Contents
Chapter 1 Outline........................................................................................ 1-1
Chapter 2 Programming Method................................................................. 2-1
1. Loader specifications .......................................................................................................... 2-1
2. Chuck nomenclature ........................................................................................................... 2-2
3. M codes .............................................................................................................................. 2-4
3-1. M codes used for the loader cycle .......................................................................... 2-4
3-2. M codes for local and subprograms........................................................................ 2-5
4. S codes............................................................................................................................... 2-9
5. G codes ............................................................................................................................ 2-10
6. H codes..............................................................................................................................2-11
7. H code variables ............................................................................................................... 2-16
7-1. Input and output variables .................................................................................... 2-16
7-2. Internal variables .................................................................................................. 2-16
8. Block delete ...................................................................................................................... 2-17
9. Operating the loader ......................................................................................................... 2-18
10. Teaching points ............................................................................................................... 2-19
10-1. Teaching point details ......................................................................................... 2-19
10-2. Teaching point methods...................................................................................... 2-21
11. Work feed in and feed out ............................................................................................... 2-23
12. Passing the work (loading and unloading) ...................................................................... 2-24
13. Confirmation method for the loader not interfering with moving objects ......................... 2-25
14. Automatic loader interlock............................................................................................... 2-26
14-1. Zones ................................................................................................................. 2-26
14-2. Checking and setting the zone ........................................................................... 2-27
14-3. Setting the maximum travel distance of the loader ............................................. 2-28
15. Creating the main program ............................................................................................. 2-29
15-1. MW series (single loader) / MS series / MD series ............................................. 2-30
15-2. MW series (twin loader)...................................................................................... 2-37
16. Creating local programs.................................................................................................. 2-46
17. Creating subprograms .................................................................................................... 2-48
18. Program memory capacity .............................................................................................. 2-51
Chapter 3 Editing ........................................................................................ 3-1
1. Loader program input and output........................................................................................ 3-1
i
1-1. Input using data input keys..................................................................................... 3-1
1-2. Input/output using RS232C interface (optional)...................................................... 3-2
1-3. Input/output method using memory card ................................................................ 3-3
1-4. Batch I/O function of loader programs .................................................................... 3-7
2. Program insert, modification, and deletion.......................................................................... 3-8
3. Copying programs with the same content to another program ..........................................3-11
Chapter 4 Test Run ..................................................................................... 4-1
1. Test run preparations .......................................................................................................... 4-1
2. Starting the test run............................................................................................................. 4-3
Chapter 5 Optional Functions ..................................................................... 5-1
1. Work location confirmation.................................................................................................. 5-1
1-1. Work location confirmation retry ............................................................................. 5-1
1-2. Work location NG loading stop ............................................................................... 5-3
2. In-process gauge NG loading stop ..................................................................................... 5-4
3. Post-process gauge ............................................................................................................ 5-5
4. Quality check counter ......................................................................................................... 5-6
5. Mid-process start type loader cycle .................................................................................... 5-9
5-1. Work status........................................................................................................... 5-10
5-2. Cycle table and sequence jump.............................................................................5-11
Chapter 6 Information ................................................................................. 6-1
1. M code table ....................................................................................................................... 6-1
2. H code variable table .......................................................................................................... 6-8
3. Block delete table ............................................................................................................. 6-26
4. Loader program error table ............................................................................................... 6-27
ii
Loader Programming Manual
Chapter 1 Outline
Chapter 1 Outline
„ Introduction
This manual describes how to operate and develop programs when using the loader specified
machine.
As explained in the next section, loader programming is described as machine independent
(common to all machines) and machine dependent programming. (When not expressed as
machine dependent, please consider the description as common.)
Items that are not indicated as feasible in this manual should be considered as not feasible.
„ Outline
This manual describes the following items in which the FANUC 31i-model A is mounted.
• MW Series (Single Loader: G)
• MW Series (Twin Loader: GT)
• MS Series
• MD Series
memo
For MD20 and MD200 parts that are indicated as machine dependent, please refer to the
page devoted to the MW series (Single Loader: G).
1-1
Loader Programming Manual
Chapter 1 Outline
– MEMO –
1-2
Loader Programming Manual
Chapter 2 Programming Method
Chapter 2 Programming Method
1. Loader specifications
Maximum loader speed
X-Axis
Y-Axis
Z-Axis
α−Axis
MW120G (GT)
MD120G (GT)
160 m/min.
120 m/min.
35 m/min.
0.8 sec./180°
MS60G
MD60G
160 m/min.
120 m/min.
35 m/min.
0.8 sec./180°
MW200G (GT)
MD200G
150 m/min.
110 m/min.
50 m/min.
0.9 etc./180°
Model
Z-axis
Turn chuck
Y-axis
α-Axis
X-axis
Main spindle chuck
Loader chuck
The figure refers to MW series (single loader).
2-1
Loader Programming Manual
Chapter 2 Programming Method
2. Chuck nomenclature
(1) MW Series (single loader)
The names and functions of the chucks are as follows:
The name of the chuck changes with the direction of incoming material (whether coming in from the
left or from the right as viewed from the front of the machine).
(
) indicates right feed in
E chuck (F chuck)
F Chuck (E chuck)
Left chuck
Right chuck
B chuck
A chuck
The figure refers to MW series (single loader).
·
A chuck
Materials received from the inlet unit are passed onto the left main chuck while half-finished
goods (1/2 process cutting completed) received from chuck F are passed onto the right main
chuck.
·
B chuck
Receives the half-finished goods held by the left main chuck and the finished goods held by the
right main chuck. Half-finished goods are passed onto chuck E while finished goods are passed
onto the outlet unit.
·
E chuck and F chuck
E chuck receives the half-finished goods from B chuck and passes onto F chuck. By being
passed on, the material surface (2/2 process cutting surface) becomes the front.
(2) MW series (twin loader)
It is the same as a single loader but having 2 loaders.
2-2
Loader Programming Manual
Chapter 2 Programming Method
(3) MS Series / MD Series
The names and functions of the loader chucks are as follows:
B chuck
A chuck
The figure refers to MS series. (Standard type)
·
A chuck
Passes on the materials received from the inlet unit to the main chuck.
·
B chuck
Receives the finished product held at the main chuck and passes to the outlet unit.
2-3
Loader Programming Manual
Chapter 2 Programming Method
3. M codes
Depending on the number that follows the address M, M codes synchronize control of the actions of the
loader or the inlet unit and the turret-cutting program. Two codes can be used in one block. The following
describes the main M codes.
3-1.
M codes used for the loader cycle
MW Series / MS Series / MD Series
M code
M30
M49
M50
M51
M53
MW
MS
MD
Function
Instructs the termination of the program, stops all operations after execution of the
command, resets the CNC machine and calls the program’s leading line. (In the case of
“Repeat” button “ON”, the program resets, rewinds, and restarts.)
Instructs the termination of one operation. (In the case of “Repeat” button “OFF”, the
program returns to the head of the program.)
Checks that all conditions for automatic operation are in place. When conditions are not in
place, an alarm sets off and the rest of the program that starts from the following block is
not executed.
Synchronizes with the M52 (Call Unload) of the cutting program and waits.
The loader is placed at M51 and M53 waiting status until M52 is instructed inside the
cutting program.
M52
Similar to M51 and M53, waits for cutting program M53 command (Call Load).
M54
M55
Instructs the termination of unload or load cycle.
These codes are the same as the M codes for the right loader of a twin loader.
2-4
Loader Programming Manual
3-2.
Chapter 2 Programming Method
M codes for local and subprograms
„ M codes used in the local programs and subprograms.
M code
M96
M98
M99
Function
Activates local programs.
For details, refer to P. 2-46.
Activates subprograms.
For details, refer to P. 2-48.
Instructs the termination of local programs and subprograms.
Make sure to use this M code to terminate local and subprograms.
„ H codes for local programs and subprograms.
H code
H63
H64
H65
H66
Function
Adds the teaching data of the Program No. specified in P to the teaching data currently in use and uses
the result as the new teaching data. (This is convenient in teaching the difference.)
Activates subprograms
When the argument q that follows H64 is 0 or omitted, uses teaching data of the main program. When q =
1, uses the original teaching data of the subprogram.
Activates subprogram. However, the teaching data of the subprogram used are the teaching data of the
main program. When the original teaching data of the subprogram are needed, activation is done with
M98.
Calls the subprogram for the teaching data only.
After the subprogram is called, the main program also uses this data.
(This is convenient when there are many teaching points.)
2-5
Loader Programming Manual
Chapter 2 Programming Method
„ Simple waiting M codes for cutting program and loader program
Waiting codes synchronize cutting program and loader program that acts as a control so that cutting
does not proceed when a repeat operation trouble occurs. These M codes consist of M codes for
loader use and M codes for cutting program use that support the following:
<MW series>
Loader
Left turret
Right turret
Program
Cutting program
Cutting program
M90
M70
M91
M71
M92
M72
M93
M70
M94
M71
M95
M72
[Program example]
Left turret
Right turret
Loader
Cutting program
Cutting program
Program
1000;
1000;
1000;
M50;
M50;
M50; ..............
Block 1
M70;
M70;
M90 M93; ......
Block 2
:
:
:
Pressing the “Start” button to start the program executes M50 (check activation conditions) of Block 1.
If the activation conditions of each program are in place, proceeds to Block 2 and executes the rest of
the program.
However, even when any one of the activation conditions is not in place (for example, loader
program), the remaining two programs (left and right turret cutting programs) are kept on hold until
the activation conditions that are not in place in Block 2 are met.
memo
2-6
For the list of M codes for each model, refer to the appendices at the end of the manual or
“Twin Spindle Programming Manual”. See the page on MW Series (Single Loader: G).
Loader Programming Manual
Chapter 2 Programming Method
<MS Series / MD Series>
Loader
Program
Cutting Program
M90
M70
M91
M71
M92
M72
[Program example]
Loader
Cutting Program
1000;
Program
1000;
M50;
M50; .................. Block 1
M70;
M90; .................. Block 2
:
:
Pressing the “Start” button to start the program executes M50 (check activation conditions) of Block 1.
If the activation conditions of each program are in place, proceeds to Block 2 and executes the rest of
the program.
However, if any of the activation conditions is not in place, the other program is kept on hold until the
activation conditions in Block 2 that are not in place are satisfied.
memo
For the list of M codes, refer to the appendices at the end of the manual.
2-7
Loader Programming Manual
„
Chapter 2 Programming Method
Enabling and disabling function
This function depends on the combination of “ON / OFF” of each of the Loader “CO.OPE.”, Left
“CO.OPE.” and Right “CO.OPE.” buttons on the machine operation panel.
“ON / OFF” status is indicated by the lamp above the button: “ON” if the lamp is lit, and “OFF” if not
lit.
Interlocked operation
selection button
Left
Right
MW series
Loader
Interlock operation selection
button
MS/MD series
Loader
:Lights on
·
·
2-8
Cutting
Combination of M codes for waiting
Loader and left turret
Loader and right turret
Cutting program
Cutting program
M90-M70
M93-M70
M91-M71
M94-M71
M92-M72
M95-M72
Enabled
Enabled
Enabled
Disabled
Disabled
Enabled
Disabled
Disabled
Disabled
Disabled
Disabled
Disabled
Disabled
Disabled
Disabled
Disabled
Combination of waiting M codes
Loader and cutting programs
M90-M70
M91-M71
M92-M72
Enabled
Enabled
Disabled
Disabled
Disabled
Disabled
Disabled
Disabled
:Lights off
When waiting is disabled, the M code that was instructed is disregarded.
In the cases when the combination of waiting M codes or when M codes are used independently,
the waiting function will not be properly executed. Hence, make sure to use combinations that
are shown in the table.
Loader Programming Manual
Chapter 2 Programming Method
4. S codes
S codes instruct the speed of each axis of the loader (X, Y, and Z-axes) based on the number that
follows the address.
The number that follows the letter S instructs at what percentage of the speed transfer is executed with
the maximum fast forward speed of each loader as 100%.
[Program example]
S100;
Transfers at a speed that is 100% of fast forward speed.
S80;
Transfers at a speed that is 80% of fast forward speed.
2-9
Loader Programming Manual
Chapter 2 Programming Method
5. G codes
G codes command loader spindle transfer mode setting, dwell, and etc. that are determined by the
number that follows the address G. There are 9 codes in all. The functions of the codes are described
below.
G code
G00
G01
G04
G06
G07
G08
G09
G11
G12
G13
2-10
Function
Determines the exact position (Modal)
Checks the X, Y, and Z-axes in position and transfers to the position that was commanded.
Normally commands G01 to positioning.
X, Y, Z: absolute command
J, V, W: incremental command
Determines rough position (Modal)
Transfers to the position that was commanded.
(When the remaining distance falls inside the overlap distance, the movement is treated as completed.)
X, Y, Z: absolute command
J, V, W: incremental command
Dwell (1shot)
Proceeds to the next block after specified time elapses depending on the number that follows the letter X.
The same meaning applies to what was commanded in U.
The command data unit is 1 sec. with an accuracy of 0.05 sec. (X1. Æ 1 sec.)
When synchronized transfer is commanded for 2 spindles or more in the same block, assigns the speed for
each spindle orientation and moves along a line that is almost straight (diagonal).
G06Æ exact positioning, G07Æ rough positioning
See G12 (determination of exact position)
See G12 (determination of rough position)
Sets the range of rough positioning
Sets the settings during in position of the completion of movement during positioning as instructed by G01.
(Settings are absolute values with units in mm.)
[Program example 1]
[Program example 2]
G01 X1000.0;
G01 X1000.0;
G11 X10.0;
G11 X-10.0;
Sets each axis independently. The maximum command value is 100.00 mm.
Take note however that Program example 1 and 2 behave in the same manner.
Specifies the absolute value of the passing point (1 shot)
Pairs with G08 or G09.
[Program example 1]
[Program example 2]
X1000.0;
G00 X0 Z0;
X1200.0 Z200.0;
G12 X1000.0;
G08 X1200.0 Z200.0;
[Program example 3]
G01 X0 Z0;
G12 X1000.0;
G09 X1200 Z200.0;
Program example 1 says that the X-axis slows down at the position 1000.0 and that, after it comes to a full
stop, transfers to the position X1200.0, Z200.0 as indicated in the next block.
However, when G08, G12 is programmed as in Program example 2, the X-axis does not stop at the position
1000.0 but moves up to 1200.0. As it arrives at 1000.0, the Z-axis moves.
Example 3 behaves in the same way as example 2. However, it does not perform an in-position check.
Specifies the relative coordinates at the point where passing of work is done.
Specifies the distance before the desired coordinates.
Example
G13 X 10. M72;
G8 X#2;
M72 is executed at a position 10 before X#2.
Loader Programming Manual
Chapter 2 Programming Method
6. H codes
H codes replace the content of the variable (H code variables) that follow P, Q, and R and, inputs or
outputs a signal depending on the number that follows H.
H code
H01
H40
Function
H01 P#500 Q#501 R#502;
Replaces the value of variable #501 with the value of variable #500 and after that replaces the value of
variable #502 with the value of variable #501.
umgekehrt
This is also possible with only the commands P and Q.
H40 P0 Q8 R2;
Traces whether the work of chuck A has been corrected based on the work conditions at the left chuck
(MW) and main chuck (MS/MD) together with the measurements taken. The parameter P becomes the
transmission code, parameter Q becomes the No. at the receiving side, and parameter R becomes the
No. at the passing side.
Receiving Side No. / Passing Side No.
No.
Description
Inlet Section
1
Chuck A
2
Chuck B
3
Right Loader Chuck A
4
Right Loader Chuck B
5
Chuck E
6
Chuck F
7
Left Chuck
8
Main Chuck
Right Chuck
9
Outlet Section
10
H41
(MW)
H65
H81
H82
H87
MW
MS/MD
*For details, refer to P. 2-24 and 2-10.
H41 P#500 Q0;
Changes the content of P (work status) alternately between 1 and 3.
This is used during simultaneous synchronized 2 axes specification.
H65 P8000;
(H65 P8000 Q#**RUU;)
Calls subprogram O8000.
The teaching position of the subprogram called here uses that of the main program. Further, it could be
used inside a ( ) and call O8000 only when #** = UU.
H81 P10 Q#500 R1;
When Q = R, jumps to the block assigned with the sequence number of the number that follows P. (in this
case, when #500 = 1, jumps to N10). When Q ≠ R, proceeds to the next block. R could be commanded
with only the numerical value of.
H82 P10 Q#500 R1;
Conversely, with the command H81, a jump is made to the block that has been assigned with the
sequence number that follows P when Q ≠ R (jumps to N10 when #500 ≠ 1) and proceeds to the next
block when Q = R.
H87 P1;
Depending on the augment P, determines the loader cycle and jumps to the next location to execute.
2-11
Loader Programming Manual
H code
H90
Chapter 2 Programming Method
Function
H90 P#500 Q#501 R#502;
Sets the values of the variables #500, #501, and #502 to “0”.
H91
H91 P#500 Q#501 R#502;
Sets the values of the variables #500, #501, and #502 to “1”.
H94
H94 P#119 Q#112 R#114;
Proceeds to the next block when the values of the variables #119, #112, and #114 are “0”, and waits for
the value to become “0” when the values are “1”.
H95
H95 P#110 Q#111 R#115;
Proceeds to the next block when the values of the variables #110, #111, and #115 are “1”and waits for the
values to become “1” when the values are “0”.
H96
H96 P#106 Q1 R150;
Sets off an alarm corresponding to R number when the P signal in Q seconds is “1”.
(In this case, when the value of #106 remains 1 in 1 second, No. 150 alarm is set off.)
H97
H97 P#106 Q1 R150;
Sets off alarm corresponding to R number when the P signal in Q seconds is “0”.
(In this case, when the value of variable #106 is 0 in 1 second, No. 150 alarm is set off.)
H98
H98 P9020 Q9021 R9022;
Function to check completion of local program.
Proceeds to the next block at the point when all of 9020, 9021, and 9022 are completed.
(Valid even without Q and R.)
“1”: Function ON, “0”: Function OFF
Unlike M codes, H codes cannot be used independently.
H code variable contents are always verified, executed and output.
2-12
Loader Programming Manual
■
Chapter 2 Programming Method
H code table
H
P
p
Q q
R
r ;
p
H code
Function
Definition
Numeric
value
01
02
03
04
05
06
07
10
11
12
13
20
21
22
23
40
Constant,
Substitution
Addition
Subtraction
Multiplication
Division
Increment
Decrement
Internal PC data
transmission (Æ
system variable)
OR operation
AND operation
NOR operation
Teaching data
transmission
(teaching data Æ
internal variables)
Teaching data
transmission
(internal variableÆ
teaching)
Absolute value
Replaces q with p, then
replaces r with q. umgekehrt
Replaces (q + r) with p.
Replaces (q – r) with p.
Replaces (q × r) with p.
Replaces (q ÷ r) with p.
Replaces (p + 1) with p.
Replaces (p – 1) with p.
Transmits internal PC data to
system variables (#900 –
#915).
Replaces q or r with p.
Replaces q and r with p.
Replaces q nor r with p.
Transmits the q number
teaching data of the p axis to
internal variable r.
Transmits the q number
teaching data of the p axis to
internal variable r.
Replaces absolute value q
with the p.
The remainder of q ÷ r is p.
Same as function 01 but also
traces measured work status.
Assigns status p work to 1 or
3.
If q = r, assigns “0” to p.
q
Variable
Numeric
value
r
Variable
Numeric
value
Variable
A
C
C
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
0: X-axis
1: Y-axis
2: Z-axis
Only for
numeric
values 0 – 24
Only for
numeric
values 0 – 9
0: X-axis
1: Y-axis
2: Z-axis
Only for
numeric
values 0 – 24
Only for
numeric
values 0 – 9
Remarks
r may be
omitted.
System
variable
A
A
Remainder
A
A
A
Definition,
substitution
41
Work status
A, B
0 only
input
A, B
C
C
50
Puts OFF output
signal during signal
input
If q = r, assigns “1” to p.
A, B
C
C
51
Puts ON output
signal during signal
input
Subprogram
63
Teaching data
Adds the teaching data
computation
specified by p in the program No.
to the current teaching data
and assigns the result as new
teaching data.
Numeric value: selects whether only numeric commands (P. 3 for example) are enabled ( ) or disabled ( ).
Variables: indicates variables that could be instructed.
A: internal variable
C: A, B, and input variable
B: output variable
r may be
omitted.
2-13
Loader Programming Manual
Chapter 2 Programming Method
p
H code
Function
Definition
Numeric
value
q
Variable
Numeric
value
r
Variable
Numeric
value
Variable
Remarks
Subprogram
Calls subprogram from main
No.
program (teaching data are
dependent on main program).
When q = 0, or q is omitted, the
teaching data of the main
program is used. When q = 1 is
specified, the teaching data of
the subprogram specified by p
is used.
Calls subprogram.
Subprogram
No.
C
C
C
C
C
C
C
A
A
C
A
C
C
A
A
C
A
C
C
Signal output
Subprogram
Call only the teaching data
subprogram. After being called, No.
the main program also depends
on this data. When q = r, the
command to call r number
program is enabled.
Jumps to p.
A
Jumps to p when q = r.
A
Jumps to p when q ≠ r.
A
Jumps to p when q > r.
A
Jumps to p when q < r.
A
Jumps to p when q ≥ r.
A
Jumps to p when q ≤ r.
A
Determines the loader cycle
depending on condition p and
jumps to the next sequence No.
A
When waiting for conditions in
H96, H97, jumps to p when q =
r.
(instructed prior to H96, H97)
When q = #521 and r number
alarm is ON, jumps to p.
Assigns “0” to p, q, and r.
A, B
A, B
91
Signal output
Assigns “1” to p, q, and r.
A, B
A, B q, r may
be
omitted.
A, B q, r may
be
omitted.
92
Signal pulse output
64
Calls subprogram
(high speed type)
65
Calls subprogram
66
Calls teaching data
subprogram
80
81
82
83
84
85
86
87
Unconditional jump
Conditional jump 1
Conditional jump 2
Conditional jump 3
Conditional jump 4
Conditional jump 5
Conditional jump 6
Conditional jump 7
89
Conditional jump
during input signal
waiting
90
A, B
q may be
omitted.
Assigns “0” to q seconds after p
B
A
becomes “1”.
Numeric value: selects whether only numeric commands (P. 3 for example) are enabled ( ) or disabled ( ).
Variable: indicates variables that could be instructed.
A: internal variable
C: A, B, and input variable
B: output variable
2-14
q, r may
be
omitted.
q, r may
be
omitted.
Loader Programming Manual
H
code
Chapter 2 Programming Method
p
Function
Definition
Numeric
value
q
Variable
Numeric
value
r
Variable
Numeric
value
Variable
Conflicting signal
Assigns “1” to p and “0” to q.
A, B
A, B
output
C
C
C
94 Input signal waiting 1 Proceeds to next step when p,
q, and r are “0”, and waits until
p, q, and r becomes “0” when p,
q, and r are “1”.
C
C
C
95 Input signal waiting 2 Proceeds to next step when p,
q, and r are “1”, and waits until
p, q, and r becomes “1” when p,
q, and r are “0”.
96 Input signal alarm 1 Sends off r number alarm when
C
C
A
p is not “0” in q seconds.
97 Input signal alarm 2 Sends off r number alarm when
C
C
A
p is not “1” in q seconds.
A
A
98 Local program
Proceeds to the next block at Local Program
No.
completion check
the point when all p, q, and r
local programs operation
completed.
Numeric value: selects whether only numeric commands (P. 3 for example) are enabled ( ) or disabled ( ).
Variable: indicates variables that could be instructed.
A: internal variable
C: A, B, and input variable
B: output variable
Remarks
93
q, r may
be
omitted.
q, r may
be
omitted.
q, r may
be
omitted.
2-15
Loader Programming Manual
Chapter 2 Programming Method
7. H code variables
As also described in H codes (P. 2-11), variables following P, Q, and R are called H code variables. The
number of H code variables such as input variables (#100~), output variables (#500~), internal variables
(#00 – #19), private variables (#20 – #30), and system variables (#900~) differ depending on the
specifications.
7-1.
Input and output variables
Input and output variables are explained using example problems.
The following are frequently used examples.
H91 P#530;
assigns “1” to #530. (Output variable)
H95 P#130;
waits until #130 becomes “1”. (Input variable)
#530 is the output variable called Inlet Shutter Open where the inlet shutters open when the value of
#530 is “1”. In other words, this is a command for the inlet shutter to open. When the shutter opens, the
Inlet Shutter Open input variable #130 becomes “1” and confirms that the inlet shutter was opened.
In this manner, when an output variable commands an action, the input variable is used to confirm the
completion of the action.
7-2.
Internal variables
While the functions of input and output variables are established and their use is restricted, the
programmer can freely use internal variables.
These are used normally when flag counters are needed.
Variable numbers are #00 – #19 and could cope with up to a 7 digit number. (Note that teaching points
also use the same variable numbers.)
See the following page on how to use the variables.
·
·
When used as an action flag
See P. 2-46 “Creating local programs”.
Counter
See P. 2-48 “Creating subprograms”.
To display the screen, press the “Loader Program” button and then press the soft key “H Code
Variables”.
Data setting could be done regardless of the mode (manual, auto).
To clear data for #0 – #4, press RESET
for #5 – #19, press RESET + Both Hands button.
„ Private Variables
Private variables are valid only within the program.
Example: #20 of 0001 and #20 of 0002 are different. These variables are initialized to 0 at the start
of program execution.
memo
2-16
For the Table of H codes for each model, refer to the reference materials at the end of the
book.
Loader Programming Manual
Chapter 2 Programming Method
8. Block delete
When block delete function is “ON”, blocks with slash (/) codes at the head of the block, the rows are not
executed.
Further, in all there are 10 types of block delete that have been prepared that are turned “ON/OFF”
depending on the conditions.
(See section on Block Delete Table in Chapter 6.)
Pressing the “Guide” button on the machine operation panel and then pressing the soft key “RUN
MODE” displays on the “Running Mode Settings” screen.
MW Series
MS Series / MD Series
When set as shown in the figure above, loader block delete (/1, /) becomes valid.
2-17
Loader Programming Manual
Chapter 2 Programming Method
9. Operating the loader
Let us try to move each axis of the loader.
Commands are given by specifying the address of the axial orientation (X, Z, etc.) and the numbers
(travel distance) that follows the address. (Commands for loader programs for automatic operation are
given through the teaching points.) Although the method of transfer (directions) differs according to the
order of the commands, the destination is the same.
[Program example]
Transfer to the position defined by X-axis + direction 170 mm, Y-axis – direction 50 mm, Z-axis –
direction 50 mm.
Moves along the sequence of the solid lines.
Moves along the sequence of the dotted lines.
X170.0; .................................................
1
Y-50.0;....................................................
4
Z-50.0; ..................................................
2
X170.0;...................................................
5
Y-50.0; ..................................................
3
Z-50.0;....................................................
6
Z-axis
Y-axis
X-axis
The figure refers to twin spindle series.
Further, simultaneous movements of the two spindles are also possible. (Route that looks like dot-dash
line)
X170.0 Z-50.0;......... 7
Y-50.0; ..................... 8
Although the twin spindles can be made to move simultaneously in this manner, the cover could easily
impede the loader, hence one command in one block is recommended.
memo
2-18
When move in the manner described above, open the shutter and make sure that
the route of the movement would not cause cover to impede the loader. There are
instances that, when the command is wrong, automatic interlock function becomes
operable (see “Service Manual”), and the machine does not move.
Loader Programming Manual
Chapter 2 Programming Method
10. Teaching points
Loader program instruction on where the work is to be delivered is given through the variable number.
Transfer position is instructed to the machine through the teaching point.
(Teaching points can be increased up to 32 points.)
The variable number and its contents (teaching position) are established as in the table. It is simply done
by programming the variable number that follows the address X, Y, or Z.
(Note that teaching points uses the same variable numbers as internal variables.)
[Program example]
X#4; or Z#5; etc.
Here, when the transfer instruction is given through the numeric value (for example, X100.0), it becomes
necessary to create a program for each piece of work since sharing is not possible.
10-1. Teaching point details
MW series
Teaching point
#1 Left approach
#2 Left work removal
#3 Left work mounting
#4 Right approach
#5 Right work removal
#6 Right work mounting
#7 Feed pass A
#8 Feed pass B
#9 Feed pass C
#10 Feed pass D
#11 E chuck passing
#12 F chuck receiving
#13 Left work location work removal
#14 Left work location work mounting
#15 Right work location work removal
#16 Right work location work mounting
#17 Feed pass E – P
|
#32
Description
Position at the left chuck where α axis turns to
Position where the work is received from the left chuck
Position where the work is passed to the left chuck
Position at the right chuck where α axis turns to
Position where the work is received from the right chuck
Position where the work is passed to the right chuck
Used mainly at the position where the work is received from the inlet unit
Used mainly at the position where the work is passed to the outlet unit
Spare
Position where the half-finished product is passed to the E chuck (turn
specification only)
Position where the half-finished product (turned) is received from the F
chuck (turn specification only)
Position where a work location NG product is removed from the left chuck
Position where a work location NG product is mounted on the left chuck
Position where a work location NG product is removed from the right chuck
Position where a work location NG product is mounted on the right chuck
Spare
2-19
Loader Programming Manual
Chapter 2 Programming Method
MS Series / MD Series
Teaching point
#1 Approach
#2 Work removal
#3 Work mounting
#6 Feed pass A
#7 Material feed in
#8 Finished product feed out
#9 Dummy discharge chute A
#10 Dummy discharge chute B
#11 Feed pass B
#12 Feed pass C
#13 Work location removal
#14 Work location mounting
#13 Feed pass E – O
|
#23
#24 Loader waiting
#25
|
#32
2-20
Description
Position to which the α axis turns in the main chuck
Position where the work is received from the main chuck
Position where the work is passed to the main chuck
Spare
Position where the work is received from the inlet unit
Position where the work is passed to the outlet unit
Position of the dummy discharge to the chute
Position of the dummy discharge to the chute
Spare
Spare
Position where the work is received from the main chuck during work
location NG
Position where the work is passed to the main chuck during work location
NG
Spare
Waiting position when the cycle stops
Spare
Loader Programming Manual
Chapter 2 Programming Method
10-2. Teaching point methods
The loader acts in accordance with the loader program in the same way as the cutting program, however,
the position where passing to the loader is done should be input through teaching.
Displaying from the main unit operation panel
1. Mode setting
1)
2)
Set the mode to “Loader Manual”.
Set the Edit key to “ON”.
2. Screen display
Press the “Loader Program” button and the “Teaching”
function key to display the “Loader Teaching” screen.
3. Cursor transfer
Transfer the cursor to the position number to teach.
4. Loader transfer
Transfer each spindle of the loader manually to the position
where teaching is to be done.
2-21
Loader Programming Manual
Chapter 2 Programming Method
5. Teaching
When the teaching position has been decided, press the
soft key “Teaching” button. At that point, the position of each
of the loader spindle is recorded in the memory and
updates the cursor position data on the screen.
When the loader program is input, the registered data are
input and output at the same time. Further data is input to
the program and tool correction using the data input keys.
2-22
memo
Teaching know-how
[Example] Let the chuck clamp the work as
described in the method of passing to the main
chuck and let the loader move to the passing
position. With the work clamped by the main
chuck, open and close the loader chuck. When
the chuck clamps the work, the position at
which the loader head does not move is taught.
Also in a like manner, for turn unit (MW) and
inlet and outlet units, let the mating unit of the
loader clamp the work to establish the teaching
position.
memo
Twin loader (MW series)
For the twin loader, there are corresponding
programs for the left and for the right loaders.
The teaching points are also divided into left
and right programs. Switching between left and
right programs operates the teaching operation.
Loader Programming Manual
Chapter 2 Programming Method
11. Work feed in and feed out
In feeding the work to the gantry loader, the loader moves up to the inlet section (inlet unit) where A
chuck clamps the work. In the same manner, in discharging the work, the loader moves up to the outlet
section (outlet unit) where the work is placed on the B chuck.
[Program example (for left inlet)]
· Feed in
The feed in position is #7.
X#7; ................................... to position 1
Z#7;.................................... to position 2
Y#7; ................................... to position 3
M61 H40 P91 Q2; ............ passes from inlet unit to A chuck (A chuck close)
·
Feed out
The feed out position is #8.
X#8; ................................... to position 4
Z#8; .................................. to position 5
Y#8; .................................. to position 6
M62 H40 P0 Q10 R3; ....... passes from B chuck to outlet unit (B chuck open)
Gantry Loader
Inlet Section
(X, Y, Z) = (#7, #7, #7)
Outlet Section
(X, Y, Z) = (#8, #8, #8)
The figure refers to MW/MT series.
2-23
Loader Programming Manual
Chapter 2 Programming Method
12. Passing the work (loading and unloading)
Passing the work between main chuck and loader chuck necessitates loading and unloading that are
executed according to the instructions from M code and H code variables.
Loading is also called load or load cycle and refers to the work being passed from the loader chuck to
the main chuck.
Unloading is also called unload or unload cycle and refers to the receiving of work by the loader chuck
from the main chuck.
Passing is executed according to the M code where the chuck at the side that passes the work opens
while the chuck at the receiving side closes (or the chuck at the receiving side opens while the chuck at
the passing side closes) and, based on the H code; the work status is transferred and completed. This is
explained through the program example below.
The loader chuck has two chucks; A and B. A chuck is used for loading while B chuck is used for
unloading.
[Program example]
This program example describes loading.
The left chuck receives the work from A chuck.
(After A chuck opens, main chuck closes.)
M60 H40 P0 Q8 R2;
M25;
Main chuck
(After main chuck closes, A chuck opens.)
M25 H40 P0 Q8 R2;
M60;
Work
A chuck
B chuck
In this figure, the opening of the chuck in accordance with M60 and the closing of the left chuck in
accordance with M25 load the work that A chuck holds.
After which, in accordance with M60 and H code instruction in the same block: H40 P0 Q8 R2, the work
status is moved. Here, the variables (2) that indicate whether there is work on A chuck or not replaces
the variables (8) that indicate whether there is work on the left chuck (MW) or main chuck (MS/MD). In
other words, this means that the work that A chuck holds is passed onto the left chuck (MW) or main
chuck (MS/MD).
2-24
Loader Programming Manual
Chapter 2 Programming Method
13. Confirmation method for loader not interfering with moving
objects
Since the loader is interlocked, it does not interfere with non-moving objects (main unit cover), but it may
interfere with moving objects (turret, shutter). That is why, when loading and unloading, it is necessary in
feeding in / feeding out the work to check whether the shutter is open or not and to verify the position of
the turret before moving the loader.
For that purpose, H codes (H94, H95) and H code variables are employed to secure interlock within the
program.
[Program example 1]
H94 P#122; ....................
[Program example 2]
H95 P#110 Q#124; .........
Checks whether the left spindle (MW) or main spindle (MS/MD)
are stopped.
Waits for the left shutter (MW) or shutter (MS/MD) to open and
for the left turret (MW) or turret (MS/MD) to be at the zero
position.
Example 1 is an example of the command to check if the left spindle (MW) or main spindle (MS/MD)
rotation is stopped. This means that when the data of #122 is “1”, the spindle is rotating. Hence, loading
and unloading is not possible and that loading and unloading should wait until the data becomes “0”
(main spindle stopped).
Example 2 is an example of 2 verifications done at the same time. (Maximum of 3 simultaneous
verifications is possible). When creating a new program, check whether the command to check loader
interference through the currently input program’s H94 and H95 is present or not.
2-25
Loader Programming Manual
Chapter 2 Programming Method
14. Automatic loader interlock
As described in the previous pages, the loader is interlocked. In this section, interlock with respect to
non-moving objects and how to change the interlock is described.
However, note that the settings have already been adjusted before shipment. Exercise caution when
changing the settings. (The main unit might get hit.)
14-1. Zones
The relationship between Zone No. and the machine is indicated below.
(1) X-axis zone
Each zone is set as a field (maximum value to minimum value of coded data) with the – OT of the
Y-axis set for each zone.
Zone No.
ゾーン№
7
6
5
Left
feed area
左側搬送域
Main
本体
Left
shutter area
左ｼｬｯﾀｰ域
unit
4
3
2
1
Right
shutter area
右ｼｬｯﾀｰ域
Main
本体
Right
feed area
右側搬送域
unit
Central
partition
中間パーテーション
(MW Series)
Zone No.
ゾーン№
7
Feed
搬送
6
5
2
1
On left
Left shutter
On right carrier
Feed
左ｼｬｯﾀｰ
左機上
carrier
右機上
搬送
(MS/MD Series)
(2) Y-axis zone
Each zone is set as a boundary.
1
ゾーン№
Zone No.
(Zero
(原点)Position)
Shutter
シャッター
2
Lowest
point at feed area
搬送域での最下点
3
2-26
Loader Programming Manual
Chapter 2 Programming Method
14-2. Checking and setting the zone
1. Display [Settings (loader)] screen.
Maintenance
1)
Press the operation panel [Maintenance] button.
2)
Press the soft key [PARAM.].
3)
Press the soft key [LOADER].
2. Check the setting value of the X-axis zone and Y-axis zone.
Settings (Loader)
Settings (Loader)
PAGE
↓
↑
PAGE
3. Input the parameters from the keyboard and press the INPUT key.
4. Turn off the power supply.
memo
Note that when parameters have been changed, failure
to put off power supply once will not change the
settings.
2-27
Loader Programming Manual
Chapter 2 Programming Method
14-3.
Setting the maximum travel distance of the loader
(Do not change these values.)
(1) MW series (Single loader) / MS series / MD series
X + OT
D1078
Y + OT·
D1080
Z + OT
D1082
X – OT
D1084
Y – OT
D1086
Z – OT
D1088
*Unit: mm
(2) MW series (Twin loader)
Left loader
Right loader
X + OT
D1078
D1090
LOADER Y + OT
D1080
D1092
LOADER Z + OT
D1082
D1094
LOADER
X – OT
D1084
D1096
LOADER Y – OT
D1086
D1098
LOADER Z – OT
D1088
D1100
LOADER
*Unit: mm
2-28
Loader Programming Manual
Chapter 2 Programming Method
15. Creating the main program
The loader is set to motion by the main program before work is fed.
First, in creating a program, it is necessary to understand the behavior of the loader and the position
where work is passed.
Further, even with works that are to be newly cut, if the material shape, product shape, and feeder
specifications are similar, the program may be used as is.
For program numbers, use the numbers 1 – 7999. (However, the teaching points should be changed.)
Refer to the program example to be described.
•
Point to be checked
• Which way is the material coming in and going out as seen from the front of the machine, to the
left or to the right?
• What is the specification? (Turn specification, twin spindle, etc.)
• How many teaching points are necessary?
• What kinds of actions are done and how these are verified in the teaching point?
[Gantry Loader Program Example] (MW Series)
There are four types of gantry loader specifications based on the machine specification as follows:
(1) Turn specification
The left and right chucks separately perform their own cutting.
1/2 process (front cutting) is done at the right (left) chuck while the 2/2 process (back cutting) is
done at the left (right) chuck to finish the product.
Most machines have this type of specification.
(2) Twin spindle specification
The right and left chucks perform the same cutting.
It cuts only 1/2 process of semi-finished product.
(3) Through-type twin spindle specification
Cuts only 1/2 process (front cutting) assigned to the left and right chucks.
(4) Special
When cutting according to specifications other than the above.
2-29
Loader Programming Manual
Chapter 2 Programming Method
15-1. MW series (single loader) / MS series / MD series
(1) Turn specifications (for left feed in)
In this specification, there are 10 locations of teaching points. (#1 – 24)
In the teaching points, it is necessary to understand what type of movement commands and
confirmations are necessary. Loader movements are as follows:
<MW series>
Start permitted position Æ inlet section (work receiving) Æ left chuck (work receiving / retrieval) Æ E
chuck (work receiving) Æ F chuck (work passing) Æ right chuck (work receiving / work retrieval) Æ
outlet section (work passing)
<MS / MD series>
Start permitted position Æ inlet section (work receiving) Æ main chuck (work receiving/work
retrieval) Æ outlet section (work passing)
E chuck (#11)
F chuck (#12)
Inlet section
(#7)
Outlet section
(#8)
Finished
product
Material
Approach position: left (#1)
Main chuck: left
(#2) work removal position
(#3) work mounting position
Approach position: right
(#4)
Main chuck: right
(#5) work removal position
(#6) work mounting position
Mark: teaching position
Mark: machine home
position
The figure refers to MW series.
memo
2-30
Since the loader cycle is the midway start type, when the loader is at the start permitted
position (Home Position LED lights up), it can start anywhere.
Loader Programming Manual
Chapter 2 Programming Method
[Main Program Example] (MW Series / Single Loader)
Work feeder specification
0001;
N1 G1 M50 S100; .........................
H87 P0;.........................................
Feed in cycle
N10 H98 P9020 Q9021 R9022
/3 M96 P9020; ..............................
Y0 Z0;
X#7 M73;
Z#7
Start conditions confirmation
Conditional jump
Local program completion
confirmation
Local program call
H98 P9020
H81 P19 Q#3 R1;
/3 G12 Y-100. S10;
To inlet section (#7)
/3 G1 Y#7;
/4 M61 H40 P91 Q2; .....................
Y0 S100;
Z0;
N19 /3 M96 P9022; .......................
Local program call
M49;..............................................
Feed in cycle finish
H87 P0;.........................................
Conditional jump
When there is no work on the
left chuck, to N30
When left Chuck is open, to
N30
N20 /3 H81 P30 Q#508 R0; ..........
Left chuck work removal cycle
H81 P30 Q#187 R1;......................
Left chuck work mounting cycle
Receives work from inlet
section
X#2 Y0 Z0 M73;
M51; waits for left work removal
command
Y#2;(Waits for M52 of this
machine)
Z#2;
M24 H40 P0 Q3 R8;
M63;
Z0;
M55;..............................................
X#1;
Y#1;
M42;
H82 P31 Q#500 R0;......................
X#2;
Y0;
M49;
H87 P0;
N30 X#3 Y0 Z0 M72;
N31 M52; ...........waits for left work
mounting command
X#3 Y#3; .......................................
.....(waits for M53 of this machine)
G12 Z-25. S5;
G1 Z#3;
M60 H40 P0 Q8 R2;
M25 M77;
Z0 S100;
Y0;
N35 M59;
H81 P38 Q#118 R1;......................
H01 P#8 Q1;
/8 H65 P8020;
/8 H80 P35;
/9 H65 P8021;
N38 M55;
M49;
Feed interface
0001;
N1 G1 M50 S100;
/6 H91 P#516 Q#517;
H87 P0;
N10;
Y0 Z0;
X#7 Y0;
Z#7 M73;
N11 /4 /3 H81 P12 Q#140 R1;
/5 H81 P13 Q#568 R1;
H80 P11;
N12 H90 P#516; .........................
When inlet feeder invasion
permission is ON, to N12
When "Loading Stop"
is ON, to N13
When inlet unit move
permission OFF
/4 /3 Y#7;
/4 M61 H40 P91 Q2;
N13 Y0;
Z0;
H91 P#516;.................................
When inlet unit move
permission is ON
Z0;
M49;
(The rest is the same as work feeder specification.)
To left chuck work removal
position (#2)
Left chuck work removal
End of service
To α axis index position (#1)
When there is work in A chuck,
to N31
To left chuck work
Mounting position
Left chuck work mounting
When work location is OK, to
N38
Work location confirmation
Work location retry
(Using subprogram)
Work location loading stop
Kommentarlänge inkl. Klammern max. 36 Zeichen
2-31
Loader Programming Manual
Chapter 2 Programming Method
< >: fitted with i series NC
Right chuck work
mounting cycle
Right chuck work
removal cycle
F chuck work
removal cycle
E chuck work
mounting cycle
Work feeder specification / feed interface
2-32
H87 P0;
N40 M77 M75;
X#11 Z0 M73<M72>;
Y#11;
Z#11;
M69<M68> H40 P0 Q6<Q2> R3<R6>;
M62<M61>;
Z0;
M74; ...................................................................
M49;
H87 P0;
N50 M77 M75; ....................................................
X#12 M72<M73>;
Y#12;
Z#12;
M61<M62> H40 P0 Q2<Q7> R7<R3>;
M70<M71>;
Z0;
M74; ...................................................................
M49;
H87 P0;
N60 /3 H81 P70 Q#509 R0; ................................
H81 P70 Q#188 R1; ...........................................
X#5 Y0 Z0 M73;
M53; ........................ waits for right chuck work
removal command
Y#5; .......................... (waits for main unit M52)
Z#5;
M26 H40 P0 Q3 R9;
M63;
Z0;
M55;
X#4 Y#4;.............................................................
M72;
H82 P71 Q#500 R0; ...........................................
X#5;
Y0;
M49;
H87;
N70 X#6 Y0 Z0 M72;
N71 M54;................. waits for right chuck work
mounting command
X#6 Y#6;................... (waits for main unit M53)
G12 Z-25. S5;
G1 Z#6;
M60 H40 P0 Q9 R2;
M27 M77;
Z0;
Y0;
N75 M59;
H81 P78 Q#119 R1;............................................
H01 P#8 Q2;
/8 H65 P8020;
/8 H80 P75;
/9 H65 P8021;
N78 M55;
M49;
To E chuck work mounting position (#11)
E chuck work mounting
Turn cycle start
Turn unit in, turn cycle completion confirmation
To F chuck work removal position (#12)
F chuck work removal
Turn cycle start
When there is no work at the right chuck, to N70
When right chuck is open, to N70
To right chuck work removal position (#5)
Right chuck work removal
To index position (#4)
When A Chuck has work, to N71
To right chuck work mounting position (#6)
Right chuck work mounting
When right work location is OK, to N78
Work location confirmation
Work location retry (using subprogram)
Work location loading stop
Loader Programming Manual
Chapter 2 Programming Method
Work feeder specification
H87 P0;
N80 H98 P9020 Q9021 R9022;
/3 /4 M96 P9021; ............................
/4 X#8 Y0 Z0;
Local program call
/4 M72;
/4 H98 P9021;
To feed out position (#8)
Feed out cycle
M62 H40 P0 Q10 R3;......................
To N88
#7 = 1
Subprogram call
Finished good feed out to outlet
section
H01 P#507 Q0;
M23;
NG loading stop cycle
Outlet feeder operation permission
ON
When outlet loader invasion
permission signal does not go ON in
10 seconds, alarm is output.
/4 H97 P#143 Q10 R141;
Outlet feeder operation permission
OFF
/4 G12 Y-100 S10;
/4 G1 Y#8;
/4 H80 P88;
N87 H01 P#7 Q1;
H65 P8000;
N88 S100;
M62 H40 P0 Q10 R3;
H01 P#507 Q0;
M23;
Y0;
H91 P#517; .....................
Y0;
Z0;
N89 /5 X0;
/5 H90 P#3;
H94 P#1;
/3 /4 M96 P9022; ............................
M30;
N90;
H01 P#7 Q2; ...................................
H65 P8000;.....................................
/5 X0;
M30;
%
/4 X#8 Y0 Z0;
/4 M72;
/4 Z#8;
/4 H3; ..............................
/4 H81 P89 Q#3 R1;
/4 Z#8;
/3 /4 G12 Y-100 S10;
/3 /4 G1 Y#8;
/4 H80 P88;.....................................
N87 H01 P#7 Q1; ...........................
H65 P8000;.....................................
N88 S100;
Feed interface
H87 P0;
N80 H91 P#517;..............
Outlet feeder operation permission
ON
Z0;
N89;
M30;
Local program call
#7 = 2
Subprogram call
In the midway start type loader cycle, the work status of the loader’s A and B chucks is constantly
monitored, from which the next location to jump to is decided and the cycle continues.
For that reason, if the conditions for twin spindle cycle or single spindle cycle are laid down and the
parameters set, operation can be done with the above described loader program alone.
The operation of subprograms and local programs themselves may be used in common.
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Loader Programming Manual
Chapter 2 Programming Method
[Main program example] (MS / MD series)
Work feeder specification
0001;
N1 G1 M50 S100; ...........................
H87 P0;...........................................
Feed in cycle
N10 H98 P9020 Q9021 R9022
/3 M96 P9020; ................................
Y0 Z0;
X#7 M73;
Z#7;
Start conditions confirmation
Conditional jump
Local program completion
confirmation
Local program call
H98 P9020
H81 P19 Q#3 R1;
/3 G12 Y-100. S10;
To inlet section (#7)
/3 G1 Y#7;
/4 M61 H40 P91 Q2; .......................
Y0 S100;
Z0;
N19 /3 M96 P9022; .........................
Local program call
M49 P900; ......................................
Feed in cycle finish
H87 P0;...........................................
Conditional jump
When there is no work on the left
chuck, to N30
Main chuck work mounting cycle
Main chuck work removal cycle
N20 /3 H81 P30 Q#508 R0; ............
2-34
Receives work from inlet
section
X#2 Y0 Z0 M73;
M51; P900; .....................................
... waits for work removal command
Y#2;(waits for M52 of main machine)
Z#2;
M24 H40 P0 Q3 R8;
M63;
Z0;
M55;................................................
X#1;
Y#1;
M72;
H82 P31 Q#500 R0;........................
X#2;
Y0;
M49 P900;
H87 P0;
N30 X#3 Y0 Z0 M72;
N31 M52 P900;...............................
. waits for work mounting command
X#3 Y#3; (waits for main unit M53)
G12 Z-25. S5;
G1 Z#3;
M60 H40 P0 Q8 R2;
M25
Z0 S100;
Y0;
N35 M59;
H81 P38 Q#118 R1;........................
H01 P#8 Q1;
/8 H65 P8020;
/8 H80 P35;
/9 H65 P8021;
N38 M55;
M49 P900;
Feed interface
0001;
N1 G1 M50 S100;
/6 H91 P#516 Q#517;
H87 P0;
N10;
Y0 Z0;
X#7 Y0;
Z#7 M73;
N11 /4 /3 H81 P12 Q#140 R1;
/5 H81 P13 Q#568 R1;
H80 P11;
N12 H90 P#516;.........................
When inlet feeder invasion
permission is ON, to N12
When inlet unit move
permission OFF
/4 /3 Y#7;
/4 M61 H40 P91 Q2;
N13 Y0;
Z0;
H91 P#516; ................................
When inlet unit move
permission ON
Z0;
M49;
(The rest is the same as work feeder specification.)
Main chuck work removal
To position (#2)
Main chuck work removal
End of service
α axis index position (#1)
When there is work in A chuck,
to N31
To main chuck work
Mounting position
Main chuck work mounting
When work location is OK, to
N38
Work location confirmation
Work location retry
(Using subprogram)
Work location loading stop
Loader Programming Manual
Chapter 2 Programming Method
Work feeder specification
N80 H98 P9020 Q9021 R9022
/3 /4 M96 P9021; ............................
/4 X#8 Y0 Z0;
Local program call
/4 M72;
/4 H98 P9021;
To outlet unit (#8)
Feed out cycle
/4 H81 P89 Q#3 R1;
/4 Z#8;
/3 /4 G12 Y-100 S10;
/3 /4 G1 Y#8;
/4 H80 P88;.....................................
N87 H01 P#7 Q1; ...........................
H65 P8000;.....................................
N88 S100;
M62 H40 P0 Q10 R3;......................
To N88
#7 = 1
Subprogram call
Finished goods passed to outlet
unit
Y0;
NG loading stop cycle
/4 X#8 Y0 Z0;
/4 M72;
/4 Z#8;
/4 H97 P#143 Q10 R141;
/4 H90 P#517; .................
Outlet feeder operation permission
ON
When outlet loader invasion
permission signal does not go ON in
10 seconds, alarm is output.
Outlet feeder operation permission
OFF
/4 G12 Y-100 S10;
/4 G1 Y#8;
/4 H80 P88;
N87 H01 P#7 Q1;
H65 P8000;
N88 S100;
M62 H40 P0 Q10 R3;
H01 P#507 Q0;
M23;
Y0;
H91 P#517; .....................
H01 P#507 Q0;
M23;
Z0;
N89 /5 X0;
/5 H90 P#3;
H94 P#1;
/3 /4 M96 P9022; ............................
M30;
N90;
H01 P#7 Q2; ...................................
H65 P8000;.....................................
/5 X0;
M30;
%
Feed interface
H87 P0;
N80 H91 P#517;..............
H87 P0;
Outlet feeder operation permission
ON
Z0;
N89;
M30;
Local program call
#7 = 2
Subprogram call
In the midway start type loader cycle, the work status of the loader’s A and B chucks is constantly
monitored from where the next location to jump is decided and the cycle continues.
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Loader Programming Manual
Chapter 2 Programming Method
(2) Twin spindle specification (for left feed in)
The loader movement is as follows:
Start permitted position Æ inlet section (work receiving) Æ left chuck (work mounting, work removal)
Æ outlet section (work passing) Æ inlet section Æ right chuck (work mounting, work removal) Æ
outlet section
Inlet section
(#7)
Outlet
section (#8)
Material
Finished
product
Approach position: right (#4)
Approach position: left (#1)
Main chuck: left
(#2) work removal position
(#3) work mounting position
Main Chuck: right
(#5) work removal position
(#6) work mounting position
Mark: teaching position
Mark: machine home
position
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Loader Programming Manual
Chapter 2 Programming Method
15-2. MW series (twin loader)
(1) Turn specification (for left feed in)
This specification has separate left and right teaching points.
Left loader: Start permitted position Æ inlet section (work receiving) Æ left chuck (work mounting,
work removal) Æ E chuck (work passing)
Right loader: Start permitted position Æ F chuck (work receiving) Æ right chuck (work mounting,
work removal) Æ outlet section (work passing)
E chuck (Left #11)
Left home
position
F chuck (Right #12)
Right home
position
Inlet section
(Left #7)
Outlet section
(Right #8)
Material
Finished
product
Approach position: left (Left #1)
Main chuck: left
(#2) work removal position
(#3) work mounting position
Main chuck: right
(#2) work removal position
(#3) work mounting position
Approach position: right (Right #1)
Mark: teaching position
Mark: machine home
position
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Loader Programming Manual
Chapter 2 Programming Method
[Main program example (left loader)]
Work feeder specification
0001;
N1
M98 P5000 (LOADER RIGHT START)
M95;
N5;
M50 G1 S100;
H87 P1;
N10 (FEED IN CY)
H98 P9020;
/4 M96 P9020;
X#7 Y0;
Z#7 M73;
Feed in cycle
/4 P98 P9020;
/4 H81 P13 Q#3 R1;
To inlet section (#7)
/4 Y#7 S10;
/4 M61 H40 P91 Q2;
/4 Y0 S100;
M97;
/4 M96 P9020;
Work receiving
Left chuck work mounting cycle
Left chuck work removal cycle
N13;
2-38
Z0;
M49;
H87 P1;
N20 (UNLOAD):
H81 P30 Q#187 R1:
X#2 Y0 Z0 M73;
M51; .................. waits for left work
removal command
H95 P#110 #124; ..... (waits for M52
X#2 Y#2;
of this machine)
Z#2;
M56 H40 P0 Q3 R8;
M63;
Z#1;
M55;
X#1 Y#1;
M72;
H82 P31 Q#500 R0;
X#2;
Y0;
M49;
H87 P1;
N30; (LOAD)
X#3 Y0 Z0 M72;
N31;
M52;.................... waits for left work
mounting command
H95 P#110 Q#124; .. (waits for M53
X#3 Y#3 M5;
of this machine)
Z-70.;
Z#3 S8;
M60 H40 P0 Q8 R2;
M57 S100;
Z0;
M37;
To left chuck work removal
position (#2)
Left chuck work removal
To α axis index position (#1)
To left chuck work
Mounting position (#3)
Left chuck work mounting
Feed interface
0001;
N1;
M98 P5000 (LOADER RIGHT START);
M95;
N5;
H91 P#516;
M50 G1 S100;
H87 P1;
N10 (FEED IN CY);
X#7 Y0;
Z#7 M73;
N11 /4 /3 H81 P12 Q#140 R1;
If inlet invasion permission is
ON, to N12
/5 H81 P13 Q#568 R1;
H80 P11;
N12 H90 P#516;........................... Inlet feeder operation
permission OFF
/4 /3 Y#7;
/4 M61 H40 P91 Q2;
N13 Y0;
Z0;
H91 P#516; .................................. Inlet feeder operation
permission ON
M49;
H87 P1;
(The rest is the same as work feeder specification.)
Loader Programming Manual
Chapter 2 Programming Method
F chuck work removal
cycle
E chuck work
mounting cycle
Left chuck work
mounting cycle
Work feeder specification / feed interface
H81 P39 Q#118 R1 (FIT CHECK);
M59;
H81 P38 Q#170 R0;
X#4 Y#4 (FIT CHECK RETRY);
H94 P#122;
Z#4;
M56 H40 P0 Q2 R8;
M61;
Z0;
M45;
M3 G04 X5.;
M19;
M46;
H94 P#122;
X#5 Y#5;
Z-60.;
Z#5 S5;
M60 H40 P0 Q8 R2;
M57;
Z0 S100;
Y0;
H80 P37;
N38;
H81 P39 Q#172 R0;
X#4 Y#4 (FIT UNLOAD);
H94 P#122;
Z#4;
M56 H40 P90 Q8;
M61 H40 P95 Q2;
Z0;
N39;
Y0;
M55;
M49;
H87 P1;
N40 (FROM A TO E);
X#11 Y#11 M73;
M74;
Z#11;
M62 H40 P0 Q6 R3;
M69;
M23;
Z0;
Y0;
M90;
/5 X0;
M30;
N50 (FROM F TO A);
X#12 Y#12 M72;
M75;
Z#12;
M70 H40 P0 Q2 R7;
M61;
Z0;
Y0;
M91;
M49;
To left work location work removal position (#4)
Work removal
To left work location work removal position
(#5)
Work mounting
During work location NG, to work removal position (#4)
Work location NG work removal
To E chuck work mounting position (#11)
E chuck work mounting
To F chuck work removal position (#12)
F chuck work removal
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Loader Programming Manual
Chapter 2 Programming Method
Work feeder specification
H87 P1;
N80
Feed out cycle
H81 P90 Q#3 R1;
N81 Y0 Z0;
N72;
X#8;
Z#8;
H94 P#1;
To outlet unit (#8)
H81 P82 Q#3 R1;
Y#8 S10;
M62 H40 P0 Q10 R3;......................
M23;
Y0 S100 M31;
Work feed out
Z0 H40 P90 Q10;
H94 P#1;
M97;
M96 P9023 (WF UNLOAD SET UP);
/5 X0;
M30;
N90 (NG WORK OUT);
Y0 Z0;
X#10 M73;
NG cycle
Z#10;
2-40
Y#10 S10;
M60 H40 P90 Q2; ...........................
S100;
M23;
Y0;
Z0;
/5 X0;
M30;
Feed interface
H87 P1;
N80;
H91 P#517; ......................
Y0 Z0;
M72;
X#8;
Z#8;
H97 P#143 Q10 R141; .....
H90 P#517; ......................
Y#8;
M62 H40 P0 Q10 R3;
Y0;
Z0 H40 P90 Q10;
H91 P#517; ......................
M97;
M23;
/5 X0;
M30;
To NG loading stop position
(#10)
Work loading stop
Outlet feeder operation permission
ON
When outlet loader invasion
permission signal does not go ON in
10 seconds, alarm 141 is output.
Outlet feeder operation permission
OFF
Outlet feeder operation permission
ON
Loader Programming Manual
Chapter 2 Programming Method
[Main program example (right loader)]
Work feeder specification
5000 (LOADER RIGHT);
N1
N5;
M50 G1 S100;
H87 P1;
N10 (FEED IN CY);
H98 P9120;
/8 M96 P9120;
X#7 Y0;
Feed in cycle
Z#7 M73;
H98 P9120;
H81 P13 Q#3 R1;
To inlet section (#7)
Y#7 S10;
M61 H40 P91 Q4;
Y0 S100;
H98 P9120;
M97;
Work receiving
Right chuck work mounting cycle
Right chuck work removal cycle
/8 M96 P9120;
N13;
M49;
H87 P1;
N20 (UNLOAD);
H81 P30 Q#188 R1;
X#2 Y0 Z0 M73;
M51;................ waits for right work
removal command
H95 P#111 #125; ....(waits for M52
X#2 Y#2;
of main machine)
Z#2;
M56 H40 P0 Q5 R9;
M63;
Z#1;
M55;
X#1 Y#1;
M72;
H82 P31 Q#502 R0;
Y0;
M49;
H87 P1;
N30; (LOAD);
X#3 Y0 Z0 M72;
N31;
M52;................ waits for right work
mounting command
H95 P#111 Q#125; (waits for M53
X#3 Y#3 M05;
of this machine)
Z-76.;
Z#3 S8;
M160 H40 P0 Q9 R4;
M57 S100;
Z0;
N37;
M59;
H81 P39 Q#119 R1 (FIT CHECK);
H81 P38 Q#171 R0;
Feed interface
5000 (LOADER RIGHT);
N1 ;
N5;
H91 P#516;
M50 G1 S100;
H87 P1;
N10 (FEED IN CY);
X#7 Y0;
Z#7 M73;
N11 /4 /3 H81 P12 Q#140 R1;
/5 H81 P13 Q#568 R1;
H80 P11;
N12 H90 P#516;...........................
/4 /3 Y#7;
/4 M61 H40 P91 Q2;
N13 Y0;
Z0;
H91 P#516; ..................................
When inlet invasion
permission ON, to N12
Inlet feeder operation
permission OFF
Inlet feeder operation
permission ON
M49;
H87 P1;
(The rest is the same as for feeder specification.)
To right chuck work
removal position (#2)
Right chuck work removal
To α axis index position (#1)
To right chuck work
mounting position (#3)
Right chuck work mounting
2-41
Loader Programming Manual
Chapter 2 Programming Method
F chuck work
removal cycle
E chuck work
mounting cycle
Right chuck work
removal cycle
Work feeder specification / feed interface
2-42
X#4 Y#4 (FIT CHECK RETRY);
H94 P#123;
Z#4;
M56 H01 P#502 Q509 R0;
M61;
Z0;
M45;
M03 G04 X5.;
M19;
M46;
H94 P#123;
X#5 Y#5;
Z-60.;
Z#5 S5;
M60 H01 P#509 Q#502 R0;
M57;
Z0 S100;
Y0;
H80 P37;
N38;
H81 P39 Q#173 R0;
X#4 Y#4 (FIT NG UNLOAD);
H94 P#123;
Z#4;
M56 H40 P90 Q9;
M61 H40 P95 Q4;
Z0;
N39;
Y0;
M55;
M49;
H87 P1;
N40 (FROM A TO E);
X#11 Y#11 M73;
M74;
Z#11;
M62 H40 P0 Q6 R5;
M69;
M23;
Z0;
Y0;
M90;
/9 X0;
M30;
N50 (FROM F TO A);
X#12 Y#12 M72;
M75;
Z#12;
M70 H40 P0 Q4 R7;
M61;
Z0;
Y0;
M91;
M49;
To right work location work removal position (#4)
Work removal
To right work location work mounting position (#5)
Work mounting
To work location NG work removal position (#4)
Work location NG work removal
To E chuck work mounting position (#11)
E chuck work mounting
To F chuck work removal position (#12)
F chuck work removal
Loader Programming Manual
Chapter 2 Programming Method
Work feeder specification
H87 P1;
N80;
NG cycle
Feed out cycle
H81 P90 Q#4 R1;
N81 Y0 Z0;
M72;
X#8;
Z#8;
H94 P#1;
H81 P82 Q#4 R1;
Y#8 S10;
M62 H40 P0 Q10 R5;......................
M23;
Y0 S100 M31;
Z0 H40 P90 Q10;
H94 P#1;
M97;
M96 P9123 (WF UNLOAD SET UP);
/9 X0;
M30;
N90 (NG WORK OUT);
Y0 Z0;
X#10 M73;
Z#10;
Y#10 S10;
M60 H40 P90 Q4; ...........................
S100;
M23;
Y0;
Z0;
/9 X0;
M30;
Feed interface
H87 P1;
N80;
H91 P#517; ......................
To outlet unit (#8)
Work removal
Y0 Z0;
M72;
X#8;
Z#8;
H97 P#143 Q10 R141; .....
H90 P#517; ......................
Y#8;
M62 H40 P0 Q10 R5;
Y0;
Z0 H40 P90 Q10;
H91 P#517; ......................
M97;
M23;
/9 X0;
M30;
Outlet feeder operation permission
ON
When the outlet loader invasion
permission is not ON in 10 seconds,
alarm 141 is output.
Outlet unit operation permission OFF
Outlet unit operation permission ON
To NG loading stop position (10)
Work loading stop
2-43
Loader Programming Manual
Chapter 2 Programming Method
(2) Twin spindle specification
The loaders move as follows:
Left loader: Start permitted position Æ inlet section (work receiving) Æ left chuck (work mounting,
work removal) Æ outlet section (work passing)
Right loader: Start permitted position Æ inlet section (work receiving) Æ right chuck (work mounting,
work removal) Æ outlet section (work passing)
The loader program can run with the program described above in the same way as the MW Series
(Single Loader).
Inlet section (#7)
Outlet section (#8)
Inlet section (#7)
Outlet section (#8)
Material
Finished Product
Material
Finished Product
Approach position: left (Left #1)
Main chuck: left
(#2) work removal position
(#3) work mounting position
Approach position: right
(Right #1)
Main chuck: right
(#2) work removal position
(#3) work mounting position
Mark: teaching position
Mark: machine zero point
2-44
Loader Programming Manual
Chapter 2 Programming Method
(3) Through type twin spindle specification
The loaders move as follows:
Left loader: Start permitted position Æ inlet section (work receiving at A chuck) Æ inlet section
(work receiving at B chuck) Æ F chuck (material passing) Æ left chuck (work mounting,
work removal) Æ E chuck (work passing)
Right loader: Start permitted position Æ F chuck (material receiving) Æ right chuck (work mounting,
work removal) Æ E chuck (work receiving) Æ outlet section (work passed at B chuck)
Æ outlet section (work passed at A chuck)
E chuck (Left #11)
F chuck (Right #12)
Left zero
point
Right zero
point
Inlet section
(Left #7)
Outlet section
(Right #8)
Finished
product
Material
Approach position: left (Left #1)
Main chuck: left
(#2) work removal position
(#3) work mounting position
Approach position: right (Right #1)
Main chuck: right
(#2) work removal position
(#3) work mounting position
Mark: teaching position
Mark: machine zero point
2-45
Loader Programming Manual
Chapter 2 Programming Method
16. Creating local programs
Without local programs, it is not possible to shorten loader cycles. Hence, local programs can be run in
parallel with main program running.
Local programs are created in the same way as main programs.
A good way to program is by establishing the sequence of movements of the machine and creating the
program accordingly. Normally, programs for actions feed in and feed out cycles and turn cycles of
special specification units are created in the local programs.
The only thing is that commands for spindle transfers are not possible in local programs.
Activation of local programs is done in the main program as follows:
M96 PUUUU;
Local program number
Local program activation
Local programs are created as follows.
UUUU;
Local program number
:
:
Local program
:
M99 ;
End of program
For program numbers, use the numbers 9000 – 9899.
„ When a program is re-called while the program is running
Local programs can be executed in parallel with the main program. When local programs that are
running are re-called, an alarm is set off at the point. Depending on the settings, it is possible to wait
for the completion of the program using M96.
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Loader Programming Manual
Chapter 2 Programming Method
[Local Program Example] for turn cycle (MW Series)
9001;
H82 P1 Q#504 R0;
H81 P20 Q#505 R0;
N1;
H81 P30 Q#504 R0;
Jumps depending on work status at E and F chucks
H82 P30 Q#505 R0;
N3;
H81 P20 Q#505 R0;
H81 P20 Q#504 R0;
N20;
M76; ........................................... Turn unit out
H80 P30;
N2;
M76; ........................................... Turn unit out
M78; ........................................... Turn unit shift out
M71 H01 P#505 Q3;
Work passed from E Æ F chuck
M68 H01 P#504 Q0;
M79; ........................................... Turn unit in
N30;
M99; ........................................... End of program
The next location to jump to is determined based on the observed status of E and F chucks.
When there is work in the F chuck, then exit from the local program may be done as is. However, when
there is no work, the exit from the local program may executed by running the turn unit with the M code
as shown below.
Turn unit out Æ Turn unit shift out Æ pass the work Æ Turn unit in
E chuck work
confirmation
F chuck work
confirmation
Flag set #11 = 1
E chuck work
confirmation
F chuck work
confirmation
F chuck work
confirmation
E chuck work
confirmation
Turn unit out
Turn unit out
Turn unit shift
Flag set #11 = 0
Pass work E p F
Turn unit In
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Loader Programming Manual
Chapter 2 Programming Method
17. Creating subprograms
Subprograms are separate programs created in such cases as when there are actions that are repeated
inside the main program or inside local programs and when special specifications require that the
teaching points be increased that are called from the main program as needed. Subprograms, unlike
local programs, cannot be run in parallel with the main program.
When the subprogram is running after being called by the main program, the main program is in waiting
status.
In calling subprograms, the following commands are placed inside the program.
(1) When holding teaching data in the subprogram
M98 PUUUU;
H64 PUUUU Q1;
Subprogram number OR
Subprogram number
Subprogram call
Subprogram call
(2) When using teaching data of the main program
H65 PUUUU;
H64 PUUUU Q0; (Q may be omitted.)
Subprogram number OR
Subprogram number
Subprogram call
Subprogram call
Subprograms are created as follows:
UUUU;
Program number
:
:
Subprogram
:
M99;
End of program
(3) When using subprogram teaching data in the main program
H66 PUUUU;
Subprogram number or
Subprogram call
In this case, the subprogram is a program with only M99.
UUUU;
M99;
End of program
The teaching data of subprograms called in H66 are valid until the M30 is executed in the main
program or the reset button is pressed.
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Loader Programming Manual
[Program example]
8000;
N30 H81 P10 Q#7 R1;
H81 P20 Q#7 R2;
H80 P30;
N10;
X#10 Y0 Z0 M72;
Z#10;
H96 P#106 Q1 R150
/3 G12 Y-20. S10;
/3 G1 Y#10;
M99;
N20;
X#9 Y0 Z0;
M73;
Z#9
H96 P#106 Q1 R150;
/3 G12 Y-40. S10;
/3 G1 Y#9;
S100;
M60 H40 P90 Q2;...............................
M23;
Y0;
Z0;
M99; ...................................................
Chapter 2 Programming Method
Jumps depending on the conditions of the internal variables
(#7)
(Conditions are set in the main program.)
To loading stop position (#10)
To NG loading stop (#9)
Selects work
End of program
In this specification, determination of which stop, loading stop or NG loading stop, is meant is decided by
whether the internal variable (#7) in the main program is #7 = 1 or #7 = 2, and the loader moves to the
loading stop position and the work is discharged.
Transfer to #10
Transfer to #9
A chuck open
Work feed out
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Loader Programming Manual
Chapter 2 Programming Method
The advantages of using subprograms are:
(1) The main program can be shortened and made more readable.
(2) Local programs do not hold teaching points while subprograms can.
When the number of teaching points in the main program cannot support special specifications,
create subprograms and increase the number of teaching points.
In standard loader programs, there are no subprograms created and used.
Still, use program numbers 8000–8999, which are numbers that are not used in the main program.
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Loader Programming Manual
Chapter 2 Programming Method
18. Program memory capacity
The memory usage of the loader program can be shown on the CRT screen by pressing the “Loader
Program” button and then pressing the soft key “PROG. LIST” to display the screen shown below.
• Number of registered programs
Displays the number of programs that can be registered.
250 programs can be registered in the standard specifications.
• Memory usage
Program memory capacity is indicated in terms of the number of characters. However, display
values are managed in units of 128 bytes. Individual program memory usage is expressed in
units of 1 byte. Hence, the total of memory used by individual programs and the amount of empty
space in the memory reserved for use may not agree. It is recommended that the unused
memory area be used as the yardstick for unused capacity.
In the standard specification, about 63,488 characters or the equivalent program of 160 m can
be registered with a possible optional expansion capacity to about 492 m. New programs can no
longer be registered when either of the limits to the number programs or limit to memory usage is
reached.
„ Limit to the number of basic patterns
There are 6 parameter tables prepared for new loader cycle use.
One table can register 48 processes. Which pattern of table is used by the loader program (main) is
specified inside the program.
(H87 P**;)
Since there are 6 tables, the maximum number of movement patterns is 6.
[Example] (MW series)
When turn specification and twin spindle specification are done at the same time, 2 tables would be
needed.
memo
For twin loader specification, limitation to the loader program area would be the
specifications for the left and the right loaders.
2-51
Loader Programming Manual
Chapter 2 Programming Method
- MEMO -
2-52
Loader Programming Manual
Chapter 3 Editing
Chapter 3 Editing
1. Loader program input and output
Input to the loader program can be done in two ways: direct input using data input keys and input from
paper tape, etc. using an I/O device.
1-1.
Input using data input keys
1. Set the edit mode.
1)
2)
Press the “AUTO” button.
Turn the edit knob to “ON”.
2. Display the program screen
Press the “Loader Program” button.
3. Program input
Give instruction word using data input keys and input using
the program edit button.
See pages 3 and 4 of Input Methods.
3-1
Loader Programming Manual
1-2.
Chapter 3 Editing
Input/output using RS232C interface (optional)
This machine has a RS232C interface. The baud rate is set to 4800 (but can be changed) before
shipment.
1. Set the edit mode.
1)
2)
Press the “Auto” button.
Turn the edit knob to “ON”.
2. Display the program screen.
Press “Loader Program” button.
3. Set the input/output device.
To ensure that the main machine and the input/output
devices have the same frequency, set the main machine
side baud rate. (Set to 4800 before shipment.)
Location of the setting is NC Parameter No. 133.
See “FANUC Service manual” for the setting procedure and
values.
4. Call the output program (operates only during output)
The program I/O screen is displayed at the right side
through the soft key “PROG IN/OUT”.
Press the soft key “MODE CHANGE” to display “PROG
OUT”.
Select the program to output using the cursor.
5. Start input/output
•
•
•
3-2
For input
Press the soft key [
] (right edge) Æ “Input” at the
bottom of the screen.
For output
Press the soft key “Output” at the bottom of the screen.
To output all, press “ALL OUT”. To input all, press “All
IN”.
Loader Programming Manual
1-3.
Chapter 3 Editing
Input/output method using memory card
„ Input from memory card
This section describes loader program input from memory cards.
Turn the edit knob to “OFF” and conduct work.
1. Display loader program input/output screen
Press operation panel [Loader Program] and press the soft
key “PROG IN/OUT”.
Press the soft key “MODE CHANGE” several times to set to
“MEM-CARD INPUT” mode.
(When inputting from serial port, set to “SERIAL PORT
INPUT” mode.)
Mode display
The files contained in
the card are shown.
3-3
Loader Programming Manual
2.
Chapter 3 Editing
Select the file to input and start input
Select the file to input using the cursor key and press the
soft key “IN/OUT START”.
(When inputting from a serial port, file selection is done
from the I/O device.)
* Take note that for twin gantry specification, which
program to use for input is selected by selecting either
right or left.
3-4
Loader Programming Manual
Chapter 3 Editing
„ Output to memory card
This section describes loader program output to the memory card.
Turn the edit knob to “OFF” and conduct work.
1.
Display the loader program input/output screen.
Press the operation panel [Loader Program] and press the soft
key “PROG IN/OUT”.
Press the soft key “MODE CHANGE” several times to set to
“MEM-CARD OUTPUT” mode.
(When outputting from a serial port, set to “SERIAL PORT
OUTPUT” mode.)
Mode display
Loader programs that
were created are
shown.
3-5
Loader Programming Manual
2.
Chapter 3 Editing
Start output
1)
Output All (Batch Output)
Press the soft key “ALL OUT”.
The file name to output is automatically set.
2)
Individual Output
Select the file to output using the cursor key and press the
soft key “IN/OUT”.
The file name is automatically set as described below.
Loader program file name individually output.
: O****L.PRG
**** : Program number selected
L
: single loader, twin left
R : twin right
3)
Group Output
This mode outputs the currently called program (Program
shown to the left of the screen and not the program selected
from the list) and related programs (subprogram, local
program) at one time.
Call the loader program to output in full in advance.
Press the soft key “GROUP OUT”.
File names are set automatically as described below.
Loader program file name that was output in a group.
: LD****L.PRG
**** : Program number selected
L
: single loader, twin left
R : twin right
3-6
Loader Programming Manual
1-4.
Chapter 3 Editing
Batch I/O function of loader programs
This function allows loader program batch input and batch output.
This function outputs all files in the loader program fields as a single file and does not allow individual file
output.
Also files that are output in batches could be input in batches. Mixed main, sub, and local programs do
not pose any problem.
One file starts with the % sign and ends with the same % sign.
Even for batch output, the output starts with the % sign and ends with the last file output followed by a %
sign.
% signs that marked files in between the first and the last files are all changed to $ signs. Hence, when
files output in batches are seen from commercial editors, the individual files are separated by the $ sign.
During batch input, these $ marks are detected and the files are separated accordingly.
%
%
{0001
%
{0001
%
{0001
%
$
{8001
$
{9000
%
{8001
%
%
%
{8001
%
Batch output file
%
%
{9000
%
{9000
%
* For twin gantry specification, programs that have been selected through the left/right selection
buttons are targets for batch input and output.
3-7
Loader Programming Manual
Chapter 3 Editing
2. Program insert, modification, and deletion
(1) Single loader (MW/MS/MD Series)
The contents of programs input to memory can be edited.
•
•
•
•
•
Inputting new programs
When inputting new programs, enter the program number and press the buttons “EOB” Æ
“INSERT”. For word input, see “Inputting words”.
Deleting programs
When deleting the contents of all specified program numbers, enter the program number and
press the “DELETE” button.
Inserting words
To add words to programs that have been input to the memory, move the cursor to the word
before the segment to add and input the word from the keyboard to add then press the “INSERT”
button.
Altering words
To alter words in programs that have been input to the memory, move the cursor to the word to
be altered, input the word from the keyboard to replace the word to be altered and then press the
“ALTER” button.
Deleting words
To delete words in programs that have been input to the memory, move the cursor to the word to
delete and press the “DELETE” button.
1. Set to edit mode
1)
2)
Press the “AUTO” button.
Turn the edit knob to “ON”.
2. Display the program screen
Press the “Loader Program” button.
3-8
Loader Programming Manual
Chapter 3 Editing
3. Moving the cursor
{9021;
H91 P#11;
M76;
M68 H01 P#505 Q#504 R0;
M71;
M77;
M90 P#11;
M99;
The cursor is moved word by word.
There is no need for this when entering program numbers
and deleting programs.
•
Inserting words
Move the cursor to the word immediately preceding the
place where the word is to be inserted.
[Example of moving the cursor]
To insert words between “H01” and “P#505” at the fourth
row of the program example, move the cursor to “H01”.
•
Altering words
Move the cursor to the word to be altered.
[Example of moving the cursor]
To alter the word “M76” at the third row of the program
example, move the cursor to the word “M76”.
•
Deleting words
Move the cursor to the word to be deleted.
[Example of moving the cursor]
To delete the word “M76” from the third row of the
program example, move the cursor to the word “M76”.
3-9
Loader Programming Manual
Chapter 3 Editing
4. Editing data
After inputting the new word from the keyboard, press the
[INSERT] button for insertion, and the “ALTER” button in
case of modification.
To delete, press the [DELETE] button.
•
Inputting new programs
In inputting new programs, word input is done after
program input.
Program deletion is done first by inputting the program
number and pressing the [DELETE] button afterwards.
INSERT
memo
DELETE
ALTER
When editing local programs, turn “ON” the
PWE on the maintenance function screen.
(2) Twin Loader (Editing loader programs used at the right side)
Editing or teaching programs used at the right side is the same as editing and teaching programs
used at the left side.
When calling the screen of the program used at the right side, press “Select Right” from the left/right
selection button.
3-10
Loader Programming Manual
Chapter 3 Editing
3. Copying programs with the same content to another
program
This function registers (copies) a program in memory to another program with the same content but
different program number.
1. Set to edit mode
1)
2)
Press “AUTO” button.
Turn the edit knob to “ON”.
2. Display program screen
Press the “Load Program” button.
3. Copy program
Display the program to copy, input the new program
number from the keyboard and press the soft key “Copy”.
3-11
Loader Programming Manual
Chapter 3 Editing
- MEMO -
3-12
Loader Programming Program
Chapter 4 Test Run
Chapter 4 Test Run
This chapter describes how to perform a test run for the loader program.
1. Test run preparations
1. Set the conditions
1)
2)
Turn the loader program single block function “ON”.
Do the settings from the “Running Mode” screen.
(Press “RUN MODE” button.)
MW Series
MS/MD Series
3)
Set “Feed Rate Override” rotary switch to 0% for left/right (MW) turret use and 10% for loader
use.
4-1
Loader Programming Manual
Chapter 4 Test Run
2. Input dummy program
When executing load and unload, left/right turret-cutting program (MW) and the cutting program
(MS/MD) is synchronized in the loader program. In the test run, input a dummy program similar to
the following in place of the left/right turret-cutting program (MW) and cutting program (MS/MD):
<MW/MS/MD Series>
[Program Example]
Left/Right common
{0001;
M50;....................... Check activation conditions
G4 U4.0; ................ Dwell 4.0 seconds
M52;....................... Call unload loader
G4 U4.0;
M53;....................... Call load loader
G4 U4.0;
M30;....................... End program
•
For local and subprogram use
When a local program is activated or a subprogram is called from the main program, input the
following dummy program.
[Program example]
;
{
G4 U5.0;
M99;
Follows the instruction from the main program.
(M98 P ;, M96 P ;)
3. Check activation conditions
When the “Cycle Start” button is pressed while the “Home Position” lamp on the operation panel is
lit, the cycle starts. However, if the cutting program and the loader program are not at the very start
of the program, the cycle does not start.
4. Perform loader teaching
Refer to P. 2-19.
4-2
Loader Programming Program
Chapter 4 Test Run
2. Starting the test run
After the preparations are completed, start the test run and check the actual behavior.
Perform the test run in the order of local program, subprogram (when a subprogram has been created),
and main program according to the steps described below.
1. Perform the operation with Single Block function “ON”, “Feed Rate Override”
rotary switch set to 0% for left/right turret (MW), “Feed Rate Override” rotary
switch set to 0% for turret (MS/MD), and 10% for loader. (See P. 4-1)
2. Turn the repeat function to “ON” (Press [Repeat] button) and perform repeat
operation 2 to 3 times.
3. Run with Single Block function “OFF”.
4. Gradually raise the loader feed speed override until the final run is at 100%.
Perform an interlocked operation for the test run as long as possible. If nothing abnormal happens, then
load program is completed.
However, when something similar to the following happens during the test run, press the [RESET] button
and stop the test run. Revise the program and perform the check all over again from the start.
(1) When an alarm occurs
The alarm screen appears. Read the nature of the alarm carefully and implement corresponding
countermeasure.
(2) When pressing the “Start” button but the program does not proceed
Either it is waiting for a signal input or is at the waiting status.
Check if anything is wrong with the M code, H code, or H code variables at the block where the
cursor is.
(3) When the cover etc. contacted the loader
Either set the feed speed override to 0% or press the “Emergency Stop” button to immediately stop
the operation.
Check if there was any change in the loader transfer route, any teaching mistakes, or any program
mistakes.
4-3
Loader Programming Manual
Chapter 4 Test Run
„ Test run of the main program
1. Set the mode
•
MW Series
Press each of the buttons Left [Auto], Right [Auto],
Loader [Auto], Right [CO.OPE.], Left [CO.OPE.], and
Loader [CO.OPE.].
(Check if the lamps light up.)
•
MS/MD Series
Press each of the buttons Main Machine [Auto], Loader
[Auto], Main Machine [CO.OPE.], and Loader
[CO.OPE.].
(Check if the lamps light up.)
2. Press [Cycle Start] button
The cycle starts.
„ Test run of local programs
1. Set the mode
Press Loader [Auto] button.
(Check if the lamp lights up)
2. Press [Start] button
Press the Loader [Start] (for twin loader: Left Loader [Start],
Right Loader [Start]) button to start the cycle.
4-4
Loader Programming Manual
Chapter 5 Optional Functions
Chapter 5 Optional Functions
1. Work location confirmation
1-1.
Work location confirmation retry
When work location confirmation is added as an option, the number of work location retries may be
changed through the corresponding parameter. When a work location error occurs repeatedly for the
number of times that was set, NG work will be discharged.
Further, there is a function other than this function, where through the use of a parameter an alarm is set
off in the event that NG products are discharged repeatedly. Normally, this parameter is set to “1”.
[Program example]…case of single loader, left spindle
N30 X#3 Y0 Z0 M72;
N31 M52;
X#3 Y#3;
G12 Z-25. S5;
G1 Z#3;
M60 H40 P0 Q8 R2;
M25 M77;
Z0 S100;
Y0;
N35 M59;....................... Main chuck work location confirmation
H81 P38 Q#118 R1;
H01 P#8 Q1; ................. Flag set #8=1 (left spindle) <MW>
/8 H65 P8020; ............... Work location retry program
/8 H80 P35; ................... When work location is NG, to N35
/9 H65 P8021; ............... Work location NG discharge program
N38 M55;
M49;
5-1
Loader Programming Manual
“Run Mode” Screen for [Guide]
5-2
•
MW Series
•
MS/MD Series
Chapter 5 Optional Functions
Loader Programming Manual
1-2.
Chapter 5 Optional Functions
Work location NG loading stop
When work location NG occurs repeatedly, this function performs the following.
When there is a chute for dummy discharge, it stops loading with an alarm.
(1) When there is no chute for dummy discharge, it stops the cycle with an alarm.
(2) Below are program examples for each action described above.
(1) Stops loading with an alarm when a chute for a dummy discharge is present.
[Main program example]
:
/8 H65 P8020;
/8 H80 P35;
/9 H65 P8021;
Work location NG loading stop
:
In subprograms, {8021: is necessary.
Stops cycle with an alarm when there is no chute for a dummy discharge present.
[Main program example]
:
/8 H65 P8020;
/8 H80 P35;
/9 M97;
/9 M02 (M30);
M02…cycle stops with the cursor at its place.
:
M30…the cursor moves to the head of the program and the cycle stops.
5-3
Loader Programming Manual
Chapter 5 Optional Functions
2. In-process gauge NG loading stop
When an in-process gauge is added as an option, an alarm is set off by the parameter when an
in-process gauge NG occurs repeatedly for the number of times that was set.
Normally, this parameter is set to “1”.
[Program example]
MS/MD Series
MW Series: Left
N30 X#3 Y0 Z0 M72;
N31 M52;
X#3 Y#3;
G12 Z-25. S5;
G1 Z#3;
M60 H40 P0 Q8 R2;
M25 M77;
Z0 S100;
Y0;
:
M58; ...........................
M97;
/7 H01 P#501 Q5;.......
M55;
M49;
5-4
MW Series: Right
N70 X#6 Y0 Z0 M72;
N71 M54;
X#6 Y#6;
G12 Z-25. S5;
G1 Z#6;
M60 H40 P0 Q8 R2;
M27 M77;
Z0 S100;
Y0;
:
M58; ........................ In-process gauge judgment confirmation
M97;
/7 H01 P#501 Q5;.... The work status for B chuck automatically becomes “5”.
M55;
M49;
Loader Programming Manual
Chapter 5 Optional Functions
3. Post-process gauge
[Program example]
Set to outlet cycle.
Example for 1 point measurement (MW: Single Loader / MS / MD Series)
N80;
/4 X#8 Y0 Z0;
/4 M72;
/4 Z#8;
/4 H95 P#177; ............ Gauge zero position confirmation
/4 G12 Y-100 S10;
/4 G1 Y#8;
/4 H80 P88;
N87 H01 P#7 Q1;
H65 P8000;
N88 S100;
M62 H40 P0 Q10 R3;
M23;
M80; ........................... Start measurement command (if the measurement points increase, add M
code.)
M97;
H01 P#507 Q0;
Y0;
Z0;
/5 X0;
M30;
5-5
Loader Programming Manual
Chapter 5 Optional Functions
4. Quality check counter
When the quality check count goes up, the 2 patterns below may be selected.
(1) Stop cycle when the count goes up.
(2) Discharge one work when the count goes up and continues with cycle.
However, a chute for a dummy discharge must be present.
(1) Stop cycle when the count goes up
[Program example]
N80;
H94 P#1;
/3 /4 M96 P9021;
/4 X#8 Y0 Z0;
/4 M72;
/4 H94 P#1;
/4 H81 P89 Q#3 R1;
/4 Z#8;
/3 /4 G12 Y-100. S10;
/3 /4 G1 Y#8;
/4 H80 P88;
N87 H01 P#7 Q1;
H65 P8000;
N88 S100;
M62 H40 P0 Q10 R3;
H01 P#507 Q0;
M23;
Y0;
Z0;
N89 /5 X0;
/5 H90 P#3;
H94 P#1;
/3 /4 M96 P9022;
M30;
5-6
Loader Programming Manual
Chapter 5 Optional Functions
(2) Discharge one work when the count goes up and continue with the cycle
Place an M code at the place where the count is desired and change the outlet cycle.
[Program example]
N80;
H81 P87 Q#186 R1; .............. When count goes up, #186 becomes 1 and jumps to N87.
H94 P#1;
As a result of the jump, jumps to {8000 subprogram and feeds out
1 work to the chute for dummy discharge.
/3 /4 M96 P9021;
/4 X#8 Y0 Z0;
/4 M72;
/4 H94 P#1;
/4 H81 P89 Q#3 R1;
/4 Z#8;
/3 /4 G12 Y-100. S10;
/3 /4 G1 Y#8;
/4 H80 P88;
N87 H01 P#7 Q1;
H65 P8000;
N88 S100;
M62 H40 P0 Q10 R3;
H01 P#507 Q0;
H81 P88 Q#186 R0; .............. When count does not go up, #186 becomes 0 and jumps to N88.
H91 P#518;
N88; ....................................... The count value is set to “0”.
M23;
Y0;
Z0;
N89 /5 X0;
/5 H90 P#3;
H94 P#1;
/3 /4 M96 P9022;
M30;
memo
Inserting count command
Place an M code on the place to count.
Insert an M code to either one of the left/right cutting program or loader.
Cutting side Æ M40
Loader side Æ M31
5-7
Loader Programming Manual
Chapter 5 Optional Functions
„ Moving the loader to a safe position after the cycle stops
Functions to move the loader from above the shutter to a safe position when the cycle stops (when
[Repeat] button is set to “OFF”, when alarm is set off, etc.) are available.
During the waiting time between loader/main unit and after process completion, the command
PUUU, following M51, M52, M53 <MW/MT>, M54<MW>, M49, will jump to NUUU when the
cycle is stopped, and the loader will move to a safe place, and then stop.
[Program example]
O0001;
N10;
M49 P900;
When the cycle stops, jumps to N900.
N20;
M51 P900;
When the cycle stops, jumps to N900.
M49 P900;
Add MUU P900 to all of M49, M51, M52, M53 <MW/MT>,
M54 <MW/MT>.
N80;
/5 X# 24;
M30;
N900;
H90 P#523 Q#567 R#568;
Y0 Z0;
X# 24;
M30;
5-8
When the cycle stops, moves the X-axis to a safe position #24.
Executed only when the cycle is at a stop.
Compels the cycle to stop.
Safe position
Loader Programming Manual
Chapter 5 Optional Functions
5. Mid-process start type loader cycle
For a mid-process start type loader cycle, for as long as start-able conditions are in place, the loader
proceeds with the cycle to the next process that must be done through the prescribed sequence jumps
once the “Start” button is pressed regardless of where the loader stops. The next jump is decided
automatically as referred to the parameter and the work status.
In most cases, the lamp indicating start-able status lights up wherever the loader stops. Should the lamp
not light up, satisfy the conditions on the “Start-able Conditions” screen.
A:
C:
A chuck is “0” (empty)
B chuck is “0” (empty)
È
Executes N10
(outlet cycle)
B:
A chuck is “1” (material)
B chuck is “0” (empty)
È
Executes N20
(left unload cycle)
A chuck is “1” (material)
B chuck is “2” (first process finished product)
È
Executes N30 (left load cycle)
D:
A chuck is “0” (empty)
B chuck is “2” (first process finished product)
È
Executes N40 (turn unit receiving)
*The above description is an example for standard machine [MW Series (single loader)].
5-9
Loader Programming Manual
5-1.
Chapter 5 Optional Functions
Work status
In the mid-process start type loader cycle, the loader chuck work status (which work is held by the chuck
during the process) is judged. The types of work status are described below. With the machine in
auto-run, H code H40 in the loader program transfers the work as follows:
<MW>: loader chuck Æ main chuck, turn unit and main chuck Æ loader chuck
<MS/MD>: loader chuck Æ main chuck, main chuck Æ loader chuck
<MW Series>
Description
OP 1 Material
OP 1 Processed work
OP 2 Material
(for turn unit specification,
turning product)
OP2 Processed work
Work location and
gauged NG work
Empty (chuck open)
Work Status No.
1
2
3
<MS/MD Series>
Description
Material
Processed work
Work location and
gauged NG work
Empty (chuck open)
Work Status No.
1
2
5
0
4
5
0
In addition, the work status appears on screen when soft key [WORK STATUS] after the [MAC OPE.]
button is pressed.
[Screen example]
memo
5-10
The screenshot is for MW Twin Single Gantry.
Loader Programming Manual
5-2.
Chapter 5 Optional Functions
Cycle table and sequence jump
When H87P U (U refers to 1 – 6) is executed at the end of each process in the main program, the
sequence jumps to the most appropriate process based on the status of A and B chucks of the loader
and the status of other chucks.
On such instances, refer to the parameters in the cycle table shown below.
The table can be set from 1 – 6.
[MW series / single gantry left process 1 turn unit specification parameter table example]
A
chuck
B
chuck
Target
chuck
Priority
level
Running
on one
spindle
enabled
Treatment
Loading
stop
execution
Sequence
No.
a
0
0
99
2 <0>
0
0
0
1
N10 inlet cycle
b
1
0
8
0
0
2
1
2
N20 L work removal
c
1
2
8
0
0
4
0
3
N30 L work mounting
0
2
6
0
0
4 <2>
0 <1>
4
N40 E chuck work
mounting (removal)
0 <3>
0 <2>
7
1 <0>
0
6 <4>
1 <0>
5
N50 F chuck work
removal (mounting)
f
3
0
9
0
0
2
1
6
N60 R work removal
g
3
4
9
0
0
4
0
7
N70 R work mounting
h
0
4
99
0
0
0
0
8
N80 outlet cycle
i
99
0
0
0
0
0
0
0
d
e
Actual process
<>:during high speed turn unit specification
• A chuck:
: A chuck work status
• B chuck:
: B chuck work status
• Target chuck:
: Chuck whose work status is inquired on
(99: No target chuck, 8: Left, 9: Right, 6:E, 7:E) F
• Priority level:
: A and B chuck work status priority assignments given at the same time reference
• Running on one
spindle enabled:
: Used only for simultaneous 2 spindle specification
(1: cycle is not executed at right running on one spindle mode, 2: left)
• Treatment:
: Treatment is decided based on the target chuck status.
(2: the sequence is executed when there is work in the target chuck, the next sequence is
executed if there is no work.
4: the sequence is executed when there is no work in the target chuck, an alarm is set off when
there is work.
6: the sequence is executed when there are works in both E and F chucks, searches the next
condition if there are none.)
• Loading stop
execution:
: During the loading stop cycle, when A and B chucks become empty and there is work in the
target chuck, the sequence is executed.
• Sequence No.:
: Sequence No. in the main program (1 Æ N10, 2 Æ N20……)
D485 auf 1
5-11
Loader Programming Manual
Chapter 5 Optional Functions
[Sequence jump example]
(1) A = 1, B = 0 (when there is process 1 material in A chuck, B chuck is empty)
• Since A = 1 and B = 0, see the “b” row in the table on the previous page.
• Since “Target Chuck” is 8 (left main chuck), and “process treatment” is 2 (execute if there is
work), the sequence jumps to Sequence No. 2 (N20), left main chuck work removal cycle, if
there is work in the left main chuck.
• If there is no work in the left main chuck, the sequence jumps to the next sequence, Sequence
No. 3 (N30), left main chuck work mounting.
(2) A=0, B =0 (A and B are both empty) <high speed turn unit specification excluded>
• Since A=0 and B =0, “a” and “e” rows in the table on the previous page are referred to. However,
since Priority Levels are e = 1 and a = 2, row “e” is referred to first.
• Since “Treatment” is 6 (execute if there are works in both E and F chucks) and there are works in
both E and F chucks, the sequence jumps to Sequence No. 5 (N50), F chuck work removal
cycle.
• If there is no work in the left main chuck, the sequence jumps to the next sequence, Sequence
No. 3 (N30), left main chuck work mounting.
• If the condition is not condition 2 above but is loading stop cycle, refer to the rows where “b”, “e”,
and “f” are 1 in the “Loading Stop Execution” row, starting from the top. The sequence jumps to
where there is work by searching in the order of target chuck 8 (left main chuck) for b, 7 (F
chuck) for e, 9 (right main chuck) for f. (N20, N50, N60).
5-12
Loader Programming Manual
Chapter 5 Optional Functions
[MS/MD series parameter table example]
A
B
Target Priority Running
on one
chuck
chuck
chuck
level
Treatment
spindle
enabled
a
b
c
d
e
Loading
stop
execution
Sequence
No.
0
1
0
0
99
8
0
0
0
0
0
2
0
1
1
2
1
2
8
0
0
4
0
3
0
99
2
0
99
0
0
0
0
0
0
0
0
0
8
0
Actual process
N10 inlet cycle
N20 work
removal
N30 work
mounting
N80 outlet cycle
• A chuck:
: A chuck work status
• B chuck:
: B chuck work status
• Target chuck:
: Chuck whose work status is inquired on
(99: No target chuck, 8 main chuck)
• Priority level:
: A and B chuck work status priority assignments given at the same time reference
• Treatment:
: Treatment is decided based on the target chuck status.
(2: the sequence is executed when there is work in the target chuck, the next sequence is
executed if there is no work.
4: the sequence is executed when there is no work in the target chuck, an alarm is set off when
there is work.
• Loading stop
execution:
: During the loading stop cycle, when A and B chucks become empty and there is work in the
target chuck, the sequence is executed.
• Sequence No.:
: Sequence No. in the main program (1 Æ N10, 2 Æ N20…….)
[Sequence jump example]
(1) A =1, B =0 (when there is material in A chuck, B chuck is empty)
• Since A = 1 and B = 0, see the “b” row in the table above.
• Since “Target Chuck” is 8 (main chuck), and “process treatment” is 2 (execute if there is work),
the sequence jumps to Sequence No. 2 (N20), main chuck work removal cycle, if there is work in
the main chuck.
• If there is no work in the main chuck, the sequence jumps to the next sequence, Sequence No. 3,
(N30), main chuck work mounting.
D485 auf 1
5-13
Loader Programming Manual
Chapter 5 Optional Functions
– MEMO –
5-14
Loader Programming Manual
Chapter 6 Information
Chapter 6 Information
This chapter documents the tables of codes that are required in programming.
1. M code table
Although the Loader M code tables are shown from the next page, refer to the “Programming Manual”
regarding the M code tables for the main unit.
6-1
Loader Programming Manual
Chapter 6 Information
„ MW series
M code
Message
M047
Message
PROGRAM STOP
M001
OPTIONAL STOP
M048
W/F MANUAL OPE. ENABLE
M002
PROGRAM END
M049
CYCLE END
W/F MANUAL OPE. DISABLE
M003
SPINDLE FWD.
M050
START CONDITION CHECK
M004
SPINDLE REV.
M051
LEFT UNLOAD REQUEST WAIT
M005
SPINDLE STOP
M052
LEFT LOAD REQUEST WAIT
M006
COOLANT BLOW ON
M053
RIGHT UNLOAD REQUEST WAIT
M007
COOLANT BLOW OFF
M054
RIGHT LOAD REQUEST WAIT
M055
SERVICE FINISH
M008
M009
M010
M056
A CHUCK EXTERNAL
M057
M011
A CHUCK INTERNAL
M058
I.P.G. NG CHECK (/7)
M012
B CHUCK EXTERNAL
M059
WORK LOCATION CHECK
M013
B CHUCK INTERNAL
M060
A CHUCK OPEN
M061
A CHUCK CLOSE
M014
6-2
M code
M000
M015
G/H TURN UNIT TURN EX.
M062
B CHUCK OPEN
M016
G/H TURN UNIT TURN RT.
M063
B CHUCK CLOSE
M017
M064
G CHUCK OPEN
M018
M065
G CHUCK CLOSE
M019
SPINDLE ORIENTATION 1
M066
H CHUCK OPEN
M020
SPINDLE ORIENTATION 2
M067
H CHUCK CLOSE
M021
SPINDLE ORIENTATION 3
M068
E CHUCK OPEN
M022
SPINDLE ORIENTATION 4
M069
E CHUCK CLOSE
M023
LOADING STOP CYCLE END CHECK
M070
F CHUCK OPEN
M024
LEFT MAIN CHUCK OPEN
M071
F CHUCK CLOSE
M025
LEFT MAIN CHUCK CLOSE
M072
CHUCK INDEX A
M026
RIGHT MAIN CHUCK OPEN
M073
CHUCK INDEX B
M027
RIGHT MAIN CHUCK CLOSE
M074
E/F TURN CYCLE START
M028
G/H TURN UNIT SHIFT EX.
M075
E/F TURN CYCLE END CHECK
M029
G/H TURN UNIT SHIFT RT.
M076
E/F(E) TURN UNIT TURN EX.
M030
PROGRAM END
M077
E/F(E) TURN UNIT TURN RT.
M031
WORK COUNTER +1
M078
E/F TURN UNIT SHIFT EX.
M032
M079
E/F TURN UNIT SHIFT RT.
M033
M080
P.P.G. START 1
M034
M081
P.P.G. START 2
M035
M082
P.P.G. START 3
M036
M083
P.P.G. START 4
M037
M084
P.P.G. START 5
M038
M085
P.P.G. START 6
M039
M086
P.P.G. START 7
M040
M087
P.P.G. START 8
M041
M088
M042
M089
P.P.G. DATA READ
M043
CENTER AIR BLOW ON
M090
WAIT (LEFT M70)
M044
CENTER AIR BLOW OFF
M091
WAIT (LEFT M71)
M045
AIR BLOW ON
M092
WAIT (LEFT M72)
M046
AIR BLOW OFF
M093
WAIT (RIGHT M70)
Loader Programming Manual
Chapter 6 Information
„ MW series
M code
Message
M code
M141
Message
M094
WAIT (RIGHT M71)
M095
WAIT (RIGHT M72)
M142
QUILL RETRACT (CMD.)
M096
LOCAL PROGRAM START
M143
QUILL EXTEND (CMD.)
M097
DUMMY
M144
TILT RETRACT
M098
SUB PROGRAM CALL
M145
TILT EXTEND
M099
PROGRAM END
M146
M100
M147
M101
M148
M102
M149
M103
L/R EXCLUSIVE WAIT START
M150
M104
L/R EXCLUSIVE WAIT RELEASE
M151
M105
L/R WAIT 1
M152
M106
L/R WAIT 2
M153
M107
L/R WAIT 3
M154
M108
L/R WAIT 4
M155
M109
L/R WAIT RELEASE
M156
M110
M157
M111
M158
M112
M159
QUILL EXTEND
M113
M160
I CHUCK OPEN
M114
M161
I CHUCK CLOSE
M115
M162
J CHUCK OPEN
M116
M163
J CHUCK CLOSE
M117
M164
M118
M165
M119
M166
I/J TURN UNIT TURN EX.
M120
M167
I/J TURN UNIT TURN RT.
M121
M168
I/J TURN UNIT SHIFT EX.
M122
M169
I/J TURN UNIT SHIFT RT.
M123
M170
M124
LEFT SUB CHUCK OPEN
M171
M125
LEFT SUB CHUCK CLOSE
M172
M126
RIGHT SUB CHUCK OPEN
M173
M127
RIGHT SUB CHUCK CLOSE
M174
G/H TURN CYCLE START
M128
M175
G/H TURN CYCLE END CHECK
M129
M176
F TURN UNIT TURN EX.
M130
M177
F TURN UNIT TURN RT.
M131
WORK COUNTER
M132
+1
M178
M179
M133
M180
P.P.G START 11
M134
M181
P.P.G. START 12
M135
M182
P.P.G. START 13
M136
M183
P.P.G. START 14
M137
M184
P.P.G. START 15
M138
M185
P.P.G. START 16
M139
M140
QUILL RETRACT
M186
P.P.G. START 17
M187
P.P.G. START 18
6-3
Loader Programming Manual
Chapter 6 Information
„ MW series
M code
M188
M189
M190
M191
M192
M193
M194
M195
M196
M197
M198
M199
6-4
Message
M code
Message
Loader Programming Manual
Chapter 6 Information
„ MS / MD series
M code
Message
M code
M047
Message
M000
PROGRAM STOP
W/F MANUAL OPE. DISABLE
M001
OPTIONAL STOP
M048
W/F MANUAL OPE. ENABLE
M002
PROGRAM END
M049
CYCLE END
M003
SPINDLE FWD.
M050
START CONDITION CHECK
M004
SPINDLE REV.
M051
UNLOAD REQUEST WAIT
M005
SPINDLE STOP
M052
LOAD REQUEST WAIT
M006
COOLANT BLOW ON
M053
M007
COOLANT BLOW OFF
M054
M008
M055
M009
M010
SERVICE FINISH
M056
A CHUCK EXTERNAL
M057
M011
A CHUCK INTERNAL
M058
I.P.G. NG CHECK (/7)
M012
B CHUCK EXTERNAL
M059
WORK LOCATION CHECK
M013
B CHUCK INTERNAL
M060
A CHUCK OPEN
M061
A CHUCK CLOSE
M014
M015
G/H TURN UNIT TURN EX.
M062
B CHUCK OPEN
M016
G/H TURN UNIT TURN RT.
M063
B CHUCK CLOSE
M017
M064
G CHUCK OPEN
M018
M065
G CHUCK CLOSE
M019
SPINDLE ORIENTATION 1
M066
H CHUCK OPEN
M020
SPINDLE ORIENTATION 2
M067
H CHUCK CLOSE
M021
SPINDLE ORIENTATION 3
M068
E CHUCK OPEN
M022
SPINDLE ORIENTATION 4
M069
E CHUCK CLOSE
M023
LOADING STOP CYCLE END CHECK
M070
F CHUCK OPEN
M024
MAIN CHUCK OPEN
M071
F CHUCK CLOSE
M025
MAIN CHUCK CLOSE
M072
CHUCK INDEX A
M073
CHUCK INDEX B
M026
M027
M074
E/F TURN CYCLE START
M028
G/H TURN UNIT SHIFT EX.
M075
E/F TURN CYCLE END CHECK
M029
G/H TURN UNIT SHIFT RT.
M076
E/F (E) TURN UNIT TURN EX.
M030
PROGRAM END
M077
E/F (E) TURN UNIT TURN RT.
M031
WORK COUNTER +1
M078
E/F TURN UNIT SHIFT EX.
M032
M079
E/F TURN UNIT SHIFT RT.
M033
M080
P.P.G. START 1
M034
M081
P.P.G. START 2
M035
M082
P.P.G. START 3
M036
M083
P.P.G. START 4
M037
M084
P.P.G. START 5
M038
M085
P.P.G. START 6
M039
M086
P.P.G. START 7
M040
M087
P.P.G. START 8
M041
M088
M042
M089
P.P.G. DATA READ
M043
CENTER AIR BLOW ON
M090
WAIT (M70)
M044
CENTER AIR BLOW OFF
M091
WAIT (M71)
M045
AIR BLOW ON
M092
WAIT (M72)
M046
AIR BLOW OFF
M093
6-5
Loader Programming Manual
Chapter 6 Information
„ MS / MD series
M code
Message
M094
M141
M095
Message
QUILL EXTEND
M142
QUILL RETRACT (CMD.)
M143
QUILL EXTEND (CMD.)
DUMMY
M144
TILT RETRACT
SUB PROGRAM CALL
M145
TILT EXTEND
PROGRAM END
M146
M096
LOCAL PROGRAM START
M097
M098
M099
M100
M147
M101
M148
M102
M149
M103
M150
M104
M151
M105
M152
M106
M153
M107
M154
M108
M155
M109
M156
M110
M157
M111
M158
M112
M159
M113
M160
I CHUCK OPEN
M114
M161
I CHUCK CLOSE
M115
M162
J CHUCK OPEN
M116
M163
J CHUCK CLOSE
M117
M164
M118
M165
M119
M166
I/J TURN UNIT TURN EX.
M120
M167
I/J TURN UNIT TURN RT.
M121
M168
I/J TURN UNIT SHIFT EX.
M122
M169
I/J TURN UNIT SHIFT RT.
M123
M170
M124
SUB CHUCK OPEN
M171
M125
SUB CHUCK CLOSE
M172
M126
M173
M127
M174
G/H TURN CYCLE START
M128
M175
G/H TURN CYCLE END CHECK
M129
M176
F TURN UNIT TURN EX.
M130
M177
F TURN UNIT TURN RT.
M131
WORK COUNTER 2 +1
M132
M178
M179
M133
M180
P.P.G START 11
M134
M181
P.P.G. START 12
M135
M182
P.P.G. START 13
M136
M183
P.P.G. START 14
M137
M184
P.P.G. START 15
M138
M185
P.P.G. START 16
M139
M140
6-6
M code
QUILL RETRACT
M186
P.P.G. START 17
M187
P.P.G. START 18
Loader Programming Manual
Chapter 6 Information
„ MS / MD series
M code
Message
M code
Message
M188
M189
M190
M191
M192
M193
M194
M195
M196
M197
M198
M199
6-7
Loader Programming Manual
Chapter 6 Information
2. H code variable table
„ MW120 / MD120
(1) Input variables
H code
Message
Address
#100
#101
#102
INLET WORK CONFIRMATION
R2258.4
#104
OUTLET WORK CONFIRMATION
R2258.5
#105
LEFT OUTLET CHUTE 1
R2259.0
#106
LEFT OUTLET CHUTE 2
R2259.1
#107
RIGHT OUTLET CHUTE 1
R2259.2
#108
RIGHT OUTLET CHUTE 2
R2259.3
#110
LEFT SHUTTER OPEN
R2206.2
#111
RIGHT SHUTTER OPEN
R2206.4
#112
LEFT SHUTTER CLOSE
R2206.3
#113
RIGHT SHUTTER CLOSE
R2206.5
#114
LEFT TOOL SETTER RT.
R2229.1
#115
RIGHT TOOL SETTER RT
R2229.2
#116
LEFT TOOL SETTER EX.
R2229.3
#117
RIGHT TOOL SETTER EX
R2229.4
#118
LEFT WORK LOCATION OK
R2207.0
#119
RIGHT WORK LOCATION OK
R2207.1
#122
LEFT SPINDLE ACTIVE
R2207.2
#123
RIGHT SPINDLE ACTIVE
R2207.3
#124
LEFT TURRET ZERO POS.
R2205.5
#125
RIGHT TURRET ZERO POS.
R2205.6
#128
LEFT TURRET ACTIVE
R2209.4
#129
RIGHT TURRET ACTIVE
R2209.5
#130
CUSTOM H-CODE #130
D790
#131
CUSTOM H-CODE #131
D791
#132
CUSTOM H-CODE #132
D792
#133
CUSTOM H-CODE #133
D793
#134
CUSTOM H-CODE #134
D794
#135
CUSTOM H-CODE #135
D795
#136
CUSTOM H-CODE #136
D796
#137
CUSTOM H-CODE #137
D797
#138
CUSTOM H-CODE #138
D798
#139
CUSTOM H-CODE #139
D799
#140
LOAD I/F RESERVED 4
R2257.0
#141
LOAD UNIT READY
R2257.1
#142
LOAD UNIT CHUCK OPEN
R2257.2
#143
UNLOAD UNIT READY
R2257.3
#144
UNLOAD UNIT CHUCK CLOSE
R2257.4
#103
#109
#120
#121
#126
#127
6-8
Remarks
Loader Programming Manual
Chapter 6 Information
H code
Message
Address
#145
UNLOAD I/F RESERVED 4
R2257.5
#146
CUSTOM H-CODE #146
D800
#147
CUSTOM H-CODE #147
D801
#148
CUSTOM H-CODE #148
D802
#149
CUSTOM H-CODE #149
D803
#150
CUSTOM H-CODE #150
D804
#151
CUSTOM H-CODE #151
D805
#152
CUSTOM H-CODE #152
D806
#153
CUSTOM H-CODE #153
D807
#154
CUSTOM H-CODE #154
D808
#155
CUSTOM H-CODE #155
D809
#156
CUSTOM H-CODE #156
D810
#157
CUSTOM H-CODE #157
D811
#158
CUSTOM H-CODE #158
D812
#159
CUSTOM H-CODE #159
D813
#160
CUSTOM H-CODE #160
D814
#161
CUSTOM H-CODE #161
D815
#162
CUSTOM H-CODE #162
D816
#163
CUSTOM H-CODE #163
D817
#164
CUSTOM H-CODE #164
D818
#165
CUSTOM H-CODE #165
D819
#169
L/R WORK SIGNAL RECEIVE
R2260.0
#170
QUALITY CHECK FINISH 1
R2261.5
#171
QUALITY CHECK FINISH 2
R2261.6
#176
P.P.G. NG CHUTE FULL WORK
R2260.0
#177
P.P.G. READY
R2260.1
#178
LEFT I.P.G. NG
R4036.5
#179
RIGHT I.P.G. NG
R4036.6
#180
LOAD LIFTER UP (WF)
R4002.7
#181
LOAD LIFTER DOWN (WF)
R4003.0
#182
LOAD LIFTER WORK (WF)
R4003.1
CHECK COUNTER UP
R2261.3
#189
LAST PALLET PIN*LS (WF)
R4003.2
#190
UNLOAD LIFTER UP (WF)
R4003.3
#191
UNLOAD LIFTER DOWN (WF)
R4003.4
#192
UNLOAD LIFTER WORK (WF)
R4003.5
Remarks
#166
#167
#168
#172
#173
#174
#175
#183
#184
#185
#186
#187
#188
#193
6-9
Loader Programming Manual
H code
Message
Chapter 6 Information
Address
#194
#195
#196
#197
P.P.G RELIEVING
R2260.4
#198
LEFT LOADER ESCAPE (GT)
R4025.1
#199
RIGHT LOADER ESCAPE (GT)
R4025.2
#200
GAUGE OFF
R2260.6
#207
P.P.G. WORK CONFIRMATION
R2260.2
#208
P.P.G OK WORK
R2260.3
#210
LOAD I/F RESERVED 1
R2257.6
#211
UNLOAD I/F RESERVED 1
R2257.7
#212
LOAD I/F RESERVED 2
R2258.0
#213
UNLOAD I/F RESERVED 2
R2258.1
#214
LOAD I/F RESERVED 3
R2258.2
#215
UNLOAD I/F RESERVED 3
R2258.3
#216
INLET WORK CONFIRMATION 2
R2258.6
#217
OUTLET WORK CONFIRMATION 2
R2258.7
#218
LEFT WORK LOCATION SENSOR
R2206.6
#219
RIGHT WORK LOCATION SENSOR
R2206.7
#220
LOAD LIFTER UP (WFB)
R4003.6
#221
LOAD LIFTER DOWN (WFB)
R4003.7
#222
LOAD LIFTER WORK (WFB)
R4004.0
#225
M/C NO WORK
R2261.0
#226
L LOADER CYCLE STOP COMMAND
R4013.2
#227
R LOADER CYCLE STOP COMMAND
R4013.3
#228
CHECK COUNTER 2 UP
R2261.4
#229
LAST PALLET PIN*LS (WFB)
R4004.1
#230
UNLOAD LIFTER UP (WFB)
R4004.2
#231
UNLOAD LIFTER DOWN (WFB)
R4004.3
#232
UNLOAD LIFTER WORK (WFB)
R4004.4
#240
REPEAT OFF/LOADING STOP
R2261.1
#241
R REPEAT OFF/LOADING STOP
R2261.2
#201
#202
#203
#204
#205
#206
#209
#223
#224
#233
#234
#235
#236
#237
#238
#239
#242
6-10
Remarks
Loader Programming Manual
H code
Message
Chapter 6 Information
Address
Remarks
#243
#244
#245
#246
LEFT SPINDLE STOP
R2208.2
#247
RIGHT SPINDLE STOP
R2208.3
#248
LEFT SPINDLE ORIENTATION
R2208.4
#249
RIGHT SPINDLE ORIENTATION
R2208.5
#250
#251
#252
#253
#254
#255
#256
#257
#258
#259
#260
#261
#262
#263
#264
#265
#266
#267
#268
#269
#270
#271
#272
#273
#274
#275
#276
#277
#278
#279
#280
#281
#282
#283
#284
#285
#286
#287
#288
#289
#290
#291
6-11
Loader Programming Manual
H code
Chapter 6 Information
Message
Address
Remarks
H code
Message
Address
Remarks
#500
A CHUCK WORK STATUS
D532
#501
B CHUCK WORK STATUS
D533
#502
RIGHT A CHUCK WORK STATUS
D534
#503
RIGHT B CHUCK WORK STATUS
D535
#504
E CHUCK WORK STATUS
D536
#505
F CHUCK WORK STATUS
D537
#506
INLET WORK STATUS
D531
#507
GAUGE WORK STATUS
D540
#508
LEFT CHUCK WORK STATUS
D538
#509
RIGHT CHUCK WORK STATUS
D539
#510
W/F FWD COMMAND (WF)
R4146
#511
W/F REV COMMAND (WF)
R4147
#512
W/F FWD COMMAND (WFB)
R4148
#513
W/F REV COMMAND (WFB)
R4149
#514
WASHER WORK STATUS
D530
#515
OUTLET WORK STATUS
D541
#516
LOAD UNIT ACTION OK
D831
#517
UNLD UNIT ACTION OK
D832
#518
CHECK COUNTER PRESET
D863
#292
#293
#294
#295
#296
#297
#298
#299
(2) Output variables
#519
PPG GAUGE NG
D862
#520
ALARM OFF (FOR PMC)
R4634
#521
ALARM ON (FOR PMC)
R4636
#522
ALARM ON CHECK
R4638
#523
REPEAT LED (COMMAND)
R4025.6
#524
LOAD LIFTER CMD. (WF)
R4150
#525
UNLOAD LIFTER CMD. (WF)
R4151
#526
LOAD LIFTER CMD. (WFB)
R4152
#527
UNLOAD LIFTER CMD. (WFB)
R4153
#530
CUSTOM H-CODE #530
D760
#531
CUSTOM H-CODE #531
D761
#532
CUSTOM H-CODE #532
D762
#533
CUSTOM H-CODE #533
D763
#534
CUSTOM H-CODE #534
D764
#535
CUSTOM H-CODE #535
D765
#536
CUSTOM H-CODE #536
D766
#537
CUSTOM H-CODE #537
D767
#538
CUSTOM H-CODE #538
D768
#528
#529
6-12
Loader Programming Manual
H code
Message
Chapter 6 Information
Address
CUSTOM H-CODE #539
D769
#540
LOAD UNIT CHUCK OPEN
D833
#541
UNLOAD UNIT CHUCK CLOSE
D834
#542
LOAD I/F RESERVED 1
D835
#543
UNLOAD I/F RESERVED 1
D836
#544
LOAD I/F RESERVED 2
D837
#545
UNLOAD I/F RESERVED 2
D838
#546
CUSTOM H-CODE #546
D770
#547
CUSTOM H-CODE #547
D771
#548
CUSTOM H-CODE #548
D772
#549
CUSTOM H-CODE #549
D773
#550
CUSTOM H-CODE #550
D774
#551
CUSTOM H-CODE #551
D775
#552
CUSTOM H-CODE #552
D776
#553
CUSTOM H-CODE #553
D777
#554
CUSTOM H-CODE #554
D778
#555
CUSTOM H-CODE #555
D779
#556
CUSTOM H-CODE #556
D780
#557
CUSTOM H-CODE #557
D781
#558
CUSTOM H-CODE #558
D782
#559
CUSTOM H-CODE #559
D783
#560
CUSTOM H-CODE #560
D784
#561
CUSTOM H-CODE #561
D785
#562
CUSTOM H-CODE #562
D786
#563
CUSTOM H-CODE #563
D787
#564
CUSTOM H-CODE #564
D788
#565
CUSTOM H-CODE #565
D789
LOADING STOP MODE
R4025.5
#570
M22 ORIENTATION DATA (L)
R4612
#571
M22 ORIENTATION DATA(R)
R4614
#572
COLLISION CHECK PRM.
R4049.6
#574
CHIP CONVEYOR STOP (L LOADER)
D642
#575
CHIP CONVEYOR STOP (R LOADER)
D643
#576
QUALITY CHECK FINISH 1
D865
#577
QUALITY CHECK FINISH 2
D866
#578
CHECK COUNTER 2 PRESET
D864
#582
LEFT GAUGE WORK UNLOAD
R4039.4
#583
RIGHT GAUGE WORK UNLOAD
R4039.5
#584
LEFT SHIFT FIRST CHECK FLG
R4002.3
#585
RIGHT SHIFT FIRST CHECK FLG
R4002.4
#586
LOAD I/F RESERVED 3
D839
#587
UNLOAD I/F RESERVED 3
D840
#539
Remarks
#566
#567
#568
#569
#573
#579
#580
#581
6-13
Loader Programming Manual
H code
#588
Message
LOAD I/F RESERVED 4
Chapter 6 Information
Address
D841
#589
UNLOAD I/F RESERVED 4
D842
#590
GAUGE SELECT1
R4037.0
#591
GAUGE SELECT2
R4037.1
#592
P.P.G. AIR BLOW
D850
#593
EF CHUCK AIR BLOW
D851
#594
GH CHUCK AIR BLOW
D852
#595
IJ CHUCK AIR BLOW
D853
#596
OUTLET CHUTE 1 PASS CHECK
D843
#597
OUTLET CHUTE 2 PASS CHECK
D844
#598
OUTLET CHUTE 3 PASS CHECK
D845
#599
OUTLET CHUTE 4 PASS CHECK
D846
#600
G CHUCK WORK STATUS
D542
#601
H CHUCK WORK STATUS
D543
#602
I CHUCK WORK STATUS
D544
#603
J CHUCK WORK STATUS
D545
#604
RESERVED WORK STATUS 1
D546
#605
RESERVED WORK STATUS 2
D547
#606
LO. SPEED OPTIMIZATION INVALID
R4028.5
#607
SYNCHRONIZED MODE RELEASE
D861
#610
LEFT SPINDLE HIGH SPEED
R4608
#611
RIGHT SPINDLE HIGH SPEED
R4610
#612
LEFT LOADER AIR BLOW
D854
#613
RIGHT LOADER AIR BLOW
D855
#614
WORK AIR BLOW
D856
#615
WORK AIR BLOW 2
D857
#608
#609
#616
#617
#618
#619
#620
#621
#622
#623
#624
#625
#626
#627
#628
#629
#630
#631
#632
#633
#634
#635
#636
6-14
Remarks
Loader Programming Manual
H code
Message
Chapter 6 Information
Address
Remarks
#637
#638
#639
#640
#641
#642
#643
#644
#645
#646
#647
#648
#649
#650
#651
#652
#653
#654
#655
#656
#657
#658
#659
#660
#661
#662
#663
#664
#665
#666
#667
#668
#669
#670
#671
#672
#673
#674
#675
#676
#677
#678
#679
#680
#681
#682
#683
#684
#685
6-15
Loader Programming Manual
H code
#686
#687
#688
#689
#690
#691
#692
#693
#694
#695
#696
#697
#698
#699
6-16
Message
Chapter 6 Information
Address
Remarks
Loader Programming Manual
Chapter 6 Information
„ MS60/MD60
(1) Input variables
H code
Message
Address
Remarks
#100
#101
#102
#103
INLET WORK CONFIRMATION
R2258.4
#104
OUTLET WORK CONFIRMATION
R2258.5
#105
LEFT OUTLET CHUTE 1
R2259.0
#106
LEFT OUTLET CHUTE 2
R2259.1
#107
RIGHT OUTLET CHUTE 1
R2259.2
#108
RIGHT OUTLET CHUTE 2
R2259.3
#110
SHUTTER OPEN
R2206.2
#111
SHUTTER OPEN
R2206.4
TOOL SETTER RT.
R2229.1
TOOL SETTER EX.
R2229.3
WORK LOCATION OK
R2207.0
SPINDLE ACTIVE
R2207.2
TURRET ZERO POS.
R2205.5
TURRET ACTIVE
R2209.4
#130
CUSTOM H-CODE #130
D790
#131
CUSTOM H-CODE #131
D791
#132
CUSTOM H-CODE #132
D792
#133
CUSTOM H-CODE #133
D793
#134
CUSTOM H-CODE #134
D794
#135
CUSTOM H-CODE #135
D795
#136
CUSTOM H-CODE #136
D796
#137
CUSTOM H-CODE #137
D797
#138
CUSTOM H-CODE #138
D798
#139
CUSTOM H-CODE #139
D799
#140
LOAD I/F RESERVED 4
R2257.0
#141
LOAD UNIT READY
R2257.1
#142
LOAD UNIT CHUCK OPEN
R2257.2
#143
UNLOAD UNIT READY
R2257.3
#144
UNLOAD UNIT CHUCK CLOSE
R2257.4
#145
LOAD I/F RESERVED 4
R2257.5
#109
#112
#113
#114
#115
#116
#117
#118
#119
#120
#121
#122
#123
#124
#125
#126
#127
#128
#129
6-17
Loader Programming Manual
H code
Message
Chapter 6 Information
Address
#146
CUSTOM H-CODE #146
D800
#147
CUSTOM H-CODE #147
D801
#148
CUSTOM H-CODE #148
D802
#149
CUSTOM H-CODE #149
D803
#150
CUSTOM H-CODE #150
D804
#151
CUSTOM H-CODE #151
D805
#152
CUSTOM H-CODE #152
D806
#153
CUSTOM H-CODE #153
D807
#154
CUSTOM H-CODE #154
D808
#155
CUSTOM H-CODE #155
D809
#156
CUSTOM H-CODE #156
D810
#157
CUSTOM H-CODE #157
D811
#158
CUSTOM H-CODE #158
D812
#159
CUSTOM H-CODE #159
D813
#160
CUSTOM H-CODE #160
D814
#161
CUSTOM H-CODE #161
D815
#162
CUSTOM H-CODE #162
D816
#163
CUSTOM H-CODE #163
D817
#164
CUSTOM H-CODE #164
D818
#165
CUSTOM H-CODE #165
D819
#169
L/R WORK SIGNAL RECEIVE
R2260.0
#170
QUALITY CHECK FINISH 1
R2261.5
#171
QUALITY CHECK FINISH 2
R2261.6
#176
P.P.G. NG CHUTE FULL WORK
R2260.0
#177
P.P.G. READY
R2260.1
#178
I.P.G. NG
R4036.5
LOAD LIFTER UP (WF)
R4002.7
#181
LOAD LIFTER DOWN (WF)
R4003.0
#182
LOAD LIFTER WORK (WF)
R4003.1
CHECK COUNTER UP
R2261.3
#189
LAST PALLET PIN*LS (WF)
R4003.2
#190
UNLOAD LIFTER UP (WF)
R4003.3
#191
UNLOAD LIFTER DOWN (WF)
R4003.4
#192
UNLOAD LIFTER WORK (WF)
R4003.5
#166
#167
#168
#172
#173
#174
#175
#179
#180
#183
#184
#185
#186
#187
#188
#193
#194
6-18
Remarks
Loader Programming Manual
H code
Message
Chapter 6 Information
Address
Remarks
#195
#196
#197
P.P.G RELIEVING
R2260.4
#198
LEFT LOADER ESCAPE (GT)
R4025.1
#199
RIGHT LOADER ESCAPE (GT)
R4025.2
#200
GAUGE OFF
R2260.6
#207
P.P.G. WORK CONFIRMATION
R2260.2
#208
P.P.G OK WORK
R2260.3
#210
LOAD I/F RESERVED 1
R2257.6
#211
UNLOAD I/F RESERVED 1
R2257.7
#212
LOAD I/F RESERVED 2
R2258.0
#213
UNLOAD I/F RESERVED 2
R2258.1
#214
LOAD I/F RESERVED 3
R2258.2
#215
UNLOAD I/F RESERVED 3
R2258.3
#216
INLET WORK CONFIRMATION 2
R2258.6
#217
OUTLET WORK CONFIRMATION 2
R2258.7
#218
WORK LOCATION SENSOR
R2206.6
#220
LOAD LIFTER UP (WFB)
R4003.6
#221
LOAD LIFTER DOWN (WFB)
R4003.7
#222
LOAD LIFTER WORK (WFB)
R4004.0
#225
M/C NO WORK
R2261.0
#226
L LOADER CYCLE STOP COMMAND
R4013.2
#227
R LOADER CYCLE STOP COMMAND
R4013.3
#228
CHECK COUNTER 2 UP
R2261.4
#229
LAST PALLET PIN*LS (WFB)
R4004.1
#230
UNLOAD LIFTER UP (WFB)
R4004.2
#231
UNLOAD LIFTER DOWN (WFB)
R4004.3
#232
UNLOAD LIFTER WORK (WFB)
R4004.4
#240
REPEAT OFF/LOADING STOP
R2261.1
#241
R REPEAT OFF/LOADING STOP
R2261.2
#201
#202
#203
#204
#205
#206
#209
#219
#223
#224
#233
#234
#235
#236
#237
#238
#239
#242
#243
6-19
Loader Programming Manual
H code
Message
Chapter 6 Information
Address
#244
#245
#246
SPINDLE STOP
R2208.2
SPINDLE ORIENTATION
R2208.4
#247
#248
#249
#250
#251
#252
#253
#254
#255
#256
#257
#258
#259
#260
#261
#262
#263
#264
#265
#266
#267
#268
#269
#270
#271
#272
#273
#274
#275
#276
#277
#278
#279
#280
#281
#282
#283
#284
#285
#286
#287
#288
#289
#290
#291
#292
6-20
Remarks
Loader Programming Manual
H code
Chapter 6 Information
Message
Address
Remarks
H code
Message
Address
Remarks
#500
A CHUCK WORK STATUS
D532
#501
B CHUCK WORK STATUS
D533
#502
RIGHT A CHUCK WORK STATUS
D534
#503
RIGHT B CHUCK WORK STATUS
D535
#504
E CHUCK WORK STATUS
D536
#505
F CHUCK WORK STATUS
D537
#506
INLET WORK STATUS
D531
#507
GAUGE WORK STATUS
D540
#508
CHUCK WORK STATUS
D538
#510
W/F FWD COMMAND (WF)
R4146
#511
W/F REV COMMAND (WF)
R4147
#512
W/F FWD COMMAND (WFB)
R4148
#513
W/F REV COMMAND (WFB)
R4149
#514
WASHER WORK STATUS
D530
#515
OUTLET WORK STATUS
D541
#516
LOAD UNIT ACTION OK
D831
#517
UNLD UNIT ACTION OK
D832
#518
CHECK COUNTER PRESET
D863
#519
PPG GAUGE NG
D862
#520
ALARM OFF (FOR PMC)
R4634
#521
ALARM ON (FOR PMC)
R4636
#522
ALARM ON CHECK
R4638
#523
REPEAT LED (COMMAND)
R4025.6
#524
LOAD LIFTER CMD. (WF)
R4150
#525
UNLOAD LIFTER CMD. (WF)
R4151
#526
LOAD LIFTER CMD. (WFB)
R4152
#527
UNLOAD LIFTER CMD. (WFB)
R4153
#530
CUSTOM H-CODE #530
D760
#531
CUSTOM H-CODE #531
D761
#532
CUSTOM H-CODE #532
D762
#533
CUSTOM H-CODE #533
D763
#534
CUSTOM H-CODE #534
D764
#535
CUSTOM H-CODE #535
D765
#536
CUSTOM H-CODE #536
D766
#537
CUSTOM H-CODE #537
D767
#538
CUSTOM H-CODE #538
D768
#539
CUSTOM H-CODE #539
D769
#293
#294
#295
#296
#297
#298
#299
(2) Output variables
#509
#528
#529
6-21
Loader Programming Manual
Chapter 6 Information
H code
Message
Address
#540
LOAD UNIT CHUCK OPEN
D833
#541
UNLOAD UNIT CHUCK CLOSE
D834
#542
LOAD I/F RESERVED 1
D835
#543
UNLOAD I/F RESERVED 1
D836
#544
LOAD I/F RESERVED 2
D837
#545
UNLOAD I/F RESERVED 2
D838
#546
CUSTOM H-CODE #546
D770
#547
CUSTOM H-CODE #547
D771
#548
CUSTOM H-CODE #548
D772
#549
CUSTOM H-CODE #549
D773
#550
CUSTOM H-CODE #550
D774
#551
CUSTOM H-CODE #551
D775
#552
CUSTOM H-CODE #552
D776
#553
CUSTOM H-CODE #553
D777
#554
CUSTOM H-CODE #554
D778
#555
CUSTOM H-CODE #555
D779
#556
CUSTOM H-CODE #556
D780
#557
CUSTOM H-CODE #557
D781
#558
CUSTOM H-CODE #558
D782
#559
CUSTOM H-CODE #559
D783
#560
CUSTOM H-CODE #560
D784
#561
CUSTOM H-CODE #561
D785
#562
CUSTOM H-CODE #562
D786
#563
CUSTOM H-CODE #563
D787
#564
CUSTOM H-CODE #564
D788
#565
CUSTOM H-CODE #565
D789
LOADING STOP MODE
R4025.5
M22 ORIENTATION DATA
R4612
COLLISION CHECK PRM.
R4049.6
#574
CHIP CONVEYOR STOP (L LOADER)
D642
#575
CHIP CONVEYOR STOP (R LOADER)
D643
#576
QUALITY CHECK FINISH 1
D865
#577
QUALITY CHECK FINISH 2
D866
#578
CHECK COUNTER 2 PRESET
D864
LEFT GAUGE WORK UNLOAD
R4039.4
#583
RIGHT GAUGE WORK UNLOAD
R4039.5
#584
SHIFT FIRST CHECK FLG
R4002.3
#586
LOAD I/F RESERVED 3
D839
#587
UNLOAD I/F RESERVED 3
D840
#588
LOAD I/F RESERVED 4
D841
#566
#567
#568
#569
#570
#571
#572
#573
#579
#580
#581
#582
#585
6-22
Remarks
Loader Programming Manual
Chapter 6 Information
H code
Message
Address
#589
UNLOAD I/F RESERVED 4
D842
#590
GAUGE SELECT 1
R4037.0
#591
GAUGE SELECT 2
R4037.1
#592
P.P.G. AIR BLOW
D850
#593
EF CHUCK AIR BLOW
D851
#594
GH CHUCK AIR BLOW
D852
#595
IJ CHUCK AIR BLOW
D853
#596
OUTLET CHUTE 1 PASS CHECK
D843
#597
OUTLET CHUTE 2 PASS CHECK
D844
#598
OUTLET CHUTE 3 PASS CHECK
D845
#599
OUTLET CHUTE 4 PASS CHECK
D846
#600
G CHUCK WORK STATUS
D542
#601
H CHUCK WORK STATUS
D543
#602
I CHUCK WORK STATUS
D544
#603
J CHUCK WORK STATUS
D545
#604
RESERVED WORK STATUS 1
D546
#605
RESERVED WORK STATUS 2
D547
#606
LO. SPEED OPTIMIZATION INVALID
R4028.5
#607
SYNCHRONIZED MODE RELEASE
D861
SPINDLE HIGH SPEED
R4608
#612
LEFT LOADER AIR BLOW
D854
#613
RIGHT LOADER AIR BLOW
D855
#614
WORK AIR BLOW
D856
#615
WORK AIR BLOW 2
D857
Remarks
#608
#609
#610
#611
#616
#617
#618
#619
#620
#621
#622
#623
#624
#625
#626
#627
#628
#629
#630
#631
#632
#633
#634
#635
#636
#637
6-23
Loader Programming Manual
H code
#638
#639
#640
#641
#642
#643
#644
#645
#646
#647
#648
#649
#650
#651
#652
#653
#654
#655
#656
#657
#658
#659
#660
#661
#662
#663
#664
#665
#666
#667
#668
#669
#670
#671
#672
#673
#674
#675
#676
#677
#678
#679
#680
#681
#682
#683
#684
#685
#686
6-24
Message
Chapter 6 Information
Address
Remarks
Loader Programming Manual
H code
Chapter 6 Information
Message
Address
Remarks
#687
#688
#689
#690
#691
#692
#693
#694
#695
#696
#697
#698
#699
(3) Work Variables
Code
#00
#01
#02
#03
#04
#05
#06
#07
#08
Description
Loader service process identification flag (1: Left,
2: Right)
#09
#10
#11
#12
#13
#14
#15
#16
#17
#18
#19
System reserved variables
System reserved variables
Remarks
Reset, clears during emergency stop
Ditto
Ditto
Ditto
Ditto
Clears with two-hand operation and “Reset”
button “ON”
Ditto
Ditto
Used in subprogram for Work Location
Confirmation (Single)
Clears with two-hand operation and “Reset”
button “ON”
Sets and resets inside program
Ditto
Ditto
Ditto
Ditto
Ditto
Ditto
Ditto
General use prohibited
Ditto
(4) Private Variables
Code
Message
Remarks
#20
#21
#22
#23
#24
#25
#26
#27
#28
#29
#30
6-25
Loader Programming Manual
Chapter 6 Information
3. Block delete table
When Block Delete is “ON”, the program from Block Delete up to (;) is disregarded.
MW/MS/MD Series
Block Delete
/ or /1
/2
/3
/4
/5
/6
/7
/8
/9
/10
/11
through
/19
6-26
Description
When Loader Block Delete = 1 on the “Condition Setting” screen, / block is not executed.
During Repeat “OFF”, /2 block is not executed.
During idling cycle, /3 block is not executed.
During loading stop cycle, /4 block is not executed.
During Repeat “ON”, /5 block is not executed.
/6 block is executed only at initial cycle during cycle start.
When in-process gauge is NG, /7 block is executed. (Controlled through the loader M-code M58)
During work location confirmation retry, /8 block is executed. (Controlled through the loader
M-code M59.)
During work location NG loading stop, /9 block is executed. (Controlled through loader M-code
M59.)
Only the right loader is executed.
Spare
Loader Programming Manual
Chapter 6 Information
4. Loader program error table
No.
00
01
02
03
04
05
Message
Problem and countermeasure
SPECIFIED PROGRAM IS'NT
EXIST
[Problem]
The program cannot be found.
1)
When searching by work no. search function.
2)
When calling sub program.
3)
When calling local program.
[Countermeasure]
1)
Check if the program no. exists in the list.
2)
Check the loader program and rectify it.
ILLEGAL NUMBER IS
SPECIFIED
[Problem]
When commanding G, M, or H code, the code no. is not specified.
Example)
<Wrong>
<Right>
G X-100.
G1 X-100.
[Countermeasure]
1)
Command the code no. after G, M or H.
2)
Check the loader program and rectify it.
ONLY N-CODE IS ALLOWED
FOR PASSING ORDER BLOCK
[Problem]
H,M code is commanded before G12, G13 in the same block.
Example)
<Wrong>
<Right>
M72 G12 X-100.
G12 X-100. M72
[Countermeasure]
1)
Command G12, G13 before.
Only the sequence no. can be commanded before G12, G13.
2)
Check the loader program and rectify it.
TRIGGER IN PASSING ORDER
BLOCK HAS ILLEGAL AXIS
[Problem]
When commanding to pass the transit point with G12, G13 and so on,
the axis other than X, Y, Z is specified.
Example)
<Wrong>
<Right>
G12 H-100.
G12 Y-100.
[Countermeasure]
Check the loader program and rectify it.
SPECIFIED TEACH DATA
NUMBER IS UNJUST
[Problem]
Although the axis is commanded to move by teaching point, teaching
no. is not specified.
Example)
<Wrong>
<Right>
X#
X#7
[Countermeasure]
1)
Specify the teaching no. after "#".
2)
Check the loader program and rectify it.
SPECIFIED AXIS DATA IS
UNJUST
[Problem]
The axis movement value is not specified.
Example)
<Wrong>
<Right>
X
X-100.
[Countermeasure]
1)
Specify the teaching point or axis movement value after the axis
movement command.
2)
Check the loader program and rectify it.
6-27
Loader Programming Manual
No.
06
07
08
09
10
11
6-28
Message
Chapter 6 Information
Problem and countermeasure
G8/G9 IS PERMITTED ONLY
BEHIND PASSING ORDER
BLOCK
[Problem]
The command just before G8/G9 is not transit point command
(G12/G13).
Example)
<Wrong>
<Right>
M61
G12X-50.
G8X-100.Z-50.
G8X-100.Z-50.
[Countermeasure]
1)
G8, G9 has to follow the transit points command (G12,G13).
2)
Check the loader program and rectify it.
SOME G-CODE IS IN SAME
BLOCK
[Problem]
2 or more G codes are commanded on the same block.
Example)
<Wrong>
<Right>
G0 G1 X-100.
G0 X-100.
[Countermeasure]
1)
Command only 1 G-code on 1 block.
2)
Check the loader program and rectify it.
SPECIFIED S-CODE NUMBER
IS ILLEGAL
[Problem]
Traverse feed rate is not specified.
Example)
<Wrong>
<Right>
G1 Y0 S
G1 Y0 S100
[Countermeasure]
1)
Specify traverse feed rate from S1 to S100.
2)
Check the loader program and rectify it.
SOME S-CODE IS IN SAME
BLOCK
[Problem]
2 or more S-codes are commanded on the same block.
Example)
<Wrong>
<Right>
G1 Y0 S100 S80
G1 Y0 S100
[Countermeasure]
1)
Command only 1 S-code on 1 block.
2)
Check the loader program and rectify it.
BLOCK MUST HAVE ONE OF
G0, 1, 8, 9 BEHIND PASSING
ORDER BLOCK
[Problem]
Axis movement command (G0, G1, G8, G9) are not commanded after
G12, G13.
Example)
<Wrong>
<Right>
G12 Y-100. S10
G12 Y-100. S10
Y-200.
G1 Y-200.
[Countermeasure]
1)
Command the axis to move (G0, G1, G8, G9) on the next block of
G12, G13.
2)
Check the loader program and rectify it.
G-CODE WITHOUT
PERMISSION IS BEHIND
PASSING ORDER BLOCK
[Problem]
Invalid G-code is specified on the next block of G12, G13.
Example)
<Wrong>
<Right>
G12 Y-100. S10
G12 Y-100. S10
G4 U1.
G1 Y-200.
[Countermeasure]
1)
Command the axis to move (G0, G1, G8, G9) on the next block of
G12, G13.
2)
Check the loader program and rectify it.
Loader Programming Manual
No.
13
14
15
16
17
18
19
Message
Chapter 6 Information
Problem and countermeasure
ANOTHER CODE IS BEHIND
PASSING ORDER BLOCK
[Problem]
M code or H code is commanded before axis movement command (G0,
G1, G8, G9) on the next block of transit point command (G12, G13).
Example)
<Wrong>
<Right>
G12 Y-100. S10
G12 Y-100. S10
M61 G1 Y-110.
G1 Y-110. M61
[Countermeasure]
1)
Command the axis movement (G0, G1, G8, G9) before M or H
code.
2)
Check the loader program and rectify it.
SAME AXIS ORDER IS IN SAME
BLOCK
[Problem]
The same axis is commanded to move on the same block.
Example)
<Wrong>
<Right>
G1 X-100. X-200.
G1 X-200.
[Countermeasure]
1)
Command the axis to move only 1 time on the same block.
2)
Check the loader program and rectify it.
A BLOCK CAN HAVE ONLY
ONE H-CODE
[Problem]
2 or more H codes are commanded on the same block.
Example)
<Wrong>
<Right>
H91 H90 P#3
H91 P#3
[Countermeasure]
1)
Command less than 1 H code on 1 block.
2)
Check the loader program and rectify it.
P/Q/R IS SPECIFIED EXCEPT
M/H-CODE
[Problem]
P, Q, R is commanded for other than M, H code.
Example)
<Wrong>
<Right>
X-100. P500
H80 P500
[Countermeasure]
1)
Command P, Q, R after M, H code.
2)
Check the loader program and rectify it.
ILLEGAL NUMBER IS
SPECIFIED FOR SUFIX
[Problem]
No command of P, Q, R value.
Example)
<Wrong>
<Right>
H90 P Q#5
H90 P#4 Q#5
[Countermeasure]
1)
Command H code variable or value for P, Q, R.
2)
Check the loader program and rectify it.
P/Q/R IS SPECIFIED DOUBLE,
OR BAD ORDER
[Problem]
1)
P, Q, R is duplicated.
2)
Order to command P, Q, R is wrong.
Example)
<Wrong>
<Right>
H90 P#1 P#2
H90 P#1 Q#2
H81 Q#500 P90 R5 H81 P90 Q#500 R5
[Countermeasure]
1)
Command each 1 of P, Q, R on 1 block.
2)
Command P, Q, R in order.
3)
Check the loader program and rectify it.
SOME N-CODE IS IN SAME
BLOCK
[Problem]
2 or more N sequence no. are commanded on the same block.
Example)
<Wrong>
<Right>
N1 N2 H90 P#3
N1 H90 P#3
N2
[Countermeasure]
1)
Command only 1 sequence no. on a block.
2)
Check the loader program and rectify it.
6-29
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No.
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21
22
23
24
26
27
28
6-30
Chapter 6 Information
Message
Problem and countermeasure
A BLOCK CAN HAVE MAXIMUM
5 BDT
[Problem]
The number of commanded block deletes on one block is more than the
maximum 5.
Example)
/ /2 /3 /4 /5 /6 H90 P#4
[Countermeasure]
1)
5 kinds of block delete at the maximum can be used on one block.
2)
Check the loader program and rectify it.
SPECIFIED NUMBER FOR BDT
IS OVER
[Problem]
Block delete no. exceeds the range (Maximum 20).
Example)
/21 G1 Y-100.
[Countermeasure]
1)
Command from / to /20.
2)
Check the loader program and rectify it.
SAME AXIS FOR TRIGGER
AND MOVE ORDER ISN'T
ALLOWED
[Problem]
The same axis is commanded on transit point command.
Example)
<Wrong>
<Right>
G12 X-100. X50.
G12 X-100.
[Countermeasure]
Check the loader program and rectify it.
LOCAL PROGRAM CAN'T HAVE
AXIS ORDER
[Problem]
Axis movement is commanded in local program.
Example) M96 P9000
´
O9000
G1 Y-100.
[Countermeasure]
1)
Axis movement cannot be commanded in local program.
2)
Check the local program and rectify it.
UNDEFINED G-CODE IS
SPECIFIED
[Problem]
Undefined G-code is commanded.
Example) G-50 X-100.
[Countermeasure]
1)
Refer to the loader programming manual about the available
G-codes.
G4 CAN'T SPECIFY EXCEPT
NUMBER FOR SUFIX
[Problem]
Other than value is commanded on G4 for specifying second.
Example)
<Wrong>
<Right>
G4 X#5
G4 X1.
[Countermeasure]
1)
Specify value of seconds after X or U on G4 code.
2)
Check the loader program and rectify it.
G4 CAN SPECIFY ONLY X/U
FOR SUFIX
[Problem]
Other than U, X is commanded on G4 for specifying second.
Example)
<Wrong>
<Right>
G4 X1. Y1.
G4 X1.
[Countermeasure]
1)
Specify value of seconds after X or U on G4 code.
2)
Check the loader program and rectify it.
ANOTHER CODE IS SPECIFIED
FOR G4-BLOCK
[Problem]
The other code is commanded on the same block of G4.
Example)
<Wrong>
<Right>
G4 U1. M61
G4 U1.
M61
[Countermeasure]
1)
Command G4 code independently.
2)
Check the loader program and rectify it.
Loader Programming Manual
No.
29
30
31
32
33
34
35
Message
Chapter 6 Information
Problem and countermeasure
ANOTHER CODE IS SPECIFIED
FOR G8/G9-BLOCK
[Problem]
The other code is commanded on the same block of G8/G9.
Example)
<Wrong>
<Right>
G12 X-100.
G12 X-100.
G9 X-200. Z-50. M73 G9 X-200. Z-50.
[Countermeasure]
1)
If command the other code, command them with G0, G1.
2)
Check the loader program and rectify it.
TEACH NUMBER IS OVER
MAXIMUM TEACH DATA
[Problem]
The commanded teaching point number exceeds the maximum number.
(24 or 32)
Example)
G1 X#50
[Countermeasure]
1)
Command the teaching points within the maximum number.
2)
Check the loader program and rectify it.
TEACH ATRIBUTE IS INVALID
[Problem]
The specified teaching point cannot be used as it is set as blank.
[Countermeasure]
1)
Check the teaching points.
2)
Check the loader program and rectify it.
SPECIFIED FOR S-CODE IS
OVER
[Problem]
The value commanded on S-code is out of range.
Example)
G1 S150,
G1 S0 and so on
[Countermeasure]
1)
Command S-code from S1 to S100.
2)
Check the loader program and rectify it.
WAIT-BLOCK CAN'T HAVE
H-CODE
[Problem]
H code is commanded on the same block of G12, G13.
Example)
<Wrong>
<Right>
G12 X-100. H91P#5
G12 X-100.
G9 X-200. Z-30.
G9 X-200. Z30.
[Countermeasure]
1)
H code cannot be commanded on the same block of G12, G13.
2)
Check the loader program and rectify it.
UNDEFINED H-CODE IS
SPECIFIED
[Problem]
Undefined code is commanded.
Example)
H100
[Countermeasure]
1)
Refer to the loader programming manual about the available H
codes.
2)
Check the loader program and rectify it.
FLOW-BLOCK CAN'T HAVE
ANOTHER CODE
[Problem]
The other code is commanded on the block that includes flow command.
(M30, M49, M51 to M55, M97 to M100, H63 to H66, H80 to H98)
Flow command: The command that can jump to the other sequence.
Example)
M51, M60, H80, H81, M60 and so on.
[Countermeasure]
1)
Do not use the flow commands (The above M, H codes)
independently.
2)
Check the loader program and rectify it.
6-31
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No.
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38
39
40
41
42
6-32
Message
Chapter 6 Information
Problem and countermeasure
SUFIX IS SPECIFIED FOR
H-CODE IS NOT PROVIDE
[Problem]
P, Q, R of H code command has errors.
Example)
H06 P#3 Q#4
[Countermeasure]
1)
P, Q, R command after H code differs by H code. Refer to the
loader programming about the details.
2)
Check the loader program and rectify it.
UNDEFINED M-CODE IS
SPECIFIED
[Problem]
Undefined code is commanded.
Example)
M200 and so on
[Countermeasure]
1)
Refer to the loader programming manual about the available
M-codes.
2)
Check the loader program and rectify it.
WAIT-BLOCK HAS
FLOW-CODE
[Problem]
The flow command (M30, M49, M51~M55, M97~M100) is specified on
the block of G12, G13.
Flow command: The command that can jump to the other sequence.
Example)
G12 Y-100. S10 M51 and so on.
[Countermeasure]
1)
The flow commands (The above M codes) can not be used with
G12, G13 simultaneously.
2)
Check the loader program and rectify it.
ONLY MAIN PROGRAM CAN
USE M30
[Problem]
M30 is commanded in other than main program.
Example) M96 P9000
´
O9000
M30
[Countermeasure]
1)
M30 can be used only in main program.
2)
Check the loader program and rectify it.
ONLY MAIN&SUB PROGRAM
CAN USE M51–M54
[Problem]
M code from M51 to M54 is commanded in other than main, sub
program.
Example) M96 P9000
´
O9000
M51
[Countermeasure]
1)
M code from M51 to M54 can not be commanded in local program.
Command them in main or sub program.
2)
Check the loader program and rectify it.
SAME M-CODE IS IN SAME
BLOCK
[Problem]
The same M-code is commanded on the same block.
Example)
M60 M60
[Countermeasure]
1)
The same M-code cannot be commanded on the same block.
2)
Check the loader program and rectify it.
SUFIX IS SPECIFIED FOR
M-CODE IS NOT PROVIDE
[Problem]
Irrelevant P, Q, R is commanded on M-code.
Example)
M60 P900
[Countermeasure]
1)
P, Q, R after M-code differs by the M-code.
P, Q, R can be commanded only for specific M-codes such as
M49, from M51 to M54, M96.
Refer to the loader programming manual about the details.
2)
Check the loader program and rectify it.
Loader Programming Manual
No.
43
44
45
46
47
48
49
Message
Chapter 6 Information
Problem and countermeasure
N-CODE HAVE SAME NUMBER
IS EXIST IN A PROGRAM
[Problem]
The same sequence no. is commanded on the same block.
Example)
N1 N1
[Countermeasure]
1)
The same sequence no. cannot be commanded on the same
block.
2)
Check the loader program and rectify it.
BLOCK NUMBER FOR JUMP
TO ISN'T EXIST
[Problem]
The block that is jumped to by jumping command does not exist.
Example)
H80 P1
N2
M30
[Countermeasure]
1)
Check the jumping destination.
2)
Check the loader program and rectify it.
NO BLOCK IS BEHIND
PASSING ORDER BLOCK
[Problem]
No block is commanded after G12, G13 command.
Example) G12 Y-100.
[Countermeasure]
1)
One of G0, G1, G8, G9 has to be commanded on next block of
G12, G13 as G12, G13 is the specifying command of transit point.
2)
Check the loader program and rectify it.
A BLOCK BEHIND PASSING
ORDER BLOCK HAS ILLEGAL
CODE
[Problem]
; is commanded after G12, G13.
Example) G12 Y-100.
;
[Countermeasure]
1)
One of G0, G1, G8, G9 has to be commanded on the next block.
2)
Check the loader program and rectify it.
A BLOCK BEHIND PASSING
ORDER BLOCK HAS S-CODE
[Problem]
S-code is commanded between the block of G12, G13 and the next
block.
Example)
<Wrong>
<Right>
G12 Y-100. S10
G12 Y-100. S10
G1 Y#7 S20
G1 Y#7
[Countermeasure]
1)
Command S-code after the block of G12, G13 or the next block.
2)
Check the loader program and rectify it.
PASSING ORDER BLOCK &
THE NEXT BLOCK HAVE SAME
AXIS ORDER
[Problem]
One another axis movement is commanded on the blocks of G12 or G13
command and on the next block.
Example)
<Wrong>
<Right>
G12 X-100. Z-30.
G12 X-100.
G1 X-150. Z-50.
G1 X-150. Z-30.
[Countermeasure]
Check the loader program and rectify it.
WRONG NUMBER FOR CYCLE
TABLE IS SPECIFIED
[When]
When commanding H code (H87)
[Problem]
Cycle table no. is out of range (Maximum 6).
Example)
H87 P7
[Countermeasure]
1)
Command from P1 to P6 after H87.
2)
Check the loader program and rectify it.
6-33
Loader Programming Manual
No.
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51
52
53
54
55
6-34
Message
Chapter 6 Information
Problem and countermeasure
ALARM NUMBER IS SPECIFIED
FOR H96 IS NOT EXIST
[When]
When commanding H code (H96, H97)
[Problem]
Undefined alarm no. is commanded.
Example)
H96 P#106 Q3 R3000
[Countermeasure]
1)
Command the alarm no. defined with R from R1 to R1599.
2)
Check the loader program and rectify it.
A RECORD HAS SAME
CONDITION FOR A/B CHUCK
ISN'T EXIST
[When]
When commanding H code (H87)
[Problem]
Work status of A/B chuck does not correspond to setting of cycle table.
[Countermeasure]
1)
Check the work status.
Operation ´ [WORK STATUS] ´ Check the work status of A, B
chuck
2)
Take out the work pieces in case of the irregular cycle
3)
Check the loader program and rectify it.
CYCLE TABLE HAS WRONG
ORDER
CYCLE TABLE HAS ILLEGAL
RECORD DATA
[When]
When commanding H code (H87).
[Problem]
The processing is "2 (unloading cycle)", but the applicable chuck has no
work piece and the processing of the next sequence is not "4 (loading
cycle)".
[Countermeasure]
Check the cycle table and rectify it.
[When]
When H code (H87) is commanded.
[Problem]
Wrong record setting of cycle table
1)
Setting of priority exceeds maximum.(6)
2)
Setting of processing exceeds maximum.(6)
3)
Setting of sequence no. exceeds maximum.(20)
4)
Wrong setting of single-loader operation.
0: Cycle executed on any cases.
1: Cycle executed when single-loader operation on left side.
2: Cycle executed when single- loader operation on right side.
[Countermeasure]
Check the cycle table and rectify it.
ANOTHER H87 ERROR
[When]
When commanding H code (H87).
[Problem]
Unexpected error
M47, M48 SAME BLOCK
ERROR
[Problem]
Work feeder manual operation valid/invalid M-code (M47, M48) are
commanded on the same block.
Example) M47, M48
[Countermeasure]
1)
M47, M48 cannot be commanded on the same block.
2)
Check the loader program and rectify it.
Loader Programming Manual
No.
56
57
59
Message
Chapter 6 Information
Problem and countermeasure
SUB PROGRAM IS CALLED
FROM LOCAL PROGRAM
[Problem]
Sub program is called from local program.
Example) M96P9000
´
O9000
H65P8000
´
O8000
[Countermeasure]
1)
Sub program cannot be called from local program.
2)
Check the loader program and rectify it.
PROGRAM NUMBER IS
WITHOUT PERMITTION
[Problem]
When calling local program (When executing M96), the called program
no. is less than 9000.
Example) M96 P8500
[Countermeasure]
1)
The program no. that can be called as local program is from
O9000 to O9999.
2)
Check the loader program and rectify it.
NO AXIS ORDER (X, Z AXIS) AT
G31-BLOCK
[Problem]
The axis movement commanded with G31 has an error.
1)
X, Z-axis is not commanded.
2)
Y-axis is commanded.
Example) G31 Y-100.
[Countermeasure]
1)
Command only X, Z-axis when command with G31.
2)
Check the loader program and rectify it.
M-CODE IS NO ENTRY
[Problem]
M-code, that is not available on the current specification, is commanded.
[Countermeasure]
Check the loader program and rectify it.
PROGRAM NEST ERROR
[Problem]
When calling sub program, the calling program is called from the called
program.
Example)
O1000
H65P8000
´
O8000
H65P1000
[Countermeasure]
1)
The program, that becomes circulatory reference, cannot be
called.
2)
Check the loader program and rectify it.
G13 BLOCK AXIS NUMBER IS
NOT ALLOWED MINUS
[Problem]
- value is specified for the position when G13 (transit point) is
commanded.
Example)
<Wrong>
<Right>
G13 Y-100. S10
G13 Y100.S10
G1 Y-200.
G1 Y-200.
[Countermeasure]
1)
As G13 has the function to set the way to destination position, the
position is always set +value.
2)
Check the loader program and rectify it.
60
61
62
63
6-35
Loader Programming Manual
No.
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65
66
67
68
69
6-36
Message
Chapter 6 Information
Problem and countermeasure
ONLY MAIN PROGRAM CAN
USE H63
[Problem]
H63 is commanded from sub program.
Example) H65P8000
´
O8000
H63P8100
[Countermeasure]
1)
H63 cannot be commanded from other than main program as the
teaching point data of the program called by H63 adds to the
current teaching point data.
2)
Check the loader program and rectify it.
DIFFERENT AXIS FOR PASS
AND TRIGGER ORDER ISN'T
ALLOWED
[Problem]
The axis movement is not commanded after G12, G13 command.
Example)
G12 Y-100.S10
G1X300.
[Countermeasure]
Check the loader program and rectify it.
G15 BLOCK AXIS NUMBER IS
NOT ALLOWED MINUS
[Problem]
- value is commanded for position when G15 (incremental command of
continuous transit points) is commanded.
Example)
<Wrong>
<Right>
G15 Y-100.
G15 Y100.
G1 Y-200. X-100.
G1 Y-200. X-100.
[Countermeasure]
1)
As G15 has the function to set the way to destination position, the
position is always set +value.
2)
Check the loader program and rectify it.
G14, G15 BLOCK CAN'T HAVE
S-CODE
[Problem]
S-code is commanded on G14, G15 (continuous transit point).
Example)
<Wrong>
<Right>
G14 X-100. S10
G14 Z-100.
G1 X-200. Y-200.
G1 X-200. Y-200.
[Countermeasure]
1)
Axis speed cannot be changed on G14, G15 after passing transit
point.
2)
Check the loader program and rectify it.
INDIRECT AXIS ORDER IS
INVALIDED
[Problem]
G14, G15 (continuous transit point) is invalid.
[Countermeasure]
1)
G14, G15 command is not valid as the optional function is not
valid.
2)
Check the loader program and rectify it.
ONLY ONE AXIS COULD BE
ORDERD FOR AFTER MOVE
AXIS
[Problem]
Movement command after passing transit point of G14, G15 is
commanded on all axes.
Example) G14 X-100.
G1 X-200.Y-100. Z-30.
[Countermeasure]
1)
The following 2 axes at most can be commanded on the
movement command after passing transit point.
1. Axis for passing transit point.
2. One more another axis.
2)
Check the loader program and rectify it.
Loader Programming Manual
No.
70
80
81
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99
Chapter 6 Information
Message
Problem and countermeasure
BEFORE SECOND AXIS AND
CURRENT AXIS HAS
DIFFERENT TARGET
[Problem]
Destination point command has errors when G14, G15 (continuous
transit points command) is commanded.
The movement command of the axis on the first transit point passage
differs from the second one on the second transit point passage.
Example)
<Wrong>
<Right>
G14 X-100.
G14 X-100.
G1 X-200. Y-200.
G1 X-200. Y-200.
G14 Y-100.
G14 Y-100.
G1 Y-150. Z-30.
G1 Y-200. Z-30.
(Y-150. is wrong.)
[Countermeasure]
1)
Match the movement command value on transit point with the one
on destination point.
2)
Check the loader program and rectify it.
ANTICIPATE ORDER
[Problem]
Unexpected command
Example)
Invalid code such as K100 is used.
[Countermeasure]
Check the loader program and rectify it.
THE PROGRAM NUMBERS OF
BOTH LEFT AND RIGHT DO
NOT MATCH
[When]
When M code (M100) is commanded in loader program.
[Problem]
The program numbers of both left and right do not match.
[Countermeasure]
Check the present program no.
NO DATA OF CYCLE TABLE
[Problem]
No data of cycle table.
[Countermeasure]
1)
Check the cycle table data.
2)
Input the cycle table data.
[MAINTENANCE] ´ [CYCLE TABLE]
DEFINITION FILE OF CYCLE
TABLE CAN NOT BE OPENED
[Problem]
Definition file of cycle table cannot be opened.
[Countermeasure]
1)
Check if the definition file of cycle table
6-37
Loader Programming Manual
Chapter 6 Information
- MEMO -
6-38