fanuc 0i- C Connection Manual

GE Fanuc Automation

Computer Numerical Control Products

Series 0i-Model C Series 0i-Mate Model C

Connection Manual (Function)

GFZ-64113EN-1/01 August 2004

Warnings, Cautions, and Notes as Used in this Publication

Warning notices are used in this publication to emphasize that hazardous voltages, currents, temperatures, or other conditions that could cause personal injury exist in this equipment or may be associated with its use.

In situations where inattention could cause either personal injury or damage to equipment, a Warning notice is used.

Caution notices are used where equipment might be damaged if care is not taken.

GFL-001

Warning

Caution

Note

Notes merely call attention to information that is especially significant to understanding and operating the equipment.

This document is based on information available at the time of its publication. While efforts have been made to be accurate, the information contained herein does not purport to cover all details or variations in hardware or software, nor to provide for every possible contingency in connection with installation, operation, or maintenance. Features may be described herein which are not present in all hardware and software systems. GE Fanuc Automation assumes no obligation of notice to holders of this document with respect to changes subsequently made.

GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or usefulness of the information contained herein. No warranties of merchantability or fitness for purpose shall apply.

B–64113EN–1/01

DEFINITION OF WARNING, CAUTION, AND NOTE

This manual includes safety precautions for protecting the user and preventing damage to the machine. Precautions are classified into W arning and Caution according to their bearing on safety. Also, supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly before attempting to use the machine.

WARNING

Applied when there is a danger of the user being injured or when there is a danger of both the user being injured and the equipment being damaged if the approved procedure is not observed.

CAUTION

Applied when there is a danger of the equipment being damaged, if the approved procedure is not observed.

NOTE

The Note is used to indicate supplementary information other than Warning and Caution.

` Read this manual carefully, and store it in a safe place.

s–1

B–64113EN–1/01

PREFACE

This manual describes all the NC functions required to enable machine tool builders to design their CNC machine tools. The following items are explained for each function.

1. General

Describes feature of the function. Refer to Operator’s manual as requied.

2. Signals

Describes names, functions, output conditions and addresses of the signals required to realize a function.

3. Parameters

Describes parameters related with a function.

4. Alarms and messages

Lists the alarms and messages related with a function in a table.

5. Reference item

List the related items of the related manuals in a table.

A list of addresses of all signals and a list of signals are described in the appendix of this manual. Refer to it as required.

p–1

PREFACE

Series 0i–C

Series 0i Mate–C

0i Mate

B–64113EN–1/01

Applicable models

Signal description

The models covered by this manual, and their abbreviations are :

Model name Abbreviation

FANUC Series 0i–TC 0i–TC FANUC Series 0i–MC 0i–MC FANUC Series 0i Mate–TC 0i Mate–TC FANUC Series 0i Mate–MC 0i Mate–MC

For ease of understanding, the models are categorized as follows: T series: 0i–TC, 0i Mate–TC M series: 0i–TC, 0i Mate–TC

NOTE

Some functions described in this manual may not be applied to some products. For details, refer to the DESCRIPTIONS manual (B–64112EN).

Relation of interface signals among the CNC, the PMC and the machine tool is shown below:

G000–

CNC PMC

F000–

X000–

Y000–

Machine tool

NOTE

For the signals, a single data number is assigned to 8 bits. Each bit has a different meaning.

p–2

B–64113EN–1/01

0 or 1 –127 to 127

In some parameters, signs are ig-

–127 to 127

In some parameters, signs are ig- –32767 to 32767

–32767 to 32767 –99999999 to

–99999999 to

PREFACE

D Expression of signals

Parameter description

One address accommodates eight signals.

Symbol (#0 to #7 indicates bit position)Address

#7 #6 #5 #4 #3 #2 #1 #0

OPF000 SA STL SPL RWD

In an item where both T series and M series are described, some signals are covered with shade ( ) in the signal address figure as shown below. This means either T series or M series does not have this signal. Upper part is for T series and lower part is for M series.

[Example 1]

Signal EXLM, ST is a common signal, STLK is for T series only and RLSOT and RVS are for M series only.

RVS

T series M series

G007

EXLM

#2 ST

STLKRLSOT

Parameters are classified by data type as follows :

Dta type Valid data range Remarks

Bit Bit axis Byte Byte axis Word Word axis 2–word 2–word axis

0 to 255

0 to 65535

99999999

nored.

NOTE

1 For the bit type and bit axis type parameters, a single data

number is assigned to 8 bits. Each bit has a different meaning.

2 The axis type allows data to be set separately for each

control axis.

3 The valid data range for each data type indicates a general

range. The range varies according to the parameters. For the valid data range of a specific parameter, see the explanation of the parameter.

p–3

PREFACE

D Notation of bit type and

bit axis type parameters

0000 SEQ INI ISO TVC

D Notation of parameters

other than bit type and bit axis type

1023 Servo axis number of a specific axis

B–64113EN–1/01

Data (#0 to #7 indicates bit position)Data No.

#7 #6 #5 #4 #3 #2 #1 #0

DataData No.

NOTE

In an item where both T series and M series are described, parameters having different meanings between the T series and M series and parameters that are valid only for the T or M series are indicated in two levels as shown below. Parameters left blank are unavaliable.

[Example 1]

5010

[Example 2]

3401

[Example 3]

1450

Parameter 5010 has different meanigs for the T series and M series.

T ool nose radius compensation . . .

Cutter compensation C . . .

T series M series

DPI is a parameter common to the M and T series, but GSB and GSC are parameters valid only for the T series.

GSC

GSB

DPI DPI

T series M series

The following parameter is provided only for the M series.

T series

F1 digit feed . . .

M series

p–4

B–64113EN–1/01

PREFACE

Related manuals of

Series 0i–C/0i Mate–C

The following table lists the manuals related to Series 0i–C and 0i Mate–C. This manual is indicated by an asterisk(*).

Manual name

DESCRIPTIONS B–64112EN CONNECTION MANUAL (HARDWARE) B–64113EN CONNECTION MANUAL (FUNCTION) B–64113EN–1 * Series 0i–TC OPERATOR’S MANUAL B–64114EN Series 0i–MC OPERA T OR’S MANUAL B–64124EN Series 0i Mate–TC OPERA TOR’S MANUAL B–64134EN Series 0i Mate–MC OPERA T OR’S MANUAL B–64144EN MAINTENANCE MANUAL B–64115EN P ARAMETER MANUAL B–64120EN PROGRAMMING MANUAL

Macro Compiler/Macro Executor PROGRAMMING MANUAL

FANUC MACRO COMPILER (For Personal Computer) PROGRAMMING MANUAL

Specification

number

B–61803E–1

B–66102E

PMC PMC Ladder Language PROGRAMMING MANUAL B–61863E PMC C Language PROGRAMMING MANUAL B–61863E–1 Network PROFIBUS–DP Board OPERA T OR’S MANUAL B–62924EN Ethernet Board/DA T A SERVER Board

OPERA T OR’S MANUAL FAST Ethernet Board/FAST DATA SERVER

OPERA T OR’S MANUAL DeviceNet Board OPERA T OR’S MANUAL B–63404EN OPEN CNC FANUC OPEN CNC OPERATOR’S MANUAL

Basic Operation Package 1 (For Windows 95/NT) FANUC OPEN CNC OPERATOR’S MANUAL

(DNC Operation Management Package)

B–63354EN

B–63644EN

B–62994EN

B–63214EN

p–5

PREFACE

B–64113EN–1/01

Related manuals of SERVO MOTOR αis/αi/βis series

The following table lists the manuals related to SERVO MOTOR αis/αi/βis series

Manual name

FANUC AC SER VO MOTOR αis/αi series DESCRIPTIONS

FANUC AC SER VO MOTOR βis series DESCRIPTIONS

FANUC AC SER VO MOTOR αis/αi/βis series P ARAMETER MANUAL

FANUC AC SPINDLE MOT OR αi series DESCRIPTIONS

FANUC AC SPINDLE MOT OR βis series DESCRIPTIONS

FANUC AC SPINDLE MOT OR αi/βi series P ARAMETER MANUAL

FANUC SER VO AMPLIFIER αi series DESCRIPTIONS

FANUC SER VO AMPLIFIER βi series DESCRIPTIONS

Specification

number

B–65262EN

B–65302EN

B–65270EN

B–65272EN

B–65312EN

B–65270EN

B–65282EN

B–65322EN

FANUC AC SER VO MOTOR αis/αi series FANUC AC SPINDLE MOT OR αi series FANUC SER VO AMPLIFIER αi series MAINTENANCE MANUAL

FANUC AC SER VO MOTOR βis series FANUC AC SPINDLE MOT OR βi series FANUC SER VO AMPLIFIER βi series MAINTENANCE MANUAL

B–65285EN

B–65325EN

Either of the following servo motors and the corresponding spindle can be connected to the CNC covered in this manual.

D FANUC SERVO MOTOR αis series D FANUC SERVO MOTOR βis series

This manual mainly assumes that the FANUC SERVO MOTOR αis series of servo motor is used. For servo motor and spindle information, refer to the manuals for the servo motor and spindle that are actually connected.

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B–64113EN–1/01

Volume 1

DEFINITION OF WARNING, CAUTION, AND NOTE s–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PREFACE p–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. AXIS CONTROL 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 CONTROLLED AXES 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 SETTING EACH AXIS 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.1 Name of Axes 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2 Increment System 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.3 Specifying the Rotation Axis 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.4 Controlled Axes Detach 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.5 Outputting the Movement State of an Axis 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.6 Mirror Image 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.7 Follow–up 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.8 Servo Off (Mechanical Handle) 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.9 Position Switch 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 ERROR COMPENSATION 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Stored Pitch Error Compensation 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Backlash Compensation 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.3 Bidirectional Pitch Error Compensation 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 SETTINGS RELATED TO SERVO–CONTROLLED AXES 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.1 Parameters Related to Servo 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.2 Absolute Position Detection 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.3 FSSB Setting 57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.4 Tentative Absolute Coordinate Setting 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 SETTINGS RELATED WITH COORDINATE SYSTEMS 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 Machine Coordinate System 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.2 Workpiece Coordinate System/Addition of Workpiece Coordinate System Pair 80. . . . . . . . . . .

1.5.3 Rotary Axis Roll Over 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6 TANDEM CONTROL 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7 SIMPLE SYNCHRONOUS CONTROL 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.8 ANGULAR AXIS CONTROL 113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.8.1 Angular Axis Control/Arbitrary Angular Axis Control 113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.8.2 Stored Stroke Limits in a Cartesian Coordinate System 118. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.9 GENERAL PURPOSE RETRACT 121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. PREPARATIONS FOR OPERATION 125. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 EMERGENCY STOP 126. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 CNC READY SIGNAL 129. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 OVERTRAVEL CHECK 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.1 Overtravel Signal 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.2 Stored Stroke Check 1 134. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.3 Stored Stroke Check 2, 3 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

c–1

TABLE OF CONTENTS

2.3.4 Chuck/Tailstock Barrier (T series) 149. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.5 Stroke Limit Check Before Move 155. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 ALARM SIGNAL 159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 START LOCK/INTERLOCK 161. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 MODE SELECTION 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7 STATUS OUTPUT SIGNAL 175. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8 VRDY OFF ALARM IGNORE SIGNAL 177. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9 ABNORMAL LOAD DETECTION 179. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.10 SERVO SPEED CHECK 190. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B–64113EN–1/01

3. MANUAL OPERATION 192. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 JOG FEED/INCREMENTAL FEED 193. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 MANUAL HANDLE FEED 202. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 MANUAL HANDLE INTERRUPTION 208. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4. REFERENCE POSITION ESTABLISHMENT 210. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 MANUAL REFERENCE POSITION RETURN 211. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 SETTING THE REFERENCE POSITION WITHOUT DOGS 223. . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 REFERENCE POSITION SHIFT 230. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 REFERENCE POSITION RETURN 233. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 2ND REFERENCE POSITION RETURN/3RD, 4TH REFERENCE POSITION RETURN 235. . . . .

4.6 BUTT–TYPE REFERENCE POSITION SETTING 238. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7 LINEAR SCALE I/F WITH ABSOLUTE ADDRESS REFERENCED MARK (A/B PHASE)/

LINEAR SCALE WITH DISTANCE–CODED REFERENCE MARKS (SERIAL) 245. . . . . . . . . . . .

4.8 EXTENDED FUNCTION OF THE LINEAR SCALE WITH ABSOLUTE

ADDRESSING REFERENCE MARKS 264. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5. AUTOMATIC OPERATION 272. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 CYCLE START/FEED HOLD 273. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 RESET AND REWIND 278. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 TESTING A PROGRAM 283. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Machine Lock 283. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Dry Run 286. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.3 Single Block 289. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 MANUAL ABSOLUTE ON/OFF 292. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 OPTIONAL BLOCK SKIP/ADDITION OF OPTIONAL BLOCK SKIP 295. . . . . . . . . . . . . . . . . . . .

5.6 SEQUENCE NUMBER COMPARISON AND STOP 299. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7 PROGRAM RESTART 300. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8 EXACT STOP/EXACT STOP MODE/TAPPING MODE/CUTTING MODE (M SERIES) 303. . . . . .

5.9 DNC OPERATION 305. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10 MANUAL INTERVENTION AND RETURN 308. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.11 RETRACTION FOR RIGID TAPPING (M SERIES) 309. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6. INTERPOLATION FUNCTION 316. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 POSITIONING 317. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 LINEAR INTERPOLATION 319. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

c–2

B–64113EN–1/01

6.3 CIRCULAR INTERPOLATION 322. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4 THREAD CUTTING 328. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.1 Thread Cutting 328. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.2 Thread Cutting Cycle Retract (T series) 335. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 SINGLE DIRECTION POSITIONING 337. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6 HELICAL INTERPOLATION 344. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7 POLAR COORDINATE INTERPOLATION 346. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.8 CYLINDRICAL INTERPOLATION 349. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.9 POLYGONAL TURNING (T SERIES) 352. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.9.1 Polygonal Turning 353. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.10 NORMAL DIRECTION CONTROL (M SERIES) 358. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.11 LINEAR INTERPOLATION (G28, G30, G53) 364. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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7. FEEDRATE CONTROL/ACCELERATION AND DECELERATION CONTROL 366. . . . .

7.1 FEEDRATE CONTROL 367. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.1 Rapid Traverse Rate 367. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.2 Cutting Feedrate Clamp 370. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.3 Feed Per Minute 372. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.4 Feed Per Revolution/Manual Feed Per Revolution 375. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.5 F1-digit Feed (M series) 377. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.6 Feedrate Inverse Time Specification (M series) 380. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.7 Override 381. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.7.1 Rapid traverse override 381. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.7.2 Feedrate override 384. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.7.3 Override cancel 386. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.8 Automatic Corner Override (M series) 387. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.9 External Deceleration 391. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.10 Feedrate Clamping by Arc Radius (M series) 395. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.11 Automatic Corner Deceleration 398. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.12 Advanced Preview Control 402. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.13 AI Advanced Preview Control Function/AI Contour Control Function (M Series) 422. . . . . . . .

7.2 ACCELERATION/DECELERATION CONTROL 453. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1 Automatic Acceleration/Deceleration 453. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1.1 Automatic acceleration/deceleration 453. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1.2 Rapid traverse block overlap 457. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.2 Rapid Traverse Bell–shaped Acceleration/Deceleration 459. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.3 Linear Acceleration/Deceleration after Cutting Feed Interpolation 462. . . . . . . . . . . . . . . . . . . .

7.2.4 Bell–Shaped Acceleration/Deceleration after Cutting Feed Interpolation 465. . . . . . . . . . . . . . .

7.2.5 Corner Control 469. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.5.1 In–position check 469. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.5.2 In–position check independently of feed/rapid traverse 471. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.5.3 In–position check disable signal 473. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.5.4 Error detect (T series) 475. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.6 Feed Forward in Rapid Traverse 477. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8. AUXILIARY FUNCTION 478. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 MISCELLANEOUS FUNCTION/2ND AUXILIARY FUNCTION 479. . . . . . . . . . . . . . . . . . . . . . . . .

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8.2 AUXILIARY FUNCTION LOCK 491. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3 MULTIPLE M COMMANDS IN A SINGLE BLOCK 493. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4 HIGH–SPEED M/S/T/B INTERFACE 497. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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9. SPINDLE SPEED FUNCTION 501. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1 SPINDLE SPEED FUNCTION (S CODE OUTPUT) 502. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2 SPINDLE SERIAL OUTPUT/SPINDLE ANALOG OUTPUT 503. . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3 SPINDLE SPEED CONTROL 511. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4 CONSTANT SURFACE SPEED CONTROL 540. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.5 SPINDLE SPEED FLUCTUATION DETECTION 546. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.6 ACTUAL SPINDLE SPEED OUTPUT (T SERIES) 551. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.7 SPINDLE POSITIONING (T SERIES) 552. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.8 Cs CONTOUR CONTROL 573. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.8.1 Cs Contour Control 573. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.8.2 Cs Axis Coordinate Setup Function 589. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.9 MULTI–SPINDLE CONTROL 596. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10 RIGID TAPPING 610. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.1 General 610. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.2 Connection Among Spindle, Spindle Motor, and Position Coder 612. . . . . . . . . . . . . . . . . . . . . .

9.10.3 Rigid Tapping Specification 617. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.4 Display Data on the Diagnosis Screen 618. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.5 Command Format 622. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.6 Signal 626. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.6.1 Signals for the rigid tapping function 626. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.6.2 Signals related to S code output 627. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.6.3 Signals related to gear switching 628. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.6.4 Signals related to second spindle rigid tapping 630. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.6.5 Signal addresses 632. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.6.6 Notes on interface with the PMC 632. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.7 Timing Charts for Rigid Tapping Specification 635. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.7.1 When M29 is specified before G84 (G74) 636. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.7.2 M29 and G84 (G74) are specified in the same block 640. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.7.3 Specifying G84 (G74) for rigid tapping by parameters 644. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.7.4 Timing to cancel rigid tapping mode 648. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.8 Parameter 650. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.9 Alarm and Message 673. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.10 Notes 674. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.11 Rigid–Tapping Bell–Shaped Acceleration/ Deceleration (M Series) 678. . . . . . . . . . . . . . . . . . . .

9.10.12 Reference Item 683. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.11 SPINDLE SYNCHRONOUS CONTROL 684. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.12 SPINDLE ORIENTATION 688. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.13 SPINDLE OUTPUT SWITCHING 691. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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Volume 2

10. TOOL FUNCTIONS 693. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1 TOOL FUNCTION 694. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2 TOOL COMPENSATION VALUE/TOOL COMPENSATION NUMBER/

TOOL COMPENSATION MEMORY 697. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.3 TOOL LIFE MANAGEMENT 704. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.3.1 Tool life management 704. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.3.2 Tool Life Arrival Notice Signal (M Series) 713. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4 CUTTER COMPENSATION 714. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4.1 Cutter Compensation C (M Series) 714. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4.2 Tool Nose Radius Compensation (T Series) 719. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11. PROGRAM COMMAND 723. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.1 DECIMAL POINT PROGRAMMING/POCKET CALCULATOR TYPE

DECIMAL POINT PROGRAMMING 724. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.2 G CODE SYSTEM (T SERIES) 726. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.3 PROGRAM CONFIGURATION 732. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.4 INCH/METRIC CONVERSION 735. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.5 CUSTOM MACRO 739. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.5.1 Custom Macro 739. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.5.2 Interruption Type Custom Macro 749. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.6 CANNED CYCLE (M SERIES)/CANNED CYCLE FOR DRILLING (T SERIES) 753. . . . . . . . . . .

11.7 EXTERNAL MOTION FUNCTION (M SERIES) 764. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.8 CANNED CYCLE (T SERIES)/MULTIPLE REPETITIVE CANNED CYCLE (T SERIES) 766. . . .

11.9 MIRROR IMAGE FOR DOUBLE TURRETS (T SERIES) 774. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.10 INDEX TABLE INDEXING FUNCTION (M SERIES) 776. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.11 SCALING (M SERIES) 785. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.12 COORDINATE SYSTEM ROTATION 789. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.13 MACRO COMPILER/ EXECUTER 792. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.14 SMALL HOLE PECK DRILLING CYCLE (M SERIES) 793. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12. DISPLAY/SET/EDIT 800. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1 DISPLAY/SET 801. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.1 Clock Function 801. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.2 Displaying Operation History 802. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.3 Help Function 807. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.4 Displaying Alarm History 808. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.5 Servo Tuning Screen 809. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.6 Spindle Setting and Tuning Screen 809. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.7 Waveform Diagnosis Display 810. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.8 Self–diagnosis 812. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.9 Display of Hardware and Software Configuration 813. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.10 Position Display Neglect 814. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.11 Run Hour and Parts Count Display 815. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.12 Graphic Display/Dynamic Graphic Display 821. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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12.1.13 Displaying Operating Monitor 827. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.14 Software Operator ’s Panel 829. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.15 Multi–language Display 839. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.16 External Operator Message Logging and Display 840. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.17 Erase Screen Display/Automatic Erase Screen Display 842. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.18 External Touch Panel Interface 844. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.19 Periodic Maintenance Screen 848. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.20 Actual Speed Display 857. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.21 Parameter Set Supporting Screen 858. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.22 Machining Condition Selecting 866. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.23 Other Functions 880. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2 EDIT 881. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2.1 Part Program Storage Length 881. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2.2 No. of Registered Programs 882. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2.3 Memory Protection Key 882. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2.4 Password Function 884. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2.5 Background Editing 886. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2.6 Playback 887. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2.7 Conversational Programming with Graphic Function 888. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B–64113EN–1/01

13. INPUT/OUTPUT OF DATA 889. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.1 READER/PUNCHER INTERFACE 890. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2 DNC2 INTERFACE 902. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.3 EXTERNAL I/O DEVICE CONTROL 903. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.4 EXTERNAL PROGRAM INPUT 910. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.5 DATA INPUT/OUTPUT FUNCTIONS BASED ON THE I/O Link 915. . . . . . . . . . . . . . . . . . . . . . . .

13.6 SCREEN HARD COPY FUNCTION 940. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14. MEASUREMENT 946. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.1 TOOL LENGTH MEASUREMENT (M SERIES) 947. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.2 AUTOMATIC TOOL LENGTH MEASUREMENT (M SERIES)/

AUTOMATIC TOOL OFFSET (T SERIES) 948. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.3 SKIP FUNCTION 955. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.3.1 Skip Function 955. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.3.2 High–speed Skip Signal 958. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.3.3 Multi–step Skip 961. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.3.4 Torque Limit Skip 966. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.4 ENTERING COMPENSATION VALUES 969. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.4.1 Input of Offset Value Measured A (T series) 969. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.4.2 Input of Tool Offset Value Measured B (T series) 971. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.4.3 Input of Measured Workpiece Origin Offsets 986. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15. PMC CONTROL FUNCTION 987. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.1 PMC AXIS CONTROL 988. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.1.1 PMC Axis Control 988. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.1.2 Constant Velocity Command Position Control 1035. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.2 EXTERNAL DATA INPUT 1037. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

c–6

B–64113EN–1/01

15.3 EXTERNAL WORKPIECE NUMBER SEARCH 1049. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.3.1 External Workpiece Number Search 1049. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.3.2 Expanded External Workpiece Number Search 1052. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.4 SPINDLE OUTPUT CONTROL BY THE PMC 1054. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.5 EXTERNAL KEY INPUT 1061. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.6 DIRECT OPERATION BY PMC OR OPEN CNC 1067. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.6.1 DNC Operation by the PMC or OPEN CNC (PC with HSSB Connection) 1067. . . . . . . . . . . . . .

TABLE OF CONTENTS

16. INTERFACE WITH THE POWER MATE CNC 1068. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16.1 FANUC SERVO MOTOR β SERIES I/O LINK OPTION MANUAL

HANDLE INTERFACE (PERIPHERAL DEVICE CONTROL) 1069. . . . . . . . . . . . . . . . . . . . . . . . . .

17. PCMCIA ETHERNET FUNCTION 1074. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.1 PCMCIA ETHERNET 1075. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.2 SETTING THE PCMCIA ETHERNET FUNCTION 1076. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.2.1 Ethernet Parameter Setting Screen 1076. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.2.2 Communication Parameter Input Method 1079. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.3 PCMCIA ETHERNET ERROR MESSAGE SCREEN 1081. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.4 PCMCIA ETHERNET MAINTENANCE SCREEN 1083. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.5 TROUBLESHOOTING 1088. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.5.1 Check Items Related to Connection 1088. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.5.2 Checking the Setting of Each Parameter 1088. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.5.3 Checking Communication 1089. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.6 ERROR MESSAGES 1092. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.6.1 EMB_ETH MASTER CTRL LOG Screen 1092. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.6.2 EMB_ETH FOCAS1/ETHER LOG Screen 1093. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.7 GLOSSARY FOR ETHERNET 1094. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18. TROUBLE DIAGNOSIS 1096. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.1 TROBLE DIAGNOSIS 1097. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.1.1 Outline 1097. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.1.2 Trouble Diagnosis Guidance Screen 1099. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.1.3 Trouble Diagnosis Monitor Screen 1101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.1.4 Trouble Diagnosis Parameter Screen 1105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.1.5 Trouble Diagnosis Graphic Screen 1107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.1.6 Trouble Forecast Level Setting Screen (Only for Servo Axis) 1109. . . . . . . . . . . . . . . . . . . . . . .

18.2 MACHINE ALARM DIAGNOSIS 1112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.2.1 Outline 1112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.2.2 Making Guidance Tables 1113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

c–7

TABLE OF CONTENTS

B–64113EN–1/01

APPENDIX

A. INTERFACE BETWEEN CNC AND PMC 1123. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 LIST OF ADDRESSES 1124. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.1 Series 0i/0i Mate Address List 1124. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 SIGNAL SUMMARY 1152. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.1 Signal Summary (In Order of Functions) 1152. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.2 List of Signals (In Order of Symbols) 1169. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.3 List of Signals (In Order of Addresses) 1184. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

c–8

B–64113EN–1/01

1. AXIS CONTROL

AXIS CONTROL

1. AXIS CONTROL

1.1

CONTROLLED AXES

General

B–64113EN–1/01

Series 0i–C

Series 0i Mate–C

Item M series T series

Controlled path 1 path 1 path Controlled axes Max. 4 axes Max. 4 axes Simultaneously

controlled axes Axis control by PMC Max. simultaneous 4

Cs contouring control Max. 1 axis Max. 1 axis

Item M series T series

Controlled path 1 path 1 path Controlled axes 3 axes Max. 3 axes Simultaneously

controlled axes Axis control by PMC – – Cs contouring control – Max. 1 axis

Max. 4 axes Max. 4 axes

Max. simultaneous 4

axes (Not available on

Cs axis)

Max. 3 axes Max. 3 axes

axes (Not available on

Cs axis)

Parameter

1010 Number of CNC–controlled axes

NOTE

After setting this parameter, turn the power of f then on again so that the setting will take effect.

[Data type] Byte

[Valid data range] 1, 2, 3, ..., the number of controlled axes

Set the maximum number of axes that can be controlled by the CNC.

[Example] Suppose that the first axis is the X axis, and the second and subsequent

axes are the Y, Z, and A axes in that order, and that they are controlled as follows:

X, Y, and Z axes: Controlled by the CNC and PMC A axis: Controlled by the PMC (cannot be controlled directly by the CNC)

Then set this parameter to 3 (total 3: X, Y, and Z)

B–64113EN–1/01

015

Series 0i–C

Series 0i Mate–C

Alarm and message

1. AXIS CONTROL

Number Message Description

Reference item

TOO MANY AXES COMMANDED

(M series)

TOO MANY AXES COMMANDED

OPERA T OR’S MANUAL (M series) (B–64124EN)

OPERA T OR’S MANUAL (T series) (B–641 14EN)

OPERA T OR’S MANUAL (M series) (B–64144EN)

The number of the commanded axes exceeded that of simultaneously controlled axes. Correct the program.

An attempt was made to move the machine along the axes, but the number of the axes exceeded the specified number of axes controlled simultaneously. Alternatively, in a block where the skip function activated by the torque–limit reached signal (G31 P99/P98) was specified, either moving the machine along an axis was not specified, or moving the machine along multiple

(T series)

axes was specified. Specify movement only along one axis.

II.2.1 Controlled Axes

OPERA T OR’S MANUAL (T series) (B–64134EN)

II.2.1 Controlled Axes

1. AXIS CONTROL

1.2

SETTING EACH AXIS

1.2.1

Name of Axes

B–64113EN–1/01

General

Parameter

Each axis that is controlled by the CNC (including those controlled by the PMC) must be named. Select and set names from among X, Y, Z, A, B, C, U, V, and W (with parameter 1020). The names of the basic axes, however, are fixed (X, Y, and Z for the M series and X and Z for the T series). The names of additional axes can be selected, as desired, from the names other than those for the basic axes. The same name cannot be assigned to more than one axis.

1020 Name of the axis used for programming for each axis

[Data type] Byte axis

Set the name of the program axis for each control axis, with one of the values listed in the following table:

Axis

name

Setting Axis

name

X 88 U 85 A 65 E 69 Y 89 V 86 B 66 Z 90 W 87 C 67

Setting Axis

name

Setting Axis

Setting

name

B–64113EN–1/01

Series 0i–C

Series 0i Mate–C

1. AXIS CONTROL

NOTE

1 With the T series, when G code system A is used, neither

U, V , nor W can be used as an axis name. Only when G code system B or C is used, U, V, and W can be used as axis names.

2 The same axis name cannot be assigned to more then one

axis.

3 The address used by the secondary auxilliary function

(address B with the T series or, with the M series, the address specified in parameter No.3460) cannot be used as an axis name.

4 With the T series, when address C or A is used for

chamfering, corner R, or direct drawing dimension programming (when the CCR parameter (bit 4 of parameter No.3405) is set to 1), addresses C or A cannot be used as an axis name.

5 Only with the T series, address E can be used as an axis

name. Address E cannot be used with the M series. When address E is used as an axis name, note the following: – When G code system A is used, address E is always

assigned to an absolute command.

– When an equal–lead threading command (G32) is

issued in the FS10/11 tape format. Use address F to specify the thread lead.

Reference item

OPERA T OR’S MANUAL (M series) (B–64124EN)

OPERA T OR’S MANUAL (T series) (B–641 14EN)

OPERA T OR’S MANUAL (M series) (B–64144EN)

OPERA T OR’S MANUAL (T series) (B–64134EN)

II.2.2 NAMES OF AXES

1. AXIS CONTROL

Metric

system machine

input

machine inch

input

Inch

system machine

input

machine inch

input

Metric

system machine

input

machine inch

input

Inch

system machine

input

machine inch

input

1.2.2

Increment System

B–64113EN–1/01

General

The increment system consists of the least input increment (for input ) and least command increment (for output). The least input increment is the least increment for programming the travel distance. The least command increment is the least increment for moving the tool on the machine. Both increments are represented in mm, inches, or degrees. The increment system is classified as either IS–B or IS–C (Tables 1.2.2(a) and 1.2.2 (b)). Select IS–B or IS–C using bit 1 (ISC) of parameter 1004.

Table 1.2.2 (a) Increment system IS–B

Least input increment Least command increment

0.001mm(Diameter) 0.0005mm

0.001mm(Radius) 0.001mm

0.001deg 0.001deg

0.0001inch(Diameter) 0.0005mm

0.0001inch(Radius) 0.001mm

0.001deg 0.001deg

0.001mm(Diameter) 0.00005inch

0.001mm(Radius) 0.0001inch

0.001deg 0.001deg

0.0001inch(Diameter) 0.00005inch

0.0001inch(Radius) 0.0001inch

0.001deg 0.001deg

Table 1.2.2 (b) Increment system IS–C

Least input increment Least command increment

0.0001mm(Diameter) 0.00005mm

0.0001mm(Radius) 0.0001mm

0.0001deg 0.0001deg

0.00001inch(Diameter) 0.00005mm

0.00001inch(Radius) 0.0001mm

0.0001deg 0.0001deg

0.0001mm(Diameter) 0.000005inch

0.0001mm(Radius) 0.00001inch

0.0001deg 0.0001deg

0.00001inch(Diameter) 0.000005inch

0.00001inch(Radius) 0.00001inch

0.0001deg 0.0001deg

B–64113EN–1/01

Parameter

1. AXIS CONTROL

NOTE

Diameter programming is used only for T series. Diameter programming or radius programming is determined by parameter DIAx (No. 1006#3) for each axis. Also, parameter IPR (No. 1004#7) can make the least input increment of IS–B and IS–C ten times the least command increment on each axis.

#7 #6 #5 #4 #3 #2 #1 #0

0000 INI

The following parameter can be set at “Setting screen”.

[Data type] Bit

INI Unit of input

0 : In mm 1 : In inches

#7 #6 #5 #4 #3 #2 #1 #0

1001 INM

NOTE

When this parameter is set, the power must be turned off before operation is continued.

[Data type] Bit

INM Least command increment on the linear axis

0 : In mm (metric system machine) 1 : In inches (inch system machine)

#7 #6 #5 #4 #3 #2 #1 #0

IPR1004 IPR

ISC ISC ISA

NOTE

After setting this parameter, turn the power of f then on again so that the setting will take effect.

[Data type] Bit

ISA, ISC The least input increment and least command increment are set.

ISC ISA Least input increment and

least command increment

0 0 0.001mm, 0.001deg, or 0.0001inch IS-B

0 1 0.01mm, 0.01deg, or 0.001inch IS-A

1 0 0.0001mm, 0.0001deg, or 0.00001inch IS-C

Symbol

1. AXIS CONTROL

Series 0i–C

Series 0i Mate–C

B–64113EN–1/01

NOTE

IS–A is not available.

IPR Whether the least input increment for each axis is set to a value 10 times as

large as the least command increment is specified, in increment systems of IS–B and IS–C, mm input.

0 : The least input increment is not set to a value 10 times as large as the

least command increment.

1 : The least input increment is set to a value 10 times as large as the least

command increment.

If IPR is set to 1, the least input increment is set as follows:

Input increment Least input increment

IS-B 0.01 mm, 0.01 deg, or 0.0001 inch

IS-C 0.001 mm, 0.001 deg, or 0.00001 inch

NOTE

For IS–A, the least input increment cannot be set to a value 10 times as large as the least command increment. When inch of input is specified, the least input increment does not become 10 times as large as the least command increment.

Reference item

#7 #6 #5 #4 #3 #2 #1 #0

1006 DIAx

NOTE

When this parameter is changed, turn off the power before continuing operation.

[Data type] Bit axis

DIAx Either a diameter or radius is set to be used for specifying the amount of

travel on each axis. 0 : Radius

1 : Diameter

OPERA T OR’S MANUAL (M series) (B–64124EN)

OPERA T OR’S MANUAL (T series) (B–641 14EN)

OPERA T OR’S MANUAL (M series) (B–64144EN)

II.2.3 Increment System

OPERA T OR’S MANUAL (T series) (B–64134EN)

II.2.3 Increment System

B–64113EN–1/01

1.2.3

Specifying the Rotation Axis

1. AXIS CONTROL

General

Parameter

Bit 0 (ROTx) of parameter 1006 can be used to set each axis to a linear axis or rotation axis. Bit 1 (ROSx) of parameter 1006 can be used to select the rotation axis type, A or B, for each axis. See the explanation of the parameters for details of types A and B. When the roll over function is used, the values displayed for absolute coordinates are rounded by the shift amount per rotation, as set in parameter No. 1260. This can prevent coordinates for the rotation axis from overflowing. Displayed values for relative coordinates are also rounded by the angle corresponding to one rotation when bit 2 (RRLx) of parameter No. 1008 is set to 1. The roll–over function is enabled by setting bit 0 (ROAx) of parameter 1008 to 1. For an absolute command, the coordinates after the tool has moved are values rounded by the angle corresponding to one rotation set in parameter No. 1260. The tool moves in the direction in which the final coordinates are closest when bit 1 of parameter No. 1008 is set to 0. For an incremental command, the tool moves the angle specified in the command.

#7 #6 #5 #4 #3 #2 #1 #0

1006 ROSx ROTx

NOTE

After setting this parameter, turn the power of f then on again so that the setting will take effect.

[Data type] Bit axis

ROTx, ROSx Setting linear or rotation axis.

ROSx ROTx Meaning

0 0 Linear axis

(1) Inch/metric conversion is done. (2) All coordinate values are linear axis type.

(Not rounded in 0 to 360°)

(3) Stored pitch error compensation is linear axis type

(Refer to parameter No. 3624)

0 1 Rotation axis (A type)

(1) Inch/metric conversion is not done. (2) Machine coordinate values are rounded in 0 to 360_. Ab-

solute coordinate values and relative coordinate values are rounded or not rounded by parameter No. 1008#0 and #2.

(3) Stored pitch error compensation is the rotation type. (Re-

fer to parameter No. 3624)

(4) Automatic reference position return (G28, G30) is done in

the reference position return direction and the move amount does not exceed one rotation.

1. AXIS CONTROL

B–64113EN–1/01

ROSx MeaningROTx

1 0 Setting is invalid (unused) 1 1 Rotation axis (B type)

(1) Inch/metric conversion is not done. (2) Machine coordinate values, absolute coordinate values

and relative coordinate values are linear axis type. (Is not rounded in 0 to 360_)

(3) Stored pitch error compensation is linear axis type (Refer

to parameter No. 3624)

(4) The rotation axis roll over function and index table index-

ing function (M series) cannot be used.

#7 #6 #5 #4 #3 #2 #1 #0

1008 RRLx RABx ROAx

NOTE

After setting this parameter, turn the power of f then on again so that the setting will take effect.

[Data type] Bit axis

ROAx The roll–over function of a rotation axis is

0 : Invalid 1 : Valid

NOTE

ROAx specifies the function only for a rotation axis (for which ROTx, #0 of parameter No. 1006, is set to 1)

RABx In the absolute commands, the axis rotates in the direction

0 : In which the distance to the target is shorter. 1 : Specified by the sign of command value.

NOTE

RABx is valid only when ROAx is 1.

RRLx Relative coordinates are

0 : Not rounded by the amount of the shift per one rotation 1 : Rounded by the amount of the shift per one rotation

NOTE

1 RRLx is valid only when ROAx is 1. 2 Assign the amount of the shift per one rotation in parameter

No. 1260.

B–64113EN–1/01

deg

Series 0i–C

1. AXIS CONTROL

1260 Amount of a shift per one rotation of a rotation axis

NOTE

1 After setting the parameter, turn off the power once and turn

it on again to operate the machine.

2 This parameter is valid only when ROAx = 1.

[Data type] Two–word axis

[Valid data range] 1000 to 9999999

Note

Reference item

[Unit of data]

Increment system Unit of data Standard value Unit

IS–A 0.01 36000 IS–B 0.001 360000 IS–C 0.0001 3600000

Set the amount of a shift per one rotation of a rotation axis.

NOTE

Rotary axis roll–over function cannot be used together with the indexing function of the index table.

OPERA T OR’S MANUAL (M series) (B–64124EN)

OPERA T OR’S MANUAL (T series) (B–641 14EN)

II.20.2 Rotary Axis Roll–over

II.19.2 Rotary Axis Roll–over

Series 0i Mate–C

OPERA T OR’S MANUAL (T series) (B–64134EN)

II.18.1 Rotary Axis Roll–over

1. AXIS CONTROL

1.2.4

Controlled Axes Detach

B–64113EN–1/01

General

Signal

Controlled axis detach signals DTCH1 – DTCH4 <G124#0–#3>

[Classification] Input signal

[Function] These signals detach the control axes from control.

These signals release the specified control axes from control by the CNC. When attachments are used (such as a detachable rotary table), these signals are selected according to whether the attachments are mounted. The signals can also be used for switching the C axis and spindle on lathes.

When multiple rotary tables are used in turn, the tables must use motors of the same model. Absolute pulse coders cannot be used.

These signals are provided for each control axis; the affixed number of the signal name shows the control axis number.

DTCH 1

1 ..... The 1st axis is detached.

2 ..... The 2nd axis is detached.

:: ::

[Operation] When the signals are 1, the control unit operates as follows:

1) Position control is not executed at all. Servo motor excitation is cut.

2) Servo alarm on the axis is ignored.

3) Axis interlock signal is assumed to be zero on the detached axis.

4) A command for automatic or manual operation is effective for the axis, but do not execute the command. The command is accepted but the operation is restrained, because the axis interlock is 0. In an automatic operation, the execution may stop and hold at the block.

5) Position display also displays the position of the detached axis.

+ 1194 hidden pages

fanuc 0i- C Connection Manual

DEFINITION OF WARNING, CAUTION, AND NOTE

PREFACE

Table of Contents

1. AXIS CONTROL

CONTROLLED AXES

SETTING EACH AXIS

Name of Axes

Increment System

Specifying the Rotation Axis

Controlled Axes Detach