2.1.3 DECIMAL POINT PROGRAMMING
Numerals containing a decimal point may be used as the dimensional data of addresses related to coordinates (distance) , time and speed.
Decimal points can be used in the following address words.
Coordinate words: X, Y, Z, I, J, K, A, B,C,
U, V, W, Q, R
Time word: P
Feed rate word: F
EXAMPLE
X15.
[ mm]
X15.000 mm
Y20.5
— Y 2 0 . 5 0 0 m m
[ i n c h ] or x15.0000 inches or Y20. 5000 inches
(G94)F25.6 – F25. O mm/min or F25.6 inches/rein
( f o r F4.0) ( f o r F3.1)
G04P1. — Dwell 1.000 sec
Normally, when data without a decimal point is input, the control regards ‘t lit as O. 001 mm
(or 0.0001 inches, or 0.001 deg.).
2.1.4 LABEL SKIP FUNCTION
In the cases named below, the label skip function becomes effective , and LSK is displayed on the
C R T .
. When the power supply is turned on.
. When the RESET key is pushed.
While the label skip function is effective, all data on the punched tape up to the first EOB code are n e g l e c t e d .
When LSK is displayed on the CRT in the MEM (memory) or EDIT (editing) mode , it indicates the presence of a pointer at the leading end of the part program.
2.1.5 BUFFER REGISTER
During normal operation , oxe block of data is read in advance and compensation computing is made for the follow-on operation.
In the tool radius compensation C + mode, two blocks of data or up to 4 blocks of data are read in advance and compensation computing required for the next operation is executed. One block can contain up to 128 characters including EOB .
2.1.6 MULTI-ACTIVE REGISTERS t
For the portion of part programs sandwiched in between M93 and M92, up to 4 blocks of data are read in advance.
M code
M 92 v
I
Meaning
Multi-active register off
M93 Multi-active register on
Note: When power is applied or the control is reset, the control is in the state of M code marked with ~.
Inter-block stoppage can be eliminated when the program is so made that the automatic operation time of advance reading of 4 blocks is longer than processing time of advance reading of next 4 blocks of data.
Note :
Advance reading is not made for every 4 blocks but is always ready to be made up to 4 blocks in
M93 mode.
2.: MPBRE:GRAM NUMBER AND SEQUENCE
2.2.1 PROGRAM NUMBER
Program numbers may be prefixed to programs for the purpose of program identification.
Up to 4 digits may be written after an address character
[lo!! as program numbers.
up to 99 program numbers can be registered in the control, and up to 199 or 999 can be registered employing an option.
One program begins with a program number, and ends with M02, M30 or M99. M02 and M30 are placed at the ends of main programs, and M99 is placed at the ends of subprograms.
PROGRAM WITH
PROGRAM NO. 10
PROGRAM WITH
PROGRAM NO. 1234
ER (or % at ISO code) is punched on the tape at the top and end of the program.
Notes :
The blocks for optional block skip such as
/M02; , /M30; , /M99; are not regarded as ends of programs .
. To make the reading of M02, M30, and M99 ineffective as a program end, and to make the succeeding ER (EIA) or % (I SO) as a sign of program ends is possible with a parameter change. ( #6021 DO)
5
2.2.2 SEQUENCE NUMBER
Integers consisting of up to 4 digits may be written following an address character N as sequence numbers.
Sequence numbers are reference numbers for blocks, and do not have any influence on the meaning and sequence of machining processes.
Therefore, they may be sequential, non-sequential, and duplicated numbers, and also not using any sequence number is also possible. Generally, sequential numbers are convenient as sequence numbers.
When searching for sequence numbers, be sure to search or s~ecify p~ogram numbers hand.
before-
Notes :
. When 5 or more digits are written as a sequence number, only the digits up to the 4th from the trailing end are effective.
. When two or more blocks have the same sequence number, only one is retrieved and read, and no more searching is performed.
Blocks without sequence numbers can also be searched for with respect to the address data contained in the blocks.
2.2.3 OPTIONAL BLOCK SKIP (/1 - /9) t
Those blocks in which “ /n” (n = 1 - 9) is included are neglected between In and the end of that block, when the external optional block skip switch for that number “n” is on.
EXAMPLE
/ 2 N1234 GO1 X 1 O O / 3 Y20();
When the switch for /2 is on , the entire block is neglected, and when the switch for /3 is on , this block is read as if
N 1 2 3 4 GO1 XIOO; .
With “ 1“ , 11 1!! may be omitted.
Notes :
The optional block skipping process is executed while the blocks are read into the buffer resis– ter.
If the blocks have been read , subsequent switching on is ineffective to skip the blocks.
While reading or punching out programs, this function is ineffective.
The optional block skip /2 - /9 is an option function.
2.3 COORDINATE WORD
Generally, commands for movements in axis directions and commands for setting coordinate systems are called coordinate words, and coordinate words consist of address characters for desired axes and numerals representing dimensions of directions.
2.3.1 COORDINATE WORD
Main axes
A d d r e s s x, Y, z
4th axis 7
Circular interpolation auxiliary data
A,B, C or u , v, w
Q
R
I, J, K
Table 2.4 Coordinate Words
Description
Position or distance in X, Y or Z coordinate direction.
These coordinate words are treated as commands in the directions of the 4th axis.
A , B and C are used for rotary m~tion, and
U , V and W are used for parallel motion
Circular arc increment in circle cutting
(G12, G13)
Generally, radius values of circles.
Generally, distances from start point to arc center (in X , Y and Z components) .
6
2.3.2 SIMULTANEOUSLY CONTROLLABLE AXES OF
THREE-AXIS CONTROL
Table 2. 5 shows simultaneously controllable axes.
Table 2.5 Simultaneously Controllable Axes of
Three-axis Control
Positioning GOO
Simultaneously controllable axes
X, Y and Z axes
Linear interpolation GO1
Circular interpolation G02, G03
Circle cutting+
G12, G13
X, Y and Z axes
Two axes: X Y , YZ or ZX
(see Note. )
Two axes: X and Y
Helical interpolation+ G02, G03
Circle in XY-plane and linear feed in Z-axis direction .
Refer to 2. 9.5 HELICAL
INTERPOLATION .
Man ual control X. Y and Z
Note:
Circular arc plane is determined according to the currently effective G codes for plane designation.
(G17 to G19)
For details, refer to 2.9.4, “ CIRCULAR INTER-
P O L A T I O N (G02, G03)” on page 22.
2.3.3 SIMULTANEOUSLY CONTROLLABLE AXES OF
FOUR-AXIS CONTROLt
Table 2. 6 shows simultaneously controllable axes.
Table 2.6 Simultaneously Controllable Axes of
Four-axis Control
Simultaneously controllable axes
Positioning GOO X, Y, Z, and ail’ axes
Linear interpolation GO 1
Circular interpolation G02, G03
X, Y, Z , and dl’axes
(21~3)
Two axes, X Y , Y z , Zx,
Xdl/ Ya(ll or ZC4(1)
Circular cuttingt
G12, G13
Helical interpolation G02, G03
Two axes: X and Y
Three axes : circle in XY plane and linear feed in Zaxis direction.
Refer tc
2. 9.5 HELICAL INTERPO-
LATION on page 27.
Manual control Four axes, X, Y, Z, or ~ (ll.
(1) The a axis represents any one of axes A, B, C,
U, V or W, selected as the 4th axis.
(2) Circular arc plane is determined according to the currently effective G codes for plane design a t i o n (G17 to G19) . For details, refer to
2.9.4, “ CIRCULAR INTERPOLATION (G02, G03)” on page 22.
(3) For circular interpolation axis a, any one of linear axes U, V , and W should be designated.
2.3.4 4TH AXIS CONTROLt
An additional 4th axis can be incorporated. In this manual, the 4th axis is referred to as aaxis, and represents any of the 6 axes, A, B, C,
U, V and W.
Address. is specified by parameter
#6023.
2.3.4.1 ROTARY AXIS (A, B OR C AXIS)
The rotary axis is defined as follows.
Table 2.7 Rotary Axes for 4th
MS Control Table
Rotary axis I Definition
A axis I Rotar y axis parallel to X-axis
B axis Rotary axis parallel to Y-axis
C axis Rotary axis parallel to Z-axis
N o t e : In this manual, any one of the three axes, A, B and C, is referred to as
B-axis .
The unit of output increment and input increment for B-axis is “deg. ‘1 instead of “mm” used with linear axes.
For the other respects, the treatments are the same as those in mm.
(Metric system)
Even when inch system is selected by parameter, the values for the B- axis remains “deg. “ unit.
The control does not convert B-axis coordinate commands.
However, feedrate command F is converted. (Refer to 2.9.3. “ LINEAR INTERPO-
L A T I O N ” )
2.3.4.2 LINEAR AXIS (U, V OR W AXIS)
The linear axes are defined as follows.
Linear axis
Table 2.8 Linear Axes
I
Definition
Linear axis parallel to X-axis
Linear axis parallel to Y-axis
N o t e : In this manual, linear axes either U, V or W are indicated by c-axis.
7
2.3.4.2 LINEAR AXIS (U, V OR W AXIS) (Cent’d)
The unit output increment and input increment for
C-axis is the same as the other linear axes, X, Y and Z.
No discrimination is necessary.
When inch system is selected by parameter, input values must be in inches for C–axis.
I
Y v
B c)1
— u
x c
A z
Fig. 2.1 4th Axis in Right-hand
Coordinate System
2.3.5 LEAST INPUT INCREMENT AND LEAST OUTPUT
INCREMENT
2.3.5.1 LEAST INPUT INCREMENT
The minimum input units that can be commanded by punched tape or MDI are shown in Table
2.9.
Table 2.9 Least Input Increment
(#6006D5 = “O’)
Linear Axis R o t a r y Axis?
O. 001 mm Metric input
Inch input 0.0001 in
0.001 deg
O. 001 deg
Least input increment times ten can be set by setting parameter #6006D5 at “ 1. “
Input Increment X 1 I)
(#6006D5 = “I)
Tool offset value must always be written in O. 001 mm (or 0.0001 inch, or 0.001 deg4. ) , and offset is possible in these units.
In 0.01 mm increment system, the following operation must be made in the unit of O. 01 mm.
. Write operation in hfDI mode .
. Programming for operation in MEMORY mode’.
~ Program editing operation in EDT mode*.
Notes :
If NC programs set by O. 001 mm is fed into or stored in an equipment set by 0.01 mm increment, the machine will move ten times the intended dimensions.
If the increment system is switched when the contents of NC tape are stored in memory, the machine will move by ten times or one tenth of the commanded dimensions .
When the stored program is punched out on the tape-’ , the stored figures are punched out “as stored” regardless of switching of the incre– ment system.
2.3.5.2 LEAST OUTPUT INCREMENT
Least output increment is the minimum unit of tool motion.
Selection of metric or inch output is made by parameter (#6007D3) setting.
Table 2.10 kast Output Increment
Metric output
Inch output
Linear axis
0.001 mm
0.0001 in.
R o t a r y axis+
0.001 deg
0.001 deg
2.3.6 MAXIMUM PROGRAMMABLE DIMENSIONS
Maximum programmable dimensions of move command are shown below.
Table 2.11 Maximum Programmable Dimensions
Linear axis Rotary axis+
Metric output f
!
I Metric input t99999. 999 mm *99999.999 deg
Inch input t3937. 0078 in.
t99999. 999 deg
Inch output
1 Metric input +99999. 999 mm +99999. 999 deg
Inch rnput *9999.9999 in.
t99999. 999 deg
Note : Selection of metric system or inch system is made by setting (#6001DO).
In incrc,mental programming , input values must not exceed the maximum programmable value.
In absolute programming , move amount of each axis must not exceed the maximum programmable va!ue
8
Note : The machine may not function properly if a move command over the maximum programmable value is given The above maximum programmable values also apply to distance command addresses I, J, K, R, Q in addition to move command addresses X , Y, Z , a.
The accumulative value must not exceed the maximum accumulative values shown below .
Table 2.12 Maximum Cumulative values
Metric input
Inch input
Linear axis f 99999.999 mm f 9999.9999 in.
R o t a r y axis+ t 99999.999 deg f 99999.999 deg
Listed input values do not depend on metric/ inch output system.
2.4 TRAVERSE AND FEED FUNCTIONS
2.4.1 RAPID TRAVERSE RATE
2. 4.1.1 RAPID TRAVERSE RATE
The rapid traverse motion is used for the motion for the Positioning (GOO) and for the motion for the Manual Rapid Traverse (RAPID) . The traverse rates differ among the axes since they are dependent on the machine specification and are determined by the machine tool builders. The rapid traverse rates determined by the machine are set by parameters in advance for individual axes.
When the tool is moved in rapid traverse in two or three axial directions simultaneously , motions in these axial directions are independent of each other, and the end points are reached at different times among these motions. Therefore, motion paths are normally not straight.
For override rapid traverse rates , Fo, 25%, 50% and 100% of the basic rapid traverse rates , are available.
Fo is a constant feed rate set by a parameter ( #6231) .
2. 4.1.2 SETTING RANGE OF RAPID TRAVERSE
R A T E
For each axis, rapid traverse rates can be set at some suitable multiple of O. 001 mm/min (or deg / min ) .
The maximum programmable rapid traverse rate is
30,000 mm/min. However, respective machine tools have their own optimum rapid traverse rates. Refer to the manual provided by the machine tool builder.
2.4.2 FEEDRATE (F-FUNCTION)
With five digits following an address character F, tool feedrates per minute (mm /rein) are programmed.
The programmable range of feedrates is as follows.
Metric output
Inch output
Table 2.13 Programmable Range of Feedrate
Metric input
Inch input
Metric input
Inch inDut
Feedrate
(Feed/rein) range
F50 F1.-F3OOOO.O mm/min
F31 FO.1-F1181.1O in. /rein
F50 F1.-F762OO. mm/min
F31 FO. 1-3000.00 in. /rein
The maximum feedrate is subject to the performance of the servo system and the machine system.
When the maximum feedrate set by the servo or machine system is below the maximum programmable feedrate given above, the former is set by a parameter ( #6228) , and whenever feedrates
“above the set maximum limit are commanded, the feedrate is clamped at the set maximum value.
F commands for linear and circular interpolations involving motions in simultaneously controlled two axial directions specify feedrates in the direction tangential to the motion path.
EXAMPLE G 91 (incremental)
GO1 X40.
Y30.
With this command,
F500
F= 500={’
(mm/min)
!
~ X component
Y component
500 nun/rein
+Y
-— J
, 300 mmim in
400 mm/min
/
1
Fig. 2.2
G03 X. . . . Y. . . . 1.. . F200
With this command,
F = 200 = ~~”
(mm/min)
+Y
CENTER
\
7
I
.,200 mm/min
I.
I ‘, l \ \
.J
fx fY
I d
+x
Fig. 2.3
9
2.4.2 FEEDRATE (F-FUNCTION) (Cent’d)
F commands for linear interpolations involving motions in simultaneously controlled three axial directions specify feedrates also in the direction tangential to the motion path.
EXAMPLE
With GO1 X.. . Y.. . 2.. . F400 ;
F = 400 = fX2 + fY2 + fz2
(mm/min)
+Y
END POINT
I
/
/
+2
— — — _ _ _ _
Fig. 2.4
F commands for linear interpolations involving motions in simultaneously controlled four axial directions specify feedrates also in the direction tangential to the motion path.
F (mm/min) = fx2 + fy2 + fz2 + fa2
Notes :
. If FO is programmed, it is regarded as a data error. (alarm code “030)
. Do not program F commands with minus numerals, otherwise correct operation is not guaranteed.
EXAMPLE
F-250 ; . . . . . . . . wrong
2.4.3 FEEDRATE 1/1 O
The feedrate programmed by F commands can be converted to 1 /10-th value with a parameter setting as follows.
. When parameter #6020 DO or D1 is set to “ 1, “ the feedrates range becomes as shown below.
Table 2.14 Programmable Range of 1/10 Feedrate
Metric output
Inch output
Metric input
Format
F51
Feedrate
(Feed/rein) range
FO. 1-F3000.O mm/min
I ~nchinput ] F32 IFO.01-FI.IBI.10 in./min
Metric input F51 FO. 1-F76200.O mm/min
Inch input F32 F0.01-F3000.00 in. /rein
. When parameter #6020 DO or D1 is set to “O, ” the feedrate range returns to normal.
2.4.4 F 1-DIGIT PROGRAMMING t
(1) Specification of a value 1 to 9 that follows
F selects the corresponding preset feedrate.
(2) Set the feedrate of each of F1 to F9 to the setting number shown in Table 2.15 (a).
(3) By operating the manual pulse generator w h e n F1-DIGIT switch is on, the feedrate of Fl digit command currently specified may be increased or decreased.
Set the increment or decrement value per pulse (F1-digit multiply) to the parameters listed in Table 2.15 (b).
As a result of this operation, the contents of the setting number of the F1-digit feedrate are changed.
(4) Upper Limit of Feedrate
Set the maximum feedrate of F1-digit designation to the following parameter. If a value greater than the usual maximum feedrate (the contents of #6228) is set, it is governed by the contents of #6228.
Table 2.15 (a) F Command and
Setting No.
F command
I Setting No. for
F1-digit speed
F4
F5
F6
F7
FE
F9
I
I
#6564
#6565
#6566
#6567
#6568
#6569
Setting “ 1“ = 0.1 in. /rein or 0.01 in. /rein
10
