Overtravel detection by this CNC is handled by the software limit function, and a limit switch for normal overtravel detection is not needed. To prevent the machine from moving beyond the software limit through servo feedback error, always install a stroke end limit switch (shown in Fig. 2.1 (b) below).
+X –X +Y –Y +Z –Z +4 –4
EMG
SK
Emergency stop limit switch
Relay power supply Emergency stop temporary release
Emergency stop
Spark killer
Fig. 2.1 (b) Connection of Emergency Stop Limit Switch
2.1 EMERGENCY STOP
General
Signal
Emergency stop *ESP<X021#4,G121#4>
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The distance from the position where the dynamic brake is applied to that where the tool stops moving is given in the “AC Servo Motor Descriptions.”
WARNING Software limit setting point and operating point of limit switch for emergency stop
The stop point by the software limit goes beyond the setting point by as much as the following distance.
R: Rapid traverse rate (mm/min)
The actual stopping point may exceed the position set by a parameter (Nos.0700 – 0703 and 0704 – 0707) by as much as R/7500 (mm). Set the limit switch for emergency stop including the allowance for the above value.
(mm)R 7,500
ÄÄÄÄ ÄÄÄÄ ÄÄÄÄ ÄÄÄÄ
R
7,500
Software limit setting point
Stroke end direction
The machine stops in this range.
Set the limit switch for emergency stop in this range.
#7 X021
#6 #5 #4 *ESP
#3 #2 #1 #0
G121 *ESP #7 #6 #5 #4 #3 #2 #1 #0
AC SERVO MOTOR series DESCRIPTIONS B–65002E
AC SERVO MOTOR α series DESCRIPTIONS B–65142E
Signal address
Reference item
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When the CNC is turned on and becomes ready for operation, the CNC ready signal is set to 1.
[Classification] Output signal
[Function] The CNC ready signal reports that the CNC is ready.
[Output condition] When the CNC is turned on and becomes ready for operation, the signal is set to 1. Normally, it takes several seconds to establish this state after the power is turned on. If a system alarm is issued, the signal is set to 0. The signal remains set to 1, however, when an emergency stop or a similar operation is performed.
[Classification] Output signal
[Function] Signal SA turns to “1” when the servo system is ready to operate. For an axis that is to be braked, release the brake when this signal is sent and apply the brake when this signal is not sent. Time chart of this signal is as follows:
Power on
Ready signal (MA)
Power off
60 to 100 msec
Servo alarm Servo alarm
Overload
1 to 2 seconds About 1 second
Reset Reset Emergency stop
Servo ready signal (SA)
Brake on
Fig.2.2 Time Chart for Servo Ready Signal
2.2 CNC READY SIGNAL
General
Signal
CNC Ready Signal MA<F149#7>
Servo Ready Signal SA <F148#6>
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#7 F148
#6 SA
#5 #4 #3 #2 #1 #0
MAF149
Signal address
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When the tool tries to move beyond the stroke end set by the machine tool limit switch, the tool decelerates and stops because of working the limit switch and an OVER TRAVEL is displayed.
[Classification] Input signal
[Function] Indicates that the control axis has reached its stroke limit. There are signals for every direction in every control axis. The +/– in the signal name indicates the direction and the alphabet corresponds to the control axis.
X X axis is at stroke limit.
Y Y axis is at stroke limit.
Z Z axis is at stroke limit.
: :
+ Has moved to and reached a + direction.
– Has moved to and reached a – direction.
+ L x
[Operation] When it is “0” , the control unit operates as given below. � In automatic operation, if even one axis overtravel signal turns to “0”,
all axes are decelerated to stop, an alarm is given and operation is halted.
� In manual operation, only the axis whose movement signal has turned to “0” is decelerated to a stop, and the axis can be moved in the opposite direction.
� Once the axis overtravel signal has turned to “0”, the axis direction is registered. Even if the signal returns to “1”, it is not possible to move that axis in that direction until the alarm is cleared.
2.3 OVERTRAVEL CHECK
2.3.1 Overtravel Signal
General
Signal
Overtravel signal *+LX to *–LZ <X020#0 to #5>(M) *+LZ<X018#5>(T)
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The following shows the deceleration distance at overtravel.
(i) Rapid traverse
TRt2t1
VR
ÄÄÄ ÄÄÄ ÄÄÄ ÄÄÄ
ÄÄÄÄ ÄÄÄÄ ÄÄÄÄ ÄÄÄÄ
t
V Servo system delay
Command pulse deceleration
*+L� limit switch
L1=VR(t1+t2+ TR 2
+TS) · 1
60000 [mm or inch]
L1:Deceleration distance
VR: Rapid traverse speed (mm/min or inch/min)
t1: Limit switch signal delay time (from limit switch operation to *+L� signal turn off (ms))
t2: Receiver delay time 30ms
TR: Rapid traverse acceleration/deceleration time constant (ms)
TS: Servo system time constant (ms)
NOTE Servo system time constant TS is 33 msec when the servo unit is adjusted to the standard setting.
ii) Cutting feed
t2t1
VC ÄÄÄÄ ÄÄÄÄ ÄÄÄÄ ÄÄÄÄ
V Servo system delay
*+L� limit switch
L2=VC(t1+t2+ TR 2
+TS) · 1
60000 [mm or inch]
L2:Deceleration distance
Vc: Maximum feedrate (mm/min or inch/min)
t1, t2, Ts: Same as (i).
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Press the reset button to reset the alarm after moving the tool to the safety direction by manual operation. For details on operation, refer to the operator’s manual of the machine tool builder.
#7 X018
#6 #5 *+LZ
#4 #3 #2 #1 #0 (T series)
X020 *–LZ *–LY *–LX *+LZ *+LY *+LX (M series)
#7 0015
#6 #5 #4 #3 #2 COTZ
#1 #0 (T series)
[Data type] Bit
COTZ The overtravel limit signal is: 0 : Checked 1 : Not checked
WARNING For safety, usually set 0 to check the overtravel signal.
#7 0057
#6 #5 HOT3
#4 #3 #2 #1 #0 (M series)
HOT3 The overtravel limit signal is: 0 : Not checked 1 : Checked
WARNING For safety, usually set 1 to check the overtravel signal.
M series
������ Message Description
5n4 OVER TRAVEL : +n Exceeded the n–th axis (axis 1 to 4) + side hardware OT.
5n5 OVER TRAVEL : –n Exceeded the n–th axis (axis 1 to 4) – side hardware OT.
T series
������ Message Description
520 OVER TRAVEL : +Z axis Exceeded the Z axis + side hardware OT.
� Releasing overtravel
Signal address
Parameter
Alarm and message
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OPERATOR’S MANUAL (For Machining Center) (B–61404E)
III.6.2 OVERTRAVEL
OPERATOR’S MANUAL (For Lathe) (B–61394E)
III.6.2 OVERTRAVEL
Reference item
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When the tool exceeds a stored stroke check, an alarm is displayed and the tool is decelerated and stopped. When the tool enters a forbidden area and an alarm is generated, the tool can be moved in the reverse direction from which the tool came.
Parameters (Nos.0700 – 0707 or 0743 – 0750 (M)/0770 – 0777 (T)) set boundary. Outside the area of the set checks is a forbidden area. The machine tool builder usually sets this area as the maximum stroke.
[Classification] Input signal
[Function] Selects stroke check 1 (parameter Nos.0700 to 0707) or stroke check 2 (parameter Nos.0743 to 0750 (M)/0770 to 0777 (T)).
[Operation] When this signal is set to 1, the control unit operates as follows: – Checks stroke check 1 on the basis of parameter Nos.0743 to 0750
(M)/0770 to 0777 (T), instead of parameter Nos.0700 to 0707.
[Classification] Input signal
[Function] Change the values of the parameters governing the stroke check (0700 to 0707).
[Operation] When these signals are set to 1, the control unit operates as follows: – Change the stored checks, set with parameter Nos. 0700 to 0707,
to the machine coordinates when the signals are input.
[Classification] Input signal
[Function] Selects whether the software limit check are checked.
[Operation] When this signal is set to 1, the control unit operates as follows: – Does not check the sofware limit check.
2.3.2 Stored Stroke Check 1
General
Signal
Stored stroke check select signal EXLM2 <G129#6>
Stroke check external setting signals +LMX to –LMZ <G129#0 to #5> (M series)
Stroke check release signal RLSOT <G129#7> (M series)
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#7 G129
#6 EXLM2
#5 #4 #3 #2 #1 #0 (T series)
RLSOTG129 EXLM2 –LMZ –LMY –LMX +LMZ +LMY +LMZ (M series)
#7 0015
#6 #5 #4 LM2
#3 #2 #1 #0 (T series)
0020 LM2 (M series)
[Data type] Bit
LM2 The EXLM2 signal for switching stored stroke check 1 and 2 0: Disabled 1: Enabled
#7 0065
#6 #5 #4 #3 PSOT
#2 #1 #0
[Data type] Bit
PSOT Checking of stored stroke limit during the time from power–on to the manual position reference return 0: The stroke limit is checked. 1: The stroke limit is not checked
#7 OTRFOM0076
#6 #5 #4 #3 #2 #1 #0
[Data type] Bit
OTRFOM When a command that exceeds a stored stroke check is issued 0: An alarm is generated after the stroke check is exceeded. 1: An alarm is generated before the stroke check is exceeded.
Coordinate value I of stored stroke check 1 in the positive direction on each axis0700 – 0703
Coordinate value I of stored stroke check 1 in the negative direction on each axis0704 – 0707
[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] – 99999999 to 99999999
The coordinate values of stored stroke checks 1 in the positive and negative directions are set for each axis in the machine coordinate system. The outside area of the two checks set in the parameters is inhibited.
Signal address
Parameter
[Unit of data]
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WARNING 1 For axes with diameter specification, a diameter value must
be set. 2 When the parameters are set as follows, the stroke
becomes infinite: parameters 0700 – 0703 < parameters 0704 – 0707
For movement along the axis for which infinite stroke is set, only incremental commands are available. If an absolute command is issued for this axis, the absolute register may overflow, and normal movement will not result.
Coordinate value II of stored stroke check 1 in the positive direction on each axis (T series)0743 – 0746
Coordinate value II of stored stroke check 1 in the negative direction on each axis (T series)0747 – 0750
Coordinate value II of stored stroke check 1 in the positive direction on each axis (M series)0770 – 0773
Coordinate value II of stored stroke check 1 in the negative direction on each axis (M series)0774 – 0777
[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] – 99999999 to 99999999
Set the coordinate values of stored stroke checks 1 in the positive and negative directions for each axis in the machine coordinate system.
When stroke check switching signal EXLM2 is ON, stroke checks are checked with parameters 0700 to 0707, not with parameters 1320 and 1321. The area outside that set by parameters 1326 and 1327 is inhibited.
NOTE The EXLM2 signal is enabled only when parameter LM2 (No.0020#4 (M)/No.0015#4 (T)), is set to 1.
������ Message Description
5n0 OVER TRAVEL : +n Exceeded the n–th axis (axis 1 to 4) + side stored stroke check I.
5n1 OVER TRAVEL : –n Exceeded the n–th axis (axis 1 to 4) – side stored stroke check I.
[Unit of data]
Alarm and message
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CAUTION In setting a forbidden area, if two points to be set are the same, all area is forbidden in check 1.
NOTE 1 Parameter PSOT (bit 6 of No.0065) selects whether each
check becomes effective after the power is turned on and manual reference position return or automatic reference position return by G28 has been performed or immediately after the power is turned on.
2 For the 0–TTC, set a forbidden area for each path. 3 Parameter OTRFOM (bit 7 of No.0076) selects whether an
alarm is displayed immediately before the tool enters the forbidden area or immediately after the tool has entered the forbidden area.
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
III.6.3 STROKE CHECK
OPERATOR’S MANUAL (For Lathe) (B–61394E)
III.6.3 STROKE CHECK
Caution
Note
Reference item
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Three areas which the tool cannot enter can be specified with stored stroke check 1, stored stroke check 3,and stored stroke check 4. (Stored stroke check 4 is performed in T series only.)
ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ
ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ
ÇÇÇÇÇ ÇÇÇÇÇ ÇÇÇÇÇ ÇÇÇÇÇ ÇÇÇÇÇ ÇÇÇÇÇ ÇÇÇÇÇ
ÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇStored stroke
check 4
Stored stroke check 3
Stored stroke check 1 ÇÇÇ ÇÇÇ
: Forbidden area for the tool
Fig. 2.3.3 (a) Stroke check (T series)
ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ
ÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇ
ÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇ
ÇÇÇ ÇÇÇ ÇÇÇ ÇÇÇ
(1) Forbidden area is inside.
(2) Forbidden area is outside.
(I, J, K)
(X, Y, Z)
(I, J, K)
(X, Y, Z)
ÇÇÇ ÇÇÇ
: Forbidden area for the tool
Fig. 2.3.3 (b) Stroke check (M series)
When the tool exceeds a stored stroke check, an alarm is displayed and the tool is decelerated and stopped. When the tool enters a forbidden area and an alarm is generated, the tool can be moved in the reverse direction from which the tool came.
2.3.3 Stored Stroke check 3, 4
General
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Parameters (Nos. 0804–0809 (M)/0747–0754 (T)) or commands set these boundaries. Inside or outside the area of the check can be set as the forbid- den area. Parameter INOUT (No. 0024#4) selects either inside or outside as the forbidden area. In case of program command a G22 command forbids the tool to enter the forbidden area, and a G23 command permits the tool to enter the forbid- den area. Each of G22; and G23; should be commanded independently of another commands in a block. The command below creates or changes the forbidden area:
G 22X_Z_I_K_;
A(X,Z)
X>I,Z>K X–I>ζ Z–K>ζ������
ζ is the distance the tool travels in 8 ms. It is 2000 in least command increments when the feedrate is 15 m/min.
Fig. 2.3.3 (c) Creating or changing the forbidden area using a program (T series)
ÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇ(I,J,K)
(X,Y,Z)
ÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇ
X>I,Y>J,Z>K X–I>2000 Y–J>2000 Z–K>2000
G 22X_Y_Z_I_J_K_;
Fig. 2.3.3 (d) Creating or changing the forbidden area using a program (M series)
B(X2,Z2)
X1>X2,Z1>Z2 X1–X2> ζ Z1–Z2> ζ
A(X1,Z1)
ζ is the distance the tool travels in 8 ms. It is 2000 in least command increments when the feedrate is 15 m/min.
Fig. 2.3.3 (e) Creating or changing the forbidden area using a parameters (T series)
Stored stroke check 3
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B(I,J,K)
ÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇ
A(X,Y,Z)
ÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇ
X>I,Y>J,Z>K X–I>2000 Y–J>2000 Z–K>2000
Fig. 2.3.3 (f) Creating or changing the forbidden area using a parameters (M series)
When you set the forbidden area X1,Z1,X2,and Z2 through parameters Nos.0804 to 0809 (M)/Nos.0747 to 0754 (T), the data should be specified by the distance from the reference position in the least command increment (output increment). If set the forbidden area XZIK by a G22 command, specify the data by the distance from the reference position in the least input increment (input increment). The programmed data are then converted into the numerical values in the least command increment, and the values are set as the parameters.
Set the boundary with parameters Nos. 0760 to 0767. The area inside the boundary becomes the forbidden area. (T series)
The parameter setting or programmed value (XZIK) depends on which part of the tool or tool holder is checked for entering the forbidden area. Confirm the checking position (the top of the tool or the tool chuck) before programming the forbidden area. If point C (The top of the tool) is checked in Fig. 2.3.3 (g), the distance “c” should be set as the data for the stored stroke check function. If point D (The tool chuck) is checked, the distance “d” must be set.
Forbidden area boundary
d
c
D
C The position of the tool after reference position return
Fig. 2.3.3 (g) Setting the forbidden area (T series)
ÇÇÇÇÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇÇÇÇÇ
A
B
a
b
The position of the tool after reference position return
Forbidden area boundary
Fig. 2.3.3 (h) Setting the forbidden area (M series)
� Stored stroke check 4
� Checkpoint for the forbidden area
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Area can be set in piles.
ÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇ
ÇÇÇÇÇÇ ÇÇÇÇÇÇ ÇÇÇÇÇÇ
Fig. 2.3.3 (i) Setting the forbidden area overlapping (T series)
Unnecessary checks should be set beyond the machine stroke.
ÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇ ÇÇÇÇÇÇÇÇÇÇ
ÇÇÇÇÇÇ ÇÇÇÇÇÇ
Setting the forbidden area over lapping
Fig. 2.3.3 (j) Setting the forbidden area overlapping (M series)
Parameter PSOT (bit 3 of No. 0065) selects whether each check becomes effective after the power is turned on and manual reference position return or automatic reference position return by G28 has been performed or immediately after the power is turned on. After the power is turned on, if the reference position is in the forbidden area of each check, an alarm is generated immediately (Only in G22 mode for stored stroke check 3).
When the tool has become unmovable in the forbidden area, push the emergency stop button to release the forbidden condition and move the tool out of the forbidden area in the G23 mode; then, if the setting is wrong, correct it and perform the reference position return again.
When G23 is switched to G22 in the forbidden area, the following results. (1)When the forbidden area is inside, an alarm is informed in the next
move. (2)When the forbidden area is outside, an alarm is informed immediately.
For the 0–TTC, set a forbidden area for each tool post.
� Forbidden area over– lapping
� Effective time for a forbidden area
� Releasing the alarms
� Change from G23 to G22 in a forbidden area
� Creating the forbidden area for the 0–TTC
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#7 0024
#6 #5 #4 INOUT
#3 #2 #1 #0
[Data type] Bit
INOUT The area inside or outside of the third stored stroke check is set as an inhibition area. 0: Inside 1: Outside
#7 0065
#6 #5 #4 #3 PSOT
#2 #1 #0
[Data type] Bit PSOT Checking of stored stroke limit during the time from power–on to the
manual position reference return 0: The stroke limit is checked. 1: The stroke limit is not checked
#7 OTRFOM0076
#6 #5 #4 #3 #2 #1 #0
[Data type] Bit OTRFOM When a command that exceeds a stored stroke limit is issued
0: An alarm is generated after the stroke limit is exceeded. 1: An alarm is generated before the stroke limit is exceeded.
Coordinate value of stored stroke check 3 in the positive direction on each axis0747–0750 (T series)
Coordinate value of stored stroke check 3 in the negative direction on each axis0751–0754 (T series)
Coordinate value of stored stroke check 3 in the positive direction on each axis0804–0806 (M series)
Coordinate value of stored stroke check 3 in the negative direction on each axis0807–0809 (M series)
[Data type] Two–word
[Unit of data]
Increment system IS–A IS–B IS–C Unit
Metric input 0.01 0.001 0.0001 mm
Inch input 0.001 0.0001 0.00001 inch
Rotation axis 0.01 0.001 0.0001 deg
[Valid data range] – 99999999 to 99999999
Set the coordinate values of stored stroke checks 2 in the positive and negative directions for each axis in the machine coordinate system. INOUT, #4 of parameter 0024, sets either the area outside or the area inside specified by two checks as the inhibition area.
WARNING For axes with diameter specification, a diameter value must be set.
Parameter
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Coordinate value of stored stored check 4 in the positive direction on each axis0760–0763
Coordinate value of stored stroke check 4 in the negatice direction on each axis0764–0767
[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
Set the coordinate values of stored stroke checks 3 in the positive and negative directions for each axis in the machine coordinate system. The area inside the checks set in the parameters is forbidden.
������ Message Description
5n2 OVER TRAVEL : +n Exceeded the n–th axis + side stored stroke check 3. (Parameter Nos. 0747–750 (T)/ 0804–0806 (M) )
5n3 OVER TRAVEL : –n Exceeded the n–th axis – side stored stroke check 3. (Parameter Nos. 0751–0754 (T)/ 0807–0809 (M))
5n4 OVER TRAVEL : +n Exceeded the n–th axis + side stored stroke check 4. (Parameter Nos. 0760–0763 (T) )
5n5 OVER TRAVEL : –n Exceeded the n–th axis – side stored stroke check 4. (Parameter Nos. 0764–0767 (T) )
NOTE Over travel alrams (No. 5n4–5n5) occur, in the T series
WARNING In setting a forbidden area, if the two points to be set are the same, the area is as follows: (1)When the forbidden area is check 1, all areas are forbidden areas. (2)When the forbidden area is check 3 or check 4, all areas are movable areas.
Alarm and message
Warning
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NOTE Parameter OTRFOM (bit 7 of No. 0076) selects whether an alarm is displayed immediately before the tool enters the forbidden area or immediately after the tool has entered the forbidden area.
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
III.6.3 STROKE CHECK
OPERATOR’S MANUAL (For Lathe) (B–61394E)
III.6.3 STROKE CHECK
When two tool posts machine the same workpiece simultaneously, the tool posts can approach each other very closely. If the two tool posts interfere with each other due to a program error or any other setting error, a serious damage such as a tool or machine destruction can occur. The function “tool post interference check” is available which can decelerate and stop the two tool posts before the tool posts interfere with each other due to an incorrect command.
Tool post 1
Tool post 2
The contours of the two tool posts are checked to determine whether or not an interference occurs.
Note
Reference item
2.3.4 Tool Post Interference Check (0–TTC)
General
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[Classification] Output signal
[Function] Indicates whether the tool post interference check function is being performed.
[Output condition] This signal goes “0” when: (i) All requisites for the tool post interference check function are satisfied.
This signal goes “1” when:
(i) Any of the requisites for the tool post interference check function are not satisfied.
NOTE For details of the requisites for the tool post interference check function, refer to the operator’s manual for Lathe (B–61394E).
[Classification] Output signal
[Function] Indicates that the tool post interference alarm is activated.
[Output condition] This signal goes “1” when: (i) The control unit judges that the two tool posts will interfere with each
other during the execution of the tool post interference check function.
This signal goes “0” when:
(i) The control unit judges that the two tool posts will not interfere with each other during the execution of the tool post interference function.
(ii)When the tool post interference check function is not being performed.
Signal
Tool post interference check signal BOFF <F180#6>
Tool post interference alarm signal TAL <F180#7>
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NOTE 1 During the execution of the interference check function, if
the control unit judges that the two tool posts will interfere with each other, it stops both tool posts by slowing them down, and then enters the alarm state. The CNC then sets the TAL signal “1” to indicate that an interference alarm has occurred.
2 If the interference alarm is activated, switch the operation mode to the manual mode, manually withdraw the tool posts to where they do not interfere each other, then release the alarm status by resetting the control unit. As the result of manually withdrawing the tool posts, the TIALM signal goes “0” when the control unit judges that the tool posts are separated enough not to interfere with each other any more. When manually withdrawing the interfering tool posts, the TIALM signal is effective in identifying how far the tool posts must be separated from each other. This is because it is easy for the operator to check at which point the signal goes “0”.
3 If an interference alarm occurs, the axis being moved and its moving direction are stored, and the axis cannot be moved in the stored direction until the alarm is released by resetting the control unit. This prevents the axis from interfering any further by prohibiting movement in the direction that caused the interference.
#7 TALF180
#6 BOFF
#5 #4 #3 #2 #1 #0
Signal address
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#7 0048
#6 #5 ZCLR
#4 IFE
#3 IFM
#2 ITO
#1 TY1
#0 TY0
[Data type] Bit
TY0, TY1 This parameter specifies the relationship between the coordinate systems of the two tool posts.
X
X
X
X
Z Z Z
Z
(3) When TY1=1 and TY0=0 (4) When TY1=1 and TY0=1
Tool post 2
Tool post 1 Tool post 1
Tool post 2
(1) When TY1=0 and TY0=0 (2) When TY1=0 and TY0=1
X X
Z
X
Z Z
Tool post 1
Tool post 2
Tool post 2 Tool post 1
ITO When offset number 0 is specified by the T code, 0: Checking interference between tool posts is stopped until an offset
number other than 0 is specified by the next T code. 1: Checking interference between tool posts is continued according to
the previously specified offset number.
IFM Specifies whether interference between tool posts is checked in the manual operation mode. 0: Not checked 1: Checked
IFE Specifies whether interference between tool posts is checked. 0: Checked 1: Not checked
ZCLR Specifies whether interference along the Z axis is checked while checking interference between tool posts. 0: Checked 1: Not checked (Only interference along the X axis is checked.)
Parameter
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0768 Distance along the X axis between the reference positions of tool posts 1 and 2
0769 Distance along the Z axis between the reference positions of tool posts 1 and 2
[Data type] Two–word
[Unit of data]
Increment system IS–B IS–C Unit
Metric input 0.001 0.0001 mm
Inch input 0.0001 0.00001 inch
[Valid data range] –99999999 to +99999999
+X
+Z
Tool post 1
Tool post 2
Specify the X and Z values (�, �) of the reference position of tool post 2 in parameters 0768 and 0769, respectively, in the Z–X plane coordinate system. However, note that the reference position of tool post 1 is plotted at the zero point.
ζ ε
WARNING After the parameter values are changed, perform manual reference position return for individual tool posts. Otherwise, data on the positional relationship between the tool posts stored in memory will not be updated to the new parameter values.
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������ Message Description
169 ILLEGAL TOOL GEOME- TRY DATA
Incorrect tool figure data in interfer- ence check.
590 592
INTERFERENCE : +X INTERFERENCE : +Z
An interference alarm has generated when X or Z axis is moving in the pos- itive direction.
591 593
INTERFERENCE : �X INTERFERENCE : �Z
An interference alarm has generated when X or Z axis is moving in the neg- ative direction.
WARNING 1 When an alarm is raised, the CNC system and machine
system stop with some delay in time. So an actual stop position can be closer to the other tool post beyond an interference forbidden position specified using tool shape data. So, for safety, tool shape data a little larger than the actual shape should be set. The extra distance, L, required for this purpose is calculated from a rapid traverse feedrate as follows
For example, when a rapid traverse feedrate of 15 m/min is used, L=2mm.
2 When parameters or tool shape data (contact forbidden area) are set for the interference check function, check that the interference forbidden area is correctly set by moving the tool posts to foul each other in several directions in manual mode (interference check enabled with a parameter).
1
7500 L = (Rapid traverse rate) �
OPERATOR’S MANUAL (For Lathe) (B–61394EN)
II.24.3 TOOL POST INTERFERENCE CHECK
Alarm and message
Warning
Reference item
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When an alarm is triggered in the CNC, the alarm is indicated on the CRT screen, and the alarm signal is set to 1.
If the voltage level of the memory backup battery falls to below a specified level while the CNC is turned off, the battery alarm signal is set to 1.
[Classification] Output signal
[Function] The alarm signal reports that the CNC is in an alarm state.
There are the following alarms. The following alarms are issued:
(a) TH alarm (b) TV alarm (c) P/S alarm (d) Overtravel alarm (e) Overheat alarm (f) Servo alarm
[Output condition] The alarm signal is set to 1 when: – The CNC is placed in the alarm state. The alarm signal is set to 0 when: – The alarm has been released by resetting the CNC.
[Classification] Output signal
[Function] Indicates when the battery voltage for the absolute pulse coder is below the specified value.
[Output condition] The signal is set to 1 when: – The battery voltage of the absolute pulse coder has fallen to below the
specified level.
The signal is set to 0 when:
– The battery voltage of the absolute pulse coder has risen to the specified level or higher.
2.4 ALARM SIGNAL
General
Signal
Alarm signal AL<F149#0>
Absolute pulse coder battery alarm signal BAL1 to BAL4, BAL7, BAL8 <F156#0 to F156#5> (T series) <F159#0 to F159#5> (M series)
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[Classification] Output signal
[Function] The battery alarm signal indicates that the voltage of the battery for the memory has fallen to below a specified level while the CNC is off. In general, this signal is used to turn on an LED to notify the operator.
[Output condition] The signal is set to 1 when: – The battery voltage has fallen to below the specified level.
The signal is set to 0 when:
– The battery voltage has risen to the specified level or higher.
#7 F149
#6 #5 #4 #3 #2 BAL
#1 #0 AL
F156 BAL8 BAL7 BAL4 BAL3 BAL2 BAL1 (T series)
F159 BAL8 BAL7 BAL4 BAL3 BAL2 BAL1 (M series)
#7 0064
#6 #5 NPA
#4 #3 #2 #1 #0
[Data type] Bit
NPA Action taken when an alarm is generated or when an operator message is entered 0 : The display shifts to the alarm or message screen. 1 : The display does not shift to the alarm or message screen.
Battery alarm signal BAL<F149#2>
Signal address
Parameter
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This signal disables machine movement along axes. When this signal is input during movement along axes, the tool movement is decelerated, then stopped.
[Classification] Input signal
[Function] This signal disables machine movement along axes in automatic operation (memory or MDI operation).
[Operation] When the STLK signal turns to “1”, the axis movement is decelerated and stopped. In automatic operation, blocks containing M, S, or T commands are executed consecutively until a block containing an axis move command is encountered; the system then stops and is placed into the automatic operation mode (STL is “1”, SPL is “0”). When the STLK signal turns to “0”, operation restarts. (Figs.2.5 (a), (b)).
STLK
Axis move
Command read
Fig.2.5 (a) Block containing only axis move command
FIN
STLK
Command read
MF/SF/TF
Fig.2.5 (b) Block containing auxiliary functions only
2.5 START LOCK/ INTERLOCK
General
Signal
Start lock signal STLK<G120#1>(T series)
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[Classification] Input signal
[Function] This signal is used to inhibit the machine from moving, and is effective regardless of the selected mode.
[Operation] When the *ILK signal is “0”, the axis movement is decelerated and stopped. In automatic operation, blocks containing M, S or T commands are executed consecutively until a block containing an axis move command is encountered; the system then stops and is placed into the automatic operation mode (cycle start lamp signal STL is “1”, feed hold lamp signal SPL is “0”). When the *ILK signal turns to “1”, operation resumes (Figs.2.5.2(c), (d)).
*IT
Command read
Axis move
Fig.2.5 (c) Block containing only axis move command (manual and automatic operation)
MF/SF/TF
FIN
*IT
Command read
Fig.2.5 (d) Block containing auxiliary functions only (automatic operation)
NOTE The overtravel amount of the motor after turning *ILK to “0” is represented by the following formula.
Where Qmax : Overtravel quantity (mm or inch) Fm : Feedrate (mm/min or inch/min) Tc : Cutting time constant (ms) Ts : Servo time constant (Ts = 33ms normally) A : Processing time of CNC
A = 50ms at standard interlock signal A = 16ms at high–speed interlock signal
Qmax =Fm � 1 60
× ( Tc
1000 +
Ts 1000
+ A
1000 )
Interlock signal *ILK<G117#0>(M series)
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[Classification] Input signal
[Function] These signals disable feed along axes on an axis–by–axis basis. A separate interlock signal is provided for each controlled axis. The number at the end of each signal name denotes the number of the corresponding controlled axis.
*IT x
� ..... Interlock for the X axis
� ..... Interlock for the Y axis
� ..... Interlock for the Z axis : :
: :
[Operation] a) In manual operation The movement of an interlocked axis is inhibited, but the other axes are movable. If an axis is interlocked during movement, it stops after being decelerated, and it starts moving again when it is released from interlock.
b) In automatic operation (AUTO or MDI mode) If an axis is interlocked while its movement is being commanded (the move amount is not 0, inclusive of the tool offset), all axes movements are prevented. If a moving axis is interlocked, all axes stop moving after being decelerated, and they start moving again when it is released from being interlocked. This function is effective during dry run.
[Classification] Input signal
[Function] This function allows a directional interlock for each axis. Together with the high-speed interlock, it is possible to release the interlock of an axis only in the direction in which no axis/directional interlock is applied.
Interlock signal for each axis *ITX to *IT4 <G128#0 to #3>(M series) ITX to IT4 <G128#0 to #3>(T series)
Interlock signal for each axis and direction *+MITX, *–MITX, *+MITY, *–MITY, *+MITZ, *–MITZ, *+MIT4, *–MIT4 <G142>(M series) +MIT1, –MIT1, +MIT2, –MIT2 <X008#2 to X008#5> (T series)
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[Operation] When the axis/directional interlock signal becomes “0” for M series or “1” for T series, CNC applies interlock only in the corresponding axial direction. However, during automatic operation, all axes will stop.
#7 X008
#6 #5 –MIT2
#4 +MIT2
#3 –MIT1
#2 +MIT1
#1 #0 (T series)
G117 *ILK (M series) #7 #6 #5 #4 #3 #2 #1 #0
G120 STLK (T series)
G128 IT4 IT3 ITZ ITX (T series)
*IT4 *ITZ *ITY *ITX (M series)
*–MIT4G142 *–MITZ *–MITY *–MITX *+MIT4 *+MITZ *+MITY *+MITX (M series)
#7 EILK0008
#6 #5 #4 #3 #2 #1 #0 (T series)
EILK Specifies whether a start lock is applied to each axis separately or in common, as follows: 1 : Separately (ITX, bit 0 of G0128 to IT4, bit 3) 0 : In common (STLK, bit 1 of G0120)
#7 EILK0008
#6 #5 #4 #3 #2 #1 #0 (M series)
EILK Specifies whether an interlock signal is applied to each axis separately or in common, as follows: 1 : Separately 0 : All axes in common or Z–axis alone (Either is selected according to
the setting of the ZILK bit (bit 1 of parameter 0012).)
#7 0012
#6 #5 #4 #3 #2 #1 ZILK
#0 (M series)
ZILK Specifies whether an interlock is applied to only the Z–axis or all axes in common, as follows: 1 : Z–axis only 0 : All axes in common
#7 0015
#6 #5 #4 #3 #2 RILK
#1 #0 (M series)
RILK Specifies whether to enable the high–speed interlock signal (*RILK, bit 5 of X008), as follows: 1 : Enable 0 : Disable
Signal address
Parameter
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#7 EDILK0024
#6 #5 #4 #3 #2 #1 #0 (T series)
EDILK Specifies whether to enable axial interlock signals (+MIT1, bit 2 of X008 to –MIT2, bit 5), as follows: 1 : Enable 0 : Disable
#7 0049
#6 #5 #4 #3 #2 #1 RDIK
#0 DILK (M series)
DILK Specifies whether to enable axial interlock signals (*+MIT, bit 0 of G142 to *–MIT, bit 7), as follows: 1 : Enable 0 : Disable
RDIK Specifies when the high–speed interlock signal (*RILK, bit 5 of X008) is to be enabled, as follows: 1 : Disable when the axial interlock signals (*+MIT, bit 0 of G142 to
*–MIT, bit 7) 0 : Always enable
NOTE The interlock signal for each axis and direction (T series) is supported regardless of whether the tool compensation measurement value direct input B function is provided.
Note
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The mode select signal is a code signal consisting of the three bits MD1, MD2, and MD4. The seven modes -- memory edit (EDIT), memory operation (MEM), manual data input (MDI), manual handle/incremental feed (HANDLE/STEP), manual continuous feed (JOG), TEACH IN JOG, and in addition, DNC operation mode can be selected by combining the (AUTO) mode setting and the DNCI signal. Manual reference position return mode can be selected by combining the manual continuous feed (JOG) mode setting and the ZRN signal. The currently selected operation mode can be posted by outputting the operation mode check signal.
[Classification] Input signal
[Operation] As shown in the following table, the mode select signal is a grey code (a code in which only one bit is different than that of the adjacent mode). To prevent faulty mode switching, use an overcrossing contact rotary switch so that only one bit changes from that of the adjacent mode. “Faulty mode switching” means for example:
When the mode is switched to the EDIT mode during memory operation, the CNC enters the single block state and the operation stops at the end of the executing block.
For this mode switching, only MD2 should change from 0 to 1. If a transient signal status change occurs in a signal other than MD2 during mode switching, however, another mode (manual continuous feed mode, for example) is set between automatic operation mode and memory edit mode. When manual continuous feed mode is set while the CNC is in automatic status, the CNC immediately stops memory operation. As a result, although the operator intends to switch the mode to the memory edit mode, the CNC is, instead, placed in the feed hold state.
2.6 MODE SELECTION
General
Signal
Mode selection signal MD1, MD2, MD4 <G122#0 to #2> DNCI<G127#5> ZRN<G120#7>
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Mode Signal status
Mode MD4 MD2 MD1 DNCI ZRN
1 Memory edit (EDIT) 0 1 1 0 0
2 Memory operation (AUTO) 0 0 1 0 0
3 Manual data input (MDI) 0 0 0 0 0
4 Manual handle/incremental feed (HANDLE/INC)
1 0 0 0 0
5 Jog feed (JOG) 1 0 1 0 0
6 TEACH IN HANDLE 1 1 1 0 0
7 TEACH IN JOG 1 1 0 0 0
8 DNC operation 0 0 1 1 0
9 Manual reference position return (ZRN)
1 0 1 0 1
#7 ZRNG120
#6 #5 #4 #3 #2 #1 #0
G122 MD4 MD2 MD1
G127 DNCI
Signal address
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NOTE Precautions on modes and mode switching
1 In the MDI mode, the STL signal turns to “0” and the CNC stops at the end of execution of the commands input from the CRT/MDI panel, but the SPL signal does not turn to “1”. Therefore, another command can be input from the manual data input unit under this state.
2 When the manual handle function is not provided, incremental feed is enabled in the HANDLE/INC mode. When the manual handle function is provided, only manual handle feed is enabled in that mode.
3 Manual operation in TEACH IN JOG and TEACH IN HANDLE mode. a) When parameter JHD no.0013#0 is set to “0” so that jog
operation and handle feed operation are performed with separate modes: In TEACH IN JOG mode, jog operation can be done. In TEACH IN HANDLE mode, handle feed can be done when optional manual handle feed function is provided, and incremental feed can be done when handle feed function is not provided.
b) When parameter JHD no.0013#0 is set to “1” so that jog operation and handle feed operation are performed with the same mode: In TEACH IN JOG mode, handle feed and jog feed can be done when optional manual handle feed function is provided, but jog feed only when it is not included. In TEACH IN HANDLE mode, handle feed and jog feed can be done when optional manual handle feed function is provided, but incremental feed only when it is not included. The program can be edited in both TEACH IN JOG and TEACH IN HANDLE modes.
4 When the CNC is operating in the MEM mode and is switched to MDI, the unit automatically switches to single block operation, then enters the MDI mode at the end of the executing block. The STL signal turns to “0” at this time, but the SPL signal does not turn to “1” (see Fig.2.6 (a)).
STL
Mode select signal state
Operation
MDI mode
MEM mode
Manual data in- put possible in this range
Executing command
Fig.2.6 (a)
Note
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NOTE 5 When the CNC is operating in the MDI mode and is switched
to MEM mode, the executing command is finished before the CNC switches to the MEM mode (Fig. 2.6 (b)).
Fig.2.6 (b)
STL
Mode select signal state
Operation
MDI mode
MEM mode
Memory opera- tion possible in this range
Executing command
6 When the HANDLE/INC or TEACH IN HANDLE mode is selected while the CNC is operating in the MEM or MDI mode, the automatic or MDI operation stops, the STL signal turns to “0”, the SPL signal simultaneously turns to “1”, and the CNC enters the HANDLE/INC or TEACH IN HANDLE mode. Manual handle feed or incremental feed by axis direction select signal is possible under this state. Since the MEM mode or MDI mode commands are held, operation can be restarted by the cycle start signal by selecting the MDI or MEM mode. However, if operation was stopped by switching to the HANDLE/INC or TEACH IN HANDLE mode during manual data input or automatic operation, it can be restarted only by the mode in use before the operation was stopped (Fig.2.6 (c)).
STL
SPL
ST
MEM/MDI mode
Mode select signal state HANDLE/INC or TEACH IN HAN- DLE mode
Operation in the MEM mode or MDI mode
Cycle start signal
Manual handle /incremental feed enabled
Fig.2.6 (c)
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NOTE 7 When the JOG or TEACH IN JOG mode is selected during
MEM or MDI mode operation, operation stops, the STL signal turns to “0”, the SPL signal simultaneously turns to “1”, and the CNC enters the JOG or TEACH IN JOG mode. Manual feed by feed axis direction select signal is possible under this state. Operation can be restarted by returning to the original state, as described for HANDLE/STEP or TEACH IN HANDLE mode . When the mode is switched to the JOG or TEACH IN JOG mode during manual handle feed or step feed operation, the CNC ignores the manual handle feed or step feed command and manual jog feed becomes effective. If a feed axis direction select signal turns to “1” before the JOG or TEACH IN JOG mode is selected, that signal is ignored. The feed axis select signal is selected by turning the necessary feed axis direction signal to “1” after turning all the feed axis direction select signals to “0”. It is possible to perform handle feed in TEACH IN JOG mode by parameter TJHD no.0002#6. For details, refer to item (3) (Fig.2.6 (d), (e)).
Fig.2.6 (e)
STL
SPL
ST
MEM/MDI mode
Mode select signal state HANDLE/INC or TEACH IN JOG mode
Operation in the MEM mode or MDI mode
Cycle start signal
Jog feed enabled
Fig.2.6 (d)
MEM/MDI/HADLE/ INC mode/TEACH IN HANDLE mode
100ms or more
Mode select signal state
Jog or TEACH IN JOG
Feed axis direction select signal
Jog feed disable
Jog feed enable
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NOTE 8 The mode switching operation is summarized in the time chart below (Fig.2.6 (f)).
H / S
STLSTLSTL
*SP
STST ST ST ST ST ST
SPL
STL STL
SPL
MEM mode selection
MDI mode selection
HANDLE/INC or TEACH IN HANDLE mode selection
JOG or TEACH IN JOG mode selection
H / S
M
D
J
D
D
M
M M
D
J
M
Memory operation
Disable because of feed hold state of automatic operation
Memory read Memory operation
End of operation
MDI command operation
MDI command operation
MDI operation possible here- after
Disable because of feed hold state of MDI operation
End of opera- tion
Memory read
or
Fig.2.6 (f) Mode signal time chart
CONNECTION MANUAL (This manual)
4.1 MANUAL REFERENCE POSITION RETURN
Reference item
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Either tool post is selected for the display and setting of tool compensation data and other data, program input in MDI mode, the editing of a machining program in program memory, and other operations.
[Classification] Input signal
[Function] The 0–TTC has a single CRT/MDI unit. This signal specifies whether the CRT/MDI unit is used for tool post 1 or 2. Tool post select signal TRT2 is a DI signal that is directly read by the CNC at power–up only. Another tool post select signal, TRT2PC, is a PMC output signal that is constantly monitored after power–up. The TRT2 signal is used for clearing memory or performing other special maintenance–related operations at power–up.
[Operation] 1: The CRT/MDI panel is used to operate tool post 2. 0: The CRT/MDI panel is used to operate tool post 1.
#7 X018
#6 #5 #4 #3 TRT2
#2 #1 #0
G133 TRT2PC
NOTE 1 The following data for tool posts 1 and 2 is output on a single
screen: – Position indicated by triple–size letters – Alarm – Operator message
2 The following operation or function is enabled for a selected tool post only: – Input/output via the reader/punch interface – External key input – Tool compensation measurement value direct input B
function 3 The following operation at power–up can be performed only
for the tool post selected with the TRT2 signal. – Program clear
4 Memory all clear can always be performed for both tool posts, irrespective of the setting of the TRT2 signal.
2.7 TOOL POST SELECTION (0–TTC)
General
Signal
Tool post selection signal TRT2<X018#3> TRT2PC<G133#0>
Signal address
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#7 0046
#6 #5 #4 #3 #2 IGANL
#1 #0 RSTSW
RSTSW The 0–TTC uses the reset key: 1: Only for the selected tool post.
2: For both tool posts.
IGNAL If an alarm is issued for a tool post of the 0–TTC, the other tool post: 1: Does not enter the feed hold status.
0: Enters the feed hold status.
#7 0047
#6 #5 #4 #3 #2 #1 #0 TIST
TIST For the 0–TTC, tool post select signals TRT2 (X0018, #3) and TRT2PC (G0133, #0) are: 1: Disabled.
0: Enabled.
Parameter
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The table below lists the status output signals for notifying the state of the CNC. See the sections listed in the table for details of each signal.
Signal name Symbol Reference section
Alarm signal AL 2.4
Battery alarm signal BAL 2.4
Reset signal RST 5.2
Rewinding signal RWD 5.2
Tapping signal TAP 11.7
Moving signal MVX – MV4 1.2.5
In–position signals INPX – INP4 <IP_ADDRESS>
Cutting feed signal CUT 2.8 (the section you are reading)
Thread cutting signal THRD 6.4.1
Canned cycle start signal
FXST 2.8 (the section you are reading)
[Classification] Output signal
[Function] Notifies that cutting feed is being performed by automatic operation.
[Output condition] This signal is set to 1 in the following case:
– When cutting feed is being performed by automatic operation (cutting feed for linear interpolation, circular interpolation, helical cutting, thread cutting, skip cutting, or canned cycle)
CAUTION This signal is not output in the feed hold state.
NOTE This signal is output even when the feedrate override is 0%, or during interlock.
2.8 STATUS OUTPUT SIGNAL
General
Signal
Cutting feed signal CUT<F188#6>
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[Classification] Output signal
[Function] This signal is kept to be 1 for 200 ms after the beginning of drilling axis movement, to indicate when a canned cycle such as G73, G74, G76, or G80 to G89 (including a rigid tapping cycle) begins.
[Output condition] This signal becomes 1 when: � Drilling axis movement begins in a canned cycle such as G73, G74,
G76, or G80 to G89 (including a rigid tapping cycle); when drilling axis movement begins at the R point, signal output is treated as one block, so be careful about single–block operation.
The signal becomes 0 when:
� 200 ms elapses after the signal becomes 1.
� A reset occurs, or an emergency stop signal is input.
NOTE 1 If drilling axis movement ends in the 200 ms period during
which the signal is 1, the signal will not be reset to 0. 2 If feed hold occurs in the 200 ms period during which the
signal is 1, the signal will not be reset to 0.
#7 F161
#6 #5 #4 FXST
#3 #2 #1 #0
F188 CUT
Canned cycle start signal FXST<F161#4>
Signal address
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The German VDE safety standard requires that the motor be deactivated when the safety guard is opened. By using the VRDY OFF alarm ignore signal, however, the CNC can be restarted without resetting, even if the safety guard has been opened.
[Classification] Input signal
[Function] Disables the detection of servo alarm No.401 or 403, VRDY OFF, for all axes.
[Operation] When this signal is set to logical 1, the control unit operates as follows:
� The control unit does not issue servo alarm No.401 or 403, VRDY OFF, even when the servo amplifier ready signal goes off.
#7 G123
#6 #5 #4 #3 #2 #1 #0 IGNVRY (M series)
G127 IGNVRY (T series)
������ Message Description
401 SERVO ALARM: 1, 2TH AXIS VRDY OFF
1–axis, 2–axis servo amplifier READY signal (DRDY) went off.
403 SERVO ALARM: 3, 4TH AXIS VRDY OFF
3–axis, 4–axis servo amplifier READY signal (DRDY) went off.
2.9 VRDY OFF ALARM IGNORE SIGNAL
General
Signal
All–axis VRDY OFF alarm ignore signal IGNVRY<G123#0>(M) IGNVRY<G127#0>(T)
Signal address
Alarm and message
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CAUTION 1 When the control enters NOT READY status due to
emergency stop or a servo alarm and then the control is reset, reset processing is not terminated until the VRDY OFF alarm ignore signal is set to 0.
2 When the VRDY OFF alarm ignore signal is set to 1 and the servo amplifier ready signal is set to off, the motor is freed from the drive, but follow up is not performed. To perform follow up, set the servo off signal to 1.
NOTE While the VRDY OFF alarm ignore signal is set to 1, and a servo alarm other than alarm No.401 or 403 occurs, the control unit detects the alarm.
Caution
Note
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3 MANUAL OPERATION
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In the jog mode, turning a feed axis and direction selection signal to “1” on the machine operator’s panel continuously moves the tool along the selected axis in the selected direction. Manual operation is allowed for one axis at a time. 3 axes can be selected at a time by parameter S3JOG (No.0049#4).
In the incremental feed mode, turning a feed axis and direction selection signal to “1” on the machine operator’s panel moves the tool one step along the selected axis in the selected direction. The minimum distance the tool is moved is the least input increment. Each step can be 10, 100, or 1000 times the least input increment.
The jog feedrate can be adjusted with the override signal. With the rapid traverse selection signal the tool can be moved at the rapid traverse rate regardless of the override signal.
The following signals determine the way in which jog feed or incremental feed is executed.
Selection Jog feed Incremental feed
Mode selection MD1, MD2, MD4 MD1, MD2, MD4
Selection of the axis to move
+X –X +Y –Y +Z –Z Selection of the direc- tion to move the axis
+X, –X, +Y, –Y, +Z, –Z, . . .
Selection of the move amount
MP1, MP2
Selection of feedrate *OV1 – *OV8, RT, ROV1, ROV2
The only difference between jog feed and incremental feed is the method of selecting the feed distance. In jog feed, the tool continues to be fed while the following signals selecting the feed axis and direction are “1”: +X, –X, +Y, –Y, +Z, –Z, etc. In incremental feed, the tool is fed by one step. The distance of the step is selected by the manual handle feed move distance select signal MP1 an d MP2. For the signals selecting the mode, see Section 2.6, “Mode Selection Signals.” For the manual handle feed selection signals, MP1 and MP2 of selection of the move amount, see 3.2 “Manual handle feed.” For rapid traverse override signals ROV1 and ROV2, see Subsec. <IP_ADDRESS>, “Feedrate Override Signals.” Other signals are described below.
3.1 JOG FEED/ INCREMENTAL FEED
General
� Jog feed
� Incremental feed
Signal
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[Classification] Input signal
[Function] Selects a desired feed axis and direction in jog feed or incremental feed. The sign (+ or –) in the signal name indicates the feed direction. The number or alphabet indicates the number of the control axis.
X X axis is fed
Y Y axis is fed
Z Z axis is fed
: :
4 Fourth axis is fed
+ Feed in positive direction
– Feed in negative direction
+ x
[Operation] When the signal is high, the control unit operates as described below. � When jog feed or incremental feed is allowed, the control unit moves
the specified axis in the specified direction.
� In jog feed, the control unit continues to feed the axis while the signal is “1”.
Jog mode (or Teach in jog mode)
+X
X axis move
� In incremental feed, the control unit feeds the specified axis by the step distance which is specified by the manual handle feed move distance selection signal MP1, MP2. Then the control unit stops it. Even if the signal is set to “0” while the axis is being fed, the control unit does not stop feeding it. To feed the axis again, set the signal to “0”, then set it to “1” again.
Incremental feed mode (TEACH IN HANDLE mode)
+X
X axis move
Feed Axis and Direction Selection Signal +X to +4 <G116#2 to G119#2> –X to –4 <G116#3 to G119#3>
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NOTE 1 If both the positive direction and negative direction signals of the same axis are simultaneously
set to “1”, neither the positive direction nor the negative direction is selected. The control unit assumes that both these signals are set to “0”.
2 If the feed axis and direction selection signals are set to “1” before the jog feed mode or incremental feed mode is selected, these signals are invalidated. After the jog feed mode or incremental feed mode is selected, set these signal to “0”, then set them to “1” again.
Jog mode or incremental feed mode
+X
X axis move +X is inef- fective dur- ing this period.
Axis is fed again after signals have turned to “0” once.
3 If the control unit is reset while the feed axis and direction selection signals are set to “1” or if a feed axis and direction signal turns to “1” while the control unit is in the reset state, the signal cannot be validated by releasing the reset state. After the reset state is released, set these signals to “0”, then set them to “1” again.
Incremental feed mode (TEACH IN HANDLE mode)
Reset
+X
X axis move
+X is inef- fective dur- ing this period.
Axis is fed again after signals have turned to “0” once.
Move is stopped by resetting
[Classification] Input signal
[Function] Selects the feedrate for jog or incremental feed.
[Operation] During jog or incremental feed, the signal specifies the feedrate that is applied when the manual rapid traverse selection signal, RT, is 0.
Override signal *OV1 to *OV8 <G121#0 to #3>
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A relationship between the state of the machine contact and the feedrate can be selected from the two in the following table according to parameter setting.
Machine contact state When parameter OVRI is 0 When parameter OVRI is 1
Machine contact state
Override Jog feed
Override Jog feed
*OV1 *OV2 *OV4 *OV8
Override value [%]
Metric system
[mm/min]
Inch system
[inch/min]
Override value [%]
Metric system
[mm/min]
Inch system
[inch/min]
1 1 1 1 0 0 0 150 1260 50
0 1 1 1 10 20 0.08 140 790 30
1 0 1 1 20 3.2 0.12 130 500 20
0 0 1 1 30 5.0 0.2 120 320 12
1 1 0 1 40 7.9 0.3 110 200 8.0
0 1 0 1 50 12.6 0.5 100 126 5.0
1 0 0 1 60 20 0.8 90 79 3.0
0 0 0 1 70 32 1.2 80 50 2.0
1 1 1 0 80 50 2.0 70 32 1.2
0 1 1 0 90 79 3.0 60 20 0.8
1 0 1 0 100 126 5.0 50 12.6 0.5
0 0 1 0 110 200 8.0 40 7.9 0.3
1 1 0 0 120 320 12 30 5.0 0.2
0 1 0 0 130 500 20 20 3.2 0.12
1 0 0 0 140 790 30 10 2.0 0.08
0 0 0 0 150 1260 50 0 0 0
NOTE 1 Parameter OVRI is bit 4 of parameter No.003. 2 A newly selected feedrate becomes valid immediately when
the override switch is operated during axis movement. 3 Generally, this signal is issued using the rotary switch. 4 Each feedrate value in the above table includes an error of
�3%. 5 In the M series units, the feedrate for jog feed can be
changed by parameter setting. 6 This signal can be used also as an override signal for
automatic dry run.
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[Classification] Input signal
[Function] Selects a rapid traverse rate for jog feed or incremental feed.
[Operation] When the signal turns to “1”, the control unit operates as described below:
� The control unit executes the jog feed or incremental feed at a rapid traverse rate. The rapid traverse override is validated.
� When the signal is switched from “1” to “0” or vice versa during jog feed or incremental feed, the feedrate is decelerated until it reaches zero, then increased to the specified value. During acceleration and deceleration, the feed axis and direction selection signal can be kept “1”.
Rapid traverse rate
Jog feed mode or incremental feed mode
+X
RT
X axis move
Feedrate selected by manual feedrate override signal
WARNING After the power is turned on, the stroke limit function does not work until the reference position return is completed. During this period, the control unit ignores the RT signal, if it is set to “1”, and keeps moving the tool at a feedrate selected by the manual feedrate override signal. A parameter ISOT (No.0010#0) can be specified so that the rapid traverse is validated before the reference position return is completed.
[Classification] Input signal
[Function] Specifies a value of jog feedrate override in the range of 0% to 150% in 10% increments. This signal is also effective for dry–run operation.
Manual rapid traverse selection signal RT<G121#6>
Jog feedrate override signal (M series) JOV1 to JOV8 <G104#0 to G104#3>
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#7 G104
#6 #5 #4 #3 JOV8
#2 JOV4
#1 JOV2
#0 JOV1
Override (%) JOV8 JOV4 JOV2 JOV1
0 0 0 0 0
10 0 0 0 1
20 0 0 1 0
30 0 0 1 1
40 0 1 0 0
50 0 1 0 1
60 0 1 1 0
70 0 1 1 1
80 1 0 0 0
90 1 0 0 1
100 1 0 1 0
110 1 0 1 1
120 1 1 0 0
130 1 1 0 1
140 1 1 1 0
150 1 1 1 1
G116 –X +X
G117 –Z +Z (T series)
–Y +Y (M series)
G118 –3 +3 (T series)
–Z +Z (M series)
G119 –4 +4 (M series)
G121 RT *OV8 *OV4 *OV2 *OV1
#7 0008
#6 #5 #4 MFPR
#3 #2 #1 #0 (T series)
[Data type] Bit
MFPR Jog feed (manual continuous feed) 0 : Jog feed is performed at feed per minute. 1 : Jog feed is performed at feed per rotation.
Signal address
Parameter
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#7 0010
#6 #5 #4 #3 #2 #1 #0 ISOT
[Data type] Bit
ISOT Manual rapid traverse during the period from power–on time to the completion of the reference position return. 0 : Disabled (Jog feed is performed.) 1 : Enabled
#7 0049
#6 #5 #4 S3JOG
#3 #2 #1 #0
[Data type] Bit
S3JOG Number of axes controlled simultaneously in jog feed, manual rapid traverse and manual reference position return 0 : 1 axis 1 : Up to 3 axes
Manual rapid traverse rate0559 – 0562
[Data type] Two–word
��������� ������ ��� �� ���
��� ��� �����
��������� ������ ��� �� ���
����� ���� ����
Millimeter machine 1 mm/min 30 to 24000 30 to 12000
Inch machine 0.1 inch/min 30 to 9600 30 to 4800
Rotation axis 1 deg/min 30 to 24000 30 to 12000
Set the rate of manual rapid traverse when the rapid traverse override is 100% for each axis.
NOTE If 0 is set, the rate set in parameters 0518 to 0521 (rapid traverse rate) is assumed.
Time constant of exponential acceleration/deceleration in jog feed0601 – 0604
[Data type] Word
[Unit of data] 1 msec
[Valid data range] 0 to 4000
Set the time constant used for exponential acceleration/deceleration in jog feed.
[Unit of data]
[Valid data range]
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FL rate of exponential acceleration/deceleration in jog feed0605 – 0608
[Data type] Word
��������� ������ ��� �� ���
��� ��� �����
��������� ������ ��� �� ���
����� ���� ����
Millimeter machine 1 mm/min 6 to 15000 6 to 12000
Inch machine 0.1 inch/min 6 to 6000 6 to 4800
Rotation axis 1 deg/min 6 to 15000 6 to 12000
Set the lower limit (FL rate) of exponential acceleration/deceleration in jog feed.
WARNING For incremental feeding along an axis under diameter programming, the tool moves in units of the diameter.
NOTE 1 Time constant and method of automatic acceleration/
deceleration for manual rapid traverse are the same as G00 in programmed command.
2 If a manual pulse generator is provided, the manual handle feed mode is enabled instead of incremental feed mode. However, using parameter JHD (bit 0 of parameter No.0013) enables both manual handle and incremental feed in the manual handle feed mode.
OPERATOR’S MANUAL (For Machining Center)
III.3.2 JOG FEED (For Machining Center) (B–61404E) III.3.3 INCREMENTAL FEED
OPERATOR’S MANUAL (For Lathe)
III.3.2 JOG FEED (For Lathe) (B–61394E) III.3.3 INCREMENTAL FEED
[Unit of data]
[Valid data range]
Warning
Note
Reference item
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In the manual handle feed mode, the tool can be minutely moved by rotating the manual pulse generator. Select the axis along which the tool is to be moved with the handle feed axis selection signal. The minimum distance the tool is moved when the manual pulse generator is rotated by one graduation is equal to the least input increment. Or the distance the tool is moved when the manual pulse generator is rotated by one graduation can be magnified by 10 times or by one of the two magnifications specified by parameters (No.0121 and 0699). The handle magnifications can be selected by the manual handle feed move distance selection signal.
The number of manual pulse generators available depends on the type of an option used as listed below.
(M series) – Control with one manual handle: Up to one generator – Control with two or three manual handles: Up to three generators
(T series) – Control with one manual handle: Up to one generator – Control with two manual handles: Up to two generators
Which manual pulse generator moves which axis of which path depends on the setting of manual handle feed axis select signals for each path. For each tool post, eight bits are reserved as manual handle feed axis select signals.
With the 0–TTC, either of the following can be selected as single manual pulse generator control. The selection is made by specifying the SEPH bit (bit 2 of parameter 0047). (1)Single manual pulse generator control when a single manual pulse
generator is provided for the two tool posts. Set the SEPH bit to 0.
Tool post 1 (main) Tool post 2 (sub)
CNC
Manual pulse generator 1
Tool post 1 is controlled by the HX (G116, #7) and HZ (G117, #7) signals for tool post 1. Tool post 2 is controlled by the HX (G1316, #7) and HZ (G1317, #7) signals for tool post 2.
M12 (On the memory card)
3.2 MANUAL HANDLE FEED
General
Two–path control
Single/dual manual pulse generator control
Single manual pulse generator control
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(2)Single manual pulse generator control when a single manual pulse generator is provided for each tool post. Set the SEPH bit to 1.
Tool post 1 (main) Tool post 2 (sub)
CNC
Manual pulse generator 1
Tool post 1 is controlled by the HX (G116, #7) and HZ (G117, #7) signals for tool post 1. Tool post 2 is controlled by the HX (G1316, #7) and HZ (G1317, #7) signals for tool post 2.
M12 (On the
memory card)
Manual pulse generator 2
M21 (Graphic card/
MPG card)
Tool post 1 (main) Tool post 2 (sub)
CNC
Manual pulse generator 1
Tool post 1 is controlled by the HX (G116, #7) and HZ (G117, #7) signals for tool post 1. Tool post 2 is controlled by the HX (G1316, #7) and HZ (G1317, #7) signals for tool post 2.
M12 (On the
memory card)
Manual pulse generator 2
M21 (Graphic card/
MPG card)
Parameter JHD (bit 0 of No.0013) enables or disables the manual handle feed in the JOG mode. When the parameter JHD( bit 0 of No.0013) is set 1,both manual handle feed and incremental feed are enabled.
Parameter TJHD (bit 6 of No.0002) enables or disables the manual handle feed generator in the TEACH IN JOG mode.
Parameter HDLPM (No.0060#4 (M)/No.0077# (T)) specifies as follows:
SET VALUE 0: The feedrate is clamped at the rapid traverse rate and generated pulses exceeding the rapid traverse rate are ignored.(The distance the tool is moved may not match the graduations on the manual pulse generator.)
Dual manual pulse generator control
Availability of manual handle feed in Jog mode
Availability of manual handle feed in TEACH IN JOG mode
A command to the MPG exceeding rapid traverse rate
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SET VALUE 1: The feedrate is clamped at the rapid traverse rate and generated pulses exceeding the rapid traverse rate are not ignored but accumulated in the CNC. (No longer rotating the handle does not immediately stop the tool. The tool is moved by the pulses accumulated in the CNC before it stops.)
Parameter HPNEG (No.0386#0 to #3) (T) switches the direction in which the tool moves along an axis, corresponding to the direction in which the handle of the manual pulse generator is rotated.
[Classification] Input signal
[Function] (1) When only one manual pulse generator is used The following table lists the relationships between the manual handle feed axis selection signal and the axis to which the signal is applied. Any combination not listed below does not cause axis movement at all.
Manual handle feed axis selection signal Feed axis
H4 HZ HY HX Feed axis
0 0 0 1 X axis
0 0 1 0 Y axis
0 1 0 0 Z axis
1 0 0 0 Fourth axis
(2)With two manual pulse generators Parameter 0118 (number of manual pulse generators) is set to 2.
Movement direction of an axis to the rotation of MPG
Signal
Manual handle feed axis selection signal HX to H4<G116#7 to G119#7>(M series)
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(2.1) Multi–handle function of type A (MHPGB bit (bit 0 of parameter 0019) set to 0) The table below indicates the relationship between the manual handle feed axis select signals and feed axes. No other signal combination can cause axial movement.
Manual handle feed axis selection signal Feed axis
H4 HZ HY HX 1st handle 2nd handle
0 0 1 1 X axis Y axis
0 1 0 1 X axis Z axis
0 1 1 0 Y axis Z axis
1 0 0 1 X axis Fourth axis
1 0 1 0 Y axis Fourth axis
1 1 0 0 Z axis Fourth axis
(2.2) Multi–handle function of type B (MHPGB bit (bit 0 of parameter 0019) set to 1) The table below indicates the relationship between the manual handle feed axis select signals and feed axes.
Feed axis Manual pulse generator to be used
X axis First manual pulse generator
Y axis Second manual pulse generator
Z axis Determined by signals G133, #0 and #1
Fourth axis Determined by parameter 0117
G133 Manual pulse generator corresponding to
#1 SLHZ1 #0 SLHZ0 the Z–axis
0 0 Determined by parameter 0117
0 1 First manual pulse generator
1 0 Second manual pulse generator
(3)With three manual pulse generators Parameter 0118 (number of manual pulse generators) is set to 3. (3.1) Multi–handle function of type A
(MHPGB bit (bit 0 of parameter 0019) set to 0) (3.1.1) The HSLE bit (bit 7 of parameter 0003) is set to 0.
(The axis select signals are disabled.) The handle rotation of a manual pulse generator causes the corresponding axial movement, irrespective of the axis select signals. This setting cannot be made for a four–axis system. (If the setting is attempted on a four–axis system, axial movement cannot be performed.)
Feed axis
1st handle 2nd handle 3rd handle
X axis Y axis Z axis
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(3.1.2) The HSLE bit (bit 7 of parameter 0003) is set to 1. (The axis select signals are enabled.) The table below indicates the relationship between the manual handle feed axis select signals and feed axes. No other signal combination can cause axial movement.
Manual handle feed axis selection signal Feed axis
H4 HZ HY HX 1st handle 2nd handle 3 handle
0 1 1 1 X axis Y axis Z axis
1 0 1 1 X axis Y axis Fourth axis
1 1 0 1 X axis Z axis Fourth axis
1 1 1 0 Y axis Z axis Fourth axis
(3.2) Multi–handle function of type B (MHPGB bit (bit 0 of parameter 0019) set to 1)
(3.2.1) The HSLE bit (bit 7 of parameter 0003) is set to 0. (The axis select signals are disabled.) Handle rotation of a manual pulse generator causes the corresponding axial movement, irrespective of the axis select signals. This setting cannot be made for a four–axis system. (If the setting is attempted on a four–axis system, axial movement cannot be performed.)
Feed axis
1st handle 2nd handle 3 handle
X axis Y axis Z axis
(3.2.2) The HSLE bit (bit 7 of parameter 0003) is set to 1. (The axis select signals are enabled.) The table below indicates the relationship between the manual handle feed axis select signals and feed axes.
Feed axis Manual pulse generator to be used
X axis First manual pulse generator
Y axis Second manual pulse generator
Z axis Determined by signals G133, #0 and #1
Fourth axis Determined by parameter 0117
G133 Manual pulse generator
#1 SLHZ1 #0 SLHZ0 corresponding to the Z–axis
0 0 Determined by parameter 0117
0 1 First manual pulse generator
1 0 Second manual pulse generator
1 1 Third manual pulse generator
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[Classification] Input signal
[Function] (1) When only one manual pulse generator is used The following table lists the relationships between the manual handle feed axis selection signal and the axis to which the signal is applied. Any combination not listed below does not cause axis movement at all.
Manual handle feed axis selection signal Feed axis
H4 H3 HZ HX Feed axis
0 0 0 1 X axis
0 0 1 0 Z axis
0 1 0 0 Third axis
1 0 0 0 Fourth axis
(2) With two manual pulse generators
(2.1) The HSLE bit (bit 5 of parameter 0002) is set to 0. (The axis select signals are disabled.) Handle rotation of a manual pulse generator causes the corresponding axial movement, irrespective of the axis select signals.
Feed axis
1st handle 2nd handle
X axis Z axis
(2.2) The HSLE bit (bit 5 of parameter 0002) is set to 1. (The axis select signals are enabled.) The table below indicates the relationship between the manual handle feed axis select signals and feed axes. No other signal combination can cause axial movement.
Manual handle feed axis selection signal Feed axis
H4 H3 HZ HX 1st handle 2nd handle
0 0 1 1 X axis Z axis
0 1 0 1 X axis Third axis
0 1 1 0 Z axis Third axis
1 0 0 1 X axis Fourth axis
1 0 1 0 Z axis Fourth axis
1 1 0 0 Third axis Fourth axis
Manual handle feed axis selection signal HX to H4 <G116#7 to G119#7> (T series)
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[Classification] Input signal
[Function] This signal selects the distance traveled per pulse from the manual pulse generator during the manual handle feed or manual handle interrupt. It also selects the distance traveled per incremental feed step. The table below lists the signal–to–distance correspondence.
Travel distance select signal for manual handle
feed
Distance traveled
MP2 MP1 Manual handlefeed Manual handle
interrupt Incremental feed
0 0 Least input increment�1
Least command increment�1
Least input increment�1
0 1 Least input increment�10
Least command increment�10
Least input increment�10
1 0 Least input increment�m*1
Least command increment�m*1
Least input increment�100
1 1 Least input increment�n*1
Least command increment�n*1
Least input increment�1000
*1 Scale factors m and n are specified using parameter Nos.0121 and 0699.
WARNING 1 Because the least input increment is used as the units for
manual handle and incremental feed, the same value represents a different distance depending on whether the metric or inch input system is used.
2 For an axis under diameter programming, the tool moves by the diameter value.
NOTE See Section 3.3, “Manual Handle Interrupt” for manual handle interrputs, Section 3.1, “Jog Feed/Incremental Feed” for incremental feed.
Manual Handle Feed Amount Selection Signal MP1, MP2 <G120#0, #1>(M) <0117#0, G118#0>(T) (Incremental Feed Signal)
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#7 HXG116
#6 #5 #4 #3 #2 #1 #0
HZG117 MP1 (T series)
HY (M series)
H3G118 MP2 (T series)
HZ (M series)
H4G119
G120 MP2 MP1 (M series)
#7 0002
#6 TJHD
#5 #4 #3 #2 #1 #0
[Data type] Bit
TJHD Manual pulse generator in TEACH IN JOG mode 0 : Invalid 1 : Valid
#7 0002
#6 #5 HSLE
#4 #3 #2 #1 #0 (T series)
HSLE0003 (M series)
[Data type] Bit
HSLE When two (T series) or three (M series) manual pulse generators are provided, the axis select signals are: 1 : Enabled. (Handle rotation of a manual pulse generator is ignored
when the corresponding axis select signal is set to 0.)
0 : Disabled. (Handle rotation of a manual pulse generator causes the corresponding axial movement, irrespective of the axis select signals.)
#7 0013
#6 #5 #4 #3 #2 #1 #0 JHD
[Data type] Bit
JHD Manual handle feed in JOG mode or incremental feed in the manual handle feed 0 : Invalid 1 : Valid
Signal address
Parameter
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#7 0018
#6 #5 #4 #3 NAMP2
#2 NZMP2
#1 NYMP2
#0 NXMP2 (M series)
[Data type] Bit
N*MP2 Specify whether to enable the handle feed multiply value (�100) for each axis, as follows: 1 : Disable 0 : Enable
#7 0019
#6 #5 #4 #3 #2 #1 #0 MHPGB (M series)
[Data type] Bit
MHPG B The multi–handle function of: 1 : Type B is used. 0 : Type A is used.
#7 0060
#6 #5 #4 HDLPM
#3 #2 #1 #0 (M series)
0077 HDLPM (T series)
[Data type] Bit
HDLPM When a manual handle feed exceeding the rapid traverse rate is issued, 0 : The rate is clamped at the rapid traverse rate, and the handle pulses
corresponding to the excess are ignored. (The graduations of the manual pulse generator may not agree with the distance the machine has traveled.)
1 : The rate is clamped at the rapid traverse rate, and the handle pulses corresponding to the excess are not ignored, but stored in the CNC. (If the rotation of the manual pulse generator is stopped, the machine moves by the distance corresponding to the pulses preserved in the CNC, then stops.)
#7 0075
#6 #5 #4 #3 #2 INHND
#1 #0
[Data type] Bit
INHND The units of movement by manual handle interrupt are: 1 : The input unit. Acceleration/deceleration is enabled. 0 : The output unit. Acceleration/deceleration is disabled.
0117 Manual pulse generator for the Z–axis or fourth axis. (M series)
[Data type] Byte
[Valid data range] 12 to 32
[Description] When the type B multi–handle function is used, this parameter is used to set which manual pulse generator causes the movement on the Z–axis or fourth axis. Specify a two–digit decimal number. The units digit indicates the ordinal number of the manual pulse generator for the Z–axis, while the tens digit indicates that for the fourth axis.
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Example) To set the second manual pulse generator for the Z–axis and the third manual pulse generator for the fourth axis, specify 32.
Ordinal number of the manual pulse generator for the Z–axis
Ordinal number of the manual pulse generator for the fourth axis
Set value = 3 2
0118 Number of manual pulse generators used (M series)
[Data type] Byte
[Valid data range] 1, 2, or 3
This parameter sets the number of manual pulse generators.
0121 Manual handle feed magnification m
[Data type] Byte
[Unit of data] One time
[Valid data range] 1 to 127
This parameter sets the magnification when manual handle feed movement selection signal MP2 is on.
#7 HDPG40386
#6 HDPG3
#5 HDPG2
#4 HDPG1
#3 #2 #1 #0
[Data type] Bit
HDPG* Specify whether to enable the handle feed multiply value (�1000) for each axis, as follows: 1 : Disable 0 : Enable
#7 0386
#6 #5 #4 #3 HPNEG4
#2 HPNEG3
#1 HPNEG2
#0 HPNEG1 (T series)
[Data type] Bit
HPNEG* Axis movement direction for rotation direction of manual pulse generator 0 : Same in direction 1 : Reverse in direction
0699 Manual handle feed magnification n
[Data type] Word
[Unit of data] One time
[Valid data range] 1 to 1000
This parameter sets the magnification when manual handle feed movement selection signals MP1 and MP2 are “1”.
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WARNING Rotating the handle quickly with a large magnification such as x100 moves the tool too fast or the tool may not stop immediately after the handle is no longer rotated or the distance the tool moves may not match the graduations on the manual pulse generator. The feedrate is clamped at the rapid traverse rate.
CAUTION Rotate the manual pulse generator at a rate of five rotations per second or lower.
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
III.3.4 MANUAL HANDLE FEED
OPERATOR’S MANUAL (For Lathe) (B–61394E)
III.3.4 MANUAL HANDLE FEED
Warning
Caution
Reference item
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Rotating the manual pulse generator during automatic operation can increase the distance traveled by the amount corresponding to the handle feed. The axis to which the handle interrupt is applied is selected using the manual handle interrupt axis select signal. The minimum travel distance per graduation is the least command increment. The minimum travel distance can be increased by tenfold or by two scale factors (parameter Nos. 0121 and 0699). Each scale factor can be selected using the manual handle travel distance select signal (Section 3.2, ”Manual Handle Feed”).
[Classification] Input signal
[Function] These signals select an axis to which the manual handle interrupt is applied.
The selected feed axis is similar to the correspondence with the manual handle feed axis select signals. See Section 3.2, “Manual Handle Feed.”
#7 G126
#6 #5 #4 #3 HI4
#2 HI3
#1 HIZ
#0 HIX (T series)
HI4 HIZ HIY HIX (M series)
WARNING The travel distance by handle interruption is determined according to the amount by which the manual pulse generator is turned and the handle feed magnification (x1, x10, xM, xN). Since this movement is not accelerated or decelerated, it is very dangerous to use a large magnification value for handle interruption.
3.3 MANUAL HANDLE INTERRUPTION
General
Signal
Manual Handle Interrupt Axis Selection Signal HIX to HI4 <G126#0 to #3>
Signal address
Warning
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NOTE 1 No handle interrupt can be used in manual operation mode
(for example, job feed mode, manual handle feed mode and TEACH IN HANDLE mode).
2 Handle interruption is disabled when the machine is locked or interlocked.
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
III.4.7 MANUAL HANDLE INTERRUP- TION
OPERATOR’S MANUAL (For Lathe) (B–61394E)
III.4.8 MANUAL HANDLE INTERRUP- TION
Note
Reference item
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4 REFERENCE POSITION ESTABLISHMENT
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The tool is moved in the direction specified in parameter ZM* (No.0003#0 – #3) for each axis by turning the feed axis and direction select signal to “1” in the manual reference position return mode, and is returned to the reference position.
Manual reference position return is performed by using a grid method. The reference position is based on an electrical grid, using on one–rota- tion signals received from the position detector.
Bit 7 of parameter 0010 (APRS) can be set to automatically determine the coordinate system at manual reference position return. Parameters 0708 – 0711 can be set to determine the workpiece coordinate system by assigning, upon the completion of reference position return, the value set in a parameter to a reference point on the tool holder or the tip position of the reference tool.
The following signals relate with the manual reference position return:
Manual Reference Position Return
Mode selection MD1, MD2, MD4
Selection of reference position return ZRN
Selection of axis to be moved +X –X +Y –Y +Z –Z
Selection of direction to be moved +X, –X, +Y, –Y, +Z, –Z, ...
Selection of speed to be moved ROV1, ROV2
Deceleration signal for reference position return
*DECX, *DECY, *DECZ, ...
Completion signal for reference position return
ZPX, ZPY, ZPZ, ...
Reference position establishment signal
ZRFX, ZRFY, ZRFZ, ...
(1)Select the JOG mode or TEACH IN JOG mode, and set the manual reference position return selection signal ZRN to “1”.
(2)Feed a target axis toward the reference position by making an appropriate feed axis and direction selection signal (+X, –X, +Y, –Y,…) “1”.
(3)While the feed axis and direction selection signal is “1”, rapid traverse takes place along that axis. Although the rapid traverse override signals (ROV1, ROV2) are valid, the override is generally set to 100%.
4.1 MANUAL REFERENCE POSITION RETURN
General
� Automatic setting of coordinate system
Basic Procedure for Reference Position Return
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(4)When the reference position is approached, a limit switch installed on the machine is turned on, making the deceleration signal (*DECX, *DECY, *DECZ,…) for reference position deceleration “0”. Consequently, the feedrate is decelerated to 0, then the tool is fed at a constant low speed (reference position return FL feedrate specified by parameter (No.0534) setting).
(5)When the deceleration signal turns to “1” again after the limit switch for deceleration is passed, the tool is fed with the feedrate unchanged, then the tool stops at the first grid point (electric grid point).
(6)Upon confirmation that the current position is in the in–position area, the reference position return end signal (ZPX, ZPY, ZPZ,…) and the reference position establishment signal (ZRFX, ZRFY, ZRFZ,…) turn to “1”.
Step (2) and subsequent steps are performed independently for each axis. The number of simultaneously controlled axes is usually one, but it becomes three by parameter S3JOG (No.0049#4).
If the feed axis direction selection signal (+X, –X, +Y, –Y,…) turns to “0” between step (2) and (5) , the tool is stopped at once, and reference position return is assumed to be canceled. If the signal turn to “1” again, operation resumes from step (3) (rapid traverse).
The timing charts for the basic procedures are given below.
ZRN
+X
*DECX
Grid
ZPX
ZRFX
Feedrate
Rapid traverse rate FL rate
����������������������������������������������
JOG or TEACH IN
JOG mode
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When installing the deceleration limit switch for manual reference position return, ensure that following conditions are satisfied:
*DECX
Grid
Feedrate
Rapid traverse rate (VR)
Deceleration limit operation position
FL rate (VL)
������������������������������������������
LDALDW
Reference position Deceleration limit release position
� LDW: Deceleration dog width (mm or inch)
LDW � VR(
TR 2 � 30� TS) � 4VL � TS
60� 1000 VR: Rapid traverse (mm/min or inch/min) TR: Rapid traverse time constant (ms) TS: Servo time constant (ms) VL: FL speed for reference position return (mm/min or inch/min)
� LDA: Distance between deceleration limit switch released position and reference position
LDA: Move amount of 1/2 revolution of motor Since the above conditions do not include the limit switch operation variations, this point must also be considered at installation.
To perform manual reference position return when the reference position has not yet been established, the tool must be fed, in manual reference position return mode, in the reference position return direction at a speed so that the servo position error value exceeds 128. At this time, the tool must cross the grid line corresponding to a one–rotation signal from the position detector.
The servo position error is calculated from the following formula:
Servo position error amount = F � 1000 60
� 1 G �
1 U
F: Feedrate G: Servo loop gain [s–1] U: Detection unit [�m]
(Example)
When the tool is fed at a feedrate F of 6000 mm/min with a servo loop gain G of 30 s–1 and a detection unit U of 1 �m, the servo position error is calculated as follows:
Servo position error� 6000� 1000 60
� 1 30
� 1 1
=3,333
Installation conditions for deceleration limit switch
Servo position error and one–rotation signal
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By reversing the formula above, the following formula gives the feedrate F needed to set the servo position error to 128 when the servo loop gain G is 30 s–1 and the detection unit U is 1 �m:
F = 128� 60 1000
� 30
= 230 [mm/min]
Therefore, when the servo loop gain is 30 s–1 and the detection unit is 1 �m, the tool must be fed in the reference position return direction at a speed of at least 230 mm/min before manual reference position return.
The grid can be shifted by the distance set in parameters 0508 to 0511, thus shifting the reference position. The grid shift to be set in the parameter must not exceed the reference counter capacity (parameter No.0004#0 to #3, No.0007#0 to #3) (grid interval).
[Classification] Input signal
[Function] This signal selects manual reference position return. Manual reference position return is a kind of jog feed. Therefor, to select manual reference position return, it is required that the jog mode be selected and that the manual reference position return selection signal be set to “1”.
[Operation] When the manual reference position return selection signal is set to “1”, the control unit becomes as described below.
� If jog feed mode is not selected, the control unit ignores the manual reference position return selection signal.
� If jog mode is selected, manual reference position return is enabled.
NOTE If the ZRN status changes from “0” to “1” or “1” to “0” during jog feed, the feedrate is decelerated to 0. Then, to make reference position return or jog feed, turn feed axis and direction selection signal to “0” then set it to “1”.
Grid shift
Signal
Manual reference position return selection signal ZRN<G120#7>
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For details about this signal, see 3.1.2, “Feed Axis and Direction Selection Signal”. Here, only notes on use of reference position return are given.
NOTE 1 The direction of reference position return is predetermined
for each axis by parameter ZM* (No.0003#0 to #3). If the tool is fed in the opposite direction to the predetermined direction in manual reference position return, the deceleration signal for reference position return turns to “0”, and the tool is returned to the point at which the deceleration signal turns to “1” again (that is, the point where the deceleration limit switch would be encountered if the tool were fed in the predetermined direction). Then reference position return is performed automatically in the predetermined direction.
ZRN
–X
*DECX
Grid
ZPX
ZRFX
Feedrate
Rapid traverse rate
FL rate
����������������������������������������������
JOG mode or TEACH IN JOG mode
Rapid traverse rate
NOTE 2 When reference position return is selected, an axis whose
reference position return end signal is already “1” or an axis whose reference position return end signal was set “1” upon completion of reference position return is locked, and movement along that axis is disabled while the reference position return selection signal (ZRN) is “1”. To perform movement along such an axis, ZRN must be set “0”, and the feed axis and direction selection signal must be set “0” then set “1” again.
Feed Axis and Direction Selection Signal
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[Classification] Input signal
[Function] These signals decelerate the feedrate for manual reference position return so that the reference position is approached at a low feedrate. The deceleration signals are provided for axes in a one–to–one correspon- dence. A number or alphabet appended to a deceleration signal represents a controlled axis number.
� ������� � �������� ������ �� ��������� ������ ��� ��� ����
� ������� � �������� ������ �� ��������� ������ ��� ��� ����
� � ������� � �������� ������ �� ��������� ������ ��� ��� � ����
�� ��
���� �
[Operation] For the operation of the control unit in response to the deceleration signal, see the description of the basic procedure for manual reference position return.
[Classification] Output signal
[Function] These signals report that the tool is at the refernce position on a controlled axis. These siganls are provided for axes in a one–to–one corespondence. A number or alphabet appended to a signal represents a controlled axis number.
� ������� � �������� ������ ��� ������ ��� ��� ����
� ������� � �������� ������ ��� ������ ��� ��� ����
� � ������� � �������� ������ ��� ������ ��� ��� � ����
�� ��
�� �
[Output condition] These signals turn to “1” when: � Manual reference position returns is completed, and the current
position is in the in–position area. � Automatic reference position return (G28) is completed, and the
current position is in the in–position area. � Reference position return check (G27) is completed, and the current
position is in the in–position area. These signals turn to “0”when: � The tool has moved from the reference position. � An emergency stop is applied. � A servo alarm is raised.
Reference position return deceleration signals *DECX to *DEC4 <X016#5 to X019#5>
Reference position return completion signals ZPX to ZP4 <F148#0 to #3>
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[Classification] Output signal
[Function] Notify the system that the reference position has been established.
A reference position establishment signal is provided for each axis. The number appended to each signal name indicates the number or alphabet of the controlled axis.
� � �� ��� �� ������ �������� ��� �������� ���� �
� � �� ��� �� ������ �������� ��� �������� ���� �
� � �� ��� �� ������ �������� ��� �������� ���� �
�� ��
��� �
[Output condition] The signals are set to 1 in the following case:
⋅ When the reference position is established after manual reference position return
⋅ When the reference position is established using the absolute–position detector at initial power–on
The signals are set to 0 in the following case:
⋅ When the reference position is lost
#7 X016
#6 #5 *DECX
#4 #3 #2 #1 #0
X017 *DECZ
*DECY
(T series)
(M series)
X018 *DEC3 (T series)
*DECZ (M series)
X019 *DEC4 (M series)
ZRNG120 #7 #6 #5 #4 #3 #2 #1 #0
F148 ZP4 ZP3 ZPZ ZPX (T series)
ZP4 ZPZ ZPY ZPX (M series)
#7 #6 #5 #4 #3 #2 #1 #0
F168 ZRF4 ZRF3 ZRFZ ZRFX (T series)
ZRF4 ZRFZ ZRFY ZRFX (M series)
Reference position establishment signal ZRFX to ZRF4 <F168#0 to #3>
Signal address
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#7 0001
#6 #5 DECI
#4 #3 #2 #1 #0
[Data type] Bit
DECI Deceleration signal (*DECX to *DEC4) for manual reference position return 0 : Deceleration is applied when the signal is 0. 1 : Deceleration is applied when the signal is 1.
#7 0003
#6 #5 #4 #3 ZM4
#2 ZM3
#1 ZMZ
#0 ZMX (T series)
ZM4 ZMZ ZMY ZMX (M series)
NOTE When this parameter is changed, turn off the power before continuing operation.
[Data type] Bit
ZMx The direction of reference position return and the initial direction of backlash at power–on 0 : Positive direction 1 : Negative direction
#7 #6 #5 #4 #3 Reference counter size
#2 #1 #0 0004 – 0007
[Data type] Bit
[Valid data range] 1000 to 16000
Set the size of the reference counter. As the size of the reference counter, specify the grid interval for the reference position return in the grid method.
Size of the reference counter = grid interval
detection unit
Grid interval = the amount of travel per rotation of the pulse coder
NOTE When this parameter has been set, the power must be turned off before operation is continued.
#7 APRS0010
#6 #5 #4 #3 #2 #1 #0
[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
Parameter
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#7 0024
#6 CLCL
#5 #4 #3 #2 #1 #0 (M series)
0075 CLCL (T series)
[Data type] Bit
CLCL Local coordinate system when the manual reference position return is performed 0 : The local coordinate system is not canceled. 1 : The local coordinate system is canceled.
#7 0041
#6 #5 #4 #3 #2 JRNJF
#1 #0 (T series)
[Data type] Bit
JRNJF The manual reference position return at JOG feedrate 0 : Not performed 1 : Performed
#7 0049
#6 #5 #4 S3JOG
#3 #2 #1 #0
[Data type] Bit
S3JOG Number of axes controlled simultaneously in JOG feed, manual rapid traverse and manual reference position return 0 : 1 axis 1 : Up to 3 axes
#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 to 0711 is used. 1 : For input in mm, the value set in parameter Nos.0708 to 0711 is used,
or for input in inches, the value set in parameter Nos.0815 to 0818 is used.
#7 0065
#6 #5 #4 #3 PSOT
#2 #1 #0
[Data type] Bit
PSOT Checking of stored stroke limit during the time from power–on to the manual reference position return 0 : The stroke limit is checked. 1 : The stroke limit is not checked
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#7 0074
#6 #5 #4 #3 CFR4
#2 CFR3
#1 CFRZ
#0 CFRX (T series)
CFR4 CFRZ CFRY CFRX (M series)
[Data type] Bit
CFRx When a command specifying the movement except for G28 is issued in automatic operation (MEM or MDI) when a return to the reference position has not been performed since the power was turned on 0 : An alarm is not generated. 1 : An alarm is generated. (P/S alarm 224).
#7 OUTZRN0399
#6 #5 #4 #3 #2 #1 #0
[Data type] Bit
OUTZRN When manual reference position return is attempted in the halt state during automatic operation (feed hold stop state) under any of the conditions listed below: 0 : Manual reference position return is not performed, with P/S alarm No.
091. 1 : Manual reference position return is performed without an alarm
occurring.
< Conditions >
� When there is a remaining distance to travel.
� When an auxiliary function (miscellaneous function, spindle–speed function, tool function) is being executed.
� When a cycle such as a dwell cycle or canned cycle is being executed.
Grid shift value0508 – 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.
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0534 FL rate of the reference position return
[Data type] Word
��������� ������ ��� �� ���
��� ��� �����
��������� ������ ��� �� ���
����� ���� ����
Millimeter machine 1 mm/min 6 to 15000 6 to 12000
Inch machine 0.1 inch/min 6 to 6000 6 to 4800
Rotaion axis 1 deg/min 6 to 15000 6 to 12000
Set feedrate (FL rate) after deceleration when the reference position return is performed.
Coordinate value of the reference position on each axis used for setting a coordinate system automatically
0708 – 0711
[Data type] Two–word
Increment system 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.
Coordinate value of the reference position on each axis used for setting a coordinate system automatically when input is performed in inches
0815 – 0818
[Data type] Two–word
Increment system 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.
[Valid data range]
[Unit of data]
[Unit of data]
[Unit of data]
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������ Message Description
090 REFERENCE RETURN IN- COMPLETE
The reference position return cannot be performed normally because the reference position return start point is too close to the reference position or the speed is too slow. Separate the start point far enough from the reference position, or specify a sufficiently fast speed for reference position return. Check the program contents.
091 REFERENCE RETURN IN- COMPLETE
Manual reference position return cannot be performed in the feed hold state. Perform a manual reference position return in the au- tomatic operation stop state or reset state.
224 RETURN TO REFERENCE POINT
Not returned to reference point before cycle start. (Only when parameter No.0074#0 to #3 are 1. Do reference position return.
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
III.3.1 MANUAL REFERENCE POSITION RETURN
OPERATOR’S MANUAL (For Lathe) (B–61394E)
III.3.1 MANUAL REFERENCE POSITION RETURN
Alarm and message
Reference item
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This function moves the tool near around the reference position set for each axis in the manual continuous feed mode. Then it sets the reference position in the reference position return mode without the deceleration signal for reference position return by turning the feed axis and direction select signal to “1”. With this function, the machine reference position can be set at a given position without installing the limit switch for deceleration for reference position return.
Also, if the absolute-position detector is provided, the set reference position is retained after the power is turned off. In this case, when the power is turned on again, there is no need for setting the reference position again.
(1)Feed the tool, along the axis for which the reference position is to be set, by manual continuous feed in the reference position return direction. Stop the tool near the reference position, but do not exceed the reference position.
(2)Enter manual reference position return mode, then set 1 for the feed axis direction selection signal (for the positive or negative direction) for the axis.
(3)The CNC positions the tool to the nearest grid line (based on one–rotation signals from the position detector) in the reference position return direction specified with bits 0 to 3 (ZMx) of parameter No.0003. The point to which the tool is thus positioned becomes the reference position.
(4)The CNC checks that the tool is positioned to within the in–position area, then sets the completion signal for reference position return and the reference position establishment signal to 1.
The timing chart for the basic elements constituting steps (2) to (4) is shown below.
4.2 SETTING THE REFERENCE POSITION WITHOUT DOGS
General
���� ��� � ��� ��� ������
��� ������� � ��������
������� �� �
4. REFERENCE POSITION ESTABLISHMENT B–61393E–2/02
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+X or –X
Grid
ZPX
ZRFX
Feedrate
�
Manual reference position return mode
FL rate
� ��� �
The following figure shows the positional relation between the reference position and the point to which the tool is positioned by manual continuous feed.
Grid
– direction
Position after jog feed
+ direction
Reference position for reference position return in the negative direction
Reference position for reference position return in the positive direction
A B
A
B
To set the reference position without dogs, when the reference position has not yet been established, the tool must be fed, in manual continuous feed mode, in the reference position return direction at such a speed that the servo position error value exceeds 128. The tool must cross the grid line corresponding to a one–rotation signal from the position detector.
Section 4.1 explains how to calculate the servo position error.
To shift the reference position, the grid can be shifted by the distance set in parameter Nos.0508 to 0511. The grid shift to be set in the parameter must not exceed the reference counter capacity (bits 0 to 3 of parameter Nos.0004 to 0007).
When the feed axis and direction selection signal is set to 1 in manual reference position return mode after the reference position has been established, the tool is positioned to the reference position regardless of the direction specified with the feed axis and direction selection signal. The completion signal for reference position return is then set to 1.
Servo position error and one–rotation signal
Grid shift
Reference position return
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#7 0003
#6 #5 #4 #3 ZM4
#2 ZM3
#1 ZMZ
#0 ZMX (T series)
ZM4 ZMZ ZMY ZMX (M series)
NOTE When this parameter is changed, turn off the power before continuing operation.
[Data type] Bit
ZMx The direction of reference position return and the direction of initial backlash at power–on 0 : Positive direction 1 : Negative direction
#7 #6 #5 #4 #3 Reference counter size
#2 #1 #0 0004 – 0007
[Data type] Bit
[Valid data range] 1000 to 16000
Set the size of the reference counter.
As the size of the reference counter, specify the grid interval for the reference position return in the grid method.
Size of the reference counter = grid interval
detection unit
Grid interval = the amount of travel per rotation of the pulse coder
NOTE When this parameter has been set, the power must be turned off before operation is continued.
#7 APRS0010
#6 #5 #4 #3 #2 #1 #0
[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
Parameter
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#7 0024
#6 CLCL
#5 #4 #3 #2 #1 #0 (M series)
0075 CLCL (T series)
[Data type] Bit
CLCL Local coordinate system when the manual reference position return is performed 0 : The local coordinate system is not canceled. 1 : The local coordinate system is canceled.
#7 0049
#6 #5 #4 S3JOG
#3 #2 #1 #0
[Data type] Bit
S3JOG Number of axes controlled simultaneously in manual continuous feed, manual rapid traverse and manual reference position return 0 : 1 axis 1 : Up to 3 axes
#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 to 0711 is used. 1 : For input in mm, the value set in parameter Nos.0708 to 0711 is used,
or for input in inches, the value set in parameter Nos.0815 to 0818 is used.
#7 0065
#6 #5 #4 #3 PSOT
#2 #1 #0
[Data type] Bit
PSOT Checking of stored stroke limit during the time from power–on to the manual position reference return 0 : The stroke limit is checked. 1 : The stroke limit is not checked
#7 0074
#6 #5 #4 #3 CRF4
#2 CRF3
#1 CRFZ
#0 CRFX (T series)
CRF4 CRFZ CRFY CRFX (M series)
[Data type] Bit
CRFx When a command specifying the movement except for G28 is issued in automatic operation (AUTO or MDI) and when a return to the reference position has not been performed since the power was turned on 0 : An alarm is not generated. 1 : An alarm is generated (P/S alarm 224).
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#7 0076
#6 #5 #4 #3 #2 #1 JZRN
#0
[Data type] Bit
JZRN Function setting the reference position without dog 0 : Disabled 1 : Enabled
NOTE This function can be specified for each axis by JZRNx, bits 0 to 5 of parameter No.0391.
#7 0391
#6 #5 JZRN8
#4 JZRN7
#3 JZRN4
#2 JZRN3
#1 JZRNZ
#0 JZRNX
[Data type] Bit
JZRNx Function for setting the reference position without dogs for each axis 0 : Enabled 1 : Disabled
NOTE When parameter JZRN (No.0076#1) is 1, these parameters are enabled.
#7 OUTZRN0399
#6 #5 #4 #3 #2 #1 #0
[Data type] Bit
OUTZRN When manual reference position return is attempted in the halt state during automatic operation (feed hold stop state) under any of the conditions listed below: 0 : Manual reference position return is not performed, with P/S alarm No.
091. 1 : Manual reference position return is performed without an alarm
occurring.
< Conditions >
� When there is a remaining distance to travel.
� When a auxiliary function (miscellaneous function, spindle–speed function, tool function) is being executed.
� When a cycle such as a dwell cycle or canned cycle is being executed.
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Grid shift value0508 – 0511
[Data type] Word
[Unit of data] Detection unit
[Valid data range] 0 to �32767
A grid shift is set for each axis.
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.
0534 FL rate of the reference position return
[Data type] Word
��������� ������ ��� �� ���
��� ��� �����
��������� ������ ��� �� ���
����� ���� ����
Millimeter machine 1 mm/min 6 to 15000 6 to 12000
Inch machine 0.1 inch/min 6 to 6000 6 to 4800
Rotaion axis 1 deg/min 6 to 15000 6 to 12000
Set feedrate (FL rate) after deceleration when the reference position return is performed.
Coordinate value of the reference position used when automatic coordinate system setting is performed
0708 – 0711
[Data type] Two–word
Increment system 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.
[Valid data range]
[Unit of data]
[Unit of data]
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Coordinate value of the reference position on each axis used for setting a coordinate system automatically when input is performed in inches
0815 – 0818
[Data type] Two–word
Increment system 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.
������ Message Description
090 REFERENCE RETURN IN- COMPLETE
The reference position return cannot be performed normally because the reference position return start point is too close to the reference position or the speed is too slow. Separate the start point far enough from the reference position, or specify a sufficiently fast speed for reference position return. Check the program contents.
091 REFERENCE RETURN IN- COMPLETE
Manual reference position return cannot be performed in the feed hold state. Perform a manual reference position return in the au- tomatic operation stop state or reset state.
224 RETURN TO REFERENCE POINT
Not returned to reference position before cycle start. (Only when bits 0 to 3 of pa- rameter No.0074 are 1). Do reference position return.
NOTE Alarm No. 090 is issued when G28 is specified if the reference position has not yet be established.
[Unit of data]
Alarm and message
Note
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When reference position return is performed using a grid method, the reference position can be shifted by a parameter–set distance without having to move the deceleration dog.
This function is enabled by setting bit 3 of parameter No. 0399 (SFDEC) to 1. When distance LSFT, shown below, is set in parameter Nos. 0508 to 0511, the reference position can be shifted.
Distance LDEC’, shown below, for the axis along which reference position return was last made is indicated on the diagnostic screen (No. 0956).
Direction of reference position return
LDEC LSFT Deceleration dog
↑ Reference positionGrid point
↑
LSFT: Reference position shift amount LDEC: Distance from the position where the deceleration dog is turned off to the first grid point (grid point when the shift amount is 0)
(1)Set the SFDEC bit (bit 3 of parameter No. 0399) to 1, and set the reference position shift amount to 0. Then, perform reference position return.
LDEC LSFT
Direction of reference position return
Deceleration dog
↑ Reference position
Grid point ↑ ↑
Stop position
After the deceleration dog is turned off, the tool stops when the first grid point is reached. Distance LDEC is indicated on the diagnostic screen (No. 0956).
(2)Determine the distance LSFT (reference position shift amount) from the stop position to the reference position, and set it in parameter Nos. 0508 to 0511.
This completes the adjustment of the reference position.
4.3 REFERENCE POSITION SHIFT (M SERIES)
General
� How to adjust the reference position
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(3)Perform reference position return again. Then, the tool stops when it reaches the reference position.
Direction of reference position return
Deceleration dog
↑ Reference position
(stop position)
Grid point ↑
#7 0399
#6 #5 #4 #3 SFDEC
#2 #1 #0
[Data type] Bit
SFDEC The function for shifting the reference position is 0 : Not used 1 : Used
Reference position shift0508 – 0511
[Data type] Word
[Unit of data] Detection unit
[Valid data range] –32767 to 32767
A reference position shift is set for each axis.
CAUTION When bit 3 of parameter No. 0399, SFDEC, is set to 0, this parameter is used for reference position shift.
NOTE When this parameter has been set, the power must be turned off before operation is continued.
0956 Distance from the position where the deceleration dog is turned off to the first grid point
[Data type] Two–word
[Unit of data] 0.001 mm (metric output), 0.0001 inch (inch output)
[Valid data range] –99999999 to 99999999
Parameter
� Diagnostic display
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NOTE 1 The reference position can be shifted only in the direction
of reference position return. 2 When the SFDEC bit (bit 3 of parameter No. 0399) is 0, only
the distance from the position where the deceleration dog is turned off to the first grid point (the grid point after grid shift) is indicated.
Note
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The G28 command positions the tool to the reference position, via the specified intermediate point, along the specified axis, then sets the completion signal for reference position return (see Section 4.1) to 1.
The tool moves to the intermediate point or reference position at the rapid traverse rate.
#7 0003
#6 #5 #4 #3 ZM4
#2 ZM3
#1 ZMZ
#0 ZMX (T series)
ZM4 ZMZ ZMY ZMX (M series)
NOTE After setting this parameter, turn the power off then on again so that the setting will take effect.
[Data type] Bit
ZMx The direction of reference position return and the direction of initial backlash at power–on 0 : Positive direction 1 : Negative direction
������ Message Description
405 SERVO ALARM: (ZERO POINT RETURN FAULT)
Position control system fault. Due to an CNC or servo system fault in the reference position return, there is the possibility that reference position re- turn could not be executed correctly. Try again from the manual reference position return.
4.4 REFERENCE POSITION RETURN
General
Parameter
Alarm and message
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CAUTION
1 The tool is moved from the intermediate point in a sequence similar to manual reference position return, if the G28 command is issued in the following cases: · When the reference position has not yet been
established · When the input increment (millimeter/inch) is changed at
a position other than the reference position In these cases, the tool leaves the intermediate point in the reference position return direction specified with bits 0 to 3 (ZMx) of parameter No.0003. The intermediate point must therefore be specified at a position from which reference position return is possible.
2 If the G28 command is issued in the machine lock status, the completion signal for reference position return is not set to 1.
3 If millimeter input is selected for an inch–system machine, the completion signal for reference position return may be set to 1, even when the programmed tool position deviates from the reference position by the least input increment. This is because the least input increment is smaller than the least command increment for the machine.
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
II.6 REFERENCE POSITION
OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.6 REFERENCE POSITION
Caution
Reference item
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The G30 command positions the tool to the 2nd, 3rd, or 4th reference position, via the specified intermediate point, along the specified axis. Then, it sets the completion signal for 2nd, 3rd, or 4th reference position return to 1.
The 2nd, 3rd, or 4th reference position must be set in parameter Nos. 0735 to 0738 and 0780 to 0787 with coordinates in the machine coordinate system, before issuing the G30 command.
The tool moves to the intermediate point or 2nd, 3rd, or 4th reference position at the rapid traverse rate.
Return to the 2nd, 3rd, or 4th reference position can be performed only after the reference position has been established.
[Classification] Output signal
[Function] The second, third, and fourth reference position end signals report the tool is at the second, third, and fourth reference positions on a controlled axis, respectively. These signals are provided for axes in a one–to –one correspondence. A numeric character or alphabet appended to the end of a signal represents a controlled axis number, and a numeric character immediately following ZP represents a reference position number.
4.5 2ND REFERENCE POSITION RETURN/3RD, 4TH REFERENCE POSITION RETURN
General
Signal
Second reference position return completion signals ZP2X to ZP24 <F161#0 to #3> Third reference position return completion signals ZP3X to ZP34 <F169#0 to #3> Fourth reference position return completion signals ZP4X to ZP44 <F169#4 to #7>
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1 : Return end signal for the X axis
2 : Return end signal for the Y axis
3 : Return end signal for the Z axis
: :
2 : Second reference position return 3 : Third reference position return 4 : Fourth reference position return
ZP 2 x
[Output condition] These signals turn to “1” when:
� The second, third, or fourth reference position return (G30) is completed, and the current position is in the in–position area.
These signals turn to “0” when: � The tool moved from the reference position. � An emergency stop is applied. � A servo alarm is raised.
#7 F161
#6 #5 #4 #3 ZP24
ZP24
#2 ZP23
ZP2Z
#1 ZP2Z
ZP2Y
#0 ZP2X
ZP2X
(T series)
(M series)
ZP44F169
ZP44
ZP43
ZP4Z
ZP4Z
ZP4Y
ZP4X
ZP4X
ZP34
ZP34
ZP33
ZP3Z
ZP3Z
ZP3Y
ZP3X
ZP3X
(T series)
(M series)
Coordinate value of the second reference position on each axis in the machine coordinate system
0735 to 0738
Coordinate value of the third reference position on each axis in the ma- chine coordinate system
0780 to 0783
Coordinate value of the fourth reference position on each axis in the ma- chine coordinate system
0784 to 0787
[Data type] Two–word
[Unit of data]
Increment system IS–A IS–B IS–C Unit
Millimeter machine 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
Set the coordinate values of the reference positions in the machine coordinate system.
Signal address
Parameter
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������ Message Description
046 ILLEGAL REFERENCE RE- TURN COMMAND
Other than P2, P3 and P4 are commanded for 2nd, 3rd and 4th reference position re- turn command. Correct program.
CAUTION 1 If the G30 command is issued in machine lock status, the
completion signal for 2nd, 3rd, or 4th reference position return is not set to 1.
2 If millimeter input is selected for an inch–system machine, the completion signal for 2nd, 3rd, or 4th reference position return may be set to 1, even when the programmed tool position deviates from the 2nd, 3rd, or 4th reference position by the least input increment. This is because the least input increment is smaller than the least command increment for the machine.
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
II.6 REFERENCE POSITION
OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.6 REFERENCE POSITION
Alarm and Message
Caution
Reference Item
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This function sets the machine zero point by butting an axis against its mechanical stopper while the servo motor is under torque control. Because this butting is performed automatically, stable reference position setting can be realized easily. This function is optional and is enabled only when an absolute–position detector is used.
Reference position setting is performed as follows:
1 The servo motor is subjected to torque control as specified in a parameter in order to suppress the torque when the axis is butted against the mechanical stopper.
2 The axis is butted against the stopper at the speed specified in a parameter. Whether the axis is butted against the stopper is determined from the torque limit reach signal, sent from the servo motor. Then, movement is performed in the opposite direction, by an amount specified in a parameter.
3 The axis is again butted against the mechanical stopper at the speed specified in another parameter. The position of the stopper is determined from the torque limit reach signal sent from the servo motor. Movement in the opposite direction is made, starting from that position, by the amount specified in a parameter. The resulting position is set as the machine zero point.
4 The servo motor is released from torque control.
Start reference position setting by butting the axis against the stopper, by applying the following procedure:
(1)Set the parameters required for reference position setting by butting the axis against the stopper.
(2)Select reference position return mode.
(3)Turn on the manual handle feed axis select signal for the target axis for reference position setting. (Because an absolute–position detector is provided, a reference position return request alarm, issued for the axis, is displayed.)
(4)Turn on the cycle start (ST) signal.
Now, reference position setting by pressing axis to stopper starts, causing the automatic operation start (OP) signal to be output. Upon the completion of reference position setting, the reference position return complete (ZP) signal is output, thus disabling the OP signal. In addition, alarm 000 is displayed. Repeat the above procedure for each necessary axis. Then, turn the power off. The reference position is set at the next power–up. If the above operation is performed again, positioning to the established reference position is done by rapid traverse. During positioning, however, the rapid traverse override function is disabled.
4.6 REFERENCE POSITION SETTING BY BUTTING AXIS AGAINST STOPPER
General
Operation
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(1)The target axis of reference position setting is subjected to torque control as specified in parameters 360 to 363 (M series) or parameters 372 to 375 (T series).
Torque control Mechanical stopper
(2)The target axis of reference position setting is moved in the direction specified in bits 0 to 3 of parameter 003 at the speed (high detection speed) specified in parameter 942 (M series) or parameter 451 (T series).
Mechanical stopper
⇐ High detection speed
(3)When the torque limit reach signal sent from the servo motor goes on, the axis is assumed to be butted against the mechanical stopper. Then, movement is made in the opposite direction by the amount specified in parameters 944 to 947 (M series) or parameters 459 to 462 (T series) at the speed specified in parameters 944 to 947 (M series) or parameters 459 to 462 (T series).
Mechanical stopper
Retracted to a point approxi- mating to the reference position ⇒
(4)The axis is moved in the direction specified in bits 0 to 3 of parameter 003 at the speed (low detection speed) specified in parameter 943 (M series) or parameter 458 (T series).
Mechanical stopper
⇐ Low detection speed
<
Operation of reference position setting
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(5)When the torque limit reach signal sent from the servo motor goes on, the axis is assumed to be butted against the mechanical stopper. Movement is made in the opposite direction by the amount specified in parameters 944 to 947 (M series) or parameters 459 to 462 (T series) at the speed specified in parameters 944 to 947 (M series) or parameters 459 to 462 (T series). The resultant position is set as the reference position. The servo motor is released from torque control.
Mechanical stopper
Reference position established (torque control released)
Retracted to the reference position ⇒
Speed of movement towards the mechanical stopper
Mode signal (Input) MD1, 2, 4, ZRN
Axis select signal (Input) H �
Automatic operation start signal (input) ST
Cycle operation
Automatic operation signal (Output) OP
Reference position return complete signal (output) ZP �
100% 100% Torque control Torque control (parameter setting)
Speed 0 Axial speed
Retracting speed
Torque limit reach signal
Time chart
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For reference position setting by butting the axis against the stopper, set the following six parameters:
(1)Direction of reference position #7
0003 #6 #5 #4 #3
ZM4 #2
ZMZ #1
ZMY #0
ZMX (M series)
0003 ZM4 ZM3 ZMZ ZMX (T series)
ZMx ZMx On the axis for which reference position setting is performed by butting the axis against the stopper, the reference position (mechanical stopper) is:
1 : In the negative direction. 0 : In the positive direction.
(2)Torque limit value
0360 TRQLTX (M series)
0361 TRQLTY (M series)
0362 TRQLTZ (M series)
0363 TRQLT4 (M series)
0372 TRQLTX (T series)
0373 TRQLTZ (T series)
0374 TRQLT3 (T series)
0375 TRQLT4 (T series)
TRQLTx Set a torque limit value for each axis, to be applied for reference position setting by butting the axis against the stopper. The actual torque limit is calculated as follows:
(Setting) 255
� (Maximum torque)
When the setting is 0, torque control is not performed. Valid data range: 0 to 255
(3)Butting speed 1
0942 STPSD1 (M series)
0451 STPSD1 (T series)
STPSD1 Set the speed at which the axis is butted against the mechanical stopper: Setting 0 to 15000 Unit 1mm/min (Millimeter output)
0 to 6000 Unit 0.1inch/min (Inch output)
Parameter
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(4)Butting speed 2
0943 STPSD2 (M series)
0452 STPSD2 (T series)
STPSD2 Set the speed at which the axis is butted against the mechanical stopper the second time: Setting 0 to 15000 Unit 1mm/min (Millimeter output)
0 to 6000 Unit 0.1inch/min (Inch output)
(5)Retracting speed (speed of travel for reference position setting)
0944 ZRNSPX (M series)
0945 ZRNSPY (M series)
0946 ZRNSPZ (M series)
0947 ZRNSP4 (M series)
0459 ZRNSPX (T series)
0460 ZRNSPZ (T series)
0461 ZRNSP3 (T series)
0462 ZRNSP4 (T series)
ZRNSPx Set the speed at which the axis is retracted after being butted against the mechanical stopper. Setting 0 to 15000 Unit 1mm/min (Millimeter output)
0 to 6000 Unit 0.1inch/min (Inch output)
(6)Reference position
0948 SAZRNX (M series)
0949 SAZRNY (M series)
0950 SAZRNZ (M series)
0951 SAZRN4 (M series)
0872 SAZRNX (T series)
0873 SAZRNZ (T series)
0874 SAZRN3 (T series)
0875 SAZRN4 (T series)
SAZRNx Set the position of the mechanical stopper, as viewed from the reference position set for each axis. The sign added to the data corresponds to the direction of the reference position (parameter 003). If the signs do not match, reference position setting by butting the axis against the mechanical stopper is not performed. Setting 0 to � 99999999 Unit 0.001mm/min (Millimeter output)
0.0001inch (Inch output)
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CAUTION If a reset occurs during reference position setting, reference position setting is stopped. Torque control, however, continues to be applied to ensure safety. To release the current control, turn the power off.
NOTE 1 This function is disabled for the fifth/sixth axis or for the
seventh/eighth axis. 2 Two axes cannot be specified simultaneously. 3 Normal manual reference position return can be performed
for some other axes. 4 The specified torque limit value must be higher than the
traveling torque corresponding to the detection speed of the mechanical stopper. If the torque limit value is not greater than the traveling torque, the torque reach signal is enabled before the axis reaches the stopper. The position at which the torque reach signal goes on is assumed to be the position of the mechanical stopper.
Caution
Note
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5 AUTOMATIC OPERATION
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195
When automatic operation start signal ST is set to 1 then 0 in which memory (AUTO) mode or manual data input (MDI) mode, the CNC enters the automatic operation start state then starts operating.
Signal ST, however, is ignored in the following cases:
1. When the mode is other than AUTO or MDI
2. When the feed hold signal (*SP) is set to 0
3. When the emergency stop signal (*ESP) is set to 0
4. When the external reset signal (ERS) is set to 1
5. When the reset and rewind signal (RRW) is set to 1
6. When MDI RESET key is pressed
7. When the CNC is in the alarm state
8. When the CNC is in the NOT READY state
9. When automatic operation is starting
10.When the program restart signal (SRN) is 1
11.When the CNC is searching for a sequence number.
The CNC enters the feed hold state and stops operation in the following cases during automatic operation:
1. When the feed hold signal (*SP) is set to 0
2. When the mode is changed to manual handle feed (HNDL), incremental feed (STEP), or jog feed (JOG).
The CNC enters the automatic operation stop state and stops operating in the following cases during automatic operation:
1. When a single command block is completed during a single block operation
2. When operation in manual data input (MDI) mode has been completed
3. When an alarm occurs in the CNC
4. When a single command block is completed after the mode is changed to manual data input mode (MDI) or memory edit (EDIT)
The CNC enters the reset state and stops operating in the following cases during automatic operation:
1. When the emergency stop signal (*ESP) is set to 0
2. When the external reset signal (ERS) is set to 1
3. When the reset and rewind signal (RRW) is set to 1
4. When MDI RESET key is pressed
The state of the CNC (automatic operation start, feed hold , automatic operation stop, or reset) is posted to the PMC with status output signals OP, SPL, and STL. See the table in the “Signals” section for details.
5.1 CYCLE START/FEED HOLD
General
� Start of automatic operation (cycle start)
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When the feed hold signal *SP is set to 0 during automatic operation, the CNC enters the feed hold state and stops operation. At the same time, cycle start lamp signal STL is set to 0 and feed hold lamp signal SPL is set to 1. Re–setting signal *SP to 1 in itself will not restart automatic operation. To restart automatic operation, first set signal *SP to 1, then set signal ST to 1 and then to 0.
STL
ST
SPL
ST
STL
*SP *SP
This signal is ignored when the feed hold signal is set to 0.
ST
Fig. 5.1 Time Chart for Automatic Operation