1

PMC Axis Control for FS16 and FS15 Controls

1. FS16 Control The following discussions apply to 16/18/21 and PM controls.

General Discussions 1. Independent paths (groups):

16/18/21: 4 PMi-H: 8 PMi-D: 2

2. Major functions (The following is for 16/18/21. PM may have additional function.)

Command Code (hex)

Name Function

00h Rapid traverse Performs the same operation G00 as CNC.

01h Cutting feed

(FPM) Performs the same operation G94 G01as CNC. (Note that the motion is always incremental.)

02h Cutting feed

(FPR) Performs the same operation G95 G01 as CNC. (Note that the motion is always incremental.)

03h Skip (FPM) Performs the same operation G31 G01 as CNC.

04h Dwell Performs the same operation G04 G01 as CNC.

05h Reference

position return

Moves the tool in the direction of reference position return specified by ZMIx (1006#5) in rapid traverse mode. Then performs the same manual reference position return as CNC.

06h Continuous feed Performs the same JOG feed as CNC. (Note that position is displayed.)

07h 1st reference

position return

Performs the same operation as done when positioning the tool to the reference position from the intermediate point specified by G28 of the CNC.

08h 2nd reference

position return

Performs the same operation as done when positioning the tool to the reference position from the intermediate point specified by G30 P2 of the CNC.

09h 3rd reference

position return

Performs the same operation as done when positioning the tool to the reference position from the intermediate point specified by G30 P3 of the CNC.

0Ah 4th reference

position return

Performs the same operation as done when positioning the tool to the reference position from the intermediate point specified by G30 P4 of the CNC.

0Bh External pulse

synchronization (main spindle)

Synchronizes with the main spindle.

2

Sample Ladder 1. Hand-shaking

signals EBUFg (PMC requests CNC to read buffer) and EBSYg (CNC informs PMC completion of read) must be programmed properly. (These two signals are the same as PMCAg and CNCAg in FS15.) The following two ways can be used,

PMC function 53 (AXCTL) – EBUFg and EBSYg are handled by this function

. Ladder work is significantly simplified using this function Directly Program (following function connection manual) – More work

2. All other G bits should be handled by PMC. Only G bits EBUFg and EBSYg are handled by function AXCTL. 3. Two paths are programmed, and they can run independently or simultaneous. 4. In the sample ladder, eight general switches on software operator’s panel are used and their definitions are,

OUT0 - enable PMC axis control for both path 1 and 2 OUT1 - command path 1 OUT2 - command path 2 OUT3 - reset PMC axis control OUT4 - disable buffering data OUT5 - single block OUT6 - feed hold OUT7 - servo off

0Dh External pulse

synchronization (1st MPG)

Movement is commanded from MPG as CNC MPG mode

0Eh External pulse

synchronization (2nd MPG)

Movement is commanded from MPG as CNC MPG mode

0Fh External pulse

synchronization (3rd MPG)

Movement is commanded from MPG as CNC MPG mode

10h Speed command

Performs continuous feed at the specified speed like spindle mode. (Note that position is normally not displayed. However, it can be displayed by setting P8005#4. See A-63542 for details.)

11h Torque control Continuous feed under torque control

12h Auxiliary function

Performs the same function as the miscellaneous function (M function), used by the CNC.

14h Miscellaneous

function 2 Similar to the miscellaneous function of the CNC

15h Miscellaneous

function 3 Similar to the miscellaneous function of the CNC

20h Machine

coordinate system selection

Performs the same operation as G53 used by the CNC. (Note that this command should be used for absolute move.)

21h Cutting feed (sec/block)

Cutting feed in sec/block. Can be used for linear interpolation for two paths. (Note that option J742 is required.)

22h Oscillation movement

Oscillation movement. Can be straight line (1 axis) or taper line (2 axes). Similar to chopping and can be used for grinding. (Note that option S861 is required.)

40h Simultaneous

start OFF Simultaneous start mode OFF (for 2 paths or more). (Note that option J742 is required.)

41h Simultaneous

start ON Simultaneous start mode ON (for 2 paths or more). (Note that option J742 is required.)

3

Software operator’s panel sample,

5. Data table is used. Sample data table setup is as follows,

4

6. Ladder Diagram

5

6

Parameters The following are the parameters used in this setup. For complete parameter setting, refer parameter manual. Parameter 3105: 00000000 Parameter 8001: 00000000 Parameter 8002: 00000000 Parameter 8003: 00000000 Parameter 8004: 00000000 Parameter 8005: 00000000 Parameter 8010: 1 1 1 Parameter 8022: 2000 2000 2000

Note on J722 (Maximum Jog Feedrate Expansion or Velocity Command Function of PMC Axis Control) The following is from GFA-3402. The option J722 -Velocity Command Function of PMC Axis Control, is the extended feature of continuous feed. This feature provides that the maximum feed rate can be expanded up to 200 times by the parameter in the continuous feed called up by command code 06H. This function is useful for the rotary axis. The rotation speed can be more than 3000 rpm in IS-C by using this function. [Maximum feed rate] IS-B 13107000 mm/min (1310700 inch/min) IS-C 1310700 mm/min (131070 inch/min) [parameter] No.8004#2(F200)

7

2. FS15 Control The sample ladder is developed on FS15 control without servos. The ladder is written for two axes. It can readily be extended to multiple axes.

BMI signals The signals used in the ladder diagram are shown in Table 1.

Signal Symbols BMI Meaning PMCA1 G66.7 Axis 1, control command read strobe PMCA2 G70.7 Axis 2, control command read strobe CNCA1 F66.7 Axis 1, control command read completion CNCA2 F70.7 Axis 2, control command read completion PCAX1 G66.3 Axis 1, PMC axis control enable PCAX2 G70.3 Axis 2, PMC axis control enable BUF1 F66.5 Axis 1, buffer full BUF2 F70.5 Axis 2, buffer full DEN1 F66.6 Axis 1, distribution completion DEN2 F70.6 Axis 2, distribution completion RST1 G66.6 Axis 1, axis reset RST2 G70.6 Axis 2, axis reset

MSKB1 G384.7 Axis 1, block stop inhibit MSKB2 G392.7 Axis 2, block stop inhibit SBK1 G66.4 Axis 1, block stop SBK2 G70.4 Axis 2, block stop STP1 G66.5 Axis 1, temporary stop STP2 G70.5 Axis 2, temporary stop CD1X G385 Axis 1, control command CD2X G393 Axis 2, control command FD1X G386–G387 Axis 1, control data for feed rate and simultaneous

start FD2X G394-G395 Axis 2, control data for feed rate and simultaneous

start DT1X G388-G391 Axis 1, control data for distance, time, override and

miscellaneous functions DT2X G396-G399 Axis 2, control data for distance, time, override and

miscellaneous functions OPU0 F137.0 General-purpose button 0 on software operator’s

panel, activate PMC axis 1 OPU1 F137.1 General-purpose button 1 on software operator’s

panel, transfer PMC command for axis 1 OPU2 F137.2 General-purpose button 2 on software operator’s

panel, activate PMC axis 2 OPU3 F137.3 General-purpose button 3 on software operator’s

panel, transfer PMC command for axis 2 OPU4 F137.4 General-purpose button 4 on software operator’s

panel, reset axis1 and 2 OPU5 F137.5 General-purpose button 5 on software operator’s

panel, activate block stop inhibit OPU6 F137.6 General-purpose button 6 on software operator’s

panel, activate block stop

8

OPU7 F137.7 General-purpose button 7 on software operator’s panel, activate temporary stop

ON.R R0.0 Always ON logic PC1R.R R320.0 Axis 1, XOR result of PMCA1 and CNCA1 PC2R.R R330.0 Axis 2, XOR result of PMCA2 and CNCA2 C1B.R R300.0 Axis 1, transfer command C2B.R R310.0 Axis 2, transfer command C1.R R301.0 Axis 1, execute command C2.R R311.0 Axis 2, execute command

C1BR.R R302.0 Axis 1, temporary coil C2BR.R R312.0 Axis 2, temporary coil

PC.E R308.0 Function execution message D50 Axis 1, data table, 2 byte, lower byte used for CD1X D58 Axis 2, data table, 2 byte, lower byte used for CD2X D54 Axis 1, data table, 2 byte, used for FD1X D60 Axis 2, data table, 2 byte, used for FD2X D58 Axis 1, data table, 4 byte, used for DT1X D62 Axis 2, data table, 4 byte, used for DT2X

Table 1 Signals used in sample ladder diagram for series 15 control.

Sample Ladder 1. FS15 does not have equivalent PMC function AXCTL like FS16. Therefore, hand-shaking signals PMCAg and

CNCAg must be programmed in ladder logic. 2. In the sample ladder, eight general switches on software operator’s panel are used and their definitions are,

OPU0 - enable PMC axis control for path 1 OPU1 - command path 1 OPU2 - enable PMC axis control for path 2 OPU3 - command path 2 OPU4 - reset PMC axis control OPU5 - feed hold OPU6 - single block OPU7 – E-Stop

9

3. Ladder Diagram

10

11

12

13

Operation Procedure 1. Input control command, feed rate specification and control data to data tables; 2. Turn on OPU0 and then OPU1 to execute PMC axis control for axis 1, turn on OPU2 and then OPU3 to execute PMC

axis control for axis 2. Command Example Incremental system IS-B (0.001 mm) is used in this setup. 1. Rapid traverse: move axis 1 400 mm. D50: 00h D52: not applicable D54: 400000 Note: Data unit for D54 is 0.001 mm. 2. Cutting Feed (mm/min): move axis 2 350 mm at 1 m/min. D58: 01h D60: 1000 D62: 350000 Note: Data unit for D60 is 1 mm/min. Data unit for D62 is 0.001 mm. 3. Cutting Feed (sec/block): move axis 1 350 mm at 6 sec/block. D50: 02h D52: 60 D54: 350000 Note: Data unit for D52 is 0.1 sec. Data unit for D54 is 0.001 mm. 4. Dwell: stop axis 2 for 6 sec. D58: 07h D60: not applicable D62: 6000 Note: Data unit for D62 is 0.001 sec.

14

5. Simultaneous start ON: D50: 0Ah D52: 3 D54: not applicable Or, D58: 0Ah D60: 3 D62: not applicable Note: (1). Set bit 0 and bit 1 for D52 or D60 (00000011); (2). ONLY need send simultaneous start ON command to ONE axis. (3). Interpolation of two axes can be done using simultaneous start. 6. Simultaneous start OFF: D50: 0Bh D52: not applicable D54: not applicable Or, D58: 0Bh D60: not applicable D62: not applicable Note: ONLY need send simultaneous start OFF command to ONE axis. 7. Override modification: 50% override for cutting feed D50: 0Ch D52: not applicable D54: 50 Note: (1). Data unit for D54 is %. Data range is 0-255. (2). Override is applied to both axes.

Parameters 1402: 00000000 1404: 00000000 1409: 00000000 The combination of these parameters allows PMC use the same feed rate and override signal as CNC.

3. Miscellaneous Note Position loop in Speed Command (On 16i P8005#4=1)

In this function, the constant velocity command in the PMC axis control can be moved by position loop control, so that Cs axis control is possible. Therefore this function does not output velocity data for amplifier, but do output that command pulse correspond to velocity data for servo position control, so this function is moved PMC axis in constant velocity.