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FANUC Series 0i-MODEL D, Series 0i Mate-MODEL D. OPERATOR'S MANUAL - page 13

2.OPERATIONAL DEVICES

OPERATION

B-64304EN/02

CNC

Main board

Channel 1

Channel 2

JA56A

JA36A

RS-232-C

RS-232-C

Reader/

Reader/

puncher

puncher

I/O CHANNEL=0

I/O CHANNEL=2

or

I/O CHANNEL=1

This CNC has a total of two channels of reader/puncher interfaces. It also has a memory card interface.

The input/output device to be used is specified by setting the channel (interface) connected to that device

in setting parameter I/O CHANNEL.

The specified data, such as a baud rate and the number of stop bits, of an input/output device connected to

a specific channel must be set in parameters for that channel in advance. (These settings are not required

for the memory card interface.)

For channel 1, two combinations of parameters to specify the input/output device data are provided.

The following shows the interrelation between the reader/puncher interface parameters for the channels.

I/O CHANNEL

Input/output channel number (parameter No.0020)

0020

or foreground input

↓

Set channels to be used

0101

Stop bit and other data

for data input/output.

I/O CHANNEL=0

0102

Number specified for the input/output device

(Channel 1)

I/O CHANNEL (0 to 9)

0103

Baud rate

=0 : Channel 1

=1 : Channel 1

=2 : Channel 2

0111

Stop bit and other data

=3 : Channel 3

I/O CHANNEL=1

0112

Number specified for the input/output device

:

(Channel 1)

:

0113

Baud rate

:

Input/output to and from the

memory card interface, etc. is also

0121

Stop bit and other data

possible.

I/O CHANNEL=2

0122

Number specified for the input/output device

(Channel 2)

When bit

0

(IO4) of parameter

0123

Baud rate

No.0110 is set

:

0021

Foreground output

:

:

0022

Background input

I/O CHANNEL=9

0023

Background input

The channel setting is the same as

No.0020.

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OPERATION

2.OPERATIONAL DEVICES

2.5

POWER ON/OFF

2.5.1

Turning on the Power

Procedure of turning on the power

Procedure

1

Check that the CNC or machine is visually normal. (For example, check that front door and rear

door are closed.)

2

Turn on the power according to the manual issued by the machine tool builder.

3

After the power is turned on, check that the position screen is displayed. An alarm screen is

displayed if an alarm occurs upon power-on.

Fig. 2.5.1 (a) Position screen (example for the 8.4-inch display unit)

4

Check that the fan motor is rotating.

WARNING

Until the positional or alarm screen is displayed at the power on, do not touch

them. Some keys are used for the maintenance or special operation purpose.

When they are pressed, unexpected operation may be caused.

2.5.2

Power Disconnection

Procedure of power disconnection

Procedure

1

Check that the LED indicating the cycle start is off on the operator's panel.

2

Check that all movable parts of the CNC machine tool is stopping.

3

If an external input/output device such as the Handy File is connected to the CNC, turn off the

external input/output device.

4

Continue to press the <POWER OFF> button for about 5 seconds.

5

Refer to the machine tool builder's manual for turning off the power to the machine.

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3.MANUAL OPERATION

OPERATION

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3 MANUAL OPERATION

MANUAL OPERATION are eight kinds as follows :

3.1 MANUAL REFERENCE POSITION RETURN

338

3.2 JOG FEED (JOG)

339

3.3 INCREMENTAL FEED

341

3.4 MANUAL HANDLE FEED

342

3.5 MANUAL ABSOLUTE ON AND OFF

345

3.6 DISTANCE CODED LINEAR SCALE INTERFACE

349

3.7 LINEAR SCALE WITH DISTANCE-CODED REFERENCE MARKS (SERIAL)

354

3.8 MANUAL HANDLE RETRACE

357

3.1

MANUAL REFERENCE POSITION RETURN

The tool is returned to the reference position as follows :

The tool is moved in the direction specified in bit 5 (ZMI) of parameter No.1006 for each axis with the

reference position return switch on the machine operator's panel. The tool moves to the deceleration point

at the rapid traverse rate, then moves to the reference position at the FL speed. The rapid traverse rate and

FL speed are specified in parameters Nos. 1424,1421, and 1425.

Four step rapid traverse override is effective during rapid traverse.

When the tool has returned to the reference position, the reference position return completion LED goes

on. The tool generally moves along only a single axis, but can move along three axes simultaneously

when specified so in bit 0 (JAX) of parameter No.1002.

Reference position

Deceleration point

Rapid traverse motion

Decelerated motion

Rapid traverse rate

FL speed

(rapid traverse

override is effective)

Fig. 3.1 (a) Manual reference position return

Procedure for manual reference position return

Procedure

1

Press the reference position return switch, one of the mode selection switches.

2

To decrease the feedrate, press a rapid traverse override switch.

3

Press the feed axis and direction selection switch corresponding to the axis and direction for

reference position return. Continue pressing the switch until the tool returns to the reference position.

The tool can be moved along three axes simultaneously when specified so in an appropriate

parameter setting. The tool moves to the deceleration point at the rapid traverse rate, then moves to

the reference position at the FL speed set in a parameter. When the tool has returned to the reference

position, the reference position return completion LED goes on.

4

Perform the same operations for other axes, if necessary.

The above is an example. Refer to the appropriate manual provided by the machine tool builder for the

actual operations.

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OPERATION

3.MANUAL OPERATION

ZERO POSITION

MIRRROR IMAGE

X Y Z C X2

Y2

Z2

X Y Z

PROGRAM M02/ MANU SPINDLE

ATC

STOP M30

ABS ORI

TAP READY

NC? MC?

Fig. 3.1 (b)

Explanation

-

Automatically setting the coordinate system

Bit 0 (ZPR) of parameter No.1201 is used for automatically setting the coordinate system. When ZPR is

set, the coordinate system is automatically determined when manual reference position return is

performed.

When α, β and γ are set in parameter 1250, the workpiece coordinate system is determined so that

reference point on the tool holder or the position of the tip of the reference tool is X= α, Y = β, Z = γ

when reference position return is performed. This has the same effect as specifying the following

command for reference position return:

G92XαYβZγ;

When the workpiece coordinate system is used (bit 0 (NWZ) of parameter No. 8136 is 0), this function

cannot be used.

Limitation

-

Moving the tool again

Once the reference position return completion LED lights at the completion of reference position return,

the tool does not move unless the reference position return switch is turned off.

-

Reference position return completion LED

The reference position return completion LED is extinguished by either of the following operations:

• Moving from the reference position.

• Entering an emergency stop state.

-

The distance to return to reference position

For the distance (Not in the deceleration condition) to return the tool to the reference position, refer to the

manual issued by the machine tool builder.

3.2

JOG FEED (JOG)

In the jog mode, pressing a feed axis and direction selection switch on the machine operator's panel

continuously moves the tool along the selected axis in the selected direction.

The jog feedrate is specified in a parameter No.1423.

The jog feedrate can be adjusted with the jog feedrate override dial.

Pressing the rapid traverse switch moves the tool at the rapid traverse feedrate No. 1424 regardless of the

position of the jog feedrate override dial. This function is called the manual rapid traverse.

Manual operation is allowed for one axis at a time. 3 axes can be selected at a time by bit 0 (JAX) of

parameter No.1002.

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3.MANUAL OPERATION

OPERATION

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Z

Y

While a switch is pressed, the tool moves

in the direction specified by the switch.

X

Fig. 3.2 (a) Jog Feed (JOG)

Procedure for JOG feed

Procedure

1

Press the jog switch, one of the mode selection switches.

2

Press the feed axis and direction selection switch corresponding to the axis and the direction where

the tool is to be moved. While the switch is pressed, the tool moves at the feedrate specified in the

parameter No. 1423. The tool stops when the switch is released.

3

The jog feedrate can be adjusted with the jog feedrate override dial.

4

Pressing the rapid traverse switch while pressing a feed axis and direction selection switch moves

the tool at the rapid traverse rate while the rapid traverse switch is pressed. Rapid traverse override

by the rapid traverse override switches is effective during rapid traverse.

The above is an example. Refer to the appropriate manual provided by the machine tool builder for the

actual operations.

Explanation

-

Manual per revolution feed

The manual per revolution feed is enabled for jog feed by setting bit 4 (JRV) of parameter No.1402.

In manual per revolution feed, jog feed is performed at the feedrate of the feed amount per spindle

revolution set by parameter No. 1423 multiplied by the jog feedrate override multiplied by the spindle

speed.

During manual per revolution feed, the tool is jogged at the following feedrate:

Feed distance per rotation of the spindle (mm/rev) (specified with parameter No. 1423) × JOG feedrate

override × actual spindle speed (rev/min).

Limitation

-

Acceleration/deceleration for rapid traverse

Feedrate, time constant and method of automatic acceleration/ deceleration for manual rapid traverse are

the same as G00 in programmed command.

-

Change of modes

Changing the mode to the jog mode while pressing a feed axis and direction selection switch does not

enable jog feed. To enable jog feed, enter the jog mode at first, then press a feed axis and direction

selection switch.

-

Rapid traverse prior to reference position return

If reference position return is not performed after power-on, pushing rapid traverse button does not

actuate the rapid traverse but the remains at the JOG feedrate. This function can be disabled by setting bit

0 (RPD) of parameter No.1401.

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OPERATION

3.MANUAL OPERATION

3.3

INCREMENTAL FEED

In the incremental (INC) mode, pressing a feed axis and direction selection switch 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.

With using bit 2 (HNT) of parameter No. 7103, each step can be additionally 10 times the lest input

increment.

The feedrate set in parameter No. 1423 is applied.

By using the manual feedrate override signal, the feedrate can be increased or decreased.

The tool can also be moved at the rapid traverse rate by using the manual rapid traverse selection signal,

independent of the manual feedrate override signal.

Z

Each time a switch is

Tool

pressed, the tool moves one

step in the direction

specified by the switch.

Y

X

Fig. 3.3 (a) Incremental feed

Procedure for incremental feed

Procedure

1

Press the INC switch, one of the mode selection switches.

2

Select the distance to be moved for each step with the magnification dial.

3

Press the feed axis and direction selection switch corresponding to the axis and direction the tool is

to be moved. Each time a switch is pressed, the tool moves one step. The feedrate is the same as

the jog feedrate.

4

Pressing the rapid traverse switch while pressing a feed axis and direction selection switch moves

the tool at the rapid traverse rate. Rapid traverse override by the rapid traverse override switch is

effective during rapid traverse.

The above is an example. Refer to the appropriate manual provided by the machine tool builder for the

actual operations.

Explanation

-

Travel distance specified with a diameter

For specification with a diameter, the travel distance is a diameter value.

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3.MANUAL OPERATION

OPERATION

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3.4

MANUAL HANDLE FEED

In the handle mode, the tool can be minutely moved by rotating the manual pulse generator on the

machine operator's panel. Select the axis along which the tool is to be moved with the handle feed axis

selection switches.

The minimum distance the tool is moved when the manual pulse generator is rotated by one graduation is

equal to the least input increment. It can be multiplied by one of four scaling factors: 1, 10, and two

arbitrary values set in parameters Nos. 7113 and 7114. It is possible to set arbitrary scaling factors for

each axis (set in parameters Nos. 12350 and 12351) as well as arbitrary scaling factors common to all

axes (set in parameters Nos. 7113 and 7114). If parameter No. 12350 is not set, the setting of parameter

No. 7113 is used. If parameter No. 12351 is not set, the setting of parameter No. 7114 is used. With

bit 2 (HNT) of parameter No. 7103, the minimum distance can be further 10 times greater.

The above parameters are valid for manual handle interruption.

The number of manual pulse generators is given below.

T

• Up to two (Two axes can be moved at the same time.)

Up to three with an optional function for 0i-TD.

M

• Up to three (Three axes can be moved at the same time.)

Z

Y

X

Manual pulse generator

Fig. 3.4 (a) Manual handle feed

Procedure for manual handle feed

Procedure

1

Press the handle switch, one of the mode selection switches.

2

Select the axis along which the tool is to be moved by pressing a handle feed axis selection switch.

3

Select the magnification for the distance the tool is to be moved by pressing a handle feed

magnification switch. The minimum distance the tool is moved when the manual pulse generator is

rotated by one graduation is equal to the least input increment.

4

Move the tool along the selected axis by rotating the handle. Rotating the handle 360 degrees moves

the tool the distance equivalent to 100 graduations.

The above is an example. Refer to the appropriate manual provided by the machine tool builder for the

actual operations.

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3.MANUAL OPERATION

OPERATION

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A: Amount of pulses the same as

n

Rapid Traverse Rate.

A

B: Amount of pulses saved in CNC.

k : Integer number

B

ｍ

A＋B=k⋅m

Pulses over (k⋅m) will be ignored

Fig. 3.4 (c) Amount of pulses exceeding the Rapid Traverse Rate (n ≥ m)

NOTE

Due to change of mode, clamping can be performed not as an integral multiple

of the selected magnification.

The distance the tool moves may not match the graduations on the manual

pulse generator.

-

Upper feedrate limit in manual handle feed

The upper feedrate limit depends on the input signal (maximum manual handle feedrate switch signal

HNDLF) from the PMC as follows:

• When HNDLF is set to 0, the feedrate is clamped to the manual rapid traverse rate (parameter No.

1424).

• When HNDLF is set to 1, the feedrate is clamped to the feedrate set in parameter No. 1434.

-

Movement direction of an axis to the rotation of MPG (HNGx)

Bit 0 (HNGx) of parameter No 7102 switches the direction of MPG in which the tool moves along an axis,

corresponding to the direction in which the handle of the manual pulse generator is rotated.

This parameter is valid only for the following functions:

• Manual handle feed

• Manual handle interruption

Limitation

WARNING

Rotating the handle quickly with a large magnification such as ×100 moves the

tool too fast. The feedrate is clamped at the rapid traverse feedrate.

NOTE

Rotate the manual pulse generator at a rate of five rotations per second or lower.

If the manual pulse generator is rotated at a rate higher than five rotations per

second, 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.

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OPERATION

3.MANUAL OPERATION

3.5

MANUAL ABSOLUTE ON AND OFF

Whether the distance the tool is moved by manual operation is added to the coordinates can be selected

by turning the manual absolute switch on or off on the machine operator's panel. When the switch is

turned on, the distance the tool is moved by manual operation is added to the coordinates. When the

switch is turned off, the distance the tool is moved by manual operation is not added to the coordinates.

Y axis

P2

Manual operation

P1

O

X axis

The coordinates values change by the

amount of manual operation.

Fig. 3.5 (a) Coordinates with the switch ON

Y2

Y1

P2

O2

P1

X2

X1

O1

The coordinates do not change.

Fig. 3.5 (b) Coordinates with the switch OFF

Explanation

The following describes the relation between manual operation and coordinates when the manual absolute

switch is turned on or off, using a program example.

G01G90 X100.0Y100.0F10 ;

<1>

X200.0Y150.0

;

<2>

X300.0Y200.0

;

<3>

Fig. 3.5 (c) Program example

The subsequent figures use the following notation:

Movement of the tool when the switch is on

Movement of the tool when the switch is off

The coordinates after manual operation include the distance the tool is moved by the manual operation.

When the switch is off, therefore, subtract the distance the tool is moved by the manual operation.

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3.MANUAL OPERATION

OPERATION

B-64304EN/02

-

Manual operation after the end of block

Coordinates when block <1> has been executed after manual operation (X-axis +20.0, Y-axis +100.0) at

the end of movement of block <2>.

Y

(220.0 , 250.0)

(120.0 , 200.0)

Switch ON

(200.0 , 150.0)

Switch OFF

Manual

(100.0 , 100.0)

operation

X

Fig. 3.5 (d) Manual operation after the end of block

-

Manual operation after a feed hold

Coordinates when the feed hold button is pressed while block <2> is being executed, manual operation

(Y-axis + 75.0) is performed, and the cycle start button is pressed and released.

Y

(300.0 , 275.0)

(200.0 , 225.0)

(150.0 , 200.0)

(300.0 , 200.0)

Switch ON

(200.0 , 150.0)

Switch OFF

(150.0 , 125.0)

Feed hold stop point

Manual

operation

X

Fig. 3.5 (e) Manual operation after a feed hold

-

When reset after a manual operation following a feed hold

Coordinates when the feed hold button is pressed while block <2> is being executed, manual operation

(Y-axis +75.0) is performed, the control unit is reset with the RESET button, and block <2> is read again.

Y

(300.0 , 275.0)

(200.0 , 225.0)

(150.0 , 200.0)

(300.0 , 200.0)

Switch ON

(200.0 , 150.0)

Switch OFF

(150.0 , 125.0)

Feed hold stop point

Manual

operation

X

Fig. 3.5 (f) When reset after a manual operation following a feed hold

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OPERATION

3.MANUAL OPERATION

-

When a movement command in the next block is only one axis

When there is only one axis in the following command, only the commanded axis returns.

Program

N1 G90 G01 X100. Y100. F500 ;

N2 X200.0 ;

Y

N3 Y150.0 ;

(200.0 , 150.0)

N3

N2

(200.0 , 100.0)

Switch ON

(100.0 , 100.0)

Switch OFF

N1

Manual

operation

X

Fig. 3.5 (g) When a movement command in the next block is only one axis

-

When the next move block is an incremental

When the following commands are incremental commands, operation is the same as when the switch is

OFF.

-

Manual operation during cutter or tool nose radius compensation

• When the switch is OFF

After manual operation is performed with the switch OFF during cutter or tool nose radius

compensation, automatic operation is restarted then the tool moves parallel to the movement that

would have been performed if manual movement had not been performed.

The amount of separation equals to the amount that was performed manually.

• When the switch is ON during cutter or tool nose radius compensation

Operation of the machine upon return to automatic operation after manual intervention with the

switch is ON during execution with an absolute command program in the cutter or tool nose radius

compensation mode will be described. The vector created from the remaining part of the current

block and the beginning of the next block is shifted in parallel. A new vector is created based on the

next block, the block following the next block and the amount of manual movement. This also

applies when manual operation is performed during cornering.

• Manual operation performed in other than cornering

Assume that the feed hold was applied at point P_H while moving from P_A to P_B of programmed path

P_A, P_B, and P_C and that the tool was manually moved to PH'. The block end point P_B moves to the

point P_B' by the amount of manual movement, and vectors V_B1 and V_B2 at P_B also move to V_B1' and

V_B2'. Vectors V_C1 and V_C2 between the next two blocks P_B - P_C and P_C - P_D are discarded and new

vectors V_C1' and V_C2' (V_C2' = V_C2 in this example) are produced from the relation between P_B' - P_C

and P_C - P_D. However, since V_B2' is not a newly calculated vector, correct offset is not performed at

block P_B' - P_C. Offset is correctly performed after P_C.

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3.MANUAL OPERATION

OPERATION

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• Manual operation during cornering

This is an example when manual operation is performed during cornering. V_A2', V_B1', and V_B2' are

vectors moved in parallel with V_A2, V_B1 and V_B2 by the amount of manual movement. The new

vectors are calculated from V_C1 and V_C2. Then correct cutter or tool nose radius compensation is

performed for the blocks following P_C.

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OPERATION

3.MANUAL OPERATION

• Manual operation after single block stop

Manual operation was performed when execution of a block was terminated by single block stop.

Vectors V_B1 and V_B2 are shifted by the amount of manual operation. Sub-sequent processing is the

same as case a described above. An MDI operation can also be intervened as well as manual

operation. The movement is the same as that by manual operation.

3.6

DISTANCE CODED LINEAR SCALE INTERFACE

Overview

The interval of each reference marks of distance coded linear scale are variable. Accordingly, if the

interval is determined, the absolute position can be determined. The CNC measures the interval of

reference marks by axis moving of short distance and determines the absolute position. Consequently the

reference position can be established without moving to reference position.

eference mark 1 Reference mark 2

Reference mark 1

Reference mark 2

R

Reference mark 1

10.02

10.04

10.06

20.02

20.00

20.00

Fig. 3.6 (a) Example of distance coded linear scale

This is an optional function.

3.6.1

Procedure for Reference Position Establishment

Procedure

(1) Select the JOG mode, and set the manual reference position return selection signal ZRN to "1".

(2) Set a direction selection signal(+J1,-J1,+J2,-J2,…) for a target axis.

(3) The axis is fed at a constant low speed (reference position return FL feedrate specified by parameter

(No.1425) setting).

(4) When a reference mark is detected, the axis stops, then the axis is fed at a constant low speed again.

(5) Above (4) is executed repeatedly until two, three or four reference marks are detected. And

absolute position is determined and reference position establishment signal (ZRF1,ZRF2,ZRF3, …)

turns to "1".

(A number of reference marks is determined by bit 2 (DC2x) and 1 (DC4x) of parameter No.1802.)

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3.MANUAL OPERATION

OPERATION

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The timing chart for this procedures is given below.

JOG

ZRN

+J1

Reference mark

ZRF1

Feedrate

FL rate

FL rate

FL rate

Fig. 3.6.1 (a) Timing chart for reference position establishment

-

Procedure for establishing a reference position through automatic operation

If an automatic reference position return (G28) is specified before a reference position is not established,

steps (3) to (5) above are performed automatically.

After the reference position is established, the automatic reference position return is performed.

-

Stopping the operation for establishing a reference position

The operation for establishing a reference position is stopped if any of the following operations is

performed in steps (3) to (5), described above.

• Reset

• Setting the feed axis direction selection signal (+J1, -J1, +J2, -J2, etc.) to 0

If any of the following operations is performed during the operation of automatic reference position

return (G28) before a reference position is not established, the operation for establishing a reference

position stops:

• Reset

• Performing feed hold during movement from an intermediate position

If the operation for establishing a reference position is stopped by an operation other than a reset, the

operation for establishing a reference position must be reset and resumed.

3.6.2

Reference Position Return

(1) When the reference position is not established and the axis moved by turning the feed axis direction

signal (+J1,-J1,+J2,-J2,...) to "1" in REF mode, the reference position establishment procedure is

executed.

(2) When the reference position is already established and the axis is moved by turning the feed axis

direction signal (+J1,-J1,+J2,-J2,...) to "1" in REF mode, the axis is moved to the reference point

without executing the reference position establishment procedure.

(3) When the reference position is not established and the reference position return command (G28) is

executed, the reference position establishment procedure is executed. The next movement the axis

depends on the setting of parameter RFS (No.1818#0).

(4) When the reference position is already established and the reference position command (G28) is

executed, the movement of the axis depends on the setting of bit 1 (RF2) of parameter No.1818.

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OPERATION

3.MANUAL OPERATION

3.6.3

Distance Coded Rotary Encoder

In case of setting a rotary axis, if bit 3 (DCRx) of parameter No.1815 is set, the setting axis is regarded as

being equipped with a distance coded rotary encoder.

In case of distance coded rotary encoder, the marker interval may be different from parameter setting

value. (a-b section of the following figure) When the reference point return is executed through this

section, it is not able to establish the reference point. Therefore, in case of distance coded rotary encoder,

if the reference point return is started for B point from A point of below figure, the reference point is not

established yet at B point. The reference point return is re-started for C point. The reference point return

procedure is finished at C point.

C

B

20.02°

20.02°

b

9.96°

20.02°

9.98°

19.66

9.94°

A

a

9.64°

20.00°

20.00°

20.00°

• When using the distance coded rotary encoder in the case of parameter rotary axis B type (bits 0 and

1 of parameter No. 1006 are 1 and 1, respectively (the machine coordinate system of the rotary axis

is of linear axis type)), even if the machine turns more than one turn, the reference position

established by this function is rounded to a movement amount per revolution of the rotary axis.

• When using the distance coded rotary encoder, only 3-point measurement or 4-point measurement is

enabled; 2-point measurement (bit 2 (DC2) of parameter No. 1802) is disabled.

3.6.4

Axis Synchronization Control

Requirements when this function is used with axis synchronization control

axes

When this function is used with axis synchronization control axes, the distance coded linear scale used for

the master axis and that used for the slave axis must have reference marks placed at identical intervals.

(Set identical values in parameters Nos. 1821 and 1882 for both the master and slave axes.)

This function does not work unless the use of this function is specified

for both the master and slave axes (bit 2 (DCL) of parameter No. 1815 is 1).

Also, in all parameters related to this function, except parameter No. 1883, 1884 (distance from the scale

zero point to reference position 1, 2), set identical values for both the master and slave axes.

If a parameter value for the master axis differs from the corresponding parameter value for the slave axis,

alarm SV1051 is issued.

NOTE

When this function is used with axis synchronization control axes for which the

operation mode is switched between synchronization operation and normal

operation, this function is enabled only if the synchronization select signal

(SYNC1 to SYNC5 <Gn138>) is 1. (During establishment of a reference position,

the synchronization select signal status must be maintained.)

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3.MANUAL OPERATION

OPERATION

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Reference position establishment with axis synchronization control axes

With axis synchronization control axes, a reference position is established as follows. When a reference

mark for the master or slave axis is detected, a stop takes place temporarily. Then, a feed operation is

performed again at the reference position return FL feedrate. This sequence is repeated until a reference

mark is detected three or four times for both the master and slave axes. Then the absolute position is

calculated for both the master and slave axes, and the reference position establish signals ZRF1, ZRF2, ...

<F120> are set to 1.

After the reference position has been established by the above operation, a synchronization error is

corrected. (Checking for excessive synchronization error alarm 2 is made even during reference position

establishment.)

(Example of 3 points measurement system)

Scale end

Reference mark

Master axis

(1)

(2)

(3)

Start point

End Point

Slave axis

In this example, reference mark (1) of the master axis is first detected, a pause takes place, movement

operation is performed at the FL feedrate, and a pause takes place again in a position where the reference

mark of the slave axis is detected.

Then, movement operation is performed again, reference mark (2) of the master axis, a pause takes place

when the reference mark of the slave axis, and reference mark (3) of the master axis are detected during

movement at the FL feedrate, and reference position establishment operation of both axes is completed on

the slave axis where the third reference mark is detected.

NOTE

In case of this function is used with axis synchronization control axes, if the value

of parameters Nos. 1883 and 1884 for both the master and slave axes is 0, the

reference position is not established. Also, the reference position establish signals

ZRF1, ZRF2, ... <F120> are set to 0.

3.6.5

Axis Control by PMC

In PMC axis control, if the reference position return command (axis control command code 05H) is issued for

an axis having a distance coded linear scale, reference position return is performed according to the reference

position return sequence for the distance coded linear scale.

Specifically, the following operations take place:

Before reference position The reference position is established by detecting two, three or four reference marks.

establishment

Movement to the reference position is not performed.

After reference position

Positioning at the reference position is performed.

establishment

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3.MANUAL OPERATION

3.6.6

Angular Axis Control

There are the following limitations when the angular axis control is used.

(a) It is necessary to use the linear scale with the distance coded reference mark for both the

perpendicular axis and the angular axis.

(b) When the reference point of the perpendicular axis is established, it is necessary to establish the

reference point of the angular axis previously. When the reference point of the angular axis is not

previously established, the alarm DS0020 is generated.

(c) During the reference point establishment operation of the angular axis, the command in the

perpendicular axis is invalid in the manual reference point return.

3.6.7

Note

(1) In the case of the actual interval of reference marks is different from parameter setting value, the

alarm DS1449 occurs.

(2) This function is disabled if any of the following conditions is satisfied:

•

Either parameter No.1821 (mark-1 interval) or parameter No.1882 (mark-2 interval) is set to 0.

•

The setting of parameter No.1821 is greater than or equal to the setting of parameter No.1882.

•

The difference between the settings made for parameters 1821 and 1882 is greater than or equal

to twice either setting.

•

The absolute-position detection function is enabled.(Bit 5 (APCx) of parameter No.1815 is set

to 1.)

(3) A difference of parameters Nos.1821 and 1882 must be more than 4.

Example)

When the scale, which is that mark1 interval is 20.000mm and mark2 interval is 20.004mm, is

used on IS-B machine :

When the detection unit of 0.001mm is selected, parameter No.1821 and No.1882 must be set

"20000" and "20004", and the difference of them is "4".

To use such a scale, please adjust the detection unit by modification of parameters No.1820

(CMR) and Nos.2084/2085(flexible feed gear) to make the difference of parameters Nos.1821

and 1882 more than 4 as following examples.

(a) Set the detection unit=0.0001mm, and set No.1821=200000, No.1882=200040

(b) Set the detection unit=0.0005mm, and set No.1821=40000, No.1882=40008

NOTE

When the detection unit is changed, parameters relating to the detection unit

(such as the effective area and positional deviation limit) must also be changed

accordingly.

(4) In this procedure, the axis does not stop until two, three or four reference marks are detected. If

this procedure is started at the position near the scale end, CNC can not detect three or four reference

marks and the axis does not stop until over travel alarm occurs. Please care to start at the position

that has enough distance from scale end.

Scale end

Reference marks

Start point (Bad)

Start point (Good)

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(5) When the axis used this function, the following function can not be used.

•

Absolute position detection (bit 5 (APCx) of parameter No.1815 = 1)

(6) If axial movement is made in the direction opposite to that of reference position return, the

movement is reversed to the direction of reference position return after three or four reference marks

have been detected. Steps (3) to (5) of the basic procedure for establishing a reference position are

carried out to establish the reference position.

M

(7) Simple straightness compensation

When the reference point establishment of moving axis is executed after the establishment of

compensation axis, the compensation axis is moved by simple straightness compensation amount

when the reference point of moving axis is established.

T

(8) The reference point establishment is not performed during synchronous control is activated.

(9) The reference point establishment is not performed during composite control is activated.

(10) The reference point establishment is not performed during superimposed control is activated.

3.7

LINEAR SCALE WITH DISTANCE-CODED REFERENCE

MARKS (SERIAL)

Overview

By using High-resolution serial output circuit for the linear scale with distance-coded reference marks

(serial), the CNC measures the interval of referenced mark by axis moving of short distance and

determines the absolute position.

This function enables high-speed high-precision detection by using High-resolution serial output circuit.

It is available that using maximum stroke 30 meters length.

Explanation

The linear scale with distance-coded reference marks (serial) is combined the irregular reference marked

linear scale with the High-resolution serial output circuit, it can detect the accurate position.

Reference mark signal

10.02

10.04

10.06

0

20

40

60

The CNC measures the interval of referenced mark by axis moving of short distance and determines the

absolute position, because of the interval of each reference mark is different with regular interval.

It is not necessary that the axis is moved to the reference position for establishment of reference position.

This function enables high-speed high-precision detection by using High-resolution serial output circuit.

It is available that using maximum stroke 30 meters length.

-

Connection

It is available under full closed system.

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3.MANUAL OPERATION

Full Closed System

CNC

Servo

Amplifier

Table

Separate

High

Detector

Resolution

Interface

Serial Output

Max. 30m

Unit

Circuit C

Linear scale with distance-coded

reference marks (serial)

-

Procedure for reference position establishment through manual operation

(1) Select the JOG mode, and set the manual reference position return selection signal ZRN to "1".

(2) Set a direction selection signal(+J1,-J1,+J2,-J2,…) for a target axis.

(3) The axis is fed at a constant low speed (reference position return FL feedrate specified by parameter

No.1425 setting).

(4) When the absolute position of linear scale with distance-coded reference marks (serial) is detected,

the axis stops. Then the absolute position of CNC is calculated and reference position establishment

signal (ZRF1,ZRF2,ZRF3,…) turns to "1".

The timing chart for this procedures is given below.

JOG

ZRN

+J1

Reference mark

ZRF1

Feedrate

FL rate

-

Procedure for reference position establishment through automatic operation

If an automatic reference position return (G28) is specified before a reference position is not established,

steps (3) to (4) above are performed automatically.

After the reference position is established, the automatic reference position return is performed by setting

of parameter RFS No.1818#0.

-

Stopping the operation for establishing a reference position

The operation for establishing a reference position is stopped if any of

the following operations is performed in steps (3) to (4), described above.

• Reset

• Setting the feed axis direction selection signal (+J1, -J1, +J2, -J2, etc.) to 0

• Setting the Servo off signals (SVF1, SVF2, etc.) to 1

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If any of the following operations is performed during the operation of automatic reference position

return (G28) before a reference position is not established, the operation for establishing a reference

position stops:

• Reset

• Performing feed hold during movement from an intermediate position

• Setting the Servo off signals (SVF1, SVF2, etc.) to 1

If the operation for establishing a reference position is stopped by an operation other than a reset, the

operation for establishing a reference position must be reset and resumed.

-

Establishing a reference position and moving to the reference position

By following operation, establishing a reference position and moving to the reference position is

performed.

Moving through manual

Moving through automatic operation by automatic

operation in REF mode

reference position return (G28)

The reference

Establishing the reference

Firstly, moving to the intermediate position, and

position is not

position

establishing the reference position.

established.

Secondly, whether moving to the reference position or not

is performed by setting bit 0 (RFS) of parameter No.1818.

The reference

Moving to the reference position

Whether moving to the intermediate position and the

position is

reference position or not is performed by setting bit 1

established.

(RF2) of parameter No.1818.

-

Feed axis synchronization control

In case of using the axis synchronization control, please confirm the following items.

• When this function is used with axis synchronization control axes, the linear scale with

distance-coded reference marks (serial) used for the master axis and that used for the slave axis must

have reference marks placed at identical intervals.

• The master axis scale and the slave axis scale should be installed in parallel direction. (The zero

positions should be faced the same direction.)

• To the parameters, which relate to this function (except No.1883, No.1884), the same value must be

set for the master axis and for the slave axis.

• The linear scale with distance-coded reference marks (serial) should be applied for the master axis

and the slave axis.

If either of the master axis or the slave axis is not the linear scale with distance-coded reference

marks (serial), alarm DS0018 occurs when reference position establishment is tried.

• During operating the establishment of reference position, the state of signal for selecting

synchronized axis(SYNCn<Gn138> or SYNCJn<Gn140>) should be kept.

Procedure for reference position establishment by axis synchronization control is as follows.

• Both of axes (master axis and slave axis) are fed on the reference position return FL feedrate until

distance coded scales of both axes detect the absolute position.

• Then absolute position of both axes are calculated and Reference Position Establishment Signals

(ZRF1,ZRF2,...) turn to "1".

-

Angular axis control

In case of using the angular axis control, please confirm the following items.

• It is necessary to use the linear scale with distance-coded reference marks (serial) for both the

perpendicular axis and the angular axis.

If not, the alarm DS0019 occurs when reference position establishment is commanded.

• When the reference point establishment of angular and perpendicular axes are tried, please set bit 2

(AZR) of parameter No. 8200 to '0' and input signal NOZAGC <G063.5> to '0'.

If not, the alarm DS0019 occurs when reference position establishment is commanded.

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3.MANUAL OPERATION

• When the reference point of the perpendicular axis is established, it is necessary to establish the

reference point of the angular axis previously. When the reference point of the angular axis is not

previously established, the alarm DS0020 occurs.

• On angular axis control, if you use automatic setting of parameter No.1883,1884 on reference point

establishment

(bit

2 (DATx) of parameter No.1819 = 1), please establish reference point of

perpendicular axis after reference point establishment and return of angular axis.

In manual reference position return, the perpendicular axis cannot be specified while the angular axis

reference point is being established. The perpendicular axis, if specified, is ignored.

CAUTION

1 When the Linear scale with distance-coded reference marks (serial) is used,

please set bit 3 (SDCx) of parameter No.1818 to 1.

2 On the Linear scale with distance-coded reference marks (serial), the axis does

not stop until three reference marks are detected. If this procedure is started at

the position near the scale end, CNC can not detect three reference marks and

the axis does not stop until over travel alarm occurs. Please care to start at the

position that has enough distance from scale end.

And if establishment of reference position is failed, the establishment is retried.

Then axis does not stop until still more three reference marks are detected. So

please set the maximum move amount (detection unit : parameter No.14010) not

to reach the scale end.

Scale end

Reference marks

Start point (Bad)

Start point (Good)

3 Simple straightness compensation (M series)

When the reference point establishment of moving axis is executed after the

establishment of compensation axis, the compensation axis is moved by simple

straightness compensation amount when the reference point of moving axis is

established.

4 It is not available to use this function and the temporary absolute coordinate

setting together.

5 Angular axis control cannot be performed together with synchronous control (T

series), composite control (T series), or superposition control (T series).

3.8

MANUAL HANDLE RETRACE

Overview

In this function, the program can be executed both forward and backward with a manual handle (manual

pulse generator) under automatic operation.

Therefore, errors of a program, interference, and so on can be checked easily by working a machine

actually.

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-

Checking mode

In this mode, the program can be executed forward and backward and the program can be checked.

To change to the checking mode, it is necessary to change the mode to the memory mode (MEM mode),

and the checking mode signal MMOD<Gn067.2> is set to "1". This function makes the data to execute

the program backward when the program is executed forward in the checking mode.

To work a machine synchronizing with a pulse generated by a manual handle in the checking mode, the

manual handle check signal MCHK <Gn067.3> is set to "1" in addition to the above-mentioned. As a

result, it becomes possible to check the program with a manual handle.

NOTE

During the checking mode, it is not possible to change the parameter and offset.

-

Forward movement with a manual handle

The "forward movement" is that the program is executed forward by turning a manual handle in the

positive direction (when the manual handle check signal is set to "1".) or in no relation to rotation of a

manual handle (when the manual handle check signal is set to "0".).

When the manual handle check signal is set to "1", the execution speed of the program is proportional to

the number of rotations of a manual handle. The program is executed forward rapidly when a manual

handle is turned to the positive direction rapidly. And, the program is executed forward slowly when a

manual handle is turned to the positive direction slowly. The distance magnification traveled per pulse

from manual handle can be switched as same as a usual manual handle feed function.

When the manual handle check signal is set to "0", the execution of the program is controlled as same as

an automatic operation.

-

Backward movement

The "backward movement " is that the program executed forward once is executed backward by turning a

manual handle in the negative direction.

The program can be executed backward only for the block executed forward. And, the number of blocks

for it is about 190 blocks. This block number changes by the content of the commanded program.

The program is executed backward rapidly when a manual handle is turned to the negative direction

rapidly. And the program is executed backward slowly when a manual handle is turned to the negative

direction slowly. The distance traveled per pulse from manual handle can switch magnification as well as

a usual manual handle feed.

Explanation

-

Control by the manual handle

Program execution start

The checking mode signal MMOD<Gn067.2> is set to "1" in the memory mode (MEM mode) in order to

change the checking mode. Then, the program execution is begun by turning ST signal from "1" to "0".

If the manual handle check signal MCHK <Gn067.3> is set to "1" at this time, the execution of the

program is controlled by a manual handle. The program is executed synchronizing with rotation of a

manual handle.

When a manual handle check signal MCHK<Gn067.3> is set to "0", it is controlled as usual execution.

When check mode signal MMOD<Gn067.2> is set to "1" during the operation of the program, it is

enabled a check mode from the block that next buffering is done.

That is, even if check mode signal set to "1", check mode is not always enabled at once.

When check mode is enabled, check mode confirmation signal MMMOD<Fn091.3> is set to "1".

NOTE

After the signal MMOD is turned to "0" during the execution of the program, the

program cannot be executed forward and backward.

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3.MANUAL OPERATION

NOTE

1 In Small-Hole Pecking Drilling Cycle(G83) (M series), backward movement is

prohibited.

2 In forward movement of Boring Cycle(G88) (M series), the sequence of actions

at bottom of hole is shown as follows (dwell -> stop of spindle motor -> hold

state). But in backward movement, that is (rotation of spindle -> hold state ->

dwell after restart).

-

M-code

If there is M-code in the same group is commanded in previous blocks, modal information of the M-code,

commanded at the last in previous blocks, is output.

If no M-code is commanded in previous blocks, the M-code set to the first parameter in the same M-code

group is output.

If M-code is not set to group M-code in parameter, the same M-code is output in backward movement.

If the parameter RVN(6400#5) is set to "1", the backward movement is prohibited when the M-code,

which is not set to group M-code, is commanded in backward movement.

NOTE

When setting the parameter RVN, backward movement prohibition is enabled

except the M-code which was set in the grouping but backward movement can

be enabled for the following M-code exceptionally.

1. Subprogram Call by M98/M99.

2. Subprogram Call using an M code

3. Macro Call using an M code

4. Waiting M code

5. M0

Example) Output of M-codes that are set to groups by parameters in backward movement

Setting of parameters:

No.6400#2=1, #3=0 (5 M-codes/group and 16 groups)

No.6411=100

No.6412=101

Group A

No.6413=102

No.6414=103

No.6415=104

No.6416=200

No.6417=201

Group B

No.6418=202

No.6419=203

No.6420=204

Program O10 is executed in forward movement from N1 to N15 and backward movement is executed

from N15. In backward movement, the output of M-codes is shown as next table.

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3.MANUAL OPERATION

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Forward movement

Backward movement

O0010 ;

N1 G4 X1. ;

N2 M101 ;

M101

M100 (*1)

N3 G4 X1. ;

N4 M204 ;

M204

M200 (*1)

N5 G4 X1. ;

N6 M104 ;

M104

M101 (*2)

N7 G4 X1. ;

N8 M300 ;

M300

M300 (*3)

N9 G4 X1. ;

N10 M200 ;

M200

M204 (*2)

N11 G4 X1. ;

N12 M0 ;

M0

M0 (*3)

N13 G4 X1. ;

N14 M102 ;

M102

M104 (*2)

N15 G4 X1. ;

Backward movement starts from this block

M2 ;

*1 No M-code in the same group is commanded before this block, so the M-code, which is set in the 1st.

parameter of the same group, is output.

*2 M-code in the same group is commanded before this block, so the M-code, which is commanded at

the last before this block, is output.

*3 M-code is not set to group M-code, so the same M-code is output.

-

S and T-code

A modal value of the previous block is output.

When movement command and S-code or T-code is commanded in the same block, the timing of the

output of the S-code and T-code is different. Because, the timing where S-code and T-code are output at

the forward movement is different from that at the backward movement. By setting bit 7 (STO) of

parameter No.6401 to "1", the timing of the output of S and T code at the forward movement is the same

as the one at the backward movement.

Example)

T-code output timing at the backward movement

T-code is output as follows when the program proceeds backward after the forward movement to N8

block.

Backward movement

Forward movement

Parameter STO=0

Parameter STO=1

O1000 ;

N1 G98 G00 X0 Z0 ;

Default T output

N2 G00 X-10. T11 ;

T11 output

Default T output

N3 G00 X100. ;

T11 output

N4 G00 X10. Z20. T22 ;

T22 output

T11 output

No T code output

N5 G00 X30. Z30. ;

N6 G00 X-10. Z-20. ;

T22 output

N7 G00 X50. Z40. T33 ;

T33 output

T22 output

T33 output

N8 G04 X5. ;

(Backward start)

(Backward start)

M30 ;

The “Default T” means a T-code status at N1 block in forward movement. If the status is T0, “T0”

signal is output as “Default T” in the backward movement.

The timing of T-code output of N7 and N8 in O1000 shown in the example above is as follows.

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3.MANUAL OPERATION

Forward movement :

N6

with T22

N7

N8

T33 output

Backward movement (When parameter STO is set to “0”) :

N6

N8

N7

T22 output

Backward movement (When parameter STO is set to “1”) :

N6

N8

N7

T22 output

T33 output

-

Direction change prohibition

The direction change prohibition is a state not changing the direction where the program is executed.

In the state, even if the rotating direction of a manual handle is reversed, the reversed rotation is ignored.

A manual handle must be rotate in the same direction as present direction for removing this state.

The direction change prohibition can be confirmed by output signal MNCHG<Fn091.1>.

It becomes the change prohibition state under the following condition.

• During axis movement

• While the block with the code waiting for FIN is executing

• After a block has done and until the next block begins to operate

• During thread cutting

• Modal G code of G68 (M series) and G51.2 (T series)

• The block with the axis that ends movement earlier in the block with G02 or nonlinear type position

(G00) etc.

• During waiting at a block boundary (Only for a 2-path system. See "Waiting in 2-path system".)

-

Backward movement prohibition

The backward movement prohibition is a state that the program cannot be executed from a certain block

backward. In this state, the negative rotation of a manual handle is ignored, and the only positive rotation

is effective. The program must be executed forward by rotating a manual handle in the positive direction

for removing this state.

The backward movement prohibition can be confirmed by output signal MRVSP<Fn091.2>.

If the following blocks are executed in backward movement, backward movement is prohibited.

• Program number block of main program (except subprogram and macro program)

• Over the maximum number of the blocks for reverse movement

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• The block including backward movement prohibition G-code (which is not described in the

paragraph "G-code")

• The block which is executed while in modal including backward movement prohibition G-code

(which is not described in the paragraph "G-code")

-

Status display

In manual handle retrace, the status of manual handle retrace is displayed on clock display of CNC state

display line. This status display is displayed during the execution of manual handle retrace. The clock is

displayed usually.

When the all condition is filled, "M.H.RTR." is displayed on clock display of CNC state display line. This

status is displayed by the color of color setting 3 (INPUT KEY, O/N NO. and STATUS are the same

color). The screen display is as shown in Fig.3.8(a). When the following conditions are not full, the clock

is displayed.

• When bit 2 (CHS) of parameter No.6401 is set to "0":

1)

Software option of handle manual retrace is enabled.

2)

Status display disable/enable bit 6 (HST) of parameter No.6401 is set to "1".

3)

Check mode confirmation signal MMMOD<Fn091.3> is set to "1".

• When bit 2 (CHS) of parameter No.6401 is set to "1":

1)

Software option of handle manual retrace is enabled.

2)

Status display disable/enable bit 6 (HST) of parameter No.6401 is set to "1".

3)

Cycle start signal STL<Fn000.5> is set to "1".

4)

Check mode signal MMOD<Gn067.2> is set to "1".

5)

Manual handle check signal MCHK<Gn067.3> is set to "1".

Fig. 3.8 (a) "M.H.RTR." status display

Besides, when reverse movement prohibition signal MRVSP<Fn091.2> is set to "1",

the "NO RVRS." is displayed. This status is displayed by blinking/reversing in the color of color number

1 (ALARM is the same color). The screen display is as shown in Fig.3.8(b). When reverse movement

prohibition signal MRVSP<Fn091.2> is set to "0", the " M.H.RTR." is displayed again.

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3.MANUAL OPERATION

Fig. 3.12 (b) " NO RVRS." status display

Besides, when direction change prohibition signal MNCHG<F0091.1> is set to "1" and the direction of

program’s execution is changed by manual handle, this status display changes from "M.H.RTR." to

"NO.CHAG.".

This status is displayed by blinking/reversing in the color of color number 3

(INPUT KEY, O/N NO.

and STATUS are the same color) . The screen display is shown as Fig.3.12(c). When the program is

executed in the direction as the same as before by manual handle or direction change prohibition signal

MNCHG<Fn091.1> is set to "0", the " M.H.RTR." is displayed again.

Moreover, when parameter FWD(No.6400#1) is set to "1" and the program is executed to change

direction by manual handle, this status display changes from "M.H.RTR." to "NO.CHAG.".

Fig. 3.12 (c) "NO.CHAG." status display

Limitation

-

Movement in automatic operation by DNC operation mode(RMT)

In the automatic operation by DNC operation mode(RMT), the backward movement is prohibited though

the forward movement is enable.

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