Application Note - PMC Axis Control.pdf - Fanuc - p.mareczko

PMC Axis Control for FS16 and FS15 Controls

1. FS16 Control

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

General Discussions

1. Independent paths (groups):

16/18/21: 4

PMi-H: 8

PMi-D: 2

2. Major functions (The following is for 16/18/21. PM may have additional function.)

Command

Code (hex)

Name

Function

00h

Rapid traverse

Performs the same operation G00 as CNC.

Cutting feed

(FPM)

Performs the same operation G94 G01as CNC. (Note that the

motion is always incremental.)

01h

Cutting feed

(FPR)

Performs the same operation G95 G01 as CNC. (Note that the

motion is always incremental.)

02h

03h

Skip (FPM)

Performs the same operation G31 G01 as CNC.

04h

Dwell

Performs the same operation G04 G01 as CNC.

Moves the tool in the direction of reference position return

specified by ZMIx (1006#5) in rapid traverse mode. Then

performs the same manual reference position return as CNC.

Reference

position return

05h

Performs the same JOG feed as CNC. (Note that position is

displayed.)

06h

Continuous feed

Performs the same operation as done when positioning the tool

to the reference position from the intermediate point specified

by G28 of the CNC.

1 st reference

position return

07h

Performs the same operation as done when positioning the tool

to the reference position from the intermediate point specified

by G30 P2 of the CNC.

2 nd reference

position return

08h

Performs the same operation as done when positioning the tool

to the reference position from the intermediate point specified

by G30 P3 of the CNC.

3 rd reference

position return

09h

Performs the same operation as done when positioning the tool

to the reference position from the intermediate point specified

by G30 P4 of the CNC.

4 th reference

position return

0Ah

External pulse

synchronization

(main spindle)

0Bh

Synchronizes with the main spindle.

External pulse

synchronization

(1 st MPG)

0Dh

Movement is commanded from MPG as CNC MPG mode

Sample Ladder

1. Hand-shaking

signals EBUFg

(PMC requests

CNC to read

buffer) and

EBSYg (CNC

informs PMC

completion of

read) must be

programmed

properly. (These

two signals are

the same as

PMCAg and

CNCAg in

FS15.) The

following two

ways can be

used,



External pulse

synchronization

(2 nd MPG)

0Eh

Movement is commanded from MPG as CNC MPG mode

External pulse

synchronization

(3 rd MPG)

0Fh

Movement is commanded from MPG as CNC MPG mode

Performs continuous feed at the specified speed like spindle

mode. (Note that position is normally not displayed. However,

it can be displayed by setting P8005#4. See A-63542 for

details.)

10h

Speed command

11h

Torque control

Continuous feed under torque control

Auxiliary

function

Performs the same function as the miscellaneous function

(M function), used by the CNC.

12h

Miscellaneous

function 2

14h

Similar to the miscellaneous function of the CNC

Miscellaneous

function 3

15h

Similar to the miscellaneous function of the CNC

Machine

coordinate

system selection

Performs the same operation as G53 used by the CNC. (Note

that this command should be used for absolute move.)

20h

PMC

function

(AXCT

L) –

EBUFg

and

EBSYg

are

handled

by this

function

Cutting feed

(sec/block)

Cutting feed in sec/block. Can be used for linear interpolation

for two paths. (Note that option J742 is required.)

21h

Oscillation movement. Can be straight line (1 axis) or taper

line (2 axes). Similar to chopping and can be used for

grinding. (Note that option S861 is required.)

Oscillation

movement

22h

Simultaneous

start OFF

Simultaneous start mode OFF (for 2 paths or more). (Note that

option J742 is required.)

40h

Simultaneous

start ON

Simultaneous start mode ON (for 2 paths or more). (Note that

option J742 is required.)

41h

. Ladder work is significantly simplified using this function



Directly Program (following function connection manual) – More work

2. All other G bits should be handled by PMC. Only G bits EBUFg and EBSYg are handled by function AXCTL.

3. Two paths are programmed, and they can run independently or simultaneous.

4. In the sample ladder, eight general switches on software operator’s panel are used and their definitions are,

OUT0 - enable PMC axis control for both path 1 and 2

OUT1 - command path 1

OUT2 - command path 2

OUT3 - reset PMC axis control

OUT4 - disable buffering data

OUT5 - single block

OUT6 - feed hold

OUT7 - servo off

Software operator’s panel sample,

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

6. Ladder Diagram

Application Note - PMC Axis Control.pdf

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