0id Skip [PDF]

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15.MEASUREMENT

B-64303EN-1/01

15.3

SKIP FUNCTION

15.3.1

Skip Function

Overview

Linear interpolation can be commanded by specifying axial move following the G31 command, like G01. If an external skip signal is input during the execution of this command, execution of the command is interrupted and the next block is executed. The skip function is used when the end of machining is not programmed but specified with a signal from the machine, for example, in grinding. It is used also for measuring the dimensions of a workpiece. The coordinates when the skip signal turned on are stored in the system variables (#5061 to #5065) for custom macros, so they can be used by custom macros. #5061 : First axis coordinate value #5062 : Second axis coordinate value : #5065 : Fifth axis coordinate value

- Acc./Dec. after interpolation of the skip function

To enable the Acc./Dec. after cutting feed interpolation of the skip function, set bit 7 (SKF) of parameter No. 6200 to 1. When SKF is 0, the Acc./Dec. after cutting feed interpolation of the skip function is disabled. If the Acc./Dec. type is set by bit 3 (ASL) of parameter No. 6210 and the time constant is set by bit 4 (ASB) of parameter No. 6210 when SKF is 1, it is possible to set a separate Acc./Dec. type and time constant that are different from those of the normal Acc./Dec. after cutting feed interpolation. When ASB is 0 and ASL is 0, the normal Acc./Dec. after cutting feed interpolation is assumed. In this case, the Acc./Dec. type set by bit 0 (CTLx) of parameter No. 1610 and bit 1 (CTBx) of parameter No. 1610 and the time constant set by parameter No. 1622 are enabled.

- Compensation of acceleration/deceleration and servo delay

The skip function records the current position inside the NC using the skip signal. However, the current position inside the NC includes servo delay, so the recorded position deviates from the position in which the skip signal was actually input by the servo delay. The deviation amount can be calculated from the positional deviation owned on the servo side and the accumulated amount by feedrate acceleration/deceleration performed inside the NC. If the deviation amount is considered, the servo delay does not need to be included in measurement error. If bit 1 (SEB) of parameter No. 6201 is set, compensation can be carried out by obtaining the deviation amount the positional deviation and the accumulated amount by acceleration/deceleration when the skip signal is turned on. - 1611 -

15.MEASUREMENT

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Tool movement direction

High-speed skip signal Pnc

Q

Actual tool stop position

P

Position at which the skip signal was input

Coordinate origin

Pnc : Position at which the tool is actually stopped after the skip signal was input [mm/inch] P : Distance to be measured [mm/inch] Q : Servo delay [mm/inch] As shown above, the following expression is calculated inside the NC by setting bit 1 (SEB) of parameter No. 6201. P = Pnc - Q

Signal

SKIP SKIPP (T series/M series) SKIP#2 (T series (2-path control)) Skip Signals SKIP SKIPP [Classification] Input signal [Function] This signal terminates skip cutting. That is, the position where a skip signal turns to "1" in a block containing G31 is stored in a custom macro variable, and the move command of the block is terminated at the same time. [Operation] When a skip signal turns to "1", the control unit works as described below. When a block contains a skip cutting command G31, the control unit reads and stores the current position of the specified axis at that time. The control unit stops the axis, then cancels the remaining distance that the block was supposed to be moved.

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NOTE 1 The skip signal width requires at least 10 msec. 2 The delay or variation on the CNC side (excluding the PMC side) in detecting the skip signal is 0 to 2 msec. Therefore, the measurement error is the sum of 2 msec and the delay or variation (including the delay or variation of the receiver) of the skip signal on the PMC side, multiplied by the feedrate. 3 The delay or variation until feed stops after detection of the skip signal is 0 to 8 msec. To calculate the overshoot, further consider delay in acceleration/deceleration, delay in servo, delay on the PMC side. 4 The CNC directly reads the skip signal SKIP from the machine tool; the PMC is no longer requires to process the signal. 5 If the skip function G31 is not used, the PMC can use the signal terminal SKIP corresponding to the skip signal as a general purpose input signal. 6 When the skip signal is monitored, the state rather than the rising edge is sampled. Therefore, when the level remains "1", the skip condition is assumed to be met immediately after skip cutting is specified next. 7 Address X004 including skip signal SKIP can be assigned to the X addresses that were set for parameters No. 3012 and No. 3019 when XSG (bit 2 of parameter No. 3008) is 1. Signal address

#7 X004 X013 Gn006

#6

#5

SKIP SKIP

#2

SKIPP

- 1613 -

#4

#3

#2

#1

#0

15.MEASUREMENT

B-64303EN-1/01

Parameter #7

#6

#5

3008

[Input type] [Data type]

#4

#3

#2

#1

#0

XSG

Parameter input Bit path

NOTE When this parameter is set, the power must be turned off before operation is continued. #2

XSG

A signal assigned to an X address is: 0: Fixed at the address. 1: Able to be reassigned to an arbitrary X address.

NOTE When this parameter was set to 1, parameters No. 3012 and No. 3019 must be set. If parameters No. 3012 and No. 3019 are not set, the skip to X0 signal, PMC axis control skip signal, and measurement position arrival signal are assigned to X0000. 3012

Skip signal assignment address

NOTE When this parameter is set, the power must be turned off before operation is continued. [Input type] [Data type] [Valid data range]

Parameter input Word path 0 to 327 Set an X address to which the skip signal (SKIPn) is to be assigned.

NOTE This parameter is valid when bit 2 (XSG) of parameter No. 3008 is set to 1. Depending on the option configuration of the I/O Link, the actually usable X addresses are: X0 to X127, X200 to X327

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Address to which the PMC axis control skip signal and measurement

3019

position arrival signals are assigned

NOTE When this parameter is set, the power must be turned off before operation is continued. [Input type] [Data type] [Valid data range]

Parameter input Word path 0 to 727 Set an X address to which the PMC axis control skip signal ESKIP and the measurement position arrival signals (XAE1, XAE2, and XAE3 (M series) or XAE1 and XAE2 (T series)) are to be assigned.

Example 1. When No.3012 is set to 5 and No.3019 is set to 6

When XSG (bit 2 of parameter No. 3008) is 1, the PMC axis control skip signal, and measurement position arrival signal are allocated to X0006 and the skip signal is allocated to X0005. X005

#7

#6

#5

#4

#3

#2

#1

#0

SKIP

SKIP6

SKIP5

SKIP4

SKIP3

SKIP2

SKIP8

SKIP7

#7

#6

#5

#4

#3

#2

#1

SKIP

SKIP6

SKIP5

SKIP4

SKIP3

SKIP2

SKIP8

#6

#5

#4

#3

#2

#7 X006

ESKIP #7

#6

#5

#4

#3

ESKIP

(T series)

#0 SKIP7 (M series)

#1

#0

XAE2

XAE1

#2

#1

#0

XAE3

XAE2

XAE1

(T series) (M series)

Example 2. When No.3012 is set to 5 and No.3019 is set to 5

When XSG (bit 2 of parameter No. 3008) is 1, the PMC axis control skip signal, measurement position arrival signal, and skip signal are allocated to X0005. #7 X005

SKIP #7 SKIP

#6

#5

#4

#3

#2

ESKIP SKIP6

SKIP5

SKIP4

SKIP3

#6

#5

#4

#3

ESKIP SKIP6

SKIP5

SKIP4

SKIP3

SKIP2

#1

#0

XAE2

XAE1

SKIP8

SKIP7

#2

#1

#0

XAE3

XAE2

XAE1

SKIP2

SKIP8

SKIP7

(T series)

(M series)

NOTE This parameter is valid when bit 2 (XSG) of parameter No. 3008 is set to 1. Depending on the option configuration of the I/O Link, the actually usable X addresses are: X0 to X127, X200 to X327

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#7

#6

#5

5160

[Input type] [Data type] #4

TSG

#4

#3

#2

#1

#0

TSG

Parameter input Bit path A dependence of the overload torque detection signal in a peck drilling cycle (M series) on the parameter setting of the skip function: 0: Exists. 1: Does not exist.

NOTE When this parameter is 1, even if the setting of the skip signal is disabled, the X address can be used as the overload torque detection signal. At this time, parameter No. 3012 and bit 1 (SK0) of parameter No. 6200 is valid. #7 6200

[Input type] [Data type]

#6

#5

SKF

#4

#3

HSS

#2

#1

#0

SK0

GSK

Parameter input Bit path

#0

GSK

As a skip signal, the skip signal SKIPP is: 0: Invalid. 1: Valid.

#1

SK0

This parameter specifies whether the skip signal is made valid under the state of the skip signal SKIP and the multistage skip signals SKIP2 to SKIP8. 0: Skip signal is valid when these signals are 1. 1: Skip signal is valid when these signals are 0.

#4

HSS

0: 1:

#7

SKF

The skip function does not use high-speed skip signals while skip signals are input. (The conventional skip signal is used.) The step skip function uses high-speed skip signals while skip signals are input.

Dry run, override, and automatic acceleration/deceleration for G31 skip command 0: Disabled 1: Enabled

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#7 6201

#6

#5

SPE

[Input type] [Data type]

#4

#3

IGX

#2

#1

#0

SEB

Parameter input Bit path

#1

SEB

When a skip signal or measurement position arrival signal goes on while the skip function, or the automatic tool length measurement (M series) or automatic tool compensation (T series) is used, the accumulated pulses and positional deviation due to acceleration/deceleration are: 0: Ignored. 1: Considered and compensated. The accumulated pulses and positional deviation due to actual acceleration/deceleration when the skip signal or measurement position arrival signal goes on are considered to obtain the position at which the signal is input.

#4

IGX

When the high-speed skip function is used, SKIP, SKIPP, and SKIP2 to SKIP8 are: 0: Enabled as skip signals. 1: Disabled as skip signals.

#7

SPE

For the skip function (G31), the skip signal SKIP is: 0: Enabled. 1: Disabled. Enabling and disabling the skip signals

Parameter

IGX (No.6201#4)

GSK (No.6200#0)

SPE (No.6201#7)

Skip signal SKIPP

Skip signal SKIP

Multi-step skip signal SKIP2-SKIP8

Setting

0 0 0 0 1 1 1 1

0 1 0 1 0 1 0 1

0 0 1 1 0 0 1 1

Disabled Enabled Disabled Enabled Disabled Disabled Disabled Disabled

Enabled Enabled Disabled Disabled Disabled Disabled Disabled Disabled

Enabled Enabled Enabled Enabled Disabled Disabled Disabled Disabled

IGX (bit 4 of parameter No. 6201) is valid for the skip function (when HSS (bit 4 of parameter No. 6200) is 1) using the high-speed skip signal or the multiphase skip function (when SLS (bit 5 of parameter No. 6200) is 1) using the high-speed skip signal. To use multistage skip signals, the multistage skip function option is required.

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#7

#6

#5

#4

#3

6207

[Input type] [Data type] #1

SFP

#2

#1

SFN

SFP

#0

Parameter input Bit path The feedrate used when the skip function (G31) is being executed is: 0: Feedrate of a programmed F code. 1: Feedrate set in parameter No. 6281.

NOTE For the multi-stage skip function and high-speed skip, see the description of bit 2 (SFN ) of parameter No. 6207. #2

SFN

The feedrate used when the skip function based on high-speed skip signals (with bit 4 (HSS) of parameter No. 6200 set to 1) or the multi-skip function is being executed is: 0: Feedrate of a programmed F code. 1: Feedrate set in a parameter from parameter No. 6282 to No. 6285.

NOTE For not the multistage skip function, but the skip function using no high-speed skip signals (when bit 4 (HSS) of parameter No. 6200 is set to 0), see the description of bit 1 (SFP) of parameter No. 6207. #7

#6

#5

6210

[Input type] [Data type] #3 #4

ASL ASB

#4

#3

ASB

ASL

#2

#1

#0

Parameter input Bit path

The ASB and ASL bits set the type and time constant of acceleration/deceleration after interpolation in the skip function as follows: ASB

ASL

0 1 0

1

Type of acceleration/ deceleration

0

Parameter No. for time constant

Linear type Parameter No. 6280 Bell-shaped (NOTE) This function is disabled .

When bell-shaped acceleration/deceleration is specified, T1=T/2 and T2=T/2 are obtained as with normal acceleration/deceleration after cutting feed interpolation, where T is the time constant. Therefore, the acceleration/deceleration type includes no linear part. - 1618 -

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NOTE In this case, the acceleration/deceleration type is set in bits 0 and 1 of parameter No. 1610, and the time constant is set in parameter No. 1622. 6280

[Input type] [Data type] [Unit of data] [Valid data range]

Time constant for acceleration/deceleration after interpolation for the skip function for each axis

Parameter input Word axis msec 0 to 512 This parameter sets a time constant for acceleration/deceleration after interpolation for the skip function for each axis. This parameter is valid when bit 3 (ASB) of parameter No. 6210 or bit 4 (ASL) of parameter No. 6210 is set to 1.

6281

[Input type] [Data type] [Unit of data] [Minimum unit of data] [Valid data range]

Feedrate for the skip function (G31)

Parameter input Real path mm/min, inch/min, degree/min (machine unit) Depend on the increment system of the reference axis Refer to the standard parameter setting table (C) (When the increment system is IS-B, 0.0 to +999000.0) This parameter sets a feedrate for the skip function (G31). This parameter is valid when bit 1 (SFP) of parameter No. 6207 is set to 1.

NOTE For the multi-stage skip function and high-speed skip, see the description of parameter No. 6282 to No. 6285. Alarm and message Number

PS0035

Note

Message

Description

CAN NOT COMMANDED G31

- G31 cannot be specified. This alarm is generated when a G code (such as for cutter or tool-nose radius compensation) of group 07 is not canceled. - A torque limit skip was not specified in a torque limit skip command (G31P98 or P99). Specify the torque limit skip in the PMC window or the like. Or, specify the torque limit override by address Q.

NOTE This function is enabled for axes not related to composite control.

- 1619 -

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15.3.2

B-64303EN-1/01

High-speed Skip Signal

Overview

The skip function operates based on a high-speed skip signal (HDI0 to HDI3 : connected directly to the CNC; not via the PMC) instead of an ordinary skip signal. In this case, up to eight signals can be input. (Either can be enabled/disabled, using parameters HSS and IGX (bit 4 of parameter No. 6201 and bit 4 of parameter No. 6200).) If a high-speed skip signal is used, up to four signals can be input. Delay and error of skip signal input is 0 to 2 msec at the CNC side (not considering those at the PMC side). This high-speed skip signal input function keeps this value to 0.1 msec or less, thus allowing high precision measurement.

Signal

High-Speed Skip Status Signals HDO0 to HDO3 [Classification] Output signal [Function] This signal informs the PMC of the input status of the high-speed skip signal. The signal-to-bit correspondence is as follows: High-speed skip signal...... Bit name HDI0 ................................. HDO0 HDI1 ................................. HDO1 HDI2 ................................. HDO2 HDI3 ................................. HDO3 [Output condition]

Each bit is set to 1 when: The corresponding high-speed skip signal is logical 1. Each bit is set to 0 when: The corresponding high-speed skip signal is logical 0.

Signal address #7

#6

#5

Fn122

- 1620 -

#4

#3

#2

#1

#0

HDO3

HDO2

HDO1

HDO0

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Parameter #7

#6

#5

#4

#3

6207

[Input type] [Data type] #2

SFN

#2

#1

#0

SFN

Parameter input Bit path The feedrate used when the skip function based on high-speed skip signals (with bit 1 (HSS) of parameter No. 6200 set to 1) or the multi-skip function is being executed is: 0: Feedrate of a programmed F code. 1: Feedrate set in a parameter from parameter No. 6282 to No. 6285.

NOTE For not the multi-stage skip function but the skip function not using high-speed skip signals, see the description of bit 1 (SFP) of parameter No. 6207. 6282

Feedrate for the skip function (G31, G31 P1)

6283

Feedrate for the skip function (G31 P2)

6284

Feedrate for the skip function (G31 P3)

6285

Feedrate for the skip function (G31 P4)

[Input type] [Data type] [Unit of data] [Minimum unit of data] [Valid data range]

Parameter input Real path mm/min, inch/min, degree/min (machine unit) Depend on the increment system of the reference axis Refer to the standard parameter setting table (C) (When the increment system is IS-B, 0.0 to +999000.0) Each of these parameters sets a feedrate for each skip function G code. These parameters are valid when bit 2 (SFN) of parameter No. 6207 is set to 1. #7

6200

[Input type] [Data type] #4

HSS

#6

#5

SRE

#4

#3

#2

#1

#0

HSS

Parameter input Bit path 0: 1:

The skip function does not use high-speed skip signals while skip signals are input. (The conventional skip signal is used.) The step skip function uses high-speed skip signals while skip signals are input.

- 1621 -

15.MEASUREMENT #6

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SRE

When a high-speed skip signal is used: 0: The signal is assumed to be input on the rising edge (contact open close). 1: The signal is assumed to be input on the falling edge (contact close open). #7

6201

[Input type] [Data type]

#6

#5

SPE

#4

#3

IGX

#2

#1

TSE

SEB

#0

Parameter input Bit path

#1

SEB

When a skip signal or measurement position arrival signal goes on while the skip function, or the automatic tool length measurement (M series) or automatic tool compensation (T series) is used, the accumulated pulses and positional deviation due to acceleration/deceleration are: 0: Ignored. 1: Considered and compensated. The accumulated pulses and positional deviation due to actual acceleration/deceleration when the skip signal or measurement position arrival signal goes on are considered to obtain the position at which the signal is input.

#2

TSE

In a skip by the torque limit skip command (G31P98/P99): 0: A servo delay amount (positional deviation) is considered (system variables #5061 to #5065 store positions corrected in consideration of the servo system delay amount). 1: A servo delay amount (positional deviation) is not considered (system variables #5061 to #5065 store positions corrected without consideration of the servo system delay amount). Position during skip operation Current position of CNC Machine position

Origin of the coordinate system

Error amount

Stop point

Position in consideration of delay Position without consideration of delay

#4

IGX

When the high-speed skip function is used, SKIP, SKIPP, and SKIP2 to SKIP8 are: 0: Enabled as skip signals. 1: Disabled as skip signals. - 1622 -

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#7

SPE

For the skip function (G31), the skip signal SKIP is: 0: Enabled. 1: Disabled.

Whether the skip signals are enabled or disabled Parameter

IGX (No.6201#4)

GSK (No.6200#0)

SPE (No.6201#7)

Skip signal SKIPP

Skip signal SKIP

Multistage skip signals SKIP2-SKIP8

Setting

0 0 0 0 1 1 1 1

0 1 0 1 0 1 0 1

0 0 1 1 0 0 1 1

Disabled Enabled Disabled Enabled Disabled Disabled Disabled Disabled

Enabled Enabled Disabled Disabled Disabled Disabled Disabled Disabled

Enabled Enabled Enabled Enabled Disabled Disabled Disabled Disabled

Bit 4 (IGX) of parameter No. 6201 is valid for the skip function using high-speed skip signals (when bit 4 (HSS) of parameter No. 6200 is set to 1) or for the multistage skip function using high-speed skip signals (when bit 5 (SLS) of parameter No. 6200 is set to 1). To use multistage skip signals, the multistage skip function option is required. #7

#6

#5

#4

6202

[Input type] [Data type] 1S1 to 1S8

#3

#2

#1

#0

1S4

1S3

1S2

1S1

Parameter input Bit path Specify which high-speed skip signal is enabled when the G31 skip command is issued. The following table shows the correspondence between the bits, input signals, and commands. The setting of the bits have the following meaning : 0: The high-speed skip signal corresponding to a bit is invalid. 1: The high-speed skip signal corresponding to a bit is enabled. Parameter

High-speed skip signals

1S1 1S2 1S3 1S4

HDI0 HDI1 HDI2 HDI3

NOTE For the multi-stage skip function and high-speed skip, see the description of bit 2 (SFN ) of parameter No. 6207.

- 1623 -

15.MEASUREMENT Alarm and message

B-64303EN-1/01

Number

Message

PS0373

ILLEGAL HIGH-SPEED SKIP SIGNAL SELECTED

Note

Description In the skip commands (G31, G31P1 to G31P4) and dwell commands (G04, G04Q1 to G04Q4), the same high-speed signal is selected in different paths.

NOTE This function is enabled for axes not related to composite control.

Notes on using high speed skip - Overview

- Detail

Note that the contact state during a skip is different from that of Series 0i in the high speed skip signal of Series 0i-D. Series 0i-D : The skip signal is assumed to be input when an open contact is closed. Series 0i-C : The skip signal is assumed to be input when an closed contact is opened. The difference in the specification of the high speed skip signal between Series 0i-D and Series 0i-C is as follows. For Series 0i-D The high-speed skip signal is assumed to be when the input voltage is at a low level and assumed to be at a high level. That is, the skip signal is assumed to be when a contact is closed. Therefore the skip signal is input when an open contact is closed. For Series 0i-C The high-speed skip signal is assumed to be when the input voltage is at a low level and assumed to be at a high level. That is, the skip signal is assumed to be when a contact is opened. Therefore the skip signal is input when a closed contact is opened. When the wiring designed for 0i-C is applied to 0i-D, the modification of wiring is not necessary by setting the following parameter. Depending on the detector to be used, the settings on the detector are used instead of parameter settings to switch between conntact A and contact B of for output signals. For details, see the manual of the detector.

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- Parameter #7 6200

[Input type] [Data type] #6

SRE

#6

#5

#4

#3

#2

#1

#0

SRE

Parameter input Bit path When a high-speed skip signal or high-speed measurement position arrival signal is used: 0: The signal is assumed to be input on the rising edge (contact open close). 1: The signal is assumed to be input on the falling edge (contact close open).

- Signal High-speed skip status signal HDO0 to HDO3 #7

#6

#5

Fn122

[Classification] [Function] [Output condition]

#4

#3 HDO3

#2 HDO2

#1 HDO1

#0 HDO0

Output signal This signal informs the PMC of the input status of the high-speed skip signal. 1: When the contact of the high-speed skip signal is closed. (The input voltage is at a low level.) 0: When the contact of the high-speed skip signal is open. (The input voltage is at a high level.)

- 1625 -

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15.3.3

B-64303EN-1/01

Multi-step Skip

Overview

The multi-step skip function stores the coordinate values when skip signals (four signals) are input in the block where G31P1 to G31P4 are specified, and skips the remaining movement. In the block where Q1 to Q4 are specified after G04, dwell can be skipped when skip signals (four signals) are input. A skip signal from equipment such as a fixed-dimension size measuring instrument can be used to skip programs being executed. In plunge grinding, for example, a series of operations from rough machining to spark-out can be performed automatically by applying a skip signal each time rough machining, semi-fine machining, finemachining, or spark-out operation is completed.

NOTE Multi-step skip function is optional function. Signal

Skip signals SKIPP SKIP SKIP2 SKIP3 SKIP4 SKIP5 SKIP6 SKIP7 SKIP8 [Classification] Input signal [Function] These signals terminate skip cutting. That is, the position where a skip signal turns to "1" in a command program block containing G31P1 (or G31), G31P2, or G31P3, G31P4 is stored in a custom macro variable, and the move command of the block is terminated at the same time. Furthermore, in a block containing G04, G04Q1, G04Q2, G04Q3 or G04Q4, the dwell command of the block is terminated. In either case, until all other commands (such as miscellaneous functions) of the block are completed, machining never proceeds to the next block. Parameters Nos. 6202 to 6205 can be used to select which skip signals are enabled. Since a one-to-one relationship is not required, one skip signal can be enabled for multiple commands or multiple skip signals can be enabled for one command. [Operation]

When a skip signal turns to "1", the control unit functions as described below. When a block contains a G code from (G31, G31P1 to P4) for skip cutting, and the skip signal is made applicable by parameter setting to the command, the control unit reads and stores the current position of the specified axis at that time. The control unit stops the axis, then cancels the remaining distance that the axis was supposed to be moved in that block. When a block contains a G04, or G04Q1 to Q4 code for dwell, and the skip signal is made applicable by parameter setting to the command, the control unit stops dwell operation, and cancels any remaining dwell time.

- 1626 -

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NOTE 1 The skip signal width requires at least 10 msec. 2 The delay or variation on the CNC side (excluding the PMC side) in detecting the skip signal is 0 to 2 msec. Therefore, the measurement error is the sum of 2 msec and the delay or variation (including the delay or variation of the receiver) of the skip signal on the PMC side, multiplied by the feedrate. 3 The delay or variation until feed stops after detection of the skip signal is 0 to 8 msec. To calculate the overshoot, further consider delay in acceleration/deceleration, delay in servo, delay on the PMC side. 4 The G codes for skip cutting (G31P1, G31P2, G31P3, and G31P4) are the same except for their correspondence with skip signals. G31 and G31P1 are equivalent. 5 The skip signal is not monitored for a rising edge, but for its state. So, if a skip signal continues to be "1", a skip condition is assumed to be satisfied immediately when the next skip cutting or dwell operation is specified. 6 Address X004 can be allocated optionally to the X addresses set in parameter No.3012 and parameter No.3019 when XSG (bit 2 of parameter No.3008) is 1. Signal address

#7

#6

Gn006 #7 X004

#4

#3

#2

#1

#0

#5

#4

#3

#2

#1

#0

ESKIP

-MIT2

+MIT2

-MIT1

+MIT1

XAE2

XAE1

SKIP6

SKIP5

SKIP4

SKIP3

SKIP2

SKIP8

SKIP7

#6

#5

#4

#3

#2

#1

#0

SKIP5

SKIP4

SKIP3

#5

#4

#3

#6

SKIP #7 SKIP

#7 X013

#5

SKIPP

SKIP

ESKIP SKIP6 #6

#2

ESKIP

XAE3

XAE2

XAE1

SKIP2

SKIP8

SKIP7

#2

#1

#0

#2

SKIP6

SKIP5

- 1627 -

#2

SKIP4

SKIP3

#2

SKIP2

#2

XAE2

#2

SKIP8

#2

XAE1

SKIP7

(T series)

(M series)

(T series)

15.MEASUREMENT

B-64303EN-1/01

WARNING 1 SKIP2 to SKIP8 are at the same addresses as axis-direction-specific manual feed interlock signals +MIT1, -MIT1, +MIT2, and -MIT2 (tool compensation measurement value direct input B), skip signal ESKIP (PMC axis control), and measurement position arrival signals XAE1 and XAE2 (automatic tool compensation). Be careful when using both. (T series) 2 SKIP2 and SKIP6 to SKIP8 are at the same addresses as skip signal ESKIP (axis control by PMC) and measurement position arrival signal XAE1, XAE2, and XAE3 (tool length automatic measurement). Be careful when using both. (M series) Parameter #7

#6

#5

3008

[Input type] [Data type]

#4

#3

#2

#1

#0

XSG

Parameter input Bit path

NOTE When this parameter is set, the power must be turned off before operation is continued. #2

XSG

A signal assigned to an X address is: 0: Fixed at the address. 1: Able to be reassigned to an arbitrary X address.

NOTE When this parameter was set to 1, parameters No. 3012 and No. 3019 must be set. If parameters No. 3012 and No. 3019 are not set, the skip to X0 signal, PMC axis control skip signal, measurement position arrival signal, axis-direction-specific manual feed interlock signal, and tool compensation write signal are assigned to X0000.

- 1628 -

15.MEASUREMENT

B-64303EN-1/01

3012

Skip signal assignment address

NOTE When this parameter is set, the power must be turned off before operation is continued. [Input type] [Data type] [Valid data range]

Parameter input Word path 0 to 327 Set an X address to which the skip signal (SKIPn) is to be assigned.

NOTE This parameter is valid when bit 2 (XSG) of parameter No. 3008 is set to 1. Depending on the option configuration of the I/O Link, the actually usable X addresses are: X0 to X127, X200 to X327 3019

Address to which the PMC axis control skip signal and measurement position arrival signals are assigned

NOTE When this parameter is set, the power must be turned off before operation is continued. [Input type] [Data type] [Valid data range]

Parameter input Word path 0 to 327 Set an X address to which the PMC axis control skip signal ESKIP and the measurement position arrival signals (XAE1, XAE2, and XAE3 (M series) or XAE1 and XAE2 (T series)) are to be assigned.

NOTE This parameter is valid when bit 2 (XSG) of parameter No. 3008 is set to 1. Depending on the option configuration of the I/O Link, the actually usable X addresses are: X0 to X127, X200 to X327

- 1629 -

15.MEASUREMENT

B-64303EN-1/01

#7 6200

[Input type] [Data type]

#6

#5

SKF

#4

#3

#2

SLS

#1

#0

SK0

GSK

Parameter input Bit path

#0

GSK

As a skip signal, the skip signal SKIPP is: 0: Invalid. 1: Valid.

#1

SK0

This parameter specifies whether the skip signal is made valid under the state of the skip signal SKIP and the multistage skip signals SKIP2 to SKIP8. 0: Skip signal is valid when these signals are 1. 1: Skip signal is valid when these signals are 0.

#5

SLS

0:

The multi-step skip function does not use high-speed skip signals while skip signals are input. (The conventional skip signal is used.) The multi-step skip function uses high-speed skip signals while skip signals are input.

1:

NOTE Skip signals (SKIP, SKIP to SKIP4) are enabled regardless of this parameter. These signals can be disabled by setting the parameter IGX (No. 6201#4). #7

SKF

Dry run, override, and automatic acceleration/deceleration for G31 skip command 0: Disabled 1: Enabled #7

6201

[Input type] [Data type] #1

SEB

#6

#5

SPE

#4 IGX

#3

#2

#1

#0

SEB

Parameter input Bit path If the skip function is used, the positional deviation and the number of accumulated pulses due to acceleration/deceleration at the time when the skip signal is turned on are: 0: Not considered. 1: Considered for compensation. The position where the skip signal is input is found by considering the positional deviation and the number of accumulated pulses due to actual acceleration/deceleration at the time when the skip signal is turned on.

- 1630 -

15.MEASUREMENT

B-64303EN-1/01

#4

IGX

When the high-speed skip function is used, SKIP, SKIPP, and SKIP2 to SKIP8 are: 0: Enabled as skip signals. 1: Disabled as skip signals.

#7

SPE

For the skip function (G31), the skip signal SKIP is: 0: Disabled. 1: Enabled. Enabling and disabling the skip signals

Parameter

IGX (No.6201#4)

GSK (No.6200#0)

SPE (No.6201#7)

Skip signal SKIPP

Skip signal SKIP

Multi-step skip signal SKIP2-SKIP8

Setting

0 0 0 0 1 1 1 1

0 1 0 1 0 1 0 1

0 0 1 1 0 0 1 1

Disabled Enabled Disabled Enabled Disabled Disabled Disabled Disabled

Enabled Enabled Disabled Disabled Disabled Disabled Disabled Disabled

Enabled Enabled Enabled Enabled Disabled Disabled Disabled Disabled

IGX (bit 4 of parameter No. 6201) is valid for the skip function (when HSS (bit 4 of parameter No. 6200) is 1) using the high-speed skip signal or the multiphase skip function (when SLS (bit 5 of parameter No. 6200) is 1) using the high-speed skip signal. To use multistage skip signals, the multistage skip function option is required.

- 1631 -

15.MEASUREMENT

B-64303EN-1/01

#7

#6

#5

#4

#3

#2

#1

#0

6202

1S8

1S7

1S6

1S5

1S4

1S3

1S2

1S1

#7

#6

#5

#4

#3

#2

#1

#0

6203

2S8

2S7

2S6

2S5

2S4

2S3

2S2

2S1

#7

#6

#5

#4

#3

#2

#1

#0

6204

3S8

3S7

3S6

3S5

3S4

3S3

3S2

3S1

#7

#6

#5

#4

#3

#2

#1

#0

6205

4S8

4S7

4S6

4S5

4S4

4S3

4S2

4S1

#7

#6

#5

#4

#3

#2

#1

#0

6206

DS8

DS7

DS6

DS5

DS4

DS3

DS2

DS1

[Input type]Parameter input [Data type] Bit path 1S1to1S8, 2S1to2S8, 3S1to3S8, 4S1to4S8, DS1toDS8 Specify which skip signal is enabled when the skip command (G31, or G31P1 to G31P4) and the dwell command (G04, G04Q1 to G04Q4) are issued with the multi-step skip function. The following table shows the correspondence between the bits, input signals, and commands. The setting of the bits have the following meaning : 0: The skip signal corresponding to a bit is invalid. 1: The skip signal corresponding to a bit is enabled. Multi-step skip function

Command

Input signal

G31 G31P1 G04Q1

G31P2 G04Q2

G31P3 G04Q3

G31P4 G04Q4

G04

1S1 1S2 1S3 1S4 1S5 1S6 1S7 1S8

2S1 2S2 2S3 2S4 2S5 2S6 2S7 2S8

3S1 3S2 3S3 3S4 3S5 3S6 3S7 3S8

4S1 4S2 4S3 4S4 4S5 4S6 4S7 4S8

DS1 DS2 DS3 DS4 DS5 DS6 DS7 DS8

SKIP/HDI0 SKIP2/HDI1 SKIP3/HDI2 SKIP4/HDI3 SKIP5 SKIP6 SKIP7 SKIP8

NOTE HDI0 to HDI3 are high-speed skip signals. The same signal must not be specified in different paths at the same time. When bit 0 (GSK) of parameter No. 6200 is 1, the command to be skipped by the SKIPP signal can be selected by setting the following parameters.

- 1632 -

15.MEASUREMENT

B-64303EN-1/01

Commands skipped by SKIPP signal Parameter

Command skipped

When bit 0 (1S1) of parameter No. 6202 is set to 1 When bit 0 (2S1) of parameter No. 6203 is set to 1 When bit 0 (3S1) of parameter No. 6204 is set to 1 When bit 0 (4S1) of parameter No. 6205 is set to 1 When bit 6 (DS1) of parameter No. 6206 is set to 1

#7

#6

#5

6207

[Input type] [Data type] #2

SFN

#4

G31P1, G04Q1 G31P2, G04Q2 G31P3, G04Q3 G31P4, G04Q4 G04, G04Q1, G04Q2, G04Q3, G04Q4 #3

#2

#1

#0

SFN

Parameter input Bit path The feedrate used when the skip function based on high-speed skip signals (with bit 1 (HSS) of parameter No. 6200 set to 1) or the multi-skip function is being executed is: 0: Feedrate of a programmed F code. 1: Feedrate set in a parameter from parameter No. 6282 to No. 6285.

NOTE For not the multi-stage skip function but the skip function not using high-speed skip signals, see the description of bit 1 (SFP) of parameter No. 6207. 6282

Feedrate for the skip function (G31, G31 P1)

6283

Feedrate for the skip function (G31 P2)

6284

Feedrate for the skip function (G31 P3)

6285

Feedrate for the skip function (G31 P4)

[Input type] [Data type] [Unit of data] [Minimum unit of data] [Valid data range]

Parameter input Real path mm/min, inch/min, degree/min (machine unit) Depend on the increment system of the reference axis Refer to the standard parameter setting table (C) (When the increment system is IS-B, 0.0 to +999000.0) Each of these parameters sets a feedrate for each skip function G code. These parameters are valid when bit 2 (SFN) of parameter No. 6207 is set to 1.

- 1633 -

15.MEASUREMENT Alarm and message Number

B-64303EN-1/01

Message

Description

PS0035

CAN NOT COMMANDED G31

PS0370

G31P/G04Q ERROR

PS0373

Note

ILLEGAL HIGH-SPEED SKIP SIGNAL SELECTED

- G31 cannot be specified. This alarm is generated when a G code (such as for cutter or tool-nose radius compensation) of group 07 is not canceled. - A torque limit skip was not specified in a torque limit skip command (G31P98 or P99). Specify the torque limit skip in the PMC window or the like. Or, specify the torque limit override by address Q. The specified address P value for G31 is out of range. The address P range is 1 to 4 in a multistage skip function. The specified address Q value for G04 is out of range. The address Q range is 1 to 4 in a multistage skip function. Or, P1-4 for G31, or Q1-4 for G04 was commanded without a multistage skip function option. In the skip commands (G31, G31P1 to G31P4) and dwell commands (G04, G04Q1 to G04Q4), the same high-speed signal is selected in different paths.

NOTE This function is enabled for axes not related to composite control.

- 1634 -

15.MEASUREMENT

B-64303EN-1/01

15.3.4

Torque Limit Skip Function

Overview

When the movement command following G31 P99 (or G31 P98) is executed with the servo motor torque limit*1 overridden, cutting feed similar to linear interpolation (G01) can be performed. When the servo motor torque reaches the torque limit (overridden servo motor torque limit) by pushing or the skip signal (including the high-speed skip signal) is input during the movement, the remaining movement commands are canceled and then the next block is executed. (The operation that executes the next block by canceling the remaining movement command is called skip operation later.) The servo motor torque limit can be overridden by: (1) Executing the torque limit override command for the PMC window. *1 : The servo motor torque limit is automatically set according to the settings of the motor model.

Signal

Torque limit reached signals TRQL1 to TRQL5 [Classification] Input signal [Function] Indicates that the torque limit has been reached. [Output condition] Set to "1" when: The torque limit has been reached. Set to "0" when: The torque limit has not been reached. Indicates the signal for each axis. The value at the end of a signal name indicates the number of each control axis.

Signal address

#7

#6

#5

Fn114

#4

#3

#2

#1

#0

TRQL5

TRQL4

TRQL3

TRQL2

TRQL1

Parameter #7

#6

#5

#4

#3

#2

1803

[Input type] [Data type] #0

TQI

#1

TQA

#1

#0

TQA

TQI

Parameter input Bit path Within a torque limit, an in-position check is: 0: Made. 1: Not made. Within a torque limit, an excessive stop-time/move-time error is: 0: Checked. 1: Not checked.

- 1635 -

15.MEASUREMENT

B-64303EN-1/01

#7

#6

#5

3008

[Input type] [Data type]

#4

#3

#2

#1

#0

XSG

Parameter input Bit path

NOTE When this parameter is set, the power must be turned off before operation is continued. #2

XSG

A signal assigned to an X address is: 0: Fixed at the address. 1: Able to be reassigned to an arbitrary X address.

NOTE When this parameter is set to 1, set parameters No. 3012 and No. 3019. If parameter No. 3012 and No. 3019 are not set, the skip signal, the PMC axis control skip signal, and the measurement position arrival signal are assigned to X0000. 3012

Skip signal assignment address

NOTE When this parameter is set, the power must be turned off before operation is continued. [Input type] [Data type] [Valid data range]

Parameter input Word path 0 to 327 Set an X address to which the skip signal (SKIPn) is to be assigned.

NOTE This parameter is valid when bit 2 (XSG) of parameter No. 3008 is set to 1. Depending on the option configuration of the I/O Link, the actually usable X addresses are: X0 to X127, X200 to X327

- 1636 -

15.MEASUREMENT

B-64303EN-1/01

3019

Address to which the PMC axis control skip signal and measurement position arrival signals are assigned

NOTE When this parameter is set, the power must be turned off before operation is continued. [Input type] [Data type] [Valid data range]

Parameter input Word path 0 to 327 Set an X address to which the PMC axis control skip signal ESKIP and the measurement position arrival signals (XAE1, XAE2, and XAE3 (M series) or XAE1 and XAE2 (T series)) are to be assigned.

NOTE This parameter is valid when bit 2 (XSG) of parameter No. 3008 is set to 1. Depending on the option configuration of the I/O Link, the actually usable X addresses are: X0 to X127, X200 to X327 #7 6200

[Input type] [Data type]

#6

#5

SKF

#4

#3

HSS

#2

#1

#0

SK0

GSK

Parameter input Bit path

#0

GSK

As a skip signal, the skip signal SKIPP is: 0: Invalid. 1: Valid.

#1

SK0

This parameter specifies whether the skip signal is made valid under the state of the skip signal SKIP and the multistage skip signals SKIP2 to SKIP8. 0: Skip signal is valid when these signals are 1. 1: Skip signal is valid when these signals are 0.

#4

HSS

0: 1:

#7

SKF

The skip function does not use high-speed skip signals while skip signals are input. (The conventional skip signal is used.) The step skip function uses high-speed skip signals while skip signals are input.

Dry run, override, and automatic acceleration/deceleration for G31 skip command 0: Disabled 1: Enabled

- 1637 -

15.MEASUREMENT

B-64303EN-1/01

#7 6201

[Input type] [Data type] #2

#6

#5

SPE

TSE

#4

#3

#2

IGX

#1

#0

TSE

Parameter input Bit path When the torque limit skip function (G31 P99/98) is used, the skip position held in a system variable (#5061 to #5068) is: 0: Position that is offset considering the delay (positional deviation) incurred by the servo system. 1: Position that does not reflect the delay incurred by the servo system. Position during skip operation Current position of CNC Machine position

Origin of the coordinate system

Error amount

Stop point

Position in consideration of delay Position without consideration of delay

#4

IGX

When the high-speed skip function is used, SKIP, SKIPP, and SKIP2 to SKIP8 are: 0: Enabled as skip signals. 1: Disabled as skip signals.

#7

SPE

For the skip function (G31), the skip signal SKIP is: 0: Disabled. 1: Enabled. Enabling and disabling the skip signals

Parameter

IGX (No.6201#4)

GSK (No.6200#0)

SPE (No.6201#7)

Skip signal SKIPP

Skip signal SKIP

Multi-step skip signal SKIP2-SKIP8

Setting

0 0 0 0 1 1 1 1

0 1 0 1 0 1 0 1

0 0 1 1 0 0 1 1

Disabled Enabled Disabled Enabled Disabled Disabled Disabled Disabled

Enabled Enabled Disabled Disabled Disabled Disabled Disabled Disabled

Enabled Enabled Enabled Enabled Disabled Disabled Disabled Disabled

- 1638 -

15.MEASUREMENT

B-64303EN-1/01

IGX (bit 4 of parameter No. 6201) is valid for the skip function (when HSS (bit 4 of parameter No. 6200) is 1) using the high-speed skip signal or the multiphase skip function (when SLS (bit 5 of parameter No. 6200) is 1) using the high-speed skip signal. To use multistage skip signals, the multistage skip function option is required. #7

#6

#5

6207

[Input type] [Data type] #1

SFP

#4

#3

#2

#1

SFN

SFP

#0

Parameter input Bit path The feedrate used when the skip function (G31) is being executed is: 0: Feedrate of a programmed F code. 1: Feedrate set in parameter No. 6281.

NOTE For the multi-stage skip function and high-speed skip, see the description of bit 2 (SFN ) of parameter No. 6207. #2

SFN

The feedrate used when the skip function based on high-speed skip signals (with bit 1 (HSS) of parameter No. 6200 set to 1) or the multi-skip function is being executed is: 0: Feedrate of a programmed F code. 1: Feedrate set in a parameter from parameter No. 6282 to No. 6285.

NOTE For not the multi-stage skip function but the skip function not using high-speed skip signals, see the description of bit 1 (SFP) of parameter No. 6207. 6281

[Input type] [Data type] [Unit of data] [Minimum unit of data] [Valid data range]

Feedrate for the skip function (G31)

Parameter input Real path mm/min, inch/min, degree/min (machine unit) Depend on the increment system of the reference axis Refer to the standard parameter setting table (C) (When the increment system is IS-B, 0.0 to +999000.0) This parameter sets a feedrate for the skip function (G31). This parameter is valid when bit 1 (SFP) of parameter No. 6207 is set to 1.

NOTE For the multi-stage skip function and high-speed skip, see the description of parameter No. 6282 to No. 6285. - 1639 -

15.MEASUREMENT

B-64303EN-1/01

6282

Feedrate for the skip function (G31, G31 P1)

6283

Feedrate for the skip function (G31 P2)

6284

Feedrate for the skip function (G31 P3)

6285

Feedrate for the skip function (G31 P4)

[Input type] [Data type] [Unit of data] [Minimum unit of data] [Valid data range]

Parameter input Real path mm/min, inch/min, degree/min (machine unit) Depend on the increment system of the reference axis Refer to the standard parameter setting table (C) (When the increment system is IS-B, 0.0 to +999000.0) Each of these parameters sets a feedrate for each skip function G code. These parameters are valid when bit 2 (SFN) of parameter No. 6207 is set to 1.

6221

[Input type] [Data type] [Unit of data] [Valid data range]

Torque limit dead zone time for a torque limit skip command

Parameter input 2-word axis msec 0 to 65535 The torque limit skip arrival signal is ignored for a set period of time. If G31P98 is specified, skip operation is not performed for a set period of time after the torque limit skip arrival signal is set to 1. If G31P99 is specified, skip operation is not performed for a set period of time after the torque limit skip arrival signal is set to 1. However, if a skip signal is input, skip operation is performed, regardless of the period of time set in this parameter. #7

#6

#5

#4

#3

6286

[Input type] [Data type] #0

TQO

#2

#1

#0 TQO

Parameter input Bit axis The torque limit override function is: 0: Disabled. (Override of 100%) 1: Enabled.

NOTE Before the torque limit skip function can be used, this parameter must be set to 1.

- 1640 -

15.MEASUREMENT

B-64303EN-1/01

6287

[Input type] [Data type] [Unit of data] [Valid data range]

Positional deviation limit in torque limit skip

Parameter input 2-word axis Detection unit 0 to 327670 This parameter sets a positional deviation limit for each axis imposed when torque limit skip is specified. When the actual positional deviation exceeds the positional deviation limit, the alarm (SV0004) is issued and an immediate stop takes place.

Alarm and message Number

Message

Description

PS0035

CAN NOT COMMANDED G31

PS0369

G31 FORMAT ERROR

SV0004

EXCESS ERROR (G31)

Note

Reference item

- G31 cannot be specified. This alarm is generated when a G code (such as for cutter or tool-nose radius compensation) of group 07 is not canceled. - A torque limit skip was not specified in a torque limit skip command (G31P98 or P99). Specify a torque limit override in the PMC window. No axis is specified or tow or more axes are specified in the torque limit switch instruction (G31P98/P99). The amount of positional deviation during torque limit skip command operation exceeded the limit value of the parameter No.6287.

NOTE This function is enabled for axes not related to composite control.

Manual name USER S MANUAL (B-64304EN)

- 1641 -

Item name Torque limit skip

5.CONNECTION TO CNC PERIPHERALS

B-64303EN/03

5.3

CONNECTING THE HIGH-SPEED SKIP (HDI)

5.3.1

Connecting the High-speed Skip (HDI) CNC JA40 FI80-20P, DF1R020WB1 (PCR-EV20MDT) 1 2 3 4 5 6 7 8 9 10

HDI0 0V HDI2 0V 0V

0V

11 12 13 14 15 16 17 18 19 20

HDI1 0V HDI3 0V

NOTE 1 The upper connector specification on the JA40 is for the LCD-mounted type. The lower connector specification in parentheses is for the stand-alone type. 2 Do not connect any signal to the pins with no signal name.

- 60 -

5.CONNECTION TO CNC PERIPHERALS

B-64303EN/03

Cable connections JA40 HDI0 0V HDI1 0V HDI2 0V HDI3 0V

1 2 11 12 3 4 13 14 6

0V

5 15 16 17 18 19 20 7 8 9

0V

10 Shield

Ground plate Recommended cable connector: PCR-E20FA (Honda Tsushin Kogyo) FI30-20S (Hirose Electric) FCN-247J020-G/E (Fujitsu) 52622-2011 (Molex Japan)

NOTE Recommended cable connector FI30-20S (Hirose Electric) cannot be used for the stand-alone type.

5.3.2

Input Signal Rules for the High-speed Skip (HDI)

Circuit configuration CNC DRIVER

IiL/IiH

FILTER

VH/VL SHIELD

- 61 -

RECEIVER

5.CONNECTION TO CNC PERIPHERALS

B-64303EN/03

Absolute maximum rating Input voltage range Vin: -3.6 to +13.6 V Input characteristics Symbol

Specification

Unit

Remark

High level input voltage Low level input voltage

Unit

VH VL

High level input current

IiH

Low level input current Input signal pulse duration Input signal delay or variations

IiL

3.6 to 11.6 0 to 1.0 2 (max) 11 (max) -8.0 (max) 20 (min) 0.02 (max)

V V mA mA mA s ms

Vin=5V Vin=10V Vin=0V

NOTE 1 The plus (+) sign of IiH/IiL represents the direction of flow into the receiver. The minus (-) sign of IiH/IiL represents the direction of flow out of the receiver. 2 The high-speed skip signal is assumed to be 1 when the input voltage is at the low level and 0 when it is at the high level. 3 The input level for the CNC receiver is high when the circuit is open. So, the input level for the external driver must be low.

5.4

LINKING THE EMBEDDED ETHERNET INTERFACE CAUTION Before attaching or removing cables, power off the CNC main unit, and confirm that the power is off. Ask the respective manufacturers for explanations about how to build a network and about conditions for using units (such as a media converter, hub, transceiver, and cable) other than the CNC unit. When installing network cables, exercise sufficient caution so that the network will not be affected by any noise source. Electrically separate the network wiring sufficiently from noise sources like motors and their power lines. Also, ground each unit as required. If the grounding impedance is high, it may cause trouble in communication. Once the equipment is installed, conduct communication tests to verify normal operation before starting actual use of the equipment. FANUC is not liable to any damage related to trouble arising from any unit other than the CNC unit.

5.4.1

Connection to the Ethernet Interface

The 100BASE-TX interface are available. A hub (line concentrator) is used to connect the CNC unit to a system. A typical connection example is shown below.

- 62 -