PMC Axis Control for FS16 and FS15 Controls

1. FS16 Control
The following discussions apply to 16/18/21 and PM controls.

General Discussions
1. Independent paths (groups): 16/18/21: 4 PMi-H: 8 PMi-D: 2 2. Major functions (The following is for 16/18/21. PM may have additional function.) Command Code (hex) 00h 01h 02h 03h 04h 05h 06h 07h

Name Rapid traverse Cutting feed (FPM) Cutting feed (FPR) Skip (FPM) Dwell Reference position return Continuous feed 1st reference position return 2nd reference position return 3rd reference position return 4th reference position return External pulse synchronization (main spindle)

Function Performs the same operation G00 as CNC. Performs the same operation G94 G01as CNC. (Note that the motion is always incremental.) Performs the same operation G95 G01 as CNC. (Note that the motion is always incremental.) Performs the same operation G31 G01 as CNC. Performs the same operation G04 G01 as CNC. Moves the tool in the direction of reference position return specified by ZMIx (1006#5) in rapid traverse mode. Then performs the same manual reference position return as CNC. Performs the same JOG feed as CNC. (Note that position is displayed.) Performs the same operation as done when positioning the tool to the reference position from the intermediate point specified by G28 of the CNC. Performs the same operation as done when positioning the tool to the reference position from the intermediate point specified by G30 P2 of the CNC. Performs the same operation as done when positioning the tool to the reference position from the intermediate point specified by G30 P3 of the CNC. Performs the same operation as done when positioning the tool to the reference position from the intermediate point specified by G30 P4 of the CNC. Synchronizes with the main spindle.

08h

09h

0Ah

0Bh

0Dh

0Eh

0Fh

External pulse synchronization (1st MPG) External pulse synchronization (2nd MPG) External pulse synchronization (3rd MPG) Speed command Torque control Auxiliary function Miscellaneous function 2 Miscellaneous function 3 Machine coordinate system selection Cutting feed (sec/block) Oscillation movement Simultaneous start OFF Simultaneous start ON

Movement is commanded from MPG as CNC MPG mode

Sample Ladder
1. Hand-shaking signals EBUFg (PMC requests CNC to read buffer) and EBSYg (CNC informs PMC completion of read) must be programmed properly. (These two signals are the same as PMCAg and CNCAg in FS15.) The following two ways can be used, PMC function 53 (AXCT L) EBUFg and EBSYg are handled by this function

Movement is commanded from MPG as CNC MPG mode

Movement is commanded from MPG as CNC MPG mode Performs continuous feed at the specified speed like spindle mode. (Note that position is normally not displayed. However, it can be displayed by setting P8005#4. See A-63542 for details.) Continuous feed under torque control Performs the same function as the miscellaneous function (M function), used by the CNC. Similar to the miscellaneous function of the CNC Similar to the miscellaneous function of the CNC Performs the same operation as G53 used by the CNC. (Note that this command should be used for absolute move.) Cutting feed in sec/block. Can be used for linear interpolation for two paths. (Note that option J742 is required.) Oscillation movement. Can be straight line (1 axis) or taper line (2 axes). Similar to chopping and can be used for grinding. (Note that option S861 is required.) Simultaneous start mode OFF (for 2 paths or more). (Note that option J742 is required.) Simultaneous start mode ON (for 2 paths or more). (Note that option J742 is required.)

10h 11h 12h 14h 15h 20h 21h 22h 40h 41h

. Ladder work is significantly simplified using this function Directly Program (following function connection manual) More work

2. All other G bits should be handled by PMC. Only G bits EBUFg and EBSYg are handled by function AXCTL. 3. Two paths are programmed, and they can run independently or simultaneous. 4. In the sample ladder, eight general switches on software operators panel are used and their definitions are, OUT0 - enable PMC axis control for both path 1 and 2 OUT1 - command path 1 OUT2 - command path 2 OUT3 - reset PMC axis control OUT4 - disable buffering data OUT5 - single block OUT6 - feed hold OUT7 - servo off

Software operators panel sample,

5. Data table is used. Sample data table setup is as follows,

6. Ladder Diagram

Parameters
The following are the parameters used in this setup. For complete parameter setting, refer parameter manual. Parameter 3105: Parameter 8001: Parameter 8002: Parameter 8003: Parameter 8004: Parameter 8005: Parameter 8010: 00000000 00000000 00000000 00000000 00000000 00000000 1 1 1 2000 2000 2000

Parameter 8022:

Note on J722 (Maximum Jog Feedrate Expansion or Velocity Command Function of PMC Axis Control)
The following is from GFA-3402. The option J722 -Velocity Command Function of PMC Axis Control, is the extended feature of continuous feed. This feature provides that the maximum feed rate can be expanded up to 200 times by the parameter in the continuous feed called up by command code 06H. This function is useful for the rotary axis. The rotation speed can be more than 3000 rpm in IS-C by using this function. [Maximum feed rate] IS-B 13107000 mm/min (1310700 inch/min) IS-C 1310700 mm/min (131070 inch/min) [parameter] No.8004#2(F200)

2. FS15 Control
The sample ladder is developed on FS15 control without servos. The ladder is written for two axes. It can readily be extended to multiple axes.

BMI signals
The signals used in the ladder diagram are shown in Table 1. Signal Symbols PMCA1 PMCA2 CNCA1 CNCA2 PCAX1 PCAX2 BUF1 BUF2 DEN1 DEN2 RST1 RST2 MSKB1 MSKB2 SBK1 SBK2 STP1 STP2 CD1X CD2X FD1X FD2X DT1X DT2X OPU0 OPU1 OPU2 OPU3 OPU4 OPU5 OPU6 BMI G66.7 G70.7 F66.7 F70.7 G66.3 G70.3 F66.5 F70.5 F66.6 F70.6 G66.6 G70.6 G384.7 G392.7 G66.4 G70.4 G66.5 G70.5 G385 G393 G386G387 G394-G395 G388-G391 G396-G399 F137.0 F137.1 F137.2 F137.3 F137.4 F137.5 F137.6 Meaning Axis 1, control command read strobe Axis 2, control command read strobe Axis 1, control command read completion Axis 2, control command read completion Axis 1, PMC axis control enable Axis 2, PMC axis control enable Axis 1, buffer full Axis 2, buffer full Axis 1, distribution completion Axis 2, distribution completion Axis 1, axis reset Axis 2, axis reset Axis 1, block stop inhibit Axis 2, block stop inhibit Axis 1, block stop Axis 2, block stop Axis 1, temporary stop Axis 2, temporary stop Axis 1, control command Axis 2, control command Axis 1, control data for feed rate and simultaneous start Axis 2, control data for feed rate and simultaneous start Axis 1, control data for distance, time, override and miscellaneous functions Axis 2, control data for distance, time, override and miscellaneous functions General-purpose button 0 on software operators panel, activate PMC axis 1 General-purpose button 1 on software operators panel, transfer PMC command for axis 1 General-purpose button 2 on software operators panel, activate PMC axis 2 General-purpose button 3 on software operators panel, transfer PMC command for axis 2 General-purpose button 4 on software operators panel, reset axis1 and 2 General-purpose button 5 on software operators panel, activate block stop inhibit General-purpose button 6 on software operators panel, activate block stop 7

OPU7 ON.R PC1R.R PC2R.R C1B.R C2B.R C1.R C2.R C1BR.R C2BR.R PC.E

F137.7 R0.0 R320.0 R330.0 R300.0 R310.0 R301.0 R311.0 R302.0 R312.0 R308.0 D50 D58 D54 D60 D58 D62

General-purpose button 7 on software operators panel, activate temporary stop Always ON logic Axis 1, XOR result of PMCA1 and CNCA1 Axis 2, XOR result of PMCA2 and CNCA2 Axis 1, transfer command Axis 2, transfer command Axis 1, execute command Axis 2, execute command Axis 1, temporary coil Axis 2, temporary coil Function execution message Axis 1, data table, 2 byte, lower byte used for CD1X Axis 2, data table, 2 byte, lower byte used for CD2X Axis 1, data table, 2 byte, used for FD1X Axis 2, data table, 2 byte, used for FD2X Axis 1, data table, 4 byte, used for DT1X Axis 2, data table, 4 byte, used for DT2X

Table 1 Signals used in sample ladder diagram for series 15 control.

Sample Ladder
1. FS15 does not have equivalent PMC function AXCTL like FS16. Therefore, hand-shaking signals PMCAg and CNCAg must be programmed in ladder logic. 2. In the sample ladder, eight general switches on software operators panel are used and their definitions are, OPU0 - enable PMC axis control for path 1 OPU1 - command path 1 OPU2 - enable PMC axis control for path 2 OPU3 - command path 2 OPU4 - reset PMC axis control OPU5 - feed hold OPU6 - single block OPU7 E-Stop

3. Ladder Diagram

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Operation
Procedure 1. Input control command, feed rate specification and control data to data tables; 2. Turn on OPU0 and then OPU1 to execute PMC axis control for axis 1, turn on OPU2 and then OPU3 to execute PMC axis control for axis 2. Command Example Incremental system IS-B (0.001 mm) is used in this setup. 1. Rapid traverse: move axis 1 400 mm. D50: 00h D52: not applicable D54: 400000 Note: Data unit for D54 is 0.001 mm. 2. Cutting Feed (mm/min): move axis 2 350 mm at 1 m/min. D58: 01h D60: 1000 D62: 350000 Note: Data unit for D60 is 1 mm/min. Data unit for D62 is 0.001 mm. 3. Cutting Feed (sec/block): move axis 1 350 mm at 6 sec/block. D50: 02h D52: 60 D54: 350000 Note: Data unit for D52 is 0.1 sec. Data unit for D54 is 0.001 mm. 4. Dwell: stop axis 2 for 6 sec. D58: 07h D60: not applicable D62: 6000 Note: Data unit for D62 is 0.001 sec.

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5. Simultaneous start ON: D50: 0Ah D52: 3 D54: not applicable Or, D58: 0Ah D60: 3 D62: not applicable Note: (1). Set bit 0 and bit 1 for D52 or D60 (00000011); (2). ONLY need send simultaneous start ON command to ONE axis. (3). Interpolation of two axes can be done using simultaneous start. 6. Simultaneous start OFF: D50: 0Bh D52: not applicable D54: not applicable Or, D58: 0Bh D60: not applicable D62: not applicable Note: ONLY need send simultaneous start OFF command to ONE axis. 7. Override modification: 50% override for cutting feed D50: 0Ch D52: not applicable D54: 50 Note: (1). Data unit for D54 is %. Data range is 0-255. (2). Override is applied to both axes.

Parameters
1402: 00000000 1404: 00000000 1409: 00000000 The combination of these parameters allows PMC use the same feed rate and override signal as CNC.

3. Miscellaneous Note
Position loop in Speed Command (On 16i P8005#4=1) In this function, the constant velocity command in the PMC axis control can be moved by position loop control, so that Cs axis control is possible. Therefore this function does not output velocity data for amplifier, but do output that command pulse correspond to velocity data for servo position control, so this function is moved PMC axis in constant velocity.

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