FATEK FBs 30GM Motion Controller User Manual

FBs-30GM

FBs-30GM Motion Controller

User Manual

V1.05

2015/4/17

FATEK Automation Corporation

FBs-30GM User Manual

Contents

Contents

..................................................................................................................................... 2

Table

.......................................................................................................................................... 6

Figure

......................................................................................................................................... 7

1.

Overview of FBs-30GM ...................................................................................................... 9

1.1

Dimensions ............................................................................................................... 9

1.2

Composition and part names ................................................................................. 10

1.3

Status indicators ..................................................................................................... 11

1.4

Terminals ................................................................................................................ 12

2.

Specification .................................................................................................................... 14

3.

Wiring .............................................................................................................................. 19

3.1

Wiring example with Yaskawa servo amplifier ...................................................... 19

3.2

Wiring example with Mitsubishi servo amplifier ................................................... 21

4.

GMMon – monitor software ........................................................................................... 23

4.1

GMMon Installation ............................................................................................... 23

4.2

Setting up a connection ......................................................................................... 26

4.2.1

Configure IP address .......................................................................................... 26

4.2.2

Change FBs-30GM’s IP address ......................................................................... 27

4.2.3

Update FBs-30GM’s kernel ................................................................................ 28

4.3

Functions of GMMon ............................................................................................. 28

4.3.1

System function page ........................................................................................ 29

4.3.2

Monitor function page ....................................................................................... 30

4.3.3

Simulate function page ...................................................................................... 32

4.3.4

Files function page ............................................................................................. 33

4.3.5

Debug function page ......................................................................................... 34

4.4

Rest FBs-30GM to factory settings ......................................................................... 36

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5.

Operate and execute motion programs .......................................................................... 37

5.1

Relation between FBs PLC and FBs-30GM ............................................................. 37

5.2

Procedure to execute a motion program .............................................................. 37

5.2.1

Upload the motion program to FBs-30GM ........................................................ 37

5.2.2

Configure FBs-30GM’s operating parameters ................................................... 40

5.2.3

Use the JOG mode to test and adjust machine ................................................. 41

5.2.4

Procedure to execute a motion program .......................................................... 42

5.2.5

Example of FBs PLC ladder diagram................................................................... 44

5.3

Control and supervise the operating status ........................................................... 46

5.4

Troubleshooting ..................................................................................................... 46

5.5

Trigger input terminals to execute motion programs ........................................... 47

6.

Operation mode of FBs-30GM ........................................................................................ 48

6.1

Auto mode ............................................................................................................. 48

6.2

JOG mode ............................................................................................................... 48

6.3

MPG mode ............................................................................................................. 49

6.4

HOME mode ........................................................................................................... 50

7.

G-code and M-code of motion program ......................................................................... 58

7.1

G-code instructions ................................................................................................ 58

7.2

M code instructions ............................................................................................... 85

8.

MACRO structure motion language ................................................................................ 87

8.1

Introduction ........................................................................................................... 87

8.2

File format .............................................................................................................. 87

8.3

Block format ........................................................................................................... 88

8.4

Operators ............................................................................................................... 88

8.5

Statements ............................................................................................................. 89

8.5.1

Assignment ........................................................................................................ 89

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8.5.2

GOTO ................................................................................................................. 89

8.5.3

CASE ................................................................................................................... 90

8.5.4

IF ........................................................................................................................ 91

8.5.5

REPEAT ............................................................................................................... 92

8.5.6

WHILE................................................................................................................. 93

8.5.7

FOR..................................................................................................................... 94

8.5.8

EXIT .................................................................................................................... 95

8.5.9

Comment ........................................................................................................... 95

8.6

Functions listing ..................................................................................................... 96

8.7

Sub-program control ............................................................................................ 102

8.7.1

Call methods .................................................................................................... 102

8.7.2

Return methods ............................................................................................... 103

8.8

Variable specifications ......................................................................................... 104

8.8.1

MACRO notices ................................................................................................ 104

8.8.2

Global variable ................................................................................................. 105

8.8.3

Local variables.................................................................................................. 105

8.8.4

System variables .............................................................................................. 106

8.8.5

MACRO example .............................................................................................. 107

9.

Examples of motion program ........................................................................................ 109

9.1

S-curve.................................................................................................................. 109

9.2

Multi-speed control ............................................................................................. 110

9.3

Coupling ............................................................................................................... 110

9.4

Trigger input terminals to execute motion program ........................................... 111

9.5

Dynamically change endpoint .............................................................................. 112

9.6

Sensor-triggered incremental displacement ....................................................... 112

Appendix I (Special relays and registers of FBs PLC) ............................................................. 114

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Appendix II (FBs-30GM motion parameters) ........................................................................ 124

I.

Motion parameters listing ........................................................................................ 124

II.

Descriptions of motion parameters ......................................................................... 130

Appendix III (Alarm ID.) ......................................................................................................... 160

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FBs-30GM User Manual

Table

Table 1: Status indicators ............................................................................................. 11

Table 2: Upper terminal signals ................................................................................... 12

Table 3: Lower terminal signals ................................................................................... 13

Table 4: Power input/output specification .................................................................. 14

Table 5: Input signals ................................................................................................... 14

Table 6: Feedback signals............................................................................................. 15

Table 7: Output signals ................................................................................................ 16

Table 8: RS485 pin description .................................................................................... 17

Table 9: Debug variables .............................................................................................. 36

Table 10: Mode selection description ......................................................................... 41

Table 11: Axis JOG feedrate ......................................................................................... 49

Table 12: Special relays for JOG ................................................................................... 49

Table 13: Parameters of home search method and axis home offset ........................ 51

Table 14: Home mode and home offset settings ........................................................ 54

Table 15: G-code instructions listing ........................................................................... 58

Table 16: G02/G03 circular interpolation .................................................................... 63

Table 17: M function table ........................................................................................... 85

Table 18: Block format list ........................................................................................... 88

Table 19: Operator list ................................................................................................. 88

Table 20: Functions listing table .................................................................................. 96

Table 21: Call methods listing table ........................................................................... 102

Table 22: Return methods listing table ...................................................................... 103

Table 23: Global variable table .................................................................................. 105

Table 24: Local variables listing ................................................................................. 105

Table 25: Default argument specification .................................................................. 106

Table 26: System variables......................................................................................... 106

Table 27: Control relays of FBs PLC for FBs-30GM .................................................... 114

Table 28: Status relays of FBs PLC for FBs-30GM ...................................................... 116

Table 29: Special registers of FBs PLC for FBs-30GM................................................. 118

Table 30: Motion parameters listing table ................................................................ 124

Table 31: Type of servo axis setting ........................................................................... 135

Table 32: Interpolation time and command .............................................................. 138

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FBs-30GM User Manual

Figure

Figure 1: The dimensions of FBs-30GM ......................................................................... 9

Figure 2: Front view of FBs-30GM ............................................................................... 10

Figure 3: FBs-30GM terminals ..................................................................................... 12

Figure 4: Input and output points wiring ..................................................................... 16

Figure 5: RS-485 COM port .......................................................................................... 17

Figure 6: Connection between FBs PLC and FBs-30GM (with CB55) ........................... 17

Figure 7: Improper wiring ............................................................................................ 18

Figure 8: Selecting the grounding wire ........................................................................ 18

Figure 9: Wiring example with Yaskawa servo amplifier ............................................. 19

Figure 10: Connecting feedback signals from Yaskawa servo amplifier ...................... 20

Figure 11: Wiring example with Mitsubishi servo amplifier ........................................ 21

Figure 12: Connecting feedback signals from Mitsubishi servo amplifier ................... 22

Figure 13: Step1 of FATEK GMMon installation procedure ......................................... 23

Figure 14: Step2 of FATEK GMMon installation procedure ......................................... 24

Figure 15: Step3 of FATEK GMMon installation procedure ......................................... 24

Figure 16: Step4 of FATEK GMMon installation procedure ......................................... 25

Figure 17: Step5 of FATEK GMMon installation procedure ......................................... 25

Figure 18: Internet Protocol Version 4 (TCP/IPv4) Properties ..................................... 26

Figure 19: Add a new IP address .................................................................................. 27

Figure 20: System function page ................................................................................. 29

Figure 21: Monitor function page ................................................................................ 30

Figure 22: Simulate function page ............................................................................... 32

Figure 23: Files function page ...................................................................................... 33

Figure 24: Debug function page ................................................................................... 34

Figure 25: Relation between FBs PLC and FBs-30GM .................................................. 37

Figure 26: GMMon Files function ................................................................................ 38

Figure 27: Drag and drop the file to upload ................................................................ 38

Figure 28: Use GMMon to set up operating parameters ............................................ 40

Figure 29: Example of JOG mode ladder diagram ....................................................... 42

Figure 30: Example of Auto mode ladder diagram ...................................................... 43

Figure 31: Example of FBs PLC ladder diagram ............................................................ 45

Figure 32: Example of FBs PLC ladder diagram (cont.) ................................................ 45

Figure 33: V-X diagram of using motor feedback, Pr961=0 and Pr881=0 ................... 51

Figure 34: V-X diagram of using motor feedback, Pr961=0 or 1 and Pr881=L ............ 52

Figure 35: V-X diagram of using motor feedback, Pr961=2 and Pr881=L.................... 52

Figure 36: V-X diagram of dual feedback, Pr961=0 and Pr881=0 ................................ 54

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Figure 37: V-X diagram of dual feedback, Pr961=0 or 1 and Pr881=L ......................... 55

Figure 38: V-X diagram of dual feedback, Pr961=2 and Pr881=L ................................ 55

Figure 39: G00 positioning example ............................................................................ 59

Figure 40: G01 linear interpolation example 1 ............................................................ 60

Figure 41: G01 linear interpolation example 2 ............................................................ 61

Figure 42: G02, G03 direction ...................................................................................... 63

Figure 43: G02, G03 vector of I,J and K ........................................................................ 64

Figure 44: Circular interpolation of different θ ........................................................... 64

Figure 45: Circular interpolation example 1 ................................................................ 65

Figure 46: Circular interpolation example 2 ................................................................ 66

Figure 47: Helical interpolation ................................................................................... 68

Figure 48: Exact stop example ..................................................................................... 70

Figure 49: G17, G18, G19 setting interpolation plane ................................................. 70

Figure 50: X-Y-Z space .................................................................................................. 71

Figure 51: G28 return to reference position example1 ............................................... 72

Figure 52: G30 reference position return example ..................................................... 74

Figure 53: G90/G91 (absolute/increment) commend example .................................. 77

Figure 54: Program coordinate system setting example ............................................. 78

Figure 55: G92.1 rotating program coordinate system setting example .................... 79

Figure 56: G92.1 rotating program coordinate system setting example (cont.) ......... 80

Figure 57: G161 linear interpolation compensation example ..................................... 81

Figure 58: G162 vector compensation example .......................................................... 82

Figure 59: S-curve ...................................................................................................... 109

Figure 60: Multi-speed control .................................................................................. 110

Figure 61: Sensor-triggered incremental displacement ............................................ 113

Figure 62: I/O board digital filter ............................................................................... 130

Figure 63: Speed-time before interpolation .............................................................. 138

Figure 64: Reference radius and velocity................................................................... 140

Figure 65: Home Offset Action .................................................................................. 145

Figure 66: Home Offset Action (cont.) ....................................................................... 145

Figure 67: Backslash amount vs feedrate .................................................................. 149

Figure 68: Mechanical compensation amount vs time ............................................. 150

Figure 69: Static dual feedback error timeout ........................................................... 152

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FBs-30GM User Manual

FBs-30GM Motion Controller User’s Manual

1. Overview of FBs-30GM

FBs-30GM is the 3-Axis Motion Control Module designed for FBs PLC series. With

FBs-30GM, FBs PLC series can achieve circular interpolation, helical interpolation and other advanced motion control. Besides, FBs-30GM supports incremental rotary encoders and optical incremental linear encoders to implement precise close loop control. FBs-30GM adopts widely used G-code from standard RS274D to describe motion behavior. Pairing up with CAM software, FBs-30GM can help users in much more complicated motion control and dealing with applications in many aspects.

1.1 Dimensions

The dimensions of FBs-30GM as shown in Figure 1 below:

4

MPGND MPG5V

24V OUT

MPGA+ MPGB+

MPGAMPGB-

S-ON+

S-ON-

DOG0

COM0

LSP0

LSN0

LSN1

DOG1

DOG2

LSP1 LSN2

LSP2 X8

E.STOP COM1

X0

X1

X2

X3

X4

X5

X6

X7

Y0

COM2

Y1

COM3

Y2

Y3

Y4

Y5

PWR RUN ERR 485

NC

GND

D-

D+

USB

MOTION

CONTROLLERS

LAN

IN

RS-485

FBs-30GM

VO+

AC100~240V

VO-

A0+

A0-

B0+

B0-

PG0+ AP0+

PG0AP0-

BP0+ ALM0+

BP0ALM0-

A1+

A1-

B1+

B1-

PG1+

PG1-

AP1+ BP1+

AP1-

ALM1+

BP1ALM1-

A2+

A2-

B2+

B2-

PG2+

PG2-

AP2+ BP2+

AP2-

ALM2+

BP2ALM2-

2 - 4.5

5

175

Figure 1: The dimensions of FBs-30GM

80

7.5

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FBs-30GM User Manual

1.2 Composition and part names

Figure 2 shows FBs-30GM’s composition:

3

4

8 9

1

7

MPGND MPG5V

24V OUT

MPGA+ MPGB+

MPGAMPGB-

S-ON+

S-ON-

DOG0

COM0

LSP0

LSN0

LSN1

DOG1

DOG2

LSP1 LSN2

LSP2 X8

E.STOP

COM1

X0

X1

X2

X3

X4

X5

X6

X7

Y0

COM2

Y1

COM3

Y2

Y3

Y4

Y5

PWR RUN ERR 485

NC

GND

D-

D+

USB

MOTION

CONTROLLERS

LAN

RS-485

FBs-30GM

IN

VO+

AC100~240V

VO-

A0+

A0-

B0+

B0-

PG0+

AP0+

PG0AP0-

BP0+

ALM0+

BP0ALM0-

A1+

A1-

B1+

B1-

PG1+ AP1+

PG1-

BP1+

AP1-

ALM1+

BP1ALM1-

A2+

A2-

B2+

B2-

PG2+

PG2-

AP2+

AP2-

BP2+ ALM2+

BP2ALM2-

11

6

5 2 10

Figure 2: Front view of FBs-30GM

2 3

① 35mm-width DIN RAIL

② DIN RAIL tab

③ Hole for screw fixation (size: 4.5X2)

④ Terminals of 24VDC output and digital I/O terminals (Pitch 7.62mm)

⑤ Terminals of main power input and servo signals (Pitch 7.62mm)

⑥ Communication interface cover plate

⑦ RS-485 COM port

⑧ Status indicators

⑨ USB Host port

⑩ Ethernet RJ45 port

⑪ Right side cover plate

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FBs-30GM User Manual

1.3 Status indicators

Table 1 shows the meaning of each status indicators.

Table 1: Status indicators

Name Description

PWR Green:

FBs-30GM is connected to the ac power supply.

RUN Yellow:

System is ready.

Blinking yellow:

Motion program is processing.

ERR Blinking red:

Motion control kernel sends alarm message and has to suspend processing.

485 Yellow:

RS485 communication success.

LAN Green,

LAN communication success.。

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FBs-30GM User Manual

1.4 Terminals

Terminals and its descriptions are described as below.

MPGND MPG5V

24V OUT

MPGA+ MPGB+ S-ON+ DOG0

MPGA- MPGBS-ONCOM0

LSP0

LSN0

LSN1

DOG1

DOG2

LSP1 LSN2

LSP2

E.STOP

X8

COM1

X0

X1

X2

X3

X4

X5

X6

X7

Y0

COM2

Y1

COM3

Y2

Y3

Y4

Y5

FB

S

-30GM

IN

VO+

AC100~240V

VO-

A0+

A0-

B0+

B0-

PG0+ AP0+

PG0AP0-

BP0+ ALM0+

BP0ALM0-

A1+

A1-

B1+

B1-

PG1+ AP1+

PG1-

BP1+

AP1-

ALM1+

BP1ALM1-

A2+

A2-

B2+

B2-

PG2+

PG2-

AP2+

AP2-

BP2+ ALM2+

BP2ALM2-

Figure 3: FBs-30GM terminals

Table 2: Upper terminal signals

Terminal Description

Connect to PE (Protective Earth)

MPGND The ground of MPG5V

MPG5V 5V DC output

+24V OUT- 24V DC output

MPGA(+/-) Input of MPG hand wheel A-phase pulse

MPGB(+/-) Input of MPG hand wheel B-phase pulse

S-ON(+/-) System is all set and these two terminals become short-circuited (refer to FBs PLC’s relay M1467)

DOG0 ~ 2 Near point signal input

LSP0 ~ 2 Limit Stroke of positive limit

LSN0 ~ 2 Limit Stroke of negative limit

Emergency stop, system will cease process and get into

E.STOP not-ready state when this signal is ON. Relay S-ON will be open (M1467 OFF) at the same time.

COM0

Common of DOG、LSP、LSN、E.STOP and X8 signals

X0 ~ X8 Digital input signals (refer to FBs PLC’s relay M1480 ~

M1488)

COM1 Common of X0 ~ X7 signals

Y0 ~ Y5 Digital output signals (refer to FBs PLC’s relay M1425 ~

M1430)

COM2

COM3

Common of Y0 ~ Y1 signals

Common of Y2 ~ Y5 signals

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FBs-30GM User Manual

Table 3: Lower terminal signals

Terminal

L, N

VO(+/-)

Description

Main power input, 100 ~ 240 VAC, 50/60 Hz

Analog voltage output (controlled by D3435), range from -10V to +10V

PG0(+,-) ~ PG2(+,-) Index signals from encoder

AP0(+,-) ~ AP2(+,-) A-phase pulse signal outputs

BP0(+,-) ~ BP2(+,-) B-phase pulse signal outputs

ALM0(+,-) ~ ALM2(+,-) Axial alarm signals

A0(+,-) ~ A2(+,-)

B0(+,-) ~ B2(+,-)

A-phase feedback signals from encoder

B-phase feedback signals from encoder

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2. Specification

Table 4: Power input/output specification

Power supply voltage Main power voltage input 100 ~ 240 VAC, 50/60 Hz

Fuse capacity 2A/250 VAC

24VDC output current 24VDC output current up to 500mA

MPG5V output current 5VDC output current up to 250mA

Grounding The diameter of grounding wire connected to PE shall not be less than that of L, N terminal of the power supply.

Table 5: Input signals

Terminal

MPGA+,MPGA-

MPGB+,MPGB-

DOG

LSP,LSN

E.STOP

X0 ~ X8

COM0

COM1

Description

Input of MPG hand wheel

A-phase pulse (differential inputs)

Input of MPG hand wheel

B-phase pulse (differential inputs)

Near point signal input

Limit Stroke of positive and negative limit

Emergency stop signal

Digital input signals, single-end sourcing input

Common of DOG、LSP、LSN、

E.STOP and X8 signals

Common of X0 ~ X7 signals

Max. input

Current Voltage

15mA 5V

15mA

10mA

10mA

10mA

10mA

110mA

80mA

5V

24V

24V

24V

24V

0V

0V

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Table 6: Feedback signals

Item

Terminal

A+, A-

B+, B-

PG+, PG-

ALM+ , ALM-

Description

Axial feedback signal (500 kHz high speed digital signal input )

Axial feedback signal (500 kHz high speed digital signal input )

Encoder index signal (500 kHz high speed digital signal input )

Axial alarm feedback signal (low speed input)

Max. input

Current Voltage

15mA

15mA

10mA

5V

5V

24V

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FBs-30GM User Manual

Table 7: Output signals

Item

Terminal

S-ON+,S-ON-

AP+,AP-

BP+,BP-

Y0 ~ Y5

COM2/COM3

VO+

VO-

Description

Max. input

Current Voltage

Relay output (after system start up, it switches to short-circuited)

1A

Axial position control pulse signal 20mA

Axial position control pulse signal 20mA

250

VAC

30VDC

5V

5V

Digital output signal (photo coupler isolated output).

Do not connect to any ac power source.

Common of Y0 ~ Y5 signals.

Do not connect to any ac power source and connect a 2A fuse in series to ensure electrical circuit’s safety.

Analog voltage output

Analog voltage output ground

500mA

1000mA 5 ~ 30V

10mA

10mA

-

+/-10V

0V

Figure 4: Input and output points wiring

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FBs-30GM User Manual

Figure 5: RS-485 COM port

Table 8: RS485 pin description

Pin Description

NC Not connected

GND Ground

D-

D+

Data-

Data+

PLC connects to FBs-30GM with a specific port Port2 because it guarantees a

921600 high baud rate. Figure 6 takes FBs PLC-CB55 as example to illustrate how

FBs PLC connects to FBs-30GM.

Figure 6: Connection between FBs PLC and FBs-30GM (with CB55)

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FBs-30GM User Manual

Warning! Please do not connect 24VDC ground and MPGND together.

Otherwise it may cause internal hardware broken.

Figure 7: Improper wiring

Please use wires of 1.6mm and above for the grounding.

Figure 8: Selecting the grounding wire

Never connect the AC main circuit power supply to any of the input/output terminals, as it will damage FBs-30GM. Check all the wiring prior to power up. To prevent any electromagnetic noise, make sure

FBs-30GM is properly grounded. Do not touch the terminals when power on.

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3. Wiring

3.1 Wiring example with Yaskawa servo amplifier

X8

E.STOP

LSP2

LSN2

DOG2

LSP1

LSN1

DOG1

LSP0

LSN0

DOG0

COM0

AP0+

AP0-

BP0+

BP0-

PULS

/PULS

SIGN

/SIGN

FBs-30GM User Manual

+24VIN

/S-ON

P-OT

N-OT

24V

X7

X6

X5

X4

X3

X2

X1

X0

COM1

MPGA+

MPGA-

MPGB+

MPGB-

AP1+

AP1-

BP1+

BP1-

PULS

/PULS

SIGN

/SIGN

AP2+

AP2-

BP2+

BP2-

PULS

/PULS

SIGN

/SIGN

+24VIN

/S-ON

P-OT

N-OT

+24VIN

/S-ON

P-OT

N-OT

Figure 9: Wiring example with Yaskawa servo amplifier

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FBs-30GM User Manual

A0+

A0-

B0+

B0-

PAO

/PAO

PBO

/PBO

PG0+

PG0-

PCO

/PCO

安川伺服驅動器

A1+

A1-

B1+

B1-

PAO

/PAO

PBO

/PBO

PG1+

PG1-

PCO

/PCO

安川伺服驅動器

A2+

A2-

B2+

B2-

PAO

/PAO

PBO

/PBO

PG2+

PG2-

PCO

/PCO

Figure 10: Connecting feedback signals from Yaskawa servo amplifier

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FBs-30GM User Manual

3.2 Wiring example with Mitsubishi servo amplifier

X8

E.STOP

LSP3

LSN3

DOG3

LSP2

LSN2

DOG2

LSP1

LSN1

DOG1

COM0

AP0+

AP0-

BP0+

BP0-

PP

PG

NP

NG

DICOM

DOCOM

SON

LSP

LSN

三菱 MR-J4A 伺服驅動器

24V

X4

X3

X2

X7

X6

X5

X1

X0

COM1

MPGA+

MPGA-

MPGB+

MPGB-

AP1+

AP1-

BP1+

BP1-

AP2+

AP2-

BP2+

BP2-

PP

PG

NP

NG

DICOM

DOCOM

SON

LSP

LSN

SON

LSP

LSN

三菱 MR-J4A 伺服驅動器

PP

NP

NG

PG

DICOM

DOCOM

Figure 11: Wiring example with Mitsubishi servo amplifier

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FBs-30GM User Manual

A0+

A0-

B0+

B0-

PG0+

PG0-

三菱 MR-J4A 伺服驅動器

LA

LAR

LB

LBR

5V

LG

OP

A1+

A1-

B1+

B1-

三菱 MR-J4A 伺服驅動器

LA

LAR

LB

LBR

PG1+

PG1-

LG

OP

A2+

A2-

B2+

B2-

三菱 MR-J4A 伺服驅動器

LA

LAR

LB

/LBR

PG2+

PG2-

LG

OP

Figure 12: Connecting feedback signals from Mitsubishi servo amplifier

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FBs-30GM User Manual

4. GMMon – monitor software

GMMon is the computer monitoring software for FBs-30GM. You can monitor the operating status of FBs-30GM by using GMMon. Installation is described in

section 4.1. Section 4.2 is about setting up a connection. Section 4.3 is the

introduction of GMMon.

4.1 GMMon Installation

Please follow the steps below to install GMMon.

Installation of GMMon

Step1. Run “Fatek GMMon Setup.exe” and then click “Next”.

Figure 13: Step1 of FATEK GMMon installation procedure

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Step2. Enter customer information.

FBs-30GM User Manual

Figure 14: Step2 of FATEK GMMon installation procedure

Step3. Click “Install” to start Installation.

Figure 15: Step3 of FATEK GMMon installation procedure

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Step4. Installing FATEK GMMon and waiting for the process bar to be completed.

Figure 16: Step4 of FATEK GMMon installation procedure

Step5. Installation has been completed. Click “Finish” to exit.

Figure 17: Step5 of FATEK GMMon installation procedure

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4.2 Setting up a connection

4.2.1 Configure IP address

The default IP address in FBs-30GM is 192.168.10.10. The computer connected to FBs-30GM should have an IP address such as

192.168.10.XXX. If only one network interface card exist and the IP address is not 192.168.10.XXX, you can do the following steps to add a new IP address to your computer.

(PS: The computer and FBs-30GM should be in the same subnet, or your computer can connect to the network port of Fbs-30GM directly)

1. Go to Internet Protocol Version 4 (TCP/IPv4) Properties page and click “Advanced”.

Figure 18: Internet Protocol Version 4 (TCP/IPv4) Properties

2. Click “Add” to add a new IP address as 192.168.10.XXX.

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Figure 19: Add a new IP address

4.2.2 Change FBs-30GM’s IP address

The default IP of FBs-30GM is 192.168.10.10. You can change its IP address with a USB flash drive by following the procedures below.

1. Prepare a USB flash drive preformatted with the FAT32 file system.

2. Create a file named “Setting0.ini” with the content below (take IP address “192.168.10.11” as example) and put this file in your USB root directory.

ACTION=SET_IP

PARAMETER=0, 192.168.10.11

,255.255.255.0,0,0,0

3. Insert the USB flash drive containing “Setting0.ini” to FBs-30GM.

4. Turn off FBs-30GM and on again, wait until RUN led is yellow: it means the system has finished restarting.

5. Pull out the USB and check its root directory. If a file named

“Setting0.out” exists, it means that the IP address has been changed successfully.

Note: When there exists a file named “Setting0.out” in the USB root directory before inserting the USB, FBs-30GM’s IP address would not be modified. You have to delete “Setting0.out”.

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4.2.3 Update FBs-30GM’s kernel

The default kernel version of FBs-30GM is 10.116.0.6. Before using

GMMon, please update FBs-30GM’s kernel version after 10.116.3.16 by following the procedures below.

1. Prepare a USB flash drive preformatted with the FAT32 file system.

2. Create a file named “Setting0.ini” with the content below (take kernel update file named “package_511450f6.zip” as example) and put this file in your USB root directory.

ACTION=SW_INSTALL

PARAMETER=package_511450f6.zip

3. Insert the USB flash drive containing “Setting0.ini” to FBs-30GM.

4. Turn off FBs-30GM and on again, wait until RUN led is yellow: it means the system has finished restarting.

5. Pull out the USB and check its root directory. If a file named

“Setting0.out” exists, it means that the kernel has been changed successfully.

Note: When there exists a file named “Setting0.out” in the USB root directory before inserting the USB, FBs-30GM’s kernel version would not be updated. You have to delete

“Setting0.out”.

4.3 Functions of GMMon

There are five main functions in GMMon, the System function, the Monitor function, the Simulate function, the Files function and the Debug function.

A. System: fill in the IP address of FBs-30GM to connect or disconnect. You can set the parameter or change the language.

B. Monitor: monitor the content and the graph illustrated by the motion program which is in process.

C. Simulate: Simulate a motion program on local PC without connection to

FBs-30GM.

D. Files: manage motion program files.

E. Debug: you can use it for debugging parameters.

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Monitor and Debug functions can only be operated when connecting to

FBs-30GM, while Simulate and Files functions can only be operated when disconnecting to FBs-30GM.

4.3.1 System function page

Figure 20: System function page

1. Status: ON LINE／OFF LINE status

2. IP Address: input IP address of the FBs-30GM to connect

3. Connect／Disconnect: het connected／disconnected

4. Kernel Version: kernel version number of FBs-30GM

5. IO-plugin Version: IO-plugin version number of FBs-30GM

6. Language/語言/语言: change the language of GMMon

7. Import IO-plugin: import the IO-plugin configuration file

(IO-plugin defines special relays and registers of FBs PLC to communicate with FBs-30GM. O-plugin’s version should be the same with FBs-30GM PROGRAM BLOCK’s.)

8. Export IO-plugin: export the IO-plugin configuration file

9. Parameters: list of FBs-30GM’s operating parameters

10. Import Parameter: import the parameter configuration file

11. Export Parameter: export the parameters configuration to a file

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12. Refresh: refresh the page to see the current value of FBs-30GM parameters

13. Update: update FBs-30GM parameters

14. GMmon Version: GMMon software version number

15. Connection indicator: green light blinks when FBs-30GM is connected or red light blinks when alarm happens.

4.3.2 Monitor function page

After connecting to FBs-30GM, use can use Monitor function.

Figure 21: Monitor function page

1. Monitoring screen: According to the motion program file, the locus will be drawn on this screen and user also can foresee the future locus.

2. Machine: current coordinate values of machine

3. Program: current coordinate values of program

4. Program Name: motion program name

5. Line: the motion program line number which is in process

6. Program content: display the content of the motion program, and the line in blue means it is in progress

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7. ViewPoint: select one of the seven coordinate systems such as

XYZ space, XY plane, XZ plane, YZ plane, YX plane, ZX plane and

ZY plane

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4.3.3 Simulate function page

FBs-30GM User Manual

Figure 22: Simulate function page

1. Simulation Result: For user to check if the program is correct, it draws the trace according to the selected motion program.

2. NC Files: select the program which is going to be simulated

3. Coordinate Position: display the current simulation coordinates

4. Program Name: the program name of the selected program

5. Line: the motion program line number which is in simulation

6. Program Content: display the content of the simulated motion program, and the blue line has just being simulated

7. Play: simulate all the content of the motion program

8. Step: simulate one line of the motion program at a time

9. ViewPoint: select one of the seven coordinate systems such as

XYZ space, XY plane, XZ plane, YZ plane, YX plane, ZX plane and

ZY plane

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4.3.4 Files function page

FBs-30GM User Manual

Figure 23: Files function page

1. FBs-30GM IP Address: enter IP address of the FBs-30GM to connect

2. Connect: get connected

3. Local: the motion program will be put in the local path

C:\FATEK\30GM\Motion_Programs

4. 30GM: the path of motion program on FBs-30GM

5. Log message: this displays log message of file management

A. Upload:

Drag and drop the file from Local to 30GM.

B. Download:

Drag and drop the file from 30GM to Local.

C. Download: Right click the mouse button to the file and select download.

D. Delete:

Right click the mouse button to the file and select delete.

E. Rename:

Right click the mouse button to the file and select rename.

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10.116.7.16 30GM core version of the new features, sports programs can be copied to USB 30GM, as follows:

4.3.5 Debug function page

Figure 24: Debug function page

[8 ~ 10]: X/Y/Z axis following error value

[Definition]: The error amounts between axial position command values and feedback values, and is calculated as below.

X/Y/Z axis following error value =

Absolute position command value - Absolute position feedback value

Unit: BLU

[Description]:

1. These variables are the current amounts of axial tracking errors, used to check the amounts of errors between axial position command values and feedback values.

2. When the axis is stationary, the error amount at this time is called static error and in theory is almost equal to 0. If it is greater than Pr561 ~ Pr563 for X, Y and

Z-axis, FBs-30GM will send alarm MOT-008.

3. When axes are moving, the error amounts at this time are called dynamic errors and in theory should be less than the maximum allowable amount of following error values 16 ~ 18. Otherwise, FBs-30GM will send alarm MOT-019 or

MOT-023.

4. When feedrate override is uniform, these variables should be almost equal to debug variables 32 ~ 34. Otherwise, please check the position control loop gain

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FBs-30GM User Manual of the servo driver is the same as Pr181 ~. It may also be caused by enabled feed-forward or command filter function of servo driver. Of course, abnormal wire connection may cause the inconsistencies between debug variables 8 ~ 10 and 32 ~ 34.

[24 ~ 26]: X/Y/Z axis absolute position feedback value

[Definition]: The axial position control feedback of the motors

Unit: BLU

[Description]:

1. For non-absolute encoder, these variables will be set to zero after the first reference searching is completed.

[40 ~ 42]: X/Y/Z axis absolute position command value

[Definition]: Cumulative command pulses sent by FBs-30GM

Unit: BLU

[Description]:

1. These variables are the amounts of position commands sent by FBs-30GM and is not necessary exactly equal to debug variables 72 ~ 74 (machine coordinates) because these variables also include mechanical compensations (such as backlash, sharp, pitch and temperature).

2. For non-absolute encoder, this variable will be set to zero after the first reference searching is completed.

[48 ~ 50]: X/Y/Z axis motor index counter

[Definition]: The number of pulses is recorded when the motor index feedback signal of each axis is generated.

[Description]:

1. Theoretically updated increments of these variables each time have to be equal to Pr61 ~ Pr63, and if not, which means that the hardware may lose pulses.

Please check the feedback signal (A +, A-, B +, B-, C +, C-) wiring are off or if it is affected by noise.

2. For non-absolute encoder, this variable will be set to zero after the first reference searching is completed.

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Table 9: Debug variables

8

9

10

Debug variables

X axis following error value

Y axis following error value

Z axis following error value

40

41

42

X axis absolute position command value

Y axis absolute position command value

Z axis absolute position command value

X axis motor index counter 24

25

X axis absolute position feedback value

Y axis absolute position feedback value

48

49 Y axis motor index counter

26 Z axis absolute position feedback value

50 Z axis motor index counter

Other diagnostic variables are for internal use only.

4.4 Rest FBs-30GM to factory settings

You can follow the porcedures below to reset FBs-30GM to factory settings:

1. Reset the motion parameters.

Use GMMON, click “System” > “Import”, to import FBs-30GM factory parameters (you can download FBs-30GM default parameters from FATEK website). In contrast, you can use the export function to backup the current setting parameters.

2. Reset FBs-30GM G-code settings.

Use GMMON > click “Files”, upload G0000 ~ G0003 and G0161 ~ G0167 under the C: \ FATEK \ 30GM \ Motion_Programs directory to the

FBs-30GM.

3. After completing the above two steps, reboot FBs-30GM.

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5. Operate and execute motion programs

In addition to operating FBs-30GM, FBs-PLC can monitor the input states and control the output states of 30GM. Please refer to Appendix I Special relays and interface registers of FBs-PLC.

5.1 Relation between FBs PLC and FBs-30GM

Figure 25: Relation between FBs PLC and FBs-30GM

FBs-30GM cannot run independently and must work with FBs PLC. After FBs

PLC sends commands through RS-485 to 30GM, 30GM acts correspondingly.

5.2 Procedure to execute a motion program

5.2.1 Upload the motion program to FBs-30GM

Use Notepad or other text editors to edit a motion program. Upload the motion program to FBs-30GM.

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Figure 26: GMMon Files function

Figure 27: Drag and drop the file to upload

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Motion program naming rule:

FBs PLC assigns the motion program to 30GM by setting the register

D3431. Therefore, the file name of the motion program must follow the naming format below, so FBs-30GM is able to identify the designated motion program.

Motion program naming format:

A. Four digits come after an uppercase O.

B. If the digits are less than four, left pad zeroes to four digits.

C. The four-digit number ranges from 1 to 9999.

(Out of this range may cause unpredictable results)

Examples:

 Number 1

: O0001

 Number 456

: O0456

 Number 7156

: O7156

 Unqualified file name : O-1234、O83412、O0000、Oabcd

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5.2.2 Configure FBs-30GM’s operating parameters

FBs-30GM User Manual

Figure 28: Use GMMon to set up operating parameters

Switch GMMon to System function page. Adjust parameters in the table to fulfill user's requirements.

Users can depend on their requirements to adjust the parameters.

About parameter definitions and usage please see Appendix II.

Limitations of FBs PLC

Since FBs-30GM needs to use RS485 (port 2) of FBs PLC as a communication port, any other PLC’s communication module or application need to use RS485 (port 2) or it will be impossible to use.

When using FBs-30GM, FBs PLC specific registers (D3401 ~ D3467) and relays (M1400 ~ M1499) will be occupied for control purposes, users should avoid using this block registers and relays for other purposes, in order to avoid unexpected results.

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5.2.3 Use the JOG mode to test and adjust machine

Before using PLC to control FBs-30GM’s JOG mode, you must first complete the connection between FBs PLC and FBs-30GM. FBs-30GM can execute Jog mode according to the following settings.

1. Go to http://www.fatek.com/ to download FBs-30GM PROGRAM

BLOCK which establishes the communication with FBs-30GM

(FATEK - Support - Software Download). Before using FBs-30GM

PROGRAM BLOCK please update your PLC’s OS to version V4.72.

2. Import FBs-30GM PROGRAM BLOCK and then continue to edit

PLC’s ladder

3. Set FBs-30GM to Jog mode (mode selection please refer to Table

10).

Table 10: Mode selection description

D3426

0

2

4

6

7

Description

Default value, same as Auto mode

Auto mode

JOG mode

MPG mode

HOME mode

4. The axes move by triggering the corresponding special relays

(M1403 ~ M1408).

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Figure 29: Example of JOG mode ladder diagram

About JOG mode please refer to section 0.

5.2.4 Procedure to execute a motion program

Before using 30GM to execute a motion program, you must first complete the connection between FBs PLC and FBs-30GM. FBs-30GM can run a motion program in Auto mode according to the following settings.

1. Go to http://www.fatek.com/ to download FBs-30GM PROGRAM

BLOCK which establishes the communication with FBs-30GM

(FATEK - Support - Software Download). Before using FBs-30GM

PROGRAM BLOCK please update your PLC’s OS to version V4.72.

2. Import FBs-30GM PROGRAM BLOCK and then continue to edit

PLC’s ladder

3. Set FBs-30GM to Auto mode (mode selection please refer to

Table 10).

4. Specify the motion program number (D3431).

5. Set M1400 to start the program specified by D3431. If the value of D3431 is changed when the program is running, the changed setting of specified program would become effective at next start.

6. Motion program can be paused by setting M1401.

7. Set M1402 to stop and reset the motion program and FBs-30GM into standby state.

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Figure 30: Example of Auto mode ladder diagram

About Auto mode please refer to section 6.1.

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5.2.5 Example of FBs PLC ladder diagram

N000: Establishes the communication with FBs-30GM

N017: Set FBs-30GM to JOG mode

N018: Under JOG mode, the X axis moves in the positive direction

N019: Under JOG mode, the X axis moves in the negative direction

N020: Under JOG mode, the Y axis moves in the positive direction

N021: Under JOG mode, the Y axis moves in the negative direction

N022: Under JOG mode, the Z axis moves in the positive direction

N023: Under JOG mode, the Z axis moves in the negative direction

N024: Reset X axis machine position (set current position as the origin of X axis)

N025: Reset Y axis machine position (set current position as the origin of Y axis)

N026: Reset Z axis machine position (set current position as the origin of Z axis)

N027: Set FBs-30GM to Auto mode and specify the motion program No. 10 which is going to be execute

N028: Set M1400 to start the program

N029: Set M1401 to pause the program

N030: Set M1402 to stop the program

FBs-30GM PROGRAMBLK can be downloaded from http://www.fatek.com/ .

(FATEK - Support - Software Download)

Before using FBs-30GM PROGRAM BLOCK please update your PLC’s

OS to version V4.72.

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Figure 31: Example of FBs PLC ladder diagram

Figure 32: Example of FBs PLC ladder diagram (cont.)

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5.3 Control and supervise the operating status

1. In addition to performing motion program, FBs-30GM’s has a variety of functions by connecting to FBs-PLC to arrange FBs PLC’s special relays

(M1400 ~ M1430), special registers (D3426 ~ D3435) or use GMMon to modify the parameters.

2. In the process of motion program. Users can check the special relays

(M1464 ~ M1474 and M1480 ~ M1488) and registers (D3440 ~ D3443) to monitor the operating status of FBs-30GM.

3. D3432 ~ D3434 and D3440 ~ D3443, the special registers of FBs PLC, are used to pass MACRO program’s user-defined data in one way direction.

 FBs PLC uses D3432 ~ D3434 to deliver user-defined data to

FBs-30GM.

 FBs PLC uses D3440 ~ D3443 to receive user-defined data from

FBs-30GM.

4. FBs-30GM has an analog output terminal, which can be adjusted by setting D3435 to control its output voltage value. D3435 ranges from 0 to 20000 corresponding to the output voltage -10V ~ +10 V linearly.

(D34305 = 0, VO =-10V; D3435 = 20000, VO = +10 V)

The user-defined data in FBs-30GM can be accessed in MACRO programs.

Information such as X and Y axis coordinates can be delivered with the user-defined data.

About MACRO structure motion language please refer to section 8.

5.4 Troubleshooting

Whenever the system or the program stops due to an alarm, the alarm can be found by the two ways below.

1. Special relay M1474 of FBs PLC is ON.

2. The monitor screen of GMMon displays the alarm code.

General alarms can be cleared by triggering STOP after solving the causes of the alarms. Some alarms have to be cleared by shutting down and then restarting FBs-30GM.

About alarm messages please refer to Appendix III.

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5.5 Trigger input terminals to execute motion programs

This function is a special application of FBs-30GM. When FBs-30GM is on standby or during the process of running, FBs-30GM can be assigned to a motion program directly and execute the program immediately by triggering one of the input terminals (X0 ~ X8) without the need to using FBs PLC to set

STOP, START or change specified program.

How to use this function:

1. Set FBs PLC’s M1424 ON.

2. Set FBs-30GM to Auto mode (mode selection please refer to Table 10).

3. Configure the parameters of FBs-30GM according to your requirement.

4. Trigger one of the input terminals (X0 ~ X8) of FBs-30GM.

After one of the input terminals (X0 ~ X8) of FBs-30GM is triggered,

FBs-30GM will do the following actions in sequence.

A. Stop executing program. (No action is taken if FBS-30GM is already on standby).

B. Switch motion program to O1001 ~ O1009 corresponding to X0 ~ X8.

C. Execute once the motion program O1001 ~ O1009.

D. Switch to the previous motion program and return to standby state after the triggered program is finished.

Note: Use this method to execute motion program, program name must be named as O1001 ~ O1009. Therefore, pay attention to having the corresponding motion programs in FBs-30GM, otherwise the alarm message will occur.

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6. Operation mode of FBs-30GM

The operation mode of FBs-30GM can be categorized into Auto, JOG, MPG and

HOME mode. About instructions of each mode please see the following sections.

6.1 Auto mode

This mode is generally used when executing motion programs. When you want to perform exercise program, you must set the operation mode to”

Auto”.

In this mode, commands such as start, pause or stop motion programs can be issued by setting special relays. In addition, the applications and operations described in this manual are all based on Auto mode, unless otherwise specified mode.

Operation:

1. Set FBs-30GM to Auto mode (mode selection please refer to Table 10).

2. Specify the motion program number (D3431).

3. Set M1400 to start the program specified by D3431. If the value of

D3431 was changed when the program is running, the changed setting of specified program would become effective at next start.

4. Motion program can be paused by setting M1401.

5. Set M1402 to stop and reset the motion program and FBs-30GM into standby state.

6.2 JOG mode

JOG function is suitable for user to test and adjust machine.

In JOG mode you can move the machine toward different directions by triggering the special relays (M1403 ~ M1408) accordingly.

Operation:

1. Set FBs-30GM to JOG mode (set D3426 to 4, mode selection please refer to Table 10).

2. Set FBs-30GM JOG speed percentage (D3429) and JOG feedrate (Pr521

~ Pr523).

3. Trigger the special relays (M1403 ~ M1408) according to the direction you want the machine to travel toward.

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Table 11: Axis JOG feedrate

FBs-30GM motion parameter

Pr521

Pr522

Pr523

Descriptions

X-axis JOG feedrate

Y-axis JOG feedrate

Z-axis JOG feedrate

Table 12: Special relays for JOG

Special relays for JOG

M1403

M1404

M1405

M1406

M1407

M1408

Axis and direction

X axis＋

X axis－

Y axis＋

Y axis－

Z axis＋

Z axis－

6.3 MPG mode

Manual Pulse Generator (MPG) mode is for the purpose of manual or semi-automatic machine control with an external electric hand wheel.

Generally MPG mode can adjust machine or vary the execution speed of motion program. FBs-30GM can be used in two ways with electric hand wheel depending on user requirement.

MPG JOG

Description:

You can use MPG (Manual Pulse Generator) mode to move the machine

Operation:

1. Select MPG mode (set D3426 to 6)

2. Select corresponding axis X, Y, Z (set M1409 ~ M1411)

3. Select incremental rate (set D3427)

4. Rotate MPG, machine will move with velocity according to rotation speed of MPG device.

MPG simulation

Description:

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Users can use this function to check the speed of motion program file. This function will use the rotation speed of hand wheel to decide the feedrate of

G00, G01, G02 and G03. If the hand wheel speeds up, the program moves fast. If the hand wheel stops, then the program also stops. If the hand wheel moves reversely, the program moves reversely too.

Operation:

1. Select AUTO mode (set D3426 to 0 or 2)

2. Set M1412 to on.

3. Set M1400 to start running motion program file.

4. Operator can rotate MPG to run motion program file

The faster MPG rotates, the faster machining speed is. If MPG stops, machine stops too. This function can be “Enable” or “Disable” immediately.

P.S. This function is easy to use for testing machine.

Motion parameter Pr661 ~ 663: axis MPG feedrate upper bound.

6.4 HOME mode

Because of the tool setting, motion program coordinate is based on Machine zero point. So it is necessary to make sure where Machine zero point (HOME) is. When FBs-30GM boots up, the execution of reference searching (home search) is important. User should complete home return before starting

AUTO motion program files.

The following describes three approaches of home return for users to select according to their machines. If users do not know which approach to choose or machines lack HOME DOG / motor index signals, users can adopt the instructions of “using absolute encoder” to do Home mode.

Using motor feedback

Step 1: Switch FBs-30GM to HOME mode (set D3426 to 7)

Step 2: Press JOG＋/－ of desired home return axis

Step 3: Motor moves to HOME DOG according to homing direction (Pr861 ~

863), and 1st homing speed (Pr821 ~ 823)

Step 4: When FBs-30GM receives home DOG signal, it begins to stop

Step 5: After the motor stops at point A, it will move backwards with axis homing 2 nd

part speed (Pr841 ~ 843)

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Step 6: When the machine leaves home DOG, FBs-30GM will search the nearest motor index signal

Step 7: After FBs-30GM receives the motor index signal, FBs-30GM will plan the stop action according to the home search method (Pr961 ~ 963) and homing offset (Pr881 ~ 883), and finally the motor will stop at point B

Step 8: After completing the 1st time HOME return, FBs-30GM will initialize the system data below according to home search method (Pr961 ~

963) and home offset (Pr881 ~ 883).

Table 13: Parameters of home search method and axis home offset

No961=0

No881=0

No961=0/1

No881=L

No961=2

No881=L

The absolute position command

The absolute position feedback

Machine coordinate

0

0

0

0

0

0

-L

-L

-L

P.S.

After the 2nd time HOME return, FBs-30GM will only execute step 8.

V-X diagram (speed vs position) for each type of HOME return is shown as below:

Figure 33: V-X diagram of using motor feedback, Pr961=0 and Pr881=0

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Figure 34: V-X diagram of using motor feedback, Pr961=0 or 1 and Pr881=L

Figure 35: V-X diagram of using motor feedback, Pr961=2 and Pr881=L

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Using linear encoder – dual feedback

Step 1: Switch FBs-30GM to home mode (set D3426 = 7)

Step 2: Press JOG＋/－ of desired home search axis

Step 3: Motor moves to HOME DOG according to homing direction (Pr861 ~

863), and 1 st

homing speed (Pr821 ~ 823)

Step 4: When FBs-30GM receives the home DOG signal, it will plan the stop action

Step 5: After the motor stops at point A, it will move backwards with axis homing 2 nd

part speed (Pr841 ~ 843)

Step 6: When the machine leaves the home DOG, FBs-30GM waits for the nearest zero point on linear encoder

Step 7: After FBs-30GM receives the zero point on linear encoder, FBs-30GM will plan the stop action according to the home search method (Pr961

~ 963) and homing offset (Pr881 ~ 883), and finally the motor will stop at point B

Step 8: At the 1st HOME return, linear encoder – dual feedback does not work, and due to the effect of mechanical error, machine cannot stop exactly on desired position (zero point of linear encoder or HOME offset), so after motor really stops on B point, FBs-30GM will instantly calculate this error Δ

Step 9: FBs-30GM will initialize the system data below according to home search method (Pr961 ~ 963) and home offset (Pr881 ~ 883).

P.S.

 After booting, linear encoder – dual feedback is always enabled when the 1st time HOME return is finish.

 After booting, from the 2nd time return HOME, FBs-30GM will only execute step 9.

 After executing the 1st HOME return successfully, the error Δ between real machine position and target position will be compensated in the next interpolation.

V-X diagram (speed vs position) for each type of HOME return is shown as below:

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Table 14: Home mode and home offset settings

No961=0

No881=0

0

No961=0/1

No881=L

0

No961=2

No881=L

-L The absolute position command

The absolute position feedback

The dual feedback position

Mechanical coordinate

0

Δ

0

0

Δ

0

-L

Δ

-L

Figure 36: V-X diagram of dual feedback, Pr961=0 and Pr881=0

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Figure 37: V-X diagram of dual feedback, Pr961=0 or 1 and Pr881=L

Figure 38: V-X diagram of dual feedback, Pr961=2 and Pr881=L

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Using absolute encoder

Step 1: Move axis to the appointed point for machine origin during tuning process of servo driver

Step 2: After triggering M1413 ~ M1415, FBs-30GM automatically records the initial value A from encoder

Step 3: Next time when FBs-30GM is rebooted and communicates successfully with driver, regardless of positions of axis, FBs-30GM will compare present motor encoder position with value A to calculate the correct motor position

Step 4: Updating machine coordinate, servo command and motor feedback.

(If dual feedback control is used, linear encoder feedback will be updated at the same time).

P.S.

This is the easiest approach of reference searching, as long as you trigger

M1413 ~ M1415 to complete the steps and take current location as the origin of coordinates.

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Home return disorders diagnostic steps

1. Axis moves in the opposite direction and stops until it meets hardware stroke limit when executing HOME return.

Possible reasons: a. HOME DOG signal is always ON.

Diagnostic method:

Check if input HOME DOG signal of FBs-30GM is always ON. b. Servo motor index signal does not enter FBs-30GM.

Diagnostic method:

Move the axis manually, check whether the value of system debug variables 48 (X-axis), 49 (Y-axis) and 50 (Z-axis) change once or not when the motor turns one revolution, and the difference must equal to encoder resolution (parameters Pr61 ~ 63 and Pr81 ~ 83). c. FBs-30GM parameters are wrong

Checking following parameters:

 Pr201 ~ 203(encoder type) are set 0 or 1

 Pr41 ~ 43(axis motor polarity) are the same as default setting of manufacturer

 Pr861 ~ 863(axis homing direction) are the same as default setting of manufacturer

2. Related system alarms below, for detailed descriptions please refer to

Appendix III.

MOT-021: Must re-homing

MOT-022: Home position inaccurate

MOT-029: Miss index in homing

MOT-030: Zero speed timeout in homing

MOT-036: Can't leave home dog

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7. G-code and M-code of motion program

7.1 G-code instructions

Table 15: G-code instructions listing

FBs-30GM User Manual

G-Code Description

G00

G01

G02

G03

G04

G09

G17

Positioning

Linear interpolation

Circular interpolation / Helical interpolation (CW)

Circular interpolation / Helical interpolation (CCW)

Dwell

Exact stop

X-Y plane selection

G-Code

G66

G67

G70

G71

G90

G91

G92

Description

Marco call

Marco call cancel

Unit setting of inch system

Unit setting of metric system

G18

G19

G28

G28.1

G30

G53

G65

Z-X plane selection

Y-Z plane selection

Return to reference position

Incremental distance triggered by sensor

2nd, 3rd and 4th reference position return

Machine coordinate system setting

Simple calling

G92.1

G161

G162

G163

G164

G165

G166

Absolute command

Incremental command

Program coordinate system setting

Rotating program coordinate system setting

Compensation setting of linear interpolation

Vector compensation setting of circular interpolation

Radius compensation setting of circular interpolation

Interpolation compensation cancellation

Electrical zero point setting

Return to electrical zero point

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G00

Command form:

G00 X Y Z ;

X、Y、Z: Specified point

POSITIONING G00

Description:

Each axles move to appointed point in no interpolation status, X、Y、Z is the final position, use G90/G91 to design absolute or increment value.

<Notice>:

The movement mode can decide by motion parameter Pr411

(0: linear, 1: each axle move in max speed independently)

Example

Figure 39: G00 positioning example

Program description:

1. First way (absolute): G90 G00 X90.0 Y40.0;

//use difference value between appointed point and zero point to do straight interpolation to appointed point

2. Second way (increment): G91 G00 X70.0 Y20.0;

//use difference value between appointed point and initial point to do straight interpolation to appointed point

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G01

Command form:

G01 X__ Y__ Z__ F__;

X、Y、Z: Specified point

LINEAR INTERPOLATION

G01

F: Feed rate (mm/min)

Description:

G01 executes linear interpolation, it can be used with G90/G91 to decide absolute or increment mode, use feed rate provided by F to go to the specified position.

Example1:

Figure 40: G01 linear interpolation example 1

1. Absolute command: G90 G01 X90.0 Y40.0;

//do linear interpolation from zero point to the specified point(90,40)

2. Increment command: G91 G01 X70.0 Y20.0;

//the tool does linear interpolation X + 70 and Y + 20 to the specified point

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Example 2: processing example

Thickness 10mm

Figure 41: G01 linear interpolation example 2

Program description:

1. Absolute way:

N001 G00 X0.0 Y0.0 Z10.0; //positioning to above of P

0

N002 G90 G01 Z-10.0 F1000 ; //straight interpolation to bottom of workpiece, speed 1000mm/min

N003 Y38.0; //P

0

→P

1

N004 X20.0 Y45.0; //P

1

→P

2

N005 X55.0; //P

2

→P

3

N006 Y10.0; //P

3

→P

4

N007 X45.0 Y0.0; //P

4

→P

5

N008 X0.0; //P

5

→P

0

N009 G00 Z10.0; //positioning back to above of P

0

N010 M30; //program end

2. Increment way

N001 G00 X0.0 Y0.0 Z10.0;//positioning to above of P

0

N002 G91 G01 Z-20.0 F1000;//straight interpolation to bottom of workpiece, speed 1000mm/min

N003 Y38.0; //P

0

→P

1

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N004 X20.0 Y7.0; //P

1

→P

2

N005 X35.0; //P

2

→P

3

N006 Y-35.0; //P

3

→P

4

N007 X-10.0 Y-10.0; //P

4

→P

5

N008 X-45.0; //P

5

→P

0

N009 G00 Z20.0; //positioning back to above of P

0

N010 M30; //program end

G02

G03

CIRCULAR INTERPOLATION

Command form:

1. X-Y plane circular interpolation:

G17 {

𝐺02

𝐺03

} 𝑋__ 𝑌__ {

𝑅__

𝐼__ 𝐽__} 𝐹__

2. Z-X plane circular interpolation:

G18 {

𝐺02

𝐺03

} 𝑋__ 𝑍__ {

𝑅__

𝐼__ 𝐽__} 𝐹__

3. Z-X plane circular interpolation:

G19 {

𝐺02

𝐺03

} 𝑌__ 𝑍__ {

𝑅__

𝐼__ 𝐽__} 𝐹__

G02

G03

X, Y, Z: Specified point

I, J, K: the vector value that starting point of arc to the center of a circle (center of a circle－starting point)

R: Radius of arc

F: Feed rate

G90/G91 decide absolute or increment

Description:

G02, G03 do circular interpolation according to appointed plane, coordinate system, size of arc and speed of interpolation, and the rotate direction decide by G02 (CW),

G03 (CCW). Description of the command format as below:

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Table 16: G02/G03 circular interpolation

Setting Data

1 Plane selection G17

G18

Command Definition

X-Y plane setting

X-Z plane setting

G19

G02

Y-Z plane setting

Clockwise direction (CW)

2 Direction

3

4

G90

G03 Counterclockwise direction (CCW)

Two axes of X, Y, Z End coordinate of arc

End position

G91 Two axes of X, Y, Z Vector value from start point to end point

Distance from start point to center of circle

Two axes of I, J, K Vector value from start of arc to center of circle

Radius of arc

5 Speed of feed

(feedrate)

R

F

Radius of arc

Feedrate along the arc

Example:

1. G02, G03direction:

2. I, J, K definition:

Figure 42: G02, G03 direction

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Figure 43: G02, G03 vector of I,J and K

3. How to use R

 When θ≦180 degree, R is positive.

{

𝐺02

𝐺03

} 𝑋__ 𝑌__ 𝑅25.0

 When 180 degree＜θ＜360 degree, R is negative.

{

𝐺02

𝐺03

} 𝑋__ 𝑌__ 𝑅 − 25.0

 When θ=360 degree, use I, J and K.

Figure 44: Circular interpolation of different θ

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Example 1:

FBs-30GM User Manual

Figure 45: Circular interpolation example 1

G90 G00 X5500 Y4000; //positioning to start point of arc

G17 G90 G03 X1500 Y4000 I-3000 J-1000 F200; //absolute command

(G17 G91 G03 X-4000 Y2000 I-3000 J-1000 F200; //increment command)

Example 2: (interpolate a full circle)

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Starting point

End point

Figure 46: Circular interpolation example 2

G90 G00 X0 Y0;

G02 I1000 F100; //interpolate a full circle

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G02

G03

HELICAL INTERPOLATION

Command form:

1.

G17 {

𝐺02

𝐺03

} 𝑋__ 𝑌__ {

𝑅__

𝐼__ 𝐽__} 𝑍__ 𝐹__

X, Y: end position of arc;

Z: end position of straight line;

R: radius of arc;

I, J: center position of arc;

F: speed of tool feed(feed rate);

2.

G18 {

𝐺02

𝐺03

} 𝑋__ 𝑍__ {

𝑅__

𝐼__ 𝐽__} 𝑌__ 𝐹__

X, Z: end position of arc;

Y: end position of straight line;

R: radius of arc;

I, K: center position of arc;

F: speed of tool feed(feed rate);

3.

G19 {

𝐺02

𝐺03

} 𝑌__ 𝑍__ {

𝑅__

𝐼__ 𝐽__} 𝑋__ 𝐹__

G02

G03

Y, Z: end position of arc;

X: end position of straight line;

R: radius of arc;

J, K: center position of arc;

F: speed of tool feed(feed rate);

Description:

When the 3 rd

axis which is vertical to arc plane moves, G02/G03 is to be helical interpolation. The choice of helical interpolation is the same as circular interpolation.

Helical interpolation uses G code (G17/G18/G19) to decide which plane to do circular interpolation.

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G17 form: synchronously with arc of X-Y plane.

G18 form: synchronously with arc of Z-X plane.

G19 form: synchronously with arc of Y-Z plane

Example:

FBs-30GM User Manual

End point

Starting point

Figure 47: Helical interpolation

Program description:

G17 G03 X0.0 Y1000.0 R1000.0 Z900.0 F600;

// synchronously with arc of X-Y plane (CCW), do helical interpolation with feedrate

600mm/min

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G04

Command form:

𝐆𝟎𝟒 {

𝑿__

𝑷__}

DWELL G04

X: specific time (decimal point permitted 0.001～9999.999s)

P: specific time (decimal point not permitted)

Description:

By specifying a dwell, the execution of the next block is delayed by the specified time. In addition, a dwell can be specified to make an exact check.

Example:

G04 X2500; //delay 2.5 sec

G04 X2.5; //delay 2.5 sec

G04 P2500; //delay 2.5 sec

G04 P2.5; //delay 2 sec (decimal point not permitted)

G09 EXACT STOP G09

Command form:

𝐆𝟎𝟗 {

𝑮𝟎𝟎

𝑮𝟎𝟏

} 𝐗__ 𝐘__ 𝒁__..

X, Y, Z: position of exact stop

Description:

When pass through the corner, because tool moves too fast or servo system delays, tool cannot cut the exact shape of corner, but when you need to cut high precision rectangular, you can use G09 or G61 to make it, it slow down the tool when approach to corner, when reach to the specified position (in motion parameter range), it will run the next block. G09 exact stop only be effective in one block which has G09.

Notice:

G01 check window: parameter Pr421-423

G00 check window: parameter Pr461-463

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Example:

Next block

Path without G09

FBs-30GM User Manual

Position check

Path with G09

Previous block

Figure 48: Exact stop example

G17

G18

G19

X-Y PLANE SELECTION

Z-X PLANE SELECTION

Y-Z PLANE SELECTION

Command form:

G17; // X-Y plane selection

G18; // Z-X plane selection

G19; // Y-Z plane selection

Description:

When use circular interpolation, tool radius compensation or polar coordinate command, need to use G17, G18, or G19 to set moving plane and tell FBs-30GM the working plane (default G17).

G17

G18

G19

Figure 49: G17, G18, G19 setting interpolation plane

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Figure 50: X-Y-Z space

G28

RETURN TO REFERENCE POSITION

G28

Command form:

G28 X Y Z ;

X, Y, Z: mid-point position (absolute value in G90 mode, increment value in G91 mode)

Description:

It can return to reference position or return to origin point, in order not to let the tool crush, it will use G00 mode to move from present position, it will move to the specified safety mid-point first and then return to origin point or reference point.

Only the axes which are given values when using G28 will perform the reference position return.

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Example 1:

G90 G28 X50.0 Y30.0; //A→B→C, mid-point (50,30)

Reference point

Origin

Mid point (50,30)

Figure 51: G28 return to reference position example1

Example 2:

G28 X0; //X axis return to zero point, Y axis and Z axis stay the same.

G28 Y0; //Y axis return to zero point, X axis and Z axis stay the same.

G28 Z0; //Z axis return to zero point, X axis and Y axis stay the same.

G28.1 INCREMENTAL DISTANCE TRIGGERED BY SENSOR G28.1

Command form:

𝐆𝟐𝟖. 𝟏 𝐗__ 𝐐__ 𝐑__ 𝐅𝟏 = __ 𝐅𝟐 = __;

X: Specified point of the first part (X can be replaced with Y or Z).

Q: Second part distance, if there is no this argument, the second part distance will be the same with the first part (incremental distance).

R: The distance to the sensor

F1: The speed of the first part

F2: The speed of the second part

F: If F1 and F2 are not specified, the speed will be the same as the value of F_.

Description:

Move to X with the specified speed F1.

After reaching X, move to Q with the specified speed F2.

If FBs-30GM meets the optical sensor signal during the second part, FBs-30GM will immediately move R away from the sensor. Otherwise after the machine moves to

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Q, the execution of the block is completed

Notice:

Please connect the optical sensor to the terminal of index signal.

G30 2nd, 3rd and 4th REFERENCE POSTION RETURN G30

Command form:

G30 Pn X Y Z ;

X、Y、Z: mid-point coordinates; (absolute value under G90, increment value under

G91)

Pn: Specified reference point (parameter #2801 ~ #2860)

P1: mechanical origin point;

P2: second reference point;

P_: default is P2;

Description:

For the convenience that change tool and check, we use parameter to set a reference point to suitable position, it can let tool need not return to mechanical zero point, increase efficiency in changing the tool, the usage of this command is the same as G28 only expect returned point. Floating reference position return command, usually use in the position of automatically change the tool differ from the origin point. Movement is G00 mode.

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Example:

FBs-30GM User Manual

Third reference point

Workpiece

Second reference point

Mechanical origin point

Figure 52: G30 reference position return example

Program description: presume tool is in A (60,10)

1. to second reference point

G30 P2 X75.0 Y25.0;//A→B→2 nd

reference point

2. to third reference point

G30 P3 X15.0 Y10.0;//A→C→3 rd

reference point

G53 Machine coordinate system setting G53

Command form:

G53 X___ Y___ Z___;

X: move to specify machine coordinate of X position.

Y: move to specify machine coordinate of Y position.

Z: move to specify machine coordinate of Z position.

Description:

Machine origin point is the fixed origin point when factory build the machine, this coordinate system is fixed; when G53 is specified tool will move to the specified position on machine coordinate, when tool returns to machine zero point (0, 0, 0), this point is the origin point of machine coordinate system.

<Notes>:

1. G53 only effective in specified block;

2. G53 only effective absolute mode(G90), not effective in increment mode(G91);

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3. Before use G53 to set coordinate system, must set coordinate system on the basement of reference return position by manual.

G65 SIMPLE CALL G65

Command form:

G65 P L ;

P: number of the program to call;

L: repetition count;

Description:

After calling MACRO, P is called to execute and L__ indicates repeating times. But it is enabled only in the block with G65.

Example:

G65 P10 L20 X10.0 Y10.0

//Call sub-program O0010 continuously 20 times, and set X=10.0 and Y=10.0 into sub-program.

G66

G67

MACRO CALL

MACRO CALL CANCEL

G66

G67

Command form:

G66 P L ;macro call

G67 ;macro call cancel

P: number of the program to call;

L: repetition count;

Description:

After G66 is called, P is called to execute and L__ indicates repeating times. If there is a moving block, G66 block will be executed again after moving block ends until using G67 to cancel it.

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Example:

N001 G91

N002 G66 P10 L2 X10.0 Y10.0

// Repeat twice calling sub-program O0010 and set X=10.0 and Y=10.0 into sub-program.

// Move to position X=20.0. After moving, call G66 P10 L2 X10.0 Y10.0.

N004 Y20.0

// Move to position Y=20.0. After moving, call G66 P10 L2 X10.0 Y10.0.

N005 G67 // Cancel macro call mode.

G70

G71

UNIT SETTING OF INCH SYSTEM

UNIT SETTING OF METRIC SYSTEM

G70

G71

Command form:

G70;

G71;

Description:

G70: inch system

G71: metric system

After change inch/metric system, origin offset value of workpiece coordinate, tool data, system parameter, and reference point, all of that is still correct. System will deal the change of unit automatically. After change inch/metric system, item below will change as follow:

 Coordinate, unit of speed

 Increment JOG unit

 MPG JOG unit

Decimal Point Input

When parameter is inputted by decimal point input, will to be the common measurement unit, mm, inch, sec…etc., if input by whole number, it will to be the

Min unit that system default, mm, ms, …etc.

Precision (BLU:)

Set motion parameter Pr17 to Control precision (BLU):

1: 0.001inch / 0.01mm / 0.01deg;

2: 0.0001inch / 0.001mm / 0.001deg;

3: 0.00001inch / 0.0001mm / 0.0001deg.

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G90

G91

Command form:

G90;

G91;

Description:

G90: absolute command.

G91: incremental command.

ABSOLUTE COMMEND

INCREMENT COMMEND

FBs-30GM User Manual

G90

G91

Specified point

Initial point

Program zero point

Figure 53: G90/G91 (absolute/increment) commend example

Program description:

1. First way(absolute): G90 G00 X90.0 Y40.0;

//use the different distance from specified point to program zero point, to linear interpolation to specified point

2. Second way(increment): G91 G00 X70.0 Y20.0;

//use the different distance from specified point to starting point, to linear interpolation to specified point

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G92 PROGRAM COORDINATE SYSTEM SETTING G92

Command form:

G92 X Y Z ;

X, Y, Z: set the position that work coordinate system(G92) in programmable coordinate system

Description:

When we design the program, we must set another program coordinate zero point, we can use G92 to set a new coordinate system at this time, this command is set a new zero point of coordinate system when the tool is in any position, after setting tool will start to perform at this point, absolute command is computed by this new coordinate system.

Example:

Program zero point

Figure 54: Program coordinate system setting example

Program coordinate system

Do the specified MACRO program and set program coordinate to zero before execution MACRO program with different machine coordinate.

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G92.1 ROTATING PROGRAM COORDINATE SYSTEM SETTING G92.1

Command form:

G92.1 X Y Z I J K R ;

X、Y 、Z: Set the position that work coordinate system (G92) in programmable coordinate system.

I、 J、K: Direction vector of an axis of rotation.

R: Angle of rotation.

Description:

This command will take the X, Y, Z filled value as new offset and rotate an angel R about the direction vector as a new coordinate system.

Example:

N1 G90 G00 X20. Y20.

// Machine coordinate X20. Y20.

// Program coordinate X20. Y20.

// Default of MACRO system variable #1901 #1902 coordinate offset is X0. Y0.

N2 G92.1 X10. Y10.

K1. R45.

// Machine coordinate X20. Y20.

// Program coordinate X14.142 Y0.

// Set MACROsystem variable #1901 #1902 coordinate offset to X10. Y10.

// program coordinate X-Y plane rotate 45° about Z-axis

Program coordinate system Y-axis

Program coordinate system X-axis

Program coordinate

X14.142, Y0

Rotate Program coordinate 45°

Figure 55: G92.1

rotating program coordinate system setting example

N3 G01 X100.

// Machine coordinate X80.711 Y80.711

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// Program coordinate X100.0 Y0.0

// Coordinate offset X10. Y10.

Program coordinate system Y-axis

Program coordinate system X-axis

Program coordinate X100, Y0

Rotate Program coordinate 45°

Figure 56: G92.1 rotating program coordinate system setting example (cont.)

N4 M30

G161

COMPENSATION SETTING OF LINEAR INTERPOLATION

G161

Command form:

G161 X Y Z ;

X: Compensation of linear interpolation X position.

Y: Compensation of linear interpolation Y position.

Z: Compensation of linear interpolation Z position.

Description:

After setting this linear compensation, when FBs-30GM performs G-code command

(G01), tool will move with extra compensation value.

Compensation will be effective when the corresponding axis is specified.

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Example:

Start point

End point

End point 1

Origin

End point 2

Figure 57: G161 linear interpolation compensation example

Uncompensated:

G90 G01 X100.0 Y40.0; //End point at X100.0 Y40.0

Set compensation: case G Code

1 G90 G161 X-30.0 Y-20.0;

G01 X130.0 Y40.0;

2 G90 G161 X-30.0 Y-20.0;

G01 X130.0;

3

Result

Move to end point 1.

Move to end point 1.

Only X position compensation is effective.

Move to end point 2.

G90 G161 X-30.0 Y-20.0;

G01 X100.0 Y20.0;

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G162

VECTOR COMPENSATION SETTING OF CIRCULAR

INTERPOLATION

G162

Command form:

G161 I J K ;

I, J, K: The vector compensation value that starting point of arc to the center of a circle (center of a circle－starting point)

Description:

After setting this vector compensation, when FBs-30GM performs G-code command

(G02/G03), the compensation value will be added to the vector value.

Compensation will be effective when the corresponding component is specified.

Example:

Start point

Uncompensated:

G17 G02 I30.0;

Set compensation:

G162 I20.0;

G17 G02 I30.0;

Figure 58: G162 vector compensation example

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G163

RADIUS COMPENSATION SETTING OF CIRCULAR

INTERPOLATION

G163

Command form:

G163 R;

R: Radius compensation value of arc

Description:

After setting this radius compensation, when FBs-30GM performs G-code command

(G02/G03), the compensation value will be added to the radius of arc.

G164

INTERPOLATION COMPENSATION CANCELLATION

Command form:

G164;

Cancel linear and circular compensation

Description:

Compensations about G01, G02 and G03 will be cleared.

G164

G165

Command form:

G165;

ELECTRICAL ZERO POINT SETTING

Record current X, Y, Z position as the electrical zero point.

Description:

Users can use G166 command to rapidly return to this point.

G165

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G166

RETURN TO ELECTRICAL ZERO POINT

G166

Command form:

G166;

Rapidly return to the electrical zero point

Description:

Move in the way of command G53.

Using this command requires setting the electrical zero point with command G165.

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7.2 M code instructions

M code ancillary function is used to control machine function ON or OFF. The description is as below:

Table 17: M function table

M Code Function

M01 Selectivity program dwell

M02 End program

M30 Program end, return to starting point

M98 Call the sub-program

M99 From sub-program return to main program

1. M01: Selective program dwell

M01 is controlled by "optional stop”; when M1421 is ON, M01 is effective, program dwell; when the switch is OFF, then M01 is not effective.

2. M02: End program

When there is M02 command in the end of main program. When

FBs-30GM executes this command, machine will stop, if we need to execute the program again, we must perform "RESET", and then perform

"program start".

3. M30: Program end, return to starting point

M30 command is for end of program. When program execute M30 command, the program will stop all actions, and the memory will return to the initial of the program.

4. M98/M99: sub-program control

A sub-program which has fixed performing method is executed usually, we prepare first and put it into memory, when we need to use, we can call by main program. We use M98 to call the sub-program and use M99 to end that.

Command form:

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M98 P__ H__ L__; //Sub-program called

P is specified number of program (ex. P1234 to motion program O1234)

H is the number of ranking in specified program.

L is the number of repeats that sub-program executes.

M99 P__; //Sub-program end

P is the line number that returns to main program after sub-program ends.

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8. MACRO structure motion language

8.1 Introduction

To increase FBs-30GM application flexibility, FBs-30GM provide MACRO programmable function. After the machining program is declared as MACRO format, specific arithmetic operators can be used this way. The program will not only has simple motion control functions but logical and arithmetic operations.

8.2 File format

‘%’ is the head character and the first line is also called head line. If head line without keyword ’@MACRO’, statement at this file will process with standard

ISO file. That means that file will not be able to use MACRO Syntax.

Keyword ’@MACRO’ is all capitals characters. A semicolon “;” is required at the end of each line.

Example 1: MACRO file format

% @MACRO

IF @1 = 1 THEN

G00 X100.;

ELSE

G00 Y100.;

END_IF;

M99;

Example 2: ISO file format

% //head line

G00 X100.;

G00 Y100.;

G00 X0;

G00 Y0;

M99;

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8.3 Block format

Table 18: Block format list

/ N G X Y Z I J K F M

/ Optional skip function (be effective when M1421 is ON)

N If you use a sequence number, it must be the first in the block.

G The preparatory function(s) G must follow N.

X The linear dimension words follow G. Specify the X axis first.

Y The linear dimension words follow G. Specify the Y axis second.

Z The linear dimension words follow G. Specify the Z axis third.

I The interpolation words follow the dimension words. Specify the X axis first.

J The interpolation words follow the dimension words. Specify the Y axis second.

K The interpolation words follow the dimension words. Specify the Z axis third.

F It must follow the last dimension (and interpolation) to which it applies.

M Any miscellaneous function(s) that you specify must last in the block, just ahead of the end of block character.

8.4 Operators

Table 19: Operator list

Operator

Parenthesis

Function Evaluation

Negative

Complement

Multiply

Divide

Modulus

Add

Subtract

Symbol

( ) [ ]

Identifier

(argument list)

-

NOT

*

/

MOD

+

-

1

2

3

3

4

4

4

5

5

Precedence

Comparison

Equality

<,>,<=,>=

=

6

7

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Inequality <>

Boolean/Bitwise AND &,AND

Boolean/Bitwise XOR

Exclusive OR

Boolean/Bitwise OR OR

Note:

8

9

10

11

For operator “/”, if the dividend and divisor are both integers, the result will be an integer

EX:

1.0 / 2 = 0.5

1/ 2.0 = 0.5

1/2 = 0

(1/2)*1.0 = 0

8.5 Statements

8.5.1 Assignment

Syntax: <Variable>: = <expression>;

Description: Assign a value to variable.

Example:

@1 := 123;

#1 := #3;

8.5.2 GOTO

Syntax: GOTO n;

Description: Jump to line numbers N

Example:

% @MACRO

#1 := 1;

#2 := 10;

G01 G90 X0. Y0. F1000;

IF( #1 = 1 ) THEN

GOTO #2;

END_IF;

IF( #1 = 2 ) THEN

GOTO 100;

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END_IF;

N10 G01 G90 X50. Y0. F1000;

M30;

N100 G01 G90 X0. Y50. F1000;

M30;

8.5.3 CASE

Syntax:

CASE <INT expression> OF

<INT>:

<Statement list>

<INT>, <INT>, <INT>:

<Statement list>

<INT>,…<INT>:

<Statement list>

ELSE

<Statement list>

END_CASE;

Description: Conditional execution by cases. According to the result of

INT expression in the CASE, FBs-30GM executes corresponding program block.

Example:

% @MACRO

#1 := 1;

G01 G90 X0. Y0. F1000;

CASE #1 OF

1:

X(1.0*#1) Y(1.0*#1);

2:

X(2.0*#1) Y(2.0*#1);

3, 4, 5:

X(3.0*#1) Y(3.0*#1);

ELSE

X(4.0*#1) Y(4.0*#1);

END_CASE;

M30;

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8.5.4 IF

Syntax:

IF <Condition> THEN

<Statement list>

ELSEIF <Condition> THEN

<Statement list>

ELSE

<Statement list>

END_IF;

Description: conditional execution

Example:

% @MACRO

#1 := 3.0;

G01 G90 X0. Y0. F1000;

IF #1 = 1 THEN

X(1.0*#1) Y(1.0*#1);

ELSEIF #1 = 2 THEN

X(2.0*#1) Y(2.0*#1);

ELSEIF #1 = 3 THEN

X(3.0*#1) Y(3.0*#1);

ELSE

X(4.0*#1) Y(4.0*#1);

END_IF;

M30;

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8.5.5 REPEAT

Syntax:

REPEAT

<Statement list>

UNTIL <Condition> END_REPEAT;

Description: REPEAT loop control

Example:

% @MACRO

#10 := 30.;

#11 := 22.5.;

#12 := #10/2;

#13 := #11/2;

#14 := 2.0;

#15 := 1.5;

G01 G90 X#12 Y#13 F1000;

REPEAT

G00 X(#12+#14) Y(#13+#15);

G01 X(#12+#14) Y(#13-#15);

G01 X(#12-#14) Y(#13-#15);

G01 X(#12-#14) Y(#13+#15);

G01 X(#12+#14) Y(#13+#15);

#14 := #14 + 2.0;

#15 := #15 + 1.5;

UNTIL (#14 > #12) OR (#15 > #13) END_REPEAT;

M30;

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8.5.6 WHILE

Syntax:

WHILE <Condition> DO

<Statement list>

END_WHILE;

Description: WHILE loop control

Example:

% @MACRO

#10 := 30.;

#11 := 22.5.;

#12 := #10/2;

#13 := #11/2;

#14 := 2.0;

#15 := 1.5;

G01 G90 X#12 Y#13 F1000;

WHILE (#14 <= #12) AND (#15 <= #13) DO

G00 X(#12+#14) Y(#13+#15);

G01 X(#12+#14) Y(#13-#15);

G01 X(#12-#14) Y(#13-#15);

G01 X(#12-#14) Y(#13+#15);

G01 X(#12+#14) Y(#13+#15);

#14 := #14 + 2.0;

#15 := #15 + 1.5;

END_WHILE;

M30;

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8.5.7 FOR

Syntax:

FOR <INT variable1> := <expression1> TO <expression2>

[ BY <expression3>] DO <Statement list>

END_FOR;

Description: FOR loop control variable1: loop control variable expression1: loop start number, long or double expression2: loop end number, long or double expression3: loop increase(decrease)number, long or double

Statement list: execute statement

Example:

% @MACRO

#10 := 30.;

#11 := 22.5.;

#12 := #10/2;

#13 := #11/2;

#14 := 2.0;

#15 := 1.5;

G01 G90 X#12 Y#13 F1000;

FOR #6 := 0 TO 3 BY 1.0 DO

G00 X(#12+#14) Y(#13+#15);

G01 X(#12+#14) Y(#13-#15);

G01 X(#12-#14) Y(#13-#15);

G01 X(#12-#14) Y(#13+#15);

G01 X(#12+#14) Y(#13+#15);

END_FOR;

M30;

#14 := #14 + 2.0;

#15 := #15 + 1.5;

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8.5.8 EXIT

Syntax: EXIT;

Description: Break loop or exit jump control

Example:

% @MACRO

#10 := 30.;

#11 := 22.5.;

#12 := #10/2;

#13 := #11/2;

#14 := 2.0;

#15 := 1.5;

#16 := 1.0;

G01 G90 X#12 Y#13 F1000;

FOR #6 := 0 TO 3 BY 1.0 DO

IF((#14 = 4) & (#16 = 1)) THEN

EXIT;

END_IF;

G00 X(#12+#14) Y(#13+#15);

G01 X(#12+#14) Y(#13-#15);

G01 X(#12-#14) Y(#13-#15);

G01 X(#12-#14) Y(#13+#15);

G01 X(#12+#14) Y(#13+#15);

#14 := #14 + 2.0;

#15 := #15 + 1.5;

END_FOR;

M30;

8.5.9 Comment

Syntax:

(* < Statement list > *)

// <Statement list>

Description: Remark or explanation

Example1: Single line comment

% @MACRO

G00 G90 X0. Y0.; // Return to the origin

M30;

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Example2: Block comment

% @MACRO

(*

This block is a comment.

The contents do not affect following program execution.

*)

G00 G90 X0. Y0.;

G00 G90 X10. Y0.;

G00 G90 X10. Y10.;

G00 G90 X0. Y10.;

G00 G90 X0. Y0.;

M30;

8.6 Functions listing

Table 20: Functions listing table

Function

ABS

ACOS

ASIN

ATAN

Description

Calculates the absolute value of a number.

Ex:

#10 := -1.1;

#1 := ABS(#10); // #1 = 1.1

#2 := ABS(-1.2); // #2 = 1.2

Calculates the arc cosine of a number.

Ex:

#10 := 1;

#1 := ACOS(#10); // #1 = 0

#2 := ACOS(-1); // #2 = 180

Calculates the arc sine of a number.

Ex:

#10 := 1;

#1 := ASIN(#10); // #1 = 90

#2 := ASIN(-1); // #2 = -90

Calculates the arc tangent of a number.

Ex:

#10 := 1;

#1 := ATAN(#10); // #1 = 45

#2 := ATAN(-1); // #2 = -45

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CEIL

COS

Return the smallest integer that is greater than or equal to a number.

Ex:

#10 := 1.4;

#1 := CEIL(#10); // #1 = 2

#2 := CEIL(1.5); // #2 = 2

Calculates the cosine of a number.

Ex:

#10 := 180;

#1 := COS(#10); // #1 = 1

#2 := COS(-180); // #2 = -1

FLOOR

GETARG

Return the largest integer that is less than or equal to a number.

Ex:

#10 := 1.4;

#1 := FLOOR(#10); // #1 = 1

#2 := FLOOR(1.5); // #2 = 1

Read caller argument in subroutine.

Ex:

O0001 main program

G101 X30. Y40. Z1=40. Z2=50.;

G0101 extension G code macro

#1 = GETARG(X); // the value of X argument will store in #1

#2 = GETARG(Z1); // the value of Z1 argument will put in #2

#3 = GETARG(W); // without W argument, #3 will be

“VACANT”

GETTRAPARG For G66/G66.1 modal macro call handler to get the block’s information.

Ex:

O0001 main program

G66 P100 X100. Y100.

G01 X20.

O0100 subroutine

#1 := GETARG(X); // Get X argument 100. to #1

#2 := GETTRAPARG(X); // Get the block X argument 20. to

#2

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MAX

MIN

PARAMETER To read specified system parameter number.

Ex:

#1 := PARAM(3203);

// To access interpolation time interval

POP Pop value from Macro stack.

Ex:

PUSH(5); // push “5” into stack

#1 := POP(); // popup a value to #1 (#1 = 5)

PUSH Push value into Macro stack.

Ex:

PUSH(#1); // push #1 variable into stack

PUSH(#3); // push #3 variable into stack

RANDOM

Determines the maximum of two inputs.

Ex:

#10 := 1.2;

#20 := 4.5;

#1 := MAX(#10, #20); // #1 = 4.5

#2 := MAX(-1.2, -4.5); // #2 = -1.2

Determines the minimum of two inputs.

Ex:

#10 := 1.2;

#20 := 4.5;

#1 := MIN(#10, #20); // #1 = 1.2

#2 := MIN(-1.2, -4.5); // #2 = -4.5

ROUND

SCANTEXT

Generates a pseudorandom number.

Ex:

#1 := RANDOM();

Return the value of the argument rounded to the nearest long value.

Ex:

#10 := 1.4;

#1 := ROUND(#10); // #1 = 1

#2 := ROUND(1.5); // #2 = 2

To scan text string from global variable.

Notes: Because string is local, so only can stores in local variable, and cannot save to global variable. That is, following will get wrong result.

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SIGN

SIN

SLEEP

SQRT

STD

Ex:

% @MACRO

@1:="12";

#1:=SCANTEXT(1);

OPEN("NC");

PRINT("@1");

PRINT("#1");

CLOSE();

M30;

(*The results:

@1 = 12849

#1 = 12*)

Return sign of a number, –1 for negative number, 1 for positive number, 0 for zero number.

Ex:

#10 := 4;

#1 := SIGN(#10); // #1 = 1

#2 := SIGN(-4); // #2 = -1

#3 := SIGN(0); // #3 = 0

Calculate the sine of a number.

Ex:

#10 := 90;

#1 := SIN(#10); // #1 = 1

#2 := SIN(-90); // #2 = -1

Temporarily give up this cycle execution.

Ex:

SLEEP();

Calculates the square root of a number.

Ex:

#10 := 4;

#1 := SQRT(#10); // #1 = 2

#2 := SQRT(9); // #2 = 3

Standardize arguments, read a number, in argument one, by least increment method, in argument two, when necessary for decimal point programming.

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STDAX

STKTOP

TAN

WAIT

Ex:

#9 := STD(#9,#1600); // normalize by distance axis (BLU)

Standardize arguments, read a number, in argument one, by least increment method, in argument two is axis address.

Ex:

#24 := STDAX(#24,X); // normalize by X dimension

#3 := STDAX(#3,A); // normalize by A dimension

Peek the stack value by index from top one.

Ex:

PUSH(5); // push 5 variable into stack

PUSH(6); // push 6 variable into stack

PUSH(7); // push 7 variable into stack

#1 := STKTOP[0]; // #1 = 7

#2 := STKTOP[1]; // #2 = 6

#3 := STKTOP[2]; // #3 = 5

Calculates the tangent of a number.

Ex:

#10 := 45;

#1 := TAN(#10); // #1 = 1

#2 := TAN(-45); // #2 = -1

Wait until all previous motion/logic commands are finished.

Ex:

% @MACRO // MACRO program

G00 X0.; // G00 position to X0.0

G01 X80.; // G01 linear interpolation to X80.0

WAIT();

// Wait until all previous motion/logic commands are finished.

G01 X80.+@101462;

// G01 linear interpolation to X(80.0+@101462)

// Assign @101462=20.0 before this single block is executed

// After this block is executed, machine move to X100.0

M30; // Program end

Generally before executing a motion program, commands within the program will be pre-decoded in advance. Locus and endpoint of each single block are decided at this moment. By

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FBs-30GM User Manual using WAIT() function to stop pre-decoding, after the start of the motion program, you can change the value of @101462 before execution “G01 X80 + @101462” block. The machine move to X(80.0 + @101462) in the end.

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8.7 Sub-program control

8.7.1 Call methods

Table 21: Call methods listing table

Syntax

M98 P_ H_ L_

G65 P_ L_

G66 P_ L_

Description

Subprogram call,

P_ subroutine name

H_ start N number

L_ repeat times

Macro call

P_ subroutine name

L_ repeat times

Modal macro call, for every move block

P_ subroutine name

L_ repeat times

Examples

M98 P10 L2;

G65 P10 X10.0 Y10.0;

G66.1 P_ L_ Modal macro call, for every block

P_ subroutine name

L_ repeat times

Example:

G66 P10 X10.0 Y10.0;

X20.

Y20.

Description:

X20 and Y20. move command block will call

O0010

Example:

G66.1 P10 X10.0

X20.

G04 X2.;

M31;

Description:

X20、G04 X2 and

M31.every block will call

O0010

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M99 Q_

8.7.2 Return methods

Table 22: Return methods listing table

Syntax

M99

M99 P_

Description

Return

Return and go to specified label

P_ sequence number

Examples

M99;

M99 P100;

Return to main program

N100

Return and go to specified line number

Q_ line number

M99 Q100;

Return to main program line100

Modal macro call cancel G67; G67

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8.8 Variable specifications

MACRO variables can be divided into three types, local variables (Local variable, # 1 ~ # 400), system variables (System variable, # 1000 ~ # 31986), and public variables (Global variable, @ 1 ~ @ 165535). Different types of variables will have their different life cycles, as well as reading and writing rules. The following sections will have more detailed descriptions.

8.8.1 MACRO notices

1. Try to use local variables (#1 ~ #400) instead of global variables (@1 ~

@10495). Because of MACRO execution, the user's data are passed through the arguments (A_, B_, ..., Z_, X1 = _, Y1 = _, ...), but passed by global variables does not comply with user’s usage.

2. Since the modal variables, #2001 ~ #2100, #3001 ~ #3080 will be reverted to VACANT state when the system is reset. Modal variables can be applied across multiple MACROs to exchange data and save shared resources.

3. When you execute MACRO, if you need to change mode G code

(G91/G90, G17/G18/G19 ..., etc.) states, please backup its current states in the beginning and restore them to its original states before leaving

MACRO.

4. After leaving the MACRO, if you still want to keep this MACRO interpolation mode (#1000), it is recommended to designate the interpolation mode to the MACRO program number before leaving

MACRO program. Thereafter as long as encountering the axial displacement of the command block, the system will automatically call this MACRO program without specifying again. Of course, this

MACRO interpolation mode will be automatically removed after encountering G00/G01 / G02/G03, or the content of # 1000 changes.

5. When performing motion program, system will predecode MACRO program, therefore MACRO execution speed is ahead of G/M-code instructions. So if specifying variables or reading data need to be synchronized with issuing G/M-code instructions, please add WAIT() instruction before specifying variables or reading data to ensure correct operation.

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6. Being a sub-program, the MACRO program need to add "M99;" at the last line to return to the main program.

7. Please try to add more comment in the program to develop good habits, and this can help to increase the readability of the program and deal with follow-up maintenance or troubleshooting.

8.8.2 Global variable

Table 23: Global variable table

Variables

@0

@1 ~ @400

Description

VACANT

Normally arithmetic variables

Rule

R

R/W

@656 ~ @1999 Memorable variables(still exist when power off)

@120000~@165535 Corresponding to PLC register Registry R20000~R65535

Remark

R/W

R/W

All global variable lifetime will end when FBs-30GM is power off.

If user wants to memorize @1 ~ @400 values, after shut down

FBs-30GM, set Pr3811 for this function.

Users please do not use other global variables that are not mentioned and have been used within the system to avoid system being abnormal.

8.8.3 Local variables

Table 24: Local variables listing

Variables.

#0

#1 ~ #400

Remark

Description

VACANT

Local variable for macro program

R

Rule

R/W

The local variables use in MACRO, the effective life time is only useful in MACRO executive process. When the execution is finish and escape from the program, the local variables will automatically become vacant.

Sub-Program and main program can use the same local variable at the same time, the life time of variable ends along with the end of the main program.

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A

B

C

D

E

F

H

I

It is suitable to use local variables if operations need to be done in a MACRO program. When calling a MACRO program, FBs-30GM has its default addresses that can be used to store incoming arguments.

Table 25: Default argument specification

Address Address Address Variable Number Variable

Number

#1

#2

#3

#7

#8

#9

#11

#4

J

K

M

P

Q

R

S

T

Variable

Number

#5

#6

#13

#16

#17

#18

#18

#20

U

V

W

X

Y

Z

X1

#21

#22

#23

#24

#25

#26

GETARG(X1)

8.8.4 System variables

Table 26: System variables

No

#1000

#1002

#1004

#1010

#1046

#1048

Description

Interpolation mode, 00/01/02/03

Contouring plane selection mode, 17/18/19

Absolute/Incremental command mode, 90/91

Inch/Metric mode, 70/71

Feedrate command, F Code

Caller’s current line number

#1050 Program start sequence number

#1301 ~ #1303 Block end position in program coordinate

#1321 ~ #1323 Current position of X, Y or Z-axis in machine coordinate, this value can’t be read during movement.

#1341 ~ #1343 Current position of X, Y or Z-axis in program coordinate

#1600

#1602

Distance least input increment, refer to Pr17

Time/Rotation angle least input increment, refer to

Pr17

R

R

Rule

R/W

R

R

R

R

R

R

R

R

R

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8.8.5 MACRO example

 N1: Do linear interpolation with absolute command G90 and move to X20.0.

 N2: Call MACRO program O0201 and read caller argument X1 in subroutine.

 After entering O0201, X1 is stored in the local variable #1.

 Use #10 to backup absolute command mode G90.

 Do positioning G00 with incremental command G91 and move 10.0 along

Y-axis.

 Restore to absolute command mode G90.

 Return to main program.

 N3: Due to absolute command mode G90 and the last interpolation mode before leaving O0201 is G00 (#1000 = 0), this block shows the machine will move to X-20.0 with G00.

 N4: Call MACRO program O0202 and read argument X through #24.

 After entering O0202, X is stored in the local variable #1.

 Use #10 to backup absolute command mode G90.

 Use #11 to backup interpolation mode G00.

 Do linear interpolation G01 with incremental command G91 and move

10.0 along Y-axis.

 Restore to absolute command mode G90.

 Restore to interpolation mode G00.

 Return to main program.

 N5:

Do positioning G00 with absolute command G90 and move to X-10.0.

 N6: Program end

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% Main program

N1 G90 G01 X20.

N2 G65 P201 X1=10. // call O0201

N3 X-20. // G90 G00

N4 G65 P202 X-10. // call O0202

N5 X-10. // G90 G00

// program end N6 M30

% @MACRO

#1 := GETARG(X1);

// O0201 sub-program

// read argument X1 as 10.0

#1 := STD(#1, #1600); // normalized (BLU)

#10 := #1004; // backup command mode G90

G91 G00 Y#1;

G#10;

M99;

// move 10.0 along Y-axis

// restore to G90

// return to main program

% @MACRO // O0202 sub-program

#1 := STD(#24, #1600); // read argument X as -10.0

#10 := #1004;

#11 := #1000;

// backup command modeG90

// backup interpolation mode G00

G91 G01 Y#1;

G#10;

#1000 := #11;

M99;

// move -10.0 along Y-axis

// restore to G90

// restore to G00

// return to main program

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9. Examples of motion program

9.1 S-curve

FBs-30GM User Manual

Figure 59: S-curve

Program description:

G90 G17;

G00 X20.0 Y20.0;

G03 X20.0 Y80.0 R30.0 F500;

G02 X20.0 Y120.0 R20.0;

G01 Y130.0;

G03 X20.0 Y70.0 R30.0;

G02 X20.0 Y30.0 R20.0;

G01 Y20.0;

M02;

// set to absolute command and X-Y plane

// positioning to (20,20)

// CCW circular interpolation to (20,80)

// CW circular interpolation to (20,120)

// linear interpolation to (20, 130)

// CCW circular interpolation to (20,70)

// CW circular interpolation to (20,30)

// linear interpolation to (20, 20)

// Program end

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9.2 Multi-speed control

Figure 60: Multi-speed control

Program description:

G90;

G00 X0.0 Y0.0 Z0.0;

G01 X10.0 Y15.0 F100;

G01 X20.0 Y30.0 F150;

G01 X30.0 Y45.0 F200;

G01 X40.0 Y60.0 F250;

G01 X50.0 Y75.0 F300;

M02;

9.3 Coupling

Set Pr3825 to select coupling type.

0: Cancel coupling

1: Machine coupling, coupling starts from power on and can’t be canceled.

2: PeerSynchronization coupling;

Coupling starts from power on and M1422 on. When M1422 is off, coupling is canceled.

FBs-30GM receives commands from the master axis or the slave axis and then sends to two axes at the same time.

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3: Superimposition coupling

Coupling starts from power on and M1422 on. When M1422 is off, coupling is canceled.

Superimposition coupling is the slave axis superimpose on the master axis. When FBs-30GM receives commands from the master axis, both of the axes will move. When FBs-30GM receives commands from the slave axis, the slave axis will move relatively to the position of the master axis.

4: MasterSlaveSynchronization coupling

Coupling starts from power on and M1422 on. When M1422 is off, coupling is canceled.

MasterSlaveSynchronization coupling is FBs-30GM gets commands from the master axis and then sends to two axes to execute.

5: One to many coupling

Coupling starts from power on and M1422 on. When M1422 is off, coupling is canceled.

Similar to PeerSynchronization coupling, FBs-30GM receives commands from the master axis or the slave axes and sends to these axes to execute.

When Bit on, the axis is coupling.

Bit 1: X axis to carry 2

Bit 2: Y axis to carry 4

Bit 3: Z axis to carry 8

When Pr3822 is 12(12=4+8), the slave axes are Y-axis and Z-axis.

Note: When use one to many coupling, master axis ratio and slave axis ratio become 1:1. Settings of Pr3823 and Pr3824 are not useful.

9.4 Trigger input terminals to execute motion program

1. Prepare motion programs for external trigger function

2. The program files can be named from O1001 to O1009.

(O1001 ~ O1009 correspond to the input terminal of FBs-30GM X0 ~

X8.)

3. Upload the motion program to FBs-30GM.

4. Set M1424 ON.

5. Trigger input terminals X0 ~ X8 to begin the corresponding motion programs O1001 ~ O1009.

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(If you are currently running a motion program, FBs-30GM will directly switch to the corresponding motion program and start. After the program is finished, FBs30GM will switch back to the previous motion program and return to standby state.)

9.5 Dynamically change endpoint

Program description:

% @MACRO // MACRO program

G00 X0.; // G00 position to X0.0

G01 X80.; // G01 linear interpolation to X80.0

WAIT(); // Wait until all previous motion/logic commands are finished.

G01 X80.+@101462; // G01 linear interpolation to X(80.0+@101462)

// Assign @101462=20.0 before this single block is executed

// After this block is executed, machine move to X100.0

M30; // Program end

Generally before executing a motion program, commands within the program will be pre-decoded in advance. Locus and endpoint of each single block are decided at this moment. By using WAIT() function to stop pre-decoding, after the start of the motion program, you can change the value of @101462 before execution “G01 X80 +

@101462” block. The machine move to X(80.0 + @101462) in the end.

9.6 Sensor-triggered incremental displacement

Program description:

G00 X0.0;

G28.1 X10.0 Q30.0 R20.0 F1=1000 F2=200;

M02;

Move to X10.0 with the specified speed F1.

After reaching X, machine move to Q with the specified speed F2.

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If FBs-30GM meets the optical sensor signal during the second part,

FBs-30GM will immediately move 20.0 away from the sensor. Otherwise after the machine moves to Q, the execution of the block is completed

O

0

X

10.0

30.0

Sensor

Q

40.0

20.0

R

Figure 61: Sensor-triggered incremental displacement

X-axis

Notice:

Please connect the optical sensor to the terminal of index signal.

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Appendix I (Special relays and registers of FBs PLC)

FBs PLC series have special relays and registers to control or monitor the operation state of FBs-30GM. The detailed descriptions are listed in the tables below.

The special relays of FBs PLC can be divided into two types.

A. Control relays M1400 ~ M1430: These relays are for FBs PLC to control

FBs-30GM.

B. Status relays M1464 ~ M1474, M1480 ~ M1488 and M1490~M1495: These relays are for FBs PLC to monitor the operation state of FBs-30GM. Hence users can confirm the operation state of FBs-30GM by checking these status relays.

Special registers D3426 ~ D3431 store part of the operating parameters of FBs-30GM and their values can be modified through FBs PLC. Register D3432 can determine the output voltage of VO terminal. Users can write data to specific user-defined global variables of MACRO by registers DD3434 ~ DD3446. On the other hand, FBs PLC can read the coordinates and velocities from Registers DD3304 ~ DD3322. And registers

DD3352~DD3390 are read-only specific user-defined global variables of MACRO.

Notice:

Relays M1400 ~ M1499 and registers D3300 ~ D3499 of FBs PLC are designed for the system of FBs-30GM. Users please do not use these registers for other purposes to avoid unpredictable behavior.

Table 27: Control relays of FBs PLC for FBs-30GM

Relay

M1400

Function

Start

Description

In AUTO mode, turn ON this relay can be used to start the motion program.

M1401

M1402

Feed Hold

Reset

In the process, turn ON this relay can be used to suspend the motion program.

Turn ON this relay to reset and stop the motion program.

M1403 X Axis JOG+

In JOG mode, turn ON the relay and the machine will

M1404 X Axis JOG- move along the corresponding direction of axis.

M1405 Y Axis JOG+

In HOME mode, turn ON the relay to trigger reference

M1406 Y Axis JOG- point searching of the corresponding axis.

M1407 Z Axis JOG+

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M1408 Z Axis JOG-

M1409

M1410

M1411

X Axis MPG

Selection

Y Axis MPG

Selection

Z Axis MPG

Selection

In MPG mode, if the corresponding axial relay is ON, the machine will go relative displacement according to the hand wheel input.

M1412

M1413

M1414

M1415

MPG

Simulation

In Auto mode, when this relay is ON, after starting the motion program, G00, G01, G02 and G03’s FEEDRATE

OVERRIDE MPG determined by the rotational speed.

The faster the rotation, the faster the machine movement. MPG stops, the machine stops. It is suitable for processing test of machine.

RESET X Axis

Machine

Position Set current position to zero as the corresponding axial

RESET Y Axis machine coordinate origin. Suited for test processing

Machine

Position and adjust the machine coordinate. If used during processing, it may cause the machine coordinates

RESET Z Axis incorrect.

Machine

Position

When this relay is ON, FBs-30GM stops after a BLOCK of

M1416 Single Block G-CODE is finished. Users have to set Start to start doing next BLOCK。

When this relay is ON, if there is a skip sign “ \ ” in

M1417 Optional Skip process program, it will skip this line and do next

BLOCK.

M1418

M1419

M1420

X axis When this relay is ON, the program will run, but the

Machine Lock X-axis does not move. It is usually used for program

Y axis checking.

When this relay is ON, the program will run, but the

Machine Lock Y-axis does not move. It is usually used for program checking.

Z axis When this relay is ON, the program will run, but the

Machine Lock Z-axis does not move. It is usually used for program checking.

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When this relay is ON, the program will pause if it

M1421 Optional Stop encounters “M01” during processing. When this relay is

OFF, it will skip this line.

M1422

M1423

M1424

M1425

M1426

M1427

M1428

M1429

M1430

Axis Coupling

This relay enables or disables coupling. When Pr3825 is

2, 3, 4 or 5, and if M1422 is ON, coupling is enabled. If

Request

M1422 is OFF, coupling is disabled.

The second software travel limit switch.

Stroke Limit

0: Without second software travel limit

1: With second software travel limit

Two Switch

Please refer to parameters 2441 - 2446 for further

FBs-30GM launch instructions.

FBs-30GM triggers the execution of motion programs.

0: Disable

1: Enable to trigger the execution of motion programs directly from FBs-30GM.

Drive

FBs-30GM

DO (Y0)

Drive

FBs-30GM

DO (Y1)

Drive

FBs-30GM

DO (Y2)

Control Y0 of FBs-30GM.

0: output transistor OFF.

1: output transistor ON.

Control Y1 of FBs-30GM.

0: output transistor OFF.

1: output transistor ON.

Control Y2 of FBs-30GM.

0: output transistor OFF.

1: output transistor ON.

Drive

FBs-30GM

DO (Y3)

Drive

FBs-30GM

DO (Y4)

Drive

FBs-30GM

DO (Y5)

Control Y3 of FBs-30GM.

0: output transistor OFF.

1: output transistor ON.

Control Y4 of FBs-30GM.

0: output transistor OFF.

1: output transistor ON.

Control Y5 of FBs-30GM.

0: output transistor OFF.

1: output transistor ON.

Table 28: Status relays of FBs PLC for FBs-30GM

Relay Function Description

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M1464

M1465

M1466

M1467

Start Light This relay is ON when the motion program is processing.

Feed Hold

Light

This relay is ON when the motion program is paused.

Block Stop This relay is ON when the motion program is in block stop.

Ready This relay will be ON after FBs-30GM boots up completely.

M1468

M1469

M1470

M1471

M1472

M1473

X Axis Busy

Y Axis Busy

Z Axis Busy

When the corresponding axial relay is ON indicates that the axis manual functions (hand wheel / JOG / Home) are running,

FBs-30GM cannot accept new manual commands. When the corresponding relay is OFF indicates that the axial axis in the

Idle state, allowing accepted new manual commands.

X Axis Home

OK After returning HOME, the corresponding axial relay will be ON,

Y Axis Home

OK stroke limit of each axis will be activated from then. Users should notice that if these relays are not ON, you should not

Z Axis Home start motion program.

OK

M1474

M1480

M1481

M1482

M1483

Alarm

When ALARM occurs, FBs-30GM will stop and this relay will be

ON.

FBs-30GM DI The state of input terminal X0.

Status (X0) 0: Input transistor OFF; 1: ON.

FBs-30GM DI The state of input terminal X1.

Status (X1) 0: Input transistor OFF; 1: ON.

FBs-30GM DI The state of input terminal X2.

Status (X2) 0: Input transistor OFF; 1: ON.

FBs-30GM DI The state of input terminal X3.

Status (X3) 0: Input transistor OFF; 1: ON.

M1484

M1485

M1486

FBs-30GM DI The state of input terminal X4.

Status (X4) 0: Input transistor OFF; 1: ON.

FBs-30GM DI The state of input terminal X5.

Status (X5) 0: Input transistor OFF; 1: ON.

FBs-30GM DI The state of input terminal X6.

Status (X6) 0: Input transistor OFF; 1: ON.

M1487

FBs-30GM DI The state of input terminal X7.

Status (X7) 0: Input transistor OFF; 1: ON.

FBs-30GM DI The state of input terminal X8.

M1488

Status (X8) 0: Input transistor OFF; 1: ON.

M1490 Over Travel The signal from X+ limit switch enables the flag ON, then the

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X+ controller change to feed hold mode and can retract only in the opposite direction by MPG or JOG.

The signal from X- limit switch enables the flag ON, then the

M1491 Over Travel X- controller change to feed hold mode and can retract only in the opposite direction by MPG or JOG.

M1492

Over Travel

Y+

The signal from Y+ limit switch enables the flag ON, then the controller change to feed hold mode and can retract only in the opposite direction by MPG or JOG.

The signal from Y- limit switch enables the flag ON, then the

M1493 Over Travel Y- controller change to feed hold mode and can retract only in the opposite direction by MPG or JOG.

The signal from Z+ limit switch enables the flag ON, then the

M1494

Over Travel

Z+ controller change to feed hold mode and can retract only in the opposite direction by MPG or JOG.

The signal from Z- limit switch enables the flag ON, then the

M1495 Over Travel Z- controller change to feed hold mode and can retract only in the opposite direction by MPG or JOG.

Table 29: Special registers of FBs PLC for FBs-30GM

Register No.

D3426

Function

Mode selection

Description

This register can be used to select the operation mode of

FBs-30GM.

0: default(Auto)

2: Auto

4: JOG

6: MPG

7: HOME

Remark

Write only

D3427

D3428

MPG Override

Feedrate Override

MPG step percentage speed %

0: x100(default)

1: x1

2: x10

3: x100

4: Set to the value of Pr2001

G01, G02 and G03 feedrate override percentage %

0: default(=10)

Write only

Write only

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D3429

D3430

JOG Override

Rapid Traverse

Override

1: 10%

2: 20%

………………

20: 200%

When Pr3207 = 2, the percentage is set as the above specifications. Example: D3428 =

5 means 50%.

When Pr3207 = 1, the percentage is equal to the value of this Register. Example: D3428

= 5 means 5%.

JOG override percentage %

0: default(=10)

1: 10%

2: 20%

………………

20: 200%

When Pr3207 = 2, the percentage is set as the above specifications. Example: D3428 =

5 means 50%.

When Pr3207 = 1, the percentage is equal to the value of this Register. Example: D3428

= 5 means 5%.

G00 rapid traverse override percentage

0: 100%

1: 0% (equal to Pr501 ~ Pr503)

2: 25%

3: 50%

Write only

Write only

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D3431 Motion program

Number

4: 100%

When Pr3207 = 2, the percentage is set as the above specifications. Example: D3430 =

1 means that is equal to the setting of Pr501 ~ Pr503.

When Pr3207 = 1, the percentage is equal to the value of this Register. Example: D3428

= 10 means 10%.

(If the percentage is less than 10, the rapid traverse override percentage is 10%).

Motion program number specified.

This Register is used to specify the number of motion programs to be executed.

Range: 1 to 9999

Activate method: reset

Write only

D3432

DD3462

(D3462 & D3463)

DD3464

(D3464 & D3465)

DD3466

(D3466 & D3467)

DD3468

(D3468 & D3469)

DD3470

(D3470 & D3471)

DD3472

(D3472 & D3473)

DD3474

(D3474 & D3475)

Control VO value.

User define input

User define input

User define input

User define input

User define input

User define input

User define input

Range: -10000 ~ +10000

VO range: -10V ~ +10 V

Corresponds to FBs-30GM

MACRO global variable @101462

Corresponds to FBs-30GM

MACRO global variable @101464

Corresponds to FBs-30GM

MACRO global variable @101466

Corresponds to FBs-30GM

MACRO global variable @101468

Corresponds to FBs-30GM

MACRO global variable @101470

Corresponds to FBs-30GM

MACRO global variable @101472

Corresponds to FBs-30GM

MACRO global variable @101474

Write only

Write only

Write only

Write only

Write only

Write only

Write only

Write only

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DD3476

(D3476 & D3477)

DD3478

(D3478 & D3479)

DD3480

(D3480 & D3481)

D3302

User define input

User define input

User define input

Corresponds to FBs-30GM

MACRO global variable @101476

Corresponds to FBs-30GM

MACRO global variable @101478

Corresponds to FBs-30GM

MACRO global variable @101480

Write only

Write only

Write only

D3303

DD3304

(D3304 & D3305)

DD3306

(D3306 & D3307)

DD3308

(D3308 & D3309)

DD3310

(D3310 & D3311)

DD3312

(D3312 & D3313)

DD3314

(D3314 & D3315)

M Code (00~99)

When the controller doing M

CODE, it will put the contents of

M CODE in here.

S Code (0000~9999)

When the controller doing S

CODE, it will put the contents of

S CODE in here.

Program Coordinate X

X axis program coordinate position, the unit is the minimum input unit LIU.

Program Coordinate Y

Y axis program coordinate position, the unit is the minimum input unit LIU.

Program Coordinate Z

Z axis program coordinate position, the unit is the minimum input unit LIU.

Machine Coordinate X

X axis machine coordinate position, the unit is the minimum input unit LIU.

Machine Coordinate Y

Y axis machine coordinate position, the unit is the minimum input unit LIU.

Machine Coordinate Z

Z axis machine coordinate

Compound feedrate position, the unit is the minimum input unit LIU.

Unit:LIU/min

Read only

Read only

Read only

Read only

Read only

Read only

Read only

Read only

DD3316

(D3316 & D3317)

DD3318

(D3318 & D3319)

DD3320

(D3320 & D3321)

X Axis Velocity

Y Axis Velocity

Unit:BLU/min

Unit:BLU/min

Read only

Read only

Read only

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DD3322

(D3322& D3323)

DD3352

(D3352 & D3353)

DD3354

(D3354 & D3355)

DD3356

(D3356 & D3357)

DD3358

(D3358 & D3359)

DD3360

(D3360 & D3361)

DD3362

(D3362 & D3363)

DD3364

(D3364 & D3365)

DD3366

(D3366 & D3367)

DD3368

(D3368 & D3369)

DD3370

(D3370& D3371)

DD3372

(D3372 & D3373)

DD3374

(D3374 & D3375)

DD3376

(D3376 & D3377)

DD3378

(D3378 & D3379)

DD3380

(D3380 & D3381)

DD3382

(D3382 & D3383)

DD3384

(D3384 & D3385)

DD3386

Z Axis Velocity

User define output

User define output

User define output

User define output

User define output

User define output

User define output

User define output

User define output

User define output

User define output

User define output

User define output

User define output

User define output

User define output

User define output

Unit:BLU/min

Corresponds to FBs-30GM

MACRO global variable @101252

Corresponds to FBs-30GM

MACRO global variable @101254

Corresponds to FBs-30GM

MACRO global variable @101256

Corresponds to FBs-30GM

MACRO global variable @101258

Corresponds to FBs-30GM

MACRO global variable @101260

Corresponds to FBs-30GM

MACRO global variable @101262

Corresponds to FBs-30GM

MACRO global variable @101264

Corresponds to FBs-30GM

MACRO global variable @101266

Corresponds to FBs-30GM

MACRO global variable @101268

Corresponds to FBs-30GM

MACRO global variable @101270

Corresponds to FBs-30GM

MACRO global variable @101272

Corresponds to FBs-30GM

MACRO global variable @101274

Corresponds to FBs-30GM

MACRO global variable @101276

Corresponds to FBs-30GM

MACRO global variable @101278

Corresponds to FBs-30GM

MACRO global variable @101280

Corresponds to FBs-30GM

MACRO global variable @101282

Corresponds to FBs-30GM

MACRO global variable @101284

Corresponds to FBs-30GM

Read only

Read only

Read only

Read only

Read only

Read only

Read only

Read only

Read only

Read only

Read only

Read only

Read only

Read only

Read only

Read only

Read only

Read only

User define output Read only

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(D3386 & D3387)

DD3388

(D3388 & D3389)

DD3390

(D3390 & D3391)

User define output

User define output

FBs-30GM User Manual

MACRO global variable @101286

Corresponds to FBs-30GM

MACRO global variable @101288

Corresponds to FBs-30GM

MACRO global variable @101290

Read only

Read only

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Appendix II (FBs-30GM motion parameters)

I. Motion parameters listing

Table 30: Motion parameters listing table

FBs-30GM User Manual

9

10

11

12

13

14

15

16

17

18

Index

1

2

3

4

5

6

7

8

24

25

26

27

28

29

30

31

19

20

21

22

23

Pr81

Pr82

Pr83

Pr121

Pr122

Pr123

Pr124

Pr125

Pr126

Pr161

No

Pr15

Pr17

Pr41

Pr42

Pr43

Pr61

Pr62

Pr63

Pr162

Pr163

Pr181

Pr182

Pr183

Pr201

Pr202

Pr203

Pr221

Pr222

Pr223

Pr241

Pr242

Description

I/O board digital filter type

Control precision

X axis motor command polarity

Y axis motor command polarity

Z axis motor command polarity

X axis encoder resolution

Y axis encoder resolution

Z axis encoder resolution

X axis encoder feedback scaling factor

Y axis encoder feedback scaling factor

Z axis encoder feedback scaling factor

X axis gear number at the ballscrew side

X axis gear number at the motor side

Y axis gear number at the ballscrew side

Y axis gear number at the motor side

Z axis gear number at the ballscrew side

Z axis gear number at the motor side

X axis pitch of the ballscrew

Y axis pitch of the ballscrew

Z axis pitch of the ballscrew

X axis loop gain of the position loop (1/sec)

Y axis loop gain of the position loop (1/sec)

Z axis loop gain of the position loop (1/sec)

X axis sensor type

Y axis sensor type

Z axis sensor type

X servo axis type

Y servo axis type

Z servo axis type

X axis dual feedback related to port no.

Y axis dual feedback related to port no.

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43

44

45

46

47

48

39

40

41

42

49

50

51

52

32

33

34

35

36

37

38

58

59

60

61

62

63

64

65

66

67

53

54

55

56

57

Pr381

Pr382

Pr383

Pr401

Pr402

Pr404

Pr405

Pr406

Pr408

Pr410

Pr411

Pr413

Pr421

Pr422

Pr243

Pr261

Pr262

Pr263

Pr301

Pr302

Pr303

Pr423

Pr441

Pr442

Pr443

Pr461

Pr462

Pr463

Pr481

Pr482

Pr483

Pr501

Pr502

Pr503

Pr521

Pr522

Z axis dual feedback related to port no.

X axis dual feedback resolution

Y axis dual feedback resolution

Z axis dual feedback resolution

X axis dual feedback scaling factor

Y axis dual feedback scaling factor

Z axis dual feedback scaling factor

X axis Servo driver control mode

Y axis Servo driver control mode

Z axis Servo driver control mode

Cutting acceleration time

Acceleration accelerated to 1G time

Post cutting bell-shaped acceleration time

Maximum cutting feedrate

Maximum corner reference feedrate

Arc cutting reference feedrate at radius 5 mm

MPG acceleration time

Rapid Travel G00

Reserve local coordinate G92(G92.1) after reset

X axis cutting in-position window

Y axis cutting in-position window

Z axis cutting in-position window

X axis rapid travel (G00) acceleration time

Y axis rapid travel (G00) acceleration time

Z axis rapid travel (G00) acceleration time

X axis max. rapid travel (G00) feedrate

Y axis max. rapid travel (G00) feedrate

Z axis max. rapid travel (G00) feedrate

X axis rapid travel in-position window (G09)

Y axis rapid travel in-position window (G09)

Z axis rapid travel in-position window (G09)

X axis rapid travel (G00) F0 feedrate

Y axis rapid travel (G00) F0 feedrate

Z axis rapid travel (G00) F0 feedrate

X axis JOG feedrate

Y axis JOG feedrate

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79

80

81

82

83

84

75

76

77

78

85

86

87

88

68

69

70

71

72

73

74

94

95

96

97

98

99

100

101

102

103

89

90

91

92

93

Pr581

Pr582

Pr583

Pr601

Pr602

Pr603

Pr621

Pr622

Pr623

Pr641

Pr642

Pr643

Pr661

Pr662

Pr523

Pr541

Pr542

Pr543

Pr561

Pr562

Pr563

Pr663

Pr821

Pr822

Pr823

Pr841

Pr842

Pr843

Pr861

Pr862

Pr863

Pr881

Pr882

Pr883

Pr901

Pr902

Z axis JOG feedrate

X axis cutting acceleration time

Y axis cutting acceleration time

Z axis cutting acceleration time

X axis loss pulse check window

Y axis loss pulse check window

Z axis loss pulse check window

X axis velocity feed forward percentage

Y axis velocity feed forward percentage

Z axis velocity feed forward percentage

X axis corner reference feedrate (mm/min)

Y axis corner reference feedrate (mm/min)

Z axis corner reference feedrate (mm/min)

X axis maximum cutting feedrate (G01)

Y axis maximum cutting feedrate (G01)

Z axis maximum cutting feedrate (G01)

X axis cutting bell-shaped acceleration time

Y axis cutting bell-shaped acceleration time

Z axis cutting bell-shaped acceleration time

X axis MPG feedrate

Y axis MPG feedrate

Z axis MPG feedrate

X axis speed of first part homing

Y axis speed of first part homing

Z axis speed of first part homing

X axis speed of second part homing

Y axis speed of second part homing

Z axis speed of second part homing

X axis negative homing direction

Y axis negative homing direction

Z axis negative homing direction

X axis home offset

Y axis home offset

Z axis home offset

X axis zero speed check window

Y axis zero speed check window

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112

113

114

115

116

117

118

119

120

121

122

123

124

104

105

106

107

108

109

110

130

131

132

133

134

135

136

137

138

139

125

126

127

128

129

Pr961

Pr962

Pr963

Pr981

Pr982

Pr983

Pr1001

Pr1002

Pr1003

Pr1221

Pr1222

Pr1223

Pr1241

Pr1242

Pr903

Pr921

Pr922

Pr923

Pr941

Pr942

Pr943

Pr1243

Pr1261

Pr1262

Pr1263

Pr1281

Pr1282

Pr1283

Pr1301

Pr1302

Pr1303

Pr1321

Pr1322

Pr1323

Pr1341

Pr1342

Z axis zero speed check window

X axis home dog polarity

Y axis home dog polarity

Z axis home dog polarity

Enable X axis home grid function

Enable Y axis home grid function

Enable Z axis home grid function

Home mode of X axis

Home mode of Y axis

Home mode of Z axis

X axis homing 2nd protect revolution (encoder type)

Y axis homing 2nd protect revolution (encoder type)

Z axis homing 2nd protect revolution (encoder type)

X axis fast home return function

Y axis fast home return function

Z axis fast home return function

X axis backlash compensation start

Y axis backlash compensation start

Z axis backlash compensation start

X axis G00 backlash compensation value (BLU)

Y axis G00 backlash compensation value (BLU)

Z axis G00 backlash compensation value (BLU)

X axis G01 backlash compensation value (BLU)

Y axis G01 backlash compensation value (BLU)

Z axis G01 backlash compensation value (BLU)

X axis backlash critical speed (mm/min)

Y axis backlash critical speed (mm/min)

Z axis backlash critical speed (mm/min)

X axis pitch error compensation type

Y axis pitch error compensation type

Z axis pitch error compensation type

X axis pitch error compensation Interval (BLU)

Y axis pitch error compensation Interval (BLU)

Z axis pitch error compensation Interval (BLU)

X axis table index for reference (home)

Y axis table index for reference (home)

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158

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141

142

143

144

145

146

166

167

168

169

170

171

172

173

174

175

161

162

163

164

165

Pr1343

Pr1401

Pr1402

Pr1403

Pr1421

Pr1422

Pr1423

Pr2001

Pr2041

Pr2051

Pr2401

Pr2402

Pr2403

Pr2404

Pr2405

Pr2406

Pr2441

Pr2442

Pr2443

Pr2444

Pr2445

Pr2446

Pr2481

Pr2801

Pr2802

Pr2803

Pr2821

Pr2822

Pr2823

Pr2841

Pr2842

Pr2843

Pr3202

Pr3203

Pr3207

Pr3221

Z axis table index for reference (home)

X axis mechanical compensation time constant (ms)

Y axis mechanical compensation time constant (ms)

Z axis mechanical compensation time constant (ms)

X axis max. static dual feedback error (BLU)

Y axis max. static dual feedback error (BLU)

Z axis max. static dual feedback error (BLU)

MPG 4th scaling factor

MPG resolution (Pulse/rev)

MPG scaling factor

X axis 1st Software travel limit (positive direction)

X axis 1st Software travel limit (negative direction)

Y axis 1st Software travel limit (positive direction)

Y axis 1st Software travel limit (negative direction)

Z axis 1st Software travel limit (positive direction)

Z axis 1st Software travel limit (negative direction)

X axis 2nd Software travel limit (positive direction)

X axis 2nd Software travel limit (negative direction)

Y axis 2nd Software travel limit (positive direction)

Y axis 2nd Software travel limit (negative direction)

Z axis 2nd Software travel limit (positive direction)

Z axis 2nd Software travel limit (negative direction)

2nd software limit persistency

X axis 2nd reference point

Y axis 2nd reference point

Z axis 2nd reference point

X axis 3rd reference point

Y axis 3rd reference point

Z axis 3rd reference point

X axis 4th reference point

Y axis 4th reference point

Z axis 4th reference point

I/O scan time

Interpolation time interval

Feedrate override selection

Debug level

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186

187

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189

176

177

178

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180

181

182

190

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Pr3241

Pr3805

Pr3807

Pr3811

Pr3817

Pr3818

Pr3821

Pr3822

Pr3823

Pr3824

Pr3825

Pr3826

Pr3827

Pr3837

Pr8001 ~

8100

Pr8101 ~

8200

Pr8201 ~

8300

Pr8301 ~

8400

Pr8401 ~

8500

Pr8501 ~

8600

Decimal point type

Static dual feedback error timeout

Destination not on arc check window (BLU)

Start address of persist working global variable

Fatal dual feedback error

Dual feedback self-detect error

(pulse)

Coupling master axis number

Coupling slave axis number

Coupling master axis ratio factor

Coupling slave axis ratio factor

Coupling type

Coupling couple time (ms)

Coupling decouple time (ms)

Initial Command Mode

X axis positive direction pitch error compensate, compensation table 1 ~ 100

X axis negative direction pitch error compensate, compensation table 1 ~ 100

Y axis positive direction pitch error compensate, compensation table 1 ~ 100

Y axis negative direction pitch error compensate, compensation table 1 ~ 100

Z axis positive direction pitch error compensate, compensation table 1 ~ 100

Z axis negative direction pitch error compensate, compensation table 1 ~ 100

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No

II. Descriptions of motion parameters

Descriptions Range Unit Initial Activate method

15 I/O board digital filter type [0 ~ 3] - 3 reset

 I/O board digital filter type, the larger value is better to filter the noise, but also reduce the sensitivity of the I/O Signal.

 0:

The system input state is on If the off signal get in, checking the next two signals.

If either signal is off, the system input state is changed to off.

The system input state is off  If the off signal gets in, checking the two signals behind it. If either signal is on, the system input state is changed to on.

 1:

The system input state is on If the off signal gets in, checking the next signal. If signal is off, the system input state is changed to off.

The system input state is off If the on signal gets in, checking the next signal. If signal is on, the system input state is changed to on.

 2:

The system input state is on If the off signal gets in, checking the next two signals.

If both of signals are off, the system input state is changed to off.

The system input state is off If the on signal gets in, checking the next two signals.

If both of signals are on, the system input state is changed to on.

 3:

The system input state is on If the off signal gets in, checking the next four signals.

If all of signals are off, the system input state is changed to off.

The system input state is off If the on signal gets in, checking the next four signals.

If all of signals are on, the system input state is changed to on.

I

Figure 62: I/O board digital filter

No

17

Descriptions

Control precision

Range

[1 ~ 3]

Unit

-

Initial

2

Activate method restart

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 Set the parameter to Control precision (BLU):

1: 0.001 inch / 0.01 mm / 0.01 deg;

2: 0.0001 inch / 0.001 mm / 0.001 deg;

3: 0.00001 inch / 0.0001 mm / 0.0001 deg.

 It would not be affected by imperial system.

 When the parameter is changed, all of the parameters that relate BLU have to change.

No Descriptions Range

41 ~ 43

Axis motor command polarity

[0 ~ 1]

Unit initial Activate method reset

0

 The definition of motor rotation direction to the machine movement:

0: Same;

1: Reverse the direction.

 If the direction of machine movement is reverse the direction of command, set the parameter to revise the command.

No Descriptions Range Unit initial Activate method

61 ~ 63 Axis encoder resolution

[10 ~

2500000]

1250 reset

 If encoder is used, setting unit is pulse/rev; if ruler is used, setting unit is pulse/mm. Note that this setting value is resolution for single phase (A or B phase) before frequency multiplication.

 Assume that the ruler resolution is 1um/pulse (i.e., 1mm/1000pulse), with encoder scaling factor of 4 (Pr8x=4). Thus, this parameter shall set to (1000/4) =250.

 Assume that the ruler resolution is 10um/pulse (i.e., 1mm/100pulse), with encoder scaling factor of 4 (Pr8x=4). Thus, this parameters shall set to (100/4) =25.

No Descriptions Range Unit initial Activate method

81 ~ 83 Axis encoder scaling factor [1 ~ 4] 4 reset

 Encoder feedback gain of the servo board can set to 1, 2, or 4.

No Descriptions Range Unit initial Activate method

121 ~ 126

Gear number at the ballscrew side.

Gear number at the motor

[1 ~

999999999]

1 reset

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 Gear number at the ballscrew side, Gear number at the motor side:

 System can decide the speed rate by the parameters.

 Ex: Gear number at the ballscrew side: Gear number at the motor side = 2:1è

Motor speed: ballscrew = 2:1

No Descriptions Range Unit initial Activate method

161 ~ 163 Pitch of the ballscrew

[1 ~

1000000]

BLU 5000 reset

 Pitch of the ballscrew:

 Ballscrew rotate a revolution that move value of linear. (When change the Pr17, this parameter have to change.)

No Descriptions Range Unit initial Activate method

181 ~ 183

Loop Gain of the position loop

[1 ~

1000000]

1/sec 30 reset

 Loop Gain of the position loop for servo system:

1. For each corresponding axis direction, the parameter setting value should be the same as loop gain of the position loop for driver.

(Suggest every feed axis should be the same)

2. System can compute reasonable servo following error by the parameter setting value. When output signal is pulse (driver is position control), the parameter setting value is only for system monitoring motor motion is OK or not.

 When System sends pulse commands, the parameter means:

According to the formula, F e

=

K p

V cmd

(Pr181 ~ )

, calculate ideal following error (System debug variable No.32 ~ No.34) and real following error (System debug variable No.8

~ No.10).If the difference is too big, FBs-30GM will alarm “Fatal following error exceed”.

If the feed forward turn on, FBs-30GM will calculate by the parameter then send compensation to decrease the following error.

No Descriptions

201 ~ 203 Axis sensor type

Range

[0 ~ 2]

Unit initial Activate method

0

 This parameter is used to define the encoder feedback type restart

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0: Incremental encoder

1: Optical linear encoder

2: No feedback

No Descriptions

221 ~ 223 Type of servo axis

Range

[0 ~ 5]

Unit

initial

0

Activate method reset

 Set the parameter is 0 : (linear axis)

1. Machine coordinate and absolute coordinate are linear axes.

2. Metric coordinate and inch coordinate transform.

3. G28 and G30 (reference coordinate instruct) will go back the machine origin.

4. It is useful in backlash compensation and quad-peak error compensation and home grid function.



 Set the parameter is 1: (Rotary axis A)

Machine coordinate and absolute coordinate are rotary axes.

Coordinate value is between 0 ~ 360 degree.

The sign +/- is the direction of absolute coordinate (G90) moving instruct.

The unit in Metric coordinate system and inch coordinate system both are degree.

G28 and G30 (reference coordinate instruct) will go back to the machine origin that rotates in a revolution.

It’s useful in backlash compensation and quad-peak error compensation and home grid function

Absolute coordinate (G90) moving instruction is automatic to choose the shortest path.







 Set the parameter is 2: (Rotary axis B)

Machine coordinate and absolute coordinate are rotary axes.

Coordinate value is between 0 ~ 360 degree.

The sign +/- is the direction of absolute coordinate (G90) moving instruct. + rotate positive direction and – rotate negative direction.

The unit in Metric coordinate system and inch coordinate system both are degree.

G28 and G30 (reference coordinate instruct) will go back the machine origin that rotates in a revolution.

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It’s useful in backlash compensation and quad-peak error compensation and home grid function



 Set the parameter is 3: (Rotary axis C)

Machine coordinate and absolute coordinate are rotary axes.

Coordinate value is between -360 ~ 360 degree.

The unit in Metric coordinate system and inch coordinate system both are degree.

G28 and G30 (reference coordinate instruct) will go back the machine origin that rotates in a revolution.

It’s useful in backlash compensation and quad-peak error compensation and home grid function



 Set the parameter is 4: (Rotary axis D)

Machine coordinate is rotary axis and absolute coordinate is linear axis.

Coordinate value is between 0 ~ 360 degree.

The unit in Metric coordinate system and inch coordinate system both are degree.

G28 and G30 (reference coordinate instruct) will go back the machine origin.

It’s useful in backlash compensation and quad-peak error compensation and home grid function



 Set the parameter is 5: (Rotary axis E)

Machine coordinate and absolute coordinate are linear axes.

The unit in Metric coordinate system and inch coordinate system both are degree.

G28 and G30 (reference coordinate instruct) will go back the machine origin.

It’s useful in backlash compensation and quad-peak error compensation and home grid function

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Table 31: Type of servo axis setting

Setting value

Workpiece coordinate display

Machine coordinate display

Absolute instruction

1

0~+360°

0~+360°

2 4 5

0~±360000°

0~±360000°

3（Note 1）

0~±360°，over

±360° back to 0°

0~±360°，over

±360° back to 0°

The shortest distance

（within

Use command signal (+) or (-) as moving half circle） direction, moving to the close command corresponding angle position

（within one circle）

The same as linear axis behavior, move to command position

（maybe over 1 circle）

Direct move to goal position

（within 2 circle）

Use command signal (+) or (-) as moving direction. Do increment movement.

Move to middle point by increment or absolute type command, from middle point back to origin. (EX: Machine coordinate positioning )

Increment instruction

Reference position return

Machine coordinate positioning linear axis behavior

（maybe over 1 circle）

Direct move to goal position

（within 2 circle）

Note1: Type C (Setting value is 3) is the specification for special purpose machine.

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No Descriptions Range Unit Initial Activate method

241 ~ 243

Axis dual feedback servo channel no.

[0 ~ 3] 0 restart

 This parameter is used to define the actual axis number that is used to receive dual feedback signal from ruler. X-axis corresponds to 1, Y-axis corresponds to 2, and

Z-axis corresponds to 3.

 NOTE: With each servo axis that wants to set up a dual feedback, it needs two hardware ports on the servo card. In which, the first port is applied to send command from FBs-30GM and receive the encoder feedback of encoder. The second port is applied to receive the ruler’s (optical encoder) feedback. Therefore, please check whether the hardware ports are enough to set up a dual feedback control system.

No Descriptions Range Unit initial Activate method

261 ~ 263

Axis dual feedback resolution

[10 ~

2500000]

Pulse/mm 250 reset

 This parameter is used to set the resolution of ruler feedback of each servo axis.

Note that this setting value is resolution for single phase (A or B phase)

 Setting unit is pulse/mm for linear axis and is pulse/rev for rotation axis

 Example:

1. Assume that the ruler resolution is 1um/pulse (1mm/1000pulse), with scaling factor of 4 (Pr30x=4). Thus, parameters Pr26x is set to (1000/4) =250.

2. Assume that the ruler resolution is 10um/pulse (1mm/100pulse), with scaling factor of 4 (Pr30x=4). Thus, parameters Pr26x is set to (1000/4) =25.

3. Assume that the rotary optical encoder resolution is 10mdeg/pulse

(1rev/3600000pulse), with scaling factor of 4 (Pr30x=4). Thus, parameters Pr26x is set to (3600000/4) =90000.

No Descriptions Range Unit initial Activate method

Axis dual feedback scaling

301 ~ 303 [1, 2, 4] 4 reset factor

 This parameter is used to define the dual feedback encoder scaling factor and it can be set to 1, 2 or 4.

No Descriptions Range

381~383

*Servo driver control mode

[0, 2~4]

Unit initial

0 occasion restart

 This parameter is supported for kernel version after 10.116.3.16; version

10.116.0.16 only support A/B Phase Position control mode.

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 Set param for Servo driver control mode:

0: CW/CCW Position control mode;

2: A/B Phase Position control mode.

3:

Sign+Pulse. (Positive logic)

4: Sign+Pulse. (Negative logic)

No Descriptions Range Unit initial Activate method

401 Cutting acceleration time [0 ~ 60000] ms 300 reset

 Set each axis under G01/G02/G03/G31 mode, this parameter is the spending time on compound feedrate accelerates to Pr405. In other words, this parameter and Pr405 will determine maximum compound acceleration.

𝐴 𝑚𝑎𝑥

=

𝑃𝑟405

⁄

60

𝑃𝑟401

⁄

1000

(𝑚𝑚 𝑠𝑒𝑐

2

)

No Descriptions Range Unit initial Activate method

402

Acceleration accelerated to

1G time

[1 ~ 60000] ms 150 reset

 Set each axis under G01/G02/G03 mode, this parameter is the spending time on compound acceleration accelerates to 1G. In other words, this parameter will determine maximum compound jerk.

𝐽 𝑚𝑎𝑥

=

9.8

𝑃𝑟402

⁄

1000

(𝑚 𝑠𝑒𝑐

3

)

No Descriptions Range Unit initial Activate method

Post cutting bell-shaped

404 [0 ~ 60000] ms 20 reset acceleration time

 The parameter can smooth the path of speed that plan before interpolation. The shake will be restrained. Suggest value is 20msec ~ 30msec.

 EX:

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Figure 63: Speed-time before interpolation

The figure is speed-time before interpolation. If the post cutting bell-shaped acceleration time is 0, the option is disabled. If the parameter is existed, the command will be smoothed. EX: Pr404→ 5ms

Table 32: Interpolation time and command

0

2

3

4

5

0

1

0

0

Interpolation time (ms)

6

9

0

5

12

11

0

0

0

Command before interpolation (pulse)

Command after interpolation (pulse)

0

0

0

0

(0+0+0+0+5)/5=1

(0+0+0+5+6)/5=2.2

(0+0+5+6+9)/5=4

(0+5+6+9+12)/5=6.4

(5+6+9+12+11)/5=8.6

6

7

8

10

10

9

(6+9+12+11+10)/5=9.6

(9+12+11+10+10)/5=10.4

(12+11+10+10+9)/5=10.4

9

10

11

12

9

9

7

5

(11+10+10+9+9)/5=9.8

(10+10+9+9+9)/5=9.4

(10+9+9+9+7)/5=8.8

(9+9+9+7+5)/5=7.8

13 0 (9+9+7+5+0)/5=6

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14

15

0

0

(9+7+5+0+0)/5=4.2

(7+5+0+0+0)/5=2.4

16 0 (5+0+0+0+0)/5=1

The command of speed is smoothed. The post cutting bell-shaped acceleration time can smooth the command and restrain the speed change.

No Descriptions Range Unit initial Activate method

[6 ~

405 Maximum cutting feedrate mm/min 5000

3600000]

 Set the maximum cutting feedrate for compound speed.

No Descriptions Range reset

Unit initial Activate method

406

Maximum corner [6 ~

3600000] mm/min 500 reset reference feedrate

 Set the maximum corner feedrate. FBs-30GM will check the length of corner and decrease the speed before into the corner.

 The parameter is the max speed at corner that the angle is 120 degree. Suggest value is 200mm/min.

 The parameter is bigger and the speed is faster but the precise is worse. The parameter is smaller and the speed is slower but the precise is better.



Note:

If the program has G09 in position check, control will cancel decrease speed plan.

If you don’t need corner decrease speed, Parameter 406 and 408 could set a huge value and the system will turn a corner with a high speed. Please Pr404 set bigger to protect tool and avoid the huge shake.

No Descriptions Range Unit initial Activate method

408

Arc cutting reference feedrate at radius 5 mm

[0 ~

3600000] mm/ min

500 reset

 Servo lag will make the arc path shrink during the arc cutting. The shrink error is:

2

𝐸 =

𝑇 𝑉

2

2𝑅

(T: servo system time constant. V: tangent velocity. R: radius)

 We can calculate the speed with the radius by the function when shrink error and servo character is the same.

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𝑉

𝑉 𝑟𝑒𝑓

= √

𝑅

𝑅 𝑟𝑒𝑓

(Circular velocity is direct proportion to square of circular radius)

 Reference radius Rref=5mm. Using the Rref to set the circular velocity Vref.

Normal tool suggest setting Vref=500mm/min.

Figure 64: Reference radius and velocity



Note:

Huge curvature path and short block path both are clamped by Pr408. The same curvature path will clamp to the same velocity because of the Pr408. The following error will become small because of the velocity become small. The precise will become higher. If the following is still too big, please turn on the feed forward percentage (Pr581 ~ Pr583). It will send compensation for servo lag, but it makes bigger acceleration and shake. To solve the problem, cutting acceleration time

(Pr401) can set longer.

If the high speed make centrifugal force is too bigger, the tool may shake. Before set

Pr408, please check the machine rigidity to avoid shake.

No Descriptions Range Unit initial Activate method

410 MPG acceleration time [10 ~ 60000] ms 200 reset

No Descriptions Range

[0 ~ 1]

Unit initial Activate method

0 reset 411 Rapid Travel G00

 Rapid Travel G00:

0: Linear;

1: Independent.

No Descriptions Range Unit Initial Activate method

413 Reserve local coordinate [0 ~ 2] 0 reset

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G92(G92.1) after reset

 Set reserve local coordinate G92(G92.1) after reset:

0: After reset, it will not reserve local coordinate;

1: After reset, it will reserve local coordinate, but restart is not;

2: After reset or restart, it will not reserve local coordinate.

No Descriptions Range Unit initial Activate method

421 ~ 423

Axis cutting in-position window

[0 ~ 300000] BLU 30 reset

 When program include G09, the system will check the position of block.

 After system stop sending command below 2second, system will check motor feedback of position in the window. If it is in the range, systems send command for next block. If it spend time over 2sec, system alarm 『Exact Stop wait too long』

No Descriptions Range Unit initial Activate method

441 ~ 443

Axis rapid travel (G00) acceleration time

[0 ~ 60000] ms 200 reset

 Set each axis under G00 mode, Pr441 ~ Pr443 are the spending time on each axis velocity accelerate to Pr461 ~ Pr463 respectively. In other words, Pr441 ~ Pr443 and

Pr461 ~ Pr463 will determine maximum compound acceleration.

𝐴 𝑚𝑎𝑥

=

𝑃𝑟461 ~

⁄

60

𝑃𝑟441 ~

⁄

1000

(𝑚𝑚 𝑠𝑒𝑐

2

)

No Descriptions Range Unit initial Activate method

461 ~ 463

Axis max. rapid travel (G00) feedrate

[6 ~ 360000] mm/ min

10000 reset

 Set each axis under G00 mode, this parameter represent the max allowable feedrate when G00 override is not F0.

No Descriptions Range Unit initial Activate method

Rapid travel in-position

481 ~ 483 [0 ~ 300000] BLU 30 reset window

 When program include G09, the system will check the position of block.

 After system stop sending command below 2second, system will check motor feedback of position in the window. If it is in the range, system sends command for next block. If it spend time over 2sec, system alarm 『Exact Stop wait too long』

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No

501 ~ 503

Descriptions

Axis rapid travel (G00) F0 feedrate

Range

[0 ~ 15000]

Unit initial Activate method mm/ min

0 reset

 Set each axis under G00 mode, this parameter represent the max allowable feedrate when G00 override is F0.

No Descriptions Range Unit initial Activate method

521 ~ 523 Axis JOG feedrate [6 ~ 360000] mm/ min

6000 reset

 Set each axis under JOG mode, this parameter represent each axis maximum feedrate.

 On MPG mode, if Pr661~Pr663 are zero, then MPG movement maximum feedrate also dominated by Pr521~Pr523.

No Descriptions Range Unit initial Activate method

541 ~ 543

Axis cutting acceleration time

[0 ~ 60000] ms 50 reset

 Set each axis under G01 mode, Pr541~Pr543 are the spending time on compound feedrate accelerate to Pr621~Pr623 respectively. In other words,

Pr541~Pr543 and Pr621~Pr623 will determine each axis maximum jerk.

𝐴 𝑚𝑎𝑥

=

𝑃𝑟621 ~

⁄

60

𝑃𝑟541 ~

⁄

1000

(𝑚𝑚 𝑠𝑒𝑐

2

)

No Descriptions Range Unit initial Activate method

561 ~ 563

Axis loss pulse check window

[50 ~

BLU 100 reset

300000]

 After system stop sending command over 1second, system will check the difference between command and motor feedback. If it is over the range, system alarm 『Lost position』.

No Descriptions Range Unit initial Activate method

581 ~ 583

Axis velocity feed forward percentage

[-10000 ~

1000]

% 0 reset

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 FBs-30GM use the following formula to adjust command. Then this method will change Kp and improve servo lag phenomenon. When bigger Pr581~Pr583, servo lag amounts are smaller, but user need to notice that it will cause machine vibration.

𝐾 𝑝

′ =

𝑃𝑟181

1 − 𝑃𝑟581 100

No Descriptions Range Unit initial Activate method

601 ~ 603

Axis corner reference feedrate

[6 ~

3600000] mm/min 360000 reset

 The parameters are set for corner feedrate. FBs-30GM will check the length of corner and decrease the speed before into the corner.

 The parameters are the max speed at corner that the angle is 120 degree.

Suggest value is 60mm/min.

 The parameters are bigger and the speed is faster but the precise is worse. The parameter is smaller and the speed is slower but the precise is better.

 Note:

If the program has G61 or G09 in position check, control will cancel decrease speed plan.

If you don’t need corner decrease speed, Parameter 406 and 408 could set a huge value and the system will turn a corner with a high speed. Please Pr404 set bigger to protect tool and avoid the huge shake.

If the program has auxiliary axis or rotation axis, please set Pr601~Pr623 to avoid machine vibration. Suggest value is 500.

No Descriptions Range Unit initial Activate method

621 ~ 623

Axis maximum cutting feedrate

[6 ~ mm/min 5000 reset

3600000]

 Set each axis under G01 mode, Pr621~Pr623 are the each axis maximum cutting feedrate.

No Descriptions Range Unit initial Activate method

641 ~ 643

Axis cutting bell-shaped acceleration time

[1 ~ 60000] ms 10 reset

 Set each axis under G00/G01 mode, Pr621~Pr623 are the spending time on each axis acceleration accelerates to 1G. In other words, this parameter will determine each axis maximum jerk.

𝐽 𝑚𝑎𝑥

=

9.8

𝑃𝑟641 ~

⁄

1000

(𝑚 𝑠𝑒𝑐

3

)

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No Descriptions Range Unit initial Activate method

661 ~ 663 Axis MPG feedrate

[0 ~

3600000] mm/min 6000 reset

 Pr661~Pr663: axis MPG feedrate upper bound.

 When parameter is set to 0, it means using JOG feedrate as MPG feedrate.

No Descriptions Range Unit initial Activate method mm/

821 ~ 823 Speed of first part homing [0 ~ 240000] 10000 reset min

 On Home search process, this parameter will determine the maximum moving velocity before touching Home DOG switch.

No Descriptions Range Unit initial Activate method

841 ~ 843

Speed of second part homing

[0 ~ 240000] mm/ min

2000 reset

 On Home search process, this parameter will determine the maximum moving velocity after leaving Home DOG switch.

No Descriptions Range Unit initial Activate method

861 ~ 863 Negative homing direction [0,1] 0 reset

 On Home search process, this parameter will determine the direction of Home

DOG switch.

No Descriptions Range Unit initial Activate method

881 ~ 883 Axis home offset

[-99999999

~

99999999]

BLU 0 reset

 The parameter have to fit Pr961~Pr980(Home search method)。

 Pr961~Pr963 is 0 or 1: When FBs-30GM find the motor index, tool will move to specialize point that is the offset position. After arriving the point, machine coordinate will be zero.

 Pr961~Pr963 is 2: When FBs-30GM find the motor index, tool will move to point that is the index. After arriving the point, machine coordinate will be offset value.

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 Pr961~Pr963 is 3: When FBs-30GM leave DOG sensor, tool will move to specialize point that is the offset position. After arriving the point, machine coordinate will be zero.

 Home Offset Action

Motor speed (positive)

Home speed distance

Speed of second home

Motor speed (negative)

Figure 65: Home Offset Action

Pr961~Pr963 is 2

(machine coordinate is values of offset)

Motor speed (positive)

Home speed distance

Speed of second home

Motor speed (negative)

Pr961~Pr963 is 3

(machine coordinate is 0)

Figure 66: Home Offset Action (cont.)

No

901 ~ 903

Descriptions

Axis zero speed check window(count)

Range

[3 ~ 10000]

Unit

Pulse initial

3

Activate method reset

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 When FBs-30GM doing home search, touch the HomeDog, the second moving and Servo-On, motor will check the zero speed stop of state. The parameter is the value of range. If encoder feedback is in the range, FBs-30GM deems the motor is stop, or alarm and stop.

No Descriptions Range Unit initial Activate method

921 ~ 940

Home dog polarity

(0:positive;1:negative)

[0 ~ 1] 0 reset

 Set HOME DOG polarity, the normal write is NORMAL CLOSE, but in the advance switch case is NORMAL OPEN.

No Descriptions Range Unit initial Activate method

941 ~ 943

Enable axis home grid function

[0-1] 0 reset

 Enable axis home grid function

0: disable

1: enable

 Enable axis home grid function. If the grid value is smaller than 50% (motor half-revolve).

FBs-30GM will ignore this index signal and find the next index to be original signal.

 Home grid:

When motor leave home dog and move to the first index of motor, motor rotate the revolution. It show on the system variable 56~59. The unit is percent. 25 is mean 1/4 rev. 50 is mean 1/2 rev.

 When HOME search method is 3, this function will disable.

No Descriptions Range Unit initial Activate method

961 ~ 963 Home mode of each axis [0 ~ 3] 0 reset

 These parameters are used to decide the HOME search method of each axis:

0: By HomeDog sensor, suitable for linear axis or rotary axis witch the proportion of motor and pitch is not 1. After HOME, table moved on the machine position which offset had added;

1: By reference index of motor, suitable for linear axis or rotary axis witch the proportion of motor and pitch is 1;

2: By HomeDog sensor, suitable for linear axis or rotary axis witch the proportion of motor and pitch is not 1. After HOME, motor laid on index;

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3: By HomeDog sensor, but no encoder index signal. Suitable for linear axis or screw and motor gear ratio is not integer for rotary axis. When axis direction finds DOG sensor for Home shift processing, direct move to machine coordinate position. After arriving position, clear machine coordinate position to 0, then it is called finish Home search action;

No Descriptions Range Unit initial Activate method

981 ~ 983

Axis homing 2nd protect revolution(encoder type)

[1 ~ 999999] Rev 5 reset

 These parameters are used to determine the numbers of pitches when searching home, if motor can’t leave Home Dog after moving over the number of pitches,

FBs-30GM will send alarm message.

 These parameters are effective when Pr201 ~ Pr203 are set to 0 and Pr961 ~

Pr963 are set to 0, 2 or 3.

No Descriptions Range Unit initial Activate method

1001 ~ 1003

Axis fast home return function

[0 ~ 1] 0 restart

 These parameters are used to determine whether to enable fast home return function of each axis and are off by default in order to be compatible with HOME mode. Enable the axis fast home return function (Pr100x = 1) and the specifications are as follows:

1. When the machine has not yet executed the first reference searching, the mechanical origin has not been established (M1471 ~ M1473 Off). If carrying out reference searching, FBs-30GM will follow Pr96x’s setting to decide the reference searching method. During reference searching, the first and the second homing speed will be determined by Pr82x, Pr84x.

2. After the first reference searching, the mechanical origin has been established

(M1471 ~ M1473 On). If FBs-30GM carries out reference searching again, the machine will not go back to the mechanical origin with the previous reference searching method, but do rapid positioning (G00) to the origin directly.

No Descriptions Range Unit initial Activate method

1221 ~ 1223

Backlash start compensation

[0 ~ 2] 0 reset

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 Set Backlash compensation start or not.

0: OFF;

1: Linear Guideway ON;

2: Box Guideway ON.

No Descriptions Range Unit initial Activate method

1241 ~ 1260

G00 backlash compensation [-999999 ~

999999]

BLU 0 reset value

 The parameter is machine tool on the high speed (G00) and move to a point with negative and positive direction. The backlash is the error of stop.

No Descriptions Range Unit initial Activate method

1261 ~ 1263

G01 backlash compensation [-999999 ~

999999]

BLU 0 reset value

 The parameter is machine tool on the low speed (F10) and move to a point with negative and positive direction. The backlash is the error of stop.

No Descriptions Range Unit initial Activate method

1281 ~

Backlash critical speed [0 ~ 3000] mm/min 800 reset

1283

 The backlash and the speed is a relation of exponent. The parameter set for backlash coverage speed. If the value is bigger, the coverage speed is faster.

 When Pr1281 ~ Pr1283 are equal to zero, FBs-30GM will still follow default value

800 to process compensation amount estimation.

The value is bigger, the coverage speed is faster

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Figure 67: Backslash amount vs feedrate

No Descriptions Range Unit initial Activate method

1301 ~ 1303

Pitch error compensation type

[0 ~ 2] 0 reset



 Set the parameter to decide to start compensation or not

0: No compensation;

1: Unidirection;

2: Bidirection.

No Descriptions Range Unit initial Activate method

1321 ~ 1323

Pitch error compensation [1000 ~

99999999]

BLU 50000 reset

Interval

 After interval compensation start, according to this setup, set the pitch of compensation.

No Descriptions Range Unit initial Activate method

1341 ~ 1343

Table index for reference

(home)

[1 ~ 100] 50 reset

 After interval compensation start, what number is mechanical origin in table for compensation, suggest 50.

No Descriptions Range Unit initial Activate method

Axis mechanical

1401 ~ 1403 compensation time [0 ~ 60000] ms 0 reset constant

 Mechanical compensation (backlash, pitch error) is described as an exponential curve. This parameter is used to determine the time constant (ms) of exponential curve. The lower the setting value is, the lesser time needed to complete the compensation. However, it may find the machine vibrates during operation if the time constant is too low. The suggested setting value is 100ms.

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Time to complete

63% of compensation

Figure 68: Mechanical compensation amount vs time

No Descriptions Range Unit initial Activate method

1421 ~ 1423 Axis max. static dual error [0 ~ 100000] BLU 1000 reset

 This parameter is used to define the maximum allowed error between motor encoder and ruler’s (optical encoder) feedback signal in static state.

No Descriptions Range Unit initial Activate method

2001 MPG 4th scaling factor [10 ~ 1000] LIU 100 reset

 Set the MPG 4 th

of pulse to the LIU.

 The min unit of LIU, the unit will be controlled by mode of metric or inch.

No Descriptions Unit initial Activate method

2041 MPG resolution (Pulse/rev)

Range

[100 ~

2500000]

100 reset

No

2051

Descriptions

MPG scaling factor

Range

[1 ~ 4]

Unit initial Activate method

4 reset

No

2401 ~

2406

1 st

Descriptions

Software travel limit

Range

[-999999999

~

999999999]

Unit

BLU initial

-999999999

999999999

Activate method reset

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 After homing, control use axis positive software limit.

No Descriptions Range Unit initial Activate method

2441 ~

2446

2nd Software travel limit

[-999999999

~ BLU

-999999999

999999999

999999999]

 The second software travel limit is turned on or off by M1423. reset

No Descriptions Range Unit initial Activate method

2481

2nd software limit persistency

[0 ~ 2] 0 reset

 This parameter is used to set the second software limit persistency:

0: Stop FBs-30GM to restore the limit to the settings in Pr2441 ~ 2446

1: Stop FBs-30GM to retain the limit set by MACRO variables #1941 ~ #1943

(2nd software positive limit), #1961 ~ #1963 (2nd software negative limit).

2: Stop or turn on/off FBs-30GM to retain the limit set by MACRO variables

#1941 ~ #1943 (2nd software positive limit), #1961 ~ #1963 (2nd software negative limit).

No Descriptions Range Unit initial Activate method

2801 ~ 2803

2821 ~ 2823

2841 ~ 2843

2nd reference point

3rd reference point

4th reference point

[-999999999

~

999999999]

[-999999999

~

999999999]

[-999999999

~

999999999]

BLU

BLU

BLU

0

0

0 reset reset reset

No Descriptions Range Unit Initial Activate method

3202 I/O scan time

3203 Interpolation time interval

[100 ~

5000]

 After system start, the scan time of I/O card.

No Descriptions Range

0.001ms

5000 restart

Unit Initial Activate method

[500 ~ 0.001ms

5000 restart

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2000000]

 After system start, when each axis direction movement, command time interval.

No Descriptions Range Unit Initial Activate method

3207 Feedrate override selection [1 ~ 2] -

 Set the override type:

1: override is reality percentage, range: -200% ~ +200 % (industrial mechanical setup);

2: override default steps, range: 1 ~ 20.

2 restart

No

3221

Descriptions

Debug level

Range

[0 ~ 2]

Unit initial Activate method

0

 When MACRO program execute, single step block execute or not.

0: disable;

1: enable;

(M1416 have to be ON before program start) reset

No Descriptions Range

3241 Decimal point type [0 ~ 1]

 Set the parameter for decimal point type:

0: standard, 1=0.001mm;

1: pocket, 1= 1mm.

No Descriptions Range

Unit initial Activate method

0 restart

Unit initial Activate method

3805

Static dual feedback error [0 ~

60000] ms 1000 reset timeout

 This parameter is used to define the waiting time before FBs-30GM switches to static state when it stops sending command.

Figure 69: Static dual feedback error timeout

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No Descriptions Range Unit initial Activate method

3807

Destination not on arc check window

[0 ~ 1000] BLU 5 reset

 Set the error of radius from start-point to end-point. If the error is larger than this parameter, FBs-30GM alarms.

No Descriptions Range Unit initial Activate method

Start address of persist

3811 [0 ~ 400] 0 working global variable

 0: @1 ~ @400 data all reset after power off;

1 ~ 400: Start address of persist working global variable.

EX: setting 100, @100 ~ @400 data will persist after power off.

No Descriptions Range restart

Unit initial Activate method

3817 Fatal dual feedback error

[0 ~

100000]

BLU 10000 reset

 This parameter is used to define the maximum allowed dual error between motor encoder and ruler’s (optical encoder) feedback signal in dynamic state.

 If setting value is 0, this checking function is inactive.

No. Description Range Unit Default

Activate method

Dual feedback self-detect

3818 [0 ~ 50] Pulse 0 reset error (pulse)

 After activating dual feedback, the A/B pulse number between two indexes are recorded and self-checking every time FBs-30GM encounters an index from ruler

(optical encoder), if the difference exceeds the value set by this parameter,

FBs-30GM shall pop-up MOT-40 “Dual feedback self-detect error exceed”.

 If the setting value is 0, the self-checking function shall be disabled

 Generally, it is applied to all types of optical encoder including both equal distance Optical encoder and distance code Optical encoder.

 Limitation



This function is only enabled after the axis completes returning reference point (search HOME)



When a problem occurs, the system shall not pop-up alarm immediately, but hold until the 5th index is received, then only the alarm pop-up. In other words, if the movement range is within 4 indexes, such detection function is inactive



Default index’s width set by the system is 5 Pulses

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No Descriptions Range Unit initial Activate method

3821

Coupling master axis number

[0 ~ 3] 0 restart

3822 Coupling slave axis number [0 ~ 3] 0 restart

 Pr3821 and Pr3822 are set to coupling axis number.

 EX: When Pr3821 = 1 (it means X axis) and Pr3822 = 2 (it means Y axis), then Y axis movement will follow X axis, and the moving ratio according to Pr3823 and

Pr3824.

No

3823

Descriptions

Coupling master axis ratio factor

Range

[1 ~ 999999]

Unit initial

0

Activate method restart

3824 [-999999999 0 restart

Coupling slave axis ratio factor

~

999999999]

 Pr3823 and Pr3824 are set to the moving ratio for synchronous moving axis direction.

 EX: When Pr3823 = 1 and Pr3824 = 2, it implies “if master axis moves 1mm, then slave axis moves 2mm”.

No Descriptions Range Unit initial Activate method

3825 Coupling type [0 ~ 5] 0 restart

 Pr3825 set the enable timing of the two couple axes.

0: cancel couple

1: Machine coupling, coupling starts from power on and can’t cancel.

2: PeerSynchronization coupling:

 Coupling starts from power on and M1422 on. When M1422 is off, coupling is canceled.

 FBs-30GM adds command from master axis and slave axis and sends to two axes at the same time.

3: Superimposition coupling

 Coupling starts from power on and M1422 on. When M1422 is off, coupling is canceled.

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 Superimposition coupling is slave axis superimpose on the master axis. When the command makes for master axis, both of the axis will move. When commands make for slave axis, the slave axis will move and relative to the position of the master axis.

4: MasterSlaveSynchronization coupling

 Coupling starts from power on and M1422 on. When M1422 is off, coupling is canceled.

 MasterSlaveSynchronization coupling is FBs-30GM will get the command from master axis then send two axes to execute.

5: One to many coupling

 Coupling starts from power on and M1422 on. When M1422 is off, coupling is canceled.

 Similar to PeerSynchronization coupling, FBs-30GM adds command from master axis and slave axis and sends to all axes to execute.

 Bit on, the axis is coupling.

Bit 1: X axis to carry 2

Bit 2: Y axis to carry 4

Bit 3: Z axis to carry 8

When Pr3822 is 12(12=4+8), the slave axes are Y axis and Z axis.

 Note: When use one to many coupling, master axis ratio and slave axis ratio become 1:1. Settings of Pr3823 and Pr3824 are not useful.

No Descriptions Range Unit initial Activate method

3826

3827 Coupling decouple time(ms) [0 ~ 60000] ms

 Pr3826: Coupling couple time

 Pr3827: Coupling decouple time

No

Coupling couple time(ms) [0 ~ 60000] ms

Descriptions Range

0

0 reset reset

Unit initial Activate method

Initial Command Mode

3837

(0:default;1:G90;2:G91)

 Default is G90.

No Descriptions

8001 ~ 8600

Pitch error compensate , compensation table

[0 ~ 2]

Range

[-999999 ~

999999]

-

Unit

BLU

0 initial

0 restart reset

Activate method

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 The parameter set for the compensation of the pitch error. The value is modulus.

Compensation＝Command – reality

Pr8001 ~ 8100 are X axis positive direction pitch error compensation table 1 ~ 100.

Pr8101 ~ 8200 are X axis negative direction pitch error compensation table 1 ~ 100.

Pr8201 ~ 8300 are Y axis positive direction pitch error compensation table 1 ~ 100.

Pr8301 ~ 8400 are Y axis negative direction pitch error compensation table 1 ~ 100.

Pr8401 ~ 8500 are Z axis positive direction pitch error compensation table 1 ~ 100.

Pr8501 ~ 8600 are Z axis negative direction pitch error compensation table 1 ~ 100.

 Ex:

Command value is 20000 BLU, machine value is 20002 BLU then the compensation value is -2

Command value is 40000 BLU, machine value is 39999 BLU then the compensation value is 1

Command value is -20000 BLU, machine value is -20002 BLU then the compensation value is 2

Command value is -40000 BLU, machine value is -39999 BLU then the compensation value is -1

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Instruction of pitch error compensation

Manufacturing error of screw leads to the inconsistence between command and actual motion of working table. However, because this error is a constant value, it can be measured by the equipment and setting parameters into FBs-30GM to compensate this error in the machining process.

Pr1301 ~ 1303 determine whether Pitch error compensation function is enabled.

Pr1321 ~ 1323 determine the value of basic pitch error compensation.

Pr1341 ~ 1343 determines the starting compensation no. of original point in pitch compensation table. For every axis FBs-30GM provides totally 100 compensation points, the default and recommended value is 50.

Steps for measurement of pitch compensation parameter

Step 1: Close all mechanical compensation (pitch－Pr130x; backlash－Pr122x,

Pr124x, Pr126x, Pr128x; sharp corner－Pr136x, Pr144x), and do the home search action

Step 2: Load the attachment example program, and then with the measuring instruments measures the pitch error of every single pitch.

Step 3: According to pitch compensation type (one-way / two-way), and stroke direction of axis (home direction positive / negative), select the corresponding fill in format.

One-way pitch compensation (just fill in positive table)

Regardless of moving direction of axes, FBs-30GM will send all positive direction values in the reference table as the compensation values at the same point of the stroke.

Axial stroke is in the positive direction of home:

Moves the machine away from home and progress to the positive direction of machine coordinate, measures the pitch error and enters the error into Pr800x

“Positive absolute compensation pitch error table”. Note that the fill in serial no. of pitch error compensation is to the higher direction.

Move the machine away from home and progress in the positive direction of

40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60

0

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Axial stroke is in the negative direction of home:

Moves the machine away from home and progress to the negative direction of machine coordinate, measures the pitch error and enters the error into Pr800x

“Negative absolute compensation pitch error table”. Note that the fill in serial no. of pitch error compensation is to the lower direction.

Move the machine away from home and progress in the negative direction of

40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60

0

Two-way pitch compensation (fill in positive & negative table)

According to the moving direction of machine, FBs-30GM will determine to use positive or negative table value at the same point of stroke.

Axial stroke is in the positive direction of home: Moves the machine away from home and progress to the positive direction of machine coordinate, measures the pitch error and enters the error into Pr800x “Pos. abs. comp. pitch err. table”. Revert the machine progress direction and move back to home, measures the pitch error and enters the error into Pr810x “Neg. abs. comp. pitch err. table”.

Move the machine away from home and progress in the positive direction of machine coordinate Pos. table 50, 51…, 59, 60

40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60

0

When the machine progress direction is revert and

table 60, 59…, 51, 50

Neg.

40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60

0

Axial stroke is in the negative direction of home:

Moves the machine away from home and progress to the negative direction of machine coordinate, measures the pitch error and enters the error into Pr810x “Neg. abs. comp. pitch err. table”. Revert the machine progress direction and move back to home, measures the pitch error and enters the error into Pr800x “Pos. abs. comp. pitch err. table”.

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Move the machine away from home and progress to the negative direction of machine coordi Neg. table 50, 49…, 41, 40

40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60

0

When the machine progress direction is revert and

table 40, 41…, 49, 50

Pos.

40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60

0

At last do the experiment again to measure pitch compensation parameter and to verify the effectiveness of compensation.

4.

Q & A

Q1: Pitch error compensation function is ineffectiveness

Ans: Pitch error compensation function is only enabled when the home search action is finished.

Q2: Machine is still at inaccurate position after being pitch error compensation.

Ans: The effectiveness of optimize mechanism compensation is depends on the reproducible of mechanism action. Thus, when this phenomenon occurs, please check whether the assembly of mechanism is appropriate.

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Appendix III (Alarm ID.)

Operation alarm:

Alarm ID

Description

OP-023 Alarm title

Power break in machining, re-calibrate before machining

As start machining, FBs-30GM will set up machining flag in registry.dat and it will be removed when machining comebacks to ready status.

When rebooting, if machining flag is not removed, this alarm will appear.

Possible cause

Discontinue power in machining process.

Solution

1. Check whether machining data setting is correct.

2. Reboot.

Motor alarm:

Alarm ID MOT-005 Alarm Title DDA command overflow

Description

Possible

Cause

Solution

FBs-30GM sends too many commands. In the one interpolation time interval, if software calculates that the number of commands to be sent is out of 2047 pulses, this alarm will appear

1.

DDA software time setting value (interpolation time interval, parameter Pr3203) is too long

2.

Motion velocity is too fast

3.

Servo resolution is set too high

4.

Backlash compensation or pitch compensation is too large

5.

Compensation is enabled before booting

1.

Recommend that low interpolation time interval setting

(parameter 3203) is not less than 2000

2.

Reduce the velocity to do the test if max rapid travel feedrate is to high (Pr461-Pr463)

3.

Reduce the servo resolution setting to do test (encoder and

FBs-30GM Pr61-Pr63)

4.

If mechanical compensation time constant is set (parameter 1401

~ 1420), cancel the mechanical compensation setting to do test

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More description

and find the best setting.

5.

If system had set feed forward (parameter 581 ~ 600), cancel feed forward setting to do test and find the best setting.

6.

Please contact staff of machinery manufacturer to solve problem

In order to achieve the multi-axis coordinated control, FBs-30GM uses DDA (Digital Differential Analyzer), Cycle Time of DDA is set by parameter Pr3203. In one Cycle time of DDA, every axial is allowed to send maximum 2047 pulses. Once exceeding this value,

FBs-30GM will send alarm

Alarm ID MOT-008 Alarm Title Loss Pulse

Description

One second after sending command, FBs-30GM will check whether the error of feedback command and sending command is in predetermined error range. If no, FBs-30GM will send alarm.

Possible

Cause

1.

Kinematic occurs obstruction phenomenon

2.

Servo drive occurs unexpected Servo ON / OFF

3.

CPU board send the data to axis card unsuccessfully (CPU board or axis card has problem, the contact between CPU and axis card is not good)

4.

The cable that sends command from FBs-30GM to servo driver has poor quality or is disconnected.

5.

FBs-30GM doesn’t set servo drive alarm check, FBs-30GM continues to send motion command although the drive is abnormal

6.

Local interference

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Solution

1.

Do not shut down FBs-30GM when alarm occurs. Please check whether the value of No 8, 9, 10 in debug function page is zero

2.

Check whether the mechanical lubrication system is good.

3.

Open the cover of axial to check whether foreign matter blocks the motion of axial.

4.

Rotate screw to check whether machine is stuck (loading of driver)

5.

Check the drive servo-on and the servo-off of power or cable signal

6.

If the setting value of No 8, 9, 10 in debug function page do not change, please take home search action (don’t need to reboot), after that check whether parameters 24, 25, 26, 40, 41, 42 are equal to zero, if the parameters 24, 25, 26 are not equal to zero, the feedback loop has problems

7.

If the parameters 40, 41, 42 are not equal to zero, command transmission from FBs-30GM to the motor has been lost pulse.

8.

If all parameters 24, 25, 40, 41, 42 are not zero, then the interference signal is relatively large, specifically in the machining process, the setting value of parameters 8, 9, 10 gradually become large. The reason is the contact point between CPU board and axis card is not good. Try to replace CPU board and axis card

More description

Set parameters 561 ~ 580 to check the range of loss pulse

8[X axis following error value]

9[Y axis following error value]

10[Z axis following error value]

24[X axis absolute position feedback value]

25[Y axis absolute position feedback value]

26[Z axis absolute position feedback value]

40[X axis absolute position command value]

41[Y axis absolute position command value]

42[Z axis absolute position command value]

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Alarm ID MOT-009 Alarm Title Servo Driver Alarm

Description

Drive sends out warning signal

Drive alarm mostly is because of external causes. Ex: High temperature,

Possible

Cause

connecting wire error, internal parameters is set wrong, servo motor is unsuitable, driver is error, etc.

Solution

Follow the steps in driver’s application manual to solve alarm

Alarm ID MOT-017 Alarm Title First Positive software limit exceed

Description

The end point in movement of servo motor exceeds positive software limit

Possible

Cause

Stroke movement of machine table exceeds the setting value

Solution

Remove alarm, and let axis moves to negative movement out of the stroke protection software

Alarm ID MOT-018 Alarm Title First Negative software limit exceed

Description

The end point in movement of servo motor exceeds negative software limit

Possible

Cause

Stroke movement of machine table exceeds the setting value

Solution

Remove alarm, and let axis move to positive movement out of the stroke protection software

Alarm ID MOT-019 Alarm Title Following error exceed

Description

Because of the characteristics of servo, servo motor location, there is no way to respond the command of FBs-30GM immediately, so a slow phenomenon appears, when this latency is not in allowed range,

FBs-30GM will send out the alarm.

Possible

Cause

1.

Movement mechanism is not smooth

2.

Contact wire has poor quality

3.

Setting values of acceleration and deceleration time are too small

4.

Servo on off Relay is interfered

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Solution

5.

Inner loop gain of driver is set too small

6.

Encoder solution and electric gear ratio is set wrong

7.

Drive or motor is damaged

8.

Encoder or line between encoder and FBs-30GM is abnormal

9.

On debug function page, variable number 23 is not equal to100

1.

Add lubricating oil to machine

2.

Use electric meter to check whether wire connecting is correct.

3.

When FBs-30GM runs dry run mode, open case to check whether servo on off of relay pulses abnormally.

4.

Increase acceleration and deceleration time (parameter 401)

5.

Inner loop gain of driver is set too small. For Mitsubishi driver, check Pr37

6.

Contact to machinery manufacturers for helping

More description

Maximum velocity setting value of G00 and home search is equal to setting parameter divided by Kp. This value multiplied by 2 is setting range of FBs-30GM.

Reasonable following error: Ferr = speech in command/ setting value of loop gain

Alarm allowed values= {max[(velocity of first stage in home search process), velocity G00 of each axis]/Kp}*2

For example: Speed 1000mm/min, loop gain 30, precision, 1um,

Ferr = 1000*1000÷60÷30=555

32[X axis reasonable following error]

33[Y axis reasonable following error]

34[Z axis reasonable following error]

Alarm ID MOT-020 Alarm Title Cannot back control mode when move

Description

When emergency stop or monitor mode (C31 ~) is canceled, in one

Interpolation time interval (No 3203) if the motor movement exceeds zero speed check window (901), FBs-30GM will send alarm.

Possible

1.

Cancel instantly movement of machine by hand

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Cause

2.

Drive gain is set badly. Therefore, when cancelling instantly, motor will be trembled

Solution

1.

Avoid man-made movement

2.

Check the drive's position loop gain and speed loop gain setting

Alarm ID MOT-021 Alarm Title Must re-homing

Description

When MOT-0020 and MOT-0022 appear, FBs-30GM will send alarm

Possible

Cause

MOT -0020[Cannot back control mode when move] or MOT

-0022[Home position inaccurate] is triggered

Solution

See MOT -0020 or MOT -0022-alarm

Alarm ID MOT-022 Alarm Title Home position inaccurate

Description

Possible

Cause

After booting, at the N(N>1) times of searching home, home grid will be compared to the result of the first time searching home, if the error is over 0.1 turn of motor, FBs-30GM will send alarm.

6.

Homing signal of motor is abnormal

7.

Stopper, coupling or bearings is not locked tightly

Solution

1.

Move motor in the same direction and observe to check whether position counter index changes normally.

2.

Check whether the mechanism components are fixed properly

Alarm ID MOT-023 Alarm Title Fatal following error exceed

Description

Because of the characteristics of servo, servo motor location, and

FBs-30GM cannot respond immediately command, a delay phenomenon will appear, when this delay phenomenon is not in allowed limit,

FBs-30GM will send alarm.

Possible

Cause

1.

Servo motor doesn’t receive control due to external force

2.

Parameter of drive - inner loop gain is too small

3.

Parameters of acceleration and deceleration time is set too short

4.

Encoder is abnormal or connecting encoder to FBs-30GM is abnormal

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Solution

1.

Check the external motion of machine table

2.

Check the setting parameter of drive

3.

Check the acceleration and deceleration setting of each axis, parameters 401, 541-560

4.

Maintain the connection between encoder and servo drives.

More description

Maximum velocity value of G00 and home search is equal to setting parameter divided by Kp. This value multiplied by 4 is setting range of

FBs-30GM.

Reasonable following error: Ferr = speech in command/ loop gain

Alarm allowed values= {max[(velocity of first stage in home search process), velocity G00 of each axis]/Kp}*4

32[X axis reasonable following error]

33[Y axis reasonable following error]

34[Z axis reasonable following error]

Alarm ID MOT-024 Alarm Title Fatal dual feedback error exceed

Description

If FBs-30GM discovers that the command and the second command of encoder feedback exceed allowable limit set in Pr3817, FBs-30GM will send this alarm.

Possible

Cause

Solution

1.

Servo motor doesn’t receive control due to movement caused by external force

2.

External encoder signal is unusual

3.

External encoder parameters are set wrong

1.

Check external motion mechanism

2.

Check whether external encoder wire is normal

3.

Check whether external encoder corresponding to mechanical axis

(Pr241 ~ 260), resolution (parameter 261 ~ 280) and feedback scaling factor (301 ~ 320) are set correctly.

4.

Contact machinery manufactures in case no solution is found.

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Alarm ID MOT-025 Alarm Title Positive hardware limit exceed

Description

Servo motor touches the positive hardware limit in moving process

1.

Machine table exceeds protection point

Possible

Cause

2.

Hardware stroke switches are damaged or broken

3.

Input signal has error

Solution

1.

Use MPG mode to move machine table to opposite direction once discovering that machine table stops on the switch

2.

If machine table is not on the switch, check IO terminal blocks, 24V power supply terminal blocks, connecting wire and components of switch.

3.

Check whether IO card is abnormal

Alarm ID

MOT-026

Alarm Title

Negative hardware limit exceed

Description

Servo motor touches the negative hardware stroke limit in moving process

Possible

Cause

Solution

1.

Machine table exceeds protection point

2.

Hardware stroke switches are damaged or broken

3.

Input signal has errors

1.

Use MPG mode to move machine table in opposite direction once discovering that machine table stops on the switch

2.

If machine table is not on the switch, check IO terminal blocks, 24V power supply terminal blocks, connecting wire and components of switch.

3.

Check whether IO card is abnormal

Alarm ID MOT-029 Alarm Title Miss index in homing

Description

When searching home, if motor does not find out motor index signal after leaving home DOG more than 5 pitches, FBs-30GM will send this alarm.

Possible

Cause

1.

Can’t read the index signal.

2.

The setting of homing 2 nd

travel feedrate is too fast.

3.

The setting of motor reduction ratio is too big

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4.

The distance between index signal and HomeDog is more than 5 pitches

Solution

More description

1.

Check motor index wire connecting; observe debug variables

48(X), 49(Y), 50(Z) to check whether index signal is read. If no, please check whether connecting wire is correct.

2.

Reduce setting value of the homing 2nd travel feedrate

(Parameter 841 ~ 843)

When searching home, machine will use the velocity setting value of the first stage to move to home DOG, and stop. After that machine moves backward with velocity of the second stage. After leaving home DOG to move backward, it start to search the nearest motor index signal. In the second stage, FBs-30GM will calculate according to resolution of encoder. If FBs-30GM leaves home DOG more than 5 pitches and cannot find out the index signal. FBs-30GM will send alarm.

Alarm ID MOT-030 Alarm Title Zero speed timeout in homing

Description

When motor touches HomeDog, if motor cannot stop, FBs-30GM will send this alarm.

Possible

Cause

1.

Setting drive gain is not good, so it makes motor vibrating

2.

Motor running causes resonance phenomenon.

Solution

More description

1.

Check the position loop gain and velocity loop gain setting of driver

2.

Start the resonance frequency inhibition ability of driver

3.

Contact machinery manufacturers for help.

When searching home, machine will use the velocity setting value of the first stage to move to home DOG, and stop once it meets home DOG.

After that machine moves backward with velocity of the second stage.

After leaving home DOG to move backward, it start to search the nearest motor index signal. At the first stage to find the home DOG, motor will decrease velocity to stop. After 0.1 second command stops, if system data 8(X), 9(Y), 10(Z)-error register receives values bigger than zero speed check window(Pr901 ~ Pr920), FBs-30GM will send alarm.

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Alarm ID MOT-036 Alarm Title Can't leave home dog

Description

When searching home, if motor can’t leave HomeDog after moving over

5 pitches, FBs-30GM will send this alarm message.

Possible

Cause

HomeDog is damaged

Solution

More description

Use the electrical multimeter to check whether the sensor of HomeDog is damaged or wiring connection is missing.

When searching home, machine will use the velocity setting value of the first stage to move to home DOG, and stop. After that machine moves backward with velocity of the second stage. After leaving home DOG to move backward, it start to search the nearest motor index signal. In the second stage, FBs-30GM will calculate according to resolution of encoder. If FBs-30GM leaves home DOG more than 5 pitches and cannot find out the index signal, FBs-30GM will send alarm.

Alarm ID MOT–041 Alarm Title Second Positive software limit exceed

Description

Position value of end point of servo motor exceeds setting value in

FBs-30GM- Second Positive software limit

Possible

Cause

The motion of machine table exceeds setting value

Solution

Remove alarm. Move axis in negative direction out of stroke protection software.

Alarm ID MOT–042 Alarm Title Second Negative software limit exceed

Description

Position value of end point of servo motor exceeds setting value in

FBs-30GM- Second negative software limit

Possible

Cause

The motion of machine table exceeds setting value

Solution

Remove alarm. Move axis in positive direction out of stroke protection software.

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Alarm ID MOT–051 Alarm Title Inhibit cycle start in moving

Description

Before all manual commands are sent, prohibit starting machining to prevent operation error.

Possible

Cause

Manual command (JOG, INJOG, and MPGJOG) cannot be sent successfully.

Solution

Remove alarm. Wait until machine stops, then start machining

Compiler alarm:

Alarm ID COM–001 Alarm Title EOF in comment

Description

The symbol "(*" and "*)" must be used in pairs, if the program uses

"(*" as the beginning of the comment, but doesn’t use "*)" at the end of the comment. System will send alarm

Possible

Cause

Programming error

Solution

Using symbol "(*" before command and symbol "*)" after command

Alarm ID COM–003 Alarm Title Syntax error

Description

MACRO program has syntax error when FBs-30GM interprets it

Possible

Cause

Programming error

Solution

Check program syntax according to symbol appears on the screen

Alarm ID COM–004 Alarm Title Illegal variable

Description

System cannot access variable, this alarm will appear.

Possible

Cause

Change error variable

Solution

Check program variable and confirm whether system uses that variable

Alarm ID COM–005 Alarm Title expression too complex

Description

MACRO is too complicated,

Possible

Cause

Programming error

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Solution

Check whether logic is clear and correct

Alarm ID COM–006 Alarm Title EXIT statement outside loop statement

Description

The purpose of EXIT command is to jump out loop. If EXIT command cannot go to next loop, system will send alarm

Possible

Cause

Programming error

Solution

Check whether EXIT command in program is used correctly

Alarm ID COM–007 Alarm Title Repeat loop too deep

Description

IF Loop command in MACRO such as REPEAT loop, REPEAT loop, WHILE loop, FOR loop repeats more than 10 times, system will send this alarm.

Possible

Cause

Programming error

Solution

Change MACRO program to avoid too many loop commands.

Alarm ID COM–008 Alarm Title absent end of statement character ';'

Description

Program doesn’t have terminal symbol when MACRO command finishes.

Possible

Cause

Programming error

Solution

Check MACRO program to confirm whether it has the terminal symbol

Alarm ID COM–009 Alarm Title wrong assignment character ':='

Description

In program, if Assigning value to symbolic variable does not use the correct notation“: ＝”, system will send alarm

Possible

Cause

Programming error

Solution

Check MACRO program to see whether assigning value to symbolic variable is correct

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Alarm ID COM–010 Alarm Title absent right ')'

Description

In program, notation “(” and “)” must be used in pairs, if “(” lacks “)”, system will send alarm

Possible

Cause

Programming error

Solution

Check MACRO program to confirm whether using “(” and “)” is correct

Alarm ID COM–011 Alarm Title absent right ']'

Description

In program, notation “[” and “]” must be used in pairs, if “[” lacks “]”, system will send alarm

Possible

Cause

Programming error

Solution

Check MACRO program to confirm whether using “[” and “]” is correct

Alarm ID COM–012 Alarm Title absent 'FOR' keyword in FOR statement

Description

If FOR loop in MACRO uses TO to define loop condition incorrectly, this alarm will appear.

Possible

Cause

Programming error

Solution

Check MACRO program to confirm whether FOR loop uses TO correctly

Alarm ID COM–013 Alarm Title absent 'DO' keyword in FOR statement

Description

If FOR loop in MACRO uses DO to define Implement task in loop incorrectly, this alarm will appear.

Possible

Cause

Programming error

Solution

Check MACRO program to confirm whether FOR loop uses DO correctly

Alarm ID COM–014 Alarm Title absent 'END_FOR' keyword in FOR statement

Description

If FOR loop in MACRO doesn’t use END_FOR to finish loop, this alarm will appear.

Possible

Programming error

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Cause

Solution

Check MACRO program to confirm whether FOR loop uses END_FOR

Alarm ID COM–015 Alarm Title absent 'UNTIL' keyword in REPEAT statement

Description

If REPEAT loop in MACRO uses UNTIL to define loop condition incorrectly, this alarm will appear.

Possible

Cause

Programming error

Solution

Check MACRO program to confirm whether using UNTIL in REPEAT loop is correct

Alarm ID COM–016 Alarm Title absent 'END_REPEAT' keyword in REPEAT statement

Description

If REPEAT loop doesn’t have END_REPEAT to finish loop, this alarm will be sent

Possible

Cause

Programming error

Solution

Check MACRO program to confirm whether REPEAT loop has

END_REPEAT

Alarm ID COM–017 Alarm Title absent 'DO' keyword in WHILE statement

Description

If WHILE loop uses DO to define implement task incorrectly, this alarm will appear

Possible

Cause

Possible

Cause

Programming error

Solution

Check MACRO program to confirm whether WHILE loop uses DO correctly

Alarm ID COM–018 Alarm Title absent 'END_WHILE' keyword in WHILE statement

Description

If WHILE loop doesn’t have END_WHILE to finish loop

Programming error

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Solution

check MACRO program to confirm whether WHILE loop has END_WHILE to end

Alarm ID COM–019 Alarm Title absent 'THEN' keyword in IF statement

Description

If IF uses THEN to define implement task incorrectly, system will send this alarm

Possible

Cause

Programming error

Solution

Check MACRO program to confirm whether IF loop use END correctly

Alarm ID COM–020 Alarm Title absent 'END_IF' or 'ELSE' keyword in IF statement

Description

If IF loop doesn’t have ELSE or END_IF, this alarm will appear

Possible

Cause

Programming error

Solution

check whether IF loop uses ELSE or END_IF

Alarm ID COM–021 Alarm Title absent 'END_IF' keyword in IF statement

Description

If IF loop uses END_IF to finish loop incorrectly, this alarm will appear

Possible

Cause

Programming error

Solution

Check whether IF loop uses END_IF correctly

Alarm ID COM–022 Alarm Title absent 'OF' keyword in CASE statement

Description

If CASE command uses OF incorrectly, this alarm will appear

Possible

Cause

Programming error

Solution

Check whether CASE command uses OF correctly

Alarm ID COM–023 Alarm Title absent 'END_CASE' or 'ELSE' keyword in CASE statement

Description

If CASE command doesn’t use ELSE or END_CASE

Possible

Programming error

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Cause

Solution

Check whether CASE loop uses ELSE or END_CASE correctly

Alarm ID COM–024 Alarm Title absent 'END_CASE' keyword in CASE statement

Description

If CASE command doesn’t have END_CASE keyword

Possible

Cause

Programming error

Solution

Ensure that END_CASE keyword is used before finishing CASE command

Alarm ID COM–025 Alarm Title absent ':' or ',' delimiter in CASE statement

Description

If CASE command in MACRO uses ‘;’or ‘, ’, this alarm will appear.

Possible

Cause

Programming error

Check MACRO program. In CASE statement, ‘;’or ‘, ’ is correct. However,

Solution

you should use ‘;’ when finishing CASE command.

Coordinate alarm:

Alarm ID COR–001 Alarm title

Array Index must be Integer

Description

When indirect variable is not an integer, the system will send this alarm

Ex: if #1 in @[#1+1] command is not positive integral, this alarm will appear

Reason

Programming error.

Solution

Please check the machining program, the index in MACRO command has to be rounded

Ex: @[ROUND(#1)+1]

Alarm ID COR–002 Alarm title

File not found

Description

If the file that the system wants to read does not exist

EX: Use M98 (or G65.G66…etc.) to call a no existence file.

Reason

Programming error.

Solution

Check the machining program to make sure the existence of the file.

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Alarm ID COR–003 Alarm title

Divide by zero

Description

If denominator in division of MACRO is equal to 0

Ex: If #3 in #1 :=( #2 / #3) command is equal to 0.

Reason

Programming error

Solution

Check the machining program to ensure that the denominator is not equal to 0.

Alarm ID COR–004 Alarm title

Operand domain error

Description

Reason

Programming error

Solution

Please check the machining program.

Alarm ID COR–005 Alarm title

Program loading failure

Description

MACRO syntax error.

Reason

Programming error

Solution

Please check the machining program.

Alarm ID COR–006 Alarm title

Arc not on work plane

In G02 and G03 syntax, if vector from center to starting point is not on

Description

the arc of working plane, this alarm will appear.

Ex: G17 G02 I50. K10.; if it implements the left program, this alarm will appear.

Reason

Programming error

Solution

Check the machining program to ensure that G02 and G03 are used correctly.

Alarm ID COR–007 Alarm title

Arc radius too short

Description

In G02 and G03 syntax, if Arc radius is smaller than 10 to the power of minus 10 (10^-10), system will send this alarm

Reason

Programming error

Check the machining program to ensure that the Arc radius of G02 and

Solution

G03 are used correctly

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Alarm ID COR–008 Alarm title

Arc destination not on arc

Description

In G02 and G03 syntax, if the Arc end point coordinate is not on the circle, system will send this alarm.

From V8.31 version, parameter 3807- destination not on arc check window is added. It allows error set in parameter 3807.

When error of Arc end point coordinate is smaller than setting value in

Pr3807, system will automatically correct center coordinate, so the end point can be on arc correctly.

If error of Arc end point coordinate is bigger than setting value in

Pr3807, system will send alarm.

Reason

Programming error

Solution

Check the machining program to ensure that the Arc radius of G02 and

G03 are used correctly

Alarm ID COR–009 Alarm title

Macro call too deep

Description

Use G65 to call MACRO subprogram that has more than 12 layers

Reason

Programming error

Solution

Check machining program to ensure that G65 calls MACRO subprogram that has less than 12 layers

Alarm ID COR–010 Alarm title

Modal macro call too deep

Description

Use G66 to call MACRO subprogram that has more than 4 layers

Reason

Programming error

Solution

Alarm ID

Check machining program to ensure that G66 calls MACRO subprogram that has less than 4 layers

COR–011 Alarm title

Subprogram call too deep

Description

Use M98 to call subprogram that has more than 16 layers

Reason

Programming error

Solution

Check machining program to ensure that M98 calls subprogram that has less than 16 layers

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Alarm ID COR–012 Alarm title

Too many modal macro canel,G67

Description

G66 and G67 need to be used in pairs. When number of G67 is larger than G66 in one machining program, this alarm will appear.

Reason

Programming error

Solution

Check program to ensure that G66 and G67 are used in pairs

Alarm ID COR–013 Alarm title

G65,G66 must be the last one in G code list

G65 and G66 are MACRO, so in single block the right hand side of G65

Description

and G66 will have processing arguments. So in single block, please put other G code in the left hand side of G65 and G66.

If the right hand side of G65 and G66 has G code or M code, system will send this alarm

Reason

Programming error

Solution

Please check the machining program.

Alarm ID COR–014 Alarm title

Absent program number

Description

The right hand side of G65 and G66 doesn’t have parameter P to specify program number, system will send this alarm.

Reason

Programming error

Solution

Please check the machining program to ensure the use of G65 and

G66.

Alarm ID COR–015 Alarm title

Too many M code

Description

There are more than 3 M codes in a single block.

Reason

Programming error

Solution

Please check the machining program to ensure that there are equal or less than 3 M codes in a single block

Alarm ID COR–016 Alarm title

Illegal variable access

Description

Accessing variables do not exist.

Reason

Programming error

Solution

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Alarm ID COR–017 Alarm title

Label not found

Description

Cannot find out corresponding line number N in GOTO command

Reason

Programming error

Solution

Please check the machining program.

Alarm ID COR–019 Alarm title

sub program no M99

Description

Subprogram has no M99 to return main program

Reason

Programming error

Solution

Write M99 at the end of subprogram

Alarm ID COR–020 Alarm title

Too many G code

Description

There are more than 10 G codes in a single block.

Reason

Programming error

Solution

Dividing that single block into others single block that has less than

10G codes

Alarm ID COR–021 Alarm title

Too many (I,J,K) triples

Description

Repeat too much IJK command in the same single block.

Reason

Programming error

Solution

Please check the machining program.

Alarm ID COR–022 Alarm title

Use undefined workpiece coordinate

Description

Do not input G17, G18, G19

Reason

Programming error

Solution

Decide the working plane, and input G17, G18, or G19

Alarm ID COR–024 Alarm title

Invalid arc radius value

When implementing G02, G03, appointing Arc end point and given radius is contradicted, given radius cannot meet appointing Arc end

Description

point.

Ex: G03X1500Y4000R2000

Reason

Programming error

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Solution

Check the program and recalculate.

Alarm ID COR–026 Alarm title

macro stack is empty

Description

Empty stack still has value pop()

Reason

The numbers of Push commands and Pop commands are not the same.

Solution

Check the program to ensure that the number of Push commands is the same with that of Pop commands.

Alarm ID COR–027 Alarm title

Invalid macro arguments

Description

Macro Alarm.

Reason

Once Macro finds out the unreasonable situation, machining program will be stopped and alarm will appear

Solution

According to display content of alarm to find out where error is

Alarm ID COR–040 Alarm title

Block end point exceed software limit

Description

The coordinate in the program exceeds machine limit.

Reason

Program error

Solution

Check the machining program, and correct coordinate position

Alarm ID COR–041 Alarm title

GOTO label must be integer

Description

The input GOTO label is not an integer.

Ex: GOTO 1 Correct

GOTO 1. Wrong

N1; Correct

N1.; Wrong

Reason

Program error

Solution

Check the machining program, and input integer in GOTO label.

Alarm ID COR–043 Alarm title

ASIN()/ACOS() operand must between -1.0 and 1.0

Description

ASIN()/ACOS() Operand is not between -1.0 and 1.0.

Reason

Programming error

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Solution

Check the machining program.

Alarm ID COR–044 Alarm title

SQRT() operand should not be negative

Description

The square root of a negative value will be imaginary, but FBs-30GM does not provide this function.

Reason

Programming error

Solution

Check the program; enter a positive value in SQRT operand.

Alarm ID COR–047 Alarm title

M address should be integer

Description

M address is not an integer.

Reason

Programming error

Solution

Check the program, and use M address in integer.

Alarm ID COR–052 Alarm title

Sub-program number, P, should be integer

Description

If the sub-program number P is not an integer, FBs-30GM will send this alarm.

Reason

Programming error

Solution

Please check the program, and use the sub-program number P in integer.

Alarm ID COR–053 Alarm title

Repeat count, L, should be integer

Description

If the repeat times L is not an integer, this alarm will appear.

Reason

Programming error

Solution

Please check the program, and use the repetitive times L in integer.

Alarm ID COR–054 Alarm title

Incompatible data type

Description

When the data format doesn’t meet the requirements set by

FBs-30GM, FBs-30GM will send this alarm.

Reason

Machining program is not compatible with FBs-30GM.

Solution

Make sure that the data format is suitable for FBs-30GM.

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Alarm ID COR–059 Alarm title

Subprogram call sequence num., H, must integer

Description

Number H called in subprogram is not an integer

Reason

Program error

Solution

Change the number H of subprogram into an integer.

Alarm ID COR–060 Alarm title

M99 return sequence number, P, must integer

Description

The return sequence number P of M99 is not an integer.

Reason

Program error

Solution

Change the return sequence number P of M99 into an integer.

Alarm ID COR–064 Alarm title

P address must be integer

Description

If P address is not an integer, this alarm will be sent.

Reason

Programming error

Solution

Change P address into an integer.

Alarm ID COR–066 Alarm title

Inc. axis command and abs. axis command conflict

Description

Both G91 and G90 are in the same line.

Reason

Programming error

Decide to use incremental or absolute command, and enter the

Solution

correct command.

Alarm ID COR–067 Alarm title

Arc center vector and radius conflict

Description

The arc end point is not on the arc created by the arc starting point and the specify center.

Reason

Programming error

Solution

Please check the machining program.

Alarm ID COR–070 Alarm title

Invalid G Code

Description

Enter incorrect G code to FBs-30GM.

Reason

Program error

Solution

Enter the valid G-code.

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Alarm ID COR–071 Alarm title

No main program assignment

Description

The name of main program is not specified.

Reason

The program is not loaded.

Solution

Specify the name of main program.

Alarm ID COR–075 Alarm title

Exact stop wait timeout

Description

After 1 second sending Exact stop (G09/G61) command, If the difference between feedback and command exceeds allowable value, this alarm will be sent.

Reason

Servo vibration

Solution

1.

Servo tuning

2.

Change parameters

Alarm ID COR–076 Alarm title

G04 dwell time cannot be negative

Description

When input value of dwell time G04 is negative, this alarm will appear.

Reason

Program error

Solution

Check the machining program, and enter a positive value to G04

Alarm ID COR–201 Alarm title

Part program file not exist

Description

When specified program does not exist, this alarm will appear.

Reason

Solution

Ensure that program file exists

Alarm ID COR–202 Alarm title

Communication link failure

Description

When communication link is dropped, FBs-30GM will send this alarm.

Reason

Solution

Reconnect a good communication link

Alarm ID COR–204 Alarm title

File size too large

Description

When program file is too large, FBs-30GM will send this alarm

Reason

Program error

Solution

Reduce the program size, or split program into two subprograms.

FATEK Automation Corporation

183

FBs-30GM User Manual

Alarm ID COR–205 Alarm title

File content is empty

Description

After FBs-30GM loads the program, it finds out that the file content is null.

Reason

Loading program error

Solution

Reload program

Alarm ID COR–207 Alarm title

Sequence number not found

Description

When sequence number is not found, FBs-30GM will send this alarm.

Reason

Program error

Solution

Use sequence number in the program range.

FATEK Automation Corporation

184