Professional Documents
Culture Documents
62443en-2 02
62443en-2 02
Series 21
Series 16 / 160 / 18 / 180
PREFACE
In this manual, T series and M series refer to the loader control option
connected to the products indicated below.
16–TA/16–TTA/16–GCA
16–TB/16–TTB
T series
18–TA/18–TTA/18–GCA
160–TB/180–TB
M series 16–MB/18–MB/160–MB/180–MB
Relative manuals
FANUC Series 16/18
OPERATOR’S MANUAL FOR LATHE (B–61804E)
FANUC Series 16/18
CONNECTION MANUAL (B–61803E)
FANUC Series 16/18
MAINTENANCE MANUAL (B–61805E)
FANUC Series 16/18
PARAMETER MANUAL (B–61810E)
FANUC Series 16/18/160/180–TB
OPERATOR’S MANUAL (B–62444E)
FANUC Series 16/18/160/180–MB
OPERATOR’S MANUAL (B–62454E)
FANUC Series 16/18/160/180–MODEL B
PARAMETER MANUAL (B–62450E)
FANUC Series 16/18/160/180–MODEL B
CONNECTION MANUAL (HARDWARE) (B–62443E)
FANUC Series 16/18/160/180–MODEL B
CONNECTION MANUAL (FUNCTION) (B–62443E–1)
FANUC Series 16/18/160/180–MODEL B
MAINTENANCE MANUAL (B–62445E)
B–62443EN–2/01 Table of contents
1. OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 SYSTEM CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 INSTALLING THE LOADER CONTROL FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.3 TABLE OF SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2. CONNECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1 TOTAL CONNECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2 LOADER CONTROL BOADER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.3 CONNECTING THE LOADER OPERATOR’S PANEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3.2 Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3.3 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.3.4 Matrix Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.4 I/O SIGNAL CONNECTION FOR MAIN LOADER UNIT CONTROL . . . . . . . . . . . . . . . . . . . . . 18
2.4.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.4.2 Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.4.3 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.5 SERVO SYSTEM CONNECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.5.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.5.2 Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.5.3 Servo Amplifier Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.5.4 Pulse Coder Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.5.5 Brake Drive Output Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.5.6 Battery Interface for Absolute Pulse Coder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.6 EMERGENCY STOP SYSTEM CONNECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.6.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.6.2 Emergency Stop System Connection (When a C Series Servo Amplifier is Used) . . . . . . . . . . . . . . . 32
2.6.3 Emergency Stop Control Circuit Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.7 WORKPIECE FEEDER CONNECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.7.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.7.2 Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.7.3 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.8 DI/DO INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.8.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.8.2 Loader Control Board Built–in I/O Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.8.3 Signals for Interfacing with the Loader Control CNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.8.4 DI/DO Signals (Function by Function) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2.8.5 DI/DO Signals (In Order of Addresses) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3. OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
3.1 MDI KEY OPERATION FOR LOADER CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.1.1 Screen Switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.1.2 Power–on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.2 STARTING THE LOADER CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.2.1 Boot system for Series 16/18–MODEL B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.2.2 Starting the NC and Loader Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
3.2.3 When Loader Control is Added . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
3.2.4 Special Parameters to be Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
3.3 PROGRAMMING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
3.3.1 G Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
3.4 LOADER CONTROL FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
i
Table of contents B–62443EN–2/01
4. MAINTENANCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
4.1 LOADER CONTROL BOARD LED DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
4.1.1 LED Display Transition at Power–up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
4.1.2 LED Display When an Error Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
4.2 PC BOARD CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
4.2.1 Series 16/18–MODEL A Loader Control Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
4.2.2 Series 16/18–MODEL B Loader Control Board Based on the Main A Specification . . . . . . . . . . . . . 101
4.2.3 Series 16/18–MODEL B Loader Control Board Based on the Main B Specification . . . . . . . . . . . . . 102
APPENDIX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
A. PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
A.1 PARAMETERS CLASSIFIED ACCORDING TO FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
A.2 DETAILS OF PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
A.2.1 Parameters Related to Loader Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
A.2.2 Parameters Related to Custom Macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
A.3 MULTIPATH CONTROL PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
ii
B–62443EN–2/01 1. OVERVIEW
1 OVERVIEW
1
1. OVERVIEW B–62443EN–2/01
1.1 The loader control option is connected to the Series 16/18 as shown
below.
SYSTEM
Axis control for the machine is performed by the main CPU board, while
CONFIGURATION that for the loader is performed by a dedicated Loader Control Board
(LCB). The PMC of the main CPU unit (option 3 board when a PMC–RC
is used) controls the machine, while the PMC of the LCB controls the
loader. Input/output signals are stored in the LCB, and are fed directly to
the main loader unit, workpiece feeder, and loader operator’s panel.
The major tasks involved in building this system are:
(1) Adding the loader control board (LCB) to the CNC (using one slot
exclusively).
(2) Mounting and wiring servo amplifiers and an emergency stop control
circuit in the power magnetics cabinet.
(3) Connecting the loader to the workpiece feeder via cables.
(4) Connecting the operator’s panel.
(5) Creating loader control related functions by using PMC programs.
(6) Creating palletizing and teaching functions by using macros.
(7) Creating (teaching) the loader operation programs.
Machine
Main CPU
Servo
Axis control amplifier
for Loader
machine side
PMC I/O
LCB
Work-
Axis control Servo piece
for amplifier feeder
loader side
Emergency
stop control
circuit
PMC
Loader
operator’s panel
Series 16/18
Control unit
2
B–62443EN–2/01 1. OVERVIEW
1.2 When the loader control option is installed and used in a system, sequence
control is required to enable interfacing with the peripherals, as well as
INSTALLING THE for loader operation. Generally, the required control specifications vary
LOADER CONTROL from one system to another. So, the functions required for each system
FUNCTIONS must be installed. In practice, the PMC and macro executor are used to
implement the required functions.
The PMC that is built into the loader control board performs the sequence
logic required to control the loader. The PMC supports functions
equivalent to the PMC–RA1 of the Series 18.
Between the loader control CPU and the PMC, an F/G area interface is
provided, in the same way as for an ordinary CNC. The loader supports
modes similar to those supported by an ordinary NC. For example,
manual mode must be set for manual loader operation, and memory mode
must be set for automatic loader operation. In addition, a specified speed
can be overridden by entering the DI override signal. Thus, loader
operation requires the use of ladder programs, in the same way as an
ordinary NC.
The PMC is also used to enable synchronous operation of the machine and
loader. For example, the PMC is used to start the loader when machining
ends, and to start machining once the loader has fed the workpiece into
the chuck of the machine.
Using custom macros or a macro executor, very complicated loader axis
operations, such as workpiece palletizing/depalletizing, can be
programmed easily. In some cases, complicated workpiece feeder control
operations can be simplified by using macros. Macro–based control
reduces the number of PMC steps, making macro–based control
advantageous even when the PMC is being used at maximum capacity.
Even for macro–based control, however, DI/DO signal transfer must be
programmed using the PMC. Note that the loader control macro
programs are provided in a ROM module in the case of the Series
16/18–MODEL A, and in an FROM (flash memory) module in the case
of the Series 16/18–MODEL B. The ROM or FROM module is installed
on the loader control board.
The following table lists typical operations to which the PMC and macro
executor can be applied.
Macro
PMC
executor
Loader operations
(such as mode setting, activation, and overriding)
Control of the loader mechanical unit
(such as braking)
Hand control (such as open/close, air blow)
Operations that must be synchronized with the
machine (such as activation and waiting)
Workpiece feeder control ()
Palletizing/depalletizing
Loader operator’s panel
Customized program screen
3
1. OVERVIEW B–62443EN–2/01
The DI/DO signals listed below are used for loader control. These DI/DO
signals are stored in the loader control board. In an application system
that requires additional DI/DO signals, an I/O link interface is available
to enable external I/O expansion.
Loader control (overtravel, hand open/close, air on/ off, etc.)
Workpiece feeder control (moving the workpiece feeder back and forth)
Loader operator’s panel control (teaching, emergency stop)
Brake control (brake application for emergency stop)
4
B–62443EN–2/01 1. OVERVIEW
1.3
TABLE OF
SPECIFICATIONS
Item Specifications
Controlled axis Up to a maximum of 4 axes at a time (up to 4
axes are allowed as standard)
Part program storage length 10m
20m (option 1)
40m (option 2)
80m (option 3)
Programs Up to 63 programs can be registered.
PMC PMC–RA1
Number of ladder steps 3000 (option 4)
4500 (option 5)
RS–232–C Channel 1 of the main CPU board is used.
(option 6)
Floppy cassette directory indication
(option 7)
Manual handle For first unit (option 8)
For second unit (option 9)
For third unit (option 9) (Only for M series)
MPG of the main CPU board is used.
G code system (T series only) G code system A
No G code system is used with the M series.
Axis name X, Y, Z, A, B, C (M series, T series)
U, V, W (Only for M series)
The T series is used with G code system A,
such that U, V, and W are used as addresses
for incremental commands.
Command and type Incremental command G90
(M series only) Absolute command G91
Plane selection XpYp Plane selection G17
ZpXp Plane selection G18
YpZp Plane selection G19
Input unit Metric or inch system can be selected by pa-
rameter specification.
Inch/metric switch G20/G21 (option 10)
Increment system 0.001mm, 0.001deg or 0.0001inch (IS–B)
Rapid traverse (positioning) Positioning G00
Positioning, either of non–interpolation type or
linear interpolation type, can be selected by
specifying a parameter.
Cutting feed Linear interpolation G01
Circular interpolation G02, G03
Cutting feedrate clamp
Feed per minute
5
1. OVERVIEW B–62443EN–2/01
Item Specifications
Override Manual feedrate override
Rapid traverse override
Rapid traverse override 1% step
Feedrate override
2nd feedrate override (option 11)
Auto- Rapid traverse G00 Linear acceleration/deceleration
matic Bell–shaped acceleration/deceleration (option
accel- 12)
eration
decel
decel-
Cutting feed G01 Exponential acceleration/deceleration
eration
Dwell G01 Dwell G04
Reference position return Automatic reference position return G28
Reference position return check G27
2nd reference position return G30
3rd, 4th reference position return (option 13)
Manual reference position return
Coordinate system Coordinate system selection G92 (M series),
G50 (T series)
Automatic coordinate system setting
Workpiece coordinate system shift
Direct input coordinate system shift
Machine coordinate system selection G53
(option 14)
Local coordinate system G52 (option 14)
Workpiece coordinate system G54 to G59
(option 14)
Decimal point input Decimal point input
Pocket calculator type decimal point input
Optional block skip Signal BDT
Signal BDT2 to BDT9 (option 15)
Compensation function Backlash compensation
Pitch error compensation max/1024 points
(option 16)
Measurement SKIP function SKIP signal
Auxiliary function Auxiliary function (M function)
1 block multiple M command
Programmable parameter G10 (option 17)
input G11
Macro Macro executer (option 18)
Custom macro B specification (option 19)
Common variables addition (macro B)
(option 20)
Interruption type custom macro (option 21)
Editing Playback function (option 22)
Extended part program (option 23)
Language display English
Japanese (option 24)
6
B–62443EN–2/01 1. OVERVIEW
Item Specifications
Automatic operation If the NC issues an alarm, automatic operation
is not activated. Note, however, that automatic
operation of the NC is not affected by an alarm
issued by the loader.
Overtravel stroke limit Hardware OT (can be disabled by parameter
setting)
Stored stroke limit 1
Stored stroke limit 2 (option 25)
Stored stroke limit 3 (option 25)
(Only for T series)
Overtravel alarms (ALM 500 and 501) based on
stored stroke limit 1 are automatically released
by movement back along the axis to a point that
does not exceed the limit.
External key input External key input
External message/ External External alarm message (option 26, 27)
data input External operator message (option 26, 27)
External program number search (option 27)
External workpiece coordinate system shift
(option 27)
External machine coordinate system shift
(option 27)
PMC axis control 4 path control (option 28)
Position switch Position switch function (option 29)
Multiple path waiting function By specifying an M code from the NC and load-
M code function (Only for T er, a wait operation can be performed.
series)
Notes
To use those functions for which option numbers are indicated, the following options are
required.
Option 1 Part program storage length 20m
Option 2 Part program storage length 40m
Option 3 Part program storage length 80m
Option 4 PMC Ladder 3000 step
Option 5 PMC Ladder 4500 step
Option 6 Reader Puncher control 1
Option 7 Directory display of floppy cassette
Option 8 Manual handle 1 unit control
Option 9 Manual handle 2 or 3 units control
(The use of the second and third units requires option 8 for the first unit.)
Option 10 Inch/metric conversion
Option 11 2nd feedrate override
Option 12 Rapid traverse bell–shaped acceleration/deceleration
Option 13 3rd/4th reference position return
Option 14 Workpiece coordinate system
Option 15 Addition of optional block skip
7
1. OVERVIEW B–62443EN–2/01
Notes
Option 16 Stored pitch error compensation
Option 17 Program input of offset amount
Option 18 Macro executer
Option 19 Custom macro B
Option 20 Addition of custom macro common variables
Option 21 Interruption type custom macro
Option 22 Playback
Option 23 Extended part program editing
Option 24 Japanese display
Option 25 Extended stored stroke check
Option 26 External message
Option 27 External data input
(When the external data input option is selected, the external message option is
not required.)
Option 28 PMC axis control by PMC
Option 29 Position switch function
8
B–62443EN–2/01 2. CONNECTION
2 CONNECTION
9
2. CONNECTION B–62443EN–2/01
2.1 When the Series 16/18–MODEL A loader control board, or the Series
16/18–MODEL B loader control board based on the main A specification
TOTAL CONNECTION is used:
GND
ESP(CNPW)
BRAKE(CNBK)
APC battery
APCBAT(JA4A) 6V
Loader
α series servo amp. module #1 main body
1st axis
AMP1(JV1) JV1B UL, VL, WL, GL
Control unit
servo motor
Actuator
RDIO(CRM1) sensor
Actuator Workpiece
WF(CNWF) sensor feeder
10
B–62443EN–2/01 2. CONNECTION
When the Series 16/18 loader control board based on the main B
specification is used
GND
ESP(CNPW)
BRAKE(CNBK)
APC battery
APCBAT(JA4A) 6V
Loader
α series servo amp. module #1 main body
1st axis
AMP1(JS1A) JS1B UL, VL, WL, GL
Control unit
servo motor
JF1
UM, VM, WM, GM 2nd axis
AMP2(JS2A) JS2B
JF2 servo motor
Actuator
RDIO(CRM1) sensor
Actuator Workpiece
WF(CNWF) sensor feeder
11
2. CONNECTION B–62443EN–2/01
2.2 In common with the other control PC boards of the Series 16/18, the
loader control board is mounted in the control unit. One slot is used
LOADER CONTROL exclusively for the loader control board. Any slot other than slot 1 can
BOADER be used.
Layout of Series 16/18–MODEL A loader control board
12
B–62443EN–2/01 2. CONNECTION
13
2. CONNECTION B–62443EN–2/01
14
B–62443EN–2/01 2. CONNECTION
2.3 The loader operator’s panel is used to jog the loader and perform teaching.
For the loader operator’s panel, the I/O signals described below are stored
CONNECTING THE on the loader control board.
LOADER
OPERATOR’S PANEL
2.3.2
Connector
CNTP (MR20–pin, male) Connector pin layout on the loader control board
14 TDO01 1 TDI01
8 TCOM1
15 TDO02 2 TDI02
9 TCOM2
16 TDO03 3 TDI03
10 TCOM3
17 TDO04 4 TDI04
11 TCOM4
18 TDO05 5 TDI05
12 *ESPTP1
19 TDO06 6 TDI06
13 *ESPTP2
20 TDI08 7 TDI07
15
2. CONNECTION B–62443EN–2/01
2.3.3
Signals
Operator’s panel input [Classification] Contact signal input, tied to common 24 V
signals [Function] These signals, used with common voltage drive
TDI01 to TDI08 source output signals TCOM1 to TCOM4, are used
to scan a key matrix. In this case, key scanning for
up to 32 (8 x 4) keys can be performed. When no
matrix is used, TDI01 to TDI08 can be used as
individual DI signals.
Operator’s panel output [Classification] Transistor sink output, 24 V/200 mA load
signals [Function] These signals, used with common voltage drive
TDO01 to TDO06 source output signals TCOM1 to TCOM4, are used
to scan an LED matrix. In this case, dynamic on/off
control can be applied to up to 24 (6 x 4) LEDs at
16–msec intervals with a duty cycle of 4:1. See
Section 2.4 for details of the required connection.
When no matrix is used, TDO01 to TDO06 can be
used as individual DO signals.
Common voltage drive [Classification] Transistor source output, 24 V/200 mA load
output signals [Function] These signals are used to drive the common voltage
TCOM1 to TCOM4 signals when a matrix is created. When these signals
are set to 1 by the PMC, 24 V is output to the signal
pin. This signal can drive up to 8 contact signal
inputs and up to 6 LEDs. The total load current,
however, must not exceed 200 mA. To drive the
contact signal inputs, 8 mA/point is required. This
means that up to 22 mA can be drawn by each LED.
When a matrix is not used, TCOM1 to TCOM4 can
be used as individual DO (source output) signals.
Emergency stop input [Classification] Contact signal input used for emergency stop
signals [Function] The contact signal from the emergency stop button
*ESPTP1, *ESPTP2 on the operator’s panel is connected in series with
*LOT within the board to drive the externally
mounted emergency stop relay. See Section 2.5 for
details of this connection. Connect contact B of the
emergency stop button on the loader operator’s panel
to *ESPTP1 and *ESPTP2.
If this connection is broken, the loader performs an
emergency stop. When this connector is not used,
install a dummy connector to enable signal
processing, as shown below.
*ESPTP1 (12)
*ESPTP2 (13)
Dummy connector
16
B–62443EN–2/01 2. CONNECTION
2.3.4
Matrix Configuration
TCOM3
TCOM2
TCOM1
Reciever
SW08 16 24 32
TDI08
R SW07 15 23 31
TDI07
R SW06 14 22 30
TDI06
R SW05 13 21 29
TDI05
R SW04 12 20 28
TDI04
R SW03 11 19 27
TDI03
R SW02 10 18 26
TDI02
R SW01 09 17 25
TDI01
R
0V R LED06 12 18 24
TDO06
R LED05 11 17 23
TDO05
R LED04 10 16 22
TDO04
R LED03 09 15 21
TDO03
R LED02 08 14 20
TDO02
R LED01 07 13 19
TDO01
0V
SW LED
17
2. CONNECTION B–62443EN–2/01
2.4 I/O signals used for controlling the main loader unit are stored in the
loader control board.
I/O SIGNAL
CONNECTION FOR
MAIN LOADER UNIT
CONTROL
2.4.1 DI = 6 points (contact signal input, general purpose)
Outline DO = 8 points (sink output, general purpose)
DI = 1 point (+24 V contact signal input, emergency stop input signal)
For operations such as opening/closing the hand on the tip of the loader
and air blow control, 6 DI points and 8 DO points are provided. The
emergency stop input signal stops the loader immediately in situations
such as loader overtravel (detected by hardware) or hand destruction.
18
B–62443EN–2/01 2. CONNECTION
2.4.2
Connector
CRM1
(MR50–pin, female)
1 LDI01 33 LDO01
2 LDI02 34 LDO02
19 *LOT
3 LDI03 35 LDO03
20 LDI05
4 LDI04 36 LDO04
21 LDI06
5 37 LDO05
22 COMLD
6 38 LDO06
23 COMWF
7 39 LDO07
24
8 40 LDO08
25
9 FDI01 41 FDO01
26
10 FDI02 42 FDO02
27 0V
11 FDI03 43 FDO03
28 0V
12 FDI04 44 FDO04
29 0V
13 FDI05 45 FDO05
30 0V
14 FDI06 46 FDO06
31 +24E
15 FDI07 47 FDO07
32 +24E
16 FDI08 48 FDO08
17 0V 49 +24E
18 0V 50 +24E
19
2. CONNECTION B–62443EN–2/01
2.4.3
Signals
General–purpose input [Classification] Contact signal input
signals LDI01 to LDI04 can be switched between 24 V
LDI01 to LDI06 common voltage and 0 V common voltage. LDI05
and LDI06 are tied to 24 V common voltage.
[Function] Six input signals are provided as interface signals.
These can be used, for example, for checking whether
the hand mounted on the tip of the loader is open or
closed. These signals can be used for general purpose
applications, depending on the function demanded of
the mechanical unit of the loader. When an
incremental pulse coder is used, and a reference
position return operation is needed, LDI01 to LDI04
are used as deceleration signals *DEC1 to *DEC4.
When the skip function is used, LDI05 is used as the
skip signal. These signals are directly referenced by
the CNC that exercises loader control. When,
however, reference position return and skip
operations are not required, the PMC can use these
signals for general purpose applications.
General–purpose input [Classification] Common voltage selection
signal common voltage [Function] When COMLD is connected to 0V, LDI01 to LDI04
selection function as 24 V common voltage input signals.
COMLD When COMLD is connected to +24E, LDI01 to
LDI04 function as 0 V common voltage input
signals. Note that the signal polarity also changes
accordingly. That is, when LDI01 to LDO04 are
functioning as 24 V common voltage signals, logic
1 corresponds to the contact being closed; when
LDI01 to LDO04 are functioning as 0 V common
voltage signals, logic 0 corresponds to the contact
being closed.
General–purpose output [Classification] Transistor sink output, 24 V/200 mA load
signals [Function] For the control of operations such as opening/closing
LDO01 to LDO08 the hand mounted on the tip of the loader and air
blow, 8 output signals are provided. These signals
can be used for general purpose applications as
required.
Loader overtravel signal [Classification] Contact signal input used for emergency stop, tied to
*LOT common 24 V
20
B–62443EN–2/01 2. CONNECTION
21
2. CONNECTION B–62443EN–2/01
2.5
SERVO SYSTEM
CONNECTION
2.5.1 The tables below list the connectors used to connect the servo system.
Outline
When using the Series 16/18–MODEL A loader control board, or
the Series 16/18–MODEL B loader control board based on the
main A specification
Controlled Connector
axis
number Servo command Feedback signal Brake control
1 JV1
4 JV4
Controlled Connector
axis
number Servo command Feedback signal Brake control
1 JS1A
2 JS2A Connected
C d to the
h
CNBK
servo amplifier mod-
(
(common to
t 4 axes))
3 JS3A ule
4 JS4A
22
B–62443EN–2/01 2. CONNECTION
2.5.2 Servo system connection when using the C series servo amplifier
Connection Diagram
Servo command
cable
1 axis 2 axis C series servo amp. Loader mechanical
LCB board
unit
AMP1 (JV1) CN1L UL, VL, WL, GL Motor
AMP2 (JV2) CN1M UM, VM, WM, GM power
100A, 100B AC
L1, L2, L3, PE Servo
motor
Servo command 4
cable Servo amp. for A,C axis
3 axis 4 axis
AMP3 (JV3) CN1L UL, VL, WL, GL
200VAC
Emergency stop 3∅
control circuit L1, L2, L3, PE
ESP (CNPW)
23
2. CONNECTION B–62443EN–2/01
Servo system connection when using the α series servo amplifier (type
A interface)
Servo command
cable
α series servo amp. SVM
1 axis 2 axis Loader mechanical
LCB board
unit
AMP1 (JV1) JV1B UL, VL, WL, GL Motor
AMP2 (JV2) JV2B UM, VM, WM, GM power
PSM
AC reactor MCC
Brake control output
BRAKE (CNBK)
200VAC
Emergency stop 3∅
control circuit (L1, L2, L3, PE)
ESP (CNPW)
Serial pulse coder See 2.6 for detail External emergency
feedback signal stop contact signal
ENC (CRF1)
24
B–62443EN–2/01 2. CONNECTION
Servo system connection when using the α series servo amplifier (type
B interface)
Servo command
cable α series servo amp. SVM
1 axis 2 axis Loader mechanical
LCB board
unit
AMP1 (JS1A) JS1B UL, VL, WL, GL Motor
AMP2 (JS2A) JS2B UM, VM, WM, GM power
JF1
JF2 AC
TB1 CX2A JX1A Servo
motor
Servo command SVM 4
cable
3 axis 4 axis TB1 CX2B JX1B
AMP3 (JS3A) JS1B UL, VL, WL, GL Brake
power
AMP4 (JS4A) JS2B UM, VM, WM, GM
JF1
JF2
Serial Pulse–coder
TB1 CX2A JX1A Feedback Signal
PSM
AC reactor MCC
Brake control output
BRAKE (CNBK)
200VAC
Emergency stop 3φ
control circuit (L1, L2, L3, PE)
ESP (CNPW)
25
2. CONNECTION B–62443EN–2/01
4 0v 14 0v 4 0V 14 0V
6 0V 16 0V 6 0V 16 0V
8 0V 18 0V 8 0V 18 0V
9 19 9 19
1 1
IRn IRn
2 2
GDRn GDRn
3 3
*PWMAn *PWMAn
4 4
0V 0V
5 5
*PWMBn *PWMBn
6 6
0V 0V
7 7
*PWMCn *PWMCn
8 8
0V 0V
9 9
10 10
*MCONn *MCONn
11 11
ISn ISn
12 12
GDSn GDSn
13 13
*PWMDn *PWMDn
14 14
0V 0V
15 15
*PWMEn *PWMEn
16 16
0V 0V
17 17
*PWMFn *PWMFn
18 18
0V 0V
19 19
20 20
*DRDYn *DRDYn
Shield
Grounding plate
26
B–62443EN–2/01 2. CONNECTION
4 0V 14 0V 4 0V 14 0V
6 0V 16 *PD2 6 0V 16 *PD2
8 0V 18 *PRQ2 8 0V 18 *PRQ2
9 *DRDYn 19 0V 9 *DRDYn 19 0V
10 *MCONn 20 0V 10 *MCONn 20 0V
1 1
IRn IRn
2 2
GDRn GDRn
3 3
*PWMAn *PWMAn
4 4
0V 0V
5 5
*PWMCn *PWMCn
6 6
0V 0V
7 7
*PWMEn *PWMEn
8 8
0V 0V
9 9
*DRDYn *DRDYn
10 10
*MCONn *MCONn
11 11
ISn ISn
12 12
GDSn GDSn
13 13
*ENBLn *ENBLn
14 14
0V 0V
15 15
PDn PDn
16 16
*PDn *PDn
17 17
PRQn PRQn
18 18
*PRQn *PRQn
19 19
0V 0V
20 20
0V 0V
Shield
Grounding plate
27
2. CONNECTION B–62443EN–2/01
33 1 SD1
SDn
*SDn Serial pulse coder signal
34 2 *SD1 (n : 1 to 4 control axes number)
REQn
19 SD3 *REQn
35 3 REQ1
20 *SD3
36 4 *REQ1 0V Power supply for serial pulse coder
21 REQ3 +5V Power supply for serial pulse coder
37 5 SD2
+6V Battery power supply for absolute serial
22 *REQ3
pulse coder
38 6 *SD2
23 SD4
39 7 REQ2
24 *SD4
40 8 *REQ2
25 REQ4
41 +5V 9 0V
26 *REQ4
42 +5V 10 0V
27
43 +5V 11 0V
28
44 +5V 12 0V
29
45 +5V 13 0V
30
46 +5V 14 0V
31 +5V
47 +6V 15 0V
32 +5V
48 +6V 16 0V
49 +6V 17
50 +6V 18
28
B–62443EN–2/01 2. CONNECTION
2.5.5
Brake Drive Output
Interface
1D 2D 1D
BKOUT1 + Brake control output +side
1C 2C 3C
1B 2B 3B
1A 2A 3A BKOUT1+
JA4 (PCR–EV20MDT)
Location of connector pin in the side
of loader control board
1 11
2 12
3 0V 13
4 14
7 +6V 17
8 18
9 19
10 20
29
2. CONNECTION B–62443EN–2/01
2.6
EMERGENCY STOP
SYSTEM
CONNECTION
2.6.1 The emergency stop control circuit has the functions listed below, and
Outline exercises control such that the servo drive power is turned off by hardware
when an emergency stop is required.
30
B–62443EN–2/01 2. CONNECTION
Overtravel release
button *LOT
OTREL
OTR
31
2. CONNECTION B–62443EN–2/01
2.6.2 (Apply +24 V to *LOT when the loader does not have an overtravel
Emergency Stop detection function.)
System Connection
(When a C Series
Servo Amplifier is
Used)
*EMG1
Driver
RY1 *EMG2
24V relay
CNBK
BKOUT1+
Surge
absorber
ry1
Emergency stop
control unit
(example)
AC100V
L1
L2 Servo motor
PWM
with brake
L3
AC200V
32
B–62443EN–2/01 2. CONNECTION
2.6.3
Emergency Stop
Control Circuit
Interface
CNPW
(AMP D–3400, 12 pins,
male)
33
2. CONNECTION B–62443EN–2/01
2.7
WORKPIECE
FEEDER
CONNECTION
2.7.1 For workpiece feeder control, 8 input signals and 8 output signals are
Outline provided.
DI = 8 points (+24 V contact signal input, general purpose)
DO = 8 points (sink output, general purpose)
These signals are used to move the workpiece feeder back and forth.
1 FDI01 14 FDO01
8 FDI07 FDI01–FDI08 : Input for workpiece feeder control
2 FDI02 15 FDO02 COMWF : Used for FDI01–08 common voltage switching
9 FDI08 FDO01–FDO08 : Output for workpiece feeder control
+24V : Common voltage source
3 FDI03 16 FDO03
0V : Common voltage source
10 COMWF
4 FDI04 17 FDO04
11
5 FDI05 18 FDO06
12 FDO06
6 FDI06 19 FDO07
13 0V
7 +24V 20 FDO08
2.7.3
Signals
General–purpose [Classification] Contact signal input, switchable between common
workpiece feeder input 24 V and 0 V
signals [Function] For workpiece feeder interfacing, 8 input signals are
provided. These signals can also be used for general
FDI01 to FDI08
purpose applications depending on the function
demanded of the mechanical unit of the loader. These
signals are also applied to a separate connector,
CNWF, connected in parallel.
34
B–62443EN–2/01 2. CONNECTION
LCB
Non–insulating
contact signal input
FDI01–08
Receiver
3.3K
COMWF
+24V
24V
: 0 V common voltage
0V connection
: 24 V common voltage
connection
LCB
FDO01–08 +
DO –
0V
35
2. CONNECTION B–62443EN–2/01
2.8
DI/DO INTERFACE
2.8.1 A PMC for loader control is built into the loader control board. The PMC
Outline has functions equivalent to PMC–RA1 of the Series 18. The development
environment used with the PMC–RA1 is used. The I/O signals handled
by the PMC are classified into three groups.
1 Loader control board built–in I/O signals
2 Signals for interfacing with the machine PMC
3 I/O signals connected, through an I/O link, to the loader control board
The signals of 1 are stored in the X/Y area, which is directly accessed by
the PMC.
The signals of 2 are periodically transferred by system software from
within the G/F area of the machine PMC to the G/F area of the loader
PMC, or vice versa.
The signals of 3 are used as additional I/O signals, transferred using the
FANUC I/O link when the signals of 1 alone are insufficient to configure
a system.
The figure below illustrates the relationships between these I/O signals
and PMCs. As shown below, the loader control PMC and machine control
PMC operate independently of each other. In addition, the PMCs share
signals for synchronous operation.
1 2
36
B–62443EN–2/01 2. CONNECTION
2.8.2 The table below lists the I/O signals stored in the loader control board.
Loader Control Board
Built–in I/O Signal
Input signals
(loader → loader control
PMC)
Address Symbol Signal name
X1000.0 LDI01 LDI01=*DEC1
X1000.1 LDI02 When a reference position return
LDI02=*DEC2 operation is performed, LDI01 to
X1000.2 LDI03 Signals used for LDI03=*DEC3 LDI04 function as *DEC1 to
controlling the main *DEC4, respectively.
X1000.3 LDI04 LDI04=*DEC4
loader unit
X1000.4 LDI05
X1000.5 LDI06
X1000.6 *LOT Loader overtravel signal
X1000.7 *EMG1 Emergency stop signal on the loader operator’s panel (affected by *LOT)
X1002.0 FDI01
X1002.1 FDI02
X1002.2 FDI03
X1002.3 FDI04
Workpiece feeder control signals
X1002.4 FDI05
X1002.5 FDI06
X1002.6 FDI07
X1002.7 SKIP
X1004.0 TDI01
X1004.1 TDI02
X1004.2 TDI03
X1004.3 TDI04 Loader operator’s panel input signals
(These eight signals are used as general–purpose DI signals or matrix switch input
X1004.4 TDI05
signals.)
X1004.5 TDI06 (When these signals are used as matrix switch input signals, the PMC reads the
X1004.6 TDI07 switch states by using area X1010 to X1013, instead of directly referencing TDO01 to
TDO08.)
X1004.7 TDI08
X1010.0 SW01
X1010.1 SW02
X1010.2 SW03
: :
: :
Loader operator’s panel input signals
: : (When these signals are used as matrix switch input signals, the state signals of
: : the loader operator’s panel switches are expanded in this area.)
X1013.5 SW30
X1013.6 SW31
X1013.7 SW32
37
2. CONNECTION B–62443EN–2/01
Y1001.0 FDO01
Y1001.1 FDO02
Y1001.2 FDO03
Y1001.3 FDO04
Workpiece feeder control signals
Y1001.4 FDO05
Y1001.5 FDO06
Y1001.6 FDO07
Y1001.7 FDO08
Y1002.0 TCOM1
Y1002.1 TCOM2
Loader operator’s panel common voltage control output signals
Y1002.2 TCOM3 (These four signals are used as general–purpose DO signals or matrix drive common
Y1002.3 TCOM4 voltage signals.)
Y1003.0 TDO01
Y1003.1 TDO02
Loader operator’s panel output signals
Y1003.2 TDO03
(These six signals are used as general–purpose DO signals or matrix LED output
Y1003.3 TDO04 signals. When these signals are used as matrix LED output signals, the PMC writes
Y1003.4 TDO05 LED on/off data to area Y1010 to Y1013, instead of directly controlling TDO01 to
TDO06.)
Y1003.5 TDO06
Y1003.6
Y1003.7 OTR Loader overtravel release signal (1: Disables *LOT.)
Y1004.0 BRAKE Brake control signal (0: Actuates the brake. 1: Releases the brake.)
38
B–62443EN–2/01 2. CONNECTION
2.8.3 The interface signals used between the CNC, built into the loader control
Signals for Interfacing board, and the loader control PMC conform to the specifications for the
ordinary Series 16/18 PMC interface signals. This means that, for the
with the Loader loader PMC, ladder programs can be developed using the same interface
Control CNC as that for the machine PMC. Note, however, that not all signals can
actually be used for loader control. For details, see Section 2.8.4.
For details of each function, refer to the following manuals:
D FANUC Series 16/18/160/180–MODEL B Connection Manual
(Function) (B–62443E–1)
D FANUC Series 16/18 Connection Manual (B–61803E)
39
2. CONNECTION B–62443EN–2/01
2.8.4
DI/DO Signals
(Function by Function)
Ready NC ready signal MA (F001#7)
Servo ready signal SA (F000#6)
Emergency stop Reset Emergency stop *ESP (G008#4, X1000#7)
External reset signal ERS (G008#7)
Reset & Rewind signal RRW (G008#6)
Resetting signal RST (F001#1)
Rewinding signal RWD (F000#0)
Status signal NC alarm signal AL (F001#0)
Battery alarm signal BAL (F001#2)
Axis moving signal MV1 – MV4 (F102#0 – #3)
Moving direction signal MVD1 – MVD4 (F106#0 – #3)
In–position signal INP1 – INP4 (F104#0 – #3)
Rapid traverse signal RPDO (F002#1)
Inch input signal INCH (F002#0)
Mode selection Mode selection signal MD1, MD2, MD4 (G042#0 – #2)
Operation mode comfirmation signal MMDI (F003#3)
MMEM (F003#5)
MEDT (F003#6)
MH (F003#1)
MINC (F003#0)
MJ (F003#2)
MREF (F004#6)
MTCHIN (F003#7)
Manual feedrate over- Feed axis direction +J1 – +J4 (G100#0 – #3)
ride –J1 – –J4 (G102#0 – #3)
Jog feedrate override signal *JVO – *JV15 (G010 – G011)
Manual rapid traverse signal RT (G019#7)
Rapid traverse override signal ROV1, ROV2 (G014#0, #1)
Rapid traverse override1% step HROV (G096#7)
Select signal
Rapid traverse override1% step value *HROV0 – *HROV6 (G096#0 – #6)
Manual absolute signal *ABSM (G006#2)
Manual absolute confirmation signal MABSM (F004#2)
Interlock Interlock signal STLK (G007#1)
*IT (G008#0)
Interlock per axis signal *IT1 – *IT4 (G130#0 – #3)
Manual handle feed Manual handle feed axis select signal HS1A, HS1B, HS1C, HS1D (G018#0 –
incremental feed #3)
40
B–62443EN–2/01 2. CONNECTION
Reference position re- Manual reference position return select signal ZRN (G043#7)
turn Deceleration signal for reference position return *DEC1 – *DEC4 (X1000#0 – #3)
signal ZP1 – ZP4 (F094#0 – #3)
Reference position return completion signal ZP21 – ZP24 (F096#0 – #3)
2nd reference position return completion signal ZP31 – ZP34 (F098#0 – #3)
3rd reference position
p return completion
p signal
g ZP41 – ZP44 (F100#0 – #3)
4th reference position return completion signal ZRF1 – ZRF4 (F120#0 – #3)
Reference position completion signal
Program protect key KEY1 – KEY4 (G046#3 – #6)
Automatic operation Cycle start signal ST (G007#2)
Feed hold signal *SP (G008#5)
Cycle start LED signal STL (F000#5)
Feed hold LED signal SPL (F000#4)
Automatic operating signal OP (F000#7)
Workpiece number search signal PN1 – PN8 (G009#0 – #3)
Machine lock signal MLK (G044#1)
MLK1 – MLK4 (G108#0 – #3)
Machine lock confirmation signal MMLK (F004#1)
Single block signal SBK (G046#1)
Single block confirmation signal MSBK (F004#3)
Feedrate override signal *FV0 – *FV7 (G012)
2nd feedrate override signal *AFV0 – *AFV7 (G013)
Override cancel signal OVC (G006#4)
Block skip signal BDT (G044#0)
BDT2 – BDT9 (G045#0 – #7)
Block skip confirmation signal MBDT (F004#0)
MBDT2 – MBDT9 (F005#0 – #7)
Error detect signal SMZ (G053#6)
Auxiliary function M code signal M00 – M31 (F010 – F013)
M code strobe signal MF (F007#0)
FIN (G004#3)
High–speed M interface signal MFIN (G005#0)
Distribution end signal DEN (F001#3)
Auxiliary function lock signal AFL (G005#6)
Auxiliary function lock comfirmation signal MAFL (F004#4)
Multiple M commands 2nd M code signal M200 – M215 (F014 – F015)
2nd M function strobe signal MF2 (F008#4)
2nd M function finish signal MFIN2 (G004#4)
3rd M code signal M300 – M315 (F016 – F017)
3rd M code strobe signal MF3 (F008#5)
3rd M code finish signal MFIN3 (G004#5)
S function S code signal S0 – S31 (F022 – F025)
S code strobe signal SF (F007#2)
Skip function Skip signal SKIP (X1002#7)
41
2. CONNECTION B–62443EN–2/01
Mechanical handle feed Servo off signal SVF1 – SVF4 (G126#0 – #3)
Follow–up signal *FLWU (G007#5)
External data input 1) External alarm message function
2) External operation message function
3) External program number search function
Data ED00 – ED15 (G000 – G001)
Address EA0 – EA6 (G002#0 – #6)
External data read signal ESTB (G002#7)
Read End signal EREND (F060#0)
Search end signal ESEND (F060#1)
Custom macro For custom macro UI0 – UI15 (G054 – G055)
UO0 – UO15 (F054 – F055)
UO100 – UO131 (F056 – F059)
I t
Interrupt
t signal
i l for
f custom
t macro UNIT (G053#3)
Position switch function Position switch signal PSW01 – PSW10 (F070#0 – F071#1)
Axis control function by
PMC
1) GroupA Axis control command signal EC0A – EC6A (G143#0 – #6)
Axis control command completion signal EBUFA (G142#7)
Axis control command read signal EBSYA (F130#7)
Reset signal ECLRA (G142#6)
Axis control temporary stop signal ESTPA (G142#5)
Servo off signal ESOFA (G142#4)
Block stop signal ESBKA (G142#3)
Block stop
p disable signal
g EMSBKA ((G143#7))
Auxiliaryy function BCD code signal
g EM11A – EM28A (F132)
( )
Auxiliary function read signal EMFA (F131#0)
Auxiliary function completion signal EFINA (G142#0)
Feedrate signal EIF0A – EIF15A (G144 – G145)
All moving value, dwell time EID0A – EID31A (G146 – G149)
A ili
Auxiliary f
function
i code
d
I
In–position
iti signal
i l EINPA (F130#0)
Following zero checking signal ECKZA (F130#1)
Alarm signal EIALA (F130#2)
Axis moving signal EGENA (F130#4)
Auxiliary function executing signal EDENA (F130#3)
Negative–direction overtravel signal EOTNA (F130#6)
Positive–direction overtravel signal EOTP (F130#5 )
42
B–62443EN–2/01 2. CONNECTION
43
2. CONNECTION B–62443EN–2/01
44
B–62443EN–2/01 2. CONNECTION
2.8.5
DI/DO Signals (In Order
of Addresses)
Address table for Series 16/18 LCB
MT³PMC
Bit No
Address #7 #6 #5 #4 #3 #2 #1 #0
X1000 *EMG1 *LOT *HBK *PPABN *DEC4 *DEC3 *DEC2 *DEC1
X1001
X1003
X1005
PMC³MT
Bit No.
Address #7 #6 #5 #4 #3 #2 #1 #0
Y1000 LDO08 LDO07 LDO06 LDO05 LDO04 LDO03 LDO02 LDO01
Y1004 BRAKE
Y1005
Notes
When bit 1 of parameter No. 7902 (for matrix expansion for
the loader operator’s panel) is set to 1, X1010 to X1013 and
Y1010 to Y1013 are used. At this time, X1004, Y1002,
Y1003 (excluding OTR) cannot be used. When bit 1 of
parameter No. 7902 is set to 0, X1010 to X1013 and Y1010
to Y1013 cannot be used.
45
2. CONNECTION B–62443EN–2/01
Address #7 #6 #5 #4 #3 #2 #1 #0
G0000 ED7 ED6 ED5 ED4 ED3 ED2 ED1 ED0
G0003
G0015
G0016
G0017
G0020
G0021
G0022
G0023
G0024
G0025
G0026
46
B–62443EN–2/01 2. CONNECTION
Address #7 #6 #5 #4 #3 #2 #1 #0
G0027
G0028
G0029
G0030
G0031
G0032
G0033
G0034
G0035
G0036
G0037
G0038
G0039
G0040
G0041
G0042
G0047
G0048
G0049
G0050
G0051
G0052
47
2. CONNECTION B–62443EN–2/01
Address #7 #6 #5 #4 #3 #2 #1 #0
G0056
G0057
G0058
G0059
G0060
G0061
G0062
G0063 NMWT
G0064
G0065
G0067
G0068
G0069
G0070
G0071
G0072
G0073
G0074
G0075
G0076
G0077
G0078
G0079
G0080
G0081
G0084
48
B–62443EN–2/01 2. CONNECTION
Address #7 #6 #5 #4 #3 #2 #1 #0
G0085
G0086
G0087
G0088
G0089
G0090
G0091
G0092
G0093
G0094
G0095
G0097
G0099
G0101
G0103
G0104
G0105
G0106
G0107
G0109
G0110
G0111
G0112
G0113
49
2. CONNECTION B–62443EN–2/01
Address #7 #6 #5 #4 #3 #2 #1 #0
G0114 *+L4 *+L3 *+L2 *+L1
G0115
G0117
G0118
G0119
G0120
G0121
G0122
G0123
G0124
G0125
G0127
G0128
G0129
G0131
G0132
G0133
G0134
G0135
G0137
G0138
G0139
G0140
G0141
50
B–62443EN–2/01 2. CONNECTION
Address #7 #6 #5 #4 #3 #2 #1 #0
G0142 EBUFA ECLRA ESTPA ESOFA ESBKA EFINA
G0152
G0153
G0162
G0163
G0164
G0165
51
2. CONNECTION B–62443EN–2/01
Address #7 #6 #5 #4 #3 #2 #1 #0
G0166 EBUFC ECLRC ESTPC ESOFC ESBKC EFINC
G0174
G0175
G0176
G0177
G0186
G0187
G0188
G0189
G0190
G0191
52
B–62443EN–2/01 2. CONNECTION
Address #7 #6 #5 #4 #3 #2 #1 #0
G0212
G0213
G0214
G0215
G0216
G0217
G0218
G0219
G0252
G0253
G0254
G0255
G1212
G1213
G1214
G1215
G1216
G1217
G1218
G1219
G1252
G1253
G1254
G1255
Notes
Signals G212 to G219, G252 to G255, G1212 to G1219,
and G1252 to G1255 are used for communicating with the
NC. The states of the signals in these areas can be checked
using F212 to F219, F252 to F255, F1212 to F1219, and
F1252 to F1255 on the NC. Note, however, that G1212 to
G1219 and G1252 to G1255 are valid only when bit 0 of
parameter No. 8102 is set to 1.
53
2. CONNECTION B–62443EN–2/01
Address #7 #6 #5 #4 #3 #2 #1 #0
F0000 OP SA STL SPL RWD
F0005
F0006
F0007 SF MF
F0009
F0018
F0019
F0020
F0021
F0026
F0027
54
B–62443EN–2/01 2. CONNECTION
Address #7 #6 #5 #4 #3 #2 #1 #0
F0028
F0029
F0030
F0031
F0032
F0033
F0034
F0035
F0036
F0037
F0038
F0039
F0040
F0041
F0042
F0043
F0044
F0045
F0046
F0047
F0048
F0049
F0050
F0051
F0052
55
2. CONNECTION B–62443EN–2/01
Address #7 #6 #5 #4 #3 #2 #1 #0
F0056 UO107 UO106 UO105 UO104 UO103 UO102 UO101 UO100
F0060
F0061
F0062
F0063 WATO
F0064
F0065
F0066
F0067
F0068
F0069
F0072
F0073
F0074
F0075
F0076
F0077
F0078
F0079
F0080
F0081
F0082
F0083
F0084
56
B–62443EN–2/01 2. CONNECTION
Address #7 #6 #5 #4 #3 #2 #1 #0
F0085
F0086
F0087
F0088
F0089
F0090
F0091
F0092
F0093
F0095
F0097
F0099
F0101
F0103
F0105
F0107
F0108
F0109
F0110
F0111
F0112
F0113
57
2. CONNECTION B–62443EN–2/01
Address #7 #6 #5 #4 #3 #2 #1 #0
F0114
F0115
F0116
F0117
F0118
F0119
F0120
F0121
F0122
F0123
F0124
F0125
F0126
F0127
F0128
F0131 EMFA
F0134 EMFB
F0137 EMFC
F0140 EMFD
58
B–62443EN–2/01 2. CONNECTION
Address #7 #6 #5 #4 #3 #2 #1 #0
F0212
F0213
F0214
F0215
F0216
F0217
F0218
F0219
F0252
F0253
F0254
F0255
F1212
F1213
F1214
F1215
F1216
F1217
F1218
F1219
G1252
G1253
G1254
G1255
Notes
Signals F212 to F219, F252 to F255, F1212 to F1219, and F1252 to F1255 are used for
communicating with the NC. In these areas, the states of G212 to G219, G252 to G255, F1212
to F1219, and F1252 to F1255 on the NC can be checked. Note, however, that F1212 to F1219
and F1252 to F1255 are valid only when bit 0 of parameter No. 8102 is set to 1.
59
3. OPERATION B–62443EN–2/01
3 OPERATION
60
B–62443EN–2/01 3. OPERATION
3.1
MDI KEY OPERATION
FOR LOADER
CONTROL
3.1.1
Screen Switching
3.1.2
Power–on
<CAN> + <2> Clears all the memory areas of the sub side of the dual NC.
Notes
1 <X> + <0> clears the RAM module of the NC PMC only. With
previous versions, <0> + <X> cleared the RAM modules of
both the NC PMC and loader PMC at the same time. With
the current version, the loader control option for the Series
16/18–MODEL B clears the RAM modules individually.
2 These memory clear operations do not clear macro RAM.
Instead, RAM is cleared when macro programs are
transferred by the P–code loader. The loader control option
for the Series 16/18–MODEL B clears macro RAM
unconditionally at power–on.
61
3. OPERATION B–62443EN–2/01
62
B–62443EN–2/01 3. OPERATION
3.2
STARTING THE
LOADER CONTROL
3.2.1 The boot system load the CNC system software (flash RAM ⇒ DRAM),
Boot system for then start it so that software can be executed.
Series
16/18–MODEL B
D Overview The boot system provides the following maintenance functions for the
CNC:
(1) Registering a file in flash memory
D Reads a file from a memory card, in MS–DOS format conforming to
JEIDA V4.1, into flash memory.
(2) Checking a file (series and edition) in flash memory
(3) Deleting a file from flash memory
(4) Batch saving and restoration of files of parameters and programs
backed up by battery (SRAM area), to and from a memory card
(5) Saving a file in flash memory to a memory card
(6) Formatting of a memory card
(7) Deleting a file from a memory card
D Starting the Boot System In ordinary system activation, the boot system automatically transfers
files from flash memory to DRAM in the background.
The user is not aware of this operation. However, the boot system must
be operated manually, from menu screen, when maintenance is to be
carried out or when the flash memory does not contain a required file.
1 In system maintenance, for example, to replace a file in memory
ÂÂÂ
ÂÂ
Operation : Turn the power on by simultaneously pressing the two soft
keys at the right end.
ÂÂÂ
ÂÂ
Hold down the two keys until the boot system screen appears.
2 When the flash memory does not contain a file required to start the
CNC
Immediately after the CNC is turned on, the boot system starts
transferring files from flash memory to DRAM. If, for some reason,
a file required to start the CNC (NC basic) is not in flash memory or
has been destroyed, the boot system is automatically started.
D System Files and User The boot system organizes files in flash memory into two main groups :
Files system files and user files. These two file types have the following
characteristics :
63
3. OPERATION B–62443EN–2/01
System files
CNC and servo control software provided by FANUC
User files
PMC sequence program (ladder), P–CODE macro
program, and other user–created files
1 : Screen title.
2 : Flash memory size and SRAM size of each board.
3 : Message
(3) Operation
Press the [ UP ] or [DOWN] soft key to move the cursor, and select
board to press the [SELECT] soft key.
64
B–62443EN–2/01 3. OPERATION
Notes
1 The LCB (loader control board) also features a memory card
interface. However, only the main board interface is used
with the boot system.
2 The memory card interface of the LCB is used only for
inserting a PMC ladder editing card. A ladder editing card
can be inserted only while the power is turned off. For
details of ladder editing, refer to the ”FANUC PMC Ladder
Language Programming Manual (B–61863E).”
3 Store only a P–code macro file for loader control in the flash
ROM on the LCB. Store a ladder software file in the flash
ROM on the main board. The table below lists loader control
files and their locations.
PMC ladder software file for the Flash ROM on the main board
loader
P–code macro file for the loader Flash ROM on the LCB
65
3. OPERATION B–62443EN–2/01
D Screen Configuration When the boot system is first started, the MAIN MENU screen is
and Operating Procedure displayed. This screen is described below :
D
9 9. END
1 : Screen title. The series and edition of the boot system appear at
the right end.
2 : Function for writing data to flash memory.
3 : Function for checking the edition of a file in ROM.
4 : Function for deleting a file from flash memory.
5 : Function for making a backup copy of the data stored on the memory
card.
6 : Function for making a backup copy of the data in SRAM.
7 : Function for deleting a file from a memory card.
8 : Function for formatting a memory card.
9 : Function for terminating the boot system and starting the CNC.
10 : Condensed guidance or error message
D Operating procedure Press the [UP] or [DOWN] soft key to select the desired function. After
positioning the cursor to the desired function, press the [SELECT] soft
key. Before executing a function, the system my request confirmation
from the operator by having him/her press the [YES] or [NO] soft key.
D Basic operation
→ Return to
original state
66
B–62443EN–2/01 3. OPERATION
2 FILE DIRECTORY
D101E10. ROM
D101E11. ROM
3 END
1 : Screen title. The page number (n) and total number of pages (m)
are displayed, in n/m format, at the right end.
2 : Files on the memory card
3 : Option for returning to previous menu Message
4 : Message
(3) Operating procedure
1 Position the cursor to the file to be read from the memory card and
written to flash memory. Then, press the [SELECT] soft key.
A single page can list up to eight file names. If the memory card
contains nine or more files, the remaining files are displayed on
another page.
To display the next page, press the soft key.
To display the previous page, press the soft key. The END option
is displayed on the last page.
The END option is displayed on the last page.
2 After a file has been selected, the system asks whether that file is to
be loaded.
3 To start loading, press the [YES] soft key. To cancel, press the [NO]
key.
67
3. OPERATION B–62443EN–2/01
(4) Others
1 Counter display while a file is being loaded
While a file is being loaded, the address of the data currently being
accessed is displayed.
Note
that these file names may be changed without notice.
68
B–62443EN–2/01 3. OPERATION
1 : Screen title
2 : Names of accessing board
3 : Names of files in flash memory The number of management units
constituting each file appears in parentheses to the right of the file
name.
4 : Returning to the previous menu
5 : Message
69
3. OPERATION B–62443EN–2/01
ÁÁÁÁÁÁÁÁÁ
3 B1A1 842B 003
ÁÁÁÁÁÁÁÁÁ
4 B1A1 881B 004 Internal management–unit
5 B1A1 882B 005 number
ÁÁÁÁÁÁÁÁÁ
6 B1A1 8C1B 006 ROM number and edition
7 B1A1 8C2B 007 Series
(4) Others
1 Parity information for the system file and user file
The NC BASIC, DG SERVO, and other system files in flash memory
contain parity information in each management unit. If the file name
field or parity field on the check screen contains a non–ASC II
character or an ”@” , the flash ROM may have been destroyed or a
damaged file may have been read. Re–read the data from the memory
card.
The PMC–RB, PCD 0.5M, and other user files do not contain parity
information in each management unit. A non–ASCII character or an
”@” may appear in the series/edition information. In this case, it does
not indicate that the file has been damaged.
70
B–62443EN–2/01 3. OPERATION
1 : Screen title
2 : Names of accessing board
3 : Names of files in flash memory The number of management units
constituting each file appears in parentheses to the right of the file
name.
4 : Returning to the previous menu
5 : Message
(3) Operating procedure
1 Position the cursor to the name of the file to be deleted. Press the
[SELECT] soft key.
2 The system displays the following confirmation message :
3 To start the deletion, press the [YES] key. To cancel, press [NO].
71
3. OPERATION B–62443EN–2/01
(4) Others
1 System files and user files on SYSTEM DATA DELETE screen
The SYSTEM DATA DELETE screen guards against system files
being accidentally deleted by the operator. User files, however, are not
protected. Protected system files can be overwritten from the
SYSTEM DATA LOADING screen.
D System Data Save
Screen
(1) Description
This screen is used to write a user file in flash memory to a memory
card. Only user files can be saved from flash memory to a memory
card. System files cannot be saved.
(2) Screen configuration
1 : Screen title
2 : Names of accessing board
3 : Names of files in flash memory The number of management units
constituting each file appears in parentheses to the right of the file
name.
4 : Returning to the previous menu
5 : Message
72
B–62443EN–2/01 3. OPERATION
(4) Others
1 System files and user files on SYSTEM DATA SAVE screen
The SYSTEM DATA SAVE function provides a safeguard against free
copying of the system files.
User files, however, are not protected.
2 Names of saved files
Files saved from flash memory to a memory card have the following
names :
Flash memory Memory card
73
3. OPERATION B–62443EN–2/01
1 : Screen title
2 : Names of accessing board
3 : Menu
4 : Returning to the previous menu
5 : Size of SRAM mounted on the CNC
6 : File name
7 : Message
74
B–62443EN–2/01 3. OPERATION
2 The name of the file being written to the memory card is displayed in
the FILE NAME: field.
SRAM SIZE : 128K (BASIC)
FILE NAME : SRAM128K. 000 ³ MEMORY CARD
(4) Others
1 Name of backup file
The name of the backup file written to the memory card by the SRAM
backup function depends on the size of the SRAM installed in the
CNC.
75
3. OPERATION B–62443EN–2/01
When the size of SRAM is 1MB or larger, backup files are created in
units of 512 KB.
Number of 1 2 3 4 5
files
SRAM size
256KB SRAM256A.FDB
0.5MB SRAM0_5A.FDB
2 When the OPT2, OPT3, or LCB board is installed in addition to the main
board
The backup file for SRAM on the OPT2, OPT3, or LCB board will have the
following extension:
Board MAIN OPT2 OPT3 LCB
76
B–62443EN–2/01 3. OPERATION
1 : Screen title. Tlhe current page number (n) and the total number
of pages (m) are displayed, in n/m format, at the right end.
2 : Files on the memory card
3 : Option for returning to the previous menu
4 : Message
(3) Operating procedure
1 Press the [SELECT] key to select the name of the file to be deleted
from the memory card.
2 The system displays the following confirmation message. Press the
[YES] key.
(4) Others
1 When the memory card contains nine or more files
Display the desired page, following the procedure given in the
description of the SYSTEM DATA LOADING screen.
77
3. OPERATION B–62443EN–2/01
4 When a card has been formatted normally, the system display the
D following message.
D Press the [SELECT] key.
78
B–62443EN–2/01 3. OPERATION
If the contents of the NC BASIC SYSTEM file are found to have been
damaged or destroyed, the system returns to the processing selection
state, in exactly the same way as when the [NO] soft key is pressed.
2 If the [NO] soft key is pressed, the system returns to the processing
selection state as shown below :
79
3. OPERATION B–62443EN–2/01
D DELETE ERROR. An attempt to delete a file from flash memory was unsuccessful. Retry
HIT SELECT KEY. the deletion. If the second attempt also fails, the flash memory may have
been damaged or destroyed. Replace the flash memory module.
DEVICE ERROR (UNIT x) An attempt to write data to flash memory was unsuccessful. Retry the
write operation. If the second attempt also fails, the flash memory may
have been damaged or destroyed. Repalce the flash memory module.
D–RAM OR S–RAM PARITY Invalid data has been found in the RAM area. If the RAM was not cleared
after being installed, subsequently attempting backup may stop the
BOOT SYSTEM and cause this message to be output.
F FILE SAVE ERROR. An attempt to write a file to a memory card was unsuccessful. Check that
HIT SELECT KEY. the memory card is not damaged.
Note) Check that the memory card’s battery is not exhusted, that its cir-
cuitry has not been damaged, and that it is securely inserted into its slot.
FLASH MEMORY NO SPACE There is insufficient free flash memory to store the selected file. Delete
any unnecessary files from flash memory.
FLASH ROM MODULE NOT EX- The flash memory module is not mounted on that CNC system. Put the
IST. flash memory module on the board.
HIT SELECT.
I ILLEGAL FORMAT FILE The selected file cannot be read into flash memory. The selected file or
the header information for flash memory may have been damaged or de-
stroyed.
L LOADING ERROR. An error occurred while loading data into flash memory.
HIT SELECT KEY. Do not touch the memory card while loading data.
M MAX EXTENSION OVER. The extension number added to a file name exceeds 031. Delete any un-
HIT SELECT KEY. necessary backup files from the memory card.
MEMORY CARD BATTERY The memory card’s battery is exhausted. Replace the battery.
ALARM.
HIT SELECT.
MEMORY CARD FULL. The memory card is full. Delete any unnecessary files from the memory
HIT SELECT KEY. card. Alternatively, replace the memory card with another card having
sufficient free space.
MEMORY CARD MOUNT The memory card could not be accessed. Check that the memory card
ERROR. is normal.
HIT SELECT KEY
MEMORY CARD NOT EXIST. The memory card is not inserted into its slot. Check that the memory card
HIT SELECT KEY. is pushed fully home.
MEMORY CARD Although writing to the memory card was selected, the write inhibit switch
PROTECTED.HIT SELECT KEY. is set. Disable the write inhibit switch.
MEMORY CARD RESET Access to the memory card failed. Check that the memory card is nor-
ERROR. HIT SELECT KEY. mal.
80
B–62443EN–2/01 3. OPERATION
M MEMORY CARD TYPE IS NOT Write has been attempted to an incompatible flash memory card. Use
AVAILABLE. only the flash memory cards recommended by FANUC. Recommended
flash memory cards are listed in the ordering list.
MEMORY CARD WRITE ERROR. Access to the memory card has failed. Check whether the memory card
HIT SELECT KEY. is defective.
P PLEASE FORMAT FLASH TYPE It is not possible to delete only specific files from a flash memory card, due
CARD.HIT SEL. to the characteristics of the memory used. To delete a file it is necessary
to delete all files on the card, by using the FORMAT function.
R ROM PARITY ERROR: The NC BASIC is parity error. Check that mounted flash memory module
NC BASIC. HIT SELECT. contains NC BASIC file.
S SRAM DATA BACKUP ERROR. An attempt to write a backup file to a memory card failed.
HIT SELECT KEY. Check that the memory card is normal.
81
3. OPERATION B–62443EN–2/01
3.2.2
Starting the NC and
Loader Control
1 Turn on the power.
82
B–62443EN–2/01 3. OPERATION
6 When macro executor RAM operation is performed with the loader for the Series 16/18–MODEL A
i) Insert the RAM module into the slot marked MACRO on the loader control board.
ii) Hold down both the <CAN> and <PROG> keys, and turn on the power.
iii) The P–code loader tool post selection screen appears. Press <5>.
iv) After preparation for loading has been completed, press <1>. This sets the receive ready state.
v) Send the macro programs from the P–G or personal computer.
vi) After macro program transfer has been completed and a message displayed, press <1> to return to
the menu screen of iii) above.
vii) Press <0> to start the NC and loader.
When macro executor operation is performed using the loader for the Series 16/18–MODEL B
i) Hold down both the <CAN> and <PROG> keys and turn on the power.
ii) The P–code loader tool post selection screen appears. Press <5>.
iii) After preparation for loading has been completed, press <1>. This establishes the receive ready
state.
iv) Send the macro programs from the P–G or personal computer.
v) After macro program transfer has been completed, press <1> to write to the flash ROM, or press
<CAN> to abandon writing to the flash ROM.
vi) After flash ROM write has been completed and a message displayed, press <1>.
vii) The user can return to the tool post selection screen of ii) above by pressing <CAN> in v) or <1> in vi).
viii) To start the NC and loader, press <0> on the tool post selection screen.
Notes
1 Before the macro executor can be used with the loader, the
macro executor option must be selected for the loader. For
RAM operation, the RS–232C option is required.
2 The RS–232C parameter, set for the NC (main side when
the dual–system option is used), is used.
83
3. OPERATION B–62443EN–2/01
3.2.3
When Loader Control
is Added
1 Hold down both the <CAN> and <5> keys, and turn on the power.
All loader memory areas are cleared. (The NC memory is not affected.)
At this time, the symptom described in 2 of Section 3.2.2 arises.
To check that the NC starts, set bit 7 of parameter No. 8100 to 1, then turn the power off then back on.
[Explanation]
D Why memory must be cleared:
When the memory power is not turned on, the states of the
bits are undefined. If RAM is read in such a state, there is
very high probability that a RAM parity alarm will be issued.
(If an NC parity error occurs, an alarm between No. 910 and
No. 919 is issued. If a loader parity error occurs, alarm No.
972 is issued.)
D When the macro executor RAM must be inserted into the
loader control board (with the loader for the Series
16/18–MODEL A only)
The RAM board for macro executor debugging is not
cleared by turning on the power. So, a RAM parity error may
occur if the RAM board is not cleared. However, macro RAM
is cleared by activating the P–code loader. This means that
the RAM board can be inserted at any time after the RAM
is cleared at power–on and or at macro RAM clear using the
P–code loader.
84
B–62443EN–2/01 3. OPERATION
3.2.4 For loader control, the following parameters must always be set as
Special Parameters to described below.
be Set
Bit 7 of parameter When bit 7 of parameter No. 8100 is set to 0, servo motor activation is
No. 8100 simultaneously started for all axes after activation of all servo motors on
the NC and loader sides has become possible. So, if the emergency stop
state is set, or a servo alarm is issued on a loader control axis because of
incorrect servo parameter setting, for example, the NC holds reset
processing. That is, the NC cannot exit from reset processing until
activation on the loader control side has become possible.
When bit 7 of parameter No. 8100 is set to 1, synchronous activation is
not performed, activation instead being started independently. So, the NC
need not hold reset processing.
So, when the loader is to be started after the NC has successfully started,
set bit 7 of parameter No. 8100 to 1 for both the NC and loader. If this
bit is set to 0, the NC does not exit from reset processing after power–on
until the emergency stop state is released and provided no servo alarms
are issued for any axis.
In cases where the NC and loader share a two–axis amplifier so that the
NC uses one axis and the loader uses the other, however, always set this
bit to 0.
Bit 3 of parameter Set bit 3 of parameter No. 3003 to 1. Otherwise, movement along any axis
No. 3003 may not be possible.
Bit 4 of parameter Set bit 4 of parameter No. 3402 to 1. Otherwise, cutting feed may not be
No. 3402 performed normally.
85
3. OPERATION B–62443EN–2/01
3.3
PROGRAMMING
3.3.1 The table below lists the G codes that can be used with the loader control
G Codes option. When the G code column is divided into two, the left–hand
column indicates the G codes for the T series, while the right–hand
column indicates those for the M series.
G code Group Function
G00 01 Positioning (Rapid traverse)
G01 Linear interpolation (Cutting feed)
G02 Circular interpolation CW
G03 Circular interpolation CCW
G04 00 Dwell
G10 Data setting
G11 Parameter input mode cancel
G17 16 XpYp plane selection
G18 ZpXp plane selection
G19 YpZp plane selection
G20 06 Inch data input
G21 Metric data input
G22 09 Stored stroke limit function on
G23 Stored stroke limit function off
G27 00 Reference position return check
G28 Return to reference position
G30 2nd, 3rd, 4th reference position return
G31 Skip function
G50 G92 14 Coordinate system setting
G52 Local coordinate system setting
G53 Machine coordinate system selection
G54 Workpiece coordinate system 1 selection
G55 Workpiece coordinate system 2 selection
G56 Workpiece coordinate system 3 selection
G57 Workpiece coordinate system 4 selection
G58 Workpiece coordinate system 5 selection
G59 Workpiece coordinate system 6 selection
G65 00 Macro calling
G66 12 Macro modal calling
G67 Cancel of macro modal calling
G90 03 Absolute input
G91 Incremental input
86
B–62443EN–2/01 3. OPERATION
3.4
LOADER CONTROL
FUNCTIONS
3.4.1
Multipath Wait
Function with M Code
(T Series Only)
D Overview 1) Two–path wait function
When an M code is specified for the NC and loader control of the
FANUC Series 16–TA, 16–TB, or 18–TA, a two–path wait can be
executed.
D When a waiting M code is specified in the programs for the NC and
loader, either can wait for the other in the specified block.
D The M code must be specified in a single block as shown below:
Mm ;
m: Waiting M code number
2) Three–path wait function
A system featuring a two–path (TT) NC and loader control can use
a three–path wait function.
The range of three–path waiting M codes is specified in the main and
loader parameters (parameters 8110 and 8111) in the same way as the
range of two–path waiting M codes is specified.
D A wait pattern is specified after address P in the same block as the
waiting M code. Address P is used to distinguish a three–path wait
from a two–path wait.
D The M code must be specified in a single block, as shown below:
Mm Pp ;
m: Waiting M code number
p : Number specifying a wait pattern
D Table 1 lists address–P values and their meanings:
Table 1
Meaning
Add
Address P W i pattern
Wait (Not used) Loader SUB MAIN
Bits 7 to 3 Bit 2 Bit 1 Bit 0
Examples When the wait ignore signal (G1063.7) of tool post 2 is set to 1 and M101
to M103 are specified as waiting M codes
Parameter setting : Parameter 8110 = 101
Parameter 8111 = 103
87
3. OPERATION B–62443EN–2/01
Program for tool post 1 Program for tool post 2 Loader program
88
B–62443EN–2/01 3. OPERATION
#7 #6 #5 #4 #3 #2 #1 #0
G0063 NMWT NOWT
SUB
#7 #6 #5 #4 #3 #2 #1 #0
G1063 NMWT
Loader control
#7 #6 #5 #4 #3 #2 #1 #0
NOWT : Two–path wait ignore signal
NMWT : Three–path wait ignore signal
2 Waiting signal
89
3. OPERATION B–62443EN–2/01
G0063 NMWT
#7 #6 #5 #4 #3 #2 #1 #0
F0063 WATO
SUB
#7 #6 #5 #4 #3 #2 #1 #0
F1063 WATO
#7 #6 #5 #4 #3 #2 #1 #0
F0010 M07 M06 M05 M04 M03 M02 M01 M00
SUB
#7 #6 #5 #4 #3 #2 #1 #0
F1010 M07 M06 M05 M04 M03 M02 M01 M00
#7 #6 #5 #4 #3 #2 #1 #0
8101 MWB
Notes
An M code not to be buffered as specified in parameters
3411 to 3420 is not buffered, irrespective of the MWB
setting.
90
B–62443EN–2/01 3. OPERATION
Notes
A value of 0 indicates that the waiting M code is not used.
An alarm causes a single–block stop to occur, causing the path to enter the
automatic operation stop state. Meanwhile, the other path or paths stop
immediately and enter the automatic operation stop state.
91
3. OPERATION B–62443EN–2/01
Notes
1 In a system featuring two–path NC (TT) and loader control,
a two–path waiting M code functions as a waiting M code for
tool posts 1 and 2.
If a waiting M code is included in a loader program, it is
processed as a general M code.
2 The two–path waiting M code differs from other M codes in
that the code signal and strobe signal are not output.
3 The three–path waiting M code differs from the two–path
waiting M code in that the code signal is output. However,
the strobe signal is not output and FIN processing is
unnecessary.
4 If the settings made for the CNC and loader are different, a
correct wait cannot be performed. While one waits for an M
code, the other processes the M code as a general M code.
3.4.2 When the playback option is selected, the TEACH IN JOG mode and
TEACH IN HANDLE mode are added. In these modes, a machine position
Creating
along the X, Z, and Y axes obtained by manual operation is stored in
Programs In memory as a program position to create a program.
Teach In Mode The words other than X, Z, and Y, which include O, N, G, R, F, C, M, S,
T, P, Q, and EOB, can be stored in memory in the same way as in EDIT
mode.
5 Press the INSERT key. Then a machine position along the X axis is
stored in memory.
(Example) X10.521 Absolute position (for mm input)
X10521 Data stored in memory
then press the INSERT key. Then a machine position along the Y axis is
stored in memory.
92
B–62443EN–2/01 3. OPERATION
Examples
O1234 ;
N1 G50 X100000 Z200000 ; X
N2 G00 X14784 Z8736 ;
N3 G01 Z103480 F300 ;
P0 (100000,200000)
N4 M02 ;
P1
(14784,8736)
P2 (10000,103480)
93
3. OPERATION B–62443EN–2/01
10 Enter the P2 machine position for data of the third block as follows:
G 0 1 INSERT Z INSERT F 3 0 0
INSERT EOB INSERT
Explanations
D Checking contents of the The contents of memory can be checked in the TEACH IN mode by using
memory the same procedure as in EDIT mode.
O1234 ;
N1 G50 X100000 Y0 Z20000 ;
N2 G00 X14784 Z8736 ;
N3 G01 Z103480 F300 ;
N4 M02 ;
%
_
THND **** *** *** 14 : 17 : 27
PRGRM LIB (OPRT)
D Registering a position
When a value is keyed in after keying in address X , Z , or Y ,
with compensation
then the INSERT key is pressed, the value keyed in for a machine position
is added for registration. This operation is useful to correct a machine
position by key–in operation.
D Registering commands Commands to be entered before and after a machine position must be
other than position entered before and after the machine position is registered, by using the
commands same operation as program editing in EDIT mode.
94
B–62443EN–2/01 3. OPERATION
3.4.3
Loader–NC
Communication
Signals
D Overview The loader control PMC and machine control PMC communicate via 96
or 192 signals.
An F address signal of the loader control PMC informs the contents of the
corresponding G address signal of the machine control PMC.
An F address signal of the machine control PMC indicates the contents
of the corresponding G address signal of the loader control PMC.
96 signals
G0252 to G0255 F0252 to F0255
96 signals
Machine F0252 to F0255 G0252 to G0255 Loader
control control
PMC PMC
G1212 to G1219 F1212 to F1219
96 signals
G1252 to G1255 F1252 to F1255
96 signals
F1252 to F1255 G1252 to G1255
95
3. OPERATION B–62443EN–2/01
Notes
1 For this parameter setting to take effect, the power must be
turned off then back on.
2 Only the loader supports this parameter.
Notes
Model–A loaders that can use 192 loader–NC
communication signals are the B251–08 and later versions.
The NC systems of the following series and editions, and
later, support 192 communication signals.
FS16–GCA B305–06
FS16–MB B0A1–03
FS16–TB B1A1–03
FS18–MB BDA1–01
FS18–TB BEA1–01
3.4.4
Loader Control
Selection Signal
D Overview When the loader control function is provided, a loader control selection
signal is added to the standard CNC–PMC interface. The loader control
selection signal is similar to the HEAD signal of the 16–TTA or 18–TTA.
The signal switches the object of the CRT display or MDI operation
between the loader and NC.
D Explanation Loader control selection signal (Only the NC (machine) supports this
signal.)
LCBS
<G0251, bit 1>
[Classification] Input signal
[Function] Switches the object of CRT display or MDI operation
between the loader and NC.
96
B–62443EN–2/01 3. OPERATION
No. #7 #6 #5 #4 #3 #2 #1 #0
G251 LCBS
Notes
1 When LCBS is set to 1, the object of CRT display or MDI
operation can be switched to the loader or NC by holding
down <SHIFT> on the MDI panel and pressing <HELP>.
2 Only the NC (machine) PMC supports the loader control
selection signal (LCBS).
97
4. MAINTENANCE B–62443EN–2/01
4 MAINTENANCE
98
B–62443EN–2/01 4. MAINTENANCE
4.1
LOADER CONTROL
BOARD LED
DISPLAY
4.1.1 LED display (V : OFF J: ON The STATUS LEDs are green. The
LED Display Transition ALARM LEDs are red.)
at Power–up
No LED display NC status
1 STATUS VVVV Power OFF
2 STATUS JJJJ Startup status immediately after power is turned or
CPU is not running
3 STATUS VJJJ Initializing RAM
4 STATUS JVJJ Software ID has been set, initialization of keys, ALL
CLR
5 STATUS VVJJ Waiting for software initialization 1
6 STATUS JJVJ Waiting for software initialization 2, initializing
CMOS
7 STATUS VJVJ Initializing position coder
8 STATUS VJJV Waiting for digital servo system start up
9 STATUS JVVV Startup has been completed and the system is now
in normal operation mode
4.1.2 LED display (V : OFF J: ON The STATUS LEDs are green. The
LED Display When an ALARM LEDs are red.)
Error Occurs
No LED display NC status
1 STATUS VJVV Parity error of loader control occured
ALARM JVV
2 STATUS VJVV Servo alarm of loader control occured
ALARM VVJ
3 STATUS VJVV Other than parity or servo alarms occured
ALARM VVV
99
4. MAINTENANCE B–62443EN–2/01
4.2
PC BOARD
CONFIGURATION
4.2.1
Series 16/18–MODEL A
Loader Control Board
100
B–62443EN–2/01 4. MAINTENANCE
4.2.2
Series 16/18–MODEL B
Loader Control Board
Based on the Main A
Specification
101
4. MAINTENANCE B–62443EN–2/01
4.2.3
Series 16/18–MODEL B
Loader Control Board
Based on the Main B
Specification
102
APPENDIX
B–62443EN–2/01 A. PARAMETERS
A PARAMETERS
105
A. PARAMETERS B–62443EN–2/01
106
B–62443EN–2/01 A. PARAMETERS
107
A. PARAMETERS B–62443EN–2/01
108
B–62443EN–2/01 A. PARAMETERS
109
A. PARAMETERS B–62443EN–2/01
Parameter 1250 :
Coordinates of the reference position
Parameter 1251 :
Coordinates of the reference position (when bit 1 of
parameter 1201 is set to 1 in inch input)
Parameters related to Parameter 1002, bit 0 :
manual operation (jog) Number of axes that are simultaneously controlled in jog
mode
Parameter 1423 :
Jog feedrate
Parameter 1424 :
Jog rapid traverse rate
Parameter 3016 :
Clamp value for jog feedrate override
Parameter related to Parameter 1422 :
cutting feed Maximum cutting feedrate
110
B–62443EN–2/01 A. PARAMETERS
111
A. PARAMETERS B–62443EN–2/01
112
B–62443EN–2/01 A. PARAMETERS
Notes
All other parameters numbered between 2000 to 2999 are
automatically set, being adjusted by the user only when
required.
113
A. PARAMETERS B–62443EN–2/01
114
B–62443EN–2/01 A. PARAMETERS
115
A. PARAMETERS B–62443EN–2/01
116
B–62443EN–2/01 A. PARAMETERS
Parameter 6036 :
Number of custom macro variables shared by the loader and
NC (Variable numbers 100 to 149)
Parameter 6037 :
Number of custom macro variables shared by the loader and
NC (Variable numbers 500 to 531)
Notes
The values of parameters 6036 and 6037 must agree with
the corresponding NC values. Otherwise, normal operation
cannot be performed.
117
A. PARAMETERS B–62443EN–2/01
Parameter 6054 :
G code for calling a custom macro of program number 9014
Parameter 6055 :
G code for calling a custom macro of program number 9015
Parameter 6056 :
G code for calling a custom macro of program number 9016
Parameter 6057 :
G code for calling a custom macro of program number 9017
Parameter 6058 :
G code for calling a custom macro of program number 9018
Parameter 6059 :
G code for calling a custom macro of program number 9019
6) Subprogram call by an M code
Parameter 6071 :
M code for calling a custom macro of program number 9001
Parameter 6072 :
M code for calling a custom macro of program number 9002
Parameter 6073 :
M code for calling a custom macro of program number 9003
7) Subprogram call by an M code
Parameter 6080 :
M code for calling a custom macro of program number 9020
Parameter 6081 :
M code for calling a custom macro of program number 9021
Parameter 6082 :
M code for calling a custom macro of program number 9022
Parameter 6083 :
M code for calling a custom macro of program number 9023
Parameter 6084 :
M code for calling a custom macro of program number 9024
Parameter 6085 :
M code for calling a custom macro of program number 9025
Parameter 6086 :
M code for calling a custom macro of program number 9026
Parameter 6087 :
M code for calling a custom macro of program number 9027
Parameter 6088 :
M code for calling a custom macro of program number 9028
Parameter 6089 :
M code for calling a custom macro of program number 9029
8) Subprogram call by an ASCII code
Parameter 6090 :
ASCII code for calling a subprogram of program number
9004
Parameter 6091 :
ASCII code for calling a subprogram of program number
9005
9) Interrupt–type custom macro
Parameter 6003, bit 1 :
Sets absolute coordinates as skip coordinates when a custom
macro interrupt occurs.
118
B–62443EN–2/01 A. PARAMETERS
119
A. PARAMETERS B–62443EN–2/01
Parameter 6932 :
Maximum value for the operating area of the third position
switch
Parameter 6933 :
Maximum value for the operating area of the fourth position
switch
Parameter 6934 :
Maximum value for the operating area of the fifth position
switch
Parameter 6935 :
Maximum value for the operating area of the sixth position
switch
Parameter 6936 :
Maximum value for the operating area of the seventh position
switch
Parameter 6937 :
Maximum value for the operating area of the eighth position
switch
Parameter 6938 :
Maximum value for the operating area of the ninth position
switch
Parameter 6939 :
Maximum value for the operating area of the tenth position
switch
Parameter 6950 :
Minimum value for the operating area of the first position
switch
Parameter 6951 :
Minimum value for the operating area of the second position
switch
Parameter 6952 :
Minimum value for the operating area of the third position
switch
Parameter 6953 :
Minimum value for the operating area of the fourth position
switch
Parameter 6954 :
Minimum value for the operating area of the fifth position
switch
Parameter 6955 :
Minimum value for the operating area of the sixth position
switch
Parameter 6956 :
Minimum value for the operating area of the seventh position
switch
Parameter 6957 :
Minimum value for the operating area of the eighth position
switch
Parameter 6958 :
Minimum value for the operating area of the ninth position
switch
Parameter 6959 :
Minimum value for the operating area of the tenth position
switch
120
B–62443EN–2/01 A. PARAMETERS
121
A. PARAMETERS B–62443EN–2/01
A.2 This section describes the special parameters that are provided for loader
control.
DETAILS OF
For details of the other parameters described in Section 2.1, refer to
PARAMETERS ”Series 16/18–MODEL A Parameters (B–61810E)” or ”Series
16/18–MODEL B Parameters (B–62450E).”
A.2.1
#7 #6 #5 #4 #3 #2 #1 #0 (bit)
Parameters Related to 7902 MTX
Loader Control
Data type : Bit
MTX Selects whether the loader operator’s panel input/output signals
of the loader control board (TDI01 to TDI08, TDO01 to
TDO06, TCOM1 to TCOM4) are expanded as a matrix in the
range of X1010 to X1013 and Y1010 to Y1013.
0 : Matrix expansion is not performed.
1 : Matrix expansion is performed.
Notes
When matrix expansion is performed, signals TDI1 to TDI8,
TDO1 to TDO6, and TCOM1 to TCOM4 cannot be used.
The DO signals of Y1010 to Y1013 are used for LEDs hence
cannot be used for on/off control.
A.2.2
Parameters Related to 6036
Number of custom macro variables shared by the loader and NC
(macro numbers 100 to 149)
Custom Macros
Data type : Byte
Unit of data : Item
Valid data range : 0 to 50
Specify the number of custom macro variables 100 to 149 that are shared
by the loader and NC (custom macro variables shared by tool posts).
A custom macro variable that is shared by the loader and NC can be
written to and read from either the loader or NC.
[Example] When 10 is set in parameter 6036
#100 to #109 : Custom macro variables shared by the
loader and NC
#110 to #149 : Custom macro variables that are not
shared by the loader and NC
Notes
1 When 0 is specified, none of custom macro variables 100
to 149 are shared by the loader and NC.
2 Custom macro variables 100 to 149 can be shared by the
tool posts. If 51 or a larger value is specified, the loader and
NC cannot share variables numbered 150 and above.
122
B–62443EN–2/01 A. PARAMETERS
Notes
1 When 0 is specified, none of custom macro variables 500
to 531 are shared by the loader and NC.
2 Custom macro variables 500 to 531 can be shared by the
loader and NC. If 33 or a larger value is specified, the loader
and NC cannot share variables numbered 532 and above.
123
A. PARAMETERS B–62443EN–2/01
A.3
#7 #6 #5 #4 #3 #2 #1 #0
MULTIPATH 8100 NWP IAL RST
CONTROL
Data type : Bit
PARAMETERS
RST The reset key on the CRT/MDI panel is effective:
0 : For both the loader and NC.
1 : Only for the path displayed on the screen.
Notes
When setting this parameter to 1, also set bit 0 of NC
parameter 8100 to 1.
Notes
When setting this parameter to 1, also set bit 7 of NC
parameter 8100 to 1.
#7 #6 #5 #4 #3 #2 #1 #0
8101 MWB
#7 #6 #5 #4 #3 #2 #1 #0
8102 192
Notes
When this parameter is changed, a power–down request
occurs. Only the loader supports this parameter.
124
B–62443EN–2/01 A. PARAMETERS
Notes
A value of 0 indicates that the waiting M code is not used.
125
B–62443EN–2/01 Index
[B] LOADER CONTROL BOARD LED DISPLAY, 99
LOADER CONTROL FUNCTIONS, 87
Battery Interface for Absolute Pulse Coder, 29
Loader Control Selection Signal, 96
Boot system for Series 16/18–MODEL B, 63
Loader–NC Communication Signals, 95
Brake Drive Output Interface, 29
[M]
[C]
MAINTENANCE, 98
CONNECTING THE LOADER OPERATOR’S PAN-
EL, 15 Matrix Configuration, 17
CONNECTION, 9 MDI KEY OPERATION FOR LOADER CONTROL,
61
Connection Diagram, 23
MULTIPATH CONTROL PARAMETERS, 124
Connector, 15, 19, 34
Multipath Wait Function with M Code (T Series
Creating Programs In Teach In Mode, 92 Only), 87
[D] [O]
DETAILS OF PARAMETERS, 122 OPERATION, 60
DI/DO INTERFACE, 36 OVERVIEW, 1
DI/DO Signals (Function by Function), 40
DI/DO Signals (In Order of Addresses), 45
[P]
PARAMETERS, 105
[E] PARAMETERS CLASSIFIED ACCORDING TO
FUNCTIONS, 106
Emergency Stop Control Circuit Interface, 33 Parameters Ralated to Custom Macros, 122
EMERGENCY STOP SYSTEM CONNECTION, 30 Parameters Related to Loader Control, 122
Emergency Stop System Connection (When a C Se- PC BOARD CONFIGURATION, 100
ries Servo Amplifier is Used), 32
Power–on, 61
PROGRAMMING, 86
[G] Pulse Coder Interface, 28
G Codes, 86
[S]
Screen Switching, 61
[I]
Series 16/18–MODEL A Loader Control Board, 100
I/O SIGNAL CONNECTION FOR MAIN LOADER
UNIT CONTROL, 18 Series 16/18–MODEL B Loader Control Board Based
on the Main A Specification, 101
INSTALLING THE LOADER CONTROL FUNC-
TIONS, 3 Series 16/18–MODEL B Loader Control Board Based
on the Main B Specification, 102
Servo Amplifier Interface, 26
SERVO SYSTEM CONNECTION, 22
[L]
Signals, 16, 20, 34
LED Display Transition at Power–up, 99
Signals for Interfacing with the Loader Control CNC,
LED Display When an Error Occurs, 99 39
LOADER CONTROL BOADER, 12 Special Parameters to be Set, 85
Loader Control Board Built–in I/O Signal, 37 STARTING THE LOADER CONTROL, 63
Index B–62443EN–2/01
[W]
When Loader Control is Added, 84
[T]
WORKPIECE FEEDER CONNECTION, 34
TABLE OF SPECIFICATIONS, 5
Revision Record
01 Jun., ’95