yaskawa J50M Users Manual

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YASKAWA

SIE-C843-12.30

1 INTRODUCTION

The YASNAC J50M is a high-performance CNC for the simultaneous control of

2 or 3 axes of a driven machine, with emphasis placed on high-speed machining, and programming capability.

FEATURES

Ultra-high-speed Performance “High-speed, computing system” processor in the YASNAC J50M.

Significant Downsizing (Miniaturized) YASNAC J50M is significantly downsized because it has surface mounted devices and customized gate arrays.

This manual explains both basic and optional features of YASNAC J50M as well as the servo system. You can determine your own hardware requirements after carefully reading this manual.

is achieved by installing a 32-bit micro-

This manual is subject to change without

notification due to product improvements,

model changes, etc.

1 INTRODUCTION i

2 BASIC FEATURES 1

2.1 CONTROLLED AXES 1

2.2 SIMULTANEOUS CONTROLLABLE AXES 1

2.3 LEAST INPUT INCREMENT (MINIMUM INPUT UNIT) 1

2.4 LEAST OUTPUT INCREMENT (MINIMUM OUTPUT UNIT) 1

2.5 MAX. PROGRAMMABLE DIMENSIONS 1

2.6 NC TAPE 1

2.7 TAPE CODE 1

2.8 EIA/ISO AUTO-RECOGNITION 1

2.9 TAPE FORMAT 1

2.10 DECIMAL POINT INPUT 1

2.11 BUFFER REGISTER 2

2.12 RAPID TRAVERSE RATE 2

2.13 FEEDRATE RANGE 2

2.14 AUTOMATIC ACCELERATION /

DECELERATION 2

2.15 FEED FUNCTION (F-FUNCTION) 2

2.16 FEEDRATE OVERRIDE AND

FEEDRATE OVERRIDE CANCEL 2

2.17 PREPARATORY FUNCTIONS

(G-FUNCTION) 2

2.18 ABSOLUTE/INCREMENTAL

PROGRAMMING (G90/G91) 2

2.19 PROGRAMMING OF

ABSOLUTE ZERO POINT (G92) 2

2.20 POSITIONING (GOO, G06) 3

2.21 LINEAR INTERPOLATION (GO1) 3

2.22 CIRCULAR INTERPOLATION (G02, G03) 3

2.23 DWELL (G04) 3

2.24 EXACT STOP CHECK (G09, G61, G64) 3

2.25 MISCELLANEOUS FUNCTION (M-FUNCTION) 4

2.26 SPINDLE-SPEED FUNCTION (S-FUNCTION) 4

2.27 TOOL FUNCTION (T-FUNCTION) 4

2.28 TOOL LENGTH COMPENSATION

(G43, G44, G49) 4

2.29 TOOL POSITION OFFSET

(G45 THROUGH G48) 4

2.35 SUBROUTINE PROGRAM (M98, M99) 5

2.36 PARAMETER SETTING 6

2.37 SETTING FUNCTION 6

2.38 INTERNAL DATA TAPE INPUT 6

2.39 OPERATION TIME DISPLAY 6

2.40 ADDRESS SEARCH 6

2.41 PROGRAM NUMBER 6

2.42 LABEL SKIP 6

2.43 CONTROL IN/OUT 6

2.44 TV CHECK 6

2.45 SEQUENCE NUMBER BREAK POINT 6

2.46 SINGLE BLOCK 6

2.47 OPTIONAL STOP 7

2.48 OPTIONAL BLOCK SKIP 7

2.49 DRY RUN 7

2.50 MACHINE LOCK 7

2.51 DISPLAY LOCK 7

2.52 Z-AXIS COMMAND NEGLECT 7

2.53 AUXILIARY FUNCTION LOCK 7

2.54 MANUAL ABSOLUTE ON/OFF 7

2.55 MIRROR IMAGE 7

2.56 INTERNAL TOGGLE SWITCHES 7 2,57 ORIGIN KEY 7

2.58 INTERLOCK 7

2.59 START LOCK AND EDIT LOCK 7

2.60 AUTOMATIC COORDINATE SYSTEM SETTING 7

2.61 FEED HOLD 8

2.62 EMERGENCY STOP 8

2.63 OVERTRAVEL 8

2.64 REMOTE RESET 8

2.65 REMOTE POWER ON/OFF 8

2.66 MACHINE READY INPUT SIGNAL 8

2.67 NC READY OUTPUT SIGNAL 8

2.68 NC ALARM OUTPUT SIGNAL 8

2.69 NC RESET OUTPUT SIGNAL 8

2.70 RS-232C INTERFACE 8

2.71 ON-LINE DIAGNOSTICS 8

2.72 POSITION DETECTOR INTERFACE 8

2.73 INPUT/OUTPUT CONNECTORS 9

2.74 POWER INPUT A 9

2.30 OFFSET MEMORY 5

2.31 TOOL OFFSET VALUE 5

2.32 BACKLASH COMPENSATION 5

2.33 MANUAL FEED 5

2.34 PROGRAM STORAGE AND EDITING 5

2.75 AMBIENT CONDITIONS 9

2.76 PAINT COLOR AND DIMENSIONS 9

CONTENTS (Cent’d)

3 BASIC OPTIONS 9

3. I AC SERVO CONTROL UNITS 9

3.2 AC SERVOMOTORS 9

4 OPTIONS 10

4.1 NC OPERATORS STATION 10

4.2 TAPE READER 10

4.3 TAPE READER WITH REELS 10

4.4 F1-DIGIT COMMAND 10

4.5 S5-DIGIT PROGRAMMING WITH 12-BIT OUTPUT 10

4.6 T4-DIGIT PROGRAMMING 10

4.7 ADDITIONAL OFFSET MEMORY 10

4.8 ADDITIONAL PART PROGRAM STORAGE 10

4.9 ADDITIONAL PROGRAM NUMBER REGISTRATION 10

4.10 4TH AXIS CONTROL 10

4.11 MANUAL PULSE GENERATOR FOR ONE AXIS AT A TIME 11

4.12 REFERENCE POINT RETURN

(G27, G28, G29) 11

4.13 2ND, 3RD, AND 4TH REFERENCE POINT

RETURN 11

4.14 EXTERNAL DECELERATION 11

4.15 TOOL LENGTH MEASUREMENT 11

4.16 OPTIONAL BLOCK SKIP B 12

4.17 2ND AUXILIARY FUNCTION

(B-FUNCTION) 12

4.18 JOG FEEDR4TE OVERRIDE 12

4.19 PROGRAM COPY 12

4.20 HELICAL INTERPOLATION (G02, G03) 12

4.21 CIRCLE CUTTING B (G12, G13) 12

4.22 INCH/METRIC DESIGNATION BY G CODE 13

4.23 UNIDIRECTIONAL APPROACH (G60) 13

4.24 WORK COORDINATE SYSTEM SETTING A (G52 TO G59) 14

4.25 WORK COORDINATE SYSTEM SETTING B (G54J TO G59J) 14

4.26 TOOL RADIUS COMPENSATION C (G40 TO G42) 14

4.27 OUTPUT FOR EXTERNAL MOTION (G80, G81) i5

4.28 CANNED CYCLES (G73, G74, G76, G77, G80

TO G89) 15

4,29 HOLE PATTERN CYCLES

(G70, G71, G72) 22

4.30 SCALING FUNCTION 22

4.31 MACRO PROGRAM (G65, G66, G67) 22

4.32 EXTERNAL DATA INPUT 23

4.33 SKIP FUNCTION (G31) 23

4.34 STORED STROKE LIMIT (G22, G23) 23

4.35 STORED LEADSCREW ERROR COMPENSATION 23

4.36 USER MESSAGE DISPLAY 24

4.37 PROGRAM RESTART 24

4.38 PROGRAM INTERRUPTION (M90, M91) 24

4.39 PLAYBACK FUNCTION 24

4.40 EXTERNAL INPUT, COLLATION, AND OUTPUT 24

4.41 TOOL LIFE CONTROL (G122, G123) 24

4.42 COORDINATE ROTATION 24

4.43 LOCAL COORDINATE SYSTEM SETTING 25

4.44 AUTOMATIC OPERATION MODE HANDLE OFFSET 25

5 BUILT-IN TYPE PROGRAMMABLE CONTROLLER

(PC) 25

APPENDIX 1 LIST OF DATA 26 APPENDIX 2 DIMENSIONS in mm (inch) 31

...

111

INDEX

Subject

ABSOLUTE/INCREMENTAL PROGRAMMING (G90/G91) ~ . . . . . . . 2 . . . . . 2.18 . . . . 2

AC SERVO CONTROL UNITS. . . . . . . . . . . . . . . . . . . . . . . . . - 3 . . ...3.1... .9

AC SERVOMOTORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..3.....3.2 . ...9

ADDITIONAL OFFSET MEMORY ...00.0.....s..o...... .4 °.O” .4.7 OO. O1O

ADDITIONAL PART PROGRAM STORAGE . . . . . . . . . . . . . ...-4.. . ..4.8 . ...10

ADDITIONAL PROGRAM NUMBER REGISTRATION . . . . . . . . . . 0 . 4 . . . . . 4.9 . . + . 10

ADDRESS SEARCH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..24 ..”” 2.40. ““6

AMBIENT CONDITIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 . . . . . 2.75....9

AUTOMATIC ACCELERATION/DECELERATION . . . . . . . . . . . . . . 2 . . 0 . . 2.14 . . . . 2

AUTOMATIC COORDINATE SYSTEM SETTING . . . 0 . . . . . . . . . . . 2 . . . . . 2.60 “ . “ “ 7

AUTOMATIC OPERATION MODE HANDLE OFFSET . . . . . . . . . . . 4 . . . . . 4.44 . . . . 25

AUXILIARY FUNCTION LOCK.. . . . . . . . . . . . . . . . . . . . . . . . . 2 . . . . . 2.53....7

BACKLASH COMPENSATION.. . . . . . . . . . . . . . . . . . . .. . . . - . 2 . . . . . 2.32....5

BASIC FEATURES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ,..2 . . . . . . . . . . . ..”1

BASIC OPTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3...”..” ““”””””9

BUFFER REGISTER . . . . . . . . . . . . . . . . . . . . . . . . . . . ...2.....2.11. ..2

BUILT-IN TYPE PROGRAMMABLE CONTROLLER(PC) . c o 0 . . . . . . 5 . . . . . . . . . . . “ “ .25

CANNED CYCLES (G73, G74, G76, G77, G80TOG89) . . . . . - . . . 4 . . . . . 4.28 . . . 15

CIRCLE CUTTING B(G12, G13) ..o...,o........... . . ...4.....4.21.. ..12

CIRCULAR INTERPOLATION (G02, G03) . . . . . . . . . .””..”... 2“””-” 2.22”””” 3

CONTROLIN/OUT . . . . . . . . . . . . . . . . ...-.....””. ““2 ””. ””2.43”””6

CONTROLLED AXES . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...2.....2.1 .$”- 1

COORDINATE ROTATION”. .“”.”.”””””.”.””””” ““” ”” 4”. ”” .4.42””- .24

DECIMAL POINTINPUT . . . . . . . . . . . . . . . . . . . . . . . . . . ...2.....2.10. . . . 1

DIMENSIONS inmm (inch). . . . . . . . . . . . . . . . . . . . . . .. APPENDIX2” ”””” ““”””31

DISPLAY LOCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...2.....

DRYRUN O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 . . ...2.49 . ...7

DWELL (G04] . . . . . . . . . . ....”””””.”””.”””””. “.” .” 2.”” ”. 2.23.”. “3

EIA/ISOAUTO-RECOGNITION . . . . . . . . . . . . . . . . . . . . . ...2.....2.8 . . . . 1

EMERGENCY STOP..... . . . . .. . . . . . . . . . . . . . . . . . . . . ..2. .” ..2.62 “.””8

EXACT STOP CHECK(G09, G61, G64) . . . . . . . . . . . . . . . ..- 2.”””” 2.24 ””””3

EXTERNAL DATAINPUT. . . . . . . . . . . . . . . . . . . . . . . . . . ..4” .””” 4.32. ““.23

EXTERNAL DECELERATION ........4......”””” .“”””””4””””” 4.14” ‘+”11

EXTERNAL INPUT, COLLATION, AND OUTPUT . . “ “ “ “ “ “ . “ - . “ . 4 “ “ “ “ “ 4.40 “ “ “ “ 24

F1-DIGITCOMMAND . . . . . . . . . . . . . . . . . . . . . . . . . . . ...4.... .4.4 .“””10

FEED FUNCTION (F-FUNCTION) . -...........”.””” ““. ”2””””” 2.15.”” 2

FEED HOLD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..2” .”2.61 ““””8

FEEDRATE OVERRIDE AND FEEDRATE OVERRIDE CANCEL . . 0 0 . 2 . - . - .

FEEDRATER4NGE . . . . . . . . . . . . . . . . . . . . . . . “.” ”” ”””. 2”. ”.”2.13 ““””2

4TH AXIS CONTROL -... . . . . . . . . . . . . . . . . . . . . . . . . . ..4” ””” ’4.10 ““””lo

HELICAL INTERPOLATION (G02, GOD)....””.”.””..””” ““” 4“””” 4.20 ””.”12

HOLE PATTERN CYCLES (G70, G71, G72) . . . . . . ...”.” ““.”. 4“””.” 4.29 ”..”22

INCH/METRICDESIGNATION BYGCODE40”oo o-o-” ““””””” 4“”””” 4.22 .””.13

INPUT/OUTPUTCONNECTORS ......”.”.”.”””””” . .. ”.”2””””” 2.73” ““”9

INTERLOCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. ”.. ”2. .”. ”2.58 ‘“””7

INTERNAL DATATAPEINPUT . . . . . . ” . - .”.”.”-”- ““. ”””” 2””” ”.2.38 ““””6

INTERNALTOGGLE SWITCHES . . . .$-””.””””””””” .“. .””2”” ”-.2.56. ““”7

INTRODUCTION . . . . . . . ........,......”oo ““’””””””1””””””” ““”””’”i

JOG FEEDRATEOVERRIDE . . . ...”..””””””””” “.” ”.”” 4””” ”.4.18 ““””12

Chapter

Section Page

2.51 . ...7

2.16 . ...2

INDEX (Cent’d)

Subject

LABEL SKIP . . . . . . . . . . . . . .......””””””””””.””.” 2’. ”.”2.42”””.6

LEAST INPUT INCREMENT (MINIMUM INPUT UNIT) . . . . . - “ . “ . 0 2 “ . “ “ “ 2.3 “ “ “ “ 1

LEAST OUTPUT INCREMENT (MINIMUM OUTPUT UNIT) . “ . “ . “ “ “ 2 “ “ “ “ “ 2.4 “ “ “ “ 1

LINEAR INTERPOLATION (GO1). . . . . . . . . . . . . . . . . ...”.”- 2“””””2.21”” ..3

LIST OF DATA . . . . . ...!... O“. ”oco”. .”. o”o. .o”s APPENDIX 1.””””..o.”26

LOCAL COORDINATE SYSTEM SETTING . “”.”.”.”””””””””” 4“”””” 4.43 ”.””25

M MACHINE LOCK . . . . . . . . . . . . . . . . . .. O..-.’”’””” O“. .2 °00-e2.50””-”7

MACHINE READY INPUT SIGNAL ““”””””””...””””””””” ““2” ”””” 2.66 ”””.8

MACRO PROGRAM (G65, G66, G67) . . . . . . . . . . . . . . . ..”. ”4 ‘“”o- 4.31 ”. ..22

MANUAL ABSOLUTE ON/OFF. . . . . . ...””””””””””””” ““”2”$-””2.54””””7

MANUAL FEED . . . . . . . . . . . . . . . . ” . ” ” ” ” .”.”””.”” ““”2”””. ”2.33. ””5

MANUAL PULSE GENERATOR FOR ONE AXIS AT ATIME “ “ - 0 “ o 0 4 “ “ “ - “ 4.11 “ “ “ “ 11 MAX. PROGRAMMABLE DIMENSIONS ““””””””””””””””””””2 ““”” ”. 2.5 ““”” 1

MIRROR IMAGE . . . . . . . . . . .....”.””.””.”””””” ““.2 ”””. 2.55” ”””7

MISCELLANEOUS FUNCTION (M-FUNCTION) “ “ . “ “ o “ o “ “ “ “ “ “ “ 2 “ “ “ “ “ 2.25 “ “ ‘ “ 4

NNCALARM OUTPUT SIGNAL” ““””.”””””””.””””.”””” ““2” ”””” 2.68 ””””8

NC OPERATORS STATION . . . .......”.”.”””””.”.”” ““”4””””” 4.1 ““””lo

NC READY OUTPUT SIGNAL.” ““””””””o”””””””””””” ““”2”””””2.67””””8 NC RESET OUTPUT SIGNAL”” ““”r”””.”””””””””””” ““”2”””””2.69””””8

NCTAPE . . . . . . . . . . . ......”””””.”””.”- ““” .” ”.”. 2”<. ””2.6 ““”” 1

O OFFSETMEMORY ”””” ““”””””””””””””””””” ““” ”” ”’”2””””” 2.30 ““””5

ON-LINE DIAGNOSTICS.” ““.””””””””..”.” .“. ”. ”””. 2””” ””2.71 “.””8 OPERATION TIME DISPLAY” .O...””oo”””o”””o.o .. ”. ””2°-’” 02.39’ ‘“”6 OPTIONAL BLOCKSKIP ””” “-”.””””””””””””””” ““” .” ”.2”””. ”2.48” ““”7 OPTIONAL BLOCKSKIPB. ..””””””””””.””.”’” .“”. .”.4”””” .4.16” “’”12

OPTIONAL STOP”’”’”””’” 4.--”-”””’”.”-”””””” ““” ”. 2-”” ”” 2.47””” “7 OPTIONS ””-” o”””-””” ““”””-””””””””””””” ““”””””4””””””””” ““””10 ORIGIN KEY...””..””” “.” .” ”-”. .”” $”.””” .“”””. .2”” ”” ’2.57< ““”7

OUTpUTFOR EXTERNALMOTION (G80, G81) ” . ” ” ”””..”.-” . . 4 . . . . . 4.27 . ...15

OVERTRAVEL ””””””””” ““””””””’”””””””””” ““” ”” ””24”. ”.2.63” ““”8

P PAINT COLORANT DIMENSIONS . “.”””””””””””””””” .“””2””””” 2.76””” “9

PARAMETER SETTING””” ““”””””””””””””””” ““” ”” ”””” 2””” ””236 ““””6 PLAYBACK FUNCTION ..” ..”””””..”o..””.”. ““” ”” ”””” 4”” ’””4.39 ““””24 POSITION DETECTORINTERFACE ““”c””””.””””””””” ““2 ”””” ”2 .72”””” 8

POSITIONING (GOO, G06)”” ““””””””””””””””””” ““” ”” ””2””””” 2.20” ““”3 POWERINPUTA ”””””” ‘“ .” 8--” ”.”. ””0””” “’”” ”” ”””2””””” 2.74 ““””g

PREPARATORY FUNCTIONS (G-FUNCTION) . . . . . . . . . . . . . . . . 2 . . . . . 2.17 . . . . 2

PROGRAM COPY””’””””” ““””””””””””””””””” ““” ”” ”-4” ”’”” 4.19” ““”12 PROGRAM INTERRUPTION (M90, M91) ””’””.””””””””” “-”.4””””” 4.38 ””””24 PROGRAM NUMBER”””” ““””””””””’””””””” ““” ”” ”””” 2””” ””2.41 “’””6

PROGRAM RESTART”.” ““o’.”-”-”’””””””” “’” ’” ’””” 4””” ””4.37 ““””24

programming oFABSOLUTE ZEROPOINT(G92) . . . . . . . . . . 2 . . . . . 2.19 . . . 2

PROGRAM STORAGEAND EDITING ““”””.”.”””””””””” ““” 2””” ”” 2.34”””” 5

R RAPID TRAVERSE RATE”” C.””’”””””””””’”””” ““” ”” ””2” ’’”” 2.12” ““”2

REFERENCE POINTRETURN(G27, G28, G29) . . . . . ~ . . . . . . . . 4 . . . . . :::: . . . . 11

REMOTEPOWERON/OFF . . ...””””””””””””” ““”””””””2”””””

REMOTERESET. .$””” . “.-””””””””””””” .“”””0”2””””” 2.64 ““””8 RS-232C INTERFACE””” “’”””””””””””””””” ““” ”” ”””” 2””” ””2.70 ‘“””8

S S5-DIGIT PROGRAMMING WITH 12-BITOUTPUT . . . . . . 0 . . . . . . 4 . . . . . 4.5 . . . . 10

SCALING FUNCTION””””” ““.’”’””””””””””””” ““” ”” ””4””””” 4.30’ ““”22

2ND AUXILIARY FUNCT10N@FuNcTION) . . . . . . . . . . . . . . . . 4 . . . . 4.17 . . . . 12

2ND, 3RD, AND 4TH Reference POINT RETURN . . . . . . . . . . . . 4 . . . . . 4.13 . . . . 11

SEQUENCE NUMBERBREAK POINT”””””””””””” ““”””””””2”””””

Chapter Section

. . . .

2.45 . ...6

Page

INDEX (Cent’d)

Subject

SETTING FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . ...2 . . . . . 2.37....6

SIMULTANEOUS CONTROLLABLE AXES . . . . . . . . . . . . . . ...2 .4 ...2.2 . . . . 1

SINGLE BLOCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 . . ...2.46 . ...6

SKIP FUNCTION (G31) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 . . . ..4.33... .23

SPINDLE-SPEED FUNCTION (S-FUNCTION) . . . . . . . . . . . . . . . . 2 . . . . . 2.26 . . . 0 4

START LOCKAND EDITLOCK . . . . . . . . . . . . . . . . . . . . . . . . 2 . . ...2.59 . ...7

STORED LEADSCREWERROR COMPENSATION . . . . . ~ . . . . . . . 4 . . . . . 4.35 . . . . 23

STORED STROKELIMIT(G22, G23) . . . . . . . . . . . . . . . . . . ...4..... 4.34....23

SUBROUTINE PROGRAM (M98, M99)............-... . . . . 2 . . . ..2.35... 5

Chapter

T T4-DIGIT PROGRAMMING.. .. . . . . . . . . . . . . . . . . . . . . . ...4.....

TAPECODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...2.....

TAPEFORMAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...2.. . . .

TAPEREADER . . . . . . . . . . ...!..... . . . . . . . . . . . . ...4.. . . .

TAPE READERWITHREELS . . . . . . . . . . . . . . . . . . . . . . ...4.....

TOOL FUNCTION (T-FUNCTION) . . . . . . . . . . . . . . . . . . . . . ..2.....

TOOL LENGTH COMPENSATION (G43, G44, G49) . 0 “ < “ “ “ . . . . . 2 . “ “ . .

TOOL LENGTH MEASUREMENT . . . . . . . . . . . . . . . . . . . . ...4.....

TOOL LIFECONTROL(G122, G123). o.o. o.o. .o..o . . . . ...4.....

TOOLOFFSETVALUE . . . . . . . . . . . . . . . . . . . . . . . . . . ...2...-.

TOOL POSITION OFFSET(G45 THROUGHG48) . . . . . . . . . . . . . 2 . . . . .

TOOL RADIUS COMPENSATION C(G40TOG42) . c . . . . . . . . . . . 4 . . . . .

TVCHECK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...2.....

u UNDIRECTIONALAPPROACH (G60) . . . . . . . . . . . . . . . . . . . . . 4 . . . . .

USER MESSAGE DISPLAY. . . . . . . . . . . . . . . . . . . . . . . . ...4.....

W WORK COORDINATE SYSTEM SETTING A(G52TOG59) . . . . . . . . 4 . . . . .

WORK COORDINATE SYSTEM SETTING B(G54JTOG59J) . . . . . . 4 . “ . . “

Z Z-AXIS COMMAND NEGLECT . . . . . . . . . . . . . . . . . . . - . . ...2.-...

Section

4.6 . ...10

2.7 . . . . 1

2.9 . ...1

4.2 . ...10

4.3 . ...10

2.27 . . . . 4

2.28 ...4

4.15....11

4.41....24

2.31 . ...5

2.29 . ...4

4.26....14

2.44 . ...6

4.23,...13

4.36....24

4.24....14

4.25....14

2.52 . ...7

Page

2 BASIC FEATURES

2.1 CONTROLLED AXES

axes (X, Y and Z)

2.2 SIMULTANEOUS CONTROLLABLE AXES

axes (positioning and linear interpolation)

axes (circular interpolation)

2 All axes (manual operation except for the manual

pulse generator)

2.3 LEAST INPUT INCREMENT (MINIMUM INPUT UNIT)

The least input increment is the minimum programmable lengthexpressed in millimeters, inch-

es or in degrees.

Linear Axis

Metric Input Inch Input

Least input increment times ten can be set by parameter.

0.001

0.0001 in.

Rotary Axisf

0.001 deg.

2.5 MAX. PROGRAMMABLE DIMENSIONS

Inch

output

t Optional

Metric Input

Inch Input

+99999.999

f9999. 9999 in.

mm.

*99999.999 deg.

t99999. 999 deg.

2.6 NC TAPE

8-channel black paper tape, EIA RS-277, ISO

1154, JIS C6246

2.7 TAPE CODE

EIA RS-244-A and 1S0 84.0 Refer to Tables 1.1 and 1.2 in Appendix 1.

2.8 EIA/lSO AUTO-RECOGNITION

Input Increment X10

Linear Axis

Metric Input 0.01

mm 0.01 deg.

Rotary Axis f

Inch Input 0.001 in. 0.01 deg.

t Optional

Metric

input and inch input can be selected by

setting numbers.

2.4 LEAST OUTPUT INCREMENT (MINIMUM OUTPUT UNIT)

Ths least output increment is the minimum unit of movement through which the machines can

move, expressed in millimeters or inches.

Rotary Axis+

0.001 deg.

Metric Output hmut OutPut

t Optional

Linear Axis

0.001 mm

0.0001 in.

When the first EOB code is read in Label Skip mode, the code in use is automatically sensed.

2.9 TAPE FORMAT

Variable block format conforming to JIS B6313.

The format differs with metric /inch input or out-

put .

For details of the formats, refer to Tables

1.3 and 1.4 in Appendix 1.

2.10 DECIMAL POINT INPUT

Numerical values containing a decimal point can

be input.

can be used are as follows:

“ Coordinates: X, Y, Z, I, J, K, Q, R “ Feedrate: F “ Dwell time: P

Normally, when numbers without a decimal

point are input, the control treats “ 1“ as

01001 mm, 0.0001 inch, or 0.001 deg. However,

the control can be set by parameters to treat “ 1”

as 1 mm, 1 in. or 1 deg.

Addresses with which decimal points

● . .

2.11 BUFFER REGISTER

During normal operation, one block of data is read in advance and compensation is computed

for the follow-on operation.

In the tool radius compensation~ C mode, two blocks of data or up to 4 blocks of data are read in advance and compensation computing required for the next operation is executed. One block

can contain up to 128 characters including EOB.

Feedrate (Feed/Minute)

Range

F1. - F30000 mm/min

FO.1 -F1181.10in. /rein

Metric Input

output

Metric

Inch Input

Format

F40

F31

“’UHH==

2.12 RAPID TRAVERSE RATE

Up to 30,000 mm/min, or 1181.10 in. /rein, as set by parameters, is programmed independently for

each axis.

2.13 FEEDRATE RANGE

Feedrate is programmable between 1 and 30,000 mm/min, or between 0.1 and 2400 in. /min.

upper limit can be set by parameters according to the machine.

The

2.14 AUTOMATIC ACCELERATION / DECELERATION

(1) In positioning and manual feeding, motion can be automatically accelerated and decelerated linearly. Twostage linear acceleration/deceleration can also be set as shown below, independently for each axis.

Note: 1/10 by parameters.

Minimum input values can be reduced to

2.16 FEEDRATE OVERRIDE AND FEEDRATE OVERRIDE CANCEL

Rapid traverse rate override

(1)

Rapid traverse rates can be reduced to FO, 25%, 50% or 100% of the original traverse rate. FO is set by parameters.

(2) Feedrate override

The feedrates programmed by F codes can be modified between O% to 200% in 10% increments.

(3) Feedrate override cancel

When this switch is turned on, any feedrate override ef feet is cancelled, and the tool moves

at the originally programmed feedrates.

2.17 PREPARATORY FUNCTIONS (G-FUNCTION)

G codes consisting of address G plus up to 3 digits, specify work for the respective blocks. For details of the G codes, refer to Table 1.5 in

Appendix 1.

(2) Feed acceleration is exponential, and is

applled commonly to all the axes.

The time constants for the above curves are set by parameters.

2.15 FEED FUNCTION (F-FUNCTION)

Tool feedrates are selected within the following

ranges by F codes.

(1) Ordinary G codes include non-modal G-codes

marked with*, and modal G-codes belonging to

groups 01 through 15.

long to division B are basic G-codes.

(Z) G1OO through G199 are expansion G-codes. They are used ~o call G-codes for option, etc.

The G-codes which be-

user macro

2.18 ABSOLUTE/lNCREMENTAL PROGRAMMING (G90/G91 )

With the following G-codes, the tool movement can selectively be programmed either in absolute values or in increments:

G90 : G91: incremental designation

absolute designation

2.19 PROGRAMMING OF ABSOLUTE ZERO POINT (G92)

With a command “G92 X... Y.. . Z. ..:,” an absolute coordinate system is established with the current tool position having the specified coordinate values.

2.20 POSITIONING (GOO,G06)

(1] GOO X... Y... Z... ;

With this command, the tool moves at the rapid traverse rate to the specified coordinate position, moving independently in each coordinate direction. The motion after positioning will be in the ERROR DETECT ON mode. GOO is a 01 group modal G code. The ERROR DETECT OFF mode can be

entered by parameters.

180”OR OVER

(2) G06 X... Y... z... ;

with this command, after executing. a positioning similar to GOO, the program advances to the next block in the ERROR DETECT OFF mode. G06 is non-modal, and is effective only in the programmed block.

Note:

In the ERROR DETECT ON mode, the command of the next block is executed only after the servo-lag pulses in the current block are reduced to a permissible number. The ERROR DETECT OFF mode is where the command of the next block is executed immediately after the distribution of the pulses in the current block, regardless of the servo–lag pulses. In this mode,

the corners of the workplaces are slightly rounded.

2.21 LINEAR INTERPOLATION (GOI)

GOI X... Y... Z... F... ;

With this command, the tool moves along the

specified straight line at a feedrate specified by the F code.

2.22 CIRCULAR INTERPOLATION (G02, G03)

START POINT

G02 X... Y.., Rt... F... ;

(3) G02 (G03) I... J... F... Ln;

This command moves the tool around a designated complete circle n times. When L is not programmed, the tool moves only once around the circle.

(4) G codes for plane designation (G17 to G19)

The plane for programming circular interpolation

is specified by the following G codes:

G17: G18: G19:

XY plane 2X plane YZ plane

Note :

1. Circular interpolation is possible over two or more quadrants.

2. Circular interpolation is also possible with

respect to the optional 4th linear axis.

2.23 DWELL (G04)

(1) G02 (G03) X... Y... I... J... F... ;

These commands move the tool along the specified circular path at feedrate specified by the F code.

X and Y specify the end point of the circular motion, and I and J specify the center of the circular path in XY plane. With the proper selection of address, similar circular interpolation is programmed also in the XY and ZX planes. G02 is for clockwise motion, and G03 is for counterclockwise motion.

(2) G02 (G03) X... Y... R... F... ; Circular interpolation is also possible by desig-

nating the radius R with the above command. When R > 0, a circular path with a center angle

smaller than 180° is programmed, and when R c O, the center angle of the circular path is larger than 180°.

G04 P...;

With this command, the tool remains motionless

for the duration of time specified by the P code. The minimum and the maximum programmable dwell times are 0.001 and 99999.999 seconds, respectively.

2.24 EXACT STOP CHECK (G09, G61 , G64)

This function is effective only in the blocks of . feedrate which is controlled by interpolation.

(1) Exact stop (G09)

A block containing G09 is executed in the ERROR DETECT ON mode.

is required to be machined with a sharp corner,

this code is programmed. is effective only in the programmed block.

(2) Exact stop check mode (G61)

When G61 is programmed, all the subsequent

blocks are executed in the ERROR DETECT ON

mode until G64 is programmed.

When the workpiece

G09 is non-modal, and

2.24 &W#TOP CHECK (G09, G61 , G64)

(3) Exact stop check mode cancel (G64)

This code is for canceling the G61 command.

In either output mode, spindle speed override can be accomplished. permits overrides by steps of 10% within a range of 50 to 120% to the spindle output command.

(Input points: 3)

This function

Note:

1. When the power supply is turned on, the status corresponding to G64, that is, the ERROR DETECT OFF mode, is on.

2. Rapid traverse motion is controlled by GOO and G06, and not influenced by these exact stop G codes.

2.25 MISCELLANEOUS FUNCTION

(M-FUNCTION)

Miscellaneous functions are programmed with address M and up to these digits. The M codes are grouped in the following three categories:

(1) M codes for internal processing, decode sig-

nal outputting, and 3-digit BCD outputting. MOO:

MO1: M02: M30:

(2) M

M90t: M91~: M92t:

M93t: M94: M95: M96t :

M97+:

M98: M99: M1OO to 199: - f indicates options.

(3) M codes exclusively for outputting 3-digit

BCD signals are those other than the above.

Program stop Optional stop Program end (reset) Tape end (reset and rewind)

codes only for internal processing

Program interrupt off Program interrupt on Multi-active register off Multi-active register on Mirror image off

Mirror image on Tool radius compensation C; circular path mode Tool radius compensation C; intersection calculation mode

Subroutine program call Subroutine program end

2.26 SPINDLE-SPEED FUNCTION (S-FUNCTION)

Instead of this function, S5-digit programming with 12-bit output is selected. It outputs 12-bit binary signal without a sign

(4095 maximum) .

2.27 TOOL FUNCTION (T-FUNCTION)

Tool numbers are specified by two digits following the address T. are sent in 2-digit BCD.

Note:

output is available as an option.

T4-digit programming with T4-digit BCD

Commands to the machine

2.28 TOOL LENGTH COMPENSATION

(G43, G44, G49)

This is a tool position offset function only effective in the Z-axis direction. With G43 ( G44) Z H...

. . . offset by the value stored in the tool offset memory specified by the H code in plus (+) or minus (-) direction, with respect to the point of the Z-axis movement.

G Code

G43

G44

G49

Note: When power is applied, the control is in

the state of G code marked with

; or G43 (G44) H. . . ; the tool is

Meaning

Tool length compensation in plus (+] direction

Tool length compensation in minus (-) direction

Tool length compensation command cancel

1“

2.29 TOOL POSITION OFFSET (G45 THROUGH G48)

These tool position offsets are used mainly for compensating for the radius differences when machining simple rectangular workplaces.

The following output mode can be selected.

S 5-digit programming, analog output (Basic

option). Outputs analog voltage of t10 V max

as D /A converter.

The control outputs spindle gear ratio change commands (4 max) when it receives the RPM value specified program. analog voltage corresponding to the changed

gear ratio. changed gear ratio. Speed ranges for

individual gear ratio are set by parameter.

Speed ranges corresponding to the

It then outputs

G01G45 (G46) X... D... F... ;

With this command, the feed lehgth of the tool in the specified axis is extended or retracted by the length stored in the specified tool offset memory.

G Code

G45

G46 G47

G48 I Double retraction

Extension

Retraction

Double extension

Meaning

These G codes are non-modal, and are effective only in the block in which they are programmed. When circular interpolation is included in the same block in which a tool position offset is pro– grammed, the radius and the end point are extended also.

In this case

~ proper compensation

for tool radius is possible only for machining 1/4, 3/4 and 414 circles.

2.30 OFFSET MEMORY

The two digits following the address H or D are called tool offset numbers, and these numbers are assigned to the 99 tool offset values stored in the tool offset memory. set value can be designated with the tool length compensation command (specified by the H code) or the tool position offset command (specified by the D code among the stored values.

Note: The 99 tool offset values can also be used

with the tool radius compensation C function

(option).

Up to 299.

Tool offset memories can be expanded

Any desired tool off-

(3) Step feed (STEP)

Each time the desired JOG button is pushed, the tool moves through the distance specified by the MANUAL PULSE MULTIPLY switch. The distance are in the following multiples of pulses: x 1,

x 100, x 1000, x 10,000, x 100,000.

x 10,

2.34 PROGRAM STORAGE AND EDITING

Part program can be loaded into memory for tapeless operation and for editing.

(1) Memory capacity is equivalent to 40 meters of

tape. (Note 1)

(2) Part program, added with a program number

of 4-digit numerals, can be stored in memory

(from paper tape or MDI).

up to 99 program numbers can be stored in memory.

(Note 2)

(3) The stored part program can be edited by ERASE, INSERT, and ALTER keys. Editing is done in one to several words at a time.

In the basic mode,

2.31 TOOL OFFSET VALUE

The range of tool offset value that can be written in the tool offset memory is as follows:

Metric Input Inch Input O to +99. 9999 inches

O to t999. 999 mm

2.32 BACKLASH COMPENSATION

This function is for compensating for the backlash in the driving system of the

machines, Backlashes between O and +8191 P can be compensated independently in each axes (p representing the minimum output unit). The desired compensation values are preset by parameters.

2.33 MANUAL FEED

Manual feed is possible in the following three

modes, simultaneously in all three axes.

(1) Manual rapid traverse (RAPID) The tool moves at the rapid traverse rate, in-

dependently in all three axes.

(2) Manual JOG feed (JOG)

After setting the JOG FEEDRATE switch at he

desired speed (32 available) , the tool will move

at that feedrate while any of the JOG buttons is

depressed.

(4) The OUT, VER, and IN keys are used to

output the stored part programs to external equipment (option) , to collate them with punched cards, and store them from tape readers.

(Note

(5) Address search function permits the specified program number to be searched for the pur-

pose of an automatic operation (MEM mode).

Note:

Optionally, the part program storage may

be extended to 320 meters.

2. Optionally, the number of stored programs may be extended to 999.

3. To output the part program to an external equipment, the optional 11data input/output

interface

11is required.

2.35 SUBROUTINE PROGRAM (M98, M99)

Subroutine programs with program numbers can

be retrieved and executed as many times as de-

sired.

(1) Retrieving subroutine programs (M98) M98 P... L... ;

With this command, the subroutine program with the number designated by P is retrieved and

executed L times. the subroutine program is executed only once. The retrieved subroutine program may also retrieve further subroutine programs up to four nestings.

When no L-digit is defined,

2.35 ~W~:)UTINE PROGRAM (M98, M99)

(2) Subroutine program end (M99)

Subroutine programs are written in the following format, and stored in the part program storage in advance.

. . . . . . . . . . . .

. . . . . . . . . . . . . . .

.*. .*...*. . . . . .

..0...... ● .**

. . . . . . . . . . . . . . .

M99 ;

;

: :

;

Program No.

. . .

Subroutine program

. . .

2.40 ADDRESS SEARCH

All address data, including program numbers in the part program storage can be searched with an MDI command.

2.41 PROGRAM NUMBER

Up to 4 digits can be written as program

numbers immediately after the address O,

However, numbers that can be registered is 99. program starts with a program number, and ends with M02, M30 or M99.

the maximum number of program

A part

2.42 LABEL SKIP

(3) Special use of M99 M99P... ; With this command, the control does not advance

to the subsequent block after executing the sub-

routine program, but returns to the block with

the sequence number specified by P.

2.36 PARAMETER SETTING

Parameters for machine constants such as back-

lash compensation values and rapid traverse

rate can be written.

2.37 SETTING FUNCTION

Any of the functions can be selectively switch-

ed on and off.

2.38 INTERNAL DATA TAPE INPUT

Normally, tool offset values, parameter data, and

setting data are input from MDI.

function, these data can be entered into the re-

spective memories via tape reader.

With ordinary part programs, any desired tool offset values can be changed into desired tool offset values

can be changed into new values with the command

“G1O P... R... , set value).

(P = tool offset number, R = tool off-

With this

2.39 OPERATION TIME DISPLAY

With this function, the cumulative times of the

following operations can be displayed:

(1) Total time after switching the power supply

(2) Total time of automatic operation

Total automatic cutting (interpolation motion)

(3)

time

The Label Skip function becomes effective and

LABEL SKIPII is displayed when:

(1) the power supply is turned on,

(2) control is reset.

When the Label Skip function is effective, all the tape information before the first EOB code is ignored. When LABEL SKIP lamp is on in the MEM or EDIT mode, it indicates that there is a pointer at the beginning of the part program.

2.43 CONTROL iN/OUT

Data between a control out” (11 and control in ‘1)” is ignored as insignificant.

2.44 TV CHECK

This function checks whether the number of characters including EOB is odd or even. If the number is odd, the block is regarded as an in-

put error, and the operation is interrupted auto-

matically. with parameters.

Note: The TV check does not count the characters between control out and control in.

This function is turned on and off

2.45 SEQUENCE NUMBER BREAK POINT

During automatic operation, a single-block-stop can be applied after the execution of a block by

specifying the sequence number of the desired

block .

a break point, and up to 2 break points can be set wit h the setting function.

The specified sequence number is called

2.46 SINGLE BLOCK

While the SINGLE BLOCK switch (at the machine side) is turned on, automatic operation with tape or the memory are performed block by block.

2.47 OPTIONAL STOP

While the OPTIONAL STOP switch (at the machine side ) is on, operation stops automatically

after executing a block including MOI.

OPTIONAL BLOCK SKIP

2.48

2.55 MIRROR IMAGE

Mirror image axis for symmetrical machining can be specified with switches (for X, Y or the 4th~ axis). tool path between M95 and M94 on the program with respect to the specified axis.

Mirror image control is applied to the

While the OPTIONAL BLOCK SKIP switch (at the machine side) is on, a command block starting with “/” is neglected.

2.49 DRY RUN

With this function, the feedrates for automatic operation are converted into manual operation

feedrates for convenience during dry-run. While

the DRY RUN switch (at the machine side) is on, the following feedrates are available,

DRY RUN On

Feed

Rapid Traverse Feed (Parameter Selection )

Feedrate for Manual Continuous Feed Rapid Traverse or Manual Continuous

2.50 MACHINE LOCK

This function allows NC commands to be execut-

ed, with M, S, and T functions functioning normally, and the current positions to be continuously updated and displayed, with the machine

standing still.

2.56 INTERNAL TOGGLE SWITCHES

With this function, the toggle switches for the

function described in paragraph 2.47 SINGLE

BLOCK through 2.56 MIRROR IMAGE can be eliminated at the machine control station, and the necessary setting can be performed from the NC operator’s station.

2.57 ORIGIN KEY

The ORG key designates the current tool

position designated at point “O. ” Each axis is controlled independently.

2.58 iNTERLOCK

Tool movement for control axes can be locked during motion with this function. When interlock is applied, the tool stops after deceleration, and when interlock is cleared, the tool resumes the motion.

When interlock is applied during an interpolation covering two or more axes, the interpolation motion is stopped.

DISPLAY LOCK

2.51 With this function, the POS-EXTERNAL display

Is locked while the machine is operated under

automatic or manual control.

2.52 Z-AXIS COMMAND NEGLECT

While Z-AXES NEGLECT switch is on, the machine motion only in the Z–axis is locked.

2.53 AUXILIARY FUNCTION LOCK

While this switch is on, no BCD code

for M, S, and T (and BY) functions.

MANUAL ABSOLUTE ON/OFF

2.54 While this switch is on, manual movement dis-

tances are added to the absolute register, and the coordinate system remains unchanged. While the switch is off, manual movement distances are not added, and the coordinate system is shifted in parallel with the movement.

is output

2.59 START LOCK AND EDIT LOCK

The following functions can be turned on and off by switches.

(1) START LOCK

When this function is on, the CYCLE START key is made ineffective.

(2) EDIT LOCK

When the EDIT LOCK is on, editing and storing of part programs are inhibited.

2.60 AUTOMATIC COORDINATE SYSTEM SEITING

With this function, a new coordinate system having coordinate values set by parameters in advance is automatically set up at the reference point after executing manual return to reference point. The coordinate system established by this function is equivalent to the one set by G92.

2.61 FEED HOLD

The feedhold function interrupts tool feed temporarily during automatic operations. Feedhold operation is disregarded during threading.

2.62 EMERGENCY STOP

This function makes all the commands ineffective. The servo power supply is turned off, and all moving members of the machine are stopped by dynamic brake.

2.63 OVERTRAVEL

With this function, the tool motion is stopped upon receipt of a stroke-end signal from the machine. When the machine is stopped by this function, the machine member must be moved backward by manual feed.

REMOTE RESET

2.64

With this function, the NC is reset with an external signal. When the NC is reset, all the commands become ineffective, and tool motion is

stopped immediately.

2.65 REMOTE POWER ON/OFF

2.69 NC RESET OUTPUT SIGNAL

While RESET key or REMOTE RESET key is depressed, an NC reset signal is output to the machine.

RS-232C INTERFACE

2.70 RS-232C interface is provided in order to connect

with tape puncher, external tape reader or other external devices.

Interface Type Communication Speed Connector I DB-25S Maximum Cable Length 15 m

outmt from Memorv Possible Storage in Memory Tape Mode Opertion Possible

Note :

The following are the data items which are

objects for output from memory and storage in memory.

Part program

(a)

Offset data, machine tool coordinate data, machine

(b)

tool abrasion data

(c)

Setting and parameter data

Serial Voltage Interface

110 to 4800 baud

I Possible

In addition to the POWER ON/OFF keys on the

NC Operatoris station, the control is provided with input terminals for receiving remote power onloff signals.

2.66 MACHINE READY INPUT SIGNAL

When the machine is ready for operation, this signal is transmitted from machine to control. When this signal is received with the control in the “NC ready” condition, operation may be started immediately.

When this signal drops off during operation,

IImachine errorll status occurs, and all the functions become ineffective.

2.67 NC READY OUTPUT SIGNAL

When the NC is correctly energized, and is

ready for control function, an “NC ready” signal

is output to the machine.

2.68 NC ALARM OUTPUT SIGNAL

When one or more alarm states are present, an

NC alarm signal is output to the machine. When the cause is eliminated and the reset procedure is followed, this signal is stopped.

2.71 ON-LINE DIAGNOSTICS

During operation, the following self-diagnoses are made online:

(1) 3-digit Alarm Code and Alarm Message Display.

System

System memory total check.

a. b.

RAM check (when power is input). Watchdog timer.

Diagnosis

(3) Input /Output Signal Diagnosis

2.72 POSITION DETECTOR INTERFACE

Position detected by feedback signal from the

rotary-type pulse generator.

rotation of the pulse generator is varied by the number of pulses from the pulse generator as shown below.

Pulse

Generator

Metric

OutPut ] ~ooCI p/rev I 2, 3, 4, 6, 8 mm

5000 plrev

Inch output 6000 plrev

2.5, 5, 10

0.25, 0.5

0.2, 0.3, 0.4,

0.6. 0.8

The motion per

Motion per Rotation of Pulse Generator

The motion per rotation of the pulse generator of X-axis becomes one-half of the above values.

Note: Pulse multiplication can be set by servo unit or NC.

2.73 lNPUT/OUTPUT CONNECTORS

The control is connected with the machine control

circuit via “Half pitch connectors. ”

(2) Relative humidity: 10 to 90% R. H.

(3) Vibration: 4.9 m/s2max

Note: When the ambient conditions do not con– form to the above requirements, or when organic solvent or other fumes are present in high concentration we offer special measures.

2.76 PAINT COLOR AND DIMENSIONS

2.74 POWER INPUT A

Standard input 200/220/230 VAC +10%, –15%, 3-phase, 50/60 Hz,

~1 Hz

2.75 AMBIENT CONDITIONS

Ambient temperature:

(1)

for operation: O°C to 45°C (32°F to 113QF) for storage: -20°C to +65°C’ (-4°F to +149°F)

3 BASIC OPTIONS

The optimal servo components are available for selection to meet the requirements of the machine

being controlled.

3.1 AC SERVO CONTROL UNITS

Transistorized PWM AC servo control units are

further miniaturized to be available for use in

either or the following systems:

(1) NC board built-in system: Free standing type.

(2) External system: Supplied in unit. Connection cable should be 10 m max.

Servo capacity is as follows:

Series Motor

No Maximum Continuous

2 60 3 4

5 6

Torque kg . cm

120 CACR-SR20SB1 •l F 230 CACR-SR30SB1 380

SERVOPACK Type

\ CACR-SR05SB1

CACR-SRIOSB1 CACR-SR15SB1

CACR-SR44SB1

❑ F

❑ F ❑ F

(1) The following dimensions are available for the selection to suit the machine to be controlled.

‘ Control unit

150 (W) X350 (H) X185 (D) mm

5.90 (W) X13.78 (H) X7.28 (D)

(2) Paint Color o NC operator’s station: Munsell N1. 5 (gray) “ Enclosure inner louter surface: Munsell

4Y7.7/l.2 (light gray)

3.2 AC SERVOMOTORS

The following AC servo motors that incorporate the feedback unit, consisting of position-detecting pulse generator ( PG ) and speed-detecting tacho-

meter generator (TG ).

No Maximum Continuous

* According to the type of detector, either A or B is

F Series Motor

Torque

kg . cm

3 4 5

6 380

entered in

A : 6000 p/rev

B : 5000 p/rev

90 120 230

❑l.

SERVOMOTOR Type

USAFED-06FO* USAFED-09F ❑ USAFED-13F •1

USAFED-20F

USAFED-30F •1 USAFED-44F •1

❑

4 OPTIONS

4.1 NC OPERATOR’S STATION

The separate stations are available

rations :

. Keyboard on right side of CRT

See Fig. A2.2.

. Keyboard below CRT

See Fig. A!Z3.

in three configu-

4.2 TAPE READER

The tape reader unit specified below can be provided

as an independent unit or incorporated in a freestanding cabinet. For connections of the tape reader, RS-232C interface is used.

. Read speed : “ Reading system : LED-photoelectric

200 char. /see

4.3 TAPE READER WITH REELS

Free-standing type cabinets can be provided with the following tape reader with reels. Tape reel unit can be provided as an independent unit.

(1) 6-inch reel

Reel diameter: Tape length:

(2) 8-inch reel

Reel diameter: Tape length: 180 m (590 ft. )

150 mm (6 inches)

80 m (262 ft. )

200 mm (8 inches)

4.6 T4-DIGIT PROGRAMMING

Instead of the basic T 2-digit programming, tool numbers can be programmed with 4 digits following the address T.

sponding 4-digit BCD code.

The control outputs corre-

4.7 ADDITIONAL OFFSET MEMORY

Basic offset memory capacity of 99 can be

expanded up to 1199.

4.8 ADDITIONAL PART PROGRAM STORAGE

Instead of the basic part program storage of tape

length 40 m (131 ft. ) the following are available.

Tave Length

80 m (262 ft. )

160 m (524 ft. )

320

m (1049 ft. )

4.9 ADDITIONAL PROGRAM NUMBER REGISTRATION

Either of the following number of registrable programs can be selected to replace the basic number of 99.

The indicated tape lengths are for tapes with

0.108 mm (4 inches) thickness. The following are common to both reader.

Read speed: 200 char. /see Rewind speed: 200 char. /see

Reading system: LED photoelectric

4.4 F1-DIGIT COMMAND

With this function, feedrates can be programmed

by one digit following an address F (Fl through

F9).

through F9 are preset by parameters.

mm/min commands of the ordinary F-function

(direct designation of feedrates in mm/min) can-

not be used.

The actual feedrates corresponding to F1

When this function is adopted, 1 through 9

4.5 S5-DIGIT PROGRAMMING WITH 12-BIT OUTPUT

S 5-digit programming with 12-bit output S 5-digit programming analog output can replace S 5-digit programming 12-bit output specification.

The output is made by 12-bit binary (4095

maximum) signal.

Note that if the optional ‘1additional program number registration”

capacity for the part program is reduced by the following amount.

Additional Number Reduced

of Registered Programs

199 999

999

is adopted, the storage

Storage Capacity

2 m (6.6 ft. )

18 m (59 ft. )

4.70 4TH AXIS CONTROL

Any one out of the three rotary axes A, B and C and linear axes, U, V and W, can be controlled as 4th axis in addition to the three basic axes. are possible.

Simultaneous controllable 4 axes: Positioning (GoO, G06, G60)

Linear interpolation (GO1 ) Manual feed except by manual pulse generator

The following simultaneous controls

Simultaneous controllable 2 axes: Circular interpolation (G02, G03)

●

For linear 4th axis, stored stroke limit can be set at 1st prohibit area only.

✎

Program Restart, User Macro, Stored Leadscrew Error Compensation are effective with the 4th axis.

✎

Tool Length Compensation, Tool Compensation

C, High-~peed Cutting are ineffective ‘with the

4th axis.

4.11 MANUAL PULSE GENERATOR FOR ONE AXIS AT A TIME

With the manual pulse generator, the machine can be moved in response to the manual turning of the pulse generator by handle.

The generator has a dial graduated into 100, and the travel distance per graduation can be set to 1,

10 and 100 pulses. The controlled axes are selected with the select switch, and the tool is controlled only in the selected axial direction.

4.12 REFERENCE POINT RETURN (G27, G28, G29)

AH of the following methods for returning the

tool to the reference point are possible.

(1) Manual return to reference point

After the ZERO RETURN switch is turned on, the tool can be returned to the reference point by manuztl operation. The approach speed and the traverse distance are set by parameters,

RATIO TRAVERSE RATE

h---J-/

APPROACH SPEED 1

APPROACH SPEED 2

(3) Autcxmtic return to reference point (G28)

X... Y.. . Z.. . ;

G28

With this command, the tool first moves to the

specified intermediate position, and from there, automatically returns to the reference point.

(4) Return from reference point (G29)

G29 X... Y... Z... ;

With this command, the tool starts from the re-

frence point, moves through the intermediate point specified by G28 previously, and finally moves to the position specified by G29.

(5) Rapid return to reference point

The manual and automatic reference point return motions can be made in rapid return mode by

specif yin g in the specifications.

In this rapid return mode, the tool does not follow the deceleration sequence started by decelerations LS, but moves directly to the reference point as if the

tool were moving in the GOO positioning mode.

This rapid return mode becomes effective, however, only after the tool has been once returned to the reference point in all axes in

the

normal mode.

4.13 ;JD, AND 4TH REFERENCE POINT

G30Pn X,,. Y... Z.. .

With this command, the tool is returned to the

2nd, 3rd, or 4th reference point after position-

ing in the specified intermediate position. P2 :

2nd reference point

P3 :

3rd reference point

P4 : 4th reference point

The reference points can be set by parameters.

; (Pn = P2, P3, and P4)

4.14 EXTERNAL DECELERATION

‘---~ZERO POINT SIGNA

(2) Reference point check (G27)

G27 X... Y... Z... ;

With this command, the programmed point is checked for coincidence with the reference point. If the programmed point does not coincide with the reference zero point even in one axial direc– tion, this is regarded as an error.

When an external deceleration limit switch is tripped, the tool speed, both, rapid traverse and feed, are reduced to the levels set by parameters. This switch can be installed in both directions on all axes.

TOOL LENGTH MEASUREMENT

4.t !5 With an actual tool mounted on the machine

spindle, the tip of the tool is brought to the

base position for the Z-axis by manual operation,

and RETRACT button is pushed.

Then, the

control executes the following operations:

(1) Automatic storing of the distance from the home position in the Z-axis to the current position in the tool offset memory at the specified tool offset number.

4.15 TOOL LENGTHMEASUREMENT (Cont’d)

(Z) Increasing the tool offset number by “l” in

preparation for the next write operation.

(3) Returning the tool to the Z-axis home posi-

tion.

Note: 1, Instead of “moved distance, “ “remaining dis-

tancell can be stored by parameters.

2. Instead of pushing the RETRACT button, the appropriate key on the NC Operator?s Station

may be depressed for tool length measurement.

The tool does not return to the home position.

MODE DISTANCE

% T.

RETURN

[

HOME POSITION

BASE POSITION

4.19 PROGRAM COPY

G25

P,...,, Q,.l,,...I,... ,L

pl p2 ql q2

This command executes any

sequence p2 of program

program ql, L times. the program one time. the copied program. Nesting up to 4th level can be applied.

During canned cycles, program copy

can be commanded.

.*.

;

program from

pi to sequence q2 of

Omission of L executes

G25 can be commanded in

4.20 HELlCAL INTERPOLATION (G02, G03)

Circular interpolation in any desired plane can

synchronously combined ‘with a linear inter-

polation perpendicular to the plane of circular interpolation. For example, with G02 ( G03) X. . .

Y I.. . J... Z.. . F...

. . . ; , circular interpolation in the XY plane is combined with linear interpolation in the Z–axis.

4.16 OPTIONAL BLOCK SKIP B

In addition to the ordinary block skip (programmed with

built into the control.

grammed with codes “ /2” through “ /9, ” and when

the respective switches are on, these blocks

are skipped.

H /II or fl / 1 II ) , !3 skip functions may be

These functions are pro-

4.17 2ND AUXILIARY FUNCTION (B-FUNCTION)

2nd auxiliary function command can be used with three digits following address B. outputs the corresponding 3-digit BCD code to the machine.

Note: the control, the B-axis for 4th axis or 5th axis

control cannot be adopted.

When this B function is incorporated in

The control

4s18 JOG FEEDRATE OVERRIDE

This function permits overrides in 21 steps of 10% per step within a range of O to 200% in relation to the jog feedrate. OVERRIDE switch serves as the FEEDRATE OVERRIDE switch.

JOG FEEDRATE

Note:

Instead of I, J and K, arc center can be

specified by radius R.

2. Helical interpolation is also possible with a 4th axis which is a linear axis.

3. Tool radius compensation C is effective only

on the circle projected on the plane of

circular motion.

4.21 CIRCLE CUTTING B (Gl 2, GI 3)

With this function, all the motions involved in cutting a circle can be programmed in one block.

(1) Rapid approach distance designation R

G12 (G13) 1... R... D... F... ; With this command, the circle cutting operation

shown below is executed. distance is specified by R.

The rapid approach

Y-AXIS

OOL

With this command, the tool moves along a spiral path as shown below to cut a circle. For the sake of simplicity, an imaginary tool with the radius D = O is shown.

X-AXIS

Tool path

G12: 1—2—3—4—5—6 G13: 6—5—4—3—2—1

(D) indicates tool offset value specified.

G12 is for CW and G13 is for CCW.

I: radius of finished circle (with sign, incre-

mental)

R: rapid approach distance (with sign, incremental) D: tool offset number F: feedrate

(2) Automatic calculation of rapid approach dis-

tance G12 (G13) I... J... D... F... ;

When the cutting depth is designated incrementally by the address J, instead of three distance R, the rapid approach distance just short of the tool contact point ot the stock surface is

automatically calculated.

Note:

Y-AXIS

This function incorporates the tool radius

G12: 1 *2-3-4-

5+6

INCREMENT OF RADIUS

X-AXIS

K: RADIUS OF

FINISH CIRCLE

compensation function.

4.22 lNCH/METRIC DESIGNATION BY G CODE

With the following G codes, metric and inch input system are selectively designated.

Y-AXIS

J : CUT

.—,

(3) Repetition of circular motion by L

G12 (G13) I.. D.. . J... L.. . F... ;

With this command, the circular motion is re– peated L times.

(4) Spiral circular cutting by Q and G12 (G13 ) I.. . D.. . J.. . K.. . Q.. . L... F... ;

These G codes are written at the beginning of a program in a single block.

Note:

1. G20 and G21 commands rewrite inch/metric selecting parameter.

of G20 or G21 at power switch-on time depends on the parameter.

2. The inch/metric selection by parameter set-

ting is a basic function.

Therefore, the condition

4.23 UNIDIRECTIONAL APPROACH (G60)

G60 X... Y... z.. . ; With this command, the tool is brought to the

specified position. However, in the direction

specified by parameter only the tool first over-

runs and returns to the specified position.

The

overrun distance is set by parameters.

This G60 command is effective to stop the tool

with high accuracy.

4.24 WORK COORDINATE SYSTEM SETTING A (G52 TO G59)

With this function, tool motion can be programmed in the following coordinate system, in addition to the basic coordinate system set up by the G92 command.

4.26 TOOL RADIUS COMPENSATION C (G40 TO G42)

This function is for automatically offsetting the tool path to the right or to the left of the programmed path by a distance equal to the radius of the tool used.

(1) When any of the G codes from G54 through

G59 is programmed, a new coordinate system which is shifted from the basic coordinate system by a preset amount for the selected G code is established. system is referred to as a work coordinate system, and thereafter, the tool is controlled on

the work coordinate system.

coordinate systems can be set up for use.

(Z) Return to the basic coordinate system ( G52) G52 ; With this command, the current work coordinate

system is can celled, and the basic coordinate system is re-established.

(3) Temporary shift to machine coordinate sys-

tem (G53)

During the execution of programs on a work

coordinate system or on the basic coordinate sys– tern, the tool may temporarily be shifted to the position (X,

system with a command G53 GOO X.. . Y.. . Z.. . ;.

G53 is a non-modal G code. The machine coordinate system is one in which the origin is the reference point.

This newly established coordinate

Up to 6 work

Y, Z) on the machine coordinate

(1) The meaning of these G codes is as follows.

G Code ! Meaninz

G40 G41

G42

Note: When power is applied or the control is reset, the control is in the state of G code marked with 1 .

TOOL

(2) D code for tool radius designation

Tool offset numbers are specified by two digits

following address

values are stored in the tool offset memory corresponding to these tool offset numbers. maximum tool radius that can be set is as follows :

+999.999 mm ?99. 9999 in.

Cancel tool radius compensation

Tool radius compensation , left

I Tool radius compensation, right

G40

G41

/’

\’ \

/“. - “,

G42

‘\

CENTER

The actual tool radius

PROGRAM COMMAND

The

-x.

BASE COORDINATE SYSTEM

(

)

ABSOLUTE ZERO POINT

4.25 WORK COORDINATE SYSTEM SETTING B (G54J TO G59J)

This is the expansion function of work coordinate system setting A. Up to 30 types of work coordinate

systems can be set with expansion of the work coordinate systems of specification A (6 types) by using

commands J1 to J5 at the same time as G54 to G59.

The five axes X, Y, Z, a, L?can be set since G54 to

G59 and G54J1 to G59J1 are the same. In com-

mands J2 to J5, only three axes (X, Y, Z) can be set

but the 4th axis cannot be set. The other functions

are the same as work coordinate system setting A.

TOOL

—-

‘)

/’

i??

M96 MODE M97 MODE (CIRCULAR ARC)

(CALCULATION

OF INTERSECTION)

—

,/’

4,27 OUTPUT FOR EXTERNAL MOTION

(G80, G81)

G81 X... Y... L... ; With this command, the control outputs an exter-

nal motion signal to the machine.

The L digit

specifies the number of repeated positioning motions. G81 is modal, and remains effective on all the motion commands until it is cancelled by

G80. G81 may selectively be used for this function or for the canned cycle 1 depending on parameter setting.

4.28 CANNED CYCLES (G73, G74, G76, G77, G80 TO G89)

Canned cycles are simplified programs for specific

sequential movements covering several blocks by single-

block commands. The following 13 canned cycles are

available. G80 is for canceling these canned cycles.

Code

Plunging

G73

Wwd-

pecker _

feed deep hole

Feed Spindle

G74

Feed Spindle

G76

G77

Spindle Orientation+

shift+

Rapid

traverse

+Shift +Feed

G8 O

G81

At Hole

Bottom

forward running after after dwell

Orientation+ Shift

>well

Retrac- Appli-

Rapid High traverse

Spindle

reversing

feed

Rapid Boring traverse

+Shift ,

spindle start

Rapid traverse +Spindle orientation

—

Shift+ Rapid traverse +Shlft

tion

cation

speed

drilling Reverse

tapping

Back

boring

G82 Feed

G83 Wood-

pecker

feed

G84 Feed

Feed

G85 G86

Feed

Feed Spindle

G87

Feed

G88

Feed

G89

Dwell

Spindle Spindle

reversing forward

after - running dwell

Spindle stop

stop

Spindle stop after dwell

Dwell

Rapid

traverse

—

Rapid

traverse

after feed Feed Rapid Boring

traverse +Spin dle

start Manual Boring

retraction

+Spindle start

Manual retraction +Spindle

start

Feed Boring

spot

facing

Deep hole drilling

Tapping

Boring

4.28 CANNED CYCLES (G73, G74, G76, G77, G80 TO G89) (Cent’d)

Command Format

~G code for canned cycles

.*.

,*.

Yt. .. J

o..

—.

Dwell at hole bottom

——Point R coordinate command

— Point Z coordinate command

—hilling position X,

START POINT

Operations 1 through 4 are executed in one cycle

with the commands shown above.

@ Positioning the drill (position X, Y) @ Rapid traverse to print R @ Drilling to point Z @ Return to point R or to initial point

‘-17 ~

~1~4

INITIAL POINT

POINT R

POINT Z

(HOLE BOTTOM)

Y coordinate command

~Cutting feedrate

No. of

Drilling pitch

The number of repetitions is specified by the

address L, and when no number is specified, the

cycle is executed only once.

grammed, only positioning to (X, Y) is exe- cuted.

The shift direction is G76 and G77 can be

specified at any angle by parameters. turn position in the Z-axis direction after execuing canned cycles can be specified by the following G codes.

repetitions

for G73, G83 Shift for G76, G77

When L = O is pro-

The re-

Note: When power is

applied or the control is reset, the control is in the state marked with

With G99 ( return to R)

With G98 ( return to initial point)

G73

Fixed

(

pitch )

High speed deep hole drilling

G73

Variable)

(

High speed deep

hoie drilling

G73 X... Y.. . Z.. . R.. . Q.. . L.. .

Setting data

G73 X... Y.. . Z.. . R.. . 1.. . J,. .

Setting data

(x,Y)

--7

“&

(x,Y)

‘-Y I : Initial value

I-J

I-2J

i J : Reducing value

K: Final value

1’

F,. . ;

---

Q -~

J : Setting data

(.. . L.. . F.. . ;

I-2J

J : Setting data

(x,Y)

I-J

‘E

INITIAL POINT

G74

Reverse

tapping

—

G74 X... Y.. . Z.. . R.. . P.. . L.. .

SPINDLE FORWARD

AFTER DWELL

(x,Y)

---5’

SPINOLE REVERSE

F.. . ;

SPINDLE FOiWARD AFTER DWELL

(x,Y)

‘- —’~POINT

START

SPINDLE REVERSE

/’

4.28 CANNED CYCLES (G73, G74, G76, G77, G80 TO G89) (Cent’d)

G76

Boring

G77

Back boring

With G99 (return to R)

G76 X.., Y.. . Z.. . R.. . Q.. . L.. .

---?

(x,Y)

SPINDLE START

‘/

-R r

q&---z

SPINDLE INDEXING STOP Q

G77 X,.. Y... Z... R.. . Q.. . L.. .

NOT USED

F.. . ;

With G98 (return to initial point)

SPINDLE START

(x,Y)

SPINDLE INDEXING STOP

___

(x,Y)-–-,

-—

DWELL [ j

---l--+

+&----

---1

s;,~

II II

INITIAL POINT

G80 Cancel

G81

Drilling

G80 ;

G81 X... Y.. . Z.. . R.. . L.. . F.. .

--?

(x,Y)

SPINDLE

ORIENTATION - spl NDLE

-L

.—

START

G 82

Tapping

With G99 ( return to R)

G82 X... Y... Z... R.. . P.. . L.. .

(x,Y)

---7

I I

DWELL ( P)

With G98 ( return to initial point)

“r

DWELL ( P)

G 83

Boring

G 83

Boring

G83 X... Y... Z... R.. . L.. . F.

J Setting data

(x,Y)

--~

t-i-z

G83X, .. Y,., Z... R.. . L.. . F.. . ;

(x,Y)

‘-~ I : Initial value

; J Reducing value

~ K Final

V~Iu~

(x! Y)

—.

8: Setting data

(x:Y)

-—

I-J

I-2J

INITIAL

1 [,1 1

l! I

POINT

t-Lz

I I

INITIAL POINT

I I

d : Setting data

u--z

$: Setting data

L.. -,

4.28 CANNED CYCLES (G73, G74, G76, G77, G80 TO G89) (Cent’d)

G 84

Tapping

G85

Boring

With G99 ( return to R)

G84 X... Y... Z... R.. . P.. . L. ..’

(x,Y)

SPINDLE REVERSE AFTER DWELL

G85 X... Y... Z... R.. . L.. . F.. .

(x,Y

--~

SPINDLE FORWARD

F.. . :

With G98 ( return to initial point)

(x,Y)

--7- POINT

SPINDLE REVERSE

AFTER OWELL

(x,Y)

‘-”—~r POINT

INITIAL

G86

Boring

G86 X... Y... Z...

SPINDLE STOP

(x,Y)

--~

‘ /s’:’

R.. . L.. . F

SPIN DLE

Q+’ (

/’z

SPINDLE STOP

I I I

SPINDLE START

INITIAL POINT

With G99 ( return to R)

With G98 ( return to initial point)

G87

Boring

G88

Boring

G87 X... Y... Z... R.. . Q.. . L.. . F.. . ;

(x, Y)

‘-~ SPINDLE

START

MANUAL

~ RETRACTION

SPINDLE STOP

G88 X... Y... Z... FL.. P.. . L..

SPINOLE STOP AFTER DWELL ( P )

(x, Y)

----9

‘ / ;TART

1--1-

L-L

/’

F,, . ;

SPINOLE

MANUAL

z RETRACTION

Q ‘x’: ,/::L

F-

I.i

SPINDLE STOP

(y:;) ,/::L

SPINDLE STOP

AFTER OWELL ( P )

/’

SPINDLE

POINT

MANUAL

lZRETRACTION

SPINDLE

POINT

MANUAL

‘ ~ RETRACTION,

G89

Boring

G89 X,.. Y... Z... R.. . P.. . L.. .

(x, Y)

--~ I

DWELL (P)

F.. . ;

––~

DWELL ( P)

(x, Y)

INITIAL

— START

—R

—z

4.29 HOLE PATTERN CYCLES (G70, G71 , G72)

4.30 SCALING FUNCTION

This function, cycles, permits simple drilling of holes in specific position patterns. G70, G71 and G72 automatically calculate the hole locations in

specific patterns using the auto-programming

technique.

(1) Bolt hole circle (G70) G70 X... Y... I... J.. . L... ; This command specifies the locations equally

dividing the circumference into L parts.

START POINT, ‘ ,

used in combination with canned

‘2

I L: NO. OF CIRCLE

6-1

END POINT

CENTER (x, Y)

INDEXES

Y d4

#r -–

-+-

(2) Arc (G71) G71 X... Y... I... J... K... L... ; This command specifies L locations on an arc.

With this function, geometrical shapes specified

by part programs can be enlarged or reduced in

any desired ratio.

(1) G511... J... K... P... ;

With this command, the program is executed on an enlarged or reduced stale with the scale ratio specified by P, and the center of scaling specified by I, J, and K.

(2) G50: Command cancels the scaling mode.,

(3) The enlarging and reducing scales can be

selected within the following range.

Enlarging and reducing range: 0.000001 -

99.999999

PROGRAM COMMAND

SCALE PATCH

t--x CENTER(”‘)

END

POINT 4=L3

/’

START-

POINT

(3) Line-at-angle (G72)

This command specifies L locations on any straight line.

Note: When executing drilling cycles with G70

to G72, the canned cycle with- L “= O (G73, G76,

G77, G81 to G89) should in principle be pro-

grarnmed in the preceding b~ock. - “

CENTER

L NO OF PO SITIONINGS

START POINT

L : NO. OF

POSITIONING

‘K K

J-

#4. L

END POINT

4.31 MACRO PROGRAM (G65, G66, G67)

The special subprograms prepared by the machine makers or users may be stored in the

part program memory, called and executed.

Such special programs are called main macro.

(1) Macro Program Simple Call (G65)

G65 P,.. L...

The main macro with the program number specified by P is executed

ment designation means that real number is allocated to a variable, and that value is written after the address.

(2) Macro Programm Modal Call (G66, G67)

G66 P... L.. . This command generates the macro call mode,

and every time motion commands are executed, the main macro specified by P is executed L times.

G67 ; This command cancels the macro call mode.

(3) Multiple Call

A called main macro can call another macro, and this process can be nested to 4 levels of macros.

<argument designation>;

L times.

<argument designation> ;

The argu-

(4) Main Macro

The main macro, written in the format of subprogram (starting with O macro number and ending with M99), is provided with the following

functions for high operation capabilities.

a. Normal variable Many local and common variable can be used.

b. System variable

Various internal control data (various current

values, offset values, parameters, clocks, etc. )

and external input /output data can” be directly

processed in the macro as system variable.

c. Control statement

(i) IF [< conditional expression >] GO TO n ;

The above conditional branch control statement can be used.

(ii) WHILE [< conditional expression >] DO m ;

The above conditional performance control statement can be used.

d. Arithmetic operation

(i) +, -, (ii) *, /, AND, SIN, COS,

OR, XOR can be used.

TAN, ● “o FuP, etc.

can be used.

4.33 SKIP FUNCTION (G31)

G31 X.. . Y... Z., , F.. , ;

With this command, a special linear interpolation is executed. While the tool is in linear motion under this command, the motion is interrupted immediately upon receipt by the control of a skip

signal, and the program advances to the next

block .

4.34 STORED STROKE LIMIT (G22, G23)

This function is for checking the current tool

position during manual and automatic operations

for clearance from the prohibited area established by a G22 command in all axes. When the tool enters the prohibited area, the operation is interrupted, and an error message is displayed.

(1) 1st prohibited area

The outside of the boundary specified by parameters is the 1st prohibited area, which is usually used as a substitute for overtravel limit switches.

(2) 2nd prohibited area

The boundary for the 2nd prohibited area is

specified by parameters or by programming G22.

The inside or the outside of the boundary may

selectively be made as the prohibited area by

parameter setting.

4.32 EXTERNAL DATA INPUT

Data can be transmitted to the control to let the machine operate in a specified manner. For this transmission, interfaces for 24-bit input signals

(data: 16 bits) and 2-bit output signals (answer signals ) must be prepared and connected to the control.

(1) External work number search Work numbers between 1 and 9999 can be

searched.

(2) External offset correction External offset values may be added to or

replace the offset values stored under the currently specified offset number. mm (BCD data) , 0 to .7999 in. (Binary data).

(3) External work coordinate system correction

External data can be added to the shift-value

memory for G54 through G59 for the specified

axis.

O to *7.999 mm (BCD data), O to t32767

in. (Binary data)

o to *7.999

FIRST PROHIBIT AREA

‘i

SECO’ND PROHIBIT AREA (PROGRAMMED BY G22)

G22 X... Y... Z.. . I.. . J... K... ;

—~

(Point C)

(Point D)

With this command, the tool position check for clearance from the 2nd area is started.

G23 ;

With ‘L’- ‘-––--= ‘L- ‘u--’- ‘----”-- ‘- “---’-

LI1lS CU1lltlltill U , LI1tS ~11=~~ LU1l LLIU1l l= ~allvcl

led.

4.35

STORED LEADSCREW ERROR COMPENSATION

function is for compensating for the pitchThis

error in the ball screw of the machine. compensation data is stored by parameter setting in the control in advance. all axes can be corrected, and number of correction points for each axis is specified by parameters arbitrarily.

Up to 512 points for

The

4.36 USER MESSAGE DISPLAY

Any message programmed by the user can be

displayed on the CRT.

In a part program, when

#8000 = n [< alarm message >] ; is programmed,

s-digitalarm number IInii and alarm message (up)

to 32 characters) can be specified.

4.37 PROGRAM RESTART

Machining may be restarted from the block that follows the one for which the sequence number was specified.

placing

chining

Program restart is of either type P or type Q,

depending on whether the change of the coordi-

nate.

In type P, the program is restarted assuming that the change of coordinate system before and after the restart will not occur. type is used after the replacement of the tool broken during operation, for instance. Program restart of type Q is used if the coordinate system is changed by any of the following

operations performed after the interrupting

automatic operation.

the broken tool or taking over the maoperation from the last work shift.

FOR PROGRAM RESTART

This restart is useful when re-

TOOL RETRACTED POSITION ( OPERATION FOR PROGRAM

RESTART WILL BE MADE HERE)

,------! RETRAC- 7

MACHINING iNTERRUPTED

POINT (FEED HOLD, etc)

{

Therefore, this

4.38 PROGRAM INTERRUPTION (M90, M91 )

M91 P... ;

When this command is input once, then during

the execution of all subsequent instructions,

when a program interruption signal is received,

the current program is interrupted (motion is

stopped after deceleration ) and the program jump

to the instruction having the program number

specified by P.

until M90 command is issued.

; is the command for canceling the program

M90 interruption function.

This function remains effective

Code M90 M91

Note: reset, the control is in the state of M code marked with

When power is applied or the control is

Program interruption off Program interruption on

1“

Meaning

When a fault detection signal during cutting is connected to this function, faults can be handled

automatically.

PLAYBACK FUNCTION

4.39

Turning on the PLAYBACK switch in the manual

operation

mode makes the special edit mode.

In this mode, the current axis position

during movement can be stored as command value

in the part program.

4.40 EXTERNAL INPUT, COLLATION, AND

OUTPUT

Deletion, input, collation, and output of part program can be commanded to the part program

stored in the control by external contact input. To execute this function, RS232C interface is

used as the transmission line of part program

data.

provided.

4.41 The tools are classified into groups and tool life

(usage time, total usages or usage distance) is

set for each group. This is a function to give commands for tool groups from the part program and to select the next tool in the same group, which has been sequentially arranged, when the fixed life expires.

Maximum number of tools to be controlled . . 256

Maximum number of groups to be registered . . . 128 Maximum number of tools per group . . . 16

4.42 G17

G18 G19

With this command, the following move

commands will be executed through the rotation to the angle (O. 001 deg) specified by R with

point (a, b) as a center. The command G69;

cancels the coordinate rotation mode.

Data input and output interface should be

TOOL LIFE CONTROL (G122, G123)

COORDINATE ROTATION

G68 a... b . . . R. ..;

}

4.43 LOCAL COORDINATE SYSTEM SETTING 4.44 AUTOMATIC OPERATION MODE HANDLE

G52Q2X . . . Y . . . Z . . . a . . . 8 . . . .

This command sets the local coordinate system. This function synchronizes the movement by This is the system shifted by the commanded manual handle with the automatic operation

value from the work coordinated system. After

setting, the tool moves in the system. To cancel this mode,

new- coordinate

command G52 Q2 shifted distance due to mounting of the

Xo Yo Zo ao 130;

OFFSET

during tape operation, MDI operation, and

memory mode operation. This can offset the

workpiece.

5 BUILT-IN TYPE PROGRAMMABLE CONTROLLER (PC)

(1) Process time (Approx 2.7 u see/step)

● High-speed scanning time —— 8 msec

● Low-speed scanning time –– 8 msec X n

(2) Number of 1/0 points (basic/optional) (a) Standard general-purpose 1/0 modules

Type JANCD-FC81O (Max. 3 modules)

. Input — 112 points/module

. Output — 96 points/module

(b) Mini general-purpose 1/0 modules

Type JANCD-SP50 (contained in 9“ CRT panel)

SP50- 1 SP50-2

Input Outl.lut 1

(Doints/module)

64 64

32 56

(Doints/module)

Total number of combined standard and mini 1/0 modules is 4 maximum.

(3)

Main program function

(a)

500

maximum (4000 points ) Timer:

(b)

Keep memory (keep relay) :

(c)

900

maximum (7200 points )

(4)

Message display (optional)

90 maximum

Alarm messages can be displayed on the CRT display by sequence programs.

(Macro instruc-

tion “ SUBP23° )

APPENDIX 1 LIST OF DATA

Table 1.1 Address Characters

Address

Characters

E F

K L

M Miscellaneous functions. B N Sequence number.

w x Y

I !

Additional rotary axis parallel to X-axis. Additional rotary axis parallel to Y-axis. Additional rotary axis parallel to Z-axis. Tool radius off set number. User macro character. Feedrate. B

Preparatory function. Tool length offset number. X-coordinate of arc center. B

Radius for circle cutting. o Y-coordinate of arc center.

Cutting depth for circle cutting. Z-coordinate arc center. Number of repetitions.

Program number. Dwell time, Program No. and sequence No.

designation in subprogram. Depth of cut, shift of canned cycles. Point R for canned cycles.

Radius designation of a circular arc.

Spindle-speed function. Tool function. Additional linear axis parallel to X-axis. Additional linear axis parallel to Y-axis. Additional linear axis parallel to Z–axis. X-coordinate. Y-coordinate.

Z-coordinate.

Meanings

B: Basic O: ODtional

B, O

O, B

o o o

B B B

o o

B B

o o o B B B

Table 1.2 Function Characters

Table 1.3 Tape Format

EIA ISO

Code

Blank

13s Tab CR

ER Uc LC

2-4-5

2-4-7 )

, ,

oto9

atoz

Del

Param-

eter

setting

—

[

1 1

Code

Nul

BS Disregarded HT LF/NL End of Block (EOB)

Meanings

Error in significant data area in EIA Disregarded in 1S0

Disregarded

CR Disregarded SP

I SDace

% ‘

(

-1-

oto9 Numerals

Ato Z Address characters

DEL

[

Rewind stop Upper shift

Lower shift Control out

(Comment start)

Control in

(Comment end)

Disregarded, User macro operator

Minus sign, User macro operator

Optional block skip

Disregarded (including All Mark)

I Decimal point \

Sharp (Variable designation )

Asterisk (Multipli-

cation operator)

Equal mark

Left bracket

Right bracket User macro operator

User macro operator User macro oDerator

Remarks

EIA : special code

No. Items

1 Program No. 2

Sequence No, N4 G Function

Coordinate word

Linear axis Rotary axis

Feed per min

1/10

S-Function

T-Function

M-Function M3

Tool Offset No.

B-Function B3

Dwell Program No.

Designation

Sequence No.

Designation

No. of

Repetitions

Metric Inch

04 04

N4 G3 B

B: Basic

o: Optional

I :; :: ;; :: B

b+ b+ b+

53 53 53 53 F50 F31 F50 F41

F51 F32 F51 F42

S2 S2 B S5

T2 T4

H2 or D2 D2

P53

La IA3 B

I I S5 o

I T4

I M3 B

H2 or

P53 B

I I

B B

Notes:

Characters other than the above cause error

in significant data area.

2. Information between Control Out and Control

In is ignored as insignificant data.

3. Tape code (EIA or 1S0) can be switched by parameter.

APPENDIX 1 LIST OF DATA (Cent’d)

Table 1.4 Range of Program Commands

No. Address

Program Number o

1 2 Sequence Number N

G-function G

Coordinate address

Linear axis Rotary axis

Feed per minute F

Feed per minute

II1O

7 S-function

T-function

M-function

10 TKIO1offset No.

11 B-function

12 Dwell

Program No.

designation

Sequence No.

l’4

designation

15 No. of repetitions

Metric Output Inch Output

Metric Input Inch Input Metric Input Inch Input

1 to 9999 1 to 9999

1 to 9999 1 to 9999 1 to 9999 1 to 9999

to 199

t99999. 999 +99999.999 deg

1 to30000

mm/min

0.1 to30000.o 0.01 to 1181.10 mm/min

o to 99

S5 o to 99999 T2 o T4

to 99

o to 9999 M o to 199 0 to 199 H o to 99 D

o to 99

o to 999 0 to

99999.999 Sec 99999.999 Sec 99999.999 sec

to 9999

1 to 9999

L 99999999

0 to 199 0 to 199 0 to 199

*3937. 0078 in.

+99999.999 deg *99999.999 deg +99999.999 deg O.ltol 181.1

0 to 99 0 to 99

0 to 99999 0 to 99999 0 0 to 9999

0 to 99 0 to 99 0 to 99 0 to 999 o to o to o to

1 to 9999

in. /rein

to 99 0 to 99

1 to 9999

99999999 99999999

t99999i 999 mm t9999. 9999 in.

1 to76200.O

mm/min

0.1 to 76200.0 mm/min

0 to 9999 0 to 199

0 to 99

0 to 999

1 to 9999

0.1 to 3000.0

0.01 to3000. oo

0 to 99 0 to 99999 0 0 0 to 199 0 to 99 0 to 99 0 to 999

99999.999 sec

1 to 9999

1 to 9999 99999999

in. /rein

to 99 to 9999

‘,,

Table 1.5 List of G Codes

G code

GOO

GO1

G02 01

G03

G04 G06 Positioning

G09 Exact stop

G1O

G12

G13 G17 G18 G19 G20 G21 G22 G23 G25

G27 G28 G29 G30 G31

G33 G36 G37 G38 G40 G41 G42 G43 G44 G49

G45 G46 G47 G48 G50 G51

G52

G53 G54 G55

Group

02 2X plane designation

08 Tool length compensation, minus direction

12 *

Function

Positioning (rapid feeding) Linear interpolation

Circular interpolation CW, Helical interpolation CW

Circular interpolation CCW, Helical interpolation CCW

Dwell

Tool off set value and work coordinate, Shift value modification

Circle cutting CW Circle cutting CCW o XY plane designation

YZ plane designation Inch input designation Metric input designation Stored stroke limit ON o Stored stroke limit OFF Program copy

Reference point check Automatic return to reference point Return from reference point Return to 2nd, 3rd, 4th reference point Skip function Thread cutting o Automatic centering Automatic centering

Z-axis reference surface offset Tool radius compensation cancel Tool radius compensation, left Tool radius compensation, right Tool length compensation, plus direction

Tool length compensation, cancel Tool position offset, extension Tool position offset, retraction Tool position offset, double extension Tool position offset, double retraction

Scaling OFF Scaling ON

Return to base coordinate system, Local coordinate system setting

Temporary shift to machine coordinate system Sh;ft to work coordinate system 1 Shift to work coordinate system 2

B: Basic

Optional

B, o

in error detect off mode B

B B

B B B o o

o o o o

o o o o o o B

B B B B

B B o o

0 0

APPENDIX 1 LIST OF DATA (Cent’d)

Table 1.5 List of G Codes (Cent’d)

Shift to work coordinate system 3 Shift to work coordinate s–ystem 4 Shift to work coordinate system 5 Shift to work coordinate system 6

Unidirectional approach Exact stop mode

Exact stop mode cancel

Non-modal call of user macro

Modal call of user macro cancel Coordinate rotation mode Coordinate rotation mode cancel

I Bolt hole circle

Arc Line-at-angle

Canned cycle 10 Canned cycle 11 Canned cycle 12 Canned cycle 13

Canned cycle cancel Canned cycle, Output for external motion Canned cycle 2 Canned cycle 3 Canned cycle 4 Canned cycle 5

Canned cycle 6 Canned cycle 7 Canned cycle 8 Canned cycle 9 Absolute command designation Incremental command designation

G code Group

G56 G57

G58

G59 G60 G61 G64 G65 G66 Modal call of user macro

G67

G68

G69 G70 G71

G72 I G73 G74

G76

G77 G80 G81

G82 G83

G84 G85

G86 G87

-1

G88 G89

G90

G91

Function

—

B: Basic

O: Optional

+-R-

G98 G99

“2’“~

G122

G123

G1?.4 I *

Notes:

● The codes marked with ~ are automatically selected at power on or reset.

● G codes of . group are non-modal.

They should not be commanded a together with the other G codes in one block.

Return to initial point for canned cycles Return to point R for canned cycles Tool register start Tool register end

I Tool register cancel ~

Tool life

control

0 0 0 0 o

B B

o o o o o

o o

0 0 0 0 o

o 0 0 0 0

0 0 0

APPENDIX 2 DIMENSIONS in mm (inch)

Due to ongoing product modification/improvement, dimensions and specifications are subject to change without notice.

NAME PLATE

—.—

184 (7.24)

EXHAUST

M4 TAPPED HOLE FOR GROUNDING

10 (o.39)—

150 (5.9)

. .

(M5 MOUNT

IG HOLE)

Fig. 2.1 Module Type CPU Rack

APPENDIX 2 DIMENSIONS in mm (inch) (Cent’d)

5 (0,2;

———

--—

———

170 (6.69)

520 (20.47)

170 (6.69)

I 1-

VCRT

4 (0.16)

PANEL CUTOUT

170 (6.69) , 170 (6.69) 170 (6.69) :

8-M3 TAPPED HOLES

8-d 4 DIA HOLES

170 (6.69)

REAR VIEW

OPERATOR’S PANNEL

MOUNTING SURFACE

ABOUT 230 (9.06)

)8)

~ci_

Fig. 2.2 NC Operator’s Station with 9“ Monochromatic CRT Display (Keyboard on right side of CRT) – with Power On/Off Pushbutton

PANEL PAINTING COLOR : MUNSELL NOTATION N-5.5 LEATHER TONE

APPROX, MASS – 5.5 kg

———

~——

——

———

——

——— ———

——— ~——

8-44 DIA HOLES

(0.59

250 (9.84)

CUTOUT 400X250 (15.7X9,84)

cd g

L-

130 :

(5.12) ‘-

(5.1

j 31

8-M3 TAPPED

HO[ .ES

{n FUWTIOh w DATA -

130 (5.12) 130 (5.12)

l--

PANEL PAINTING COLOR : MUNSELL NOTATION N-5.5 LEATHER TONE

APPROX. MASS – 5,5 kg

270 (10.63)

Fig. 2.3 NC Operator’s Station with 9“ Monochromatic

ABOUT 80

(3.15)

CRT Display (Keyboad below CRT)

APPENDIX 2 DIMENSIONS in mm (inch) (Cent’d)

GNAL

PANEL CUTOUT

4-#4.5 (0.18)

=Jm 00

m<0

MANUAL FEED SWITCH

Fig. 2.4 Tape Reader Unit

riimii

TOKYO OFFICE New Pier Takeshlba South Tower, 1.16.1, Kagan, M(natoku, Tokyo 105 Japan

Phone al-3-5402-451 1 Fax 81-3-5402-4580

YASKAWA ELECTRIC AMERICA, INC. Chicago-Corporate Headquarters 2942 MacArlhur Blvd Noiihbrook, IL 60062-2028, U S.A Phone 1-847-291-2340 Fax 1-847-498-2430 Chicago-Tachnic81 Center 3160 MacAnhur Blvd. Northbrook, IL 60062-1917, USA

Phone 1-847-291-0411 Fax 1.847-291-1018

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605 Liberty Lane West Carrollton, OH 45448, U.S.A.

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Phone 46-466-48800 Fax 46-486-41410

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SHANGHAI OFFICE 27 HUI He Road Shangnai 200437 China

Phone 66-21-6553-6060 Fax J36-&l-6553-60W

YASKAWA JASON (HK) COMPANY LIMITED

Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong

Phone 852-2803-2385 Fax 852-2547-5773

TAIPEI OFFICE Shen Hslang Tang Sung Chlang Bu!ld!ng 10F146Sung Chlang Road, Taipei, Taiwan

Phone 886-2-563-0010 F6x 866-2-567-4677

Allershausen, Getmany

YASKAWA ELECTRIC CORPORATION

‘iASKAVVA

Due toongo!w prd.ctd!flcatim/!mprov-nt data s.twcttochazm wlthoutnotl.e

SIE-C843-12.30

@ Printed in Japan July 199795-2 0.2TA@

%+Ce4’ i 4, e4-Ct?+l 23, 94-C84 126

yaskawa J50M Users Manual

Specifications and Main Features

Frequently Asked Questions

User Manual