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    DESCRIPTIONSB-62092E/03 Power Mate D/F Motion Controllers

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    • No part of this manual may be reproduced in any form. • All specifications and designs are subject to change without notice.The export of this product is subject to the authorization of the government of the countryfrom where the product is exported.In this manual we have tried as much as ...

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    CONTENTSI. GENERAL1.OUTLINE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .l-12.LIST OF SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .l-3II. NC FUNCTIONS1.CONTROLLED AXES...............

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    5.25.35.45.5\5.1 .lManual reference point return ...............................2- 155.1.2Setting the reference position without dogs.....................2 - 15Automatic Reference Point Return (G28, G29)........................2 - 16Reference Point Return Check (G27).................................

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    11.10 Control-In/Control-Out.........................................2-3011 .I 1 Optional Block Skip...........................................2-3011.12 Additional Optional Block Skip...................................2-3011.13 Tape Horizontal (TH) Parity Check and Tape Vertical (TV) Parity Check...

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    19. MANUALOPERATION.............................................2-5619.1Manual Feed...............................................2-5619.2Incremental Feed............................................2-5619.3Manual Handle Feed (1st)......................................2-5619.4Manual Handle Feed (2...

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    23. DISPLAYING AND SETTING DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7223.123.223.323.423.523.623.723.823.923.1023.1 I24.DIAGNOSIS FUNCTIONS...........................................2 - 8425.1Self Diagnosis Functions.......................................2-84P...

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    27.3interlock. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-8728. STATUS OUTPUT................................................2 - 8828.1NC Ready Signal............................................2-8828.2 Servo Ready Signal.......................

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    37.2.1Input power voltage...................................2- 10037.2.2Power transformer ....................................2-10037.3Battery..................................................2-10137.4Environmental Requirements...................................2-10138. CABLES AND CONNECTORS. . ....

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    I. GENERAL

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    1. OUTLINE1 l OUTLINEThis manual describes the following products:Name of productAbbreviationFANUC Power Mate-MODEL DPower Mate-DDrawing No.A02B-0166-BOO1A02B-01660B501FANUC Power Mate-MODEL FIPower Mate-FIA02B-0198-B501The Power Mate-D and Power Mate-F are high-performance CNCs developed to prov...

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    1. OUTLINECNCDPUMDI++a Manual pulse generator+ Spindle axis controlI_l_I-bFeed motor (max two axes)Machining programs, parameters, variables, etc. are stored in the CNC unit internal non-volatilememory.In general, these contents are not lost by the switching ON/OFF of the power.However, it is pos...

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    2. LIST OF SPECIFICATIONS2. LIST OF SPECIFICATIONSPlease refer to the following list for the functions available for each Power Mate.Notes on Power Mate-D for dual path control..Function that can be used individually in each path.‘.......................I............... .. . ..I...................

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    2. LIST OF SPECIFICATIONSControlled axis (Continuation)1 : 1 path ,2 : 2 paths0 : Basic* : Basic option $k: OptionitemSpecificationsD- F1 2Position switchZone signalsTorque limit control0- 0Function command of PMC0 0 0Three ways of the following are0 0 0possible.1)By input signal to NC fromPMC2) ...

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    2. LIST OF SPECIFICATIONSOperation1 : 1 path ,2 : 2 paths0 : Basic* : Basic option* : OptionItemSpecificationsD, F1 2Automatic operation (memory)IloIdDNC operationMDI operationProgram number searchIlololoWork number searchI 1 to 255lololoBuffer registerDry runI~lolOSingle blocklololoManual contin...

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    2. LIST OF SPECIFICATIONSInterpolation1 : 1 path ,0 : Basic2 : 2 paths* : Basic optionOptionItemSpecificationsD- F1 2Circular interpolationControlled axes 2 axes is needed.0 - -Polar coordinate interpolationDwell (per set)Dwell Skip functionSkip functionSkip function from PMCMulti-step skip funct...

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    2. LIST OF SPECIFICATIONSFeed function1 : 1 path ,0 : Basic2 : 2 paths* : Basic option *: OptionDItemSpecificationsF12Rapid traverse rateMax.240m/min (Limited by‘0 0 0increment system and motor)Rapid traverse overrideFO, 25, 50, 100%000Rapid traverse overlap00-Feed minutepermm/min000Feed per re...

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    2. LIST OF SPECIFICATIONSProgram input1 : 1 path ,0 : Basic2 : 2 paths* : Basic optionfi : OptionIDItemIWISO automatic recognition-abeI skipSpecifications1 F12000000‘arity checkHorizontal and vertical parity000Zontrol in/out0003ptionai block skip9000Wax. programmable dimensionf 8 digit0 0 0arog...

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    2. LIST OF SPECIFICATIONSProgram input (continuation)ItemMacro executerChaser toolAuxiliary/Spindle function1 : 1 path ,0 : Basic2 : 2 paths* : Basic option* : OptionSpecificationsCRT/MD1 and CRT module areneeded. They aren’t needed to useonly execution macro and auxiliarymacro1) 1 pathNecessar...

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    2. LIST OF SPECIFICATIONSTool function/Tool compensation1 : 1 path ,0 : Basic2 : 2 paths* : Basic option *: OptionItemSpecificationsDh-i FI 2Tool functionT8 digits000Tool length compensationTool offset memory 99000Tool length measurement000Editing operation1 : I path , 2 : 2’paths0 : Basic* : B...

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    2. LIST OF SPECIFICATIONS*9) Registered programs for two axes control in two pathsThe memory length more than 512KB is needed.Setting and display1 : 1 path ,0 : Basic2:* ..2 pathsBasic option72 .. OptionItemSpecificationsDF1 2Status displayClock functionCutting position displayProgram displayPara...

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    2. LIST OF SPECIFICATIONSSetting and display (continuation)1 : 1 path ,2 : 2 paths0 : Basic* : Basic optionfi : Option.ItemSpecificationsDT-i F1 2Multi-language displayI EnglishlololoJapanese (Chinese character)CRT/MD1 and CRT module areneeded.0 0 -I IData protection keyLadder dynamic display3 ty...

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    2. LIST OF SPECIFICATIONSOthers1 : 1 path ,0 : Basic2 : 2 paths* : Basic optionti : OptionItem qSpecificationsDF1 2Status output signalTemporary interrupt detectionSetting and display unit*...........*.NC ready, servo ready, automatic0 ~0operation, automatic operation start::::::::;::::::::::::::...

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    2. LIST OF SPECIFICATIONSOthers (Continuation)Item.Connectable spindle motorConnectable spindle amplifierControl unit dimensionsInput power supplyr1 : 1 path ,0 : Basic2 : 2 paths* : Basic optionz/s : OptionDSpecifications1 F1 2FANUC AC spindle motor, etc.0 0 0FANUC AC spindle amplifier (serial0 ...

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    II. NC FUNCTIONS

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    1. CONTROLLED AXES1. CONTROLLED AXES1.1 Number of Basic Controlled AxesPower Mate-F :1 axisPower Mate-D :1 axis or 2 axes (option)1.2 Number of Basic Simultaneously Controllable Axes2 axes (Power Mate-D only)1.3 Axis NamesAny of these axes can be selected: X, Y, Z, A, B, C, U, V, or W.X and Y are...

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    1. CONTROLLED AXES1.4 increment SystemThere are two increment systems as shown in the tables below. One of the increment systems canbe selected using a parameter.Table 1.4 (a)Least input incrementLeast command incrementAbbreviation0.001 mm0.001 mmMillimeterMetric input0.001 deg0.001 ciegmachine0....

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    1. CONTROLLED AXESInput unit10 timesThe following least input increments can be set using a parameter:1.5 MaximThe followingincrement systemILeast input incrementIS-B0.01 mm, 0.01 deg, or 0.001 inchIS-C0.001 mm, 0.001 deg, or 0.0001 inchAm Stroke:able lists the maximum strokes of machine tools th...

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    2. PREPARATORY FUNCTIONS2. PREPARATORY FUNCTIONSThe following G codes are provided:Preparatory functions (l/2)G codeGroupFunctionSO0301GO2503GO4G10G11G17G18G19G20G21G27G28G29G30G31G43G44G49G65G66G67G73G74G76G78G79G80381G82G83G84G85G86G87G88G89010002060008081209090109Positioning (rapid traverse)Li...

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    2. PREPARATORY FUNCTIONSPreparatory functions (212)G codeGroupFunctionAbsolute inputIncremental inputG92G93G94G9500Coordinate system setting04Feed per rateFeed per minuteFeed per rotation2-5

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    3. INTERPOLATION FUNCTIONS3. INTERPOLATION FUNCTIONS3.1 Positioning (GOO)Positioning is done with each axis separately (Non linear interpolation type positioning).Too path generally does not become a line.Q Start point.I.:.::...:..::..0:,.....................................d\Rapid traverseEnd po...

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    3.3 CircuCircular inte3. INTERPOLATION FUNCTIONSar Interpolation (G02, G03)polation of optional angle from 0 x to 360 x can be specified.G02: Clockwise (CW) circular interpolationGO3 Counterclockwise (CCW) circular interpolationWXP -G17*ZP -G18* YPG19Clockwise and counterclockwiseFeed rate of the...

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    3. INTERPOLATION FUNCTIONSEnd point (Xp, Yp)End point (Zp, Xp)YP..L.:...:cc.Start.’xp *:*point.:..1j.CenteriStartpoint7iEnd point (Yp, Zp)CenterXpY p planeZpXp planeY pZp planeStartpointCircular interpolation command2-8

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    4. FEED FUNCTIONS4. FEED FUNCTIONS4.1 Rapid TraversePositioning of each axis is done in rapid motion by the positioning command (GOO).There is no need to program rapid traverse rate, because the rates are set in the parameter (peraxis).Table 4.1Least command incrementRapid traverse rate range0.00...

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    4. FEED FUNCTIONS4.2.3 Per revolution feed (G95)W ith the per revolution feed mode G95, tool feed rate per revolution of the spindle is directlycommanded by numeral after F. A position coder must be mounted on the spindle.Table 4.2.3Least command incrementCutting feed rate range0.001 mm or deg0.0...

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    4. FEED FUNCTIONS4.3 Override4.3.1 Feedrate overrideFeedrate override can be applied to feed per minute (G94) and feed per rotation (G95) in 1%increments from 0% to 254%.In inverse time, override is applied to a feedrate converted to thatused in feed per minute.Feedrate override cannot be applied...

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    4. FEED FUNCTIONS4.5 Linear Acceleration/Deceleration after Cutting Feed InterpolationFig. 4.5 (a)In the linear acceleration/deceleration, the delay for the command caused by the acceleration/deceleration becomes l/2 compared with that in exponential acceleration/deceleration,substantially reduci...

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    4. FEED FUNCTIONSConsequently, in case of the linear acceleration/deceleration after interpolation, if an error causedby the servo loop time constant is excluded, the radius directional error will be reduced to l/12,compared with the exponential acceleration/deceleration.4.6 Dwell (G04)With the G...

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    5. REFERENCE POINT5. REFERENCE POINT5.1 Manual Reference Point Return51.1 Manual reference point returnPositioning to the reference point can be done by manual operation.With jogging mode (JOG), manual reference point return (ZRN) signals, and signal for selectingmanual reference point return axi...

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    5. REFERENCE POINT5.2 Automatic Reference Point Return (G28, G29)1) Return to reference point (G28)With the G28 command, the commanded axis is positioned to the reference point via thecommanded point.After positioning, thereference point return end lamp lights. If G28 wascommanded when reference ...

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    5. REFERENCE POINT5.4 2nd and 3rd Reference Point Return (G30)With the G30 command, the commanded axis is positioned to the 2nd or 3rd reference point, viathe commanded point.2nd or 3rd reference point return end signal is output when positioningends.Set the 2nd and 3rd reference point position a...

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    6. COORDINATE SYSTEMS6. COORDINATE SYSTEMSBy teaching the CNC the position the tool is to arrive, the CNC moves the tool to that position. Theposition is specified using coordinates on a certain coordinate system.There are three types of coordinate systems.(i) Machine coordinate system(ii) Workpi...

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    6. COORDINATE SYSTEMSExample 2)Set the reference point on the tool holder or turret as shown in the figure below,then specify G92 at the beginning of the program. By specifying an absolutecommand in this condition, the reference point is moved to a specified position. Tomove the tool tip to a spe...

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    6. COORDINATE SYSTEMSExample)When X and U, Y and V, and Z and W are parallel to each other, respectivelyG17X YXY planeG17U YUY planeGI8X wWX planeGI8U wWU planePlanes remain unchanged in blocks for which G17, G18, or GI 9 is not specified.Example) GI 8X ZZX plane--XYPlane not changed (ZX plane)If...

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    7. COORDINATE VALUE AND DIMENSION7. COORDINATE VALUE AND DIMENSION7.1 Absolute and Incremental Programming (G90, G91)There are two ways to command travels to the axes; the absolute command, and the incrementalcommand. In the absolute command, coordinate value of the end point is programmed; in th...

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    7. COORDINATE VALUE AND DIMENSION7.3 Decimal Point InputNumerals can be input with decimal points. Decimal points can be used basically in numerals withunits of distance, speed, and angle.The position of the decimal point is at the mm, inch, degposition.Table 7.3Program commandFormer type decimal...

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    8. SPINDLE FUNCTIONS8. SPINDLE FUNCTIONS8.1 S Code OutputThe spindle speed is specified with a numeric value following address S. The numeric value isoutput to the PMC as a binary code. The code is maintained until another S is specified.8.2 Spindle Speed Analog Output (S Analog Output)The speed ...

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    9. TOOL FUNCTIONS9. TOOL FUNCTIONS9.1 T Code Output(1) M systemSelection of tools can be done by commanding tool numbers with a 2-digit numeral after address T.The 2-bit numeral is output in a 32.bit binary code.This code is kept till the next T code iscommanded.2-24

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    10. MISCELLANEOUS FUNCTIONS10. MISCELLANEOUS FUNCTIONS10.1 Miscellaneous FunctionsWhen a 2-digit number after address M is commanded, a binary code is output. Maximum inputdigits are specified with parameters for this code.This function is used for on/off at the machineside. A single M code can b...

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    M command Mxxcode signalStrobe signal MFOperation at RMC sideCompletion signal FIN10. MISCELLANEOUS FUNCTIONSMl0M20/\II//IIFig. 10.2 (b) Conventional System Time ChartNote 1)Either the conventional system or the high-speed system can be selected for communication of strobe signal andcompletion si...

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    11. PROGRAM CONFIGURATION11 mPROGRAM CONFIGURATION11 .l Program NumberA program number is given to each program to distinguish a program from other programs. Theprogram number is given at the head of each program, with a 4-digit number after the address 0.Program number of the program currently u...

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    11. PROGRAM CONFIGURATIONMain programSub programSub program01000 ;I.........M98b2000 ;...................M99 ;02000 ;#.............M98P3000 ;I..............M99 ;Sub programSub program03000 ;.....M98’P4000 ;........................M99 ;M99 ;1 -loop nesting2-loop nesting3-loop nesting4-100~ nesti...

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    11. PROGRAM CONFIGURATION11.7 Basic Adciresqes and Command Value RangeThe following table shows the basic addresses and the range of values to be specified. The range,however, is that of CNC. Note that the range of the machine is different from this.Table 11.7Basic Addresses and Range of Values t...

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    11. PROGRAM CONFIGURATION11 .lO Control-In/Control-OutInformation between the control-in and the control-out are regarded as notes and are ignored.The reset codes (IS0 code: %, EIA code: ER) cannot be used in this part.The ignored part is called “Notes”.AAAIS0 codeControl-out(Control-in)EIA c...

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    12.FUNCTIONS TO SIMPLIFY PROGRAMMING12. FUNCTIONS TO SIMPLIFY PROGRAMMING12.1 Canned Cycles(G73, G74, G76, G78-G89)Canned cycle is a function to simplify commands for machining (boring, drilling, or tapping, etcThecanned cycle has the positioning plane and the drilling axis.The positioning plane ...

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    12lFUNCTIONS TO SIMPLIFY PROGRAMMINGTable 12.1 Canned Cycles (l/3)G codeOperationFunction( IG73High-speed peck drillingcycle (Note 1)G74@Spindlereverse(13 Spindle forward@ Spindle forwardc=rITapping cycle reverseG76Fine boring cycleX PointR PointInitialpointG78/79@__________-_____--------- +0@G78...

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    12 .FUNCTIONS TO SIMPLIFY PROGRAMMING,Table 12.1 Canned Cycles (213)G codeOperationFunctionG82Drilling cycle(counter boring)G83G84IiddbI0 Spindle reverse0 Spindle reversePeck drilling cycle(Note)Tapping cycleIG85Boring cycleG86Boring cycleG87Cannedcycle II (Note 2)-c=Back boring cycleforwardG88Bo...

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    12.FUNCTIONS TO SIMPLIFY PROGRAMMINGTable 12.1 Canned Cycles (3/3)G codeOperationIFunctionG89Boring cycle8--2~/lr) . . . .Cutting feedoss. . . .Oriented spindle stop__I_) . . . . Rapid traverse(Spindle stops at constantrotation position)w . . . . Manual feed0P. . . DwellZ. . . Z point(Hole bottom...

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    12 .FUNCTIONS TO SIMPLIFY PROGRAMMING12.2 Rigid Tap (G74, G84)In tapping, the feed amount of Z axis for one rotation of spindle should be equal to the pitch ofscrew of tapper. Namely, the following conditions must be satisfied in the best tapping:P = F/S, whereP:Pitch of screw of tapper (mm)F:Fee...

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    12.FUNCTIONS TO SIMPLIFY PROGRAMMINGSpindle control(voltage calculstionof spindle speedrpm)Distributedpulse’ I ’Error counterD/A converterIDMR1024 pulse / rev%x4N- Position coder... . . . . . . . . . . .Gear ratio1 :p. . . . . . . . . . . .. .. .. . . . . . . . . . . . . . . ......i Gear rati...

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    12. FUNCTIONS TO SIMPLIFY PROGRAMMINGperformed independently. Therefore, in general, the feed is compensated by mounting a spring tothe inside of holder of tapper to improve the accuracy of tap cutting.The rotation of spindle and feed of X axis are controlled so that they are always synchronous e...

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    12. FUNCTIONS TO SIMPLIFY PROGRAMMINGLeast command increment(detection unit) deg0.088 (1 x 360/4096)0.176 (2x360/4096)0.352 (4x360/4096)Even when a spindle motor incorpolating a position coder is used, rigid tapping can be executed.In that case, the gear ratio between spindle motor and spindle sh...

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    13. TOOL COMPENSATION FUNCTION13. TOOL COMPENSATION FUNCTION13.1 Tool Length Compensation (G43, G44, G49)By setting the difference between tool length assumed when programming and the actual toollength as offsets, workpieces can be machined according to the size commanded by the program,without c...

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    14. ACCURACY COMPENSATION FUNCTION14. ACCURACY COMPENSATION FUNCTION14.1 Stored Pitch Error CompensationThe errors caused by machine position, as pitch error of the feed screw, can be compensated.This function is for better machining precision.As the offset data are stored in the memory as parame...

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    15. MEASUREMENT FUNCTIONS15. MEASUREMENT FUNCTIONS15.1 Skip Function (G31)By commanding axis move after G31, linear interpolation can be commanded like in GOl.If anexternal skip signal is input during this command, the remainder of this command is cancelled, andprogram skips to the next block.G3l...

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    16. CUSTOM MACRO16. CUSTOM MACRO16.1 Custom MacroA function covering a group of instructions is stored in the memory like the sub program. Thestored function is represented by one instruction and is executed by simply writing the representedinstruction.The group of instructions registered is call...

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    16. CUSTOM MACROBolt hole circle as shown above can be programmed easily.Program a custom macro body of abolt hole circle; once the custom macro body is stored, operation can be performed as if the NCitself has a bolt hole circle function.The programmer need only to remember the followingcommand,...

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    16. CUSTOM MACRO3) Control commandProgram flow in the custom macro body is controlled by the following command.i)If [ < conditional expression > ]GOTO n (n = sequence number)When < conditional expression ) is satisfied, the next execution is done from block with sequencenumber n.When <...

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    16. CUSTOM MACRO4 Format of custom macro bodyThe format is the same as the sub program.0 Macro number ;Custom macro bodyM99 ;5) Custom macro instructioni) Simple callG65P (macro number) L (times to repeat) <argument assignment );A value is set to a variable by < argument assignment).Write ...

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    .16. CUSTOM MACROAlso when this M code is specified in a program called a macro calling G code or a subprogramcalling M or T code, the M code is regarded as a normal M code.Up to ten M codes from MO6 to M255 can be used for custom macro calling M codes.v)Sub program call by M codeAn M code can be...

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    16. CUSTOM MACROThe range of common variables can be enlarged to #lOO to #199, and #500 to #599 by the memory module. SeeSection 16.2.iii) System variablesA variable with a certain variable number has a certain value. If the variable number is changed,the certain value is also changed.The certain...

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    16. CUSTOM MACROh) Sub program call nesting8 folds (including macro call nesting)16.2 Increased Custom Macro Common Variableslncases of memory module B or C, the range of common variables can be enlarged to #lOO to#199, and #500 to #599.16.3 Pattern Data InputThis function simplifies program crea...

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    16. CUSTOM MACRO(4) An original screen can be created by using selecting screens by the soft key. The machine toolbuilder can extend the control function by using such functions as machining program creationand edit control, reader/punch interface control, and PMC data read/write functions.(5) Th...

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    17. FUNCTIONS FOR HIGH SPEED CUTTING17. FUNCTIONS FOR HIGH SPEED CUTTING17.1 Look-Ahead Feed-Forward ControlTo reduce the time required for positioning, it is effective to reduce the difference between theideal position specified by a move command and the actual position of the machine tool.Previ...

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    17. FUNCTIONS FOR HIGH SPEED CUTTING17.3 Function for Changing the Width of an Effective AreaWhether the machine reaches a certain point is determined by whether the machine is located inthe effective area centered by the point. The parameter specifies the width of the effective area. Ifthe area ...

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    18. AXES CONTROL18. AXES CONTROL18.1 Follow Up FunctionNormally, the machine is controlled to move to a commanded position. However, when the followup function is applied, actual position in the CNC is revised according to the move of the machine.Follow up function is activated when:- Emergency s...

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    18. AXES CONTROL18.5 Feed StopThis function usually checks position deviation amount during motion. If the amount exceeds theparameter set“feed stop position deviation amount”, pulse distribution andacceleration/deceleration control is stopped for the while exceeding, and move command to thep...

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    18. AXES CONTROLTable18.7 Torque Limit FunctionaPositioning point with mechanical stopperTorque limitation value:0 - 255 (Unit: 100 / 255 %)Torque is not limited when0 is set.L-Positioning can be executed by limiting the torque of servo motor and hittingmechanical stopper.18.8 External Pulse Inpu...

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    18. AXES CONTROL18.9 Servo Position Deviation Monitor SignalThis outputs to PMC whether or not the checked amount of servo position deviation exceeds thevalue set to parameter.2 - 55

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    19. MANUAL OPERATION19. MANUAL OPERATION19.1 Manual Feed1) JoggingEach axis can be moved in the + or - direction for the time the button is pressed. Feed rate is theparameter set speed with override of:0 - 655.34%, 0.01% step.The parameter set speed can be set to each axis.2) Manual rapid feedEac...

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    19. MANUAL OPERATION19.4 Manual Handle Feed (2nd) (Option)A 2nd manual pulse generator can be rotated to move the axis for the equivalent distance. Manualhandle feed of 2 axes (for T system, 2 axes) can be done at a time. Multiplier is common to 1stand 2nd manual pulse generators.19.5 Handle Feed...

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    20. AUTOMATIC OPERATION20. AUTOMATIC OPERATION20.1 Operation Mode20.1 .I Tape operationThe part program can bereader/puncher interface.read and executed block by block from the input device connected to the20.1.2 Memory operationProgram registered in the memory can be executed.20.2 Selection of E...

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    20. AUTOMATIC OPERATION20.53 Sequence number comparison and stopDuring program operation, when the block with a preset sequence number appears, operationstops after execution of the block, to a single block stop status. The sequence number can be setby the operator through the cRT/MDI panel.This ...

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    21. PROGRAM TEST FUNCTIONS21. PROGRAM TEST FUNCTIONS21.1 All-Axes Machine LockIn machine lock condition, the machinemachine were moving. Machine lock isdoesvalidnot move, but the position displayeven in the middle of a block.is updated as if the21.2 Auxiliary Function LockThis function inhibits t...

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    22. DISPLAY UNITS22. DISPLAY UNITS22.1 Display UnitsThe following display units are available:(1)(2)(3)(4)(1)9” compact monochrome CRT/MD1 panel (horizontal stand alone type), PDP/MDI panel (standalone type)DPUMDIDPUMDI for long-distance connectionDPUMDI switching unit9” compact monochrome CR...

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    22. DISPLAY UNITS(2) DPUMDIData input keysU0+FMUC- Funciton keys- Program editing keys- INPUT keycursor movement keys(3) Long-distance DPUMDIThe above-mentioned DPUMDI is delivered with a 2-m cable. For the long-distance DPUMDI, thecable length can be extended up to 40 m. (However, the total resi...

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    22. DISPLAY UNITS(4) DPUMDI switching machineThe DPL/MDI switching circuit is used to switch one DPUMDI in a system containing two or moreFANUC Power Mates.l This circuit can switch one DPUMDI to four Power Mates. By using two or more DPUMDIswitching circuits, five or more Power Mates can be used...

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    Keyboard functions22. DISPLAY UNITSTable 22.2 MDI Keyboard FunctionsKeyFunctionsAddress/numerical keyPress these keys to input alphabetic, numeric, and other characters.INPUT keyWhen an address or a numerical key is pressed, the letter or thenumeral is input once to the key input buffer, and it i...

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    22. DISPLAY UNITS22.3.1 Displaying the current positionPosition in the workpieceXcoordinate system to be displayed*OPosition in the machine coordinatesystem to be displayed.Workpiece coordinate system0 1st axis1WORK: Position in the workpiece coordinate system(absolute coordinates)MCHN: Position ...

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    22. DISPLAY UNITS22.3.4 Displaying a messageThe external message from the PMC is displayed on the message screen.MESSAGE DISPLAY22.3.5 Displaying the editing stateThe program editing and data setting states are displayed.II Items to be displayedWRITE :READ :COMPARE :LSK :EXECUTE :22.3.6 Displayin...

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    22. DISPLAY UNITS22.3.7 Setting and display of parameterDPL / MD1Backlash compensation data0CNC memory00characteristicsMachineoperationThe CNC functions have versatility in order to take action in characteristics of various machines.Forexample, CNC can specify the following:(1)(2)(3)Data toRapid ...

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    22. DISPLAY UNITS22.3.10 Displaying and specifying offset dataOffset data can be displayed and specified.-122.3.11 Setting and display of setting dataDPL / MDICNC memoryIOperationalcharacteristicsApart from parameters, there is data that is set by the operator in operation. This data causesmachin...

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    22. DISPLAY UNITS22.3.12 Displaying and specifying macro variablesiDPL / MDI or CRT MDIThe values of local and common variables can be displayed.In addition, common variables can be specified.When the absolute value exceeds 99999999 on the macro variable screen, ********* is displayed.When the va...

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    22. DISPLAY UNITSFunctions of keys (212)No.KeyFunction(8)Cancel keyUsed to delete letters or numbers input to the key input buffer.Example)When N001X100Z is displayed on the key inputbuffer, pressing the cancel key deletes the letterZ, and NO01 Xl 00 ‘is displayed.(9)Edit keys(10) Function keys...

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    22. DISPLAY UNITSThe following functions are mainly available via the CRT/MD1 panel:1)2)3)4)5)6)7)8)9)10)Actual position displayContents of program display, program directory display (display of program number, programname, part program storage length left, number of programs left)Program editing...

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    23. DISPLAYING AND SETTING DATA23. DISPLAYING AND SETTING DATA23.1 DisplayThe following data are displayed on the CRT screen.One screen can display maximum G40characters (40 x 16 lines).1)Indication of statuses and tool post namesThe status of the control unit is indicated on the screen. Statuses...

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    23. DISPLAYING AND SETTING DATA4) Alarm displayAlarm number and its contents are displayed briefly.5) Alarm message displayAlarm message contents are displayed.6) Present position displayRelative positioncharacters.and position in the work coordinates are displayed in 3-times magnified7) Total po...

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    23. DISPLAYING AND SETTING DATAiv) Current positionv) Modal G codesvi) Modal M codesvii) T codeviii) Actual federate and spindle speedix) Status23.2 Language SelectionThe Japanese and English are prepared as display languages. Select the language to be displayedby parameters.23.3 Clock FunctionTi...

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    23. DISPLAYING AND SETTING DATA23.5 Software Operator’s PanelIn this function, functions of switches on the machine operator’s panel is done by operation on theCRT/MD1 panel. Mode selection and jogging override, etc.can be operated by setting operationvia the CRT/MD1 panel with this function,...

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    23. DISPLAYING AND SETTING DATA23.6 Screens for Servo Data and Spindle Data23.6.1 Servo setting screenOn the servo setting screen, parameters required for standard initialization of the servo motor arelisted. The parameters can also be set.&I”0 SETTING401000 NO000X AXISY AXIS. . . . . . . ....

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    23. DISPLAYING AND SETT ING DATA23.6.3 Spindle setting screenOn the spindle setting screen, parameters required for standard initialization of the serial spindleare listed. The parameters can also be set..SPINDLE SETTING01000 NO000GEAR SELECT:lSPINDLE:Sll(PARAMETER)GEAR RATIO50..,...................

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    23. DISPLAYING AND SETTING DATA23.6.5 Spindle monitor screenOn the spindle monitor screen, various data items related to the spindle are listed.7SPINDLE MONITOR01000 NO000ALARM:AL-27(PC DISCON.)OPERATION:FEED.SPEED:100 DEWMINMOTOR SPEED:150 RPM050100 150ZOO(%)LOAD METER(%) &;A#" ' "...

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    23. DISPLAYING AND SETTING DATA23.8 Help FunctionWhen an alarm occurs, or when the operator is not certain what to do next, pressing the <HELP >key on the CRT/MD1 panel displays detailed alarm information or instructions for operation.One of the following three screens can be displayed:-On...

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    23. DISPLAYING AND SETTING DATA23.10 CRT/MD1 Sharing FunctionOne CRT/MD1 can be shared by n Power Mates (up to n = 16). The CRT/MD1 operates as if itwere dedicated to any Power Mate selected by this function.Selecting the shared screen enables the operator to see current positions and the content...

  • Page 106

    23. DISPLAYING AND SETTING DATA23.11 Displaying the Alarm History(1)(2)A maximum of 25 of the most recent alarms generated in CNC can be recorded. Each alarmrecord consists of the following items:@ Date and time@ Alarm number@ Alarm messageAny of the records can be deleted from the alarm history....

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    24. PART PROGRAM STORAGE AND EDITING24. PART PROGRAM STORAGE AND EDITING24.1 Foreground EditingThe following part program storage and editing is possible1)2)3)4)5)Program tape registration to the memory- Single program registration- Multi program tape registrationProgram input via MDIProgram dele...

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    24. PART PROGRAM STORAGE AND EDITING24.3 Number of Registered ProgramsNumber of registered programs available is 63.24.4 Part Program Storage LengthThe following part program storage length can be selected:10/20/40mMemory module B or C is required for the length 20m or 40m. 20m and 40m are option...

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    25. DIAGNOSIS FUNCTIONS25. DIAGNOSIS FUNCTIONS25.1 Self Diagnosis FunctionsThe NC checks the following itself.1) Abnormality of detection system2) Abnormality of position control unit3) Abnormality of servo system4) Overheat5) Abnormality of CPU6) Abnormality of ROM7) Abnormality of RAM8) Abnorma...

  • Page 110

    26. DATA INPUT/OUTPUT26. DATA INPUT/OUTPUTThe NC has the following input/output data.These data are input/output via various input/output devices as CRT/MD& tape reader, etc.1) Input dataThe NC has the following input data.- Part program- Tool compensation amount- Setting data- Parameters2) O...

  • Page 111

    27. SAFETY FUNCTIONS27. SAFETY FUNCTIONS27.1 Emergency StopWith the emergency stop, all commands stops, and the machine stops immediately. Connect the“emergency stop” signal both to the control unit and to the servo unit side.When emergency stop is commanded, servo excitation is also reset, a...

  • Page 112

    27. SAFETY FUNCTIONS27.2.3 Externally setting the stroke limitWhen a new tool is mounted, position the tip of the tool on the two corners of the limit area, andspecify the machine coordinates of the corners in the parameters for stroke limit 1. The machinecoordinates are stored in the CNC as the ...

  • Page 113

    28. STATUS OUTPUT28. STATUS OUTPUT28.1 NC Ready SignalThis signal is sent to the machine side when NC power is on and control becomes possible.Sending of this signal will be stopped when NC power is turned off.28.2 Servo ReadyThis signal is sent tonecessary to be braked28.3 Alarm SignalSignalthe ...

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    28. STATUS OUTPUT28.12 Rapid Traversing SignalThis signal shows that the move command is done under rapid traverse.28.13 Tapping SignalThis signal is output to show that the machine is under tapping mode (G63) or tapping cycle (G74,G84) is under operation.28.14 Position Switch FunctionThe positio...

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    29. EXTERNAL DATA INPUT29. EXTERNAL DATA INPUTThe external datafrom the machineThe external data29.1 External Alarm MessageBy sending alarm number from outside, the NC is brought to an alarm status; an alarm message issent to the NC, and the message is displayed on the CRT screen of the NC. Reset...

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    30. EXTERNAL WORK NUMBER SEARCH30. EXTERNAL WORK NUMBER SEARCHBy specifying work numbers of 01 to 255 externally (from the machine side, etc.), a programcorresponding to the work number can be selected.The work number equals the programnumber. For example, when work number 12 is specified, progra...

  • Page 117

    31. MOMENTARY POWER FAILURE DETECTION SIGNAL ACT31. MOMENTARY POWER FAILURE DETECTION SIGNAL ACTACT is cleared to 0 when the power is turned on.For example, when this signal is set to 1 on aladder screen at the start of automatic operation, if Power Mate-D detects a momentary powerfailure, it sto...

  • Page 118

    32. FANUC I/O LINK FUNCTION32. FANUC l/O LINK FUNCTION(1) OUTLINEThe FANUC I/O Link is serial interface that transfers high speed I/O signals (bit data) betweenCNC and cell controllers and I/O Unit-MODEL A, Power Mate.Power Mate-D has one channel of master and one channel of slave.(2) MAKE UPMast...

  • Page 119

    32. FANUC I/O LINK FUNCTION(3) I/O DATA OPERAITONFANtJC l/O Link has 1024 input and 1024 output I/O points seen from the Master. There is aperiodic transfer of l/O data between the master and slaves by allotting these input and outputpoints to each slave.MasterSlave #OEach slave has a fixed numbe...

  • Page 120

    33. SIMULTANEOUS BLOCK ACTIVATION33. SIMULTANEOUS BLOCK ACTIVATIONUp to four Power Mates can activate a block concurrently.The connection line of the CRT/MD1sharing function transfers the distribution reference signal.Through use of this signal and thesimultaneous block activate signal from the P...

  • Page 121

    34. MEMORY CARD34. MEMORY CARDThe Power Mate-D/F has a memory card interface conforming to the JEIDA standard mounted inthe controller section.Parameters, programs, and ladders can be saved.Commercially available memory cards can beused. They can also be purchased from FANUC.Please ask about comp...

  • Page 122

    35. MACHINE INTERFACE35. MACHINE INTERFACE(1) Built-in I/O cardCNC:7- Built-in i/O cardPMC +-, DVDO32/24(2) External l/O cardPMC-_ I/O card orl/O unit+DVDOMax.10240024Magneticcabinet/PowerBy selecting the I/O link, max. number of the WDO points 1024/1024 and 16 groups or less slaveunits can be se...

  • Page 123

    36. PROGRAMMABLE MACHINE CONTROLLER36. PROGRAMMABLE MACHINE CONTROLLERCNCMachine interface(DI/DO)WindowMagnetics sequence circuit can be incorporated in the CNC.MachinesidePMC-PA1Max.No. ofinputs1024Max.No. ofoutputs1024No. of step3000 stepsTime ofprocessing4.5r,llstepPMC-PA3102410245000 steps0.3...

  • Page 124

    36. PROGRAMMABLE MACHINE CONTROLLER(2) Data transferred from PMC side to CNC sideData type (CNC t- PMC)I Values of macro variables #l to #99II Values of macro variables #IO0 to #I 99II Values of macro variables #500 to 4599I36.2 DPL Screen Generation by PMCThis function displays messages in the C...

  • Page 125

    37. CONTROL UNIT37. CONTROL UNIT37.1 Control UnitThe control unit saves more space when combined with the C series servo amplifier.For external dimension and weight, refer to APPENDIX 4.37.2 Power SupplyDC 24VPower transformerorAC line filterON/OFF sequence control is not required for the Power M...

  • Page 126

    37. CONTROL UNIT37.3 BatteryMount the battery unit for absolute pulse coder to the machine side where it is replaced easilv.J37.4 Environmental Requirements(1) Ambient temperature0°C - 55°C when operating-20” C - 60°C when stored or deliveringChange in temperature Max. 1 .l ‘Urnin(2) Humid...

  • Page 127

    38. CABLES AND CONNECTORS38. CABLES AND CONNECTORSCables and connectors are offered for connection between units.2- 102

  • Page 128

    39. SERVO39. SERVO39.1 Position DetectorFor the Power Mate-D/F, the serial pulse coder with absolute position detector can be used.Serial pulse coder A1 ,OOO,OOO p/revSerial pulse coder C250,000 p/rev39.2 Absolute Position DetectorThe machine coordinate system once set is not lost even if the CNC...

  • Page 129

  • Page 130

    APPENDIX

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    APPENDIX 1. RANGE OF COMMAND VALUEAPPENDIX 1. RANGE OF COMMAND VALUELinear axis (with metric screw thread and metric input)Units0.001 mmI0.0001 mmLeast input increment0.001 mmI0.0001 mmLeast command incrementIf: 99999.999 mmI+ 9999.9999 mmMaximum valueMaximum speed for rapidtraverse (*I )100000 m...

  • Page 132

    APPENDIX 1. RANGE OF COMMAND VALUELinear axis (with the inch screw thread and inch input)TUnitsIS-BIS-CLeast input increment0.0001 inch0.00001 inch0.0001 inchLeast command increment0.00007 inch+ 999.99999 inchMaximum value,+ 9999.9999 inchMaximum speed for rapidtraverse (*l )4800.0 inch/min9600.0...

  • Page 133

    APPENDIX 1. RANGE OF COMMAND VALUERotation axisUnits.IS-BIS-CLeast input increment0.001 deg0.0001 degLeast command increment0.001 deg0.0001 degMaximum value+ 99999.999 deg+ 9999.9999 degMaximum speed for rapid240000 deg/min100000 deg/mintraverse (*l >Feedrate (xl )range1 to 240000 deg/min.Step...

  • Page 134

    APPENDIX 2. FUNCUTIONS AND TAPE FORMAT LISTAPPENDIX 2. FUNCTIONS AND TAPE FORMAT LISTThe symbols in the list represent the followings.P: x Y 2 A l . .Asseen abovctheformat consists of a combination of arbitrary axis addresses among X, Y, Z, A,B, C, U, V, and W.x : First basic axis (X)y : Second b...

  • Page 135

    APPENDIX 2. FUNCUTIONS AND TAPE FORMAT LISTFunctions;hange of offset value bywogram (G 10)nch/meric conversionG20, G21)jefernce point return:heck (G27)IllustrationsStart pointTape formatOffset amountGlOL11 P R ;- -Inch inputG2o ;Metric inputG21 ;G27 IP ;qeference poimt returnReference pointG28 IP...

  • Page 136

    APPENDIX 2. FUNCUTIONS AND TAPE FORMAT LISTFunctionsIllustrationsTape formatZanned cyclesSee “Canned cycle”.G80 ; . . . Cancel:G73, G74, G76, G78 -G73389)G74G76 x-y_*_G811PQ R F L ;-----..G894bsolute/incrementalxogramming (G90/G91)Change of workcoordinate (G92)G90.-9AbsoluteG91.-9IncrementalG...

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    APPENDIX 3. LIST OF TAPE CODEAPPENDIX 3. LIST OF TAPE CODEis0 codeEIA code1Character87654 321 Character876543 2 1Meaning00 0 l 00lNumeral 010 00 . 01.0Numeral 120 00 . 0 2.0Numeral 230 0 . 00 30.0 0Numeral 340 0 0 . 0 40 0Numeral 450 0 0 0 0 500 o0Numeral 560 0 . 0 0 60. 00Numeral 670 0 0 l 000 7...

  • Page 138

    APPENDIX 3. LIST OF TAPE CODENote 1) *:When read in the comment zone, the codes are read into memory.When read in the significant data zone, the codes are ignored.Note 2 ? :When read in the comment zone, the codes are read into memory.When read in the significant data zone, an alarm is generated....

  • Page 139

    APPENDIX 4 EXTERNAL DIMENSIONSAPPENDIX 4. EXTERNAL DIMENSIONSFigure 1 (a)......External view of Power Mate-D control unitFigure 1 (b)......External view of Power Mate-F control unitFigure 2........External view of I/O CardFigure 3........External view of DPUMDI switching circuitFigure 4 (a).........

  • Page 140

    APPENDIX 4 EXTERNAL DIMENSIONS2-0660I+---Air OutY--k-’ I; I! /i Ir ---MEMORY CARDl---ll-.* 8,/: ,.I'/---3ii-I’---li-II II/=I=?: II,/ ---ii-It ’ci --- ll-II .I1.-- - -zl3: ,Iii_, r---ll-/lIzI: : : :/ /-----_Jl-Weight: 2.2kgFig. 1 (a)External View of Power Mate-D Control Unit (l/2)A4 - 2

  • Page 141

    APPENDIX 4 EXTERNAL DIMENSIONS0--1MEMORY CARD- -1l-II ,ac-7-j- ii- ,- ;-__---ll-I .cz_ -ii_: :I-3Fig. 1 (a)External View of Power Mate-D Control Unit (2/2)A4 - 3

  • Page 142

    APPENDIX 4 EXTERNAL DIMENSIONSZ-06Weight:2.2kg.G-0Il-----iAir out0r --MEMORY CARDIIL- --II •lI- --l----IIII IAir int-1Fig. 1 (b)External View of Power Mate-F Control UnitA4 - 4

  • Page 143

    APPENDIX 4 EXTERNAL DIMENSIONS.I-150.00-Irt__ -8.008.00*__t15.0060.00c*60.0015.00 5Weight: 0.8kgFig. 2 External View of I/O CardA4 - 5

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    APPENDIX 4 EXTERNAL DIMENSIONSI68Icf-00OJ05,,I58eI20Weight: 0.4kgFig. 3 External View of DPUMDI Switching CircuitA4 - 6

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    APPENDIX 4 EXTERNAL DIMENSIONS.970.00c(Note)The connecting cable (2m) is included.Weight: 0.4kgFig. 4 (a)DPUMDI Unit (Table-mount type A02B-0118.KOl O)A4 - 7

  • Page 146

    APPENDIX 4 EXTERNAL DIMENSIONS10l--1IFANUO015In-3! 0.0 I.(Note)The connecting cable (2m) is included.Weight: 0.4kgFig. 4 (b)DPUMDI Unit (Wall-mount type A02B-0118-KOll)A4 - a

  • Page 147

    APPENDIX 4 EXTERNAL DIMENSIONSI901AI00000000000000000000 cl00000000000000 000000u00Connect these cables with the CRT. A space 10 to 20 mm long is required for connecting thecables at the back of the CRT.Fig. 5 CRT/MDl UnitA4 - 9

  • Page 148

    APPENDIX 4 EXTERNAL DIMENSIONS.-:c.-v).-z‘5nt-cL0rx,O.E0b,80vwg. 6External View of Position CoderA86L-0026-0001#102: Max. 4000 rpmA86L-0026-0001#002: Max. 6000 rpmA4- 10

  • Page 149

    APPENDIX 4 EXTERNAL DIMENSIONSIncrj00Y_, ,_M8 x8.0IIOn the curcumference 072\hI-- --_- --_I -M3Fig. 7 (a)External View of DPLIMDI Switching Circuit (A-860-0202-TOO-I)90nl38.0tl@ Screw terminal h&3 @Fig. 7 (b)External View of DPUMDI Switching Circuit (A-860-0202-T004)A49 11

  • Page 150

    APPENDIX 4 EXTERNAL DIMENSIONS4 4-M4 counter sinkingMinus polarity indication/Plus polarity indication /Plus terminal with3-M3 screw holesMinus terminal with ! 1/3-M3 screw holesi I4-04.3 Mounting holes18._tAArrow view AFig. 8External View of Battery Case for Absolute Pulse CoderA4- 12

  • Page 151

    APPENDIX 4 EXTERNAL DIMENSIONSFLOPPY CASSETTE ADAPTERFLOPPY CASSETTEFig. 9External View of Floppy Cassette Adapter/Floppy CassetteA4- 13

  • Page 152

    APPENDIX 4 EXTERNAL DIMENSIONS20-pin PCR connector91 .8manufactured by Honda Tsushine>Kogyo,To JO1 5 of the Power Mate-C20-pin PCR connectormanufactured by Honda Tsushinof the Power Mate-C481LtWeight: about 1OOgFig. 10 External View of CRT Link Intermediate UnitA4 m-14

  • Page 153

    APPENDIX 4 EXTERNAL DIMENSIONS1 JO15 1III I .4r--iI\\//\tI63Specification A02B-0124-0001Fig. 11 CRT Link Terminating UnitA4-.15

  • Page 154

    APPENDIX 5. REQUIRED POWER FOR UNITSAPPENDIX 5. REQUIRED POWER FOR UNITSPowerI IvoltagePowercurrentSupplied from11I I Servo amplifier (S/C)1200 VAC 1 CL~;;~nt-d~;~~/ External power supplyI 2 I Power Mate-D controllerI 24 VDCI2.8 AI External power supplyI 3 I Power Mate-F controllerI 24 VDCI2.6 AI...

  • Page 155

    INDEX2nd and 3rd reference point return (G30)...................................2-17Absolute and incremental programming (GSO, GSl)...........................Absolute position detector .............................................Accuracy compensation function........................................

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    Coordinate systems..................................................2-18Coordinate value and dimension.........................................2-21CRT/MD1 sharing function.............................................2-80Custom macro ......................................................2-42Custom...

  • Page 157

    External pulse input function............................................External work number search...........................................Externally setting the stroke limit.........................................<F*2-542-912-87FANUC I/O link function........................................

  • Page 158

    Linear acceleration/deceleration after cutting feed interpolation...................2 - 13Linear axis and rotation axis............................................2-22Linear interpolation (G01)..............................................2 - 6List of specifications .................................

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    Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-86Part program storage and editing.........................................Part program storage length............................................Pattern data input..........

  • Page 160

    Rotation axis roll-over function..........................................2 - 22Run time & parts number display .........................................2- 74S code output......................................................2-23Safety functions ..................................................

  • Page 161

    Tape format.......................................................2-29Tape horizontal (TH) parity check and tape vertical (TV) parity check...............2 - 30Tapeoperation.....................................................2-58Tapping signal........................................................

  • Page 162

    Revision RecordFANUC Power Mate-MODEL D DESCRIPTIONS (B-62092E)03.Addition of Power Mate-F and Power Mate-Dwith dual path controlMar., ‘9402* Correction of list of specifications- Correction of increment systeml Deletion of 12.3 External Operation Function(G81>lDeletion of 12.4 Multiple Repe...

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    · No part of this manual may bereproduced in any form.· All specifications and designsare subject to change withoutnotice.

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