
Set the positioning deviation limit in movement for each axis.
If the positioning deviation exceeds the positioning deviation limit during movement, a servo alarm is generated, and operation is stopped immediately (as in emergency stop). Generally, set the positioning deviation for rapid traverse plus some margin in this parameter.
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Grid shift0508 – 0511
[Data type] Word
[Unit of data] Detection unit
[Valid data range] 0 to�32767
A grid shift is set.
To shift the reference position, the grid can be shifted by the amount set in this parameter. Up to the half of maximum value counted by the reference counter can be specified as the grid shift.
NOTE When this parameter has been set, the power must be turned off before operation is continued.
Servo loop gain (M series)0512 – 0515, 0517
[Data type] Word
[Unit of data] 0.01 s –1
[Valid data range] 1 to 9999
Set the loop gain for position control.
When the machine performs linear and circular interpolation (cutting), the same value must be set to parameter 0517. For machines that require only positioning, parameter 0517 must be 0, but the settings of parameters 0512 to 0515 can vary from axis to axis. As the loop gain increases, the response by position control is improved. A too large loop gain, however, makes the servo system unstable.
The relationship between the positioning deviation (the number of pulses counted by the error counter) and the feedrate is expressed as follows:
Positioning deviation = feedrate 60
(loop gain)�
Unit: Positioning deviation mm, inches, or deg Feedrate: mm/min, inches/min, or deg/min Loop gain: s–1
Positioning deviation limit in the stopped state0593 – 0596
[Data type] Word
[Unit of data] Detection unit
[Valid data range] 0 to 32767
Set the positioning deviation limit in the stopped state.
If, in the stopped state, the positioning deviation exceeds the positioning deviation limit set for stopped state, a servo alarm is generated, and operation is stopped immediately (as in emergency stop).
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Even when the power to the CNC is turned off, a battery–powered pulse coder stores the current position. No reference position return is required when the power to the CNC is turned on next.
#7 0021
#6 #5 APC8
#4 APC7
#3 APC4
#2 APC3
#1 APCZ
#0 APCX (T series)
APC8 APC7 APC4 APCZ APCY APCX (M series)
APCx Specify whether to use absolute pulse coder detector for each axis, as follows: 0 : Do not use 1 : Use
1.4.2 Absolute Position Detection
General
Parameter
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[Classification] Input signal
[Function] When a unit with an additional axis is switched on with this signal set to 1, its fourth axis is ignored; that is, it is assumed that the unit has no additional axis. So, it is unnecessary to perform processing related to the additional axis.
CAUTION This signal is checked instantly the power is switched on. It is no use turning on and off the signal when the power is already on.
NOTE This signal is valid only when parameter C4NG (bit 1 of parameter No. 0019) = 1.
#7 4NGX004
#6 #5 #4 #3 #2 #1 #0
#7 0019
#6 #5 #4 #3 #2 #1 C4NG
#0
[Data type] Bit
C4NG Specifies whether to enable the ignore–fourth–axis signal (4NG, bit 7 of signal X004), as follows: 0 : Enable 1 : Disable
1.4.3 Ignore–the–fourth–axis –signal (M Series)
Signal
Ignore–the–fourth–axis signal 4NG<X004#7> (M series)
Signal address
Parameter
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Setting this signal to 1 causes the machine to behave in the same manner as when only the Z–axis is locked.
[Function] The X– and Y–axis move commands and the M, S, and T functions work normally, but the Z–axis movement of the machine is inhibited, and only the current display is updated.
[Operation] Instantly this signal becomes 1 during Z–axis movement, this function becomes enabled. The signal is valid during both automatic and manual operations.
#7 G103
#6 ZNG
#5 #4 #3 #2 #1 #0
1.4.4 Cancel–the–Z–axis Command Signal (M Series)
General
Signal
Cancel–the–Z–axis command signal (Input) ZNG (M series)<G103#6>
Signal address
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Machine coordinate system is a coordinate system set with a zero point proper to the machine system. With G53 command, the machine coordinate system is selected and the axis can be moved at rapid traverse to the position expressed by the machine coordinates.
WARNING Since the machine coordinate system must be set before the G53 command is specified, at least one manual reference position return or automatic reference position return by the G28 command must be performed after the power is turned on. This is not necessary when an absolute–position detector is attached.
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
II.7.1 MACHINE COORDINATE SYSTEM
OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.7.1 MACHINE COORDINATE SYSTEM
1.5 SETTINGS RELATED WITH COORDINATE SYSTEMS
1.5.1 Machine Coordinate System
General
Warning
Reference item
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A coordinate system used for machining a workpiece is referred to as a workpiece coordinate system. A workpiece coordinate system is to be set with the CNC beforehand (setting a workpiece coordinate system). A machining program sets a workpiece coordinate system (selecting a workpiece coordinate system). A set workpiece coordinate system can be changed by shifting its origin (changing a workpiece coordinate system).
A workpiece coordinate system can be set using one of three methods:
(1)Method using G92 (G50 for G code system A) A workpiece coordinate system is set by specifying a value after G92 (G50) in the program.
(2)Automatic setting If bit 7 (APRS) of parameter No.0010 is set beforehand, a workpiece coordinate system is automatically set when manual reference position return is performed.
(3) Input using the CRT/MDI panel Six workpiece coordinate systems can be set beforehand using the CRT/MDI panel.
The user can choose from set workpiece coordinate systems as described below.
(1)Selecting a workpiece coordinate system set by G92 (G50) or automatic workpiece coordinate system setting Once a workpiece coordinate system is selected, absolute commands work with the workpiece coordinate system.
(2)Choosing from six workpiece coordinate systems set using the CRT/MDI panel By specifying a G code from G54 to G59, one of the workpiece coordinate systems 1 to 6 can be selected.
G54 Workpiece coordinate system 1 G55 Workpiece coordinate system 2 G56 Workpiece coordinate system 3 G57 Workpiece coordinate system 4 G58 Workpiece coordinate system 5 G59 Workpiece coordinate system 6
Workpiece coordinate system 1 to 6 are established after reference position return after the power is turned on. When the power is turned on, G54 coordinate system is selected.
1.5.2 Workpiece Coordinate System (T/M Series)/ Additional of Workpiece Coordinate System Pair (M Series)
General
Setting a workpiece coordinate system
Selecting a workpiece coordinate system
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The six workpiece coordinate systems specified with G54 to G59 can be changed by changing an external workpiece zero point offset value or workpiece zero point offset value. Three methods are available to change an external workpiece zero point offset value or workpiece zero point offset value. (1) Inputting from the CRT/MDI panel (2) Programming by G10 or G92 (G50) (3) Changing an external workpiece zero point offset value
ZOFS2 ZOFS3 ZOFS4
ZOFS5
ZOFS1
ZOFS6
EXOFS : External workpiece zero point offset value ZOFS1 to ZOFS6 : Workpiece zero point offset value
EXOFS
Workpiece coordinate system 1 (G54)
Workpiece coordinate system 2 (G55)
Workpiece coordinate system 3 (G56)
Workpiece coordinate system 4 (G57)
Workpiece coordinate system 5 (G58)
Workpiece coordinate system 6 (G59)
Machine zero point
Changing an external workpiece zero point offset value or workpiece zero point offset value
When the coordinate system actually set by the G92 (G50) command or the automatic coordinate system setting deviates from the programmed workpiece coordinate, the set coordinate system can be shifted. Set the desired shift amount in the workpiece coordinate system shift memory.
ÂÂÂ ÂÂÂ ÂÂÂ
X–Z: Coordinate system in programming
x–z : Current set coordinate system with shift amount 0 (coordinate system to be modified by shifting)
Set the shift amount from O’ to O in the workpiece coordinate system shift memory.
x X
Z
z
O
O’
Shift
Workpiece Coordinate System shift
Changing workpiece coordinate system
Workpiece coordinate system shift (T series)
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Besides the six workpiece coordinate systems (standard workpiece coordinate systems) selectable with G54 to G59, 48 additional workpiece coordinate systems (additional workpiece coordinate systems) can be used.
#7 APRS0010
#6 WSFT
#5 #4 #3 #2 #1 #0 (T series)
APRS (M series)
[Data type] Bit
APRS Automatic setting of a coordinate system when the manual reference position return is performed 0 : Not set automatically 1 : Set automatically
WSFT Specifies whether to shift the workpiece coordinate system, as follows: 0 : Do not shift 1 : Shift
#7 0063
#6 #5 #4 #3 #2 #1 PRSTIN
#0
[Data type] Bit
PRSTIN Coordinates at the reference position when a coordinate system is set automatically 0 : Value set in parameter Nos.0708 – 0711 is used. 1 : For input in mm, the value set in parameter Nos.0708 – 0711 is used,
or for input in inches, the value set in parameter Nos.0815 – 0818 is used.
#7 WKZSFT0388
#6 #5 #4 #3 #2 #1 #0 (T series)
[Data type] Bit
WKZSFT Shift value of the workpiece coordinate system and external workpiece zero point offset value are 0 : Stored in the separate memory areas. 1 : Stored in the same memory area, that is, the shift and the offset values
are the same.
Addition of workpiece coordinate system pair (M series)
Parameter
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Coordinate value of the reference position used when automatic coordinate system setting is performed
0708 – 0711
[Data type] Two–word
Input increment IS–A IS–B IS–C Unit
Linear axis (input in mm) 0.01 0.001 0.0001 mm
Linear axis (input in inches) 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg
[Valid data range] –99999999 to 99999999
Set the coordinate value of the reference position on each axis to be used for setting a coordinate system automatically.
External workpiece zero point offset value (T series)0751 – 0754
External workpiece zero point offset value (M series)0940 – 0943
[Data type] Two–word
Input increment IS–A IS–B IS–C Unit
Linear axis (input in mm) 0.01 0.001 0.0001 mm
Linear axis (input in inches) 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg
[Valid data range] –7999 to 7999
This is one of the parameters that give the position of workpiece coordinate system (G54 to G59). It gives an offset of the workpiece zero point common to all workpiece coordinate systems. In general, the offset varies depending on the workpiece coordinate systems. Usually, this is set automatically according to the input from the machine (external data input).
[Unit of data]
[Unit of data]
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Workpiece zero point offset value in workpiece coordinate system1 (G54) (T series)0755 – 0758
Workpiece zero point offset value in workpiece coordinate system2 (G55) (T series)0759 – 0762
Workpiece zero point offset value in workpiece coordinate system3 (G56) (T series)0763 – 0766
Workpiece zero point offset value in workpiece coordinate system4 (G57) (T series)0767 – 0770
Workpiece zero point offset value in workpiece coordinate system5 (G58) (T series)0771 – 0774
Workpiece zero point offset value in workpiece coordinate system6 (G59) (T series)0775 – 0778
Workpiece zero point offset value in workpiece coordinate system1 (G54) (M series)0944 – 0947
Workpiece zero point offset value in workpiece coordinate system2 (G55) (M series)0948 – 0951
Workpiece zero point offset value in workpiece coordinate system3 (G56) (M series)0952 – 0955
Workpiece zero point offset value in workpiece coordinate system4 (G57) (M series)0956 – 0959
Workpiece zero point offset value in workpiece coordinate system5 (G58) (M series)0960 – 0963
Workpiece zero point offset value in workpiece coordinate system6 (G59) (M series)0964 – 0967
[Data type] Two–word
Input increment IS–A IS–B IS–C Unit
Linear axis (input in mm) 0.01 0.001 0.0001 mm
Linear axis (input in inches) 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg
[Valid data range] –99999999 to 99999999
The workpiece zero point offset values in workpiece coordinate systems 1 to 6 (G54 to G59) are set.
Workpiece coordinate system 1 (G54)
Workpiece zero point offset
Origin of machine coordinate system
Workpiece coordinate system 2 (G55)
[Unit of data]
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Coordinate value of the reference position used when automatic coordinate system setting is performed with inch input
0815 – 0818
[Data type] Two–word
Input increment IS–A IS–B IS–C Unit
Linear axis (input in inches) 0.001 0.0001 0.00001 inch
[Valid data range] –99999999 to 99999999
Set the coordinate value of the reference position on each axis to be used for setting a coordinate system automatically when input is performed in inches.
NOTE This parameter is valid when PRSTIN in parameter 0063#1 is set to 1.
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
II.7.2 WORKPIECE COORDINATE SYSTEM
OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.7.2 WORKPIECE COORDINATE SYSTEM
Reference item
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The roll–over function prevents coordinates for the rotation axis from overflowing. The roll–over function is enabled by setting bit 1 (ROACx) of parameter (No.0398 (M) or 0388 (T)) to 1.
For an incremental command, the tool moves the angle specified in the command. For an absolute command, the coordinates after the tool has moved are values rounded by the angle corresponding to one rotation set in parameter (No.0860 (M) or 0788 (T)). The tool moves in the direction in which the final coordinates are closest when bit 2 (RODRC) of parameter No.0398 (M) or 0388 (T) is set to 0. Displayed values for relative coordinates are also rounded by the angle corresponding to one rotation when bit 2 (ROCNT) of parameter No.0398 (M) or 0388 (T) is set to 1.
#7 0011
#6 #5 #4 #3 #2 ADLN
#1 #0 (M series)
ADLN Specifies whether the fourth axis is a linear or rotation axis, as follows: 1 : Linear axis 0 : Rotation axis
#7 0032
#6 #5 #4 #3 LIN4
#2 LIN3
#1 #0 (T series)
LIN3 Specifies whether the third axis is a linear or rotation axis, as follows: 1 : Linear axis 0 : Rotation axis
LIN4 Specifies whether the fourth axis is a linear or rotation axis, as follows: 1 : Linear axis 0 : Rotation axis
#7 0388
#6 #5 #4 #3 ROCNT
#2 RODRC
#1 ROAXC
#0 (T series)
0398 ROCNT RODRC ROAXC (M series)
[Data type] Bit
ROAXC The roll–over function of a rotation axis is 0 : Invalid 1 : Valid
NOTE ROAXC specifies the function only for a rotation axis.
1.5.3 � �� � ���� � �� � �
General
Parameter
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RODRC In the absolute commands, the axis rotates in the direction 0 : In which the distance to the target is shorter. 1 : Specified by the sign of command value.
NOTE RODRC is valid only when ROAXC is 1.
ROCNT Relative coordinates are 0 : Not rounded by the amount of the shift per one rotation 1 : Rounded by the amount of the shift per one rotation
NOTE 1 ROCNT is valid only when ROAXC is 1. 2 Assign the amount of the shift per one rotation in parameter
(No.0860 (M) or 0788 (T)).
0788 Move amount per rotation of rotary axis (T series)
0860 Move amount per rotation of rotary axis (M series)
NOTE When this parameter is changed, turn off the power before continuing operation.
[Data type] Two–word
Increment system IS–A IS–B IS–C Unit
Unit of data 0.01 0.001 0.0001 deg
Standard setting value
36000<PHONE_NUMBER>000
[Valid data range] 1000 to 99999999
Set move amount per rotation of rotation axis.
NOTE This function cannot be used together with the indexing function of the index table (M series).
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
II.22 ROTARY AXIS ROLL–OVER
OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.22 ROTARY AXIS ROLL–OVER
[Unit of data]
Note
Reference item
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A movement along an axis can be executed simply by executing a move command specified for that axis or by synchronizing the movement with another axis. Either of these two types can be selected by means of a signal sent from the machine.
The M series and T series support different simple synchronization control functions. One of the greatest differences is that:
<T series> The function can synchronize only automatic operations. It cannot synchronize manual operations.
<M series> The function can synchronize both automatic and manual operations. The fourth axis is used as the slave axis. In the following description, the function is explained separately for the M series and T series.
[Classification] Input signal
[Function] Synchronization control is performed for memory or MDI operation. The number or alphabet at the end of the signal name represents the number of the controlled axis.
X. ... The X axis becomes the slave axis for synchronization control. Y. ... The Y axis becomes the slave axis for synchronization control. Z. ... The Z axis becomes the slave axis for synchronization control. : :
SYNC x
[Operation] When the signal is set to 1, the control unit operates as described below: – During memory or MDI operation, the control unit supplies the move
command, specified for the master axis, to both the master and slave axes of synchronization control.
The master axis is specified with a parameter.
1.6 SIMPLE SYNCHRONOUS CONTROL
General
� Simple synchronous control for the M series and T series
Signal
<T series and M series>
Signals to select the slave axis for simple synchronous control SYNCX to SYNC4 <G237>
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[Classification] Input signal
[Function] Synchronization control is performed in jog, handle, or incremental feed mode.
[Operation] When the signal is set to 1, the control unit operates as described below:
– In jog, handle, or incremental feed mode, the control unit supplies the move command, specified for the master axis, to both the master and slave axes of synchronization control.
The master axis is specified with a parameter.
[Classification] Output signal
[Function] This signal is used to post notification of the occurrence of a synchronization error.
[Operation] :This signal is output when the difference in the positional deviation between the master axis and slave axis exceeds the value set in parameter 475. At the same time, alarm 213 is issued.
#7 G237
#6 #5 #4 #3 SYNC4
#2 SYNC3
#1 SYNCZ
#0 SYNCX
#7 G133
#6 SYNCJ
#5 #4 #3 #2 #1 #0
G237 SYNC4
SYNALF192
<M series>
Signal for selecting the manual feed axis for simple synchronous control SYNCJ <G133#6>
<M series>
Servo axis synchronization alarm signal SYNAL <F192#7>
Signal address
T series
M series
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0281 Axes synchronized with the X and Z axes in synchronization control
0282 Axes synchronized with the 3rd and 4th axes in synchronization control
[Valid data range] 0 to 32
[Unit of data] An axis synchronized with each axis in servo axis synchronization control is set according to the table given below. Set the number of an axis to be synchronized in each digit of the parameters. Set the axis to be synchronized with the X/third axis in the unit’s position of each parameter, and set the axis to be synchronized with the Z/fourth axis in the ten’s position.
Setting value Synchronized with
0 X axis
1 Z axis
2 3rd axis
3 4th axis
Ex. No. 0281 = 32
X axis is synchronized with the 3rd axis. The Z axis is synchronized with the 4th axis.
Ex. No. 0282 = 10
The 3rd axis is synchronized with the X axis. The 4th axis is synchronized with the Z axis.
#7 0075
#6 #5 #4 #3 #2 #1 SYNM1
#0 SYNM0
SYNM0, SYNM1 The master axis, in simple synchronous control, is set according to the table below.
#1 SYNM1 #0 SYNM0 Master axis in simple synchronous control
0 0 Simple synchronous control is not applied.
0 1 The master axis is the X axis. (The 4th axis is synchronized with the X axis.)
1 0 The master axis is the Y axis. (The 4th axis is synchronized with the Y axis.)
1 1 The master axis is the Z axis. (The 4th axis is synchronized with the Z axis.)
Limit of the difference between the amount of positioning deviation of the master and slave axes
0475
[Data type] Word
[Unit of data] Detection unit [Valid data range] 0 to 32767
Parameter
T series
M series
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������ Message Description
213 ILLEGAL COMMAND IN SYNCHRO–MODE
A move command was specified for the slave axis of synchronization con- trol.
214 ILLEGAL COMMAND IN SYNCHRO–MODE
A command for coordinate system setting or shift–type tool compensa- tion was executed during synchro- nization control. Correct the program.
������ Message Description
213 ILLEGAL COMMAND IN SYNCHRO–MODE
One of the following errors occurred during synchronous operation (simple synchronization control):
(1) The program contains a move com- mand for the slave axis.
(2) A command for jog feed, manual handle feed, or incremental feed was issued for the slave axis.
(3) After power on, the command for auto- matic reference position return was spe- cified before a manual reference position return had been performed.
(4) The difference in position error between the master and slave axes exceeded the value set in parameter 0475.
CAUTION 1 When a manual reference position return is executed,
identical movements are performed along the master and slave axes until deceleration commences. Subsequently, grids are detected separately.
2 Pitch error compensation and backlash compensation are executed separately for the master and slave axes.
Alarm and message
T series
M series
Caution
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OPERATOR’S MANUAL (For Machining Center) (B–61404E)
II.21 SIMPLE SYNCHRONOUS CON- TROL
Reference item
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With the 0–TTC, movement along those axes (X1, Z1, C1, Y1) of tool post 1 is usually specified using programmed commands for tool post 1, while movement along the axes (X2, Z2, C2) of tool post 2 is specified using programmed commands for tool post 2.
X1 X2Z1
Z2
Tool post 1
Tool post 2
The axis recomposition function allows synchronization control between the tool posts and within a single post, as well as composite control between the tool posts.
Movement along an arbitrary axis of a tool post is synchronized with another axis of the other tool post.
Example: Movement along the Z1 axis is synchronized with movement along the Z2 axis.
Movement along an arbitrary axis of a tool post is synchronized with another axis of the same tool post.
Example: Movement along the Z1 axis is synchronized with movement along the Y1 axis.
Move commands for arbitrary axes of the tool posts are switched.
Example: Commands for the X1 axis and X2 axis are switched.
� Performing movement along the X2 axis and Z1 axis by using programmed commands for tool post 1 Performing movement along the X1 axis and Z2 axis by using programmed commands for tool post 2
1.7 AXIS RECOMPOSITION (0–TTC)
General
Separate control for each tool post
Synchronization control
Composite control
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Movement along an axis of one tool post can be synchronized with movement along an axis of the other tool post. When a move command is specified for an axis (synchronization master axis), the same move command is also specified for the corresponding axis (synchronization slave axis) so that the same movement is performed along these axes. When this function is used with the parking function, which places a specific axis in the halt state by ignoring a move command for that axis, the following control operations are enabled:
(1)Synchronizing movement along an arbitrary axis on a tool post with movement along an arbitrary axis on the other tool post (Both master and slave moved)
Example 1: Synchronize the Z2 axis with the Z1 axis. (Machining with both ends of a workpiece held )
Z2Z1
X1
Example 2: Synchronize the X2 and Z2 axes with the X1 and Z1 axes. (Balance cut)
X1
Z1
X2
Z2
(2)Using a move command for an arbitrary axis on a tool post to perform movement along an arbitrary axis on the other tool post. At this time, no movement is performed along that axis for which the move command is specified. (Master parked, slave moved)
(3)Updating the coordinate on an arbitrary axis of a tool post based on the distance traveled along an arbitrary axis of the other tool post. At this time, no movement is performed along that axis for which the coordinate is updated. (Master moved, slave parked)
Synchronization control
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Using methods (2) and (3) allows one motor to be controlled by both tool post 1 and tool post 2.
Example 3: Share one motor between the Z1 axis and Z2 axis (where, the motor is assumed to be connected to the Z1 axis).
X1
Z1
X2
Movement along the X2 and Z1 axes is performed using a programmed command for tool post 2. (The Z1 axis is synchronized with the Z2 axis). At this time, the Z2 axis is placed in the parking state. The coordinate systems for the Z1 and Z2 axes are updated respectively.
X1
Z1
X2
Movement along the X1 and Z1 axes is performed using a programmed command for tool post 1. (The Z2 axis is synchronized with the Z1 axis.) At this time, the Z2 axis is placed in the parking state. For the Z2 axis, only its coordinate system is updated.
The coordinate systems on the Z1 axis and Z2 axis are each updated constantly. Therefore, as soon as the synchronization state is changed, a move command can be executed without setting the coordinate system again.
In a special case, the fourth axis of tool post 2 (Y2 axis) can be used as the synchronization master axis that is always parked, and the seventh axis of tool post 1 can be used as the synchronization slave axis. Then, Y2 axis control is enabled.
� Master parking
� Slave parking
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CAUTION 1 The synchronization control mentioned here is used to
specify the same move command to the two servo processing systems simultaneously. At this time, the synchronization error compensation function, which always detects the deviation between the two servo motors and compensates one servo motor to reduce the deviation, is not applied. Synchronization error detection can, however, be performed by parameter setting. If a synchronization error is detected, cancel synchronization control immediately, and turn off the servo ready signal.
2 When synchronization control is canceled during automatic operation, do not specify a move command nor coordinate system setting for the synchronization slave axis within the two blocks including the currently executed block (within three blocks when tool–nose radius compensation is being performed).
NOTE Parking prevents move commands from being issued to the servo processing system, thus preventing the updating of all coordinates. However, absolute and relative coordinates can be updated by parameter setting.
Move commands can be switched between arbitrary axes on the tool posts to perform movement along each axis.
In a machine having the X1 and Z1 axes of tool post 1 and the X2 and Z2 axes of tool post 2, switching between the X1 axis and X2 axis is explained below. Here, assume that the move commands for the Z1 and Z2 axes allow a workpiece to move along these axes.
Turret 1 and workpiece 1 belong to tool post 1 and are moved according to programmed commands issued for tool post 1. Turret 2 and workpiece 2 belong to tool post 2, and are moved according to programmed commands issued for tool post 2.
X1
Z1
Turret 1
Workpiece 1
Turret 2
Workpiece 2 Z2
(X2, Z2)
(X1, Z1)
Moved by program for tool post 1
(X1, Z1) and (X2, Z2) are the workpiece coordinates at the tool tips of turret 1 and turret 2, respectively.
Moved by program for tool post 2
X2
Composite control
Example of composite control
Coordinate systems in separate control mode
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The control mode is changed to composite control so that turret 2 is controlled with tool post 1, and turret 1 is controlled with tool post 2. Set the coordinates of the tool tip of turret 2 in the workpiece coordinate system for tool post 1, and set the coordinates of the tool tip of turret 1 in the workpiece coordinate system for tool post 2. The coordinate systems for composite control can be set automatically by parameter setting. In automatic setting, each workpiece coordinate system is calculated from the machine coordinates and the workpiece coordinates at the reference position. (Whether the coordinate systems are to be set automatically is determined by parameter setting.)
X1
Z1
Z2
(X2, Z2) �
(X1, Z1)
(X2, Z2) �
(X1, Z1) X2
Turret 2 and workpiece 1 belong to tool post 1, and are moved by programmed commands issued for tool post 1. Turret 1 and workpiece 2 belong to tool post 2, and are moved by programmed commands issued for tool post 2.
X1
Z1 Workpiece 1
Workpiece 2 Z2
(X2, Z2)
(X1, Z1)
Moved by program for tool post 1
Moved by program for tool post 2
X2
Turret 1
Turret 2
(X1, Z1)
(X2, Z2)
Change from separate control to composite control
Coordinate systems in composite control mode
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The control mode is changed to separate control so that turret 1 is controlled with tool post 1, and turret 2 is controlled with tool post 2. Set the coordinates of the tool tip of turret 1 in the workpiece coordinate system for tool post 1, and set the coordinates of the tool tip of turret 2 in the workpiece coordinate system for tool post 2. The coordinate systems for separate control can be set automatically by parameter setting. In automatic setting, each workpiece coordinate system is calculated from the machine coordinates and the workpiece coordinates at the reference position. (Whether the coordinate systems are to be set automatically is determined by parameter setting.)
X1
Z1
Z2
(X1, Z1) ↑
(X2, Z2)
(X1, Z1) ↓
(X2, Z2)
X2
Speed commands for the spindles and feed–per–rotation operations based on the feedback pulses sent from the position coder are not exchanged by this composite control function.
� S command output: Output to the spindle connected to each path. If command switching is necessary, change the analog command voltage by using the SLSPA and SLSBP signals.
� Feed per rotation, threading, spindle fluctuation detection: The feedback pulses from the position coder connected to each path are used. Pulse switching cannot be performed in the CNC. If pulse switching is required, a pulse switching circuit must be added to the machine.
� Constant surface speed control: The spindle connected to each path is controlled by calculating the spindle speed from the absolute coordinate on the X axis of the path.
� Cs axis control: This composite control function cannot perform Cs axis switching.
Change from composite control to separate control
Spindle control
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Example: Performing separate control and composite control with a machine having the following configuration:
X1
Z1 Z2
X2
S1 S2
Workpiece 1
Workpiece 2
� Separate control: System X1–Z1, S1 is controlled by a program for tool post 1 System X2–Z2, S2 is controlled by a program for tool post 2
Workpiece 1 is machined using the program for tool post 1, while workpiece 2 is machined using the program for tool post 2.
� Composite control 1 (switching between X1 and X2): System X2–Z1, S1 is controlled by a program for tool post 1. System X1–Z2, S2 is controlled by a program for tool post 2.
Workpiece 1 is machined using the program for tool post 1, while workpiece 2 is machined using the program for tool post 2. Feed per rotation, threading, and constant surface speed control are enabled.
� Composite control 2 (switching between Z1 and Z2): System X1–Z2, S1 is controlled by a program for tool post 1. System X2–Z1, S2 is controlled by a program for tool post 2.
Workpiece 1 is machined using the program for tool post 2, while workpiece 2 is machined using the program for tool post 1. Feed per rotation, threading, and constant surface speed control are disabled.
In the configuration shown above, composite control 1 is used.
When switching between separate control and composite control is performed, the already–set offset value and tool–tip radius compensation are left as is. Therefore, after the control mode is changed, a T code must be specified to set appropriate offset values.
After performing switching between separate control and composite control during automatic operation, never specify the setting of a coordinate system nor a move command for the switched axes within the two blocks including the currently executed block (or within three blocks when tool–nose radius compensation is being performed).
Tool offset in composite control
Move command after switching between separate control and composite control
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Example: Starting composite control to switch between the X1 axis and X2 axis at the N200 block
N190 ; N200 M55;(This M code command starts composite control.) N210 ; N220 ; N230 ;
In the above example, no move command can be specified for the X axis in the N210 block (also in the N220 block when tool–nose radius compensation is being performed). If M55 is an M code that is not buffered, however, coordinate system setting or a move command for the X axis can be specified in the N210 and subsequent blocks.
Performing separate control and Z1–Z2 axes synchronization control
(1)Machine configuration
(i) When separate control is applied
X1
Z1 Z2
X2
S1 S2
(ii)When Z1–Z2 axes synchronization control is applied
X1
Z1 Z2
S1 S2
With a workpiece held at both ends, movement along the Z2 axis is also performed using a command for the Z1 axis.
Examples
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(2)Parameter setting
#7 0380
#6 #5 0
#4 0
#3 0
#2 0
#1 0
#0 0
#7 #6 #5 0
#4 0
#3 0
#2 0
#1 1
#0 0
0381 0 0 0 0 0 0 0 0 0 0 1 0
0382 0 0 0 0 0 0 0 0 0 0 0 0
Tool post 1 Tool post 2
00320 0
00321 2
00322 0
00323 0
00324 0
00325 0
00686 0
00687 100 to 1000
00688 0
00689 0
00690 0
00691 0
� To synchronize the Z2 axis with the Z1 axis, set 2 in parameter 0321 for tool post 2.
� Since the positive direction of the Z1 axis and that of the Z2 axis are opposite to one another, mirror image is applied to perform synchronization. For this purpose, set SMR2 to 1 for tool post 2.
� Since movement along the Z1 axis and movement along the Z2 axis must be equal, synchronization error detection is performed. Set SER2 to 1 for tool post 2. Set a value of about 100 to 1000 as the synchronization error limit in parameter 0687 for tool post 2. (This value varies depending on the machine.)
� During synchronization, the difference in positional deviation between the Z1 axis and Z2 axis is indicated in parameter 0693 for tool post 2.
(3)Signal operation
� To start synchronous movement along the Z1 axis and Z2 axis, set the SYN2S signal to 1.
� To cancel synchronization, set the SYN2S signal to 0.
� When an emergency stop, NC reset, or alarm occurs, also set SYN2S to 0.
� Leave all signals other than SYN2S set to 0.
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(4)Sample program
Tool post 1 Tool post 2 : : Perform machining separately on each tool
post.
Z80. ; Z150. ; Move the workpiece and chuck to a predetermined position.
M200 ; M200 ; Wait until movement is completed. M61 ; Clamp the workpiece and start
synchronization.
M3 S800 ; Turn the spindle clockwise. Z–25. ; Movement along the Z1 axis
: Machining through movement along the X1 and Z1 axes
M62 ; Cancel synchronization and unclamp the workpiece.
M201 ; M201 ; Wait until synchronization is released. ; ; Dummy block
(specifying no move command)
: : Perform machining separately for each tool post.
Where, the following is assumed:
M61 is an M code that is used to clamp the workpiece and cause the SYN2S signal to become 1. M62 is an M code that is used to turn the SYN2S signal to 0 and unclamp the workpiece.
(5) Note
NOTE 1 Operation to match the speeds of spindles S1 and S2 is
required. For example, a spindle command for tool post 1 is output to both S1 and S2.
2 When synchronous movement is performed with the master axis and slave axis clamped mechanically as shown in the above example, a torque limit should be applied to the slave axis (the Z2 axis in the example) in some cases.
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(1) Machine configuration
(i) When separate control is applied
X1
Z1 Z2
X2
S1 S2
Turret 2
Turret 1
(ii)When X1–Z2 axes interpolation is performed
X1 Z2
S2
X1–Z2 axes interpolation may be performed using either of the following two methods:
(a) The X2–Z2 axes are controlled using a program for tool post 2, and the X1 axis is synchronized with the X2 axis. The X2 axis of tool post 1 is parked. Axis control is not performed for tool post 1.
(b)Composite control is performed to exchange the X1 and X2 axes between the tool posts. Axis control is not performed for tool post 1.
In the following, the method of using synchronization control and that of using composite control will be explained separately.
Example of performing separate control and X1–Z2 axes interpolation
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(a) When synchronization control is applied
(a.2) Parameter setting
#7
0380
#6 #5
0
#4
0
#3
0
#2
0
#1
0
#0
0
#7 #6 #5
0
#4
0
#3
0
#2
0
#1
0
#0
0
0381 0 0 0 0 0 0 0 0 0 0 0 0
0382 0 0 0 0 0 0 0 0 0 0 0 0
Tool post 1 Tool post 2
10320 0
00321 0
00322 0
00323 0
00324 0
00325 0
00686 0
00687 0
00688 0
00689 0
00690 0
00691 0
� To synchronize the X1 axis with the X2 axis, set 1 in parameter 0320 for tool post 1.
� For both the X1 and X2 axes, movement in the positive direction of the coordinate is always away from the workpiece center. So, mirror image is not required.
� Since the X2 axis is parked, synchronization error detection is not performed.
� During synchronization, the difference in positional deviation between the X2 axis and X1 axis is indicated in parameter 0692 for tool post 1.
(a.3) Signal operation
� To start synchronous movement along the X2 and X1 axes, set the SYN1M and PK1S signals to 1.
� To cancel synchronization, set the SYN1M and PK1S signals to 0.
� When an emergency stop, NC reset, or alarm occurs, also set SYN1M and PK1S to 0.
� Leave the signals other than SYN1M and PK1S set to 0.
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(a.4) Sample program
Tool post 1 Tool post 2 : : Perform machining separately on each tool
post.
Z0 ; Z20. ; Move each workpiece to a predetermined position.
X120. ; X120. ; Movement along each X axis to the synchronization start position (X1 = X2)
M200 ; M200 ; Wait until movement has been completed. M55 ; Start synchronization between the X2 and
X1 axes and parking of the X2 axis.
T0212 ; Set an offset for turret 1. S1000 M4 ;
G0 X30. Z55.; Machining through movement along the X1 axis and Z2 axis
G1 F0.2 W–15. ;
M56 ; Cancel synchronization and parking. M201 ; M201 ; Wait until synchronization has been
released. ; ; Dummy block (specifying no move
command)
: : Perform machining separately for each tool post.
Where, the following is assumed:
M55 is the M code that is used to start the control of turret 1 using a program for tool post 2. M56 is the M code that is used to cancel the control of turret 1 using the program for tool post 2.
(a.5) Note
NOTE During synchronization control for the X axes, no move command can be issued from tool post 1 to the X1 axis. However, movement along the Z1 axis is specified from tool post 1.
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(b)When composite control is applied
(b.2) Parameter setting
#7 0383
#6 #5 0
#4 0
#3 0
#2 0
#1 0
#0 0
#7 #6 #5 0
#4 0
#3 0
#2 0
#1 0
#0 1
0384 0 0 0 0 0 0 0 0 0 0 0 1
0385 0 0 0 0 0 1 0 0 0 0 0 0
Tool post 1 Tool post 2
00326 1
00327 0
00328 0
00329 0
00860 –150000
00861 0
00862 0
00863 0
00864 0
� To perform composite control to exchange the X1 and X2 axes, set 1 in parameter 0326 for tool post 2.
� The direction of the coordinates on the X1 axis is opposite to that of the coordinates on the X2 axis, so set 1 in MCD1 for tool post 2.
� To automatically set the position of turret 1 in the workpiece coordinate system for tool post 2 at the start of composite control, set 1 in MPM1 for tool post 2.
� To automatically set the position of turret 1 in the workpiece coordinate system for tool post 1 at the end of composite control, set 1 in MPM1 for tool post 1.
� When the X coordinate of the reference position for turret 1 is –150.0 mm in the workpiece coordinate system for tool post 2, as shown in the figure below, set –150000 in MPRM1 for tool post 2 to perform automatic coordinate system setting.
Z2
X2
Reference position for turret 1 150.0mm
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(b.3) Signal operation
– To start composite control for the X2 and X1 axes, set the MIX1 signal to 1.
– To cancel composite control, set the MIX1 signal to 0.
– When an emergency stop, NC reset, or alarm occurs, also set MIX1 to 0.
– Leave all signals other than MIX1 set to 0.
(b.4) Sample program
Tool post 1 Tool post 2 : : Perform machining separately on each tool
post.
Z0 ; Z20. ; Move each workpiece to a predetermined position.
X120. ; Movement along the X2 axis to an appropriate position to prevent interference
M200 ; M200 ; Wait until movement has been completed. M55 ; Start composite control for the X2 and X1
axes. (The position of turret 1 is set in the workpiece coordinate system for tool post 2.)
; Dummy block (specifying no move command)
M0212 ; Set an offset for turret 1. S1000 M4 ;
G0 U10. W–20.; Machining through movement along X1 axis and Z2 axis
G1 F0.2 W–15. ;
M56 ; Cancel composite control. (The position of turret 1 is set in the workpiece coordinate system for tool post 1.)
M201 ; M201 ; Wait until composite control is released. ; ; Dummy block
(specifying no move command)
: : Perform machining separately on each tool post.
Where, the following is assumed:
M55 is the M code that is used to start the control of turret 1 using a program for tool post 2. M56 is the M code that is used to cancel control of turret 1 using the program for tool post 2.
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(b.5) Note
NOTE
1 The automatic setting of a coordinate system is not always needed at the start and end of composite control. When automatic setting is not performed, specify the setting of an appropriate coordinate system in a program.
2 During X–axis synchronization control, move commands for the X axes can be issued to tool post 1 to perform movement along the X2 axis.
3 In the parameter setting explained previously, turret 1 is positioned on the negative side of the X coordinate in the workpiece coordinate system for tool post 2. Therefore, to move turret 1 toward the workpiece center, for example, specify U+10. To move the turret away from the center, specify U–10. Note that the specified sign is opposite to that for normal operation. If this specification method proves to be inconvenient, set the parameters as follows:
MCD1 = 0 Parameter 0860 = 150000
Then, turret 1 is set as if it were on the positive side of the X coordinate.
X2
Z2
Actual position of turret 1
Virtual position of turret 1
MCD = 1 Parameter 0860 = –150000
MCD = 0 Parameter 0860 = 150000
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(1) Machine configuration
(i) When separate control is applied
Z2
X2
S1
S2
Turret 2
Turret 1
Workpiece 2
Z1 X1
Workpiece 1
Workpiece 2 and turret 2 are controlled using a program for tool post 2.
Workpiece 1 and turret 1 are controlled using a program for tool post 1.
(ii)When X1–Z2 axes interpolation is performed
Z2
X1
S1
S2
Turret 2
Turret 1
Workpiece 2
Z1
X2
Workpiece 1
Workpiece 2 and turret 1 are controlled with a program for tool post 2.
Workpiece 1 and turret 2 are controlled with a program for tool post 1.
Example of performing separate control and X1–Z2, X2–Z1 composite control
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(2) Parameter setting
#7 0383
#6 #5 0
#4 0
#3 0
#2 0
#1 0
#0 1
#7 #6 #5 0
#4 0
#3 0
#2 0
#1 0
#0 1
0384 0 0 0 0 0 1 0 0 0 0 0 1
0385 0 0 0 0 0 1 0 0 0 0 0 1
Tool post 1 Tool post 2
00326 1
00327 0
00328 0
00329 0
2000000860 180000
00861 0
00862 0
00863 0
00864 0
� To perform composite control to exchange the X1 axis and X2 axis, set 1 in parameter 0326 for tool post 2.
� The direction of the coordinates on the X1 axis is opposite to that of the coordinates on the X2 axis, so set 1 in MCD1 for tool post 2.
� In the workpiece coordinate system for each tool post, to automatically set the position of the turret of the other tool post at the start of composite control, set 1 in MPM1 for tool posts 1 and 2.
� In the workpiece coordinate system for each tool post, to automatically set the position of the turret of the tool post at the end of composite control, set 1 in MPS1 for tool posts 1 and 2.
� In the relationship between the workpiece coordinate systems for the tool posts and the reference positions shown below, to perform automatic coordinate system setting, set 200000 in parameter 0860 for tool post 1, and set 180000 in parameter 0860 for tool post 2.
Z2
X2
Reference position for turret 1
180.0mm
Reference position for turret 2
200.0mm
120.0mm
Z1
X1
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(3) Signal operation
� To start composite control for the X2 axis and X1 axis, set the MIX1 signal to 1.
� To cancel composite control, set the MIX1 signal to 0.
� When an emergency stop, NC reset, or an alarm occurs, set MIX1 to 0.
� Leave all signals other than MIX1 set to 0.
(4) Sample program
Tool post 1 Tool post 2 : : Perform machining separately on
each tool post.
M350 ; M350; Wait for the start of composite control.
M55 ; Start composite control for the X1 and X2 axes.
M351 ; M351 ; Completion of the start of composite control
; ; Dummy block (specifying no move command) Select the tool to be used for composite control, and set an offset.
T0313 T0212 ; Select the tool to be used for composite control, and set an offset.
G50 W120. ; G50 W120. ; Shift the Z–axis workpiece coordinate system.
S1000 M4 ; S1500 W120. ; G0 X20. Z15 G0 X15. Z30. ; Machining under composite control G1 F0.5 W–8. ; G1 F0.1 W–5. ;
M360 ; M360 ; Wait for the end of composite control. M56 ; End of composite control
M361 ; M361 ; Completion of the end of composite control
; ; Dummy block (specifying no move command)
G50 W–120. ; G50 W–120. ; Shift the Z–axis workpiece coordinate system.
: : Perform machining separately on each tool post.
Where, the following is assumed:
M55 is the M code that is used to start composite control. M56 is the M code that is used to cancel composite control.
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(5) Note
NOTE Automatic coordinate system setting is not always needed at the start and end of composite control. When automatic setting is not performed, specify the setting of an appropriate coordinate system in a program.
� The above description covered single synchronization control or composite control operation. In actual operation, more than one synchronization control and composite control operation can be selected and executed simultaneously. First, set all the required parameters. Then, select the desired synchronization or composite control operations by using signals. At this time, be careful to ensure that no axis is subject to more than one synchronization or composite control operation at any one time.
� For each synchronization or composite control operation, only one axis pair can be set. When multiple axis combinations are required, use the programmable parameter input function (G10) to change the parameter setting in a program. Before a parameter setting can be changed, synchronization control and composite control must be canceled.
Example:Changing the parameter settings so that the Z2 axis is synchronized with the Y1 axis (The following program is executed for tool post 2 to set 4 in parameter 0321 for tool post 2:)
: G10 L50 ; Start parameter setting. N0321 P4 ; Set 4 in parameter 0321. G11 ; End parameter setting. :
Blocks G10 to G11 must be executed when neither synchronization control nor composite control is being performed for the Z2 axis and Y1 axis.
Others
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[Classification] Input signal
[Function] These signals start synchronization control using the corresponding axis, the first to the seventh axis, of tool post 1 as the slave axis.
[Output condition] Synchronization control is performed so that the axis specified with signal SYN1M to SYN7M is used as the slave axis for the master axis set in parameter 320 to 323.
[Classification] Input signal
[Function] These signals start synchronization control using the corresponding axis, the first to the fourth axis, of tool post 2 as the slave axis.
[Output condition] Synchronization control is performed so that the axis specified with signal SYN1S to SYN4S is used as the slave axis for the master axis set in parameter 320 to 323. Even when signal SYN1M to SYN7M or SYN1S to SYN4S is turned on, it is ignored unless an axis number is set in corresponding parameter SAX1 to SAX7.
[Classification] Input signal
[Function] Composite control is performed to switch move commands between each of the first to fourth axes of tool post 2 and the corresponding axis of tool post 1.
[Output condition] Move commands are switched between the axis specified with parameters 326 to 329 and the axis specified with signal MIX1 to MIX4. Even when signal MIX1 to MIX4 is turned on, it is ignored unless an axis number is set in corresponding parameter 326 to 329.
Signal
Synchronization control start signals (tool post 1) SYN1M to SYN7M <G237#0 to G237#4>
Synchronization control start signals (tool post 2) SYN1S to SYN4S <G1437#0 to G1437#3>
Composite control start signals MIX1 to MIX4 <G1437#4 to G1437#7>
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[Classification] Input signal
[Function] These signals place the corresponding axis of tool post 1 in the parking state.
[Output condition] Movement along an axis of tool post 1 under synchronization control is stopped, and the axis is parked.
[Classification] Input signal
[Function] These signals place the corresponding axis of tool post 2 in the parking state.
[Output condition] Movement along an axis of tool post 2 under synchronization control is stopped, and the axis is parked. The parking signals are valid only while synchronization control is applied. If a parking signal is turned on while synchronization control is not applied, it is ignored.
[Classification] Output signal
[Function] These signals post notification that each of the first to seventh axes of tool post 1 is under synchronization or composite control.
[Classification] Output signal
[Function] These signals post notification that each of the first to fourth axes of tool post 2 is under synchronization or composite control. When starting or ending synchronization or composite control, check that the corresponding signal SYN�O�has been changed correctly.
Synchronization control parking signals (tool post 1) PK1M to PK7M <G238#0 to G238#4>
Synchronization control parking signals (tool post 2) PK1S to PK4S <G1438#0 to G1438#3>
Axis recomposition signals (tool post 1) SYN1OM to SYN7OM <F189#0 to F189#4>
Axis recomposition signals (tool post 2) SYN1OS to SYN4OS <G1389#0 to G1389#3>
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#7 G237
#6 #5 #4 SYN7M
#3 SYN4M
#2 SYN3M
#1 SYN2M
#0 SYN1M
G238 PK7M PK4M PK3M PK2M PK1M
MIX4G1437 MIX3 MIX2 MIX1 SYN4S SYN3S SYN2S SYN1S
G1438 PK4S PK3S PK2S PK1S
F189 SYN7OM SYN4OM SYN3OM SYN2OM SYN1OM
F1389 SYN4OS SYN3OS SYN2OS SYN1OS
The following parameters are provided for each of tool posts 1 and 2. Parameters are provided for each of the first to sixth axes. For tool post 2, the first to fourth axes can be used. Parameters related to the following must be set: Axis used as the slave in synchronization control Axis to be switched in composite control
#7 NRST0380
#6 SPERR
#5 SMR6
#4 SMR5
#3 SMR4
#2 SMR3
#1 SMR2
#0 SMR1
[Data type] Bit
SMR1 to SMR6 1 : Uses the mirror image function for synchronization control. (Movement along the master axis and movement along the slave axis are made in opposing directions.)
0 : Does not use the mirror image function for synchronization control. (Movement along the master axis and movement along the slave axis are made in the same direction.)
SPERR 1 : The synchronization error is the sum of the difference in the positional deviation and the difference in acceleration/deceleration between the master axis and slave axis.
0 : The synchronization error is the difference in the positional deviation between the master axis and slave axis. (The same value is set for both of tool posts 1 and 2.)
When the acceleration/deceleration time constant for the master axis differs from that for the slave axis, this bit must be set to 1.
NRST 1 : A reset operation does not cancel the axis recomposition function. 0 : A reset operation cancels the axis recomposition function.
(The same value is set for both of tool posts 1 and 2.)
Signal address
Parameter
Parameters related to synchronization control
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#7 0381
#6 #5 #4 SER6
#3 SER4
#2 SER3
#1 SER2
#0 SER1
[Data type] Bit
SER1 to SER6 1 : When movement is made along both the master and slave axes in synchronization mode, the positional deviations for the corresponding axes are compared. If the difference is equal to or greater than the set value, an alarm is issued. (Synchronization error detection) If one of the axes is parked or placed in the machine lock state, this check is not performed.
0 : The positional deviation check explained above is not made in synchronization mode.
When the master and slave axes are on the same tool post, synchronization error detection cannot be performed.
#7 0382
#6 #5 #4 PKU6
#3 PKU4
#2 PKU3
#1 PKU2
#0 PKU1
[Data type] Bit
PKU1 to PKU6 1 : When parking is performed, the absolute/relative coordinates are updated. The machine coordinates are not updated.
0 : When parking is performed, none of the absolute, relative, machine coordinates are updated.
0320 Master axis with which the X axis is synchronized
0321 Master axis with which the Z axis is synchronized
0322 Master axis with which the third axis is synchronized
0323 Master axis with which the fourth axis is synchronized
[Data type] Byte
[Valid data range] 0 to 4, 200 to 204
Set the master axis with which a corresponding axis is synchronized when the axis recomposition function is used. <<When synchronization control is applied between the tool posts>> Set the axis number of the corresponding synchronization master axis in the parameter of the synchronization slave axis. An axis number not greater than the maximum number of controlled axes cannot be set.
Example:When synchronizing the Z2 axis with the Z1 axis
Tool post 1 Tool post 2 No.320 0 0 No.321 0 0 No.322 0 0 No.323 0 0
<<When synchronization control is applied with one tool post>> In the parameter of the synchronization slave axis, set a value obtained from (the axis number of the corresponding master axis + 200). A number not greater than the maximum number of controlled axes cannot be set.
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Example:When synchronizing the Y1 axis with the Z1 axis
Tool post 1 Tool post 2 No.320 0 0 No.321 0 0 No.322 0 0 No.323 202 0
NOTE 1 When 0 is set in the parameter of an axis, that axis is not
used as the slave axis synchronized with another axis. 2 When the same number is set in more than one parameter,
multiple slave axes can be synchronized with a single master axis.
0686 Limit on the difference in the positional deviation during synchronization control where the X axis is used as the slave axis
0687 Limit on the difference in the positional deviation during synchronization control where the Z axis is used as the slave axis
0688 Limit on the difference in the positional deviation during synchronization control where the third axis is used as the slave axis
0689 Limit on the difference in the positional deviation during synchronization control where the fourth axis is used as the slave axis
0690 Limit on the difference in the positional deviation during synchronization control where the seventh axis is used as the slave axis
[Data type] Word
[Unit of data] Detection unit
[Valid data range] 0 to 32767
When synchronization control is applied using each axis as a slave axis, the limit on the difference in positional deviation from the corresponding master axis is set in these parameters.
NOTE 1 These parameters are valid when bit 0 (ERRX) to bit 5
(ERR8) of parameter 0381 are set to 1. 2 These parameters are valid with the 0–TTC.
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0692 Difference in the positional deviation during synchronization control where the X axis is used as the slave axis
0693 Difference in the positional deviation during synchronization control where the Z axis is used as the slave axis
0694 Difference in the positional deviation during synchronization control where the third axis is used as the slave axis
0695 Difference in the positional deviation during synchronization control where the fourth axis is used as the slave axis
0696 Difference in the positional deviation during synchronization control where the seventh axis is used as the slave axis
[Data type] Word
[Unit of data] Detection unit
[Valid data range] –32768 to 32767
When synchronization control is applied using each axis as a slave axis, the difference in the positional deviation from the corresponding master axis is set in these parameters.
(Difference in the positional deviation) = (Amount of positional deviation for the master axis) � (Amount of positional deviation for the slave axis)
+: Mirror image ON –: Mirror image OFF
#7 0383
#6 #5 #4 MPM6
#3 MPM4
#2 MPM3
#1 MPM2
#0 MPM1
[Data type] Bit
MPM1 to MPM6 1 : Automatically sets the workpiece coordinate system as the coordinate system for composite control at the start of composite control.
0 : Does not automatically set the workpiece coordinate system at the start of composite control.
When the workpiece coordinate system is automatically set at the start of composite control, the workpiece coordinate system is calculated from the current machine coordinate and the composite control workpiece coordinate of the reference position on each axis, which is set in parameters 0860 to 0865.
Parameters related to composite control
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#7 0384
#6 #5 #4 MPS6
#3 MPS4
#2 MPS3
#1 MPS2
#0 MPS1
[Data type] Bit
MPS1 to MPS6 1 : Automatically sets the workpiece coordinate system as the coordinate system for separate control at the end of composite control.
0 : Does not automatically set the workpiece coordinate system at the end of composite control.
When the workpiece coordinate system is automatically set at the end of composite control, the workpiece coordinate system is calculated from the current machine coordinate and the workpiece coordinate of the reference position on each axis, which is set in parameters 0708 to 0711, 0825, and 0826.
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#7 0385
#6 #5 #4 MCD7
#3 MCD4
#2 MCD3
#1 MCD2
#0 MCD1
[Data type] Bit
MCD1 to MCD7 1 : The direction of the coordinate system for the corresponding axis is reversed, so mirror image is used for composite control. (Movement along an axis of tool post 1 and movement along an axis of tool post 2 are made in opposite directions to one another.)
0 : The direction of the coordinate system for the corresponding axis is the same, so mirror image is not used for composite control. (Movement along an axis of tool post 1 and movement along an axis of tool post 2 are made in the same direction.)
The relationship between the coordinate systems of the axes to be switched in composite control is set. This setting determines the direction of movement along the corresponding axis. This setting is also used when automatic coordinate system setting is performed when composite control switching is applied.
Example: When the X axes and Z axes of tool posts 1 and 2 have the relationships shown, MCD1 and MCD2 are set as follows (when switching between the X axes and between the Z axes is performed):
X1
Z1
MCD2 0
X2
Z2
MCD1 0
X1
Z1
MCD2 0
X2
Z2
MCD1 1
X1
Z1
MCD2 1
X2
Z2
MCD1 0
X1
Z1
MCD2 1
X2
Z2
MCD1 1
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0326 Axis of tool post 1 with which composite control is performed for the X axis of tool post 2
0327 Axis of tool post 1 with which composite control is performed for the Z axis of tool post 2
0328 Axis of tool post 1 with which composite control is performed for the third axis of tool post 2
0329 Axis of tool post 1 with which composite control is performed for the fourth axis of tool post 2
[Valid data range] 0 to 4
When the axis recomposition function is applied with the 0–TTC, these parameters set the axis of tool post 1 with which composite control is to be performed for each axis of tool post 2.
Example 1: When composite control is applied to switch between the X1 axis and X2 axis
Tool post 1 Tool post 2 No.326 0 1 No.327 0 0 No.328 0 0 No.329 0 0
Example 2: When composite control is applied to switch between the Y1 axis and X2 axis
Tool post 1 Tool post 2 No.326 0 4 No.327 0 0 No.328 0 0 No.329 0 0
NOTE 1 These parameters are set only for tool post 2. 2 When 0 is set in the parameter for an axis, that axis is not
subject to control switching in composite control. 3 The same number can be set in two or more parameters.
However, the axes corresponding to these parameters are not placed under composite control simultaneously.
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0860 Coordinate of the reference position for the axis corresponding to the X axis in the coordinate system in composite control
0861 Coordinate of the reference position for the axis corresponding to the Z axis in the coordinate system in composite control
0862 Coordinate of the reference position for the axis corresponding to the third axis in the coordinate system in composite control
0863 Coordinate of the reference position for the axis corresponding to the fourth axis in the coordinate system in composite control
0864 Coordinate of the reference position for the axis corresponding to the seventh axis in the coordinate system in composite control
[Data type] Two–word
[Unit of data] Least input increment
[Valid data range] 0 to �99999999
The coordinate of the reference position for the corresponding axis in the coordinate system in composite control can be set for each axis sequentially.
NOTE These parameters are valid when bits 0 (MPMX) to 5 (MPM7) of parameter 0383 are all set to 1.
X1
Z1 Z2
Workpiece coordi- nate system zero point for tool post 2
X2
Reference position for tool post 1
Reference posi- tion for tool post 2
X1m �Z2m
Z1m
�Z1m
�X2m
Z2m
�X1m
X2m
Workpiece coordinate system zero point for tool post 1
In the workpiece coordinate system for tool post 1, the reference position for tool post 2 is at (�X1m, �Z1m). In the workpiece coordinate system for tool post 2, the reference position for tool post 1 is at (�X2m, �Z2m).
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In this case, set �X1m in parameter 860 for tool post 1, and set �X2m in parameter 860 for tool post 2.
If parameter MPMX is set to 1 at the start of composite control, a workpiece coordinate system is set so that the following expressions are satisfied:
X1 = (parameter 860 for tool post 1) � (X2 machine coordinate)
When MCD1 for tool post 1 = 0: + When MCD1 for tool post 1 = 1: –
X2 = (parameter 860 for tool post 2) � (X1 machine coordinate)
When MCD1 for tool post 2 = 0: + When MCD1 for tool post 2 = 1: –
If parameter MPS1 is set to 1 at the end of composite control, a workpiece coordinate system is set so that the following expressions are satisfied:
X1 = (PRSX of parameter 708 for tool post 1) + (X1 machine coordinate)
X2 = (PRSX of parameter 708 for tool post 2) + (X2 machine coordinate)
PS Alarm
No. Contents
225 This alarm is generated in the following circumstances. (Searched for during synchronous and mixed control command.
1 When there is a mistake in axis number patameter setting.
2 When there is a mistake in control commanded.
Modify the program or the patameter.
226 A travel command has been sent to the axis being synchronized in synchronous mode. Modify the program or the patameter.
229 This alarm is generated in the following circumstances.
1 When the synchro/mixed state could not be kept due to system over load.
2 The above condition occured in CMC devices (hardware) and synchro–state could not be kept.
(This alarm is not generated in normal use conditions.)
Servo Alarm
No. Contents
407 The difference in synchronous axis position deviation exceeded the set value.
If any of the above alarms is issued, the axis recomposition function is released for all axes.
Alarm and message
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CAUTION 1 Before synchronization control or composite control is
started or terminated, the axes to be controlled must be stopped.
2 The corresponding axes under synchronization control and composite control must have the same least input increment, detection unit, and diameter/radius specification. If these settings do not match, the amounts of travel along the axes will not be equal.
3 While synchronization control or composite control is being performed, do not change the related parameter settings and parking signals.
NOTE 1 Multiple axes can be placed in the synchronization state or
composite control state simultaneously. However, an axis cannot be synchronized with more than one axis at the same time. An axis currently used by switching in composite control cannot be synchronized with another axis. In addition, duplicate switching is not allowed.
2 When an emergency stop, servo–off state, or servo alarm has been released, perform reference position return and coordinate system setting before starting synchronization control or composite control.
3 When synchronization control or composite control is started, reference position return for the target axes must have been completed after power–on, or the reference positions for the axes must have been established by using an absolute pulse coder.
4 Acceleration/deceleration control, pitch error compensation, backlash compensation, and stored stroke limit check are performed independently, regardless of the axis recomposition function.
5 The axis recomposition function cannot be selected at the same time as the simple synchronous control or balance cut function.
Note
Cautions and notes relating to both synchronization control and composite control
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CAUTION During synchronization control, never issue move commands for the synchronization axis on the synchronization slave side.
NOTE 1 Whenever possible, set the same acceleration/deceleration
time constant and servo–related parameters for the corresponding axes placed under synchronization control.
2 When operation which changes only the workpiece coordinate system (while the machine remains stationary), such as a workpiece coordinate system setting/shift and geometry offset command, is performed on the synchronization master side, the workpiece coordinate system on the synchronization slave side is not affected.
3 When a wear offset command or tool–nose radius compensation is executed on the synchronization master side, the tool path on the synchronization slave side is shifted by the offset, but the offset amount is not set. (No offset vector is created.)
Cautions and notes related only to synchronization control
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Function During synchronization control During composite control
Acceleration/de- celeration control
Acceleration/deceleration of the same type is performed for the synchroniza- tion axes. A separate time constant is used for each axis.
The acceleration/decelera- tion type of the specified path is used. A separate time constant is used for each axis.
Linear accelera- tion/deceleration after interpolation
Disabled for all axes during synchro- nization control.
Disabled for all axes during composite control.
Feedrate clamp Clamped on the synchronization master side.
Clamped on the specified path side.
Reference posi- tion return
Enabled unless the synchronization master axis is parked. However, the synchronization slave axis is not placed in the reference position return comple- tion state.
Enabled only for those axes which are not affected by composite control.
Reference posi- tion return check
Enabled only for the synchronization master axis.
Enabled only for those axes which are not affected by composite control.
PMC axis control Enabled for all axes except the synchro- nization slave axis.
Enabled.
Polar coordinate interpolation Circular inter- polation
Enabled. Switching between separate control and composite control must be performed in cancel mode.
Handle interrupt Interrupt can be performed separately regardless of synchronization.
Enabled only for those axes that are not affected by com- posite control.
X–axis mirror image
Each signal is enabled. Signals for the specified path are enabled.
Machine lock Each signal is enabled. Signals for the specified path are enabled.
Interlock For the synchronization slave axis, those signals on the synchronization master side are enabled.
Signals for the specified path are enabled.
Override For the synchronization slave axis, those signals on the synchronization master side are enabled.
Signals for the specified path are enabled.
External decel- eration
For the synchronization slave axis, those signals on the synchronization master side are enabled.
Signals for the specified path are enabled.
Skip function Disabled for the synchronization slave axis.
Enabled only for those axes which are not affected by composite control.
Automatic tool compensation
Disabled for the synchronization slave axis.
Enabled only for those axes which are not affected by composite control.
Tool center Disabled for the synchronization slave axis.
Enabled only for those axes which are not affected by composite control.
Follow–up Disabled during synchronization. Disabled during composite control.
Program restart Disabled for programs containing the specification of synchronization control.
Disabled for programs con- taining the specification of composite control.
Cs axis Synchronization control is disabled. Composite control is dis- abled.
Limitations imposed during synchronization control and composite control
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During synchronization control or composite control, system variable position information in custom macros, or the current coordinates from the PMC window, are read as follows:
Position informa- tion type
During synchronization control
During composite control
Absolute coordinates
Can be read. Can be read(*1).
Machine coordinates
Can be read. Can be read.
End point of each block
Can be read only for the master.
Can be read(*1).
Skip signal position Can be read only for the master.
Cannot be read
*1 Coordinates in the coordinate system used for composite control are read. The relationship with the machine coordinate system differs from that used for separate control.
Synchronization control and composite control are canceled when the synchronization signal/composite control signal is turned off. In addition, they are canceled when the following are encountered:
(1) Emergency stop
(2) Reset
(3) Servo alarm
(4) Servo–off
(5) Overtravel
(6) Alarms related to synchronization control or composite control
(7) P/S000 alarm
If any of the above occurs, even on one tool post, the synchronization/composite control state is canceled for all axes. If any of the above occurs on one tool post during the execution of the axis recomposition function, the other tool post is automatically placed in the feed hold state (when automatic operation is being performed) or the interlock state (when manual operation is being performed).
Reading coordinates during synchronization control and composite control
Canceling synchronization control and composite control
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In 0–GCC, when the angular axis makes an angle other than 90° with the X axis, the Z axis control function controls the distance traveled along each axis according to the inclination angle. A program, when created, assumes that the X axis and Z axis intersect at right angles. However, the actual distance traveled is controlled according to an inclination angle.
Xa
+X Actually used (moved) coordinate system
θ : Inclination angle Xa, Za, Fa: Actual travel distance and speed Xp, Zp, Fp: Programmed travel distance and speed
+Z Za
Zp
θ
Xp
+X Program coordinate system
(Xp, Za) Program command
For the 0–GSC, this control is applied between the Y– and Z–axes. In that case, replace ”X” in the above description with ”Y.”
The travel distance for each axis is controlled according to the following expressions. For the 0–GCC The X–axis travel distance specified based on the diameter is obtained by:
Xa = Xp/2cosθ For the Z–axis travel distance is obtained using the following expression, which is corrected by the inclination of the X–axis:
Za = Zp –1/2 � Xp � tanθ The feedrate, which is always specified based on the radius, is obtained as follows: X–axis rate component
Fa = Fp/cosθ For the 0–GSC The Y–axis travel distance is obtained by:
Ya = Yp/cosθ For the Z–axis travel distance is obtained using the following expression, which is corrected by the inclination of the Y–axis:
Za = Zp – Yp � tanθ The feedrate is obtained as follows: Y–axis rate component
Fa = Fp/cosθ
1.8 ANGULAR AXIS CONTROL (0–GCC, 0–GSC)
General
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The NOZAGC signal can be used to prevent Z–axis movement from being activated due to compensation. No update occurs, so the current position can be maintained. (The machine behaves as if it were in a machine lock state.)
Parameter AGLST enables or disables the inclined axis control function. If the function is enabled, the distance traveled along each axis is controlled according to an inclination angle (set at parameter). Parameter ZRTM1 enables X axis manual reference point return only with a distance along the X axis.
(1)Absolute/Relative position display The position is displayed using the programmed rectangular coordinate system.
(2)Machine position display A machine position indication is provided in the machine coordinate system where an actual movement is taking place according to an inclination angle. However, when inch/metric conversion is performed, a position is indicated which incorporates inch/metric conversion applied to the results of inclination angle operation.
[Function] Prevents compensation–based Z–axis movement during inclined–axis control.
#7 G133
#6 NOZAGC
#5 #4 #3 #2 #1 #0 (0–GCC)
G237 NOZAGC (G–GSC)
Method of use
Machine position display
Signal
Angular axis control–related Z–axis compensation movement signal NOZAGC<G133#6> (0–GCC) NOZAGC<G237#5> (0–GSC)
Signal address
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#7 0036
#6 #5 #4 #3 #2 ZRTM1
#1 #0 AGLST (0–GCC)
0077 AGLST ZRTM1 (G–GSC)
[Data type] Bit
ZRTM1 0 : The machine tool is moved along the Z axis during manual reference position return along the X axis (Y axis) under angular axis control.
1 : The machine tool is not moved along the Z axis during manual reference position return along the X axis (Y axis) under angular axis control.
AGLST 0 : Does not perform angular axis control. 1 : Performs inclined axis control.
0755 Inclination angle for X axis control (0–GCC)
0837 Inclination angle for Y axis control (0–GSC)
[Valid data range] 20000 to 60000, –20000 to –60000
[Unit of data] 0.001 degree
WARNING After inclined axis control parameter setting, be sure to perform manual reference point return operation.
NOTE 1 If Z–axis movement is expected during a manual reference
position return on the X–axis, perform an X–axis reference position return first.
2 If an inclination angle close to 0° or ±90° is set, an error can occur. A range from ±20° to ±60° should be used.
3 Before a Z axis reference point return check (G27) can be made, X axis reference point return operation must be completed.
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89
The entire stroke of each axis of the machine is divided into up to 256 areas. The current area of the machine position on each axis is output to the PMC as an eight–bit position signal.
[Classification] Output signal
[Function] (1) The entire stroke of each axis of the machine is divided by the grid interval specified in parameter 0713 or 0714. When each region divided by the grid is referred to as an area, the width of the area (grid interval) formed by this function, which can specify up to 256 areas, must satisfy the following relationship:
(Whole stroke) (Area width)
�256
(2)The individual areas are assigned numbers as follows: The number of the area in which reference position return is completed is specified in parameter 0113 or 0114; The number increases by one for each successive area of the grid in the positive direction; The number decreases by one for each successive area of the grid in the negative direction.
Area width (grid interval)
Reference
Negative direction
97 98 99 100 101 102
Positive direction
In the example shown above, the area number for the reference position is 100. Area 255 (eight output bits set to one) comes next to area 0 (eight output bits set to zero) in the negative direction.
(3)The CNC outputs the machine position to the PMC by the area number (8–bit binary code signal) at intervals of 16 ms. The signal is output even during movement. The PMC monitors the signal constantly (LSB: PX0, PZ0; MSB: PX7, PZ7) to keep track of the machine position even during axial movement.
1.9 POSITION SIGNAL OUTPUT (T SERIES)
General
Signal
Position signal output signal PX0 to PX7, PZ0 to PZ7 (T series) <F165, F167>
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(4)Since the CNC outputs the signal at 16–ms intervals, the area width (grid interval) must be specified as shown below so that no area is missed even during rapid traverse:
�����
�� ������(Grid interval)�
(When a 1–µm increment system is used) R: Rapid traverse rate (m/min)
For example, when the rapid traverse rate is 24 m/min, the grid interval must be at least 6,400, calculated as shown below:
24�106
60 �0.016=6,400
This value is based on the output condition of the CNC. If the signal monitoring period of the PMC is long, the grid interval must be increased accordingly. This function can be used to turn a control signal on or off at a particular position during movement of the machine.
Example of parameter setting
(i) Grid width = 10,000
Grid number at the reference position = 0
255Position signal output value
0 1 2
–10000 0 10000 20000 30000
Machine position
(ii) Grid width = 8,000
Grid number at the reference position = 100
97
Position signal output value
–24000 0–18000 8000 16000
Machine position
98 99 100 101 102
–16000 24000
(iii)Grid width = 10,000
Grid number at the reference position = 255
253Position signal output value
254 255 0
–20000 –10000 0 10000 20000
Machine position
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#7 PX7F165
#6 PX6
#5 PX5
#4 PX4
#3 PX3
#2 PX2
#1 PX1
#0 PX0
PZ7F167 PZ6 PZ5 PZ4 PZ3 PZ2 PZ1 PZ0
0113 X–axis grid number of position signal output
0114 Z–axis grid number of position signal output
[Data type] byte
[Valid data range] 0 to 255
[Operation] Specify the grid number of the axial reference position for the position signal output function.
0713 X–axis grid width of position signal output
0714 Z–axis grid width of position signal output
[Data type] 2–word
Setting value ���� ���� ����
Millimeter machine � � ����� ����� ������
Inch machine �� ��� ����� ������ �������
[Valid data range] 0 to 99999999
[Operation] Specify the grid width of each axis.
NOTE When zero is specified, position signal output is not performed.
Signal address
Parameter
[Unit of data]
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This function controls the third axis connected to a servo motor as an NC axis.
As the basic specifications of the Cf axis are the same as those for the first and second axes, this section focuses on the differences.
Attribute: This function can be set for linear and rotation axes, using parameter LIN3 (bit 2 of parameter No.0032). Which axis of the basic coordinate system becomes the Cf axis is specified using parameter No.0279.
Command address:Absolute command C (*) Incremental command H
NOTE (�) It is necessary to set parameter ADW (bit 0 of parameter
No.0030) to 1. It is also necessary to set parameter No. ADRC (bit 4 of parameter No.0029) to 1 if the chamfering corner R and direct drawing dimension input functions are used.
If this function is unavailable, bit 2 of G118 is GR1, bit 2 is GR2, and bit 7 is DRN. If this function is available, bit 2 of G118 is changed to +3, bit 3 is to –3, and bit 7 is to H3. So, when using GR1, GR2, or DRN, set parameter ADDCF (bit 5 of parameter No.0031) to 1, so that these signals are assigned to G123.
[Classification] Input signal
[Function] Informs the NC that the third axis is connected as the spindle.
[Operation] When the signal becomes 1, the relative coordinates are cleared to 0. If a reference position return has been completed, the reference–position–return–completed signal (ZP3, bit 2 of F148) for the third axis becomes 0.
#7 G123
#6 #5 #4 #3 #2 #1 #0 COFF (T series)
1.10 Cf AXIS CONTROL (T SERIES)
General
Specification
Signal
C–axis–off signal COFF<G123#0>
Signal address
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#7 0029
#6 #5 #4 ADRC
#3 #2 #1 #0 DSP3
DSP3 Specifies whether to display the current position of the third axis, as follows: 1 : Display 0 : Do not display
ADRC Specifies the address of chamfering corner R as follows: 1 : I/K rather than C is used. C/R for the address for direct drawing
dimension input is prefixed with a comma as follows: ,C/,R 0 : C/R is used. C/R is used also for direct drawing dimension input.
#7 0030
#6 #5 #4 #3 #2 #1 #0 ADW30
ADW30 Specifies the name of the third axis as follows: 1 : C 0 : B
#7 CNRST0031
#6 ESFC
#5 ADDCF
#4 #3 #2 #1 #0
ADDCF Specifies the PMC address for signals GR1, GR2, and DRN as follows: 1 : G123#2 GR1, G123#3 GR2, G123#7 DRN 0 : G118#2 GR1, G118#3 GR2, G118#7 DRN
ESFC Specifies whether to enable the feedback pulse from the position detector during the turning mode in Cf axis control. 1 : Enable 0 : Disable
CNRST Specifies whether to clear the Cf axis relative coordinates at a reference position return. 1 : Clear 0 : Do not clear
#7 ROT100032
#6 #5 #4 #3 #2 LIN3
#1 #0
LIN3 Specifies whether the third axis is a linear or rotation axis, as follows: 1 : Linear axis 0 : Rotation axis
ROT10 Specifies the measurement unit of parameters for the upper limit to the cutting feedrate (parameter No.0527), rapid traverse F0 rate (parameter No.0533), and the FL rate for a reference position return (parameter No.0534) during inch output, as follows: 1 : 1 degrees/min 0 : 0.1 degrees/min
Parameter
2. PREPARATIONS FOR OPERATION B–61393E–2/02
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2 PREPARATIONS FOR OPERATION
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If you press Emergency Stop button on the machine operator’s panel, the machine movement stops in a moment.
EMERGENCY STOP
Red
Fig. 2.1 (a) EMERGENCY STOP
This button is locked when it is pressed. Although it varies with the machine tool builder, the button can usually be unlocked by twisting it.
[Classification] Input signal
[Function] Outputting an emergency stop signal stops the machine instantly.
[Operation] When the emergency stop signal *ESP turns to “0”, the emergency stop is applied to the machine and the CNC is reset. This signal is controlled by the B contacts of a pushbutton switch. The emergency stop signal turns the servo ready signal (SA) to “0”.