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CNC - SERIES S3000

1. P1327 L7 load tool from storage P1328 L8 unload tool into storage P1324 L4 unload spindle to floor load from storage P1325 L5 unload spindle to storage load from floor P3421 L34 go to end TC for safety only case 6 L 6 unload ZP7RM19 Z safe height P14 P11 load position for unloading L99 call routine for tool X Y XP17YP18R go to unloading location ZP8R Z for change M64 unlock tool G4K5 0 5 sec ZP7R Z safe height load P14 P10 load position for loading L99 call routine for tool X Y XP17YP18R go to loading location ZP8R Z for change M65 lock tool G4K5 0 5 sec ZP7R Z safe height P34 1 L34 go to end other cases L L 7 M Sequence to be defined P34 1 L34 go to end L 8 M Sequence to be defined P34 1 L34 go to end L 4 M Sequence to be defined P34 1 L34 go to end L 5 M Sequence to be defined P34 1 L34 go to end Machine Logic Development PLC Part III 00 selca N77 N78 N79 N80 N81 N82 N83 N84 N85 N86 N87 N88 N89 N91 N92 N93 N94 N95 N96 N97 N98 N99 ZEZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZEZZZZZZZZZZZZZZZ co part common to all cases L 34 0 1 reset origin M29 activate correction M63 close storage door M34 end tool change 632 end program routine to calculate tool X Y L 99 P15 I NT P 14 P1 1 P16 P10 P1 P15 1 P17 P5 P16 P4 P18 P6 P15 P
2. see 2 3 8 DESCRIPTION OF PLC VARIABLES eratio ee a a e 2 3 9 TOOL TABLES coria a nE TaN E AE e Pat e iet nae dL e PL e Le S EN Tea PaL e Ce te ETEA Writing to tool tables from the PLC i 2 4 SERIAL LINE MANAGEMENT MODULE FROM PLC eene Machine Logic Development PLC 01 neral 1 32 Series S3000 General 3 ADAPTING THE PLC PROGRAM FROM 1200 TO THE S3000 4 SUMMARY OF SIGNALS AND REGISTERS 4 1 SYMBOLS AND CONVENTIONS nennen nnne nnne nnn nnne nnne nnne nnne nnne nnne nnns 4 1 4 2 INTERCHANGEABLE AND FLOW OF SIGNALS nnne nnne nnne nnns 4 3 SS oec esi ELI Ret pr edt 4 3 Synchronous communication with the NC enn 4 3 Synchronous auxiliary and preparatory functions pp 4 3 Asynchronous Start Stop Alarmsand Aknowledge controls reenen 4 4 Part origins and Tool length compensation pp 4 4 Enabling and disabling axeS iii 4 4 Axes always active or with locKing enne 4 4 Axes to be disabled sci ia 4 4 Disabling transducerS an onenean a aa ta a a E aan kaa aiat 4 5 Manual JOG nd oi ed AA AA ra 4 5 Manual movement with handwheel nc nannnnna nano 4 5 Homing the axes copita id lia lides 4 5 Manual movement and homing during program eXEecution i 4 5 Axis NO Malta iia 4 5 AXIS status AT 4 6 Control of transducers and electronic handwheels se 4 6 Dynamic compensation
3. label16 where expression may be a BYTE or WORD with a value between 1 and 16 an expression which results in a BYTE or WORD with a value between 1 and 16 The expression is evaluated to find the position of the first bit that is set to one order number of the label to be jumped to Execution then jumps to the label that corresponds to the set bit s location BIT 1 first label BIT 2 second label BIT 16 sixteenth label The maximum possible number of labels is 16 If the expression contains more than one bit set to 1 the least significant one is selected Machine Logic Development PLC Part 00 6 3 Series S3000 selca 6 Instructions to control the program flow If the expression is equal to 0 the next block is executed Example RAM 16 SELECT PROG SELECT 0000000000000100B GOTP SELECT FAS1 FAS2 FAS3 the execution passes to LABEL FAS3 6 6 LOOP The format is EXEC expression ENDE where expression may be a whole number between 1 and 255 a BYTE or WORD with a value between 1 and 256 an expression which results in a BYTE or WORD with a value between 1 and 256 The instructions falling between EXEC and ENDE are executed as many times as is defined by the expression Up to four nested loops are possible Example l 0 EXEC 2 XTAB zeros the table TAB l 1 1 TAB 1 0 ENDE 6 4 Machine Logic Development PLC Part 00 selca Series S3000 6 Instructions to control the pr
4. N161 TC SEQUENCE TO LOAD TOOL FROM FLOOR W TH SPINDLE EMPTY N162 DEF SEQCU 1 6 16 34 COM 1 CUMANU N163 N164 TC SEQUENCE TO UNLOAD SPINDLE TO FLOOR TOM6 N165 DEF SEQCU 2 6 10 34 COM 1 CUMANU N166 N167 TC SEQUENCE TO EXCHANGE BETWEEN SPINDLE amp FLOOR N168 DEF SEQCU 3 2 6 10 16 34 COM 1 CUMANU N169 N170 TC SEQUENCE TO UNLOAD SPINDLE TO FLOOR LOAD FROM STORAGE N171 DEF SEQCU 4 2 6 10 1 4 34 COM 1 CUAUTO N172 N173 TC SEQUENCE TO UNLOAD SPINDLE TO STORAGE amp LOAD FROM FLOOR N174 DEF SEQCU 5 2 6 23 13 16 34 COM 1 CUAUTO N175 N176 TC SEQUENCE TO CHANGE TOOLS WITH ONE ALREADY IN SPINDLE N177 DEF SEQCU 6 6 23 13 1 4 34 COM 1 CUAUTO N178 N179 TC SEQUENCE TO LOAD WHEN SPINDLE IS UNLOADED N180 DEF SEQCU 7 6 1 4 34 COM 1 CUAUTO N181 N182 TC SEQUENCE TO UNLOAD TOOL FROM SPINDLE TO STORAGE N183 DEF SEQCU 8 6 23 13 34 COM 1 CUAUTO N184 N185 TC SEQUENCE TO LOAD TOOL TOOL IN SPINDLE N186 DEF SEQCU 11 6 34 COM 1 CUMANU N187 N188 N189 PROG FAST SECTI ON N190 enable axes N191 ABX MOVCN 1 N192 ABY MOVCN 2 N193 ABZzMOVCN 3 N194 RDMOV MOVCN N195 POFO ANI 1 axes feed pot N196 END SLOW SECTI ON N197 N198 SYNCHRONOUS PART N199 N200 F BURDY ASI NC N201 FHOLD 1 DHOLD 1 N202 decoding always
5. es no yes Machine Logic Development PLC Part Il 01 selca Series S3000 1 Management and flow of commands Notes regarding the display of the status of stop signals e For the signals FHOLD DHOLD HOLDA there are condition variables which can be used in the Screen configuration tables which allow signals to immediately notify the user of the status of the signals described above see their respective descriptions in the Configuration System Manual e The default video display tables provided with the NC implement the following FHOLD 1 or DHOLD 1 or RDMOV unlike MOVCN or M6PGM 1 which flashes the letters in reverse MAPR machine ready on the MAINTENANCE AREA of the video screen in addition to the above the letters appear in reverse separately for each variable HOLDA 1 causes the word HOLD to appear in reverse EMEA 1 causes the softkey R Q STATUS to appear in the main menu and eliminates the other movement softkeys In cases of interruption of communication or where the times are too long in the exchange between PC board and MASTER board the NC goes into emergency status and the following message appears on the screen E32102 M T switched off due to interruption of communication with PC The reporting of the alarm implies signalling of the emergency state EMEA 1 with resultant disabling of the axes and suspension of the program If not in a failure condition the alarm can be removed by means of a BRE
6. Part I 01 selca Series S3000 5 Operations and functions 5 7 STRING OPERATIONS A string is an array of alphanumeric characters excluding commas 5 7 1 NUMERICAL FUNCTIONS WITH STRING ARGUMENTS These are functions resulting in a numerical value starting with a string arguments VAL Transforms an ASCII format to a numerical value Supplies the numerical value of a string variable The syntax is VAL argument where argument may be a string variable an expression which results in a string variable The output of this function may be in BYTE WORD LONG or DOUBLE format The output format selected must be compatible with the length of the string argument that is to be converted The conversion stops at the first non numerical character Example RAM 32 NUMVAL STR NUMSTR PROG NUMSTR 123 56 NUMVAL VAL NUMSTR NUMVAL contains the numerical conversion of NUMSTR which is NUMVAL 123 56 INSTR Search for a string within a string Searches for a string within another string starting from a specified position and for a specified length It supplies the position at which the first character of the string was found The format is INSTR argument1 argument2 argument3 argument 4 where argument1 is the string within which the search takes place argument2 is the string to be found argument3 is the position from which to begin the search Machine Logic Development PLC Part I 01 5 7 Series S300
7. e The synchronous constraints with the signal BURDY in the Sync column e The information directions from PLC to NC vice versa or in both directions in the Direction column Note Writing to PLC read only variables with the direction from the NC to the PLC and not vice versa can have unpredictable consequences e A brief Description in the corresponding column The units of measure used are the following for measurement of heights distances adjustment settings mm for rotating dimensions degrees for timing msec sec or min for speed mm min for acceleration mm sec for spindle speed revolutions min for voltage V The symbols used are the following Machine Logic Development PLC Part II 01 4 1 Series S3000 selca 4 Summary of predefined signals and registers The character after the name of a register indicates there is a multi element vector in the specified format for example UTNUM while MOVCN is a single register Whenever the symbol 1 n appears following a listed item the register or the vector must be interpreted by individually analyzing the elements from 1 to n In order to determine a single register whose bits are described it must be kept in mind that e The dimension of vector elements is greater than 1 e When single register bits are described these descriptions are generally preceded by the description of the register itself which will be indicated without p
8. Cn 4 C PO r5 c wo N20 N21 N22 N23 N24 N25 N27 N28 N29 N30 N31 N32 N33 N34 N35 N36 N38 N39 N40 N41 N42 N43 N44 N45 N46 N47 N48 1 32 KKK KKK OOOO KEK KK K KK KKK RAK KKK KKK KKK KKK KKK KKK KK K K K K K K KKK AXES WITH TI MED CLAMPI NG UNCLAMPLI NG x AXBLOCI 941010 AKK K KK KK K K K K KK KK KK K K KK KK KK K K KK K K K K K K KK K K KK KK KKK KK KKK KKK k NP MUON 1 auxiliaries on DRAOK 2 drives OK OUT UMOVE1 1 enable axis 1 TERM 5 USFREX 6 unclamp axis X variabili interne RAM 8 MOVCNP copy of old MOVCN for variations STI MER TI SBX TUSBX TDSBX TASBX TWSBX unclamp axis X TI BLX TUBLX TDBLX TABLX TWBLX clamp axis X PROG END ooo GE XX SOLOW SECTION RR OSORIO YOR BIRRERIE QUAI ia T UmcELODS oos e rt tke BURDY 0 acquire function from NC POFO ANI 1 axes feed pot Voci iud defe dor dt as falsgem nt AVES isco Pai TI SBX 3 MOVCN 1 timer uncl amp TI BLX 5 MOVCN 1 amp MOVCNP 1 TDBLX timer clamp UMOVE1 MOVCN 1 TDBLX amp I MUON amp I DRAOK enable axes USFREX MOVCN 1 MUONGI DRAOK uncl amp RDMOV 1 MOVCN 1 amp TDSBX TDBLX response to NC MOVCNP MOVCN by MOVCN derivative REME FF MUON DRAOK EMEA emergency request END F RDMOV lt gt MOVCN DISPL 1 WAIT FOR AXES CLAMP UNCLAMP ELSE CLR 1 F IMUON DISPL 2 AUXI LL ARI ES NOT ON ELSE CLR 2 F IDRAOK DISPL
9. NAMEB name of input number 2 NAMEC name of input number 3 OUT 1 17 60 bit format output master17 slave 60 NAMED name of output number 1 NAMEE name of output number 2 4 4 Machine Logic Development PLC Part I 01 selca Series S3000 4 Declarations 4 2 DECLARATION OF INTERNAL VARIABLES Internal variables are defined as those variables or signals needed for calculations or internal storage not directly connected to the physical signals Depending on whether or not the variable must be retained after shutting off the NC two types of variables may be declared SRAM attribute variables to be retained Internal variable1 Internal variable n RAM attribute variables not to be retained Internal variable 1 Internal variable n where attribute may assume the following values via the declarative 1 to indicate a variable of BIT format value of default if omitted 8 to indicate a variable of BYTE format 16 to indicate a variable of WORD format 32 to indicate a variable of LONG format 64 to indicate a variable of DOUBLE format Besides the types RAM x and SRAM x there is also the possibility of managing variables called SSRAM which are not reset by the usual NC reset operations or by recompiling the PLC The SSRAM can be given the same sizes as the normal SRAM Example SSRAM 16 ORELAV machine working hours counter The space available for the SSRAM is very limited 96 bytes the area relative to
10. NC PLC NC NC gt PLC gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC PLC NC PLC no no no no no no no no no no no no no no no Series S3000 4 Summary of predefined signals and registers HOLD request axes 1 8 Temporary hold of movement the operation continues without further commands as soon as axes are released HOLD request axes 1 8 Temporary hold of movement the operation continues without further commands as soon as axes are released BREAK request on movements in automatic axes 1 8 RBKP2P is reset by the NC when acquired The axes are decelerated to a stop and the RUNP2P is reset In emergency state EMAP2P it is used to cancel the emergency but only if the request has been removed REMP2P Axes not in motion following a RBKP2P command 1 8 they can be reset by the PLC but this is not binding Request to go to an emergency state axes 1 8 Axes in emergency state Going in to this state the axes are disabled immediately without a controlled deceleration 1 8 Absolute position read from transducer axes 1 8 Effective speed from transducer axes 1 8 Axes within positioning tolerance set in the configuration 1 8 Marker pulse electrical zero for axes 1 8 with encoder or optical scale
11. NOTE if there is the possibility to move the changer with JOGCU after the changer has already been positioned automatically it will be necessary to do a position search 901 or 923 after the 6 PROG FAST SECTI ON END SLOW SECTION ABX MOVCN 1 enable axes ABY MOVCN 2 ABZ MOVCN 3 RDMOV MOVCN POFO ANI 1 feed override potentiometer SYNCHRONI ZED PART F BURDY ASI NC FHOLD 1 DHOLD 1 decoding always requires a T first then M F STROT CALL GEFUT F STROM CALL GEFUM BURDY 0 Machine Logic Development PLC Part III 00 N156 ASINC N157 ASYNCHRONOUS PART N158 K K KKK XO XO K K GO K K KK K K K K KKK K K K K K KKK K K K K K KKK K K K K K KKK KK K K K KK N159 AUTOMATIC TC MANAGEMENT N160 X OK CK GO XO K K GO KK KKK K K K KKK K K K K K KK K K K K K K KK K K KKK K KK KKK K K K K X N161 CALL CUAUTO automatic TC routine N162 N163 CALL POSMAG N164 lin physical movements for tool change N165 safety controls for the changer movements must always be N166 put directly in the control outputs for example N167 ou select auto select man amp safety mech N168 N169 UARI MA MM62 8 safety N170 UCRI MA MM63 amp safety NH I N172 L4 MM26 manual tool change in progress NIIS ques N174 N175 reset memory at end of selection comands completed N176 IF IRI MAAG I RI MAC MM62 0 door open N177 I F IRI MACG I RI MAA MM63 0 door closed
12. by setting this signal the PLC can temporarily halt the processing of subsequent program blocks This does not take effect until the program reaches a point where the axes are stationary When released the program continues without any further commands It is very important to remember that a profile of continuous interpolation or a series of movements without interpolation of auxiliary functions is considered to be a unique block RHOLD Hold Request This signal duplicates the red poc J key on the NC keyboard Temporarily suspending any movement by stopping the program in progress while not affecting movements on manual In response when the axes are stationary the signal HOLDA Hold Acquired is sent by the NC to signal the presence of the HOLD state When the HOLD request is released program execution will not restart until the start cycle comand is given with the CYST signal or the key is pushed CYST Start Cycle The PLC signal duplicating the green key on the NC keyboard in order to provide a START control cycle SFKGRD Guard this variable is set in binary code 11111111B in hexadecimal OFFH pushing the guard key O on the left side of the space bar and is reset 00000000B 00H releasing the key SFKCNS 1 Pulse signal which records the pushing of the green key serj on the NC keyboard SFKCNS 2 Pulse signal which records the pushing of the red key Hoa on the NC keyboard SFKCNS 3 Pulse signal which records the pu
13. selca CNC SERIES 3000 Machine Logic Development Manual PLC DIR EMC 89 336 DIR LVD 73 23 93 68 selca Series S3000 General REVISIONS 21 07 95 Second release CMAPLC95070E 25 08 99 Third release CMAPLC99081E The features described in this updating manual are fully implemented on the S3000 Series systems with software versions after July 1999 the software versions include in part the features described Note Note Pages marked by an asterisk were removed pages marked by a symbol were added and pages without markings were modified Machine Logic Development PLC 01 1 Series S3000 selca General REVISIONS cont l Note Note Pages marked by an asterisk were removed pages marked by a symbol were added and pages without markings were modified 2 Machine Logic Development PLC 00 selca Series S3000 General INTRODUCTION INTRODUCTION This manual is intended for the OEM of machine tools and machining centers who wish to install the SELCA series S3000 numerical controller This manual provides all of the information on the MACHINE LOGIC operated by the PLC integral to the Series S3000 The manual provides a description of the instructions used in programming the PLC as well as describing the system interface and the interchangeable commands Also provided are complete examples of real applications form which ideas may be taken for writing custom application
14. 1 COPIA4 2 COPIA4 3 COPIA4 4 COPIA4 5 COPIA4 6 COPIA4 7 COPIA4 8 PBSTS 8 POCOP 64 COPIA 8 NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC TT lt a lt i odd ae e e PLC PLC PLC PLC PLC PLC PLC PLC PLC PLC PLC PLC PLC PLC PLC PLC PLC no no no no no no no no no no no no no no no no Series S3000 4 Summary of predefined signals and registers 1 copying axis 3 locked 0 unlocked Reversal of copy direction 0 auto acquire surface disabled 1 auto acquire surface enabled Third byte for remote copying commands Restart copying in the negative direction after loss of contact with the model axis 3 Restart copying in the negative direction after loss of contact with the model axis 2 Restart copying in the negative direction after loss of contact with the model axis 1 Restart copying in the positive direction after loss of contact with the model axis 3 Restart copying in the positive direction after loss of contact with the model axis 2 Restart copying in the positive direction after loss of contact with the model axis 1 Reserved Reserved Fourth byte for remote control of copying functions Temporary stop after renewed contact with model Reserved Reserved Reserved Reserved Reserved Reserved Reserved Register of digital
15. 10100000B 6 5 4 Machine Logic Development PLC Part I 01 selca Series S3000 5 Operations and functions DEC Set bit Outputs a BYTE or WORD with a 1 in the bit position corresponding to the value of the argument provided the value does not exceed 16 for words or 8 for bytes Example DEC 7 01000000B since the number is 7 the seventh bit of the output word is set to a 1 HI Extracts the high byte from a word Converts the eight highest bits in the argument word into a byte argument Example BYT1 HI WORD1 extracts the upper portion of WORD1 LO Extracts the low byte from a word Converts the eight lowest bits in the argument word into a byte argument Example BYT1 LO WORD1 extracts the lower portion of WORD1 EXT Conversion of a byte into a word Extends a byte argument into a word with sign preservation In other words if the sign bit bit 8 was 0 it adds eight zeroes to the left if it was 1 it adds eight ones to the left Example WORD2 EXT BYTE1 BCD Converts a binary number to BCD Converts a byte argument into a two digit BCD number or a word argument into a 4 digit BCD number Example BCD1 BCD BYTE1 if BYTE1 was equal to 00001100 12 decimal BCD1 would be 0001 0010 BIN Converts a BCD number to a byte or word Converts a two digit BCD number contained within a byte or a 4 digit BCD number contained within a word back into binary format Hence it is the opposite
16. 2 amp l MUON N208 USFREZ MOVCN 3 amp l MUON N209 RDMOV 1 MOVCN 1 amp TDSBX TDBLX response from NC N210 RDMOV 2 MOVCN 2 amp TDSBY TDBLY N211 RDMOV 3 MOVCN 3 amp TDSBZ TDBLZ N212 MOVCNP MOVCN MOVCN derivative N213 N214 eae oe adh acne seal ya tay POs ase eye ene Gases a neenon N215 note JOG must be enabled with NCMD 5 8 9 N216 SJ OG NCMD 5 amp L7 NCMD 8 NCMD 9 jog and enable N217 L15J OGP 1 N218 L2 OGM 1 N219 L3 0GP 2 N220 L4 0GM 2 N221 L5 0GP 3 N222 L6 O0GM 3 N223 home X Y Z positive direction N224 J OGP 1 P1 amp S OG RI COX N225 J OGM 1 P2 amp S 0G N226 J OGP 2 P3 amp S OG RI COY N227 J OGM 2 P 4 amp 5 0G N228 J OGP 3 P5 amp S OG RI COZ N229 J OGM 3 P685 0G N230 MOVMA OGP OGM Select manual JOG N231 N232 sneha trar ew adele HANDWHEELS 3 2 ico six ERG N233 select axis to be moved Machine Logic Development PLC Part III 00 Series S3000 1 Programming examples Series S3000 1 Programming examples N234 F P21 L212 L21 L2220 L23 0 N235 1F P22 L22 L22 L23 0 121 0 N236 F P23 L23 L23 L21 0 122 0 N237 IF L21 HM 1 1 18 1 N238 1F L22 HWL 1 2 L8 1 N239 F L23 HWL 1 3 L8 1 N240 F L218 L228 L23 HWL 1 0 L8 0 N241 selezione passo N242 F P24 L24 1 L25 0 L26 0 N243 1F P25 L24 0 L25 1 L26 0 N244 1F P26 L24 0 L25 0 L26 1
17. AVARIA result TEST 1 TEST STRCMP AVARIA AVARIA result TEST 0 Machine Logic Development PLC Part 01 5 9 Series S3000 selca 5 Operations and functions 5 7 2 STRING FUNCTIONS ON NUMERICAL ARGUMENTS The result of these functions are strings of characters whose formats can be a string of any length MKNS converts a number into string format Converts any number in any format except bit format into a string of ASCII characters 512007 In PLC programs for the S1200 system the ASC argument function was used This function may be used for example to display the value of a numerical variable as a message The output of the function must be assigned to a string variable The format is MKN argument where the argument may be an explicit number a variable the numerical result of an expression If the argument is in byte format the result of the conversion has 4 characters the first of which is the sign or blank and the three others are either 0 or a number For example the conversion of a byte containing the value 1 would be 001 the conversion of a byte containing the value 11 would be 011 If the argument is in word format the result of the conversion would be 6 characters the first of which is the sign or blank and the five others are 0 or a number For example the conversion of a word containing the value 1 would be 00001 the conversion of a word containing the value 11 would be
18. E1003 E1004 E1005 E1006 E1007 E1008 E1009 E1010 E1011 E1012 E1013 E1032 E1033 E1034 E1036 E1037 E1061 E1062 E1063 E1064 E1065 E1066 E1067 E1068 E1069 E1070 E1080 E1108 E1113 E1116 E1130 E1158 E1159 E1160 E1161 E1162 D 4 tool to be taken out missing from storage tool to be returned already in storage storage place missing for tool to be loaded from spindle storage place missing for loading tool from prog T storage place missing for loading from intermediate stat storage place missing for loading tool from gripper tool change cycle interrupted due to M T switch off tool table with inconsistent data wrong position associated with tool manual loading of tool also present in storage tool TO pick place requested random fixed loading not allowed num tool error in DDI Procedure Command syntax error in file CAMME at line wrong table number in file CAMME at line too many values in file CAMME at line insuff number of values in file CAMME at line Gray code fault on axis absolute transducer signal too high analog transducer of axis signal too low analog transducer of axis position read discontinuity axis servomechanism error axis wrong number of pulses increment transducer axis fault with transducer of axis out of tolerance positioning of axis contact missing between drilling head and plate error of drilling destination plane drill
19. In addition no TC sequence is operable if it is an error condition Machine Logic Development PLC Part Il 01 2 21 Series S3000 selca 2 Dedicated internal modules NEW INFORMATION VARIABLES The PLC can acquire some configuration parameters to be able to implement more flexible and general programs the information is available in the following variables Name Size Direction Description CUATYP 16 NC gt PLC Type of tool changer selected 0 manual 1 manual S1200 2 automatic MAGGEO 16 NC gt PLC Selected storage geometry 0 chain 1 planar MAGTYP 16 NC gt PLC Selected disposition of tools in storage 0 fixed 1 random 2 fixed random MAGGST 16 NC gt PLC Selected storage management 0 synchronous 1 asynchronous 2 semiasynchronous 2 3 9 TOOL TABLES The tool table stores all the information relative to the tools it is organized line by line arranged and on several pages TOOL PARAMETERS tool table page 1 e tool codes radius and length corrections storage position status excluded or not special types and sizes e tool codes in spindle in jaws and intermediate station TOOL LIFE PARAMETERS tool table page 2 e maximum life minimum life life remaining tool father tool life expired AVAILABLE APPLICATIONS PARAMETERS tool table page 3 e word 1 word 2 float 2 float 3 The valid tool codes are all whole numbers from 1 to 32767 The position in storage is to be interpreted in the
20. MZY 5 Y axis zero micro switch only for non absolute N17 MZZ 6 Z axis zero micro switch N18 TERM 23 jump to input 23 N19 REME 24 external emergency N20 N21 physical output N22 OUT N23 UMOVE1 1 enable axis 1 N24 UMOVE2 2 enable axis 2 N25 UMOVE3 3 enable axis 3 N26 TERM 4 N27 UMAN 5 enable spindle N28 UREF 6 coolant N29 ALARM 7 CNC in emergency N30 LAHOLD 8 axis hold lamp N31 LACYON 9 cycle start lamp N32 N33 internal variables N34 RAM 1 N35 ROTMA spindle status in memry N36 CI CL machine reference cycle N37 N38 message string N39 STR N40 MSG1 N41 N42 softk menu managed by PLC N43 SOFTK 1 N44 P1 L1 1 J0G AXIS X N45 P2 L2 1 JOG AXIS X N46 P3 L3 1 JOG AXIS Y N47 P4 L4 1 0G AXIS Y N48 P5 L5 1 J0G AXIS Z N49 P6 L6 1 JOG AXIS Z N50 P7 L7 REFERENCE AXES N51 P8 L8 HANDWHEEL 2 N52 N53 SOFTK 2 N54 P21 L21 X AXI S HANDWHEEL N55 P22 L22 Y AXIS HANDWHEEL N56 P23 L23 Z AXIS HANDWHEEL N57 P24 L24 0 5 mm rev N58 P25 L25 1 mm rev N59 P26 L26 5 mm rev N60 P27 L27 10 mm rev N61 P28 L28 JOG MODE 1 N63 NI TI ALI ZATI ON SECTI ON N64 INIT N65 test of KMW1 is machine ref required N66 IF KMW 1 1 CICL 1 ELSE CICL 0 N67 SPGAM 1 1 spindle range 1 N68 message init N69 MSG1 Reference
21. N245 F L24 STEP 1 N246 1F L25 STEP 2 N247 1F L26 STEP 3 N248 N249 Teeth Holmes cycles sari iaia N250 home cycle started by pressing softkey F17 N251 ermi nated by BREAK or when all axes are homed N252 cycle starts with Z axis then X Y simultaneously N253 ZERI OK MI ZEA 1 amp MI ZEA 2 amp MI ZEA 3 N254 L7 FF P7 amp L7 ZERI OK NCMD lt gt 5 BRKA P7 amp L7 home cycle N255 RICOX FF L7 amp MI ZEA 3 L7 MI ZEA 1 X home cycle in memory N256 RICOY FF L7 amp MI ZEA 3 L7 MI ZEA 2 Y home cycle in memory N257 RICOZ FF L7 amp P6 P5 L7 MI ZEA 3 Z home cycle in memory N258 N259 softkey F7 menu 1 iniates the home cycle N260 MICZE 1 L7 N261 MICZE 2 L7 N262 MICZE 3 L7 N263 assign physical home switches N264 MI ZER 1 l MZX N265 MI ZER 2 zl MZY N266 MI ZER 3 MZZ N2 05 dios ttd Mace manual tool change N268 ULAMO6 CAUT amp TWM06 gt 5 SPMOT 1 N269 IF IFICUT CAUT 0 N270 TI M06 10 TUM06 N271 NAA beats eevee win xe MOTEL OG ON N273 The pump on MUON frequency N274 depends on the movement of the axes N275 TLUBI 6000 TLUBU amp MUON amp I LI VOL 10 minute oscillator N276 TLUBA MOVCN amp I NTOL 20 pause and disable if axes stopped N277 UKLUBA TLUBW gt 5950 amp TLUBA amp I MUONG amp ILIVOL pump for 5 seconds N278 N219 vei tts general zs usine att deeded N280 Note ILIVRE e ILI VOL N281 have no effect during the tapping fixed cyc
22. N287 ES SSPE S SSS SS SSS SSS SS SSS SSS SS SSS SS SSS SSS SS SSS SSS SS SSS SS N288 decode sequence codes N289 IF BRDYCU NOCU N290 MAPRCU 0 halt cycle N291 CALL OPER management TC cycle N292 BRDYCU 0 TC cycle acquired N293 NOCU N294 N295 ESS S SESS SSS SSS SSS SSS SESS SSS SSS SSS SSS SSS SS SSS SSS SSS SSS SS N29 4 3 dN ee OK to Continue CV CO anat ir ente N297 F CUATT MM66 0 synchronous part completed with M6 N298 ok start unload in masked ti me N299 MAPRCU MM66 amp RI CUT Be eats ro N300 N301 RTS N3 2 KAKA KK e e ex x RETURN FROM CUAUTO CONTROL XX kk xk x GGG Xx K N303 N3 4 N305 ROUTI NE TO DECODE TC AND RESET N3 6 KKK KKK KK KK KK KK KK RK RK KK KK RK RK KK KK KK RK KKK KEKE KKK KK K K KK KKK N307 case for TC reset N308 RESECU N309 MM26 0 reset tool change N310 MM62 0 N311 MM63 0 N312 MM66 0 N313 RICUT 0 1 26 Machine Logic Development PLC Part III 00 selca M6 0 normal reset M30 or break ESET NDI NT 1 30 display M30 RRM06 0 cancel error on M6 M6 without T ready N319 RTS co n mm EAST N321 TC OPERATI ONS management N322 OPER N323 IF OPERCU 26 CU26 N324 I F OPERCU 66 CU66 N325 IF OPERCU 901 CU901 N32
23. N58 SPORI 1 1 N59 RTS N60 RESET N61 SPORI 0 N62 WNDI NT 1 30 display M30 N63 RTS Nodo oa tn AE program ends Zoe eds e c IOS Machine Logic Development PLC Part III 00 Series S3000 1 Programming examples 1 15 Series S3000 selca 1 Programming examples SPIND3 Range change N1 N2 N3 EXAMPLE SPINDLE W TH TWO RANGES N4 SPI ND3 941008 N5 N6 PES SESS S SSS SS SESE SS SS SSS SSS SS SSS SSS SS SSS K KK KK KKK KKK KK KKK k N7 N8 Spindle range change management N9 NP N10 MG1 microswitch range 1 N11 MG2 microswitch range 2 N12 SGLMI threshold spindle speed N13 N14 OUT N15 TERM 4 N16 ABM enable spindle operation N17 KVGI select actuator range 1 N18 KVG2 select actuator range 2 N19 N20 RAMI N21 GAMI range 1 selected N22 GAM2 range 2 selected N23 MM41 force range 1 N24 MM42 force range 2 N25 N26 PROG N27 END N28 F BURDY ASI NC N29 FHOLD 1 DHOLD 1 N30 F STROM CALL GEFUM N31 BURDY 0 N32 ASINC N33 N34 X x spindle management EEA EA KO 0e 0 e 0C 0e Ge kc e kc ee kc eec e eG ee GGG N35 N36 GAMI MM41 SPEED lt SPSMG1 1 amp MM42 select range 1 N37 GAM2 MM42 SPEED gt SPSMG1 1 amp MM41 select range 2
24. N67 N68 F BRKA EMEA CALL RESET break or emergency N69 N70 spindle with transducer in emergency if not in motion N71 TRMI 5 sSPROT 1 amp SPMOT 1 amp SPREG 1 if active for 0 5 sec REME N72 F TRMU DISPL 0 SPI NDLE NOT ROTATI NG display message N73 F BRKA CLR 0 cancel msg N74 N75 general N76 Attention The SPRMP 1 signal spindle on ramp is not Machine Logic Development PLC Part III 00 Series S3000 1 Programming examples 1 13 Series S3000 1 Programming examples N77 guaranteed to be immediately available after setting the N78 rotation control N79 stop axis feed N80 FHOLD N81 DHOLD FHOLD N82 REME FF TRMU EMEA N83 END NBA usse e sers very slow section N85 GIRMI NT ABS SPTCH N86 END SPRMP 1 1 GI ROK amp SPROT 1 RAPI N87 N88 ROUTINES N89 GEFUM N90 WNDI NT 1 AUXM N92 IF AUXM 4 M04 N93 IF AUXMz5 M05 N94 RTS N95 M03 SPDIR 1 0 ROTMA 1 N96 M04 SPDIR 1 1 ROTMA 1 N97 M05 ROTMA 0 RTS N98 N99 RESET N100 ROTMA 0 N101 WNDI NT 1 23 N102 RTS NI03 reunion Sa Aia program end 1 14 display M functions stop spindle amp G84 RAPI spindle stopped Machine Logic Development PLC Part III 00 selca SPIND2 Spindle Orient N1 KKK K KKK KK K K K K K K K K K K K K KK K K K K K K KK K K K K K K KK K K K K K K K K K K K KK K KK KK K N2 N3 EXAMP
25. POA 2 N56 POAOLZ POA 3 N57 after each lubrication reset the distance travelled N58 F TLUBU CORSAX 0 CORSAY 0 CORSAZ 0 N59 with I MUON load max on CORSA so lubrication is performed N60 on power up N61 same thing on NO OIL N62 F I MUON I LI VOL CORSAX ML CORSAY ML CORSAZ ML N63 N64 ube for 5 seconds or on softkey Pl N65 N66 UKLUBA TLUBD P1 amp I LI VOL amp I MUON lube pump N67 L1 UKLUBA lube lamp N68 N69 Mur wn teas E RS generali A Cm tete a uae ese N70 ABI LXzMOVCN 1 enable axes N71 ABILY MOVCN 2 N72 ABILZ MOVCN 3 N73 RDMOV MOVCN axes enabled response N74 BURDY 0 acquire NC function N75 POFO ANI 1 feed override N76 FHOLDz ILI VOL inhibit axes move Machine Logic Development PLC Part III 00 Series S3000 1 Programming examples 1 17 Series S3000 1 Programming examples N77 N78 N79 N80 N81 N82 N83 N84 1 18 DHOLD F HOLD inhibit data blocks REME FF MUON EMEA machine emergency END IF ILIVOL DISPL 1 MSGl ELSE CLR 1 message level min I F IMUON DISPL 2 MSG2 ELSE CLR 2 message aux END es PEOOMAM end easdem De atas Machine Logic Development PLC Part III 00 selca LUBIN3 Basic intermittent lubrication ARS AOR ROR VOTO BOAR EHO x NTERMI TENT LUBRI CATI ON LUBI N3 941010 KKK K KKK KK KK K K K KK K KK KK KK K KK K KK KKK K K K KK KK K KK K K K KK K K
26. Search for a string within a string 0 5 7 LEN String lengtli io Ere t ree Er pite Re tiet e Ec PER EC LEER 5 8 STRGMP String comparisors cni tedio lena der dida 5 9 5 7 2 STRING FUNCTIONS ON NUMERICAL ARGUMENTS pp 5 10 MKN Converts a number into string format en 5 10 CHR Generates an ASCII character i 5 10 STRNG Generates a string of equivalent characters 5 11 5 7 3 STRING FUNCTIONS WITH STRING ARGUMENTS seems 5 11 MID Extracts a small string from a larger string pp 5 11 LEFT Extracts a string starting from the left 5 12 RIGHTS Extracts a string starting from the right ii 5 13 5 7 4 COMBINING STRINGS eo a E Aaa AEAT E Aa E eea a a 5 13 6 INSTRUCTIONS FOR PROGRAM FLOW CONTROL 6 1 UNCONDITIONAL JUMP crecer 6 1 6 2 CONDITIONAL JUMP rre 6 2 6 3 CONDITIONAL EXECUTION ccccesctccccesceccerestecccpesceccerasuecncvescecceraadeccepcavecderssdececvesceccerssteccevescezes 6 2 6 4 CALCULATED GOTO se e anan E AESA EE EN SRSA KE EESK ERSAN IAK EKATERINA 6 2 6 52 QUESTIONED GO TO ime E e e 6 3 6 4 6 7 SUBROUTINE sm a inenen iaai EREA EeNNN RERA 6 5 Machine Logic Development PLC 01 7 Series S3000 General 7 SPECIAL FUNCTIONS EIRP ELOR eR 7 1 72 MULTIPLEXER ERA 7 1 1 3 TABLE SEARCH mm Omi ei genes aaa 7 2 7 4 MESSAGES FOR THE OPERATOR nnne ntn nnn ntn nennen nennen nnns 7 3 7 5 MACHINE LOGIC PROGRAM COMMANDS rin 7
27. System error code read on the controlled axes slave error outside tolerance transducer errors etc Error code read on the I OMIX cards encoder feedback failure digital output error etc Error code occurring during the interpolation calculations Runtime error code read during the execution of the PLC program division by 0 overflow underflow etc Error code read on the spindles transducers etc Error code read on the independent axes transducers etc Error code read during tool change or incorrect tool tables etc Error code caused by exceeding system sampling time Error code read during a copying cycle or touch probe sensor Disabling mask that senses errors on floating point calculations division by zero overflow Reading and modifying axis configuration parameters NC PLC no NC lt gt PLC no NC PLC no AXSTP VALSTP ACTSTP 4 10 8 64 16 1 NC lt gt PLC no Number of the axis whose parameters are to be modified Current value in the system configuration parameters Configuration parameter code to access through the PLC the parameters operate on a non static copy in memory the new values are entered only when the axis final velocity 0 Code Parameter Code read written 1 Rapid velocity 1 2 Machining acceleration 2 3 Rapid acceleration 3 4 transducer axis backlash 4 5 K gain 5 6 Dynamic compensation 6 7 Crossover recovery rate 7 8 Crossover recovery time 8 9 Ma
28. exampl e UPOMPA is activated for 5 seconds each 10 minutes OUT UPOMPA select pump STI MER TLI TLU TLD TLA TLW cycle ti mer PROG TLI 6000 TLU oscillator 600 seconds UPOMPA TLW gt 5950 activate for 5 sec END TII programma end 1 cece eee eee example 2 To obtain LONG TIMES from 1 hour to 2 years a timer must be combined with a counter This example activates the pump for 5 seconds every 60 minutes OUT UPOMPA pump control TI MER TLI TLU TLD TLA TLW clock timer COUNT CLZ CLA CLI CLC CLW second counter NT CLZ 3600 1 preset counter to 3600 sec CLZ 3600 0 PROG TLI 10 TLU 1 sec oscillator CLA TLU count POMPAz CL W 5 activate pump for 5 sec END PRETE REPE program end 2 2 ssim Re Machine Logic Development PLC Part III 00 Series S3000 1 Programming examples 1 19 Series S3000 1 Programming examples LUBMOV Lubrication timed only when axes are moving mi n N1 N2 LUBRICATION ti mer on only when axes moving N3 SEE N4 LUBMOV 941010 N5 AKK K KK KK KK K K KK KK KK K KKK K K K K K K KK K K KK K K KKK K KK
29. moving following a JOG command manual or referencing RAPI 1 NC PLC no Blocks being executed in rapid Control of transducers and electronic handwheels MKSAX 8 NC PLC no Marker pulse signal electrical zero for encoders or optical scales for axes 1 8 Set by the NC when received from the transducer and reset by the subsequent system sampling for this reason the pulse is only seen by using the graphic analyzer AIRGP 64 NC P PLC no Signal level from analog transducers INDUCTOSYN or RESOLVER in the case of an ENCODER it is the number of lost pulses determined by the recover step function for the axes 1 8 SPMANO 64 NC PLC no Distance per rev of the handwheel 1 3 according to the selected resolution The distance accumulated is reset by changes of NC status and axis status SSA DSERV Dynamic compensation of axis position SHIFT 64 NC PLC no Dynamic compensation of axis position 1 8 Offset for controlled axes OFSDA 64 NC PLC no Offset applied to reference voltage on controlled axes 1 8 in the range 1 for a reference voltage of 10 Volt Contact probe management CWDTF 8 NC lt PLC no Control byte of contact probe on off Bit 1 disables error 210 collision SWDTF 8 NC gt PLC Status of the contact measurement probe ON OFF SWDTF 2 0 probe at rest 1 probe deflected Axis software limits FICOP 8 NC PLC no Axis 1 8 on positive software limit FICOM 8 NC PLC no A
30. not O tool excluded Life expired 1 UTENRI where 0 life not expired not 0 life expired MAX tool life 1 UTENRI in 1 100 of a second Remaining tool life 1 UTENRI in 1 100 of a second Minimum tool life 1 UTENR in 1 100 of a second WORD 1 variable 1 for application 1 UTENRI WORD 2 variable 2 for application 1 UTENRI FLOAT variable 1 floating point for application 1 UTENR FLOAT 2 variable 2 floating point for application 1 UTENR Number of entries still available in temporary memory for updating tool tables Number of tool storage locations configured in the parameters Array representing tool storage image 0 MAGNPO Tool in spindle in machining phase decrement RESIDUAL LIFE Value of the RESIDUAL LIFE counter of the tool in the spindle Status register of tool in the spindle UTSTS 1 life finished UTSTS 2 remaining life lt O Type of tool change selected 0 manual 1 manual S1200 2 automatic Selected storage geometry 0 chain 1 planar Selected disposition of tools in storage 0 fixed 1 random 2 fixed random Selected storage management 0 synchronous 1 asynchronous 2 semiasynchronous 4 15 Series S3000 selca 4 Summary of predefined signals and registers 4 16 Machine Logic Development PLC Part Il 01 9 LIMITS Series S3000 5 Limits The data shown summarizes the compiler limits to be used as a reference
31. orient if requested N28 M101 disable reading and control of spindle N29 M102 start reading head axis N30 M103 update current head position N31 M104 enable control of head axis N32 N33 program PROM20 switches head axis to spindle N34 N35 M112 disable reading and control of head N36 M113 enable reading and control of spindle N37 X OK CK XO XO K K GO KKK KK K K K KKK K K K K K K K K K K K K K KKK KK KKK KKK KK KKK K K K K K K K N38 N39 NP N40 OUT N41 TERM 3 N42 ABM enable spindle operation N43 N44 SRAM 32 N45 MEMTA store head A N46 RAM 1 N47 ROTMA rotation command N48 N49 PULSE N50 PFASE2 pulse 2a initialization phase N51 NIT N52 SPGAM 1 1 range 1 only N53 N54 CALL INTSTA initialize head N55 N56 PROG N57 END N58 F PFASE2 CALL FASE2 N59 F BURDY ASI NC N60 F STROM CALL GEFUM N61 BURDY 0 N62 ASINC N63 N64 FEX d ORO EX control head axis A eeeeceeeee N65 N66 RDMOV 4 MOVCN 4 N67 F MOVCN 4 amp RDMOV 4 MEMTA P00 4 N68 POFO ANI 1 N69 E free eoo N70 SPVEL 1 SPEED N71 SPSSO 1 0 7 ANI 3 0 6 N72 SPROT 1 ROTMA amp HOLDA rotation and HOLD commands N73 ABMzSPMOV 1 RDMOV 4 amp enable consents N74 N75 END N76 fi dd a very slow section iios EI Ra Machine Logic Development PLC Part III 00 Series S3000 1 Programming examples 1 45 Series S3000 1 Programming examples N77 N78 N79 N80 N81 N82
32. to start cycle N37 N38 SOFTK 1 N39 P1 L1 1 OG AXI S X N40 P2 L2 1 J0G AXISX N41 P3 L3 1 0G AXI S Y N42 P4 L4 1 J OG AXIS Y N43 P5 L5 1 J0G AXIS Z N44 P6 L6 1 J OG AXISZ N45 P7 L7 HOME AXES N46 N47 KKK KKK KKK KKK KK KKK NI TI ALI ZATION SECTI ON K KKK KKK OE KKK KK k k N48 NIT N49 initialization messages N50 MSG1 HOME AXES homing message N51 MSG2 JOG Z to start cycle N52 N53 PROG N54 FAST SECTI ON KK KOK KKK KK K KK K KK KK K K K K K K K K NDA Sh Nat reading potentiometers N56 POFO ANI 1 automatic feed N57 f homing not completed reduce manual speed to 1 5 N58 F ZERIOK N59 POMO 1 ANI 2 N60 POMO 2 POMO 1 N61 X POMO 3 POMO 2 N62 ELSE N63 POMO 1 ANI 2 5 N64 POMO 2 POMO 1 N65 X POMO 3 POMO 1 N66 END N67 KKK KKK KK KK KK KK KKK SLOW SECTION KKK KKK KKK KKK KKK KKK KK KK KKK KK N68 D wks decode auxilliary functions N69 BURDY 0 acquire NC function N70 NEN Op ears re oe ree EN Obl OAKES ae duis rr stig N72 UMOVE1 MOVCN 1 N73 UMOVE2 MOVCN 2 N74 UMOVE3 MOVCN 3 N75 RDMOV MOVCN O A eeu Bata 4m CES OG ic crux Eve okie aa ow EN RN Machine Logic Development PLC Part III 00 Series 3000 1 Programming examples 1 21 Series S3000 1 Programming examples N77 N78 N79 N80 N81 N82 N83
33. 0001 1 Example MSG4 MSG5 MKN SS0 if MSG5 contains the tool number and SSO a byte of value 12 the function would result in tool number 012 CHR Generates an ASCII character Outputs the ASCII character correspondint to the ASCII code specified in the function s argument see ASCII code Table at the end of the manual The format is CHR argument where argument may be a whole number between 0 and 255 a word or byte variable with a value between 0 and 255 an expression whose result is a word or byte variable with a value between 0 and 255 The result of the function must be assigned to a string variable 5 10 Machine Logic Development PLC Part 01 selca Series S3000 5 Operations and functions Example LETTER CHR 035 LETTER will contain the character STRNG Generates a string of equivalent characters Generates a string of identical characters for a specified ASCII code The format is STRNG argument1 argument2 where argument1 is the ASCII code of the character in the string argument2 is the number of characters to be generated argument1 and argument2 may be an explicit integer between 1 and 255 a byte or word variable with a value between 1 and 255 an expression whose result is either a byte or word variable with a value between 1 and 255 If argument2 is greater than the format of the assigned variable it will be truncated Example STR MSG RAM 8 NUMCAR CODC
34. 01 selca Series S3000 3 Program organization Hexadecimal formatted numbers must contain an H suffix and must be preceded by a 0 if the most significant figure is greater than 9 ex OFA23H Similarly the Letter B is used for binary numbers ex 01011101B For example the decimal number 35 corresponds to 23H in hexadecimal and 0010001 1B in binary the decimal number 195 corresponds to OC3H in hexadecimal and 11000011B in binary For the declaration of variables numerical and string see the appropriate sections in chapter 4 3 3 1 VECTOR AND SINGLE VARIABLES The internal variables of the system are either single or multidimensional arrays The former represent only one element while the latter represents many elements under one name These have names which begin alphanumerically then are followed by parenthesis which contain a number called an INDEX which identifies the element The format for the vectorial or matrix variables is as follows name index The vectorial variables can be formatted in any of the ways described above It is obvious that all of the vectorial variables must be formatted identically that is BYTE WORD etc within each variable The index parameter may be e awhole number between 1 and 32767 Example TABX 122 44 6565 The number 44 6565 is written inside the element 122 TABX 45 TABX 77 TABX 23 The element 45 contains the sum of elements 77 and 23 e a BYTE variable name between 1 and
35. 1 ANI 3 SPVEL 1 SPEED 19 20 ABMAN SPMOV 1 store SPINDLE enabling 21 ABC MOVCN 4 store C axis enabling 22 ABI LM ABMAN ABC 23 24 MANAGE ENABLES TO NC 25 DHOLD CI CM20 CI CM21 26 FHOLD DHOLD 21 END 29 GIRMI I NT ABS SPTCH display effective speed 30 NDOW P ASP display spindle position 31 ASCW 109 32 F axisC DISPL 0 C axis ACTIVE ELSE CLR 0 33 END 34 35 GEFUM 36 IF AUXM 3 amp axisM SPROT 1 1 SPDIR 1 0 RTS 37 IF AUXM 4 amp axisM SPROT 1 1 SPDIR 1 1 RTS 38 IF AUXM 5 LM05 39 IF AUXM 20 LM20 40 IF AUXM 21 LM21 41 RTS Programmed function Not controlled 42 43 LM05 SPROT 1 0 RTS 44 LM20 IF axisC CICM20 1 RTS ELSE RTS from C to S 45 LM21 IF axisM CALL LM05 CICM21 1 RTS ELSE RTS from S to C 46 47 Reset to SPINDLE on interruption 48 RESCM 49 J0OGP 4 0 MARK 4 0 FOMAN 4 0 DISRQ 4 1 50 SPDRQ 1 0 SPDIS 1 0 51 CICM20 0 CICM21 0 52 axisC 0 axisM 1 53 RTS Z2a2a222222222222222222222222222222222222222222222222222 co 1 42 Machine Logic Development PLC Part III 00 selica Series S3000 1 Programming examples NEWFILT Numerical Filter N1 eee EGO ERE ERA ERR IO E GG EKER EERE ERR OG EGG N2 NUMERICAL FILTER ANALOG I NPUT N3 940930 NEWFI LT N4 GAZZA ZZZ ZIA ZIA ZZZ IZ ODIO GO GE OO E GE EDGE EERE ERE ERE GG N5 NP N6 OUT N7 N8 RAM 32 N9 SOMMA sum
36. 4 strobe Q RCOM 1 NC PLC Activation of an asynchronous COM requested STRCOM 1 NC gt PLC Synchronization strobe for running of the COM requested with RCOM RCOM 8 NC PLC Asynchronous COM activation requests for the single axis groups 1 8 Machine Logic Development PLC Part II 01 4 3 Series S3000 selca 4 Summary of predefined signals and registers STRCO_ 8 NC gt PLC Synchronization strobe for running of the COM requested with with RCOM for the single axis groups 1 8 Asynchronous Start Stop Alarm and Acknowledge controls DHOLD 1 NC PLC no Temporary stop of the program run beginning with the first subsequent block that contains a stop point in the continuous movement typically an auxiliary function without interruption of the activity in progress FHOLD 1 NC PLC no Temporary stop of feed RHOLD 1 NC lt PLC no External HOLD request Temporary stop of programmed moves and blocks in execution HOLDA 1 NG PLC no Axes in Hold state CYST 1 NC lt PLC no External CYCLE START request SFKGRD 8 NC PLC no Guard SFKCNS 8 NC PLC no Pulsing signals pushing CYCLE START SFKCNS 1 HOLD SFKCNS 2 BREAK SFKCNS 3 CYON 1 NC PLC no Cycle in execution REME 1 NC lt PLC no External EMERGENCY request EMEA 1 NC PLC no NCin emergency alarm state or external emergency request RBRK 1 NC lt PLC no External BREAK request Interruption of the program or block in execution Cancel e
37. 4 4 e e PLC no PLC no PLC no PLC no PLC no lt gt PLC no e c e PLC no PLC PLC NC PLC no Synchronism command to slave spindle Master spindle numbers for synchronism with slave Offset between master spindle and slave Speed ratio for sync between master spindle and slave s Slave spindle s 1 4 synchronized with master Request to move spindle s 1 4 General disable command spindle s 1 4 Disable transducer spindle s 1 4 Effective speed spindle s 1 4 Angular position from transducer s 1 4 Transducer s referenced to electrical zero Can be reset to repeat the zero search Encoder s marker pulse spindle s 1 4 Transducer level or pulses lost and recovered for the spindles 1 4 Speed command sent to the spindles 1 4 revs min can be used to check the acceleration deceleration ramps by comparing SPRIF with SPTCH actual speed for spindles with transducer Spindle to used for fixed cycle G84 with transducer Independent axis movement module MOVP2P RDMP2P SSAP2P DSVP2P DRQP2P MVMP2P MRKP2P MCZP2P MIZP2P MZAP2P POTP2P JGPP2P JGMP2P PFNP2P RUNP2P 4 12 00 OO CO 00 OO CO OO f 09000009004 f 40401 PLC no PLC no PLC no PLC no PLC no PLC no PLC no PLC no PLC no PLC no PLC no PLC no PLC no PLC no PLC no Request to enable movement axes 1 8 Movement enabled axes 1 8 response to MOVP2P A
38. 8 Manual JOG MOVMA 8 NC lt PLC no Axes selected for manual movement 1 8 JOGP 8 NC PLC no Command jog positive 1 8 JOGM 8 NC PLC no Command jog negative 1 8 POMO 64 NC PLC no Velocity for manual movements and reference for each single axis 1 8 from 0 to 1 as a percentage of the rapid velocity Manual movement with handwheel HWL 8 NC lt PLC no One per handwheel 1 3 to indicate the number of the axis to be controlled STEP 8 NC PLC no Selection of the handwheel resolution from the 8 values defined in the configuration parameters Homing the axes MICZE 8 NC PLC no Axis selected for reference with home switch 1 8 MARK 8 NC lt PLC no Axis selected for reference without home switch 1 8 MIZER 8 NC PLC no Home switch for axis 1 8 MIZEA 8 NC PLC no Axes referred to the electrical zero of transducer 1 8 Manual movement and homing during program execution FOMAN 8 NC lt PLC yes Axes on which to force manual control 1 8 Axis information For axis control ERR 64 NC gt PLC no Axis following error 1 8 VATT 64 NC 7 PLC no Actual velocity along the tool path TACH 64 NC PLC no Axis velocity 1 8 VFF 64 NC PLC no Instantaneous velocity axes 1 8 AFF 64 NC PLC no Instantaneous acceleration axes 1 8 DAA 64 NC PLC no Reference voltage for controlled axes 1 8 The DAA can only be read If the axis is active and under NC cont
39. 8 If in the configuration data it is declared that the D A converter is not present the reference in voltage will not be sent through the output channel but the speed in this register is always available JINP2P 8 NC PLC no Axes 1 8 in motion after a JOGP2P command DIRP2P 8 NC PLC no Axes 1 8 motion direction revealed by the analog reference sign The value 1 means negative speed The following registers are initialized on startup with the values in the configuration table subsequently the PLC may read and modify them as long as the axis is not moving FEDP2P 64 NC PLC no Feed speed axes 1 8 RAPP2P 64 NC PLC no Rapid speed axes 1 8 VLNP2P 64 NC amp PLC no Slow zone speed axes 1 8 ZLNP2P 64 NC PLC no Slow zone distance axes 1 8 DEXP2P 64 NC PLC no Exponentional deceleration distance axes 1 8 ACMP2P 64 NC PLC no Acceleration in manual axes 1 8 ACCP2P 64 NC PLC no Acceleration in automatic axes 1 8 DECP2P 64 NC PLC no Deceleration from feed speed to slow speed axes 1 8 DE2P2P 64 NC PLC no Exponential deceleration from slow speed axes 1 8 TOLP2P 64 NC PLC no Positioning tolerance axes 1 8 OFSP2P 64 NC lt gt PLC no Transducer offset applied to the reading to obtain the absolute value POAP2P 1 8 NEW VARIABLES Variables for debugging and calibrating axes 2 8 Machine Logic Development PLC Part Il 01 selca
40. CROSS REFERENCE and wait for few seconds At the end of this operation press SELECT CROSS REF a file will be created with the same name as the PLC program containing the cross reference All the other softkeys have the same function common to all the other environments of NC Machine Logic Development PLC Part I 01 2 15 Series S3000 selca 2 Operating procedure 2 6 PLC TABLE MODIFICATIONS AND DISPLAYS The variables array tables to the user declared internally by the PLC program can be displayed and modified by the user given that the names are known Pressing the softkey OFFSETS PARAMETERS from the main NC menu accesses the softkey PLC TABLE After pressing this key enter the name of the file to be modified then press The array elements and their current values will be displayed side by side it is then possible to change the values presented and transfer them to the PLC 2 7 FAST KEYS By using certain combinations of keys it is possible to quickly access the applications environment from any menu Ctrl ctrl Ctrl Ctrl Ctrl BG BB H Shift F5 1 E EEEEE to execute programs from memory to activate dynamic display to activate graphic analyzer to access peripherals menu to modify the NC configuration These keys access a menu to modify dynamically certain axis parameters modified by the PLC see Part Il System Interface The values modified in this environmen
41. G55 G56 G57 G58 G59 G61 G76 are on the other hand disabled temporarily when the COM is run and are restored when it is completed 7 6 Machine Logic Development PLC Part I 01 selca Series S3000 7 Special functions MACHINE LOGIC PROGRAM COMMANDS RUNNING IN ASYNCHRONOUS MODE The PLC can request running of a COM subprogram even asynchronously with respect to the program being executed This feature can for example be used to manage a tool change sequence in case of expiry of tool life Whenever the PLC wants to run the asynchronous COM it must set the bit RCOM after this request the NC finishes the precalculated program blocks max 256 then sets in synchronous mode accompanied by the signal BURDY the strobe STRCOM The PLC must decode this strobe and then execute the COM instruction which in this way is synchronized with the main program RCOM is reset immediately upon being acquired by the NC In the case of axis groups there are the bytes RCOM and STRCO in which each bit corresponds to an axis group Name Size Direction Synchronous Description RCOM 1 PLC gt NC no Request to activate an asynchronous COM STRCOM 1 NC gt PLC yes Synchronization strobe for running of the COM requested with RCOM RCOM_ 8 PLC gt NC no Requests to activate asynchronous COMs for the individual axis groups 1 8 STRCO_ 8 NC gt PLC yes Synchronization strobe for running of the COM requested with RCOM_ for the in
42. G754 and G753 prof invers points coincident or off work plane in hollow opening closing functions missing recall of origin or corrector not valorized function G32 inside a repeated cycle nesting level of subprograms greater than 8 nesting level of repeated cycles greater than 8 points coincident in definition of curve by points G27 incorrect subdivision of vertical profiles profile is not closed parity error or line error Machine Logic Development PLC Appendix 01 Series S3000 selica Appendix D Diagnostic Messages E60 E62 E63 E64 E65 E66 E67 E68 E69 E70 E71 E72 E73 E74 E75 E76 E77 E78 E79 E80 E81 E82 E83 E84 E85 E86 E88 E89 E90 E91 E92 E93 E94 E95 E96 E97 E98 E99 E200 E201 E202 E206 E207 E208 E209 E210 E211 E212 E213 E253 E254 E255 E300 E301 E400 D 2 program read error recall of a program not existing in memory fixed cycle not executable with parameters given S F J Z fixed cycle programmed without spindle rotation M function probe not qualified stored search of a non existing block hole start position J missing in def fixed cycle cycle G88 followed by coord other than spindle axis hollow with too many passes 65535 error in a geometrical definition in collision control of tool with profile too many points or entities polygonal hollow with less than three points hollows programmed with def
43. IN OTHER FUNCTION 32 MSG 12 MANUAL TOOL CHANGE 33 MSG 13 WAIT FOR CLAMPING UNCLAMPI NG AXES 34 T 35 MSG 32 MESSAGE32 36 37 PROG 38 FAST SECTI ON KK KKK KKK KKK K KK KK K K KK KK KK K 39 END 40 FAIR IO SLOW SECTION ERROR ORRORI OOO 41 SYNCHRONOUS PART 43 F BURDY ASI NC 44 DHOLD 1 FHOLD 1 45 F STROT CALL GEFUT 46 F STROM CALL GEFUM 41 BURDY 0 48 ASINC 50 oss eI atem ASYNCHRONOUS PART 5 ea tprenoniar RN een axes potentiometer managment iiaa 52 POFO ANI 1 automatic 53 POMO 1 ANI 2 manual X 54 POMO 2 ANI 2 manual Y Z2a22z222222222222222222222222222222222222222222222222222 co m e 1 6 Machine Logic Development PLC Part III 00 N155 POMO 3 ANI 2 manual Z N156 NI57 dau REG manual spindle control a ea a N158 IF NCMD lt gt 5 SPAUTO N159 IF IMAMAO CALL M03 N160 IF IMAMAA CALL M04 N161 IF ISTOPM CALL M05 N162 SPAUTO N163 N164 G84 CI CFI 284 fixed cycle G84 active N165 spindle speed override N166 Automatic 70 130 N167 Tapping 100 N168 Manual 0 100 N169 IF NCMD 5 SPVEL 1 SPSMAX SPSSO 1 ANI 3 NOVEMA N170 SPVEL 1 SPEED N171 IF G84 SPSSO 1 1 N172 ELSE SPSSO 1 0 7 ANI 3 0 6 N173 NOVEMA N174 N175 select rotation and HOLD N176 SPROT 1 RORMA RANMA HOLDA select rotation N177 SPDI R 1
44. Insert a block copied from another program into the present program proceed as follows Press the IMPORT FROM OTHER softkey for a list of programs in memory e Select the program which contains the block to be extracted and press Retum e Highlight the block to be copied then press EE twice to return to the program which is to receive the block e Position the cursor at the point where the block is to be inserted and press the softkey COPY BLOCK RENUMBER BLOCKS Renumbers the program lines according to the edit parameters increment number of spaces Automatic line numbering occurs only if Inew lines are added to the end of the program EDIT PARAMETERS Changes the line numbering parameters Activates a new softkey menu from which the parameters may be adjusted DELETE MODIFIC Deletes the last changes made using the advanced function keys this can only be accomplished from the ADVANCED FUNCTIONS menu Edit parameters menu When the EDITING PARAMS softkey is pressed the following menu appears BLOCK BLOCK BLOCK RENUMBER TRANSLATE FORMAT START INCREMENT BLOCKS FROM 1200 CHANGE SPACES This softkey controls the spacing before each block for the sequence number The valid numbers are between 3 and 8 Press when completed CHANGE FIRST This softkey sets the first sequence number or first block Valid numbers are pene between 1 and 10 Press when completed CHANGE STEP This key adjusts the spacing betwee
45. K KKK KK K K K K N214 T FUNCTION N2 5 KK KOK K XO KK K KK K KK KK K K K K KK K K K K K K KK K K K K K K KK K K K K K K KK K K K K K K KK N216 GEFUT NZ Tal ye Acti vate alternate correction N218 Applicable only if you use tool families N219 tool codes greater than 100 must already be in the tool table N220 can be interpreted N221 N222 IF TO0L 100 OFST TOOL INTOF 1 RTS N223 N24 Loro rear TOOL CHANGE CALL N225 UTECU TOOL inform TC module of the desired tool N226 NEWCU 1 request activation of the TC module N227 RTS N228 N229 X OX CK XO XO GO GO KKK KK K K K K K K KK K K K KK KK K K K K KKK K K KK K KKK KK KKK K X N230 M FUNCTI ONS N231 KKK K KKK KK KK K K KK K K KK KK K KK KK K KK KKK K K K KK KKK K K K KK KKK KK K KK KK N232 GEFUM N233 WNDI NT 1 AUXM N234 IF AUXM 6 M06 Machine Logic Development PLC Part III 00 Series S3000 1 Programming examples 1 25 Series S3000 selca 1 Programming examples N235 IF AUXM 30 CALL RESET RTS N236 IF CUATT RTS N237 IF AUXM 62 MM62 1 RTS N238 IF AUXM 63 MM63 1 RTS N239 IF AUXM 26 M26 N240 F AUXM 29 NTOF 1 RTS N241 F AUXM 34 CUATT 0 CI M6 0 RTS N242 RTS N243 N244 M06 N245 IF CUATT ERRMO6 1 RTS M6 without T N246 M6PGM 1 Cl M amp 1 N247 RTS N248 N249 M26 N250 IF NSEQCU lt 5 MM62 1 RTS manual TC only in SEQ 1 2 3 4 N251 RTS N252 N253 CO KKK KKK KKK R
46. LOGIC DISPLAY ANALYZER MESSAGES REFERENCE TABLES FILES FILES SRAM In this environment all system diagnostic signals and variables may be displayed and run These tools are not just used during the set up of the machine but may be used over the entire life of the machine It is also possible when for debugging to store in tables all display variable settings so that the system may be checked out in cases of malfunctions or service and repairs The functions available in this environment are described in the following sections 2 5 1 DYNAMIC DISPLAY This function displays the current numerical value of signals or variables The softkey menu is as follows ENABLE INSERT MODIFY DELETE DISPLAY DISPLAY FORCED DISPLAY NAME EXPR NAME EXPR NAME EXPR INPUT OUTPUT ASSIGN 2 8 Machine Logic Development PLC Part I 01 selca Series S3000 2 Operating procedure The function of each of the softkeys is as follows ENABLE DISPLAY INSERT NAME EXP MODIFY NAME EXP DELETE NAME EXP DISPLAY INPUT DISPLAY OUTPUT Allows the freezing of variables which are changing rapidly so that they may be more easily read These values remain on the display until the key is pressed again however the variable continues to beupdated within the System The key is active when this menu is entered if it becomes deactivated it signifies that the variables are frozen The variable name to be displayed must be typed after this softkey
47. M6 10 Old tool manually extracted from the spindle and laid down on the ground 12 Old tool extracted from the spindle and inserted into the jaws 13 Old tool extracted from the spindle and placed in storage 16 New tool picked up and inserted manually in the spindle 17 New tool extracted from intermediate station and inserted in the spindle 23 Old tool return requested by the station 27 Old tool extracted from the jaws and returned to storage 31 Tool extracted from the intermediate station and returned in storage 34 Tool change end sequence 0 Situation analysis request for beginning a new sequence Not all sequences described above have to be defined Those required to be defined because of the the characteristic of the machine and the complexity required by the operation must be set in the INIT section of the PLC through the instruction DEF SEQCU seq number predefined code PLC code others COM 1 prog name carrying all the pre defined internal codes in the order provided Definition errors in the sequence are signaled on the screen Besides the operation codes it is possible by using the instruction DEF SEQCU n to specify a NC sub program name COM 1 prog name that will be automatically executed in conjunction with M06 6 awaiting operation and the PLC signal of the programmed M06 M6PGM 1 for positioning the NC axes and executing the tool change sequence in non masked time According to the config
48. MSG1 AUXI LI ARI ES OFF PROG END OR RR RRA Cl OW section sxxoeeeooopeeeee eee UMOVE1 MOVCN 1 enable X axis UMOVE2 MOVCN 2 enable Y axis UMOVE3 MOVCN 3 enable Z axis RDMOV MOVCN axes enabled response POF O ANI 1 axis feed override BURDY 0 function acquisition from NC ee ee A turn on auxiliaries carta Ra TI MUON 5 MUON derivative at turn on RBRK TDMUON BREAK at turn on CNOK EMEA TUMUON NC ready output REME FF MUON DRAOK EMEA emergency request F IMUON DI SPL 0 MSG1 ELSE CLR 0 message display re ME A s suerte e pese ne lat Machine Logic Development PLC Part III 00 Series S3000 1 Programming examples 1 11 Series S3000 1 Programming examples GEVOL3 Single handwheel control of x y z axes N50 1 12 KEK KKK KKK KKK KK KKK KK K KK KK KKK K KK KA K K K KKK KKK KK K KK KK K KK K K K KK K K x HANDWHEEL SW TCHI NG EXAMPLE x GEVOL3 941008 x AKK K K KK K K K K K K KK KK KK K K KK K K KK K K KK K K K K K K KK K KKK KK KKK KKK KK KKK k If only one handwheel is available it will need to be switched between axes using an external selector or one created using the softkeys as in this example SOFTK P21 L21 X AXIS HANDWHEEL P22 L22 Y AXIS HANDWHEEL P23 L23 Z AXIS HANDWHEEL P24 L24 0 5 mm per rev P25 L25 1 mm per rev P26 126 5 mm per rev P27 L27 10 mm per rev NT L25 1 default at power up softkey
49. Output equation equation signal output does not change o HE A AAA 9c s cae siege red 1 1 0 Jresethas priority Example REME FF OLTREC TERMIC EMEA 7 2 MULTIPLEXER Assigns a value to a variable by selection from a list of variables or constants using bit variables to control the selections The syntax is as follows varout MUX sel1 sel2 sel3 sel4 var1 var2 var3 var4 Machine Logic Development PLC Part I 01 7 1 Series S3000 selca 7 Special functions where self sel2 sel3 sel4 are selection control variables in BIT format or expressions resulting in true or false var var2 var3 var are BYTE WORD LONG or DOUBLE formatted just as varout The list of selection control bit variables is scanned to find the first variable that has a bit value of 1 The corresponding variable in the second list is then selected as varout The function may operate upon a maximum of 16 variables If no selection variable is active high the value of varout remains unchanged Example MULTI12MUX SELEZ1 SELEZ2 SELEZ3 VARIA1 VARIA2 VARIAS3 7 3 TABLE SEARCH This function returns the vectorial position of a value searched for in a table If the search value is not found the program branches to the specified label The format is as follows position RIC table first index last index value to be searched label where e position is the table po
50. PLC PROGRAMMING In order to augment the precision of mathematical calculations floating point double precision 64 BIT variables have been introduced All the NC variables related to the axes and to the analog l O that are made available to the PLC are in DOUBLE RAM 64 format They do not require transformation operations in order to be read In numeric expressions it is now possible to perform transformation nesting functions between different formats and complex mathematical operations The EQU declaration of equivalence has been enhanced Nesting of calls to subroutines is now possible A repeat subroutine from more program sections is now possible The IF instruction has been enhanced with the ELSE extension option more instructions linked to actual test results The EXEC instruction can be performed in loop for a parametrial number of times DISPL and CLR instructions act on a number of parametrial lines The operator directly returns the division remainder The SGN parameter function returns the argument sign Numerous functions have been introduced for the management of character strings with a maximum length of 254 characters The implementation of sequences is simplified by previously defined provided structures GOTC RAM variables which were not retained in the S1200 upon NC shutdown are now retained in SRAM Machine Logic Development PLC Appendix 00 C 3 Series S3000 s
51. RORMA amp RANMA direction of rotation N178 UMAN SPMOV 1 amp MUON enable spindle move N179 N180 e Red spindle orient ooo N181 TIM19 10 SPTOL 1 amp SPORI 1 timer for end of orient N182 IF TUM19 SPORI 1 0 verify intoll for 1 sec N183 NIBA essa rro la GEAR CHANGE ooi pe sirene sa N185 Note SPPND is set even if spindle is not within the N186 rev min threshold SPMOT to change range on the fly N187 GAMI RM41 SPEED lt SPSMG1 1 amp RM42 request range 1 N188 GAM2 RM42 SPEED gt SPSMG1 1 amp RM41 request range 2 N189 OKVG1 GAM1 amp 1 MG1 amp MUON amp SPMOT 1 range 1 selector control N190 0KVG2 GAM2 amp MG2 amp MUON amp SPMOT 1 range 2 selector control N191 SPPND 1 GAM1 amp 1 MG1 GAM2 amp MG2 l MUON select hunt N192 F IMG1 SPGAM 1 1 select range 1 N193 F IMG2 SPGAM 1 22 select range 2 N194 NEIS reida eie ete t axes management cee eee eee N196 TI SBX 3 MOVCN uncl amp ti mer N197 TISBY 3 MOVCN 2 N198 TISBZ 3 MOVCN 3 N199 TI BLX 5 MOVCN 1 amp MOVCNP 1 TDBLX clamp ti mer N200 TI BLY 5 MOVCN 2 amp MOVCNP 2 TDBLY N201 TI BLZ 5 VOVCN 3 amp MOVCNP 3 TDBLZ N202 N203 UMOVE1 MOVCN 1 TDBLX amp MUON enable axes N204 UMOVE2 MOVCN 2 TDBLY amp MUON N205 UMOVE3 MOVCN 3 TDBLZ amp MUON N206 USFREX MOVCN 1 amp l MUON unclamp axes N207 USFREY MOVCN
52. Range change selectio SPGAM 8 NC SPPND 8 NC SPSMG1 64 NC SPSMG2 64 NC SPSMG3 64 NC SPSMG4 64 NC SPSMAX 64 NC 3 PLC no Range selected 0 neutral spindle s 1 4 PLC no Hunting command for range change spindle s 1 4 PLC no Maximum speed for range 1 spindle s 1 4 PLC no Maximum speed for range 2 spindle s 1 4 PLC no Maximum speed for range 3 spindle s 1 4 PLC no Maximum speed for range 2 spindle s 1 4 PLC no Maximum speed for spindle s 1 4 20000146 Spindle orient SPORIY 8 NC SPTOL 8 NC SPPOS 64 NC SPVEOR 64 NC SPOAB 8 NC SPORP 8 NC SPORM 8 NC PLC no Orient command spindle s 1 4 PLC no Oriented within tolerance spindle s 1 4 PLC no Orient position spindle s 1 4 PLC no Speed reduction from 0 to 1 during orientation spindle s 1 4 PLC no Orientation using absolute values spindle s 1 4 PLC no Unidirectional positive orientation PLC no Unidirectional negative orientation Tarra tT Synchronization between spindles Machine Logic Development PLC Part II 01 4 11 Series S3000 4 Summary of predefined signals and registers SPSYN SPMAS SPOFS SPRTO SPAGG 8 8 64 64 8 NC PLC no NC PLC no NC PLC no NC PLC no NC PLC no Common to all operations SPMOV SPDIS SPDRQ SPTCH PASP SPMZA SPMKS SPAGP SPRIF Fixed cycle G84 SPGDA 64 8 NC NC NC NC NC NC NC NC NC e
53. WITH OR WITHOUT TRANSDUCER a saseossessessesrsreesnerecenerncrnrrnrrnsrncinrrncensenenn 2 17 NOTE ON THE FIXED CYCLE 384 arl Rete rte OU RO DU Re EUR KU REIR Related signals and registers i 2 2 INDEPENDENT AXIS MOVEMENT MODULE in New variablo Sisina e euet saei ad meti eta 2 3 TOOL CHANGER CONTROL MODULE nennen nnn nnns 2 39 41 SIMPLE DEFINITIONSG riri itin cnet dai eat td edat ad 2 3 2 TYPES OF TOOL CHANGER CONFIGURATION nennen 2 3 3 CONFIGURATION OF AUTOMATIC TOOL CHANGERS sees Tool dispositions nte et etd cre eR EHE ora Tool storage geomettry nnne enne nnne nenne nnne enne Types of tool storage management i 2 342 SEQUENCE DEFINITIONS ico ui ius its nen t De ne Dee De Deo e De De qe e De Deere Asynchronous tool ehanig Ss iieiaeie tenter das Synchronous tool changes A rna dia PLC program implementation ii Activation of tool changer module pp Actuation of Squirt Tool length correction ss iaia ea Decoding T program and selecting the work sequence 2 3 5 SEQUENCE INTERRUPTION n nennen A EE AE Integrated tool life management ps Description of the PLC variables nennen mener 2 3 6 DIFFERENTIATING THE TOOL FAMILY nennen eene nnne nnns 2 3 7 DIFFERENTIATING TOOLS WITH DIFFERENT SHAPES
54. board slave E10011 RIO slave unknown board slave E10015 Watch dog RIO slave board slave E10016 RIO reception error board slave D 6 Machine Logic Development PLC Appendix 01 selca Series S3000 Appendice D Diagnostic Messages E10017 RIO slave response missing board slave sf E10018 RIO output error board slave byte E10020 RIO 24V power supply error board slave base E10021 RIO 24V power supply error board slave expansion Machine Logic Development PLC Appendix 01 D 7 Series S3000 selica Appendix D Diagnostic Messages D 8 Machine Logic Development PLC Appendix 01
55. cycle with a transducer it is necessary to specify using the SPGDA variable which one of the four possible spindles is synchronized with the master spindle axis If the fixed cycle starts but does not proceed it is necessary to check that the transducer has been referenced i e that SPMZA is set and that the real speed has reached the nominal value SPREG FHOLD DHOLD or RHOLD are executed only at the end of the current fixed cycle Inputting spindle number 0 in the configuration parameters causes the NC to start the M3 and M4 functions automatically reversing spindle of rotation at the beginning and at the end of the hole Related signals and registers Spindle Rotation SPVEL 64 NC PLC no Speed spindle s 1 4 SPSSO 64 NC PLC no Override potentiometer spindle s 1 4 SPDIR 8 NC PLC no Rotation direction spindle s 1 4 SPROT 8 NC PLC no Comand spindle s 1 4 SPREG 8 NC PLC no Spindle s 1 4 upto speed SPMOT 8 NC PLC no Spindle s 1 4 in motion SPRMP 8 NC PLC no Spindle s 1 4 ramp upto speed SPSGL 8 NC PLC no Effecttive speed within threshold spindle s 1 4 Range change selection SPGAM 8 NC PLC no Range selected 0 neutral spindle s 1 4 SPPND 8 NC PLC no Hunting command for range change spindle s 1 4 SPSMG1 64 NC PLC no Maximum speed for range 1 spindle s 1 4 SPSMG2 64 NC PLC no Maximum speed for range 2 spindle s 1 4 SPSMG3 64 NC PLC no
56. error in robot area E2500 expression non compilable E2501 syntax error E2502 operand invalid E2503 ASCII symbol too long E2504 operator not allowed E2505 label not declared E2506 recall to labels between different sections E2507 logic line too long E2508 reserved symbol E2509 symbol already defined E2510 section already defined E2511 variables addresses not matched E2512 symbol not defined E2513 dimension error E2514 too many I O on module E2515 PULSES out E2516 TIMERS out E2517 COUNTERS out E2518 SOFTKEYS out E2519 HARDKEYS out E2525 too many HARDKEYS per menu E2526 request for a non existent HARDKEY menu E2530 too many variables defined E2532 code not generated E2534 fatal error impossible operation E2560 expression too complex E2562 operands inconsistent E2563 unbalanced brackets E2564 incorrect use of a variable E2570 too many nested EXEC E2571 EXEC without ENDE E2572 ENDE without EXEC E2580 too many numeric variables to be displayed E2581 too many string variables to be displayed E2590 too many digital signals to be traced E2591 too many analog signals to be traced E32102 M T switched off due to break in communication with PC E10000 Time out awaiting response from board E10001 Error on RIO master board E10002 BlNary file missing for management of board E10004 No slave detected on RIO master board f E10010 Malfunctioning RIO slave
57. following way e ifitis a number between 1 and the maximum number of positions for tool storage it represents the position in which the tool must be taken from e ifitis equal to O it means that the tool must be taken from and then manually returned to the floor e if it is a number preceded by a negative sign it means that the tool has been taken and it represents the position from where the tool has been taken from this information is useful in the case of random fixed 2 22 Machine Logic Development PLC Part II 01 selca Series S3000 2 Dedicated internal modules If the exclude state flag is equal to yes the corresponding tool will never be mounted it will be treated as if not present in storage the tool may be declared excluded if its integrity is not verified If there is a tool that is not in the exclude state and for which the father is equal to a excluded tool this will be mounted as an alternative The tools in which the expired life flag is equal to a yes will be treated as excluded tools Father as already mentioned indicates tools for which there are alternatives Example T10 with expired life no father T11 with a life not expired with father 10 T10 is programmed The first tool found with a life not expired will be mounted and that is tool 11 The variables WORD 1 and WORD 2 are two words RAM 16 available to contain some additional information relative to the tool In the same way two var
58. from PLC or logic debugging to access in read or write a resource that is not present the following message appears E1994 access to missing component followed typically by the number of the PLC line where the inconsistency was found The diagnostic checks for consistency between the addressing and that resources accessible from PLC are actually present i e digital inputs and outputs analog inputs and outputs heat probes 4 1 1 PHYSICAL INPUT OUTPUT DECLARATION REMOTE I O MODULES To address the digital MO on remote modules use the extended INP or OUT declaration followed by a list of the Names of the variables For the INPUT terminals use the INP declarative with the following format INP attribute master board number slave number input 1 name input n name and for the OUTPUT terminals OUT attribute master board number slave number output 1 name output n name Where attribute Defines the input type May be describes 1 BIT only default value if attribute omitted 8 describes a BYTE 16 describes a WORD master board number indicates which BOARD SLOT the board with RIO master interface will have like the case of local I O where it relates to the I OMIX board If the master board with integrated RIO is used the board number will be 17 slave number declares the address set with the microswitches on the remote module Example INP 1 17 60 bit format input master17 slave 60 NAMEA name of input number 1
59. function may contain functions which call other programs but not itself up to 8 nested levels are allowed When all of the programs run by the COM are completed the STCOM synchronous strobe is set by the NC before returning to the next main program block as long as the BURDY signal is high This strobe is similar to an end of block M or T function for synchronization It allows the execution of other COM instructions using the methods described above 7 5 2 PROGRAM COMMANDS RUN FROM THE MANUAL MODE COM programs may be run from manual mode using the NCMD 5 asynchronous mode function The syntax is the same as that described at the beginning of the chapter however the program is not synchronized with the BURDY signal The STCOM strobe is not activated at the end of this type of COM Inside an asynchronous COM it is possible to insert a function which calls a synchronous COM following all of the rules described in the preceding paragraph To run this type of COM instruction the axes must be stationary To confirm this condition an axis stopped signal may be provided by the equation bit ASI FERMI INTOL amp MOVCN 0 Machine Logic Development PLC Part 01 7 5 Series S3000 selca 7 Special functions Example In the following example the program PALLETS is called from the machine logic program using a COM instruction following the M21 function and with BURDY high ie in synchronous mode IF BURDY ASINC DHO
60. group refers to the group of signals and name1 namen refer to the single bits with n being limited by the length of the description and can be no greater than 8 per BYTE or 16 per WORD All of the terms following the group name name1 namen are optional This mean that any element may be omitted from the list including terms from the right and terms from the left In the cases where no intermediate names are given the names can be omitted but the corresponding comma must be kept A comma is not needed after the last name The compiler automatically truncates the signal description at that point Example INP 8 INGR1 LIVOIL IPLUBE TERMAX TERMAY Sometimes there are gaps in the physical sequence of input or output connections In this case it is necessary to define the number of the last non used terminal with the function TERM and continue by declaring all remaining signals The format for said function is as follows TERM number If number is a bit it may take any value however if it is a BYTE it must be a multiple of 8 and a multiple of 16 if it is a WORD Machine Logic Development PLC Part I 01 4 3 Series S3000 selca 4 Declarations Example INP IFCXP input1 TERM 5 ISPOK input6 For the listing above the terminals from 2 5 are not used and the program restarts from the 6th terminal with the signal ISPOK If the parameter I O access diagnostic is enabled in the installation setup if you attempt
61. in one of the two direction registers SPORP or SPORM Load the SPPOS then activate the orientation by setting SPORI SPORP Orientation in positive direction SPORM Orientation in negative direction 2 1 4 SIGNALS AND REGISTERS FOR SYNCHRONIZED SPINDLES SPSYN Spindle synchronism with slave With the first 4 bits one for each spindle of this register you synchronize the spindle n with the master in SPMAS n SPSYN synchronization can be obtained at any time The slave spindle will adjust its speed even from zero as a function of the velocity of the master and the speed ratio SPRTO Machine Logic Development PLC Part Il 01 2 3 Series S3000 selca 2 Dedicated internal modules keeping the synchronization specified with the SPOFS offset This will work only if the speed ratio for synchronization is an integer All the parameters relative to the slave spindle to be synchronized must be set when the slave spindle is not in motion If a command SPROT SPORI is given to a synchronized slave spindle it is automatically uncoupled SPMAS Master spindle numbers To synchronize a slave spindle with a master spindle the number of the master must be entered in the relevant spindle register SPOFS Synchronism offset These registers will contain the rotational offset between the master spindle and the slave spindle 1 2 360 degrees to be maintained whiled synchronized The synchronization ratio SPRTO must be an int
62. is not selected SPRMP Spindle on ramp The first 4 bits of this register one for each spindle are activated by NC when accelerating or decelerating Typically used when waiting for spindle stop and start SPSGL Effective threshold speed The first 4 bits of this register one for each spindle are set high by the NC when the actual spindle speed is in tolerance When the spindle is stationary the signal is 0 It is always active for spindle speeds less than the threshold 2 1 2 SIGNALS AND REGISTERS FOR RANGE SELECTION SPGAM Given range number With a value of between 1 and 4 in this register the range parameters in the configuration table are activated With SPGAM n 0 neutral is enabled i e the reference command is forced to 0 V regardless of the selected rotation SPPND Timing command The first 4 bits of this register one for each spindle activates the timing of the spindle in relation with the machine parameters The configuration values for the four speed ranges are read only on the registers indicated below They are commonly used for the determination of the physical range to be used during an automatic change SPSMG1 Maximum speeds in range 1 for the spindles 1 4 SPSMG2 Maximum speeds in range 2 for the spindles 1 4 SPSMG3 Maximum speeds in range 3 for the spindles 1 4 SPSMG4 Maximum speeds in range 4 for the spindles 1 4 SPSMAX Maximum absolute speeds for the spindles 1 4 2 2 Machin
63. is pressed press to confirm To insert more names on the same line place the symbol between each name After selecting a variable using the CJ or OJ keys press this softkey to modify the selected variable Press to confirm Deletes the variable on which the cursor is positioned This key allows the verification of the binary status of the input and output bytes on the I O MIX card The display will present a variable IN 001 n where n is a binary number The 8 bits represent the states of the 8 relative J bytes starting from right to left In screen the J and keysare used to view the similar signals from the other I OMIX cards and are identified by the variables IN 00x n FORCED ASSIGNMENT This function may be used to force a value on a variable and measure its effect immediately see a description of forced values further ahead ADVANCED FUNCTIONS Activates a new menu with more commands By pressing the MORE softkey the following menu appears DECIMAL SEARCH EXPAND CLEAR SAVE BINARY ASSIGN EQUATION ALL TABLE DECIMAL BINARY SEARCH ASSIGN Changes the display format from decimal to binary and vice versa for the variable selected by the cursor By supplying the name of a variable used in the active PLC program all of its assigned values are searched Related equations are displayed dynamically Machine Logic Development PLC Part I 01 2 9 Series S3000 selca 2 Operating procedure EXPAND EQUA
64. level 1 or true The term reset indicates the forcing of a variable to the logic level 0 or false 51200 T This symbol indicates the description of differences between the series S12000 and S3000 systems This will be particularly useful for those who have already installed or have been using the S1200 system Machine Logic Development PLC 01 5 Series S3000 selca General INDEX Part 1 USES AND FUNCTIONS 1 1 MAIN CHARACTERISTICS OF THE SERIES 3000 nn 1 1 2 PROCEDURE 2 1 EDITING THE LOGIC 0 ici 2 2 Bu ara alada 2 3 Edit logie MENU miii dia 2 4 Advanced function MENU iii 2 5 Edit parameters enu ire ee ei op hy os tbe TETEA 2 6 2 2 COMPILE LOGIC mm enek ine A APNEA APENN AASEN K ESA ENS EAF ENNE A ENEA E ASEAS ERAF EN ENEA APERA ER RAEES ERA FEAT 2 7 2 3 LOAD AND RUN iii iia iii 2 7 2 4 TRANSLATION OF PROGRAMS EDITED ON 1200 eee 2 8 2 5 LOGIC DEBUG os jsf ER 2 8 25 1 DYNAMIC DISPLAY want occ Pete ee et ree ee ee n eno p epit teret ee alls 2 8 2 5 2 GRAPHIC ANALYZER eu a ta 2 10 Setting up the graphic analyser rare cnn nennen nennen 2 10 TAGS ANALYSIS Em 2 12 2 5 3 DISPLAY AND ANALYZER TABLES pp 2 14 2 5 4 FORGED ASSIGNMENTS ccu e te dett ete euius deb upto epp Ice da debi dne cue aaa 2 14 2 5 5 FORCED VALUES TABLES i 2 15 2 5 6 RESET S TANG RA Micra De re ne P piu pps 2 15 2 5 7 CROSS REFERENCE GENERATION OF USED VARAIA
65. modify some controlled axis parameters These parameters are normally defined in the configuration data Use of this service requires great care since incorrect data can cause malfunctioning of the axes To access these parameters it is first of all necessary to select the desired NC axis and then furnish the AXSTP register with the axis number in the configuration data then the parameter will be selected with the HOWSTP register as well as the type read or write To perform the operation it is necessary to activate the ACTSTP strobe This is then reset by the response from the NC The value of parameter selected must be written or read on the VALSTP register The changes to the parameters are permanently stored in the configuration tables only by utilizing the UPDATE FILES operation HOWSTP 0 Summary of Registers and Signals Involved AXSTP 8 NC lt PLC no Number of the axis whose parameters are to be modified VALSTP 64 NC PLC no Current value in the system configuration parameters 16 NC PLC no Configuration parameter code to access through the PLC the parameters operate on a non static copy in memory the new values are entered only when the axis final velocity 0 Code Parameter Code read written 1 Rapid velocity 1 2 Machining acceleration 2 3 Rapid acceleration 3 4 transducer axis backlash 4 5 K gain 5 6 Dynamic compensation 6 7 Crossover recovery rate 7 8 Crossover recovery time 8 9 Maximum S
66. of NC blocks UTSPCU 16 NC PLC no Number of tool in spindle read only UTSICU 16 NC PLC no Number of tool in intermediate station read only UTPICU 16 NC lt PLC no Number of tool in jaws read only EMACU 1 NC PLC no Tool change in emergency state This is set when the TC sequence is interrupted by a TC emergency request The presence of this signal means that the tool information present in the table can not be justified with respect to the real situation Operator intervention is necessary any requests for new tool changes NEWCU are ignored REMCU 1 NC PLC no TC emergency request This command interrupts the TC current sequence and the running operation putting the TC in an emergency state RBKCU 1 NC PLC no Exit from the EMACU TC emergency state and a tool change sequence interruption request SELECU 8 NC PLC no Form selector It must be arranged before the tool change module is activated it is acquired at the beginning of the sequence and can not be modified during the same 0 TC mode normal 1 TC mode with storage excluded 2 TC mode with storage programmed tool load 3 TC mode with programmed tool lay down ERCU 16 NC PLC no Error code displayed by the TC At every operation the information relative to storage tool table and configuration is verified In case the information is not valid or in situations not forseen or not manageable the TC interrupts the active sequence and communicates the error
67. on NC CNDVIS 16 NC 4 PLC no Word array to use during changing condition in the tables 1 64 NC VIDEO DISPLAY WINDOWS ACTIVE VIDEO PANEL The variable VISMC read only contains the number of the video panel VIS MC currently active The panels from VIS MC A to VIS MC F output codes from 10 to 15 respectively Name Size Direction Description VISMC 16 NC gt PLC Number of active video panel 1 12 SYSTEM DATE AND TIME The system date and time are available in numerals and read only on an vector of 6 elements in the WORD format seconds have a tolerance of 1 Summary of Registers and Signals Involved DATE 1 16 NC PLC no Year last two digits DATE 2 16 NC PLC no Month DATE 3 16 NC PLC no Day DATE 4 16 NC PLC no Hour 0 24 DATE 16 NC PLC no Minutes DATE 6 16 NC PLC no Seconds 1 13 SIGNALS FOR COPYING AND DIGITIZING SURFACES To enable controls related to the functions of copying and digitizing used on the remote console the PLC can act on the variables described below Summary of Registers and Signals Involved COPIA 8 NC PLC no First byte for remote copying commands The meaning of the single bits are as follows COPIA 1 1 NC lt PLC no 0 selects continuous digitization mode data points are stored as a function of the parameters of the manual copy program 1 selects the digitization mode data points are stored only following an pulse transition from O to 1 on the bit COPIA 2 in m
68. probe status Manual copying gain control The value can vary from 0 to 1 and multiplies the gain of the control in copying from 1 to 5 varying the velocity of the axes with the deflection of the probe First byte for remote management of the copying commands COPIA 8 1 Signal that a copying cycle is being executed in Manual mode Variables to verify system execution times SMPTI 64 OCCV 16 OCCI 16 OCCT 16 OCCP2P 16 CCL 16 CCUL 16 NC NC NC NC NC NC NC 200001010 PLC PLC PLC PLC PLC PLC PLC no no no no no no no Sample time controlled axes msec Fast logic scan time microseconds Time used in managing the controlled axes microseconds Time used by the graphic analyzer microseconds Time used in managing the independent axes microseconds Slow logic interrupt cycle counter Super slow logic interrupt cycle counter Machine Logic Development PLC Part II 01 4 9 Series S3000 4 Summary of predefined signals and registers Error signals accessed by logic ERSYS ERAXS ERIOX ERINT ERPLC ERSPN ERP2P ERCU ER2LN ERCPY FPERMK 16 16 16 16 16 16 16 16 16 16 8 NC PLC no NC PLC no NC PLC no NC PLC no NC PLC no NC PLC no NC PLC no NC PLC no NC PLC no NC PLC no NC lt gt PLC no System error code read on the controlled axes spindles independent axes PLC runtime errors errors in the automatic tool change module
69. programme x6 dies Sea e ee e ek es Machine Logic Development PLC Part III 00 1 29 Series S3000 selca 1 Programming examples SHIFTZ EXAMPLE OF COMPENSATION FOR Y FALL AS A FUNCTION OF Z 1 A A AA AA A A AAA A AAA A AAA AAA AAA AAA AA AA AAA AAA AAA AAA 2 EXAMPLE OF COMPENSATION FOR Y FALL AS A FUNCTION OF Z 3 N4 SHIFTZ 940516 5 dese oe de dece X ROR IC EER ok RE EA ICRA oe Ke o ce eoe oe e CIC Oe Ue ee e e e n GC oe N6 7 Compensation of vertical Z axis as a function of 8 the fall or droop of the horizontal Y ram 8 The compensation is executed only if the axes are interlocked 10 if not interlocked the compensation implies a shift in the Z N11 axis height It will be executed later when the axis is enabled N12 N13 N14 Ck ock ck ck kock oko ko ko ko ko KKK KK DECLARATION SECTION ck ok cec dee e eR x e e e ERA A ES physical inputs 16 NP A physical output 18 OUT N19 UMOVE1 enable axis 1 20 UMOVE 2 enable axis 2 N21 UMOVE 3 enable axis 3 22 23 internal variables 24 SRAM 32 25 TABCOZ 11 table with values for Z compensation 26 N27 RAM 32 N28 FCYP Z position at positive end of Y travel N29 FCYN Z position at negative end of Y travel 30 NCAMPY number of steps 31 STEPY distance between steps 32 QUOYI vert pos of Y referred to negative travel end 39 COMPZ current compensation value 34 IND current step number 35 N36 RAM 8 37 IND8 current step number in byte format N
70. requires T first then M N203 F STROT CALL GEFUT N204 IF STROM CALL GEFUM N205 BURDY 0 N206 ASINC N207 ASYNCHRONOUS PART N2 8 N209 AUTOMATIC TC MODULE N210 N211 CALL CUAUTO automatic TC routine N212 N213 s oues physical actuations for tool change N214 mechanical safety locks etc must always be put directly N215 in the control outputs for example N216 out select_auto select man amp mech_safety N217 N218 UARI MA MM62 amp safety N219 UCRI MA MM63 amp safety N220 Leu N221 L4 MM26 manual TC in progress N222 N223 N224 reset memories at end of operation instructions completed N225 F IRI MAA amp I RI MAC MM62 0 door open N226 I F IRI MAC amp I RI MAA MM63 0 door closed N227 IF P4 MM26 0 ok end manual TC N228 N229 OTHER ASYNCH
71. scanning rate of 10 mSec the time base used should be 10 mSec A 2 mSec time base may be used to analyze the dynamics of the machine axes thereby displaying instantaneous speed path error or other analog outputs This is the time period specified for analyzing the signal in question The number of PAGES is calculated based upon this number and the time base which is then rounded to the highest multiple of 2 Each page contains 512 points separated by a distance equal to the time base The maximum number of pages is 8 Example ACQTIM 30 Sec TIMBAS 10 mSec 30 01 3000 values must be acquired these are divided into 3000 512 5 86 pages which is rounded up to the highest multiple of 2 that being 8 Permits the value of a variable to be forced and to immediately gauge its effect see description further ahead Permits the insertion of an equation written within parenthesis using a valid PLC syntax or a signal which when it assumes the value zero activates the storage of the analyzed signal according to the position of the trigger selected This key establishes the trigger position with respect to the signal acquisition time In other words the display time may be posted before after or in time with the trigger Pressing this key will cycle the trigger position between three distinct selections PRE trace before trigger MID trace in time with trigger END trace after trigger After having chosen the abov
72. softkeys present in the ANALYZE TRACE menu are as follows ACQUIRE CURSOR CURSOR CURSOR HIGHLIGHT REDISPLAY ADJUST SAVE SPEED TRACE TRACE SCALE TABLE ACQUIRE The analyzer may be activated using this softkey after having made modifications to the parameters controlled by this menu CURSOR Turns ON or OFF the horizontal and vertical cursors CURSOR CURSOR SPEED Permits the adjustment of horizontal cursor speed HIGHLIGHT TRACE _ By pressing this softkey the trace selected by the cursor becomes a reverse image The traces so highlighted are not redrawn when the REDRAW TRACE key is pressed When the REDRAW TRACE key is pressed after this operation is performed only the non highlighted traces are retraced This function may be used to analyze a large number of traces one at a time or in small groups traces selected are stored in memory and to recall them it is necessary to position the cursor on the signal name and press HIGHLIGHT TRACE until the selection is made then press REDRAW TRACE REDISPLAY TRACE Moves and redraws the traces in such a manner to position the cursor as close to the screen center as possible ADJUST SCALE Permits the change of max and min limits for a selected trace using the vertical cursor by making the modifications and pressing the key the trace with its new limits will be displayed STORE TABLE Stores graphic analyzer names and expressions in a table to be recalled later using RECALL TABLE The n
73. speed both the NC signal and N13 the effective signal fromthe drive are considered N14 N15 NP N16 MAMAO select manual spindle rotation clockwise N17 MAMAA select manual spindle rotation anticlockwise N18 STOPM select stop spindle N19 GI ROK signal spindle upto speed N20 N21 OUT N22 TERM 4 N23 ABM enable spindle operation N24 N25 RAM 1 N26 ROT MA select rotation N27 684 record fixed cycle G84 N28 N29 STI MER N30 TRMI TRMU ti mer to verify spindle stopped for emergency N31 N32 NIT N33 SPGAM 1 1 range 1 onl y N34 N35 PROG N36 END N37 F BURDY ASI NC N38 FHOLD 1 DHOLD 1 N39 F STROM CALL GEFUM N40 BURDY 0 N41 ASINC N42 N43 KK KKK KKK KK KKK K X spindle management KK KK KKK KK K KK KK K KK K KK K K X K X N44 N45 manual command N46 F NCMD lt gt 5 NOMANU N47 F IMAMAO CALL M03 N48 F IMAMAA CALL M04 N49 F ISTOPM CALL M05 N50 NOMANU N52 N53 If in automatic speed equals S otherwise N54 force speed to max SPSMAX N55 Potentiometer 3 automatic from 70 to 130 of SPEED N56 tapping 100 N57 manual 0 to 100 of max SPEED N58 G84 CI CFI 284 tapping in progress N59 F NCMD 5 SPVEL 1 SPSMAX 1 SPSSO 1 ANI 3 NOVEMA N60 SPVEL 1 SPEED N61 F 684 SPSSO 1 1 N62 ELSE SPSSO 1 20 7 ANI 3 0 6 N63 NOVEMA N64 N65 SPROT 1 ROTMA8 HOLDA select rotation and HOLD N66 ABM SPMOV 1 amp enabling and consents
74. spindle M19 N88 TI MUON TUMUON TDMUON TAMUON TWMUON aux on N89 TISBX TUSBX TDSBX TASBX TWSBX unlock X axis N90 TISBY TUSBY TDSBY TASBY TWSBY unlock Y axis N91 TISBZ TUSBZ TDSBZ TASBZ TWSBZ unlock Z axis N92 TIBLX TUBLX TDBLX TABLX TWBLX lock X axis N93 TI BLY TUBLY TDBLY TABLY TWBLY lock Y axis N94 TI BLZ TUBLZ TDBLZ TABLZ TWBLZ lock Z axis N95 TLUBI TLUBU TLUBD TLUBA TLUBW axes lube N96 N97 SOFTK 1 N98 P1 L1 1 J0G AXIS xe N99 P2 12 1 J0G AXIS xt N P3 L3 1 0G AX 5 Yt P4 L4 1 0G AXIS Yee P5 L5 1 0G AXIS 14 P6 L6 1 0G AXIS Lt 0 1 2 3 4 P7 L7 REFERENCE AXES 5 P8 L8 HANDWHEELS 2 6 SOFTK 2 7 P21 L21 HANDWHEEL X 8 P22 L22 HANDWHEEL Y 9 P23 L23 HANDWHEEL Z 0 1 2 3 4 5 6 7 8 P24 L24 0 4 mm per rev P25 L25 1 mm per rev P26 L26 5 mm per rev P27 E27 P28 L28 JOG AXES 1 16 INIT 1 RARA ZZZ ZZZ NI TI AL ZATI ON SECTI ON AAA KKK KK KKK GG XX 1 L24 1 default handwheel resolution 19 20 NMAX 32 define max number of messages 21 MSG 1 AUXILIARY DISCONNECTED 22 MSG 2 HOME THE AXES 23 MSG 3 to start automatic cycle first JOG Ze 24 MSG 4 SPINDLE NOT READY 25 MSG 5 GEAR CHANGE ACTIVE 26 MSG 6 AXES FUNCTI ON FAULT 271 MSG 7 SPINDLE FUNCTI ON FAULT 8 LOW OI L LEVEL 29 MSG 9 LOW COOLANT LEVEL 30 MSG 10 TERMI CI SCATTATI 31 MSG 11 AXES
75. taken under control if not already e The movement is maintained until the end of the cycle by the registers JOGP or JOGM when register MIZEA is set e Velocity is adjusted as manual JOG by means of the register POMO n associated with the axis The value is between 0 and 1 0 100926 referred to the rapid velocity e The transducer is zeroed out on the first electric zero encountered and the axis decelerated to a stop The position of the axis is set by the value of machine 0 defined in the configuration data see specific documentation B phase e The cycle continues automatically positioning the axis at the point specified in the configuration by the parameter homing stop position at the same speed with which the electric zero was encountered e Finally the axis homed signal is given in the MIZEA register with the bit related to that axis If JOG is released during the cycle the axis is nevertheless stopped and the following situations would be present JOG released before reaching the electrical zero MIZEA is not reset of the transducer JOG released in B phase during positioning to MIZEA is signaled in so far as the transducer has machine zero already been electrically zeroed even though the axis has not been positioned on machine zero In any case the cycle is always interrupted when the MARK register is released If a repeat of the home cycle is required after having stopped the previous one Repeat
76. the sequence of controls described previously The MIZEA signal is again zeroed out and the sequence begins anew Machine Logic Development PLC Part Il 01 1 15 Series S3000 selca 1 Management and flow of commands Home cycle using marker Transducer Zero Speed Loi Position P1 position of end of home cycle Timing of home cycle using marker A B Movcn Transducer Zero Mizea Speed Time P1 Home cycle position V1 Home cycle speed Homing using optical scales In order to home the machine using optical scales the home sequence with microswitch home Switch must be used as described above The home microswitch MIZER positioned in proximity to the marker position is used to invert the home cycle direction in automatic mode without further action on the part of the PLC If during the home cycle the axis moves a greater distance than the maximum specified an error is signaled EMEA 1 a message is displayed This situation may be caused if incorrect configuration parameters are present 1 16 Machine Logic Development PLC Part Il 01 selca Series S3000 1 Management and flow of commands Summary of registers and signals involved MICZE 8 NC PLC no Axis selected for homing with home switch 1 8 MARK 8 NC PLC no Axis selected for homing without home switch 1 8 MIZER 8 NC PLC no Home switch for axis 1 8 MIZEA 8 NC PLC no Axes referred t
77. the substitution of actual external push buttons JOG functions for example Using the softkeys and the associated microeditor it is now possible to insert or to modify at the end user level the content of alphanumeric variables as well as numeric variables Servo parameters can be adjusted in real time via a softkey menu with simultaneous recall to the graphic analyzer The results can be verified immediately without initializing the NC C1 2 PROGRAM DEBUGGING AND SYSTEM VERIFICATION Program compiling has been greatly speeded up Program edit functions have been broadened with the addition of block management as well as with the search and substitution of character sequences Significant upgrades have been made to the graphic analyzer as well as the dynamic display Using the tables it is possible to store all the variables and the parameters for display dynamic or with graphic analyzer This provides a useful analytical tool The graphic analyzer and the dynamic display can be accessed quickly with simple key stroke combinations hot keys as an alternative to the regular menu softkeys The variables are made available for the dynamic analysis of the servo axes and copying The PLC can read system date and time NC error signals are available to the PLC C 2 Machine Logic Development PLC Appendix 00 selca Series S3000 Appendice C New Series S3000 functions compared to the 81200 system C1 3
78. the tool change will begin with the return of the old tool before searching for the new one Asynchronous The tool search can be done in masked time working simultaneously with the NC program as a tool change arm exists between tool storage and spindle with a JAW and an INTERMEDIATE TOOL STATION Semiasynchronous n the current types of automatic tool changers with RANDOM disposition of the tools often the intermediate station is missing the programming of the Txx function generates only a rotation of the magazine without changing the situation of the tools In these cases the Semiasynchronous storage management type may be used 2 12 Machine Logic Development PLC Part II 01 selca Series S3000 2 Dedicated internal modules 2 3 4 SEQUENCE DEFINITIONS Every TC SEQUENCE must be defined with mandatory codes in the PLC program and identified with negative numbers These codes are necessary for the updating of the tool table they must be in a specified sequence as described on the following pages In addition all the OPERATION codes considered necessary by the PLC may be inserted using whole numbers between 1 and 32767 The following are the meanings of the pre defined OPERATION internal codes 1 New tool picked up from storage requested by the station 4 New tool picked up from storage and inserted in the spindle 5 New tool picked up from storage and inserted in the intermediate station 6 Tool change wait operation
79. these variables is reset when a PLC is compiled with inside an SSRAM declaration different from the previous one 51200 In the S1200 variables declared as RAM attribute were implicitly retentive Vector arrays tables may also be used as for internal variables in all formats except bit format Therefore we have name number name1 name2 n namen number indicates the vector index If the vector has a certain dimension previously declared the names to the right of the indicate the names of each element in the same format as the vector In case some names are not given it is necessary only to leave the commas in their places Commas are not needed after the last name the compiler truncates the signal description at that point Machine Logic Development PLC Part I 01 4 5 Series S3000 selca 4 Declarations The number of vector elements may be as high as 32767 depending on the amount of memory available As was said earlier the LONG and DOUBLE variables being of floating point format are always used for mathematical calculations 4 3 DECLARATION OF STRINGS Strings are variables which contain alphanumeric characters in ASCII format Generally the declaration is used for storing messages The declaration of string names is effected after the key word STRL attribute String variable 1 String variable n where attribute may assume the following values 16 for strings with a maximum
80. various operations Summary of Registers and Signals Involved SMPTI 64 NC PLC no Sample time controlled axes msec OCCV 16 NC 7 PLC no Fastlogic scan time microseconds OCCI 16 NC PLC no Time used in managing the controlled axes microseconds OCCT 16 NC PLC no Time used by the graphic analyser microseconds OCCP2P 16 NC PLC no Time used in managing the independant axes microseconds CCL 16 NC PLC no Slow logic interrupt cycle counter CCUL 16 NC PLC no Super slow logic interrupt cycle counter 1 15 ERROR SIGNALS ACCESSED BY THE LOGIC System errors besides being displayed on the screen are communicated to the PLC with a numeric code on the ERSYS variable The complete list of errors is reported in the manual Use and Programming Summary of Registers and Signals Involved ERSYS 16 NC PLC no System error code read on the controlled axes spindles independent axes PLC runtime errors errors in the automatic tool change module ERAXS 16 NC PLC no System error code read on the controlled axes slave error ouside tolerance transducer errors etc ERIOX 16 NC PLC no Error code read on the I OMIX cards encoder feedback failure digital output error etc ERINT 16 NC PLC no Error code occurring during the interpolation calculations ERPLC 16 NC SS PLC no Runtime error code read during the execution of the PLC program division by 0 overflow underflow etc ERSPN 16 NC PLC no Error
81. workpiece origin through G851 1 18 Machine Logic Development PLC Part II 01 selca Series S3000 1 Management and flow of commands Information regarding controlled axes new variables Variables for debugging and axis calibration Name Size Direction Description AXRIF 64 NC gt PLC Speed command sent to the axes 1 8 mm min OFSVA 64 PLC gt NC Additional speed offset for the axes 1 8 mm min Also impacts AXRIF use only for special applications AFF 64 NC gt PLC Acceleration command imparted to the axes 1 8 mm sec 1 5 11 DYNAMIC COMPENSATION OF AXIS POSITION The PLC has the ability to write a value directly on the SHIFT registers in millimeters to compensate dynamically for variations in axis position caused by by thermal or mechanical deformation The compensation will act in two different modes according to whether or not the axis is interlocked interlocked axis the position displayed does not vary but physically the axis is moved by the the amount indicated by SHIFT non interlocked axis the axis can does not move itself but the position value varies by the amount indicated by SHIFT Summary of Registers and Signals Involved SHIFT 64 NC PLC no Dynamic compensation of axis position 1 8 1 5 12 OFFSET FOR CONTROLLED AXES For special applications it is possible to add an offset to the analog reference calculated for the controlled axes This function must be used with extr
82. writing DAA X DAA 1 SDA VELX Convert axis X DASP SDA VEMA spindle speed 3 2 POTENTIOMETER MANAGEMENT The control is always by the PLC the variable POTTER has been eliminated It is necessary to eliminate the functions LAD and SDA the variables relative to analog input output are already in floating point The variables POFE POMA POSP have been substituted with ANI 1 ANI 2 ANI 3 For manual mode a potentiometer for each axis is present LEPOTE ANI 1 POMO 1 LEPOTE POMO 2 LEPOTE POMO 3 LEPOTE POFO LEPOTE AXES POSITION READING AND ORIGIN SHIFT It is necessary to eliminate the functions LRQ and SRQ the variables relative to analog input outut are already in floating point POSX POA 1 read X axis SHIFT 1 COMPX compensate X axis DECODING FUNCTIONS Change the syntax of the instruction COM 1 name program IF AUXM 6 COM 1 CAMBUT RTS On SSA it is necessary to write axes configuration in M11 IF AUXM 11 SSA 11111111B RTS Axes always active IF AUXM 10 SSA 00000000B RTS Axes locked ENABLE MANAGEMENT Sostituire MOVE con MOVCN e fornire la cofiguraz assi abilitati su RDMOV ABX MOVON 1 RDMOV MOVCN enable X axes enabled SPINDLE MANAGEMENT Not changeable by simple substitutions see relative paragraph TOOL CHANGE MANAGEMENT Not changeable by simple substitutions see relative paragraph B
83. x e ex x RETURN FROM CUAUTO N337 N338 N339 ROUTINE TO DECODE TC and RESET OPERATI ONS N340 N341 case for TC reset N342 RESECU N343 MM26 0 reset manual TC N344 MM62 0 N345 MM63 0 N346 N347 mormal reset M30 or BREAK N348 RESET N349 WNDI NT 1 230 display M30 N350 ERRM06 0 cancel error on M6 M6 without T ready N351 RTS N352 N353 manage TC OPERATI ONS N354 OPER N355 IF OPERCU OPCUX N356 N357 RTS N358 N359 OPCUX RTS N360 N351 Tuis as program end ricos neis RR RE unter 1 38 Machine Logic Development PLC Part III 00 selca AXP2P Control of tool storage axis from PLC N1 EOI RAO KK KKK KK KKK KKK KAKKA KK KKK KKK KKK ONOR RR RAO N2 POSI TI ONING OF TOOL STORAGE axis as an INDEPENDANT axis N3 A N4 AXP2P 941008 N5 X cO CK XO KKK KK KKK GO K K K K KKK KK K K K KK K K KKK EK RK K K K K K KK K K KKK EK KK K N6 N7 FOSO X DECLARATION SECTION o to ok N8 Consider a t
84. 0 UMOVE2 2 enable axis 2 N41 UMOVE3 3 enable axis 3 N42 TERM 4 jump to output 5 N43 UMAN 5 enable spindle N44 USFREX 6 unclamp X axis N45 USFREY 7 unclamp Y axis N46 USFREZ 8 unclamp Z axis N47 UREF 9 coolant on N48 CNOK 10 NC ok for auxiliary N49 LAHOLD 11 hold lamp N50 LACYON 12 cycle on lamp N51 OKVG 13 range 1 command N52 OKVG2 14 range 2 command N53 UKLUBA 15 axis lube N54 ULAMOG 16 M06 lamp N55 N56 internal variables N57 RAM 8 N58 MOVCNP copy of old MOVCN for derivative N59 NM message number N60 NR number of lines per message N61 NMAX maxi mum number of messages N62 SG message flag bytes 1 8 N63 SG message flag bytes 9 16 N64 S63 message flag bytes 17 24 N65 S64 message flag bytes 25 32 N66 N67 RAM 1 N68 RI COX homing X axis N69 RI COY homing Y axis N70 RI COZ homing Z axis N71 ZERI OK Axes homed N72 SJ 0G JOG status enable N73 RORMA M3 in memory N74 RANMA M in memory N75 RM41 force range 1 Machine Logic Development PLC Part III 00 Series S3000 1 Programming examples Series S3000 selca 1 Programming examples N76 RM42 force range 2 N77 GAMI range 1 request in memory N78 GAM2 range 2 request in memory N79 CAUT tool change active N80 G84 tapping cycle active N81 N82 STR N83 MSG 32 table 32 messages N84 N85 STI MER N86 TI M06 TUMO6 TDMO6 TAMO6 TWMO6 flash TC lamp N87 TI M19 TUM19 TDM19 TAM19 TWM19
85. 0 selca 5 Operations and functions argument4 specifies how many characters in argument 2 must be searched through starting from argument 3 argument1 and argument2 may be a sequence of characters delimitated by inverted commas a string variable an expression whose result is a string argument3 and argument4 may be an integer between 1 and 255 a byte variable with a value between 1 and 127 or a word variable with a value between 1 and 255 an expression whose result is a word or byte with the same numerical limits as those above The value assigned by the function may be a byte or word The function may yield different results based upon the values of arguments 1 4 and other conditions as indicated below if the string is not found a 0 is substituted for the result if argument2 is a null string arguments is returned if argument is a null string a zero value is returned if argument3 argument4 is greater than the length of argument1 the search begins from argument 3 and continues until there are no more characters left if argument4 is less than or equal to 0 the result will be zero Example Suppose that VARIAB1 contains ABCDEABCUPABCXY and VARIAB2 contains AB and the instruction used is POSIZ INSTR VARIAB1 VARIAB2 4 13 the result obtained in POSIZ is the number 6 LEN String length Supplies the number of characters including spaces of the argument string The format is LEN argumen
86. 1 N61 NOJOG N62 F RICUT L1 0 L2 0 N63 CALL POSMAG N64 N65 x Mae tof eek SA NAM Df ge mer al sot e vct t bead ER caes N66 FHOLD RI CUT N67 DHOLD RI CUT halt data blocks N68 REME FF EMAP2P 1 EMEA machine emergency axis N70 F BRKA CALL RESET reset PLC functions from NC N71 N72 END NES ETE very STOW SeCELOn uc Rer REC Se E N74 WNDOW NEI POAP2P 1 display current position N75 ASCW 109 N76 END Machine Logic Development PLC Part III 00 Series S3000 1 Programming examples 1 39 Series S3000 1 Programming examples N77 N78 N79 N80 N81 N82 N83 N84 N85 N86 N87 N88 N89 N91 N92 N93 N94 N95 N96 N97 N98 N99 2222222222222 222222222222222 1 40 FERRARA RKRK ERE RE EKER ROUTINES SECTION FERRO ERROR ERR EKER ERE R EERE EKER ER EEE E STORAGE POSITI ONI NG NDEPENDANT axis SCOR RRR REE ERE EKER ERE KEE POSMAG POTP2P 1 1 speed CONTROL POT SSAP2P 1 1 storage always active MI ZP2P 1 I ZERM storage zero switch UABMAG MOVP2P 1 enable storage axis DMP2P 1 MOVP2P 1 axis enabled response NPOS SGLP2P 1 amp MZAP2P 1 RUNP2P 1 amp RI CUTG EMAP2P 1 in pos faults and reset F EMAP2P 1 RICUT 0 RTS fault reset command activate REME on EMAP2P if axis at zero F MZAP2P 1 ZEMAG test axis zero GPP2P 1 0 cancel J 0G MCZP2P 1 0 cancel zero search mode calculate position u
87. 127 or a WORD variable between 1 and 32767 Example Suppose that the variables BTAB and WTAB have been established as a BYTE and WORD respectively BTAB 18 18 is written to the variable BTAB TABUT BTAB 25 25 is written to the 18th element of TABUT WTAB 1 99 the value 199 is written to WTAB VALORE TABCOY WTAB the contents of the 199th element of TABCOY are written to the single variable VALORE e an expression which results in a BYTE or WORD format with the same numerical limitations as the preceding case Example Suppose that DATO1 and DATO2 are single variables in BYTE format and that ARRAY x is a vectorial variable with more than 11 elements DAT01 4 Machine Logic Development PLC Part 01 3 5 Series S3000 selca 3 Program organization DATO2 6 ARRAY DAT01 DAT02 1 66 66 is written to the 11th element of ARRAY In general the vectorial variables occupy contiguous locations within memory therefor it is important to pay particular attention to the length and quantity of data handled by these variables to avoid invading other variable s space see further ahead In fact if the index value is greater than the number of elements declared by the VECTOR they will occupy the next memory location Negative Index values values of zero or values outside the range ex 45000 must be avoided at all costs else non related memory locations may be overwritten 3 3 2 STATIC AND DYNAMIC VARIABLES Program variab
88. 1302 E1304 E1306 E1310 E1312 E1314 E1316 E1318 E1320 E1322 E1324 E1421 E1422 E1450 E1994 E2000 E2001 E2002 E2004 E2006 E2008 E2010 E2012 E2014 E2016 E2018 E2019 E2020 E2021 E2022 E2024 E2026 E2028 E2030 E2032 E2034 E2040 Appendice D Diagnostic Messages joint cold signal too high joint cold signal too low faults on joint cold transducer CPU master overrun simulated work CPU master overrun position display CPU master overrun secondary sampling CPU master overrun primary sampling CPU master overrun system timer CPU master overrun PLC debugger CPU master overrun point to point axes CPU master overrun temperature controls CPU master overrun interpolator MODIND overrun fast cycles too long at PLC line ultra fast cycles too long at PLC line too many writes in tool table too many writes in tool table PLC line malfunctioning I O MIX digital expansions Watch Dog on I O MIX Watch Dog on I O MIX overrun on I O MIX error on I O MIX digital outputs byte 24V power supply failure I O MIX 24V power supply failure I O MIX expansion wait for 24V power supply I O encoder 5V power supply missing I O MIX handwheels 15V power supply missing I O MIX external 15V power supply missing I O MIX potentiometers power supply missing I O MIX DDI C1D Error drive IDNOOOBH H IDNO081H H DDI C2D Error drive IDNO
89. 17 Machine Logic Development PLC Part Il 01 1 23 Series S3000 selica 1 Management and flow of commands ANI 3 signifies analog input channel 3 of the first YOMIX board Analog outputs The analog outputs written by the PLC with a numeric value in 64 bit format varying between 1 and 1 as a percentage of the bottom of scale value produce an output voltage varying between 10V and 10V No configuration parameters are necessary in the NC The access is obtained in the PLC with a variable VELO with the following structure VELOmaster board number slave number output number where master board number indicates which BOARD SLOT the board with RIO master interface will have like the case of local I O where it relates to the I OMIX board slave number declares the address set with the microswitches on the remote module output number declares the output used on the module Example VELO17 6002 signifies analog output no 2 of the SLAVE remote module with address 60 connected to the RIO MASTER interface in position 17 VELO 3 signifies analog output no 3 of the first OMIX board Inputs for temperature probes Reading of the analog inputs for temperature probes provides the PLC a value in degrees of the temperature detected by the heat probes in 64 bit format No configuration parameters are necessary in the NC In the PLC program access is obtained with a variable TEMP of the following structure TEMPmaster boa
90. 2P SSAP2P 8 NC PLC no Axes that must be enabled at all times 1 8 DSVP2P 8 NC PLC no Axes to be freed 1 8 DRQP2P 8 NC lt PLC no Command to disable the transducers on axes 1 8 MVMP2P 8 NC C PLC no Axes that may be selected in manual mode 1 8 MRKP2P 8 NC lt PLC no Axes selected to be homed without reference switch 1 8 MCZP2P 8 NC PLC no Axes selected to be homed with reference switch 1 8 MIZP2P 8 NC PLC no Reference microswitch for axes 1 8 MZAP2P 8 NC PLC no Axes referred to transducer zero then repositioned after homing 1 8 POTP2P 64 NC PLC no Speed regulation potentiometer for axes 1 8 From 0 to 100 percent of the speed if in automatic or of the acceleration if in manual JGPP2P 8 NC PLC no Comand JOG positive axes 1 8 JGMP2P 8 NC PLC no Comand JOG negative axes 1 8 PFNP2P 64 NC PLC no Automatically move to programmed position axes 1 8 Machine Logic Development PLC Part Il 01 2 7 Series S3000 selca 2 Dedicated internal modules RUNP2P 8 NC PLC no Positioning commands in automatic for axes 1 8 They must be set by the PLC to command the movement to the set position they are reset by the NC when the axis having ended the movement enters the in position threshold set in configuration data RHDP2P 8 NC PLC no HOLD request axes 1 8 Temporary hold of movement the operation continues without further commands as soon as axes ar
91. 3 632 end CUAUTO CUMANU P90 1 P13 1 L1 load from floor P132 L1 unload to floor P13 3 L1 exchange with floor P13 11 L11 Tprog Tspindle P90 1 L90 cases 1 2 3 Lal M26 manual tool change M29 activate correction P90 1 L90 case 11 L 11 M29 activate correction L 90 M34 end tool change NP AUXON 1 Auxiliaries on RI MAA 2 Storage door open RI MAC 3 Storage door closed others OUT ABX l enable axis X ABY 2 enable axis Y ABZ 4 enable axis Z UARI MA 7 output open storage door UCRI MA 8 output close storage door others RAM 1 ERRM06 M6 programmed without T stored commands automatic TC MM26 manual tool change MM62 open storage door MM63 close storage door others STR MSG 10 text for messages and alarms SOFTK 1 P1 CUAUT AUTOMATIC TC P2 CUMAN MANUAL TC P3 13 sa P4 LA end manual TC Pai LS s P6 L6 ii PIER RESET TC P8 L8 ES INIT INITIALIZATION SECTION MSG 1 VERIFY TOOL TABLE AND RESET THE TC MSG 2 change tool manually MSG 3 M6 programmed without Txx Machine Logic Development PLC Part III 00 Series S3000 1 Programming examples 1 35 Series S3000 selca 1 Programming examples N156 MSG 4 Wait storage open N157 MSG 5 z Wait storage door closed N158 N159 N160 DEFINITI ON OF TOOL CHANGE SEQUENCES
92. 3 FAULT IN AXES MOVEMENT ELSE CLR 3 END a at nde program end o oom ere daher X Machine Logic Development PLC Part III 00 selca AXBLOC2 Clamp axes with external enable KKK KK RK KK KK KK K K K K KK KK K KK K K K KK K KK KK K KK KKK KK K KK KKK KK K KK KEK KK CLAMP UNCLAMP axes with PRESSURE SW TCH AXBLOC2 941010 KEK KK KKK KK KKK KK KK KK KK K K K K K K KK K K K KK K KK KK K KK K KK KKK KK K KK KKK KK unclamping using a pressure switch and clamping with a timed wait physical inputs NP MUON 1 auxiliaries on DRAOK 2 drives OK SBLOX 3 X axis unclamped pressure switch physical outputs OUT UMOVE1 1 enable axis 1 TERM 5 USFREX 6 unclamp axis X internal variables RAM 8 MOVCNP copy of old MOVCN for variations STI MER TI BLX TUBLX TDBLX TABLX TWBLX clamp axis X PROG END KK KOKK KK KK K KK K KK K K SLOW SECTI ON elio i Wid CIR UST Mo de te nd de e ati POFO ANI 1 feed override pot BURDY 0 acquire function from NC O a adaa axes management ii TI BLX 5 MOVCN 1 amp RDMOV 1 amp I SBLOX timer clamp X UMOVE1 MOVCN 1 RDMOV 1 l MUON amp I DRAOK enable X USFREX MOVCN 1 amp I MUON amp I DRAOK unclamp X RDMOV 1 MOVCN 1 amp I SBLOX RDMOV 1 amp TUBLX EMEA NC response petty DO VERY SLOW SECTION ERE R
93. 32 MSG 48 48 message vector 33 declare NMAX elements 34 N35 INIT N36 NMAX 48 maximum number of messages N37 N38 messages to be displayed 39 MSG 1 AXIS ALARM CHECK SERVOAMPLIFIER FUSES 40 MSG 2 SLIDE LUBRIFICATION MOTOR OVERLOAD 41 MSG 3 COULANT MOTOR OVERLOAD 42 MSG 4 SPINDLE FAN MOTOR OVERLOAD N43 MSG 10 SPINDLE MOTOR OVERTEMPERATURE N44 MSG 17 2 SERVOAMPLIFIER OVERLOAD N45 MSG 18 COMPRESSED AIR FAULT N46 MSG 19 AXES OUT OF TRAVEL LIMIT 47 MSG 47 SPINDLE SERVOAMPLIFIER NOT READY 48 MSG 48 2 49 50 N51 E E Mtis PROGRAM iia e N52 PROG N53 END N54 END 55 Ow gau Deusen very LOW S6ctiofhllleevidg 94k oe X Yelle y 56 message enable 57 SG 1 Il 58 SG 10 12 N59 SG 47 13 N60 1 28 Machine Logic Development PLC Part III 00 selca Series S3000 1 Programming examples N61 CALL SCROLL call to handling message routine N62 N63 END N64 N65 rey US rout u ssecUulonves6e eu eue RS ANC aa Re X N66 METERS ENTRE ON SCREEN MESSAGE MANAGEMENT sses eserse s sissa N67 SCROLL N68 NMSG 1 NRIGA 1 SETUP OF VARIABLES N69 LOOVIS IF NMSG NMAX CLRSCR if end of scanning go to CLR N70 IF NRIGA 16 RTS exit if more than 16 messages N71 IF SG NMSG DISPL NRIGA MSG NMSG NRIGA NRIGA 1 DISPL N72 NMSG NMSG 1 LOOVIS test other SG N73 CLRSCR IF NRIGA gt 16 RTS any nore rows to clear N74 CLR NRIGA NRIGA NRIGA 1 CLRSCR clear subsequent rows N75 E M mereka aa
94. 38 39 INIT 40 FCYP 100 position of Y software limit 41 FCYN 200 position of Y software limit 42 NCAMPY 10 number of compensation steps N43 STEPY FCYP FCYN NCAMPY calculate step value N44 N45 PROG N46 FAAA kkk kkk RA UU x FAST SECTION dee We eee dee RE KEK e o e e ee x 47 POFO ANI 1 axes feed override potentiometer 48 49 UMOVE1 MOVCN 1 enable axes 50 UMOVE2 MOVCN 2 N51 UMOVE3 MOVCN 3 N52 RDMOV MOVCN N53 END 54 5 AREE e kx SLOW SECTION xw ede dee e e kk de koe RARO X 55 EE e n Gu ORA ex auxiliary functione eig weeYdgu Fey 9 56 51 BURDY 0 acquire function from NC 58 N59 lu E ec S A de da ci tall Compensation wise twine ewe eta a N60 QUOYI POA 2 FCYN vert pos relative to Y ve soft limit 1 30 Machine Logic Development PLC Part III 00 selica Series S3000 1 Programming examples N61 IND INT QUOYI STEPY current step number N62 IND8 FPI IND step in byte format N63 COMPZ QUOYI STEPY IND TABCOZ IND8 2 TABCOZ IND8 1 N64 STEPY TABCOZ IND8 1 interpolation between steps N65 limit outside software end limits N66 IF POA 2 lt FCYN COMPZ TABCOZ 1 N67 IF POA 2 gt FCYP COMPZ TABCOZ FPI NCAMPY 1 N68 SHIFT 3 COMPZ execute compensation N69 N70 END N71 PAS program Te sia rale de can Mer ee ee Machine Logic Development PLC Part III 00 1 31 Series S3000 1 Programming examples AXBLOC1 Clamped axes with timed wait Zza222222 co C
95. 4 7 5 1 PROGRAM COMMANDS USED DURING AUTOMATIC PROGRAM EXECUTION 7 5 7 5 2 PROGRAM COMMANDS RUN FROM THE MANUAL MODE eene 7 5 7 5 3 MACHINE LOGIC PROGRAM COMMANDS IN SEMIAUTOMATIC MODE RUN tia kena ihe tate titi lia UE 7 5 Machine logic program commands unit of measure conan cnnnnnnnnns 7 6 Machine logic program commands functions not permitted 7 6 Machine logic program commands running in asynchronous mode 7 7 Part Il INTRODUCTION pc 1 1 SIGNAL FLOW AND DATA EXCHANGE LN exc NU 1 1 1 2 AUXILIARY SYNCHRONOUS AND PREPARATORY FUNCTIONS 1 2 1 2 1 ACQUISITION OF PLC TO NC SYNCHRONOUS INFORMATION nee 1 3 1 2 2 SIGNALLING COM SUBPROGRAM TERMINATION pp 1 3 1 2 3 SUPPLEMENTARY PARAMETERS 1 J K Qi 1 3 1 2 4 EXECUTION OF AUXILIARY FUNCTIONS ON THE FLY neeesser 1 4 Auxiliar functions notes on sending the Speed 1 4 1 3 ASYNCHRONOUS START STOP ALARM AND ACKNOWLEDGE CONTROLS 1 5 1 4 TOOL ORIGINS AND COMPENSATION esee nennen nnne nnne nnns inns inns nnne 1 7 1 4 1 MANUAL TOOL CHANGE ee aeai EERS eA AEA EAE Ee E A A EAs 1 7 1 4 2 TYPE 81200 MANUAL TOOL CHANGE pp 1 7 1 4 3 AUTOMATIC TOOD CHANGE erias titt ot ee er enn ne EOE AE 1 7 1 5 COMMANDS REGULATING AXIS FEEDS
96. 5 Functions and Operations 3 3 7 ACCESS TO BITS OF ADJACENT VARIABLES If the index value exceeds the formatted value as described earlier the adjacent bits will be overwritten as follows Examples Suppose the variables VAR1 ALARM and CONFIG are BYTE types and that VAR2 and FLAGS are WORD types the following bits are accessed in bold with the expressions shown on the right VAR1 BIG 5 7 3 MI VARI 3 ALARM 70 8 2 VAR1 10 ALARM 2 CONFIG SARTI HI VAR2 EE 3 BEI VAR2 3 LO VAR2 15 14 13 12 11 10 9 HIFLAGS meo ea 2 Mi VAR2 18 FLAGS 2 LO FLAGS 15 14 13 12 11 10 9 Machine Logic Development PLC Part 01 3 9 Series S3000 selca 3 Program organization 3 10 Machine Logic Development PLC Part I 01 Series S3000 4 Declarations 4 INITIAL DECLARATIONS All of the symbols used in the PLC program must be declared at the beginning of the program using one of the following keywords described in greater detail further ahead in this chapter INP TERM OUT TERM SRAM RAM STR EQU PULSE FTIMER STIMER COUNT LANG SOFTK NOTE physical input skip unused inputs physical output skip unused outputs variable stored in non volatile RAM not lost when power is lost variable stored in volatile RAM lost when power is OFF to NC string equivalence or synonym derived impulse fast timers slow timers counters languages of the sotfkeys Softkey Not all of the declarative functions
97. 6 IF OPERCU 923 CU923 N328 RTS N329 manual tool change sequence 5 only N330 CU26 N331 MM26 1 N332 RTS N334 wait for end of tool change synchronous part N335 CU66 N336 MM66 1 N337 RTS N339 search for place to load N340 CU901 N341 PORI T PPRECU N342 RI CUT 1 N343 RTS N344 search for place to unload N345 CU923 N346 PORIT PPOSCU N347 RICUT 1 N348 RTS N349 N350 X OK CK KK XO K K GO KK GO X K K K KKK K K K K K KKK KK K K K KKK KK LE KKK K K K KEKE N351 CHANGER POSITIONING POINT TO POINT AXIS N352 KKK KK RK KK KK K K K K KK KK KK K KK K K KKK K KK KK K KK KK K K K K KK KKK KK K KEKE N353 if position is OK RICUT is reset N354 POSMAG N355 SSAP2P 1 1 changer always enabled N356 UABMAG MOVP2P 1 enable changer axis N357 RDMP2P zMOVP2P 1 response axis enabled N358 INPOS SGLP2P 1 amp MZAP2P 1 amp RUNP2P 1 amp RI CUT amp EMAP2P 1 pos N359 N360 F RI CUT RTS no need for positioning N361 POTP2P 1 speed potentiometer N362 MI ZP2P 1 ZERM changer home switch N363 F MZAP2P 1 ZEMAG test axis zeroed homed N364 JGPP2P 1 if zeroed reset J OG N365 MCZP2P if zeroed reset zero search N366 calculate position to be reached via shortest path N367 PFNP2P 1 I FP PORIT NEI 1FP PORIT NEI POAP2P 1 24 24 N368 IF RICUT RUNP2P 1 1 begin movment N369 TIRIC 5 RUNP2P 1 TDRIC signal NPOS N370 note entered only if MZAP2P i
98. 8 NC gt PLC yes Axes with names programmed in same block as auxilliary function ex M11XYZ generates AXPGM 00000111B AUXVAL 64 NC PLC yes Array in which parameters I J K Q are transmitted along with auxiliary functions M H AUXVAL 1 parameter AUXVAL 2 parameter J AUXVAL 3 parameter K AUXVAL 4 parameter Q STRAUX 8 NC E PLC yes Strobes for parameters I J K Q STRAUX 1 strobe STRAUX 2 strobe J STRAUX 3 strobe K STRAUX 4 strobe Q AUXILIARY FUNCTIONS NOTES ON SENDING THE SPEED At the end of a simulated program execution pressing the softkey SEARCH END following a RESUME CYCLE or STORED SEARCH sequence a block containing the last S encountered in simulation is sent to the PLC automatically 1 4 Machine Logic Development PLC Part II 01 selca Series S3000 1 Management and flow of commands 1 3 ASYNCHRONOUS START STOP ALARM AND ACKNOWLEDGE CONTROLS This group of signals allows the PLC to temporarily or permanently stop the activity in progress on the NC without affecting the spindles independent axes under PLC control or the tool change routine With these signals activated NC status transitions are inhibited ex From manual to single block FHOLD Feed Hold This signal permits the temporary suspension of movements in progress by halting the axes using the current programmed deceleration When released the program continues without any further commands DHOLD Data Hold
99. AK command 1 4 TOOL ORIGINS AND COMPENSATION The actions needed in order to activate tool origins and compensation depend on the choice of the type of tool change made in the NC configuration The details are shown in Chapter 2 3 Too Change Management Module 1 4 1 MANUAL TOOL CHANGE No change is necessary in order to retrieve the tool compensations since they are programmed with T functions Waiting for start is automatically generated with the message appearing in lightface type for the operator the origins are activated separately with the O functions The O0 code allows for the passage to absolute origin O 1 restores the last origin present before passing to the absolute origin The function TO nullifies the active correction length 1 4 2 TYPE 1200 MANUAL TOOL CHANGE Numbers from TO to T9 choose from one of the 10 different origins on the plane Numbers from T10 to T98 choose one of the 89 adjustment settings of the tool length Number T99 will recall for all axes the transducers fixed and absolute origins This serves for programming movements referring to the fixed zero of the machine and is independent of the zero piece Examples T1 recalls origin 1 on the plane T23 recalls the number 23 tool length adjustment setting 1 4 3 AUTOMATIC TOOL CHANGE Code T programmed is singly and passed to the PLC on the TOOL register with the strobe STROT The tool compensation code is charged in the OFST register and activ
100. AR PROG NUMCAR 20 length of string to generate CODCAR 42 ASCII code for an asterisk MSG STRNG CODCAR NUMCAR generates a string of 20 asterisks 5 7 3 STRING FUNCTIONS WITH STRING ARGUMENTS MID Extracts a small string from a larger string Extracts a specified number of characters from the string starting from a specified position MID argument1 argument2 argument3 where argument is the string to draw from argument2 is the position of the character where the extraction starts argument3 indicates the number of characters to be extracted argument1 may be a string variable argument2 and argument3 may be an explicit integer between 1 and 254 a byte variable with a value between 1 and 127 or word variable with a value between 1 and 254 an expression whose result is a word or byte as described above Machine Logic Development PLC Part 01 5 11 Series S3000 selca 5 Operations and functions The output of the function must be assigned to a string variable The following rules apply e f argument2 is longer than argument the result is an empty string e f argument3 argument 2 is longer than argument1 the extraction is made until there are no more characters available e If the length of argument1 is 0 the result is an empty string Example Suppose that VARIAB1 contains the string ABCDEFGHLMN VARIAB2 MID VARIAB1 4 5 VARIAB2 becomes the string DEFGH LEFT Extracts a string star
101. BLES 2 15 2 6 PLC TABLES MODIFICATIONS AND DIPLAYS eene nennen 2 16 EJ IM oiim a 2 16 3 PROGRAM ORGANIZATION 371 GENERAL RULES oaea onnaa eeoa AELE EAA EA aaa ena picadas 3 1 3 2 PROGRAM STRUCTURE 5 aaa aiar 3 2 3 21 DEGLARATION SEGCTION 22 i 3 2 3 2 2 INITIALIZATION SECTION i 3 3 3 2 3 PROGRAM SEGTION actio eunt artes ita 3 3 Superfast logie A We pee ep heen abs 3 3 Fast logl6 ea ue tete ace dates 3 3 SIOWIOGIC id a ee e 3 3 SupersloW es dd 3 4 Synchronization Fier eset iaa 3 4 3 2 4 ROUTINES SECTION oran EE EO ODER elt 3 4 3 3 VARIABLES AND NUMBER FORMAT erre 3 4 3 3 1 VECTOR AND SINGLE VARIABLES essere eene eren nne 3 5 3 3 2 STATIC AND DYNAMIC VARIABLES eene eene nre 3 6 3 9 3 CONSTANT i oie reied oa oi anataet ed iii 3 6 3 3 4 CONFIGURABLE CONSTANTS FOR MACHINE LOGIC pp 3 6 3 3 5 DISPOSITION OF SINGLE BITS INTERNAL TO THE VARIABLES 3 7 9 3 0 ACCESS TO VARIABLE BITS ap Ria aio 3 8 Single varlabl8s 5 eo ee aida 3 8 Vectorial variables 2 nnde rider id drid 3 8 3 3 7 ACCESS TO BITS OF ADJACENT VARIABLES eene 3 9 6 Machine Logic Development PLC 00 selca Series S3000 General 4 INITIAL DECLARATIONS 4 1 DECLARATION OF PHYSICAL INPUTS OUTPUTS in 4 2 4 1 1 PHYSICAL INPUT OUTPUT DECLARATION REMOTE I O MODULES 4 4 4 2 DECLARATION OF INT
102. C it is reset by the TC when the MO6 wait operation is received and the NC sub program COM has been run In absence of this signal the sequence stops on the phase 6 An active M6PGM implicates an automatic suspension of the execution of NC blocks Number of tool in spindle read only Number of tool in intermediate station read only Number of tool in jaws read only Tool change in emergency state This is set when the TC sequence is interrupted by a TC emergency request The presence of this signal means that the tool information present in the table can not be justified with respect to the real situation Operator intervention is necessary any requests for new tool changes NEWCU are ignored TC emergency request This command interrupts the TC current sequence and the running operation putting the TC in an emergency state Exit from the EMACU TC emergency state and a tool change sequence interruption request Form selector It must be arranged before the tool change module is activated it is acquired at the beginning of the sequence and can not be modified during the same 0 TC mode normal 1 TC mode with crib excluded 2 TC mode with storage programmed tool load 3 TC mode with programmed tool lay down Error code displayed by the TC At every operation the information relative to storage tool table and configuration is verified In case the information is not valid or in situations not foreseen or not ma
103. E AND RESET TC MSG 2 change tool manually MSG 3 M6 programmed without Txx MSG 4 waiting for storage door to open MSG 5 waiting for storage door to close SSA 00000111B XYZ always active TOOL CHANGER SEQUENCE DEFINITION TC SEQUENCE TO LOAD TOOL FROM FLOOR SPINDLE EMPTY DEF SEQCU 1 2 6 16 34 COM 1 CUMANU TC SEQUENCE TO UNLOAD FROM SPINDLE TO FLOOR TOM6 DEF SEQCU 2 7 6 10 34 COM 1 CUMANU TC SEQUENCE FOR EXCHANGE BETWEEN SPINDLE AND FLOOR DEF SEQCU 3 2 6 10 16 34 COM 1 CUMANU TC SEQ TO UNLOAD TO FLOOR AND LOAD FROM STORAGE DEF SEQCU 4 2 1 901 5 6 10 17 34 COM 1 CUAUTO TC SEQ TO UNLOAD TO STORAGE AND LOAD FROM FLOOR DEF SEQCU 5 2 23 923 6 12 16 66 26 27 34 COM 1 CUAUTO TC SEQUENCE TO EXCHANGE TOOL W TH ONE IN SPINDLE DEF SEQCU 6 2 1 901 5 6 12 17 66 23 923 21 34 E TO LOAD FROM STORAGE W TH EMPTY SPINDLE 1 901 5 6 17 34 TC SEQUENCE TO UNLOAD TOOL FROM SPINDLE TO STORAGE DEF SEQCU 8 23 923 6 12 66 27 34 COM 1 CUAUTO TC SEQUENCE TO LOAD TOOL TOOL IN SPINDLE DEF SEQCU 11 6 34 COM 1 CORR T programmed after a T during the M06 wait return JAWS to storage and re analyze situation DEF SEQCU 19 923 23 31 0
104. ERNAL VARIABLES nn 4 5 4 3 DECLARATION OF STRING 4 6 4 4 DECLARATIONS OF EQUIVALENCES eese nnn nnn nnne 4 7 4 5 a E E E EE O E A cuesaivs ATEN A E E E 4 8 AAA np 4 9 4 72 COUNTERS dn ENESES 4 11 4 8 LOGIC DEFINABLE SOFTKEY cis 4 13 4 9 SOFTKEY AND MESSAGES WITH MULTILINGUAL TEXT eene 4 14 5 FUNCTION AND OPERATION 5 1 PROGRAMMING WITH ELEMENTARY LOGIC ii 5 1 5 2 ARITHMETIC OPERATIONS iii 5 2 5 3 FLOATING POINT MATHEMATICAL FUNCTIONS esent 5 3 5 4 COMPARE nones UD A Ape E TE A oa 5 3 ROAD 5 4 5 6 FORMATS CONVERSIONS sse cerraran 5 4 ENG Search bit ri e eee ee eee eevee ee dead erie austere 5 4 DEG Se wx 5 5 HI Extracts the high byte from a word ii 5 5 LO Extracts the low byte from a word e 5 5 EXT Conversion of a byte into a WOrd i 5 5 BCD Converts a binary number to BOD 5 5 BIN Converts a BCD number to byte or word pp 5 5 IFP Converts a byte or word into floating point format 5 6 FPI Converts floating point format into byte or word iii 5 6 5 6 1 COMPLEX EXPRESSIONS nm eo RER Ar AKESE AEE AEA ae SARA ARESO KENK ASTAE AARET 5 6 5 7 STRING OPERATIONS oia 5 7 5 7 1 NUMERICAL FUNCTIONS WITH STRING ARGUMENTS pp 5 7 VAL Transforms an ASCII format to anuerical value 5 7 INSTR
105. ES eene 1 8 3 MASTER SLAVE AXES NC MS OPTION 00000 1 8 4 READING INPUTS AND WRITING ANALOG OUTPUTS REMOTE I O MODULE SAR a cuba tt udi s di cun E LAE 1 9 READING AND WRITING ANALOG INPUTS AND OUTPUTS tnn 1 10 EXCHANGE OF DATA BETWEEN PLC AND PART PROGRAM 1 11 NC VIDEO DISPLAY WINDOWS an 1 12 SYSTEM DATE AND TIME netten ttt tetto 1 13 SIGNALS FOR COPYING AND DIGITIZING SURFACES nnn 1 13 1 STATUS REGISTER OF COPYING AND DIGITAL PROBE s 1 14 VARIABLES TO VERIFY SYSTEM EXECUTION TIMES ee 1 15 ERROR SIGNALS ACCESSED BY THE LOGIC ttti 1 16 READING AND MODIFYING AXIS CONFIGURATION PARAMETERS 1 17 MANAGEMENT OF NUMEROUS SIMULTANEOUSLY INTERPOLATING AXIS GROUPS GOA uan 1 18 MANAGEMENT OF DIGITAL DRIVES FOR AXIS AND SPINDLE 2 DEDICATED INTERNAL MODULES 2 1 SPINDLE MANAGEMENT MODULE rin 2 1 1 SIGNALS AND REGISTERS FOR SPINDLE ROTATION eee 2 1 2 SIGNALS AND REGISTERS FOR RANGE SELECTION essere 2 1 3 SIGNALS AND REGISTERS FOR SPINDLE ORIENTATION i Absolute position orientation 0 Unidirectional orlentatiorn dete D 2 1 4 SIGNALS AND REGISTERS FOR SPINDLE SYNCHRONIZED SPINDLE 2 1 5 SIGNALS AND REGISTERS COMMON TO ALL SPINDLE TYPES ss 2 1 6 SPINDLE
106. ET PLC functions reset from NC N166 N167 END N 68 VERY SLOW SECTI ON K KKK KKK KKK KK KKK KK NIG9 ve anette eo ES display message and lamps 0 N170 F MI ZEA lt gt 7 amp CI CL DISPL 0 MSG1 ELSE CLR 0 m c ref message N171 N172 LAHOLD HOLDA hold lamp N173 LACYON CY ON program runing amp N174 N175 WNDI NT 2 AUXH H code display N176 GI RMI I NT ABS SPTCH 1 effective speed display N177 END N178 N 19 ROUTI NES SECTI ON X x x xoxo xx N180 N81 laa decode M function isses Dd nnn N182 GEFUM N183 WNDI NT 1 AUXM display M codes N184 F AUXM 3 ROTMA 1 SPDIR 1 0 RTS spindle CW N185 F AUXM 4 ROTMA 1 SPDIR 1 1 RTS spindle CCW N186 F AUXM 5 ROTMA 0 RTS stop spindle N187 F AUXM 7 UREF 1 RTS coolant on N188 F AUXM 9 UREF 0 RTS axes clamped N190 F AUXM 11 SSA 00000111B RTS axes uncl amped N191 F AUXM 13 ROTMA 1 SPDIR 1 0 UREF 1 RTS man ref N192 F AUXM 14 ROTMA 1 SPDIR 1 1 UREF 1 RTS man ref N193 F AUXM 30 CALL RESET RTS reset NC PLC N194 RTS N195 N96 ica is peset FoU He ata dae N197 RESET N198 ROTMA 0 stop spindle N199 UREF 0 coolant off N200 SFKMEN 1 return to main menu N201 WNDI NT 1 30 display M30 N202 RTS N2033 Ahi dati id o f PIO GAME etta a ot
107. Enable rapid override default Tool length compensation X c X X X Machine Logic Development PLC Appendices 00 B 1 Series S3000 selica Appendix B Auxiliary functions table B 2 Machine Logic Development PLC Appendices 00 selca Series S3000 Appendice C New Series S3000 functions compared to the 1200 system APPENDIX C NEW SERIES 3000 FUNCTIONS COMPARED TO THE 1200 SYSTEM With respect to the S1200 the S3000 Series systems have retained the same program structure and basic instruction syntax while broadening its usability for those cases in which the previous structure presented some limitations This appendix introduces the most important services the details of the functions listed below are found in this manual Please refer to the specific sections in the manual for further information C1 1 SYSTEM MANAGEMENT Variables have been added to allow more flexible control of the active axes M10 M11 configuration for clamping or for switching with other axes During the execution of a program it is possible to use manual mode to move the axes that are not controlled by the part program itself It is possible to home the axes without any intervention by the operator repeating it when necessary in automatic mode The velocity of the axes in JOG can be set individually for each axis Indexed gantry or mirrored axes are easily managed The PLC functions make control via a remote
108. HERE STRING HIGHLIGHT BLOCKS This key is used to highlight a block or group of blocks to be worked on To Til the blocks move the cursor to the first block to be selected use a E or keys press the softkey HIGHLIGHT BLOCK position the cursor on the last block to be selected and press the same key DELETE BLOCKS Will delete the highlighted blocks confirm with fret COPY BLOCKS Copy blocks previously highlighted to another area in the program Move to the desired position for the block using the or J keys press to confirm The block will be inserted on line just below the cursor position MOVE BLOCKS Move blocks previously highlighted to another area in the program Move to the desired position for the block using the or LU keys then press pe The block will be inserted on line just below the cursor position DELETE FROM HERE Deletes all lines to the end of the program starting with the line on which the cursor is presently positioned on The following message appears Delete all sucessive blocks YES NO YES Press to confirm CHANGE STRING Substitutes one string of characters for another by searching for the desired string starting from the cursor position The following message will appear Replace string 1 string 2 Write in the new string to be substituted and confirm with Machine Logic Development PLC Part I 01 2 5 Series S3000 selca 2 Operating procedure COPY FROM OTHER v
109. K K K K K K K K K K K K K K K KK K K K K K K KK K K K K K K KK K K KKK K KK KK K N6 N7 NP N8 MUON auxiliaries on N9 LI VOL oil level N10 N11 OUT N12 ABILX enable axis X N13 ABILY enable axis Y N14 ABILZ enable axis Z N15 UKLUBA axes lube actuator N16 N17 RAM 32 N18 CORSAX time and distance X N19 CORSAY time and distance Y N20 CORSAZ time and distance Z N21 POAOLX absolute position X old N22 POAOLY absolute position Y old N23 POAOLZ absolute position Z old N24 ML Max ti me interval for lube N25 N26 STR N27 MSG1 message level insufficient N28 MSG2 message auxiliary not active N29 N30 STI MER N31 TLUBI TLUBU TLUBD TLUBA TLUBW lube N32 N33 SOFTK 1 N34 P1 L1 1 LUBRIFICA N35 N36 NIT N37 ML 15000 time to go before initial lube N38 MSG1 OIL LEVEL INSUFFICIENT N39 MSG2 AUXILIARY NOT ACTIVE N40 N41 PROG N42 END N43 N44 Eid ERO Seg SIE UDG siirse ri uA i a oa Leiad N45 ube when at least one axis has moved ML meters N46 TLUBI 50 CORSAX gt ML CORSAY gt ML CORSAZ gt ML TLUBD N47 distance travelled is incremented only when axes are N48 moving and outside the in position tolerance N51 F INTOL 1 amp MOVCN 1 CORSAX CORSAX ABS POA 1 POAOLX N52 F INTOL 2 amp MOVCN 2 CORSAY CORSAY ABS POA 2 POAOLY N53 F INTOL 3 amp MOVCN 3 CORSAZ CORSAZ ABS POA 3 POAOLZ N54 POAOLX POA 1 update old positions N55 POAOLY
110. K KK KK RK KK KK KK RK KK KK RK RK KKK KEK RK KK KK KK KK KKK N254 AUTOMATIC TOOL CHANGE CONTROL N255 NADOS dtf tesa eset crea SOL CCE OTC M0 de sh de n N257 CUAUTO N258 IF CUATT NOSELE N259 I F P1 SELECU 0 automatic TC default N260 F P2 SELECU 1 manual TC no storage N261 NOSELE N262 N263 mode selection softkey lights N264 CUAUT SELECU 0 N265 CUMAN SELECU 1 ee HARK KKK KK KK RK e e KK RK RK KK KK KK RK KK KK RK RK KK KK EK A KK KK EK K K KKK N268 interrupt sequence cancellation emergency N269 N270 The TC is interrupted only N271 the auxilliaries are turned off during a TC not during M6 wait N272 a BREAK command is sent during the change sequence N273 N274 The interrupt is made with REMCU and the TC N275 responds by activating EMACU N276 REMCU FF BRKA amp CI M6 I AUXON amp CUATT amp OPERCU 6 EMACU N278 The P7 softkey executes RBKCU to exit from EMACU emergency N279 F P7 amp EMACU RBKCU 1 RBRK 1 cancel TC emergency N281 After an interrupt it is to reset the TC with the appropriate N282 softkey after having VERIFIED THE TOOL TABLE N283 L7 EMACU TC emergency lamp N284 N285 F EMACU CALL RESECU reset PLC commands N286
111. KK KKK KK KKK KKK k N6 N7 NP N8 MUON auxiliaries on N9 LI VOL oil level N10 N11 OUT N12 ABILX enable axis X N13 ABILY enable axis Y N14 ABILZ enable axis Z N15 UKLUBA axes lube actuator N16 N17 STR N18 MSGI low oil level message N19 MSG2 auxiliaries not on message N20 N21 STIMER N22 TLUBI TLUBU TLUBD TLUBA TLUBW lubrication N23 N24 SOFTK 1 N25 P1 L1 1 MANUAL LUBE N26 N27 NIT N28 MSG1 OIL LEVEL INSUFFI CENT N29 MSG2 AUSILI ARI NON INSERITI N30 N31 PROG N32 END N33 N34 seats uet eA lubrication sander egos Roa Ma tine N35 On power up I MUON time is reset so lube is done N36 during the first move N37 Time is counted only when the axes are moving N38 TLUBI 6000 TLUBU amp MUON amp I LI VOL 10 minute oscillator N39 pause when axes stopped or disabled N40 TLUBA MOVCN amp I NTOL 0 N41 pump for 5 seconds or with softkey Pl N42 UKLUBA TLUBW gt 5950 TLUBA P1 amp I MUONGI LI VOL N43 L1 UKLUBA lubrication lamp N44 generalizia nino a abe N46 ABILX MOVCN 1 enable axes N47 ABI LYzMOVCN 2 N48 ABI LZzMOVCN 3 N49 RDMOV MOVCN axes enabled response N50 BURDY 0 i acquire NC function N51 POFO ANI 1 feed override potenti ometer N52 N53 If the iol level is low the program is halted at the next N54 rapid block or at the first auxiliary function N55 FHOLDz ILI VOL inibit axes move N56 DHOLD FHOLD inibit d
112. LD 1 FHOLD 1 IF STROM CALL GEFUM BURDY 0 ASINC END GEFUM IF AUXM 21 COM 1 PALLETS RTS RTS 7 5 3 MACHINE LOGIC PROGRAM COMMANDS IN SEMIAUTOMATIC MODE RUN The COM partprogram subprograms run from the PLC are executed in automatic no wait for the start cycle between one block and the next even if the NC is executing a machining program in semiautomatic The variable NCMD though still remains consistent with the NC s execution status The following modal functions for piece programming permit alteration of this G1011 forces execution of the COM subprograms in semiautomatic when the status of the NC is semiautomatic to be used in checking or tuning G1010 disables the operation activated with G1011 restores the default condition MACHINE LOGIC PROGRAM COMMANDS UNIT OF MEASURE The movement blocks executed inside the COM subprograms run from the PLC are always interpreted in millimetres even if the NC has been set to work with the measurement system in inches When execution of the COM is complete the system in use before running of the subprogram is restored inches or millimetres MACHINE LOGIC PROGRAM COMMANDS FUNCTIONS NOT PERMITTED The running of a COM subprogram signals error E48 opening closing functions missing when certain functions are active which alter the system of coordinates G846 G851 G68 G69 fixed cycles fixed supercycles G751 G16 G748 G749 Other functions G52 G51 G54
113. LE OF SPINDLE ORIENT MANAGEMENT N4 SPI ND2 941008 N5 N6 KK KOK K XO XO K K GO KK K K K K K K KK K K K K K K KK K K K K K K KK K K K K K K KK KK KK KK KK KK K N7 N8 Automatic spindle orient N9 angle is programmable with H function N10 NP N11 N12 OUT N13 TERM 4 N14 ABM enable spindle operation N15 N16 STIMER N17 TMI9I TM19U TM19D TM19A TM19C ti mer verifying in position tolerance N18 N19 NIT N20 SPGAM 1 1 range 1 only N21 N22 PROG N23 END N24 F BURDY ASI NC N25 FHOLD 1 DHOLD 1 N26 F STROH CALL GEFUH N27 F STROM CALL GEFUM N28 BURDY 0 N29 ASINC N30 N31 K Spindle management KK KKK KKK KK KK KK KK KK KK KK KK KK KK KK KKK KKK K N32 F BRKA EMEA CALL RESET break or emergency N33 N34 TM191 20 SPTOL 1 SPORI 1 verify tolerance for 2 sec N35 F TM19U SPORI 1 0 reset orient control N36 N37 ABM SPMOV 1 amp enables and consents N38 N39 general N40 DHOLD SPORI 1 hold subsequent data blocks N41 FHOLD DHOLD hold axis feed N42 END NES A septal tad donee VETY STOW Sot ON siii iper N44 END N45 N46 ROUTI NES N47 GEFUH SPPOS 1 z IFP AUXH 360 1 0 RTS N48 note SPPOS must have a value between 0 and 1 N49 it represents an angle 0 360 N50 N51 GEFUM N52 WNDI NT 1 AUXM display M functions N53 F AUXM 19 M19 N54 RTS N55 M19 SPROT 1 0 N56 f unidirectional is required set N57 SPORP 1 or SPORM 1 before SPORI 1
114. M 2 tool changer zero switch N46 RI MAA 3 storage door open N47 RI MAC 4 storage door closed N48 es others N49 N50 OUT N51 ABX 1 enable axis X N52 ABY 2 enable axis Y N53 UABMAG 3 enable changer N54 ABZ 4 enable axis Z N55 UARI MA 5 output for door opening N56 UCRIMA 6 output for door closing N57 others N58 RAM 16 N59 PORIT final position for changer N60 N61 RAMI N62 RICUT changer positioning cycle in progress N63 NPOS changer in valid position N64 ERRMO6 M6 programmed without T funct N65 stored commands for automatic tool changer N66 MM26 manual tool change N67 MM62 open storage door N68 MM63 close storage door N69 MM66 halt unload sequence N70 CI M6 M06 cycle in progress N71 others N72 STR N73 MSG 10 text for messages and alarms N74 N75 STI MER N76 TIRIC TURI C TDRI C TARI C TWRI C validation of SGLP2P Machine Logic Development PLC Part III 00 1 23 Series S3000 1 Programming examples N77 N78 N79 N80 N81 N82 N83 N84 N85 N86 N87 N88 N89 N91 N92 N93 N94 N95 N96 N97 N98 N99 Z2a2a2222222222222222222222222222222222222222222222222222 1 24 SOFTK 1 P1 CUAUT change tool AUTOMATIC P2 CUMAN change tool MANUAL P3 L3 d P4 14 end TC manual P5 L5 A P6 L6 ae P7 L7 RESET TC P8 L8 pi INIT INI TI ALI ZATION SECTION MSG 1 VERIFY TOOL TABL
115. MMING EXAMPLES The following pages list several real world examples of PLC programming which can be used as a starting point to develop new applications The examples are self documented and additional explanations should not be necessary Of course to interpret the examples you must have a knowledge of PLC programming or at least must have thoroughly read the first two sections of this manual The examples are broken into modules each carrying out a specific function described in the title of the program itself The title also includes the name of the file which is available from Selca upon request Machine Logic Development PLC Part III 00 1 1 Series S3000 1 Programming examples BAS300F Basic machine 3 axes and spindle N1 KK KK KK K KK KK K KK KK KKK KK K KK K K K KK K KK KK K KK K K K KK K K K K K K KK K K K K K K N2 BASIC MACHINE 3 AXES AND SPINDLE 3045 N3 AK K K K K K K K K K K K K K KK K K K K KK KK K K K K K K KKK K K K KK KK K KK KK K NA BAS300F 941008 N5 XC OK GO GO GO KG K K GO GO RK e K K K K K RK e K K K KK K K K K K K K K K K e A GG X Xv K N6 Note Maximum length of line is 62 char 8 numbers N7 N8 KKK KK KK KK KKK KKK K DECLARATI ON SECTI ON N9 N10 physical inputs N11 NP N12 MAPR 1 machine ready N13 HOLD 2 external hold N14 START 3 external start N15 MZX 4 X axis zero micro switch N16
116. Maximum speed for range 3 spindle s 1 4 SPSMG4 64 NC PLC no Maximum speed for range 2 spindle s 1 4 SPSMAX 64 NC PLC no Maximum speed for spindle s 1 4 Spindle orient SPORI 8 NC PLC no Orient command spindle s 1 4 SPTOL 8 NC PLC no Oriented within tolerance spindle s 1 4 SPPOS 64 NC PLC no Orient position spindle s 1 4 SPVEOR 64 NC PLC no Speed reduction from O to 1 during orientation spindle s 1 4 SPOAB 8 NC PLC no Orientation using absolute values spindle s 1 4 SPORP 8 NC PLC no Unidirectional positive orientation SPORM 8 NC PLC no Unidirectional negative orientation Synchronization between spindles SPSYN 8 NC PLC no Synchronism command to slave spindle SPMAS 8 NC PLC no Master spindle numbers for synchronism with slave SPOFS 64 NC PLC no Offset between master spindle and slave SPRTO 64 NC PLC no Speed ratio for sync between master spindle and slave s SPAGG 8 NC PLC no Slave spindle s 1 4 synchronized with master 2 6 Machine Logic Development PLC Part Il 01 selca Series S3000 2 Dedicated internal modules Common to all operations SPMOV 8 NC PLC no Request to move spindle s 1 4 SPDIS 8 NC PLC no General disable command spindle s 1 4 SPDRQ 8 NC PLC no o Disable transducer spindle s 1 4 SPTCH 64 NC PLC no Effective speed spindle s 1 4 PASP 64 NC PLC no Angular position from tr
117. N178 F P4 MM26 0 ok end manual TC N179 XO CK XO XO GC GO KKK KK K K K KKK K K K K K KKK K K K K K KKK K K K K K KKK K K K K K K N180 OTHER ASYNCHRONOUS CONTROLS N181 KK KOK K OK XO K KK K KK K K K K K K KK K K K K K K KK K K K K K K KK K K K K K K KK K K K K K K K N182 N183 N184 N185 N186 KK KOK K XO KK K KK K KK KK K K K K K K K K K K K K K K K K K K K K KK K K K KK K KK K K K K K K K N187 ALLARMS CONSENTS AND SAFETI ES N188 KKK KKK K KK KK K K K KK K KK KK K KK KK K KK K KK K K K KK KKK K K K KK KKK KK K KK KK N189 related to the NC N190 DHOLD EMACU MM2 6 MM62 MM63 EMAP2P 1 N191 FHOLD DHOLD D us N192 REME FF I AUXON EMEA Tus emergency request to NC N193 N194 END N195 VERY SLOW SECTION IN AN message display N197 IF EMACU DISPL 1 MSG 1 ELSE CLR 1 NC emergency N198 IF MM26 DISPL 2 MSG 2 ELSE CLR 2 manual TC N199 IF ERRMO6 DISPL 3 MSG 3 ELSE CLR 3 M6 without T ready N200 IF MM62 DISPL 4 MSG 4 ELSE CLR 4 wait for door open N201 IF MM63 DISPL 5 MSG 5 ELSE CLR 5 wait for door close N202 N203 W NDOW I FP UTSPCU Display tool in spindle N204 ASCW 116 Code for t character N205 The display can be very useful if you use alternate N206 corrections the T window in the display is the active N207 control not the tool N208 N209 END N210 N211 ROUTI NES SECTI ON N212 N2 3 X OX CK XO XO GO KG GO GO X K K K KKK K K K K K KKK K K K K K KK K K K K K
118. N38 N39 attivate actuator only at min spindle RPM threshold N40 KVG1 GAM1 amp 1 MG1 amp 1 SGLMI amp SPMOT 1 select actuator range 1 N41 KVG2 GAM2 amp 1 MG2 amp I SGLMI amp SPMOT 1 select actuator range 2 N42 N43 F IMG1 SPGAM 1 select range 1 N44 F IMG2 SPGAM 2 select range 2 N45 attenzione SPGAM 0 does not allow hunting N46 N47 SPPND 1 GAM1 amp 1 MG1 GAM28 MG2 spindle hunt N48 Note RANGE CHANGE ON THE FLY N49 SPPND has priority over the other controls N50 if a range change is requested while the spindle N51 is moving The spindle is decelerated to threshold speed N52 before hunting is activated N53 N54 N55 ABM SPMOV 1 amp enable and consents N56 N57 general N58 DHOLD SPPND 1 hold subsequent data blocks N59 FHOLD DHOLD axis feed hold N60 END O RE LR very slow Sectlon cios kV AEERA N62 F SPPND 1 DISPL O GEAR CHANGE IN PROGRESS ELSE CLR 0 N63 END N64 N65 ROUTI NES N66 GEFUM N67 F AUXM 40 MM41 0 MM42 0 RTS N68 F AUXM 41 MM41 1 MM42 0 RTS N69 F AUXM 42 MM41 0 MM42 1 RTS N70 RTS NO Tid eds program end rara ts 1 16 Machine Logic Development PLC Part III 00 selca LUBMET Lubrication based on axis travel N1 X OX CK XO XO K K GO GO TEE GO K K K KK K K EK KKK K K K K K K K K K K K K K K K K K K K K K KKK K N2 x LUBRI CATION on distance travelled N3 Cen N4 LUBMET 941008 N5 KK KK KKK KK K K K K K
119. N83 N84 N85 N86 N87 N88 N89 N91 N92 N93 N94 N95 N96 N97 N98 N99 Z2a2222222222222222222222222 1 46 GI RMI I NT ABS SPTCH END display S ROUTI NES GEFUM WNDI NT 1 AUXM F AUXM 3 M03 F AUXM 4 M04 F AUXM 5 M05 F AUXM 20 M2 F AUXM 21 F AUXM 101 F AUXM 102 F AUXM 103 F AUXM 104 F AUXM 112 F AUXM 113 TS 3 SPDIR 1 0 ROTMA 1 4 SPDIR 1 1 ROTMA 1 5 ROTMA 0 RTS COM 1 PROM20 RTS COM 1 PROM21 RTS M101 SPDRQ 1 M102 D SRQ 4 0 RTS M103 SHI FT 4 M104 DSERV 4 0 RTS M112 DI SRQ 4 M113 SPDRQ 1 4 cn 4 gt wn BJ E Oo EN 1 DI SRQ 4 0 SHI FT 4 SHI FT PFASE2 1 RTS FASE2 ROTMA 0 SPDI S 1 0 SPDRQ 1 0 DI SRQ 4 1 DSERV 4 1 RTS zl SPDI S 1 1 RTS SHI FT 4 P00 4 1 DSERV 4 1 RTS SPDI S 1 0 RTS display M RTS RTS disable reading and spindle control enable head axis reads MEMTA RTS update head enable head axis control disable reading and head control e reading and spindle control enabl phase 1 initialize head 4 P00 4 MEMTA set pulse 2a init phase phase 2 head init Machine Logic Development PLC Part III 00 seka Series S3000 APPENDICES Machine Logic Development PLC Appendices 00 Series S3000 seka Machine Logic Development PLC Ap
120. N84 N85 N86 N87 N88 N89 N91 N92 N93 N94 N95 N96 N97 N98 N99 Z2a2222222222222222222222222 1 22 when homing only JOG allowed L1 P1 amp L7 RI COX softk jog x lamp L2 P2 amp L7 softk jog x lamp L3 P3 amp L7 RI COY softk jog y lamp L4 P4 amp L7 softk jog y lamp L5 P5 amp L7 RI COZ softk jog z lamp L6 P6 amp L7 softk jog z lamp OGP 1 L1 OGM 1 L2 OGP 2 L3 OGM 2 L4 OGP 3 L5 OGM 3 L6 MOVMA OGP J OGM select manual J OG RENEE Leh tere home Cy AAA onan tog Cycle started manually by pressing P7 softk homi ng command ZERI OK MI ZEA 1 amp MI ZEA 2 amp MI ZEA 3 L7 FF P7 P7 amp L7 NCMD lt gt 5 BRKA ZERI OK store state of home cycle RI COZ FF P5 amp L7 L7 MI ZEA 3 RI COX FF MI ZEA 3 L7 MI ZEA 1 RI COY FF MI ZEA 3 L7 MI ZEA 2 home cycle using home switch MI CZE 1 2L7 MI CZE 2 L7 MI CZE 3 L7 assign home swi ches MI ZER 1 I MZX MI ZER 2 I MZY MI ZER 3 MZZ home cycle without using home switch substitute MARK for MICZE and do not assign MI ZER MARK 1 L7 MARK 2 L7 MARK 3 L7 E EE QC eal artritis AE AREE A ura oed FHOLD NCMD lt gt 5 amp ZERI OK DHOLD 0 END VERY SLOW SECTI ON KK KOK KKK KK K KK K K K K K F ZERIOK DISPL 0 MSG1 ELSE CLR 0 homi ng message F ZE
121. NT WNDSTR str GIRMI 8 16 64 NC NC NC NC PLC no PLC no PLC no PLC no Registers for NC video display areas 1 16 in the floating long or double point formats The display of these areas is enabled by default values in the video tables Registers for NC video character display in the preset areas 1 16 The ASCII character code must be used Registers for NC video character display in the preset areas 1 16 in word format String registers containing a max of 64 alphanumeric characters for the NC video display in the preset area 1 16 Register for the display of the S function value in the preset area of the NC video It should be remembered that as described with regard to the softkey the PLC can change the current softkey menu by using the variable SFKMEN Remember the PLC may change the softkey menu using SFKMEN variable Furthermore the PLC has the code of the active language on NC on the SFKLNG variable 1 Italian 2 French 3 German 4 English 5 Spanish 6 Portuguese To create a new condition in the video configuration tables the array CNDVIS of 64 elements in word format see Configuration System Manual is available 1 26 Machine Logic Development PLC Part II 01 selca Series S3000 1 Management and flow of commands Summary of Registers and Signals Involved SFKMEN 8 NC PLC no Current PLC softkey menu SFKLNG 16 NC PLC no Active language code
122. OINT MATHEMATICAL FUNCTIONS The following functions may be used on single double and long formatted variables Trigonometric functional units are degrees SQR argument INT argument NEI argument SIN argument COS argument TAN argument ATN argument LOG argument LGT argument ACS argument ASN argument NEG argument SGN argument operand operand ABS argument Note square root truncated integer rounded integer sine cosine tangent arctangent logarithm logarithm base 10 arccosine arcsine change sign substitutes a value in the format of the operand equal to 1 if the sign is positive and 1 if it is negative raise to a power supplies the absolute value of a byte word long or double formatted variable in the case of raising to the power of 2 it is more efficient in terms of execution speed to use the syntax argument argument instead of argument argument 5 4 COMPARE It is often necessary to compare two variables or a variable and a constant value and then operate on the result Comparisons may be made using the following symbols lt gt equal to not equal to greater than less than less than or equal to greater than or equal to The comparison expression must be contained within parenthesis and may therefore be used as a logic element within an equation Example MAOR AUXM 3 AUXM 13 MAOR is true when AUXM 3 or when AUXM 13 This function can be us
123. OOCH H IDNOOB5H H DDI error board SRCERM H SRCERR H access to missing component PLC line stack overflow on PLC line CCL too large on PLC line too many nested CALLs on PLC line unbalanced RTS on PLC line too many nested EXEC on PLC line unbalanced ENDE on PLC line PLC not running PLC not executable DEF SEQCU n with wrong number on PLC line DEF SEQCU n a b wrong order a b PLC line DEF SEQCU n a b incomplete on PLC line a t c NOT config impossible DEF SEQCU PLC line a t c configured without storage places tool life parameters inconsistent tool change mode wrong SELECU a t c sequence not managed by PLC NSEQCU string too long in PLC line DISPL on non existent line in PLC line CLR on non existent line in PLC line non existent string in PLC line variable index wrong in PLC line branch set unordered condition in PLC line Machine Logic Development PLC Appendix 01 D 5 Series S3000 selica Appendix D Diagnostic Messages E2041 not a float point number in PLC line E2042 float point operand error in PLC line E2043 float point overflow in PLC line E2044 float point underflow in PLC line E2045 division by zero float point in PLC line E2046 fpu inexact operation in PLC line E2047 fpu inexact decimal input in PLC line E2048 incorrect use of FPERMK mask in PLC E2100 COMR of a non existent file in robot area E2101 syntax
124. PTION Through function G15 only on arranged systems it is possible to lock two machine axes a main one called Master and a secondary one called Slave in such a way that all the movement commands imparted to the Master axis are also executed by the Slave The syntax is G15 slave axis master axis I represents a scaling factor between the two movements Function G14 cancels G15 For more detailed information on the subject see Technical Bulletin 1 of 1996 1 8 4 READING INPUTS AND WRITING ANALOG OUTPUTS REMOTE I O MODULES For the interfacing of inputs analog outputs temperature probes through Remote I O modules no configuration parameters are necessary in the NC The reading of analog inputs provides the PLC a numeric value in 64 bit format variable between 0 and 1 as a percentage of the bottom of scale value Analog inputs The syntax is as follows ANImaster board number slave number input number where master board number indicates which BOARD SLOT the board with RIO master interface will have like the case of local I O where it relates to the l OMIX board If the master board with integrated RIO is used the board number will be 17 slave number declares the address set with the microswitches on the remote module Input number declares the input used on the module Example ANI17 6002 signifies analog input no 2 of the SLAVE remote module with address 60 connected to the RIO MASTER interface in position
125. Programming examples 1 41 Series S3000 selca 1 Programming examples N77 MANAGE C axis K KKK Oe KKK KK KKK K X N78 reset sequence interrupt N79 F BRKA amp CI CM20 CI CM21 CALL RESCM N80 N81 manage potentiometers N82 F CICM21 POMO 4 1 ELSE POMO 4 ANI 2 N83 N84 sse switch from C axis to spindle ee N85 sequence DISRQ 4 1 N86 SPDRQ 1 0 e SPDIS 1 0 N87 axisC 0 axisM 1 N88 F CICM20 NOCM N89 F SPDRQ 1 axisC 0 axisM 1 CICM20 0 NOCM N90 F DISRQ 4 SPDRQ 1 0 SPDIS 1 0 NOCM N91 DISRQ 4 1 SSA 4 0 N92 NOCM N93 N04 Louie wate switch from spindle to C axis N95 sequence wait SPMOT 1 N96 SPDRQ 1 1 SPDIS 1 1 N97 DISRQ 4 0 N98 FOMAN 4 1 MARK 4 1 JOGP 4 1 N99 attesa MI ZEA 4 N OGP 4 20 MARK 4 0 FOMAN 4 0 N attesa OGIN 4 0 1 2 SSA 4 1 if necessary 3 axisC 1l axisM 0 4 F CICM21 NOMC 5 IF SSA 4 amp M ZEA 4 axisC 1 axisM 0 Cl CM21 0 NOMC end cycle 6 IF MIZEA 4 amp J OGI N 4 SSA 4 1 NOMC SSA 7 F M ZEA 4 FOMAN 4 20 MARK 4 20 J OGP 4 20 NOMC zero done 8 do zero 9 I F MIZEA 4 amp DISRQ 4 FOMAN 4 1 MARK 4 1 JOGP 4 1 NOMC 0 IF SPDRQ 1 DISRQ 4 0 NOMC 1 IF SPMOT 1 SPDRQ 1 1 SPDIS 1 1 2 NOMC 3 4 5 6 7 8 UR spindle management os speed and override potentiometer SPSSO
126. R RK RK x F RDMOV lt gt MOVCN DISPL 1 WAIT CLAMP UNCLAMP AXES ELSE CLR 1 F I MUON DISPL 2 AUXI LI ARIES NOT ON ELSE CLR 2 F IDRAOK DISPL 3 FAULT IN AXES MOVMENT ELSE CLR 3 END si EU Ea ids program END iii hae Ds dd i Machine Logic Development PLC Part III 00 Series S3000 1 Programming examples 1 33 Series S3000 1 Programming examples ESSINCU Synchronous tool change with grid N76 1 34 KEK KR OOOO RR KKK K KK KK K K K K KK KKK K K K KK KKK KK KKK KK K KK K K K KK K K SYNCHRONOUS TC TOOLS IN FIXED POSITION ON A GRID ESSI NCU 941010 x ne x KEK KR KKK KKK KKK RR KKK K KK KKK K K K KK KK KKK KKK KK K KK K K K KK K K K K KK KK K K x COM PROGRAMS FOR AXIS MOVEMENTS RUN BY THE PLC CUAUTO P1 4 number of tool in each row P2 6 number of tool in each column P3 1 ool center to center distance each row P4 2 ool center to center distance each column P5 0 X position 1 tool P6 0 Y position 1 tool P7 150 Z position high P8 100 Z position for change P34 parameter always set to 1 P10 loaded from PLC loading position P11 loaded from PLC unloading position P13 loaded from PLC sequence number P14 P15 P16 oaded from PLC temporary parameters P17 X position requested tool P18 Y position requested tool M62 open door 00 absolute origin est for case hese are jumps not Calls P1326 L6 exchange with storage
127. RAM 1 the selection softkeys selecting the electronic hand wheel resolution were eliminated but the PLC can choose one of the pre defined steps in the configuration data with the use of the variable STEP SOFTK P01 L01 1 mm rev P02 L02 5 mm rev P03 L03 5 mm rev P04 L04 10 mm rev P05 L05 reference axes INIT PROG Series S3000 selca 3 Adapting a PLC program from S1200 to 3000 POTENTIOMETER MANAGEMENT eeeeeex POTER 1 potentiometer management LEPOTE LAD POMA reading pot Input manual and format conversation writing value for NC format conversion POMO SDA LEPOTE POFO SDA LEPOTE AXES POSITION READING AND ORIGIN SHIFT POSX LRQ POA 1 read X axis SHIFT 1 SRQ COMPX compensate X axis DECODING FUNCTIONS syntax of instruction COM 1 LABEL IF AUXM 6 COM 1 L1 RTS ENABLE MANAGEMENT ABX MOVE 1 enable X SPINDLE MANAGEMENT Entirely implemented by the PLC TOOL CHANGE MANAGEMENT Entirely implemented by the PLC BREAK ACQUISITION On Break M30 is issued IF AUXM 30 CALL M30 MACHINE READY MANAGEMENT MAPR IMAPR program and axes stop MESSAGE DISPLAY DISPL instruction syntax line variable DISPL 1 MSG1 display MSG1 Conversion from number to string MSG1 ASC NUMUT WRITE ANALOG OUTPUT OEDA 1 1 enable
128. REAK ACQUISITION On Break M30 is not issued The BRKA condition is set then the break routine must be called IF AUXM 30 CALL M30 M30 call routine IF BRKA CALL M30 BREAK call routine MACHINE READY MANAGEMENT The MAPR has been split into two meanings DHOLD IMAPR data hold FHOLD IMAPR feed hold axes MESSAGE DISPLAY Change the DISPL instruction syntax line variable DISPL 1 MSG1 display MSG substitute the function ASC with MKN MSG1 MKN NUMUT WRITE ANALOG OUTPUT Eliminate OEDA functions and format conversion DAA 1 VELX Convert axis X DASP VEMA spindle speed Machine Logic Development PLC Part Il 00 selca MANUAL JOG kkkkkkkkkk In manual jog only REFERENCING AXES e Management not remote from NC IF NCMD 6 SWITCH MANAGEMENT e Management not remote from NC END Machine Logic Development PLC Part II 00 Series S3000 3 Adapting a PLC program from 1200 to 3000 E MANUAL JOG dekekekekekeedesek To select the JOG movement in manual it is necessary to set the MOVMA register MOVMA JOGP JOGM REFERENCING AXES The state of RICERCA 0 NCMD 6 no longer exists in the NC alternativly it is necessary to enter the axis configuration with or without home switch then reference the axis using the variable MARK no home switch or MICZE with home switch For example it is possible to cr
129. RI OK amp L7 DISPL 1 MSG2 ELSE CLR 1 start cycle message END Machine Logic Development PLC Part III 00 selca Series S3000 1 Programming examples ESRNDCU Random tool change with load unload in masked time N1 KKK KKK K KK KK KK K K K K KK KK K KK K KK KK K KK K K K KK KKK KK K KK KKK KK K KK KKK KK N2 i ASYNCHRONOUS RANDOM TOOL CHANGE N3 gi CHAIN with 24 tools and quick search N4 sessi N5 is ESRNDCU 9401008 N6 FOGG KK KKK KK KKKA AK KK KKK KKK KK K KKK ICI I I CK K N7 N8 PROGRAMS WITH X AXIS MOVMENTS RUN BY THE PLC N9 CUAUTO N10 P1 100 X position for tool change N11 P2 100 Y position for tool change N12 P3 150 Z safe height N13 P4 50 Z position for tool change N14 N15 N16 00 absolute origin N17 M26 sequence 4 manual unloading N18 M62 open storage cover N19 ZP3RM19 Z safe height and spindle orient N20 XP1YP2R X Y in position N21 ZPAR Z to change position N22 M Mfunction for tool change N23 G4K5 0 5 sec N24 Tn N25 0 1 reset origin N26 M29 acti vate compensation N27 M63 close storage cover N28 M34 end of tool change N29 isse ENA POJEM iex Re Res Re De N30 end CUAUTO N31 N32 CUMANU N33 M26 manual tool change N34 M29 acti vate compensation N35 M34 end of tool change N36 N37 N38 CORR N39 M29 acti vate compensation N40 M34 end of tool change N41 N42 N43 NP N44 AUXON 1 auxiliaries on N45 ZER
130. RMOK N317 SG 8 ILI VOL N318 SG 9 I LIVRE N319 SG 10 TERM N320 SG 11 OLTRC N321 SG 12 CAUT N322 G 13 MOVCN lt gt RDMOV N323 CALL SCROLL recall message display N324 END N325 XC KK KKK KK KKK OG XO GO GN X ROUTI NES SECTI ON KKK koe KKK KK KK KKK KKK KKK N326 lora aa TUNE ONS a ras aaa N327 GEFUT N328 CALL M05 CAUT 1 manual tool change N329 RTS NI3O os ss imn et Mf ntl OS deep rere a E A N331 GEFUM N332 WNDI NT 1 AUXM display code functions N333 IF AUXM 3 M03 N334 IF AUXM 4 M04 N335 IF AUXM 5 M05 N336 IF AUXM 7 UREF 1 RTS cool ant N337 F AUXMz9 UREF 0 RTS stop coolant N338 IF AUXM 10 SSA 0 RTS N339 IF AUXM 11 CALL M11 N340 IF AUXM 13 CALL M03 UREF 1 RTS M3 ref N341 IF AUXM 14 CALL M04 UREF 1 RTS M ref N342 IF AUXM 19 CALL M05 SPPOS 1 0 SPORI 1 1 RTS orient N343 IF AUXM 30 CALL M05 CALL RESET RTS NC reset N344 IF AUXM 40 CALL M05 RM41 0 RM42 0 RTS range auto N345 IF AUXM 41 CALL M05 RM41 1 RM42 0 RTS range 1 N346 IF AUXM 42 CALL M05 RM42 1 RM41 0 RTS range 2 N347 RTS N348 N349 M03 RORMA 1 RANMA 0 RTS spindle CW N350 M04 RORMA 0 RANMA 1 RTS spindle CCW N351 M05 RORMA 0 RANMA 0 RTS stop spindle N352 M11 F AXPGM 0 SSA 00000111B RTS N353 ELSE SSA AXPGM amp 00000111B RTS unclamp axes N354 Desserts eset Command unc ssh Ia tienen dace rede E EUER N355 RESET N356 RORMA 0 RANMA 0 reset spin
131. RONOUS COMMANDS N230 N231 N232 N233 N234 1 36 Machine Logic Development PLC Part III 00 selca N235 HK KKK XO XO GC GO KK KKK K GO KK K K K K K K K K K K K K KEK KK K K KK K KKK KK KKK KK N236 ALARMS CONSENTS AND SAFETY N237 HK KKK XO KKK K K K KK GO X K GO KKK KK K K K KKK K K K K K KK K K K K K K KKK KK K K K K X N238 related to NC N239 DHOLD EMACU MM26 MM62 MM63 N240 FHOLD DHOLD N241 REME FF I AUXON EMEA emergency to NC N242 N243 END N244 VERY SLOW SECTI ON N245 iacere display messages 005 N246 IF EMACU DISPL 1 MSG 1 ELSE CLR 1 TC in emergency N247 F MM26 DISPL 2 MSG 2 ELSE CLR 2 manual TC N248 IF ERRMO6 DISPL 3 MSG 3 ELSE CLR 3 M6 without T ready N249 IF MM62 DISPL 4 MSG 4 ELSE CLR 4 wait door open N250 IF MM63 DISPL 5 MSG 5 ELSE CLR 5 wait door closede N251 N252 END N253 N254 ROUTINES SECTION N255 N256 KKK KKK KKK KK K K KK K K KK KK K KK KK K KK KK K K K K KK KKK K K K KK KKK KK K KK KK N257 T FUNCTION N258 XXe K KKA KKK AK KKA KK KKA KKA AK KKA K KAAK KKE K KAA KKK Kx N259 GEFUT N260 iussi ven CALL FOR TOOL CHANGE N261 UTECU TOOL inform TC module of requir
132. SECTION selca 2010027 TU All of the following variables must be declared by name in the order indicated in this section Next to the name it is helpful to insert a brief description of the variable so that the program may be read and understood by all For example next to inputs and outputs the connection number and bit names can be referenced The declaration of each group of variables must be made prior to the corresponding key word see chapter 4 Initial Declarations 3 2 Machine Logic Development PLC Part 01 selca Series S3000 3 Program organization 3 2 2 INITIALIZATION SECTION Initialization is an optional section following the declaration section This section in which inputs and outputs may not be read allows previously declared variables to be initialized or reset on power up The beginning of the initialization section is recognized by the symbol INIT 3 2 3 PROGRAM SECTION This is the section containing the instructions for the PLC to cycle through This section may be subdivided into four more sections SUPERFAST LOGIC FAST LOGIC SLOW LOGIC SUPERSLOW LOGIC Superfast logic The optional SUPERFAST LOGIC section comprises all of the instructions written between the keywords FAST and PROG These instructions are intended exclusively for operating on parameters which change very quickly and for repetitive acquisitions such as each test of the NC axis position see the configuratio
133. Series S3000 2 Dedicated internal modules Name Size Direction Description SHIP2P 64 PLC gt NC Origin shift for independent axes 1 8 Allows definition of a zero position different from the absolute zero The final positions of PFNP2P are always referred to POOP2P POOP2P 64 PLC gt NC Independent axis position 1 8 affected by the origin shift SHIP2P Notes for use The speed diagram for axes is shown below To eliminate the slow speed section ZLNP2P the value should be set to 0 in the initialization parameters The control is point to point Axis movement is independent of other axes and the commanded speed depends on the distance to the final point with respect to the accelerations and speed limits set in the configuration parameters therefore there will be no following error for the controlled axes To control the axis speed it is necessary to compare the real speed VATP2P with the effective speed TCHP2P Independent axis speed diagram Speed ACCP2P FEDP2P DEP TOLP2P Time ZLNP2P Machine Logic Development PLC Part Il 01 2 9 Series S3000 selca 2 Dedicated internal modules 2 3 TOOL CHANGER CONTROL MODULE Tool change management abbreviated TC is simplified by the presence of an integrated module with a reduced number of variables The TC type must be input in the NC configuration and after decoding a T or M6 function will be activated by the PLC TC main
134. TION Permits equations to be expanded so that all of the terms in the equation selected by the cursor are displayed separately Usually this function is used after the SEARCH ASSIGN softkey is pressed CLEAR ALL Erases all of the names and expressions present in the dynamic display SAVE TABLE Stores all of the names and expressions displayed so that they may be recalled later by RECALL TABLE It is necessary to supply the name of the Retum table to be stored then press 2 5 2 GRAPHIC ANALYZER The system is designed to display a graphic signal of movement with respect to time of 16 signals in bit format such as inputs outputs internal variables and 4 numerical variables in non bit format The signals and numeric variables are displayed simultaneously using different colors to distinguish them even when they may be overlapping The trace is formed by conditioning the stored signal by use of a trigger function If a variable is to be traced in a pre established field not in bit format it will be necessary to specify it using the following syntax nomevar min max If the limits are not specified an autoscaling mechanism will allow the display of the variable in the center of the screen This mechanism may not be satisfactory when the signal is changing at high frequency for example electrical noise on a small signal To insert more names at the same time insert the character between each name Setting up the graphic a
135. TO to T9 represent origin piece and not tool and T99 represents the position in absolute coordinates It will be necessary to decode the programmed T before activating the tool change module Before starting the TC module it is possible to choose the operation mode by writing the desired code in the SELECU register The selections run with a TC sequence already in course are ignored 0 normal mode default the requested tool is mounted in the spindle by picking it up from storage if present or from the floor 1 storage excluded mode the tool is mounted in the spindle from the floor and put down The storage is considered removed from use 2 programmed tool with storage load mode the requested tool is mounted in the spindle from the floor then placed in storage 3 programmed tool with storage unloading mode the requested tool is mounted in the spindle from storage if not already present and immediately laid down 2 3 5 SEQUENCE INTERRUPTION It is possible interrupt a tool change sequence in two ways e instantaneous interruption for emergency Obtained by setting the REMCU signal the TC enters emergency state EMACU 1 the tool table does not match the real situation therefore it is necessary to have operator verification Every subsequent tool change request will be ignored e sequence interruption with RBKCU signal EMACU is not signaled If the TC is turned off power loss during a tool change sequence at the n
136. Trace analysis Activating the trace analyzer ANALYZE TRACE allows the quantification of signal acquisition times and values it also allows the changing of the display scale and the number of pages with which the traces are displayed It is always possible to observe on the display The time base for acquisition of the traces preceded by the symbol BT The acquisition duration time preceded by the symbol FR Horizontal cursor time intervals CURSOR and CURSOR The reduction factor for that which is being analyzed preceded by the symbol X The percentage of time between the trigger arrival and the total acquisition duration The trigger position preceded by the symbol TP There are two cursors available called and which once eet their relative softkeys CURSOR and CURSOR may be moved using the horizontal O and changes in time arrow keys to measure The LU and arrow keys move two other cursors also called and These are activated simultaneously with the horizontal cursors and permit the selection of variables whose numerical value is questioned by positioning the cursor on the trace These values are displayed on the lower portion of the screen in the same color as the trace they represent 2 12 Machine Logic Development PLC Part I 01 selca Series S3000 2 Operating procedure Zooming in and out on a trace is performed by using the and keys the scaling factor is 1 2 4 or 8 The
137. UTECU NEWCU NSEQCU BRDYCU MAPRCU OPERCU PPRECU PPOSCU CUATT M6PGM UTSPCU UTSICU UTPICU EMACU REMCU RBKCU SELECU ERCU 4 14 16 1 16 16 16 16 16 16 16 NC PLC NC PLC NC gt PLC NC lt gt PLC NC gt PLC NC gt PLC NC gt PLC NC gt PLC NC lt gt PLC no no no no no no no no no NC lt gt PLC yes NC lt gt PLC NC lt gt PLC NC lt gt PLC NC gt PLC NC PLC NC lt gt PLC NC PLC NC gt PLC no no no no no no no no Tool number request to tool change module UTECU 0 is a particular code reserved for the return tool sequence from spindle to crib or on the floor if no space is available New Sequence activation command for TC This signal is set by the PLC to activate the tool exchange module and it is reset by the TC as soon as it is acquired Last TC code sequence undertaken Strobe of new code presence on OPERCU It is set by TC and must be reset by the PLC as soon as the new operation has been acquired Machine ready for tool change if equal to 0 the sequence will be suspended until released Operation code requested by the TC from the PLC New tool pick up reaching position Old tool return reaching position TC generated signal when a new sequence initiates reset by the PLC when the current sequence is considered terminated M6 programmed must be synchronized with the BURDY by the PL
138. VETSTR 7 XX other 4 5 PULSE The pulse function is derived from the rising edge of a signal Its purpose is to create an impulse seen only once by every logic equation It is enabled at the beginning of the slow logic section when the generating equation or variable changes from a zero 0 logic level to a high logic level 1 and is reset when the slow logic section is completed Pulses programmed in the fast logic sections do not terminate until all logic sections have been executed It is necessary that the generating variable lasts the minimum capture time to activate an impulse equal to a complete scan of all the logic This will ensure that the pulse is also detected in the slow logic section For the technique of synchronization described consider that the rising edge of the pulse generally does not overlap the rising edge of the generating signal but instead lags it by a time period which may equal or exceed a complete scan of the PLC program Note The pulses are not retentive therefore when the NC is turned ON if they are associated with a signal already at a 1 state eg an input they will generate a pulse The equation declaring a PULSE is written as any other signal in the program For easy identification signal names should be derived from the name of the signal that triggers them eg Pstart for a pulse generated by the signal START Pulses are declared in the same way as any other signal Up to 64 PULSES may be de
139. WFIET N rnerical filter iiie enter ee kenne pode Rene Rx Ree Re AERE 1 41 TABUTE1 Reorder tool position in table nnn cnn 1 42 TESTAR Indexed head moved by spindle motor pp 1 43 APPENDIX APPENDIX A ASCII CODE TABLE A 1 APPENDIX B AUXILIARY FUNCTION TABLE B 1 APPENDIX C NEW SERIES S3000 FUNCTIONS COMPARED TO THE 1200 SYSTEM Lolli C 1 C 1 1 SYSTEM MANAGEMENT iiaricel iii iii ini C 1 C 1 2 PROGRAM DEBUGGING AND SYSTEM VERIFICATION eene C 2 C 1 3 PLC PROGRAMMING trie iniciaci n C 3 APPENDIX D DIAGNOSTIC MESSAGES D 1 Machine Logic Development PLC 01 11 Series S3000 selca General 12 Machine Logic Development PLC 00 selca Series S3000 PART PROGRAMMING LANGUAGE AND OPERATING PROCEDURE Machine Logic development PLC Part 00 Series S3000 selca Machine Logic Development PLC Part I 00 selca Series S3000 1 Uses and functions 1 USES AND FUNCTIONS The Series S3000 offers a selection of controls to satisfy the growing use of machine tools and factory automation in general The CNC S3045 is particularly useful for milling machines for tool makers and mold and die shops machining centers with multiple axes accurate machining at high speeds and for complex surface work The CNC 3040 supplies an integrated solution which is compact and cost effective for work cells and machining centers for product
140. a particular type In the table that follows the registers have been divided into three areas in with detailed descriptions of the signals and registers Machine Logic Development PLC Part Il 01 1 17 Series S3000 selca 1 Management and flow of commands Summary of Registers and Signals Involved For axis control ERR 64 NC PLC no Axis following error 1 8 VATT 64 NC PLC no Actual velocity along the tool path TACH 64 NC PLC no Axis velocity 1 8 VFF 64 NC PLC no Instantaneous velocity axes 1 8 AFF 64 NC PLC no Instantaneous acceleration axes 1 8 DAA 64 NC PLC no Reference voltage for controlled axes 1 8 The DAA can only be read If the axis is active and under NC control The content varies from 1 to 1 in relation to the input voltage of 10 and 10 V POA 64 NC PLC no Absolute position of axes 1 8 POO 64 NC PLC no Axis position refered to the current origin and active tool compensation 1 8 POATE 64 NC C PLC no Instantaneous calculated axis position along the trajectory of interpolation 1 8 relative to the absolute origin POOTE 64 NC PLC no Instantaneous calculated axis position along the trajectory of interpolation 1 8 relative to the active origin POORT 64 NC C PLC no Instantaneous calculated position of any rototranslation of System coordinates along the trajectory of interpolation 1 8 relative to the active origin PFNC 64 NC PLC n
141. activate the selected part origine BYORG 1 NC PLC yes Temporary cancellation of origins and tool settings absolute origine ABSOR 1 NC PLC no Absolute origine active signal 1 5 COMMANDS REGULATING AXIS FEEDS The feed speed during execution in automatic mode is regulated from 0 to 200 as a function of the value written on variable POFO typically will be equal to an analog input ANI whose range varies from 0 to 1 Example POFO ANI 1 regulates between 0 and 10096 POFO ANI 1 2 regulates between 0 and 200 1 5 1 ENABLING AND LOCKING AXES The MOVCN register is provided by the NC with the configuration of the axes and must be enabled for the movement by means of the PLC prior to A programmed block or specific geometric function rototranslation TCM A movement request in JOG or the assignment of a handwheel in manual mode An axis movement for the home cycle The request by the PLC for the axis to remain constantly active The confirmation of the axes enabled and unlocked and ready to move must be provided in response on the RDMOV register 1 8 Machine Logic Development PLC Part Il 01 selca Series S3000 1 Management and flow of commands During the period when the registers MOVCN and RDMOV are different that is in the axis lock unlock phase the NC waits for this confirmation before initiating a movement or passing to a subsequent block It is therefore not necessary to create a wait state using other si
142. aie de Ye oe T 1 4 Machine Logic Development PLC Part III 00 selca COMI3045 3 axis machine slide clamps spindle orient N1 SESS XO XO K K K K SSS X K Go SSS SS SS SSS eoe oe K K SSS SESS SSS SSS SS SSS K K N2 i 3 AXIS MACHINE W TH CLAMPI NG N3 SPINDLE ORIENT 2 SPEED RANGES N4 i MACHI NE REFERENCI NG Z THEN XY N5 3 LOGIC FOR AUXILIARY LIGHTS N6 LUBRI CATION DEPENDANT ON AXIS MOVMENT N7 KKK KKK KKK KK KEKE KK N8 3045 941008 N9 SE CK XO PSPS SSS SSS SS SS SSS SSS SS SS SS SESS SSS SSE SS K K K K K K K K K K LI N10 N11 N12 DECLARATI ON SECTI ON N13 N14 physical inputs N15 N16 NP N17 MUON 1 machine on N18 START 2 external start N19 HOLD 3 external hold N20 MG1 4 gear range 1 microswitch N21 MG2 5 gear range 2 microswitch N22 MAMAO 6 manual spindle CW N23 MAMAA 7 manual spindle CCW N24 STOPM 8 manual spindle stop N25 GI ROK 9 spindle upto speed N26 DRAOK 10 axis drives OK N27 DRMOK 11 spindle drive OK N28 LI VOL 12 oil level N29 LIVRE 13 coolant level N30 TERMI 14 temp OK N31 OLTRC 15 auxiliary axes OK N32 FI CUT 16 End of Tool change signal N33 MZX 17 X axis home switch N34 MZY 18 Y axis home switch only for non absolute N35 MZZ 19 Z axis home switch N36 N37 physical output N38 OUT N39 UMOVEI 1 enable axis 1 N4
143. am by pressing the same key The PLC may be de activated automatically in the following cases e Hardware errors such as losing 24V on the main board or high current draw on the outputs etc e Grave software errors such as CALL and RTS out of sequence long fast and superfast calculations and floating point errors overflow underflow etc In these cases an error message appears which describes the type of fault which halted the program e Changes in the base configuration of the machining center such as number of axes etc The DEBUG LOGIC menu contains the softkey ENABLE LOGIC which performs the same function as LOAD AND RUN except it does not reset the memory Machine Logic Development PLC Part I 01 2 7 Series S3000 selca 2 Operating procedure 2 4 TRANSLATION OF PROGRAMS EDITED ON 1200 The series S3000 systems adopt the following PLC program line numbering syntax Nxx instruction in the earlier Selca systems the syntax was xx instruction To automatically convert the old numbering system to the new it is necessary to e edit the program to be converted Press the following softkeys in order AVANCED FUNCTIONS EDIT PARAMETERS TRANSLATE PLC 1200 This will overwrite the old program 2 5 LOGIC DEBUG The debug environment is reached by pressing the LOGIC DEBUG softkey from the main applications menu The following menu will appear ENABLE DYNAMIC GRAPHIC PLC LOGIC CROSS SCREEN ANALYZER FORCING RESET PLC
144. ame of the table must be supplied and then press The analyzer may also capture glitches which may happen when a time base of greater than 10 mSec is used to analyze a signal and all that is displayed is a point which indicates that the signal was moving slower than the base selected and capture in 10 mSec interval If a graphics printer is available a hard copy of the E may be made by pressing the keys to obtain the analyzed data only or Can document may be useful for maintenance purposes to obtain a copy of the whole screen This Machine Logic Development PLC Part I 01 2 13 Series S3000 selca 2 Operating procedure Storing traces After the traces of signals have been acquired by the graphic analyzer it is possible to store them in a file by pressing the softkey STORE DATA and naming the file To display the data acquired at a later time press the softkeys DEBUG LOGIC SELECT DATA RECALL TABLE START ACQUIRE 2 5 3 DISPLAY AND ANALYZER TABLES The function of these tables is to group the display variables used for analysis of problems of known origin The tables that is the list of variables and equations to be used with the graphic analyzer and dynamic displays can be edited as any other program or more simply by the operation STORE TABLE within the graphic analyzer or dynamic display The softkeys VISUAL TABLES and ANALYZER TABLES present in the DEBUG LOGIC menu select the type of table on w
145. ameter K with the strobe STRAUX 3 AUXVAL 4 parameter Q with the strobe STRAUX 4 Machine Logic Development PLC Part Il 01 1 3 selca Series S3000 1 Management and flow of commands 1 2 4 EXECUTION OF AUXILIARY FUNCTIONS ON THE FLY Auxiliary functions see table at the end of the manual can be executed immediately during a continuous movement block with no axis deceleration if programmed into the movement block itself Example N1 X100F1000 N2 X200F2000M7 N3 X300 N4 X400M9 N5 X450 M7 executed immediately with X axis at 200 and a feed of 1000 mm min M9 executed immediately at X400 and steady feed Summary of Registers and Signals Involved BURDY 1 NC PLC yes Indicates that the NC has sent new synchronous data for the machine logic to decode AUXM 16 NC gt PLC yes Last M code programmed M0 M9999 STROM 1 NC gt PLC yes M function strobe present TOOL 16 NC PLC yes Last T code programmed TO T32767 STROT 1 NC gt PLC yes T function strobe present AUXH 16 NC PLC yes Last H code programmed H0 H9999 STROH 1 NC gt PLC yes H function strobe present SPEED 32 NC PLC yes Last S code programmed S0 S99999 STROS 1 NC gt PLC yes S function strobe present STCOM 1 NC E PLC yes Strobe signaling end of execution of COM subprogram FEED 64 NC PLC no Lastfeed programmed AUXG 16 NC PLC no Last G code programmed G0 G9999 CICFI 16 NC PLC no Fixed cycle in progress AXPGM
146. ameter of profile greater than that of raw piece E431 bevels and joints defined simultaneously E432 incorrect inclination of first or last entity of the throat E433 under cut in profile of throat E434 circle of radius zero in profile of throat E435 length of exit greater than length of thread E437 tool radius without orientation E438 tool orientation incompatible with work direction E439 shadow zone control with wrong orientation E440 shadow zone control with wrong tool angles E441 tool radius different from standard values E442 tool orientation wrong E443 tool width missing E444 maximum depth of tool null or negative E445 tool width and radius incompatible E446 extreme points of finite and raw profiles non coincident E500 tool present both in gripper and in storage E501 tool present both in int st and in storage E502 tool present both in spindle and in storage E503 tool position already occupied for tool E504 front positions insuff for size of tool E505 rear positions insuff for size of tool E506 size inconsistent for planar tool E507 tool requested missing from table E508 tool not enabled E509 tool to be placed missing from table Machine Logic Development PLC Appendix 01 D 3 Series S3000 selica Appendix D Diagnostic Messages E510 E511 E512 E513 E514 E515 E516 E518 E519 E520 E521 E522 E951 E990 E991 E992 E993 E1001 E1002
147. ansducer s 1 4 SPMZA 8 NC PLC no Transducer s referenced to electrical zero Can be reset to repeat the zero search SPMKS 8 NC PLC no Encoder s marker pulse spindle s 1 4 Fixed cycle G84 SPGDA 8 NC PLC no Spindle to used for fixed cycle G84 with transducer 2 2 INDEPENDENT AXIS MOVEMENT MODULE The independent axis movement module must to be used in all cases where it is necessary to position an auxilliary axis That is an axis independent from the NC interpolated axes tool change pallet change etc The module consists of a point to point type positioning algorithm interfaceable with minimum programming to the machine logic program up to a maximum of 8 axes For this type of axis reading the transducers and updating the reference is executed every 10 msec or more depending on the configuration parameters The parameters for these modules must be written in the configuration data just like any other axis controlled by the machine However parts of this data can be read and re written through the PLC registers The registers available are all asynchronous with the same operations as that of the control axes i e not bound by the program blocks or the BURDY signal Every register must be used with the auxilliary axis index to which it is referred Related signals and registers MOVP2P 8 NC PLC no Requestto enable movement axes 1 8 RDMP2P 8 NC PLC no Movement enabled axes 1 8 response to MOVP
148. anual copy COPIA 2 1 NC PLC no Digitizing signal see COPIA 1 Machine Logic Development PLC Part Il 01 1 27 Series S3000 1 Management and flow of commands selca Active copying cycle signal When reset by PLC it signifies the end of the cycle It is important to terminate a digitizing cycle by zeroing out this bit or with the appropriate softkey if already implemented in the NC otherwise the last points digitized will not be stored Signal to STEP increment Signal to STEP increment Signal to STEP increment and reverse copy direction Active copy Not assigned Second byte for remote control of copy function Passage in manual status 0 digitizing disabled 1 digitizing enabled Probe offset acquired 1 copying axis 1 locked 0 unlocked 1 copying axis 2 locked 0 unlocked 1 copying axis 3 locked 0 unlocked Reversal of copy direction 0 auto acquire surface disabled 1 auto acquire surface enabled Third byte for remote copying commands Restart copying in the negative direction after loss of contact with the model axis 3 Restart copying in the negative direction after loss of contact with the model axis 2 Restart copying in the negative direction after loss of contact with the model axis 1 Restart copying in the positive direction after loss of contact with the model axis 3 Restart copying in the positive direction after loss of contact with the mode
149. arentheses Example Name Dim Direction Sync Description MOVCN 8 NC PLC no Request axes enable 1 8 MOVCN 1 1 NC PLC no first bit of the byte request for axis 1 MOVCN 8 1 NC PLC no eighth bit of the byte request for axis 8 UTNUM 16 NC lt PLC no Code of tool in table 1 UTENRI where UTENRI represents the number of lines in the tool table UTNUM 1 16 NC PLC no first element of the word vector the tool code present in line 1 of the tool table UTNUM 8 16 NC PLC no eighth element of the word vector the tool code present in line 8 of the tool table Note For optimal legibility the above column headings are not reprinted above the tables shown throughout this text please note that the information is consistently listed according to the column headings in the table above PLC BUFFER N 4 2 Machine Logic Development PLC Part Il 01 selca Series S3000 4 Summary of predefined signals and registers 4 2 INTERCHANGE AND FLOW OF SIGNALS NC Status NCMD 8 NC PLC no NC status code 1 position coordinates 2 single block 3 semi automatic program execution 4 automatic program execution 5 manual mode 8 return to profile 9 manual mode active during hold status STBMD 1 NC PLC no Strobe pulse signaling changes in NC status pulse duration is equal to one complete slow logic scan FNCMD 8 NC PLC no NC forcing register in semi automatic program execution Synchronou
150. as follows labelx the program jumps to the point labelx labelx where labelx is the jump instruction labelx is the label to jump to Note The unconditional jump has a format labelx labelx similar to namet name2 for equivalence declaration see chapter 4 4 for Equivalence Declaration The substantial difference consists in the fact that the declaration of equivalence is used only in the initial declaration section whereas the jumps are used in other parts of the program Machine Logic Development PLC Part 00 6 1 Series S3000 selca 6 Instructions to control the program flow 6 2 CONDITIONAL JUMP The format is as follows IF equation or signal labelx labelx If the equation or signal is true high the program will jump to the labelx else it will continue with the next line Example IF BURDY ASINC ASINC 6 3 CONDITIONAL EXECUTION The minimum format is IF condition equation The equation after the parenthesis is executed only if the condition is true A more complex syntax is as follows IF condition equationi equation ELSE equation equation the first equation is executed if the condition is true otherwise the equations after the ELSE are executed the whole expression must fit on one line If the expression cannot fit on one line it can be extended to another line by use of the symbol the final limitation is that the expression stays under 500 characters exc
151. ata blocks N57 REME FF MUONJ EMEA machine emergency N58 N59 END NGO orat ee VERY SHOW IS CET OD Ug ror amet ue et epoca N61 F ILIVOL DISPL 1 MSG1 ELSE CLR 1 message level N62 F I MUON DISPL 2 MSG2 ELSE CLR 2 message aux N63 END NGA CORSE Program end imis exer Lek 1 20 Machine Logic Development PLC Part III 00 selca ZERIAX Automatic home axes cycle N1 KK KOK KKK KK K K K K K K K K K K K K KK K K K K K K KK K K K K K K KK K K K K K K K K K K K KKK KK KK K N2 E EXAMPLE OF AUTOMATIC HOME CYCLE XYZ N3 a_i N4 ZERI AX 941008 N5 X cO CK XO XO K K GO GO GO K K K K GO SSS e K K KK Ge oe K K K K SSS SS SS SS SESS Xe Xv K N6 N7 Automatic home cycle for axes with non absolute transducers N9 First Zis h omed in the direction then N10 X and Y are homed simultaneously in the direction N11 N12 KK KOKK KK KK K KK K KK K K DECLARATI ON SECTI ON K KKK KKK KKK KK KKK KKK K X N13 N14 physical inputs N15 NP N16 MZX home microswitch X N17 MZY home microswitch Y N18 MZZ home microswitch Z N19 N20 physical outputs N21 OUT N22 UMOVE1 enable axis X N23 UMOVE2 enable axis Y N24 UMOVE3 enable axis Z N25 N26 internal variables N27 RAM 1 N28 RICOX homing X in process N29 RICOY homing Y in process N30 RICOZ homing Z in process N31 ZERI OK axes homed N32 N33 message strings N34 STR N35 MSG1 message axes not homed N36 MSG2 message JOG Z
152. ated by the synchronous strobe INTOF see chapter 2 3 Tool change Management Module Machine Logic Development PLC Part Il 01 1 7 Series S3000 selica 1 Management and flow of commands The origins are activated separately by the O functions The code OO allows for the passage to the absolute origin O 1 restores the last origin present before passing to absolute origin The activation of OFST 0 nullifies the active correction length In certain cases the PLC can activate the origin by setting the synchronous strobe INORG after having charged the origin code on ORIG When the absolute origin must be activated in alternation with 00 the synchronous origin bypass signal BYORG can be set it stays on this setting until the bypass is reset on synchronous mode The NC informs the PLC of the status of absolute origin present with the signal ABSOR Both INTOF and INORG are reset by the NC when acquired While in absolute origin it is also possible to activate a length compensation by programming 0 1 The system will return to the last active origin before OO but with the compensation activated Summary of Registers and Signals Involved OFST 16 NC PLC yes Code of the length compensation to be activated INTOF 1 NC PLC yes Strobe to signal the NC to activate the selected tool length compensation ORIG 16 NC PLC yes Code of the part origine to be activated INORG 1 NC PLC yes Strobe to signal the NC to
153. ater than 1 e When single register bits are described these descriptions are generally preceded by the description of the register itself which will be indicated without parentheses Example Name Dim Direction Syn Description MOVCN 8 NC PLC no Request axes enable 1 8 MOVCN 1 1 NC gt PLC no first bit of the byte request for axis 1 MOVCN 8 1 NC PLC no eighth bit of the byte request for axis 8 UTNUM 16 NC PLC no Code oftoolin table 1 UTENRI where UTENRI represents the number of lines in the tool table UTNUM 1 16 NC PLC no first element of the word vector the tool code present in line 1 of the tool table UTNUM 8 16 NC PLC no eighth element of the word vector the tool code present in line 8 of the tool table Note For optimal legibility the above column headings are not reprinted above the tables shown throughout this text Therefore please note that the information is consistently listed according to the column headings in the table above 2 Machine Logic Development PLC Part Il 00 selca Series S3000 1 Management and flow of commands 1 SIGNAL FLOW AND DATA EXCHANGE 1 1 NC STATUS The Numerical Control system signals its status to the PLC using two signals NCMD for the operating status and STBMD as status change strobe signal NCMD can assume the following values coordinate reading single block semiautomatic program execution automatic program execution ma
154. axes For example the programming format to be decoded will be M11XYZ In such cases the axes present in the block will be written in the AXPGM variable The code in the example will be 00000111B This feature will not be enabled for those axes whose motion has been requested in a block For example M11X100R will be written as AXPGM 00000000B Example showing how new information is decoded and the BURDY signal is managed PROG END slow section IF BURDY ASINC If BURDY is not present jump to the asynchronous part DHOLD 1 FHOLD 1 Temporary stop IF STROT CALL GEFUT T function management IF STROS CALL GEFUS S function management IF STROH CALL GEFUH H function management IF STROM CALL GEFUM M function management IF STCOM All COM terminated BURDY 0 New functions acquired ASINC Operations related to jump DHOLD Confirmation of data hold or release FHOLD 1 2 Machine Logic Development PLC Part II 01 selca Series S3000 1 Management and flow of commands END END routines section GEFUM IF AUXM 3 RTS IF AUXM 11 M11 RTS M11 IF AXPGM 0 SSA 00000111B RTS ELSE SSA AXPGM RTS M11 management 1 2 1 ACQUISITION OF PLC TO NC SYNCHRONOUS INFORMATION After the BURDY signal has been set to1 by a block or a series of blocks containing motion end codes it is possible to acquire all the synchronous information sent by the PLC to the NC and referred to calls for subprograms f
155. be active 1 8 1 5 3 AXIS RELEASE M45 M46 If an axis which is normally under control must be operated by an external system the PLC can request the configuration of the axes from the NC which need to be released through the synchronous register DSERV When an axis is released it is disabled it is ignored if programmed and the reference to it is not operated As soon as the axis is again put under control by resetting DSERV it is once again interlocked on the position in which it is found and enabled or not according to the current SSA register configuration The NC accounts for and performs the configuration requested in asynchronous mode Utilizing the AXPGM register it can select the function only for the specified axes M45XYZ 12007 In the 1200 system this operation was internally implemented but rigidly operated by the functions M45 and M46 Summary of Registers and Signals Involved DSERV 8 NC PLC no Axes to be released 1 8 1 5 4 TRANSDUCER DISABLING By setting the bit corresponding to the axis on register DISRQ it is possible to completely disable the operation of the transducer whenever a transducer must be physically disconnected in order to remove the mechanical unit it is connected to or for switching between several axes This operation leads to the implicit internal release of the axis in question The NC accepts and performs the configuration requested in asynchronous mode Summary of R
156. ble memory before updating the table fields If this rule is not respected the PLC will be deactivated and a message displayed on the screen The PLC has also available an additional array MAGCUA representing an image of the tool storage MAGCUA 1 position 1 and so on The number of elements depends on how many positions are defined in the configuration parameters the PLC can read this number on MAGNPO Machine Logic Development PLC Part Il 01 2 23 Series S3000 selca 2 Dedicated internal modules Signals and registers summary UTENRI 16 NC PLC no Line number in the tool maximum number of vector elements representing the columns in the tool table UTNUM 16 NC PLC no Toolcodesin the table 1 UTENRI UTPOS 16 NC PLC no Toolstorage location 1 UTENRI UTCAP 16 NC PLC no Tool farthers 1 UTENRI UTDIM 8 NC PLC no Tool types 1 UTENRI dove 0 small 1 medium 2 large 3 extra UTSPC 8 NC PLC no Special tools 1 UTENRI where 0 normal tool not 0 special tool UTPLKO 8 NC PLC no Excluded tools 1 UTENRI where 0 tools not excluded not 0 tool excluded UTVTKO 8 NC PLC no Life expired 1 UTENRI where 0 life not expired not 0 life expired UTVITA 64 NC PLC no MAX tool life 1 UTENRI in 1 100 of a second UTVTRE 64 NC PLC no Remaining tool life 1 UTENRI in 1 100 of a second UTVTMI 64 NC PLC no Minimum tool life 1 UTENRI i
157. by the user the secondary axis is called SLAVE The interface PLC with NC is only for MASTER axis except for the recognition signal of the zero micro Commands such as JOG manual movement POMO speed regulation MICZE MARK homing MOVCN RDMOV SSA control signals and servo enabling are required on MASTER axis only MIZER zero micro signals must be written for both axes even if the two signals come from the same input During the normal running the two axes will be syncronized with an offset written in a configuration parameter NOMINAL OFFSET GANTRY Enabling command of this offset is the bit in the OFSGY variable corresponding to the number of the SLAVE axis If OFSGY is zero the axes are interlocked and moved keeping the offset postion initially detected during the NC start up When the axes are not absolute this syncronization comes only after the recognition of both zeros and before this event the axes are interlocked with the initial offset Installing the interlocking operation when the offset value is unknown OFSGY is kept disabled Homing with micro for GANTRY axes e Set MICZE register for the MASTER axis then give JOG command in the direction required the speed value on POMO as for a normal axis e SLAVE axis follows MASTER axis keeping the offset read during the start up untill both of the axes reach the zero micro signalled by MIZER e Axes pair reverse direction at a reduced speed of 1 8 in order to release zero mi
158. ca Series S3000 2 Dedicated internal modules 2 3 8 DESCRIPTION OF PLC VARIABLES UTECU 16 NC PLC no Tool number request to tool change module UTECU 0 is a particular code reserved for the return tool sequence from spindle to storage or on the floor if no space is available NEWCU 1 NC PLC no New sequ ence activation command for TC This signal is set by the PLC to activate the tool exchange module and it is reset by the TC as soon as it is acquired NSEQCU 16 NC PLC no Last TC code sequence undertaken BRDYCU 1 NC PLC no Strobe of new code presence on OPERCU It is set by TC and must be reset by the PLC as soon as the new operation has been acquired MAPRCU 1 NC PLC no Machine ready for tool change if equal to 0 the sequence will be suspended until released OPERCU 16 NC PLC no Operation code requested by the TC from the PLC PPRECU 16 NC PLC no New tool pick up reaching position PPOSCU 16 NC PLC no Old tool return reaching position CUATT 1 NC PLC no TC generated signal when a new sequence initiates reset by the PLC when the current sequence is considered terminated M6PGM 1 NC lt gt PLC yes M6 programmed must be synchronized with the BURDY by the PLC it is reset by the TC when the M06 wait operation is received and the NC sub program COM has been run In absence of this signal the sequence stops on the phase 6 An active M6PGM implicates an automatic suspension of the execution
159. ce is terminated when the PLC resets the CUATT signal since the TC 34 end operation has been executed The NEWCU tool change request is acquired only if e the TC has no sequences running e if a sequence is running and the M6 wait operation is being executed the case of two consecutive T codes without M6 In this way it is not necessary for the PLC to execute a complex synchronised program If the TC recieves a sequence not declared within the DEF SEQCU n instruction a message of sequence not expected is displayed for the operator and an emergency tool change state is activated EMACU 1 signal This state does not affect any of the other NC operations Tool length correction To activate tool length correction OFST the PLC must execute in synchronous mode with BURDY and the INTOF strobe is reset by the NC It is possible to overwrite OFST before setting INTOF if a different tool length correction is required 2 18 Machine Logic Development PLC Part Il 01 selca Series S3000 2 Dedicated internal modules When managing tools subdivided by group alternative tools particular care must be taken In these cases the tool to be mounted does not necessarily have the same programmed T code so unwanted effects could be obtained by OFST overwrites Decoding the programmed T and selecting the work sequence In order to provide compatibility with the syntax of the S1200 series systems in which the T functions from
160. code read on the spindles transducers etc ERP2P 16 NC PLC no Error code read on the independent axes transducers etc ERCU 16 NC amp PLC no Error code read during tool change or incorrect tool tables etc ER2LN 16 NC PLC no Error code caused by exceeding system sampling time ERCPY 16 NC amp PLC no Error code read during a copying cycle or touch probe sensor FPERMK 8 NC PLC no Disabling mask that senses errors on floating point calculations division by zero overflow CHECKING OF THE INDICES FOR ACCESS TO VARIABLES AND TABLES With the object of diagnosing whether the value of the indices used for accessing the individual bits of simple variables or the elements of a vector come inside the limit dimensions of the variables the following instructions can be added in the PLC program ENIDX 1 to activate diagnostic _ENIDX 0 to de activate it default The check can be activated and de activated many times in the PLC program only in one program section at a time Execution of the PLC program is slowed with these checks active Where an error situation is detected a message is reported in clear and the PLC is disabled 1 30 Machine Logic Development PLC Part II 01 selca Series S3000 1 Management and flow of commands 1 16 READING AND MODIFING AXIS CONFIGURATION PARAMETERS In order to use sophisticated auto calibration techniques the PLC has the ability to read and temporarily or permanently
161. console possible When in HOLD status during the execution of a program it is possible to move the axes in JOG or with the handwheel Up to 4 spindles are now managed directly with a reduced set of instructions using the internal SPINDLE MODULE These instructions control velocity orientation range change hunt acceleration deceleration ramps and synchronizing with secondary spindles INDEPENDENT AXES not interpolated with the primaries may be controlled using a reduced set of dedicated functions via the INDEPENDENT AXIS MOVEMENT MODULE Machine Logic Development PLC Appendix 00 C 1 Series S3000 selica Appendix C New Series S3000 functions compared to the S1200 system The execution of any NC program can be controlled by the PLC The management of the manual or automatic tool change with subdivided tools for families or for different cuts is simplified using the TOOL CHANGE MODULE Two logic sections have been introduced in addition to the existing ones Ultra FAST logic with scanning time equal to the system sampling rate configurable Ultra SLOW logic for the management of slow phenomena or very low priority functions Softkeys managed by the PLC are now always present and accessible in every environment Softkey selection menu to be activated can be done through an added PLC variable The commands from the SOFTKEYS can be pulse or continuous for the length of time the softkey is pressed This allows
162. consult the User and Programmers Manual 2 2 Machine Logic Development PLC Part 01 selca Series S3000 2 Operating procedure Edit Menu To access the edit menu perform the following steps 1 From the APPLICATIONS environment menu shown previously press the softkey LOGIC SYS SETUP to access the main applications menu shown below LOGIC LOGIC SYSTEM SYS SETUP SCREEN FEEDBACK COM PROG PERIPHER FLASH BACKUP EDIT DEBUG SETUP FILES CONFIG ERR COMP EDIT MEMORY RESTORE The softkey present in this menu with the exception of the first two are described in the System Configuration Manual which should be used for reference 2 Press the LOGIC EDIT Softkey to access the following menu MEMORY FLOPPY FLASH EDIT COMPILE COMPRESS LOAD AND RENAME COPY DELETE DRIVE MEMORY PLC LOGIC PLC LOGIC COMP OUT RUN PLC PROGRAM PROGRAM PROGRAM The first three function keys tl Kal 3 and the last three ee 3 and rJ control the same functions as the equivalent softkeys in the NC programming environment For details refer to the User and Programmer s Manual Other softkeys function as follows LOGIC EDIT Activates the logic editing environment from which it is possible to write and maintain a PLC program COMPILE LOGIC Compiles into executable instructions those programs created or modified using logic edit COMPRESS Running the LOGIC COMPILER with this function enabled default COMP OUT will obtain a shorter executable file t
163. cro e The movement continues until the two zero marker are read e NC transmits to PLC the two bits on MIZEA relative to two axes and if enabled by OFSGY it applies the gantry offset written in configuration parameter NOMINAL OFFSET GANTRY Summary of Registers and Signals Involved OFSGY 8 NC lt PLC no Enable nominal offset gantry axis 1 8 Must be set the bit corresponding to the SLAVE axis number 1 8 2 PROGRAMMABLE NON CONTROLLED AXES If a move is programmed for an axis not defined as a controlled axis the programmed position is passed to the PLC via the array AUXPF accompanied by the synchronous strobe STRPF For these axes the PLC will execute the move utilizing if necessary the INDEPENDENT AXIS MODULE 1 22 Machine Logic Development PLC Part II 01 selca Series S3000 1 Management and flow of commands The programmed positions are passed on the array AUXPF as follows AUXPF 1 position of axis A with strobe STRPF 1 AUXPF 2 position of axis B with strobe STRPF 2 AUXPF 3 position of axis C with strobe STRPF 3 AUXPF 4 position of axis U with strobe STRPF 4 AUXPF 5 position of axis V with strobe STRPF 5 AUXPF 6 position of axis W with strobe STRPF 6 Summary of Registers and Signals Involved AUXPF 64 NC PLC ye Programmed positions for axes moved by the PLC 1 6 STRPF 8 NC PLCye Strobe when new information is present on AUXPF 1 6 1 8 3 MASTER SLAVE AXES NC MS O
164. d bonds are of mechanical nature and of security between one changer and another The synchronism signal of the BRDYCU communication must be reset by the PLC as soon as the new operation is acquired If the required operation requires a pause to execute the next phase the PLC must temporarily set the MAPRCU signal to zero machine ready for the TC Normally MAPRCU is 1 In cases in which the present operation is a pick up lay down station request the PLC must set the storage as a function of the indicated positions of the PPRECU and PPOSCU using if necessary the INDEPENDENT AXES MOVEMENT MODULE When the sequence arrives to the 6 operation wait for MO6 it pauses automatically and waits until the PLC activates the M6PGM signal M06 programmed When the TC module while in the wait mode M06 6 receives the M6PGM signal it runs the NC sub program COM defined for the present sequence Afterwards the M6PGM is reset and the TC sequence continues with the following phases The NC sub program runs the operation sequences in synchronous mode Tool change and the NC axes positioning It is important to notice that the active M6PGM signal will automatically pause the program thus preventing the PLC program from running complex synchronizing functions Consider the case in which the M6 operation is run before the tool specified by the T operation is available from storage since the search is still in progress random TC The current TC sequen
165. display of the timer is as follows Count Input Output xTIMER Stop Derivative Input output Derivative Stop Count module Count Note The timer output remains high 1 as long as the input is high INPUT f equal to 1 the timer counts according to its base time If equal to 0 the output is zeroed but the count value is left unchanged The timer counter is reloaded when the input changes from 0 to 1 STOP With the transition from 0 to 1 the values are frozen and the timer is disabled With the transition from 1 to O the timer restarts from the point where it was frozen OUTPUT Goes to 1 when the set time has elapsed Returns to 0 when the input goes to 0 DERIVATIVE ls at 1 during the counting interval All timer variables may be read and written from the program with the exception of the output U and derived signals D which may only be read The time parameter which does not have to be defined in the declaration section is assigned in the program section of the code when the timer function is used This allows timer functions to be modified during the course of the program using fixed or parametric timing To make the timer signals identical in any part of the program they must be synchronized to the signal which defines their input This implies that the condition of the timer output as well as its derivative are updated only when the PLC program reads the timer input instruction The
166. dividual axisgroups 1 8 Machine Logic Development PLC Part 01 7 7 Series S3000 selca 7 Special functions 7 8 Machine Logic Development PLC Part I 01 selca Series S3000 PART I SYSTEM INTERFACE Machine Logic Development PLC Part II 00 Series S3000 selca Machine Logic Development PLC Part Il 00 selca Series S3000 Introduction INTRODUCTION The information found in this section concerns the interchange variables and signals used between the PLC Programmable Logic Controller section and the NC Numerical Control section of S3000 controls This information is valid for the following modules e The Standard module which deals with the management of movements and of the various operating modes and screen displays e Internal dedicated modules which are Spindle management module Module for handling independent axes Module for managing the tool change Descriptions of the information mentioned above is organized as follows At the beginning of each operation whether of the standard or dedicated modules the various registers variables signals and their interaction are described A table follows each description which summarizes the signals described along with their unique characteristics see below In turn these tables are found in Part 4 of this section as a handy reference for use during application development For each subject area the tables state the following characte
167. dle rotation N357 SPORI 0 reset spindle orient N358 UREF reset cool ant N359 CAUT reset tool change in progress N360 WNDI NT 1 230 update M function display N361 RTS N352 Tiso dap pans bari MESSAGE MANAGEMENT N363 SCROLL N365 LOOVIS 1F NM gt NMAX CLRSCR N366 IF NR gt 16 RTS N367 IF SG NM DISPL NR MSG NM NR NR 1 N368 NM NM 1 LOOVIS N369 CLRSCR 1F NR gt 16 RTS N370 CLR NR NR NR 1 CLRSCR NTE isa idas PEOIA MEENU Saia tp uere pe eR Machine Logic Development PLC Part III 00 Series S3000 1 Programming examples Series S3000 1 Programming examples AXM11 Selective axis clamping 1 10 KKK KK KKK RK KKK KEK K K K KK KK OOOO KK KKK K K K KK KKK KK K KK KK K K K K K KKK KK di FUNCTI ON M11 SELECT AXIS SPECIFIED x AXM11 941008 FOO IOC KKK KA KKK KKK IOC II KK AXES X Y Z clamped or unclamped M10 or M11 AXIS 4 Always clamped HRA KKKKKKAKKEXEXEDECLARATI ON SECTI ON NP OUT UMOVE1 enable axis 1 UMOVE2 enable axis 2 UMOVE3 enable axis 3 NIT SSA 00000111B axes X Y Z always active and unclamped PROG END FAIR IO AE SLOW SECTION ERROR OOO PART SYNCHRONI ZED with program blocks PNE decode auxilliary functions F BURDY ASI NC DHOLD 1 FHOLD 1 F STROM CALL GEFUM BURDY 0 ASI NC ASYNCHRONOUS PART PEE axes management i UMOVE1 MOVCN 1 enab
168. during program writing Max length of program instructions logic line Max length program line physical line Max number of lines linked together with Max memory area for retentive variable about Max memory area for non retentive variables about Max number of fast timers Max number of slow timers Max number of counters Max number of pulses Max number of nested EXECs Max number of multiplexer Max number of GOTC branches Max number of GOTP branches Max length for microeditor softkey lines Max positive number representable in byte format Max negative number representable in byte format Max positive number representable in word format Max negative number representable in word format Max number representable in long format Min number representable in long format Max number representable in double format Min number representable in double format Machine Logic Development PLC Part II 00 500 characters 62 characters 8 numbers 24 physical lines 3 Kbytes 50 Kbytes 32 64 48 64 4 16 255 16 20 127 128 32767 32768 3 4 x 1038 1 2 x 10 38 1 8 x 10307 2 2 x 10 308 Series S3000 selca 5 Limits 5 2 Machine Logic Development PLC Part Il 00 selica Series S3000 PART Ill PROGRAMMING EXAMPLES Machine Logic Development PLC Part III 00 Series S3000 selica Machine Logic Development PLC Part III 00 selica Series S3000 1 Programming examples 1 PLC PROGRA
169. e SIGNALS FOR COPYING AND DIGITIZING ACTIVE MANUAL COPYING The NC sets bit 8 of byte COPIA to signal execution in progress of a scanning cycle in manual mode Name Size Direction Description COPIA 8 NC PLC First byte for remote management of copy commands COPIA 8 manual copy scanning active 1 13 1 STATUS REGISTER OF COPYING AND DIGITAL PROBE If a digital probe will be for copying and digitizing the register PBSTS 1 is available where the single bits assume the following meaning PBSTS 1 not used PBSTS 2 not used PBSTS 3 not used PBSTS 4 not used PBSTS 5 1 if probe electric signals are correct 0 if not PBSTS 6 0 if the probe is connected and is not in overdeflection 1 if not PBSTS 7 not used PBSTS 8 not used If there are any faults when the probe is installed the system automatically generates error signals on the PBSTS register passing to the emergency status EMEA 1 The probe is considered present by the NC only when the configurations of PBSTS 5 1 and PBSTS 6 0 have been detected while the probe is considered absent with PBSTS 5 0 and PBSTS 6 1 Summary of Registers and Signals Involved PBSTS 8 NC PLC no Status register digital probe Machine Logic Development PLC Part Il 01 1 29 Series S3000 selca 1 Management and flow of commands 1 14 VARIABLES TO VERIFY SYSTEM EXECUTION TIMES The variables summarized below are available for evaluating the the time taken by the system to execute
170. e written at the end of the same cycle If the superfast section does not exist the inputs are read at the beginning of the fast cycle and the OUTPUTS are written at the end of the same cycle 3 2 4 ROUTINES SECTION Any Routine used only in a certain section FAST etc can be written directly inside that section A routine written for a certain section is often valid for other sections too so it is advantageous to write it at the end of the program that is after the third END instruction see Chapter 6 instruction for program controls 3 3 VARIABLE AND NUMBER FORMAT The program variables may be classified as follows BIT elementary logic signal with a value of 1 or 0 true or false BYTE 8 BIT variable containing whole numbers between 128 and 127 WORD 16 BIT variable containing whole numbers between 32768 and 32767 LONG 32 BIT variable capable of positive and negative numbers between 1 2 x 10 38 and 3 4 x 10 in floating point format with 7 digits in the mantissa DOUBLE 64 bit variables capable of positive and negative numbers between 2 2 x 10 and 1 8 x 10 in floating point format double precision with 15 digits in the mantissa STRING a settable variable containing alphanumeric characters in ASCII format Decimal numbers may be written in the following format integer decimal ex 12 678 integer decimal e texponent in scientific notation ex 12 3e 3 3 4 Machine Logic Development PLC Part
171. e Logic Development PLC Part Il 01 selca Series S3000 2 Dedicated internal modules 2 1 3 SIGNALS AND REGISTERS FOR SPINDLE ORIENTATION SPORI Orientation request By setting the first 4 bits one for each spindle of this register the spindle orient request SPPOS is provided If transducer has not been referenced to the electrical zero a zeroing cycle is automatically performed SPTOL Spindle orient in position tolerance The first 4 bits of this register one for each spindle are activated by the NC when a spindle orient command is present and the spindle is positioned in tolerance To ensure accurate spindle positioning the orientation command should not be reset by the PLC until the SPTOL signal is stable SPPOS Orientation position This register will contain the spindle orient position Example SPPOS 1 NGRADI 360 360 SPVEORY Speed limitation in orientation The value in this register allows you to limit the spindle speed during orientation The speed limit is given by 1 SPVEOR x SPSMGx SPVEOR 0 does not give any reduction Absolute position orientation SPOAB Selection for orientation on absolute values If this bit is set bit 1 4 of the variable for spindles 1 4 the orientation position value given to SPPOS will be interpreted as an absolute value including revolutions Unidirectional Orientation To enable unidirectional orientation the bit for the selected spindle must be set
172. e configuration and the positions occupied for the different tool sizes that must be set in the configuration are summarized in the following Tool Disposition fixed position Every tool is placed in storage in the position corresponding to its own code Its position remains unchanged during the running of the machine every tool will always be restored to the position from which it was taken random position Prior to this there are no bonds between the tool code and the spot it occupies buta precise storage position inside the tool table is assigned to every tool this will never be changed during the operation of the machine random None of the tools have pre assigned specific positions they are picked up and replaced in a way to optimize the order in storage and the time of tool change Tool storage geometry chain Presumes a consecutive order of the tool locations that is in which the dimensional limits are to be considered only against the preceding and subsequent tool Plane Presumes a tool order in a storage according to a regular XYZ grid aligned with the axes For this tool change type management by size is not expected typically the tools are placed into the storage from above and therefore they must be of the small type Types of tool storage management synchronous The tool search can not be done in masked time working simultaneously with the NC processing As the intermediate station for the exchange is not present
173. e display settings the analyzer must be activated Only then the acquisition is activated and three trigger equation checked When the trigger equation is satisfied the percentage of actual acquisition time will be displayed until 10096 is achieved at which time the ANALYZE TRACE menu appears Machine Logic Development PLC Part I 01 2 11 Series S3000 selca 2 Operating procedure If the ACQUIRE key is pressed without having set the trigger parameters the analyzer continuously scans the display signals until the key is pressed again This application may be useful for example when calibrating movement or position MORE Activates a new menu with other functions The MORE softkey calls up the following menu containing functions as described ahead m qe EQUATION ALL VAR LIST FIND ASSIGN By supplying a variable name used in the active PLC program this function searches all assignments of that variable the relative equations are then displayed between the expressions to be traced EXPAND EQU Permits the expansion or separate tracing of each of the terms contained within the equation highlighted by the cursor This function is usually used after an assignment search SEARCH ASSIGNMENT DELETE ALL Deletes all names and expressions of the present traces STORE VAR LIST Stores graphic analyzer names and expressions in a table to be recalled later using RECALL LIST The name of the table must be entered then press
174. e of the type BYTE or WORD which may assume values between 1 and the maximum number of bits to be operated on Example INDEX 5 BYTE1 INDEX 1 puts a 1 in bit 5 of BYTE1 e an expression resulting in the BYTE or WORD format with the same limits as the previous case Example DATO1 8 DATO2 6 WORD1 DATO1 DATO2 1 0 places a 0 in the 14th bit of the variable WORD1 in word format In each case it is necessary to remember that if the value of the index exceeds the formatted value memory locations adjacent to the locations of the variable will be overwritten these may presumably be occupied by other variables Index values of zero must be avoided as should negative values and out of range values as described above Vectorial variables In the case of vectorial variables if a bit from a vector element must be read it is easier to copy the empty element to a dummy variable thereby accessing only the single bit 3 8 Machine Logic Development PLC Part I 01 selca Series S3000 3 Program organization Example Suppose that the variables CONFI X and TEMPOR are WORD types TEMPOR CONFI 2 The 2nd element of CONFI is copied to TEMPOR BIT12 TEMPOR 12 the variable B T12 equals the 12th bit in TEMPOR If instead a single bit of a vector element is to be written it is necessary to first write the bit to a dummy variable and then overwrite the element of the vector with it For more information on bit handling see chapter
175. e operator Summary of Registers and Signals Involved VPLFL STVFL VPLWO STVWO VPLBY STVBY VPLBI STVBI VLPFL VLPWO VLPBY VLPBI PNC P 32 1 16 Co U O DN 1 32 32 gt PLC yes C PLC yes gt PLC yes C PLC yes gt PLC yes C PLC yes gt PLC yes C PLC yes PLC yes PLC yes 3 PLC yes PLC yes NC lt gt PLC no NC lt gt PLC no FLOATING variable from part program to PLC FLOATING variable strobe from part program to PLC WORD variable from part program to PLC WORD variable strobe from part program to PLC BYTE variable from part program to PLC BYTE variable strobe from part program to PLC BIT variable from part program to PLC BIT variable strobe from part program to PLC FLOATING variable sent to the part program from the PLC WORD variable sent to the part program from the PLC BYTE variable sent to the part program from the PLC BIT variable sent to the part program from the PLC 99 parameters in shared floating point format read and written to by both PLC and part program at the user level 1 99 99 parameters in shared floating point format written to by the PLC or the subprogram COM instructions 1 99 1 11 NC VIDEO DISPLAY WINDOWS A set of previously defined variables allows the PLC to display data in the NC screen area see the System Configuration Manual Summary of Registers and Signals Involved WINDOW 64 NC PLC no ASCW WNDI
176. e released HDAP2P 8 NC PLC no HOLD request axes 1 8 Temporary hold of movement the operation continues without further commands as soon as axes are released RBKP2P 8 NC PLC no BREAK request on movements in automatic axes 1 8 RBKP2P is reset by the NC when acquired The axes are decelerated to a stop and the RUNP2P is reset In emergency state EMAP2P it is used to cancel the emergency but only if the request has been removed REMP2P BKAP2P 8 NC PLC no Axes not in motion following a RBKP2P command 1 8 they can be reset by the PLC but this is not binding REMP2P 8 NC E PLC no Request to go to an emergency state axes 1 8 EMAP2P 8 NC gt PLC no Axes in emergency state Going in to this state the axes are disabled immediately without a controlled deceleration 1 8 POAP2P 64 NC PLC no Absolute position read from transducer axes 1 8 TCHP2P 64 NC PLC no Effective speed from transducer axes 1 8 SGLP2P 8 NC PLC no Axes within positioning tolerance set in the configuration 1 8 MKSP2P 8 NC gt PLC no Marker pulse electrical zero for axes 1 8 with encoder or optical scales FCPP2P 8 NC E PLC no Axes 1 8 where actual value results are greater than the positive travel limit set in the configuration FCMP2P 8 NC E PLC no Axes 1 8 where actual value results are greater than the negative travel limit set in the configuration VATP2P 64 NC PLC no Theoretical speed computed axes 1
177. eate a softkey with the PLC P05 L05 LO5 FF P05 NCMD lt gt 5 MIZEA 7 softk lamp IF LO5 MICZE 11111111B ELSE MICZE 0 with switch or IF LO5 MARK 11111111B ELSE MARK 0 on marker SWITCH MANAGEMENT The choice of steps must be managed by the PLC to be able to eventually utilize a remote console IF P01 LO1 1 LO2 0 LO3 0 L04 0 IF P02 LO2 1 L0120 LO3 0 L04 0 IF P03 LO3 1 LO2 0 LO1 0 L04 0 IF P04 L04 1 LO2 0 LO3 0 LO1 0 IF LO1 STEP 1 selection of first step predifined IF LO2 STEP 2 selection of second step predifined IF LO3 STEP 3 selection of third step predifined IF LO4 STEP 4 selection of fourth step predifined END 3 3 Series S3000 selca 3 Adapting a PLC program from 1200 to 3000 3 4 Machine Logic Development PLC Part Il 00 selca Series S3000 4 Summary of predefined signals and registers 4 SUMMARY OF SIGNALS AND REGISTERS 4 1 SYMBOLS AND CONVENTIONS The information found in this section concerns the previously defined variables that the NC Numerical Control exchanges with the PLC Programmable Logic Controller For use as a handy reference during application development For each subject area the tables state the following characteristics for each register variable or signal e The mnemonic name e The format in the Dim column 1 bit 8 byte 16 word 32 floating point 64 double floating point STR character string
178. ed for Bytes Words etc provided the equation is homogeneous It cannot be used for strings To compare two strings the function STRCMP must be used Machine Logic Development PLC Part 01 5 3 Series S3000 selca 5 Operations and functions 5 5 ROTATION This function can be performed on byte and word variables BIT LONG and DOUBLE formats are not allowed The operand is used followed by the number of rotations to be effected variable n effects a left Rotation variable n effects a right Rotation where n is the number of rotations in BYTE or WORD format A left rotation moves all of the bits in the direction of the most significant bit while the most significant bit moves into the least significant bit location Right rotation performs the opposite function Example STATP STATP 1 effects a left rotation of one position per bit fefefe JOE noon Before rotation After rotation 5 6 FORMAT CONVERSIONS Aset of functions are provided for converting an input variable to an output variable with a different format The syntax is the same for all functions output function argument where argument may even be a complex expression ENC search bit Scans the argument value starting from the least significant BIT and produces an output that indicates the position of the first bit that is set to a 1 The output is 1 to 16 if the argument is a WORD or 1 to 8 if itis a BYTE Example ENC
179. ed tool N262 NEWCU 1 request activation of TC module N263 RTS N264 N265 X OK CK KK XO XC GO KKK KK K K K KKK KK K K K KKK K K K K K KKK K K KK K KKK K K K KEKE N266 M FUNCTION N267 KK KOK K XO KK K KK K KK KK K K K K KK K K K K K K K K K K K K K K KK K K K KK K KK K K K K K K K K N268 GEFUM N269 WNDINT 1 AUXM N270 IF AUXM 6 M06 N271 IF AUXM 30 CALL RESET RTS N272 IF CUATT RTS N273 IF AUXM 62 MM62 1 RTS N274 F AUXM 63 MM63 1 RTS N275 F AUXM 29 INTOF 1 RTS N276 IF AUXM 34 CUATT 0 RTS N277 RTS N278 N279 M06 N280 IF CUATT ERRMO6 1 RTS M6 without T N281 M6PGM 1 N282 RTS N283 N284 X C CK XO XO GO GO KK KKK K K K KKK K K K K K KKK K K K K K KKK K K KK K KKK KK K K K KK N285 AUTOMATIC TOOL CHANGE N286 KK KOK K XO KK K K GO KK KK K K K K K K K K K K K K KK K K K K K K KK K K K K K K KK K K K K K K K K N28T ilem px kRTERS selection of TC mode N288 CUAUTO N289 IF CUATT NOSELE N290 IF P1 SELECU 0 automatic TC default N291 F P2 SELECU 1 manual TC no storage N292 NOSELE N294 mode selection softkey lights N295 CUAUT SELECU 0 N296 CUMAN SELECU 1 N297 N298 X OX CK XO XO K K GO KKK KK K K K KKK K K K K K KKK K K K K K KK K K K KK K KKK K K K KEKE N299 interruption sequence cancellation emergency N300 N3 The TC is interrupted only if N3 the auxiliaries are turned off during a TC N3 BREAK is sent during the TC sequence N3 N3 T
180. eger SPRTO Speed ratio for synchronism These registers hold the ratio between the slave spindle speed and the master spindle speed to be maintained while synchronized Slave velocity Master velocity SPAGG Slave spindle synchronized with the master spindle The first 4 bits of this register one for each spindle are set by the NC after synchronization is achieved following the command 2 1 5 SIGNALS AND REGISTERS COMMON TO ALL SPINDLE TYPES The commands previously described are prioritized as follows 1 SPPND timing command highest priority 2 SPROT rotation 3 SPORI orientation 4 SPSYN synchronization with slave lowest priority The registers and signals in common with all function modes are the following SPMOV Spindle enable The command given by the NC on the first 4 bits one for each spindle to enable the spindle this command is maintained automatically until the spindle is stopped It is also maintained during rotation cycles synchronism and when orientation or timing commands are present Further protection or any time delays must be implemented by the PLC Note the writing on the channel of analogic reference associated to a spindle is possible only if SPMOV is absent and if SPDIS is active SPDIS Spindle disable With this command on the first 4 bits of this register one for each spindle the PLC requests the immediate disabling of the spindle the reference is forced to 0 V and the spindle is di
181. egister POMO n associated with the axis The value is between 0 and 1 0 100926 referred to the rapid velocity e When the home microswitch is reached indicated by the register MIZER the axis is decelerated to a stop B phase e The move direction is automatically inverted and the velocity is reduced to 1 8 of the actual velocity e After having coming off the home microswitch by continuing in the same direction the transducer is zeroed when the first marker pulse is encountered The absolute coordinate of the axis is given the value of machine 0 position defined in the configuration data see specific documentation C phase e The cycle continues automatically positioning the axis on the position specified in the configuration by the parameter machine zero with the same velocity with which MIZER is encountered e Finally the axis homed signal is given in the MIZEA register with the bit related to the axis If JOG is released during the cycle the axis is stopped and the following situations will be present 1 12 Machine Logic Development PLC Part II 01 selica Series S3000 1 Management and flow of commands JOG released during A phase before being If the transducer had already been zeroed The employed by MIZER value of the previous MIZEA takes precedence JOG released during A phase after MIZER MIZEA has not been reset employed but before the electrical zero is encountered JOG relea
182. egisters and Signals Involved DISRQ 8 NC lt PLC no Axis with transducers disabled 1 8 1 5 5 MANUAL MOVEMENT IN JOG In NC manual status NCMD 5 it is possible to control the movement of the axes by supplying the direction and velocity The movement ends when the control is released and the axis is stopped 512007 Unlike in the system S1200 JOGs are absolutely necessary even during the MEMORY SEARCH and the RESTORE CYCLE in order to enable axes NCMD 8 in the reset to default value mode however in this status they must not be disabled see Use and Programming Manual 1 10 Machine Logic Development PLC Part Il 01 selca Series S3000 1 Management and flow of commands The choice of JOG axes is determined by setting the corresponding bit to the axis on register MOVMA The registers JOGP and JOGM initiate the movement and determine the direction The axis is enabled and taken under special control if it does not already exist when the corresponding MOVMA is furnished The velocity is adjusted individually for each axis through the related register POMO n with a value between 0 and 1 0 100 of the rapid velocity Summary of Registers and Signals Involved MOVMA 8 NC PLC no Axes selected for manual movement 1 8 JOGP 8 NC PLC no Comand jog positive 1 8 JOGM 8 NC PLC no Comand jog negative 1 8 POMO 64 NC PLC no Velocity for manual movments and home cycle for each single axis 1 8
183. elca 4 Declarations 4 16 Machine Logic Development PLC Part I 01 selca Series S3000 5 Operations and functions 5 FUNCTION AND OPERATION 5 1 PROGRAMMING WITH ELEMENTARY LOGIC The first logical network encountered in any PLC application is a combination of closed and open contacts representing true or false signals that activate an output For example take the electrical schematic below DRAOK MAREG L 4 COMAS TEST To describe the function of the logic network shown above it can be said that the output COMAS is active when DRAOK and MAREG are true closed or TEST is false In PLC S3000 language this is written as COMAS DRAOK amp MAREG TEST Where the elementary logic operators are amp AND OR XOR NOT When applying the logic operators it is necessary to remember that AND and XOR have a higher priority than OR In the equation U A B amp C it is evaluated as U A B amp C If instead it is desired to OR A with B and then AND the result with C this is written as U A B amp C The parenthesis changes the priority of the operations as in conventional arithmetic Machine Logic Development PLC Part I 01 5 1 Series S3000 selca 5 Operations and functions Logic operators may be applied to signals bits bytes and words Expressions are evaluated for bit to bit correspondence Therefore the operands in the same equation must be of the same type Example RAM 16 CONFI 3 decla
184. elica Appendix C New Series S3000 functions compared to the S1200 system C 4 Machine Logic Development PLC Appendix 00 Series S3000 Appendice D Diagnostic Messages APPENDIX D DIAGNOSTIC MESSAGES E18 E19 E20 E21 E22 E23 E24 E25 E26 E27 E28 E29 E30 E31 E32 E33 E34 E35 E36 E37 E38 E39 E40 E41 E42 E43 E44 E45 E46 E47 E48 E49 E50 E51 E52 E53 E54 E55 E59 tool number different from spindle T correction value too high gt 2 mm origin or tool number not envisaged no increment function change of plane followed by incompatible functions paraxial corrections applied to polar positions function O incompatible with S1200 type tool change G duplicated position duplicated L duplicated P duplicated R duplicated S duplicated F duplicated M duplicated feature not present min distance from center missing for G202 abscissa missing in definition of the macro ordinate missing in definition of the macro number of loops missing in definition of supercycles distance missing in definition of supercycles circle radius missing in definition of supercycles jump function not allowed in exec from peripheral call to function L Lxx missing or duplicated call to stored sequence not defined function L not allowed in single block recall of L function in too large a file memory run out in compiling or digitizing functions not allowed between
185. eme caution since values that are not appropriate will cause errors in the motion of the NC axes Summary of Registers and Signals Involved OFSDA 64 NC PLC no Offset to be applied to the reference voltage on controlled axes 1 8 in the range 1 for a reference voltage of 10 Volt ADDITIONAL ORIGIN OFFSET FOR CONTROLLED AXES For special applications a supplementary position offset may be activated for the workpiece origins through the PLC The origin offset remains active even after the Numerical Control has been switched off thus guaranteeing position in cases of absolute transducers The value of the offset expressed in millimetres or degrees must be loaded into the 8 element vector PLORG one for each axis respectively The offsets are activated with an end of block M function which sets the bit STORG_ 1 synchronously with the BURDY signal The other bits of the byte STORG are reserved for other axis groups Similarly all the additional offsets are de activated by setting STORG to 0 synchronously It is important to remember that activation and de activation of the offsets take place only after a transition of the bit STORG 1 from zero to one or from one to zero respectively For example if the system starts with the bit at zero only the rise to one is active and vice versa Therefore in order to maintain consistency with the internal storage status of control of the axes it is recommended that you create a support bit
186. en the zero signal is released Example INP ICOMAI crib reverse input count COUNT C1Z C1A C11 C1R C1C declare counter 1 C2Z C2A C21 C2R C2C declare counter 2 PROG C1Z 50 applies counter 1 with module count 50 C1l ICOMAI crib reverse input count decrements the counter C2Z TEMPO 60 applies counter 2 defined by the variableTEMPO 4 12 Machine Logic Development PLC Part I 01 selca Series S3000 4 Declarations 4 8 LOGIC DEFINABLE SOFTKEYS The system has 8 available function keys positioned vertically and located to the right of the display which can be entirely defined and controlled by the machine logic and accessed by the function keys t and In this way it is possible to enhance the man machine interface via the menu for functions usually performed by switches and lamps etc normally requiring additional NC inputs and outputs to connect these controls A softkey is treated by the system as an illuminated switch with a label Once the variables switch and lamp and the label text are declared the display will contain a new function key with the desired label capable of sending signals to the PLC and also capable of being lighted by the PLC when in use There are 128 possible softkey combinations and are defined in groups of up to 8 menu elements identified by the declaration SOFTK The softkeys related to the same menu are displayed simultaneously and to change from one menu to the next an
187. er formats arrays of 8 elements have been created one for each axis group the name of the new variables is obtained by adding an underscore after the original name At user interface level the key above the Return key can be used to pass if configured from the display of one group of axes to the next For the synchronization and running of programs on different groups of axes new part program instructions have been introduced For further details see the relative Technical Bulletin no 4 of 1997 INFORMATION REGARDING THE AXIS GROUP DISPLAYED The variable GDAVIS communicates to which group of axes the current console display refers This information is of use for instance as it is the role of the PLC to keep updated the display of the last M programmed for each axis group depending on which GDA is displayed on the console by the user Name Size Direction Description GDAVIS 8 NC gt PLC Number of the axis group that the display refers to 1 18 MANAGEMENT OF DIGITAL DRIVES FOR AXIS AND SPINDLE With introduction of the interface of digital drives for axes and spindles many of the exchange signals traditionally managed as input output of the PLC and of the drives have now become part of the interface register signals The description of the PLC variables and their operation has not been provided in this manual on account of the sheer size of the topic refer instead to the DDI DCM Regulation Board Installation Ma
188. ervo Error 9 10 Frict comp rate 10 11 Acceleration error offset 11 12 Negat travel limit 1 12 13 Posit travel limit 1 13 14 Transducer pitch 14 15 Integral time constant 15 16 Integral gain 16 ACTSTP 1 NC PLC no Start operation request signal on HOWSTP Reset by NC when operation is finished INCH 1 NC PLC no Kind of measure 0 millimeters 1 inches The NC sets this variable according to the related parameter stored in the system configuration area PLC can overwrite this variable to change the kind of measure but the new value will not be saved permanently in the system configuration parameter area Machine Logic Development PLC Part Il 01 1 31 Series S3000 selca 1 Management and flow of commands 1 17 MANAGEMENT OF NUMEROUS SIMULTANEOUSLY INTERPOLATING AXIS GROUPS GDA Subject to declaration in the CNC Setup parameters it is possible to configure up to 8 interpolating axis groups each capable of executing a program or program parts completely independently As a result the PLC variables for the exchange with the machining program have also been changed The rules used to generate the new variable names are as follows for bit format variables a byte has been created in which each bit corresponds to a group of axes Example bit BURDY is extended in byte BURDY addressing BURDY or BURDY 1 is the same thing For the GDA higher than the first use BURDY for variables with oth
189. es S3000 General Part Ill 1 PLC PROGRAMMING EXAMPLES BAS300F Basic machine 3 axes and spindle nsnsnennneesneeesenenesnneneenrnsnnnssrnnnsennnee 1 2 COMI3045 3 axis machine slide clamps spindle orient eee 1 5 AXM11 Selective axis clamping nn 1 10 AUXON Auxilliary control IOGIC 1 11 GEVOL3 Single handwheel of X Y Z axes iii 1 12 SPIND1 lt Spindle rotation ici oe ini ireland 1 13 SPIND2 Spindle orient aosassseeenesennsennrenrrenrrearrnasrnasrunsruesruesnuenaneetnnenncennnenanenanenanenanneee 1 15 SPINDS Range change ne a traia 1 16 LUBMET Lubrication based on axis travel i 1 17 LUBINS Basic intermttent lubrication eem 1 19 LUBMOV Lubrication timed only when axes are moving 1 20 ZERIAX Automatichome axes cycle i 1 21 ESRNDCU Random tool change with load unload in masked time 1 23 SCROLLIN Manage upto 128 messages with on screen scrolling 1 28 SHIFTZ Example of compensation for Y fall as a function of Z 1 29 AXBLOC1 Clamp axes with timed wait eese 1 30 AXBLOC2 Clamp axes with external enable i 1 31 ESSINCU Synchronous tool change with grid pp 1 32 AXP2P Control of tool storage axis from PLC i 1 37 COMMUCM Switch spindle with C axis nan nnnnnnnnna nc nnn een 1 39 NE
190. ext re start a clear message is displayed and EMACU is automatically set To exit the emergency state the REMCU request must be removed then the RBKCU activated It is in its turn automatically reset by the TC when acquired In any case it is necessary to install the securities in the PLC so that any automatic TC sequence can not begin if the initial conditions are not verified TC pause Machine Logic Development PLC Part Il 01 2 19 Series S3000 selca 2 Dedicated internal modules Integrated tool life management The tool life management algorithm permits checking of the machining time REMAINING LIFE of the tool in the spindle by means of a counter which is decremented by the CNC every 10mS when the PLC sets the tool flag in the removing stage UTRUN When the REMAINING LIFE becomes less than the MINIMUM LIFE threshold the tool is considered expired The next time this tool is called up it may be replaced by an alternative tool family management Where there are no alternative tools typically with the manual Tool Changer a tool no longer available message is generated For more detailed information see the Technical Bulletin number 1 of 1996 DESCRIPTION OF THE PLC VARIABLES Name Size Direction Description UTRUN1 PLC NC Tool in spindle in work stage decrement REMAINING LIFE UTTIM 32 NC PLC Value of the REMAINING LIFE counter for the tool in the spindle UTSTS 8 NC PLC Status register of the tool in the s
191. ferent sizes can be implemented at least with one of the following methods 2 16 Double exchange first and foremost the storage is put in the deposit position which must be empty operation 23 when the M6 is executed there is then a first exchange between the tool in storage and the spindle after this operation the spindle remains empty and the arm returns to rest the cycle continues with the magazine being put in the position to pick up the new tool and finally the cycle is completed with a further exchange between storage and spindle Single exchange the Sequence is conducted like a normal type same size exchange but when both tools are found in the grippers of the exchanger arm typically arm down the magazine is rotated to the deposit position Machine Logic Development PLC Part Il 01 selca Series S3000 2 Dedicated internal modules STORAGE 12 REQUEST NEW TOOL POS 23 REQUEST OLD TOOL POS 6 Wait M06 84 z End CU PLC program implementation Example ASYNCHRONOUS RANDOM CHAIN TC INIT DEF SEQCU 6 901 1 902 920 5 7 COM 1 SCAMBIO tool change with storage 901 storage clearing for rotation 4 pre defined code sets the storage in pick up position 902 storage lock 920 exchanger arm in grasp release position 5 pre defined code new tool taken from storage and inserted in intermediate station 6 pre defined code wait M06 COM 1 CHANGE NC sub pro
192. fined in the declaration section using syntax PULSE namea namen 4 8 Machine Logic Development PLC Part I 01 selca Series S3000 4 Declarations Example PULSE NAMEA NAMEB PROG NAMEA NCMD 5 the namea signal is an NC pulse in manual mode NAMEB EMEA the nameb signal is an NC pulse in Emergency mode 4 6 TIMERS There are 32 fast timers available to the user with a base time of 10 mSec one cycle capable of counting up to 327 67 seconds and there are 64 slow timers with a base time of 100 mSec 10 cycles capable of counting up to 3276 7 seconds about one hour Timers are declared as such in the declaration section of the program however their duration must be declared inside the program at the points where they are used Timers must be defined after the declarative FTIMER fast timer or STIMER slow timer by the following syntax FTIMER or STIMER input output derived stop count input output derived stop count or FTIMER or STIMER input output input output where input is the name of the signal that activates the timer output is the name of the time delayed output signal derivedis the name of the signal that is active during the delay time stop is the name of the signal that can be used to freeze the count count is the name of the WORD which contains the current count Machine Logic Development PLC Part I 01 4 9 Series S3000 selca 4 Declarations The functional
193. from 0 to 1 as a percentage of the rapid velocity 1 5 6 MANUAL MOVEMENT WITH HANDWHEEL The axes can also be moved with electronic handwheels while in manual state The association between the handwheel and the axis to be moved must be made through the PLC program by writing the number of the axis to be moved in register HWL n corresponding to the appropriate handwheel Example HWL 1 5 associates the handwheel 1 to axis 5 The handwheel resolution can be selected by writing the corresponding number on the STEP variable chosen from the 8 values stated in the configuration Consequently the resolution value does not need to be written in mm revolution The axes to which the handwheel is assigned in manual mode are automatically enabled The manual movement in JOG selected with MOVMA has priority over the control given by the handwheel Summary of Registers and Signals Involved HWL 8 NC lt PLC no One per handwheel 1 3 to indicate the number of the axis to be controlled STEP 8 NC lt PLC no Selection of the handwheel resolution from the 8 values defined in the configuration parameters 1 5 7 HOMING THE AXES In NC manual status NCMD 5 it is possible to home an axis with or without a zero microswitch by entering the direction and velocity This choice of homing using the marker encoder or optical lines is performed by setting the bit corresponding to the axis on the register MARK If the homing must be perfo
194. gnals The position loop for each axis is closed when an associated MOVCN or RDMOV is present Avoid RDMOV activation not corresponding to MOVCN requests Example INP XSBLOC X axis unlocked OUT ABILX enable the X axis SFREX X axis release control PROG SFREX MOVCN 1 RDMOV 1 XSBLOC ABILX MOVCN 1 RDMOV 1 MOVCN RDMOV ABILX SFREX XSBLOC Speed AM ON Time Summary of Registers and Signals Involved MOVCN 8 NC PLC no Axis enable request 1 8 RDMOV 8 NC PLC no Axis ready to move response to MOVCN 1 8 POFO 64 NC PLC no Override value on the programmed feed from 0 to 2 gives an adjustment between 0 and 200 per cent 1 5 2 AXES ALWAYS ACTIVE OR WITH LOCKING M10 M11 Through the asynchronous SSA register the PLC can request the desired configuration of the axes from the NC as long as they are enabled and interlocked through the position loop In manual mode the NC accepts and performs the requested configuration in asynchronous mode However on automatic avoid alternating SSA during programs containing movements It would be best to make it subsequent to auxiliary functions Utilizing the AXPGM register the function can be made selective only to the axes specified M11XYZ Machine Logic Development PLC Part Il 01 1 9 Series S3000 selca 1 Management and flow of commands Summary of Registers and Signals Involved SSA 8 NC PLC no Axes that must always
195. gram to run on 6 operation when M06 is programmed MOGPGM 1 PROG Activation of tool changer module The PLC synchronously receives the new code of the programmed T operation on the TOOL register with the STROT strobe but that does not yet activate the TC module To activate the TC module the tool code must be written in the UTECU register and the NEWCU signal set This is reset by the TC as soon as the particular sequence for the requested tool change has begun on condition that the MAPRCU signal is equal to 1 Naturally the tool table must have been already compiled UTECU 0 is understood as a down tool return request from spindle to storage or on the floor if no space is available Actuation of the sequencer The TC module sets the CUATT active tool change signal after being activated NEWCU reset then e sends to NSEQCU register the operating SEQUENCE number e sends to PPRECU register the storage position number of new tool e sends to PPOSCU register the storage position number for old tool Machine Logic Development PLC Part Il 01 2 17 Series S3000 selca 2 Dedicated internal modules e prepares on OFST register the corrector code associated to the new tool at the end it sends to the PLC on the OPERCU register the sequence defined in DEF SEQCU n the operation codes accompanied by a strobe BRDYCU The PLC must take care to run the proposed single operation without interfering with the others The only expecte
196. h that of taking the new tool by means of a two gripper exchanger arm as a result the pick and place positions must be coincident The case of an exchange of tools of different sizes has been made different from the exchange between tools of similar sizes to facilitate coding of the PLC The significance of the internal codes of the predefined OPERATIONS is as follows 9 Exchange of tool between spindle and storage Sequences for management of tools on floor manual Sequence 1 6 16 34 load from floor to spindle Sequence 2 6 10 34 unload from spindle to floor Sequence 3 6 10 16 34 exchange between spindle and floor Sequences for exchange between tools on floor and storage mixed SELECU 0 Sequence 4 1 6 10 4 34 return spindle tool to floor and pick from storage Sequence 5 23 6 13 16 34 return spindle tool to storage and pick from floor Sequences for management of tools from storage automatic SELECU 0 Sequence 6 1 6 9 34 tool exchange between storage and spindle same size Sequence 13 23 6 13 1 4 34 tool exchange between storage and spindle different size Sequence 7 1 6 4 34 load tool from storage to spindle Sequence 8 23 6 13 34 unload tool from spindle to storage Other sequences SELECU 0 Sequence 11 6 34 programmed tool same as tool in spindle only change Length corrector With this type of tool change the Sequence 13 exchange of dif
197. han if it were compiled uncompressed In the compressed mode the compiling function takes longer Note Compiling compressed programs requires more active memory space than normal compiling therefore memory shortage problems may arise when particularly long programs are compiled on systems with limited memory Machine Logic Development PLC Part I 01 2 3 Series S3000 selca 2 Operating procedure Edit Logic Menu When the EDIT LOGIC softkey is pressed a list of all the present logic programs is displayed in the center of the screen One of these may be selected by moving the cursor over the desired program useing the 1 or a arrow keys The name of the chosen program will also appear in the command line If a new program is desired it is necessary to write the program name over the one present in the command line After selecting or writing in a name press the softkey EDIT LOGIC EJ or FS A new menu will appear along with a listing of the program if already existing A new program may be written directly using the keyboard To modify or delete program blocks while editing the following softkeys should be used INSERT MODIFY DELETE STRING ADVANCED BLOCK BLOCK BLOCK SEARCH EDITING The function of each softkey for PLC programming is as follows INSERT BLOCK To insert a new program line position the cursor on the block which comes directly after the one which needs inserted the INSERT BLOCK function is active as soon as
198. he acceleration deceleration ramps by comparing SPRIF with SPTCH actual speed for spindles with transducer Variable SPAGP has been added for use in diagnostics it assumes the following significance depending on which type of spindle transducer is used With RESOLVER it represents the transducer analog signal level With ENCODER it represents the number of pulses lost and recovered with the parameter STEP RECOVERY ACTIVE Name Size Direction Description SPAGP 8 NC PLC Transducer level or pulses lost and recovered for the spindles 1 4 2 1 6 SPINDLES WITH OR WITHOUT TRANSDUCERS If the spindle has no transducer SPTCH is a calculated speed and SPSGL will always be 1 while SPREG SPMOT and SPRMP are active but in relation with the commanded speed not the actual speed In this case the synchronization with other spindles is not possible Where a spindle is equipped with a transducer and the various cycles are functioning correctly it is absolutely necessary that positive transducer direction PASP corresponds to a positive analog reference For the orientation cycles to function correctly as well as those functions that require knowing the actual spindle speed one revolution of the transducer must always be equal to one spindle revolution particularly on lathes Machine Logic Development PLC Part Il 01 2 5 Series S3000 selca 2 Dedicated internal modules 2 1 7 NOTES ON THE FIXED CYCLE G84 For the G84 fixed
199. he code of the new function is stored in the registers AUXM SPEED TOOL and AUXH In addition in order to optimize communication the NC sets a strobe signal that indicates which type of function is present It will therefore have respectively STROM STROS STROT and STROH Note After decoding these signals to determine the new function the PLC must immediately reset the BURDY signal so that the NC can continue working BURDY must be used exclusively for the decoding of the auxiliary functions and not to stop the advancement of the blocks Other signals are reserved for this purpose The strobes are signals updated by the NC only when BURDY is set Therefore they do not have a fixed duration must not be reset by the PLC and are used only when the BURDY signal is active The decoding of the auxiliary functions is managed only in the SLOW SECTION of the PLC Since the auxiliary functions can written at the beginning and end of the program block see the table at the end of the manual it is important to assure that the strobe signals are decoded in the correct sequence In contrast the preparatory functions G and F available on registers AUXG and FEED are not transmitted with the BURDY signal and are therefore completely asynchronous with respect to the execution of the blocks Another register CICFI is also available which contains the fixed execution cycle code M H auxiliary functions are selective and can operate only on certain
200. he interrupt uses REMCU and the TC responds by 1 2 3 4 5 6 setting EMACU N307 REMCU FF BRKA amp CUATT AUXON amp CUATT EMACU 8 9 0 1 2 3 N3 Softkey P7 uses RBKCU to exit from EMACU emergency N3 F P7 amp EMACU RBKCU 1 cancel TC emergency N3 N3 After an interrupt it is necessary to reset the TC Wi h the appropriate softkey after VERIFYING THE TOOL TABLE Machine Logic Development PLC Part III 00 Series S3000 1 Programming examples 1 37 Series S3000 selca 1 Programming examples N314 L7 EMACU emergency lamp TC N315 N316 F EMACU CALL RESECU reset PLC commands N317 N318 N319 Passing parameters to COM N320 P 10 I FP PPRECU loading position N321 P 11 I FP PPOSCU unloading position N322 P 13 I FP NSEQCU sequence started N323 N224 pousse sequence decode phase N325 IF BRDYCU NOCU N326 MAPRCU 0 halt phase sequence N327 CALL OPER tool change management phase N328 BRDYCU 0 TC phase acquired N329 NOCU N330 N331 ES SSS SS SESS SS SSS SS SSS SSS SS SSS SSS SS SSS SSS SS SSS SSS KK KK KK KK N332 ounce cde oak ok to continue phase sequence cee N333 MAPRCU 1 A es N334 N335 RTS N336 Xo X xe
201. hich to operate After the selection the following softkeys may be used MEMORY FLOPPY FLASH EDIT RECALL RENAME COPY DELETE DRIVE MEMORY FILE TABLES PROGRAM PROGRAM PROGRAM EDIT TABLE Allows editing previously stored variable names RECALL TABLE Recalls a table previously stored which contains display and trace variables A file name must be supplied by the user or selected with the arrow keys for each of these two functions after which the key must be pressed 2 5 4 FORCED ASSIGNMENTS During the course of debugging it may become necessary to force a binary value or numerical value a variable The FORCED ASSIGNMENT function is provided for this purpose and once activated the signal name and desired value will be requested and entered via the key pad namevariable expression press The forced value will not change until an instruction modifies it or until the NC is turned OFF in the case of non retained variables It is not possible to force input values since they are refreshed at each PLC scan 2 5 5 FORCED VALUE TABLES When many variables must be assigned a new value the softkey FORCING FILES in the debug logic menu is used By pressing this softkey the following menu appears MEMORY FLOPPY FLASH EDIT RECALL RENAME COPY DELETE DRIVE MEMORY FORCE FILE FORCE FILE PROGRAM PROGRAM PROGRAM 2 14 Machine Logic Development PLC Part I 01 selca Series S3000 2 Operating procedure EDIT FORCE FILE Allows editing previ
202. iables in floating point format RAM 32 named FLOAT 1 and FLOAT 2 are available Writing to the tool table from the PLC Only for particular applications Normally the tool table is completely managed by the tool change module however for particular applications all the tool table fields are accessible by the PLC for reading and writing The reading can be done like any other PLC variable without any particular precaution It is necessary to keep in mind that the entries on these variables involve a rather long sequence besides the table normally present in the working memory of the system it is also necessary to update the copy in the system static memory An operation that requires longer update times In the PLC are arrays that represent the columns of the tool tables The values are available in the UTENRI variable with the names shown in succession To be able to access to the parameters of a certain tool it is necessary to search with the following instruction RIC UTNUM 1 UTENRI TOOL label As mentioned since writing to the table fields is slow it is not practical to pause the PLC program to wait for the writing operation Therefore a temporary memory with limited capability 16 lines exists on which the variables relatives to the fields are temporarily transferred to be written later when time is available The amount of temporary memory available is shown in the UTEFRE variable The PLC will must always verify the availa
203. in static RAM SRAM to store the status STORG with the NC off and reinitialize iton switching on Machine Logic Development PLC Part Il 01 1 19 Series S3000 selca 1 Management and flow of commands Typically this feature is used on machines with rotational head and with a second opposing spindle the additional offsets represent the position differences between the first spindle nose and the second spindle In this case the activation of STORG_ is produced on an end of block auxiliary M function inside a COM program used for the exchange of spindles In an absolute origin the origin offsets are disabled Name Size Direction Description STORG_ 8 PLC gt NC Register activating the additional origin offsets STORG_ 1 1 enables the offsets for all the axes STORG_ 1 0 disables the offsets PLORG 8 PLC gt NC Registers containing the additional origin offsets 1 6 MANAGEMENT OF CONTACT MEASUREMENT PROBE If the system detects an excessive probe deflection signal error 210 it sets a state of emergency collision of contact probe The PLC can disable this error sensing by setting bit 1 of the variable CWDTF Summary of Registers and Signals Involved CWDTF 8 NC PLC no Control byte of contact Probe on off Bit 1 disables error 210 collision Status of the measurement probe ON OFF can be read through register SWDTF this register is to be used mainly for diagnostic purposes Name Size Direct
204. in this example there are no provisions for a home switch on the C axis physical INPUTS NP physical OUTPUTS OUT ABI LX 1 enable axis X ABI LY 2 enable axis Y ABI LM 3 enable spindle or axis C ABI LZ 4 enable axis Z declare retained BIT variables present at power up SRAM 1 CI CM20 Switch from C axis to spindle CI CM21 Switch from spindle to C axis axisC Set working mode for C axis axisM Set working mode for spindle declare non retained BIT variables RAM 1 ABMAN enable spindle ABC enable C axis STR MSG1 messages MSG2 messages FOSO RAR PNT TI ALL ZATION Kex xx x NIT MSG1 switching from C axis C to spindle MSG2 switching from spindle to C axis XI NI TI ALI ZE SPINDLE MODE xxxxxxxxx F axisC amp axisM CALL RESCM if no mode F CI CM20 CI CM21 CALL RESCM if interrupt SPGAM 1 range 1 for spindle Kiko e FAST LOGIC each 10 mS eee PROG ABILX RDMOV 1 ABILY RDMOV 2 ABILZ RDMOV 3 RDMOV MOVCN Move as a response to NC KEKKKK poten iometers FE EEK EEE RARA POFO ANI POMO 1 ANI 2 POMO 2 ANI 2 POMO 3 ANI 2 END decode auxiliary functions from NC F BURDY ASI NC DHOLD 1 FHOLD 1 F STROM CALL GEFUM BURDY 0 ASINC F BRKA CALL LM05 stop spindle on BREAK Machine Logic Development PLC Part III 00 In the configuration data the C axis is considered 4 Series S3000 1
205. index attribute must be named or a PLC variable must be declared called SFKMEN The switch signal may be momentary or continue for as long as the key is selected pressed The softkeys may also be associated with a message or numerical string to aid the operator with accessing data The easiest way of declaring a softkey menu is SOFTK menu number switch lamp 0 1 label text switch lamp 0 1 label text selecting 0 indicates the switch is momentary and lasts only one PLC execution cycle default selecting 1 indicates the switch is on as long as it is pressed Menu number may be omitted when declaring the first menu Softkeys associated with messages or numerical variables The definition of a softkey associated with a message or numerical variable is strobe lamp switch label message FP STR variable default value In this example the switch signal is received by the PLC as soon as the softkey is pressed followed by the key The message is subsequently displayed on the screen followed by the actual value of the associated variable The strobe signal is sent to the PLC to signal a new variable value or to confirm the existing one The variable is implicitly defined as DOUBLE format FP as long as there are no other specifications via the string format STR The default value when defined is always displayed on the command line in place of the current variable value when the softkey is pressed It is n
206. ing coordinates outside work area combination of sz commands not allowed quik value greater than programmed safety position spindle analog transducer signal too high spindle analog transducer signal too low spindle axis position reading discontinuity spindle increment transducer wrong number pulses faults with spindle transducer Gray code faults absolute transd point to point axis transducer signal too high point to point axis transducer signal too high point to point axis point to point axis position reading discontinuity servomechanism error of point to point axis wrong no transducer pulses point to point axis faults with transducer of point to point axis secondary transd signal too high point to point axis secondary transd signal too low point to point axis faults with secondary transducer point to point axis faults with potentiometric comparator interpol overrun for successive block not ready ROM memory error Inductosyn module RAM memory error Inductosyn module not enough time for axes of Inductosyn module control thermocouple acquisition error thermocouple signal interrupted control thermocouple signal too high control thermocouple signal too low control faults on control thermocouple transducer Machine Logic Development PLC Appendix 01 selca Series S3000 E1163 E1164 E1165 E1200 E1202 E1204 E1206 E1208 E1210 E1212 E1214 E1216 E1218 E1220 E1222 E1224 E1226 E1300 E
207. inition of tool radius straight lines are parallel intersection missing in roughing between plane profile and section profiles intersection missing between straight line and circle hollows profiled with passes parallel to the profile management of the islands of the profiled hollows entity length too great 131071 mm concentric circles external circles coincident circles tangent circles internal circles error in definition of geometric entities division by zero square root of a negative number operations between P parameters with result too great error in definition of the program parameters axes out of position axis on limit negative position not allowed invers of traversing direction of an entity of the profile value wrong or segment missing in fly block stored by peripheral with syntax error out of limits of the operating range syntax error in the block out of limits in copying probe crash in copying loss of probe contact in copying hardware fault on digital probe digital probe disconnected hardware extra travel on digital probe deflection of copying probe at max limits measurement probe on off crash start of measuring cycle with probe deflected copy in semispace not allowed tool reset deflection at max limits write error on digitizing file limits opening function G877 missing in copying limits closing function G877 missing in copying locking request between axes not reset locking request bet
208. ion Description SWDTF 8 PLC gt NC Status of probe ON OFF SWDTF 2 0 probe at rest 1 probe deflected 1 7 AXIS SOFTWARE LIMITS The status of the axis software limit is signaled on the registers FICOP and FICOM positive and negative limits The PLC has the ability to disable the software limits by raising the related bit to the axes on the registers DFCOP positive limit disabled and DFCOM negative limit disabled Summary of Registers and Signals Involved FICOP 8 NC PLC no Axis 1 8 on positive software limit FICOM 8 NC PLC no Axis 1 8 on negative software limit DFCOP 8 NC lt PLC no Axis 1 8 disable positive software limit DFCOM 8 NC PLC no Axis 1 8 disable negative software limit 1 20 Machine Logic Development PLC Part II 01 selca Series S3000 1 Management and flow of commands CONTROLLED AXIS SOFTWARE LIMITS DE ACTIVATING ERROR E93 By setting the variable CWFCS it is possible to disable the detection prior to the software limit movement and as a result the reporting of error E93 AXES ON LIMIT limiting of the stroke of the axes due to the software limits remains however unaltered This features must be used when the PLC for installation requirements also acts and with the axes moving on the variables relating to the software limits for example by disabling the limits with DFCOP DFCOM or by changing the pair of active limits variable FCA In the NC program execution o
209. ion mill work and automated assembly stations for flexible high volume production The CNC S3024 systems are designed for lathes turning centers and a large number of multi axis work cells with slow cycles 1 1 MAIN CHARACTERISTICS OF THE SERIES 3000 The following describes some of the characteristics and uses of the Series S3000 controls Considering the limited space and scope of this manual Not all of the characteristics of each model are described only some of the more significant ones For more detailed information please refer to the technical Specifications for the particular model in question In the fully configured higher level systems the main features are as follows e Advanced 2 D and 3 D conversational programming with interactive graphics and integrated PROGET2 language e Control of up to 16 axes including 4 spindles e Control of 8 axes simultaneously e Utilizes all types of transducers rotary and linear incremental encoders fiber optics absolute and cyclical resolvers e Up to 8 independent PLC programs for controlling groups of auxiliary axes e Standard execution speed over 300 blocks per second increased to 1000 blocks per second in the P Plus version e Integral PLC with high level language including a graphic and numeric analyzer Machine Logic Development PLC 00 1 1 Series S3000 selca 1 Uses and functions e Digital I O 32 inputs and 24 outputs expandable to 384 inputs and 288 output
210. l axis 2 Restart copying in the positive direction after loss of contact with the model axis 1 Reserved Reserved COPIA 3 1 NC PLC no COPIA 4 1 NC PLC no COPIA 5 1 NC PLC no COPIA 6 1 NC PLC no COPIA 7 1 NC PLC no COPIA 8 1 COPIA2 8 NC PLC no The meaning of the single bits are as follows COPIA2 1 1 NC PLC no COPIA2 2 1 NC PLC no COPIA2 3 1 NC PLC no COPIA2 4 1 NC PLC no COPIA2 5 1 NC PLC no COPIA2 6 1 NC PLC no COPIA2 7 1 NC lt PLC no COPIA2 8 1 NC PLC no COPIA3 8 NC PLC no The meaning of the single bits are as follows COPIA3 1 1 NC X9 PLC no COPIA3 2 1 NC PLC no COPIA3 3 1 NC PLC no COPIA3 4 1 NC PLC no COPIA3 5 1 NC PLC no COPIA3 6 1 NC PLC no COPIA3 7 1 NC PLC no COPIA3 8 1 NC PLC no COPIA4 8 NC PLC no Fourth byte for remote control of copying functions The meaning of the single bits are as follows COPIA4 1 COPIA4 2 COPIA4 3 COPIA4 4 COPIA4 5 1 28 1 NC 4 PLC no Tempory stop after renewed contact with model Reserved Reserved Reserved Reserved Machine Logic Development PLC Part II 01 selica Series S3000 1 Management and flow of commands COPIA4 6 Reserved COPIA4 7 Reserved COPIA4 8 Reserved POCOP 64 NC PLC no Manual copying gain control The value can vary from 0 to 1 and multiplies the gain of the control in copying from 1 to 5 varying the velocity of the axes with the deflection of the prob
211. le 684 N282 FHOLD LI VRE ILI VOL amp G84 RAPI ITERMI IDRAOK N283 I DRMOK CAUT SPRMP 1 I GI ROK amp SPROT 1 amp RAPI SPORI 1 N284 SPPND 1 NCMD 5 ZERI OK inibit axes movement N285 DHOLD FHOLD inibits data blocks N286 N287 RHOLD FF 1 HOLD amp G84 RAPI HOLDA hold request N288 LAHOLD HOLDA hold lamp N289 CYST I START start request N290 LACYON CYON cycle ON Lamp N291 N29 4 esta saut eras area AUS a a oaa N N293 TI MUON 5 I MUON derivative of power on N294 RBRK TDMUON BREAK at power on N295 CNOK EMEA TUMUON NC ready output N296 REME FF I MUON I OLTRC EMEA emergency request N297 N28B esser faa a oe break iiir eas eot epp N299 IF BRKA EMEA CALL RESET N300 N301 IF STBMD SFKMEN 1 recall menu SOFTK 1 N302 END N3 3 VERY SLOW SECTI ON KOK KOK KKK KKK K K K KK K K N3044 Tuae eoe a QS PUP euet s aes tere oit sae C T N305 N306 WNDI NT 2 AUXH display H codes N307 GI RMI NT ABS SPTCH 1 display effective speed N308 N309 xus seo message preparation cee eee eee N310 SG 1 MUON N311 SG 2 ZERI OK amp I MUON N312 SG 3 SG 2 amp L7 amp L5 1 8 Machine Logic Development PLC Part III 00 N313 SG 4 SPRMP 1 I GI ROK amp SPROT 1 N314 SG 5 SPPND 1 N315 SG 6 1 DRAOK N316 56G 7 1 D
212. length of 14 characters 32 for strings with a maximum length of 30 characters 64 for strings with a maximum length of 62 characters 128 for strings with a maximum length of 126 characters 256 for strings with a maximum length of 254 characters The default value is 64 in cases where the attribute is omitted If an attempt is made to write a string longer than the declared length it is automatically truncated and an error message is shown on the display It is possible to use vectorial declaratives even for strings e Using the explicit format the name of every attribute is listed STR NAMEA NAMEB e Using a matrix type format the name and total number of elements are specified STR NAME n Example STR 64 NAMEA MSG 12 PROG NAMEA SAMPLE MESSAGE assign contents of variable string NAMEA MSG 2 SPINDLE PROTECTION STOP assign contents of vector variable string MSG 2 4 6 Machine Logic Development PLC Part I 01 selca Series S3000 4 Declarations 4 4 DECLARATION OF EQUIVALENCES Using equivalence different names may be assigned to variables already defined in earlier declarations The equivalence function is as follows EQUI attribute name1 name2 namem namen where the format of the variable being introduced is declared by the value of the attribute and therefore may assume all permissible values for internal variables 1 8 16 32 64 The assignments which follow must be of the type namex name
213. les may be static and maintain their value after the controller is turned OFF or dynamic in accordance with the declaration which was made see Declaration of Internal Variables in the next chapter Dynamic numeric variables assume values of zero when the NC is turned ON and string values assume the value empty string COUNTER values are stored during shut off however the values for TIMER PULSE and SOFTKEY are not Of the internal variables those associated with the axes positioning independent and controlled are static 3 3 3 CONSTANTS It may be useful to describe constants within a program numerical and string in these cases the values are assigned during initialization of the program to avoid repeating the same instructions Example INIT SMAX 3500 ALLM SPINDLE OUT OF SERVICE The system makes available the following predefined mnemonic symbol PI 3 1415927 Plin DOUBLE format 3 3 4 CONFIGURABLE CONSTANTS FOR MACHINE LOGIC To utilize machine logic on other similar but not identical machines it is necessary to assign a certain amount of configurable constants at the time of installation This allows for setting parameters at the PLC level for lubrication tool change reports timer intervals axis position etc 3 6 Machine Logic Development PLC Part I 01 selca Series S3000 3 Program organization For this purpose the following constants are defined for configuration e 16 machine co
214. lights do not hold state on power down PROG axis selection softkey F P21 L21 L21 L22 0 L23 0 softkey for X axis F P22 L22 L22 L23 0 L21 0 softkey for Y axis F P23 L23 L23 L21 0 L22 0 softkey for Z axis F L21 HWL 1 1 assign X axis handwheel 1 F L22 HWL 1 2 assign Y axis handwheel 1 F L23 HWL 1 3 assign Z axis handwheel 1 F L216 L2286 L23 HWL 1 0 no axis assigned softkey to select resolution set in configuration F P24 L24 1 L25 0 L26 0 L27 0 1 handwheel rev 0 5 mm stepl F P25 L2420 L2521 12620 L27 20 1 handwheel rev 1 mm step 2 F P26 L2420 L2520 L26 1 L27 20 1 handwheel rev 5 mm step 3 F P27 L24 0 L25 0 L26 0 L27 1 1 handwheel rev 10 mm step 4 F L24 STEP 1 assign step 1 F L25 STEP assign step 2 F L26 STEP 3 assign step 3 F L27 STEP 4 assign step 4 BURDY function acquisition from NC RDMOV MOVCN Axes enabled response END Machine Logic Development PLC Part III 00 selca SPIND1 Spindle rotation N1 KK KKK KKKA KK KKK KKK KK KKK KAKAK KKK KK KKK KK KKKA KAAKAA KKK KKK KKK K N2 N3 EXAMPLE OF SPINDLE ROTATION MANAGMENT N4 WITH OR WITHOUT TRANSDUCER N5 SPI ND1 941008 N6 N7 KK KKK KKKA AKK KKK KK KKK KKK KKKA K KKK KK KKK KK ORO KK KKK KKK N8 N9 Automatic and manual spindle control M3 M4 M13 M14 N10 Axes wait for spindle up to speed spindle hold N11 emergency if spindle not rotating N12 In the wait for spindle up to
215. ling X UMOVE2 MOVCN 2 enabling Y UMOVE3 MOVCN 3 enabling Z RDMOV MOVCN axes enabled by the NC to ea Dt RAI Re ca o be FHOLD 0 stop axes movement DHOLD 0 stop program blocks END END XO e e ke e KK e Ge Ge GG KKK ROUTI NES SECTI ON ep decode M functiohns oci oi edo i UT RRRA GEFUM WNDI NT 1 AUXM display M functions F AUXM 11 M11 unclamp axes selecti vl y F AUXM 10 M10 clamp axes RTS M10 SSA 0 RTS M11 IF AXPGM 0 SSA 000001118 RTS ELSE SSA AXPGM amp 00000111B RTS Machine Logic Development PLC Part III 00 selca AUXON Auxiliaries control logic KKK KK RK KKK K K K K K K K KK KK K K K K K KKK K KK K K K KK KKK KK K KK KKK KK K KK KKK KK AUXI LI ARI ES CONTROL LOGIC AUXON 941008 X OK CK XO XO GC GO SSS SESS SS SS SESS SS SS SESS KK K K K K K K KK SSE SS SS KK K A CNOK output is expected that controls a relay in series with the chain that turns on the auxiliaries The NC does not see the auxiliaries ON pushbutton as an input but as an input indicating the auxiliaries are ON NP MUON machine on DRAOK axis drives ok OUT UMOVE1 enable axis l UMOVE2 enable axis 2 UMOVE3 enable axis 3 CNOK OK for auxiliaries from NC STR MSG1 auxiliaries OFF message STI MER TI MUON TUMUON TDMUON TAMUON TWMUON Turn ON auxiliaries NIT SSA 00000111B XYZ axes always enabled
216. listed above are required but when used must appear in the order shown Also when variables of different data format sizes are used they must be declared in order starting with the larges format Example SRAM 64 NOMEA RAM 32 NOMEF SRAM 16 NOMEL SRAM 8 NOMEP the names which follow are in DOUBLE format the names which follow are in LONG format the names which follow are in WORD format the names which follow are in BYTE format Machine Logic Development PLC Part 1 01 4 1 Series S3000 selca 4 Declarations 4 1 DECLARATION OF PHYSICAL INPUTS OUTPUTS The program must always begin with the declaration of the inputs and outputs physically connected to the unit Inputs and outputs are referenced directly to their physical I O board terminations For example the first input declared after the INP keyword is assigned to terminal 1 the second to terminal 2 etc For input wires the key word INP must be used in the following format INP attribute connector number Input Name 1 Input Name n For output wires the keyword OUT must be used in the following foprmat OUT attribute connector number Output name 1 Output name n Where attribute defines the type of variable 1 describes 1 bit default value when attribute omitted 8 describes a byte 16 describes a word connector number indicates the position on the l OMIX board where the connector is located see system Installation Man
217. luding blanks Example IF VEMA 1 VEMA 9999 LIMIT 1 example of the use of the ELSE LIMIT 0 It is not possible to have more than one IF instruction nested on the same line 6 4 CALCULATED GOTO To allow for free movement within the program this instruction jumps the program to labels declared within numerical functions or expressions the format is as follows GOTC expression label1 label2 label255 6 2 Machine Logic Development PLC Part 00 selca Series S3000 6 Instructions to control the program flow where expression may be a BYTE or WORD with a value between 1 and 255 an expression which results in a BYTE or WORD with a value between 1 and 255 The maximum number of LABELS is 255 If the space on one line is not sufficient additional lines may be added by using the end of line marker The final limitation is that the number of characters may not exceed 500 excluding blanks Example RAM 8 NLAB PROG NLAB current label to jump to GOTC NLAB L1 L2 L3 LEND LEND TA LEND L2 LEND L3 LEND The system calculates the expression and uses the results to select the label to jump to If the value of the expression is O or the label cannot be found the program continues with the next instruction 6 5 QUESTIONED GO TO Permits system to jump to a label depending on which bit is set in a variable The format is as follows GOTP expression label1 label2
218. lue 10 V Degrees of temperature read by the thermal probes if the interface is present associated with the specified card Data exchange between PLC and part program LFL STVFL VPLWO STVWO VPLBY STVBY VPLBI STVBI VLPFL VLPWO VLPBY VLPBI PNC PO 32 1 16 32 NC gt PLC yes NC gt PLC yes NC gt PLC yes NC gt PLC yes NC gt PLC yes NC gt PLC yes NC gt PLC yes NC gt PLC yes NC PLC yes NC PLC yes NC PLC yes NC PLC yes NC PLC no NC PLC no NC video display windows WINDOW 64 NC PLC no ASCW 8 NC PLC no FLOATING variable from part program to PLC FLOATING variable strobe from part program to PLC WORD variable from part program to PLC WORD variable strobe from part program to PLC BYTE variable from part program to PLC BYTE variable strobe from part program to PLC BIT variable from part program to PLC BIT variable strobe from part program to PLC FLOATING variable sent to the part program from the PLC WORD variable sent to the part program from the PLC BYTE variable sent to the part program from the PLC BIT variable sent to the part program from the PLC 99 parameters n shared floating point format read and written to by both PLC and part program at the user level 1 99 99 parameters in shared floating point format written to by the PLC or the subprogram COM instructions 1 99 Registers for NC video display areas 1 16 in the fl
219. machine axes reference machine message N70 L24 1 default handwheel resolution N71 SSA 00000111B XYZ axes unlocked N72 N73 PROG N74 XO Go KK KK KK e e e e x x FAST SECTI ON KOKKO KKK K KK KK K KK K K K KK K K KK K N75 END N76 xxxoxoxoxe xx SLOW SECTION xoxo ERR RRR RRR Ex X 1 2 Machine Logic Development PLC Part III 00 selca N77 N78 N79 N80 N81 N82 N83 N84 N85 N86 N87 N88 N89 N91 N92 N93 N94 N95 N96 N97 N98 N99 ZEZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZ co Ma F BURDY ASYNC DHOLD 1 FHOLD 1 F STROM CALL GEFUM BURDY 0 ASINC Tor ASYNCHRONOUS PART POFO ANI 1 POMO 1 ANI 2 POMO 2 ANI 2 POMO 3 ANI 2 SPSSO 1 ANI 3 SPVEL 1 SPEED SPROT 1 ROTMA amp HOLDA UMAN SPMOV 1 SYNCHRONIZED with part program mE auxilliary function decode Goines DA ade potenti omet ets ccn ee Kaas automatic feed manual feed spindle override spindle speed comand start and HOLD enable spindle eta EN SE NOS a axis management cece eee eee ee UMOVE1 MOVCN 1 UMOVE2 MOVCN 2 UMOVE3 MOVCN 3 RDMOV MOVCN enable move X enable move Y enable move Z OK to move from NC re PODS acd RUE de a argues NOTE do not inhibit jog with NCMD 8 and NCMD 9 as it is necessary to to use manual to reposition on the part during HOLD state softkey managment in manual JOG and J 0G
220. machine homing only JOG L1 P1 L2 P2 amp L7 L3 P3 L4 P4 amp L7 L5 P5 L6 P6 amp L7 OGP 1 assigning J 0G OGM 1 OGP 2 OGM 2 OGP 3 OGM 3 COVER SE el select manual JOG mode o OS A a i softkey to select axis to be moved with the handwheel F P21 L21 L21 L22 0 L23 0 F 122 L22 L23 0 121 0 F L235 L23 L21 0 L22 0 F L21 HWL 1 1 L8 1 F HWL 1 2 L8 1 F L23 HWL 1 3 L8 1 F L21 amp L22 amp L23 HW 1 0 L8 0 softkey for assigning steps F P24 L24 1 L25 0 L26 0 L27 0 F L24 0 L25 1 L2620 L27 0 F L24 0 L25 0 L26 1 L27 0 F F F F F L2420 L2520 126 0 L27 1 L24 STEP 1 STEP 2 STEP 3 STEP 4 FCP7 L7 L7 enable homing softkey F SFKMEN 1 NCMD lt gt 5 I REME BRKA L7 0 reference machine if micro switch present MI CZE 1 MI CZE 2 MI CZE 3 MI ZER 1 MZX MI ZER 2 MZY MI ZER 3 MZZ chine Logic Development PLC Part III 00 Series S3000 1 Programming examples Series S3000 1 Programming examples N156 FHOLD I MAPR SPRMP 1 amp RAPI N157 NCMD lt gt 5 amp M ZEA lt gt 7 amp CICL stop axes movement N158 DHOLD MAPR data hold machine not ready N159 RHOLD HOLD external hold request N60 REME REME external emergency N161 CYSTzI START external start request N162 N163 ALARM EMEA NC in emergency state N164 N165 F BRKA EMEA CALL RES
221. mergency state BRKA 1 NC PLC no Command to BREAK from PLC Part origins and Tool length compensation OFST 16 NC lt gt PLC yes Code of the length compensation to be activated INTOF 1 NC lt gt PLC yes Strobe to signal the NC to activate the selected tool length compensation ORIG 16 NC PLC yes Code of the part origin to be activated INORG 1 NC lt gt PLC yes Strobe to signal the NC to activate the selected part origin BYORG 1 NC PLC yes Temporary cancellation of origins and tool settings absolute origin ABSOR 1 NC PLC no Absolute origin active signal STORG_ 8 NC PLC Register of the additional origin offset activation STORG 1 1 activates the offsets for all the axes STORG 1 0 de activates the offsets PLORG 8 NC PLC Registers containing the additional origin offsets Enabling and disabling axes MOVCN 8 NC PLC no Axis enable request 1 8 RDMOV 8 NC PLC no Axis ready to move response to MOVCN 1 8 POFO 64 NC PLC no Override value on the programmed feed from 0 to 2 gives an adjustment between 0 and 200 per cent Axes always active or with locking SSA 8 NC PLC no Axes that must always be active 1 8 Axes to be disabled DSERV 8 NC PLC no Axes to be disabled 1 8 4 4 Machine Logic Development PLC Part Il 01 selca Series S3000 4 Summary of predefined signals and registers Disabling transducers DISRQ 8 NC PLC no Axes with transducers disabled 1
222. ming operations as editing compiling activating and debugging Chapter 3 Program organization This chapter describes the program structure as well as the format for constants and variables used within the program Chapter 4 Pre settings This chapter contains a list of variables which must be set prior to beginning programming For example inputs outputs impulse types counters logic definable Softkeys internal variables and timers Chapter 5 Functions and Operations This chapter describes the instructions used during the programming including related parameters and limits The functions are subdivided into logic format variables conversion arithmetical mathematical and string operations Chapter 6 Instructions for program controls This chapter describes the functions which vary the program flux while it is running such as jumps loops and subroutines Chapter 7 Special Functions In the final chapter of Part certain user functions are described such as statistical calculations signal selection and user messages 4 0 0 Machine Logic Development PLC 00 selca Series S3000 General Part Il Chapter 1 This chapter contains descriptions of the registers PLC NC interface variables including each variable s characteristics and format The registers are grouped by type or function Chapter 2 This chapter describes the functions of the registers described in the previous chapter that is it describes the control
223. n Sequence 19 23 31 0 tool lay down from intermediate station to storage and new operation analysis two consecutive T s Load and unload sequences tools from floor to storage through spindle only with SELECU 2 Sequence 9 23 6 16 12 27 34 tool pick up from floor to spindle from spindle to jaws return to storage only with SELECU 3 Sequence 10 1 5 6 17 10 34 tool pick up from storage in intermediate station tool pick up from intermediate station to spindle return from spindle to floor o y o x TOOL CRIB 31 1 NEW TOOL POS REQUEST 23 OLD TOOL POS REQUEST INTERMED STATION 6 Wait M06 34 End TC 2 14 Machine Logic Development PLC Part Il 01 selca Series S3000 2 Dedicated internal modules Synchronous tool changes Management sequence of tools on floor with POSIZ MAGAZ 0 and SELECU 0 or SELECU 1 Sequence 1 6 16 34 pick up tool and place in spindle Sequence 2 6 10 34 remove tool from spindle unloading Sequence 3 6 10 16 34 remove tool from spindle pick up tool and place in spindle exchange Exchange sequences between tools on floor and tool storage SELECU 0 Sequence 4 6 10 1 4 34 place spindle tool on floor pick up tool from storage and place in spindle Sequence 5 6 23 13 16 34 return tool from spindle to storage pick up tool from floor and place in spindle Sequences of tools fr
224. n 1 100 of a second UTWD1 16 NC PLC no WORD 1 variable 1 for application 1 UTENRI UTWD2 16 NC PLC no WORD 2 variable 2 for application 1 UTENRI UTFP1 32 NC PLC no FLOAT 1 variable 1 floating point for application 1 UTENRI UTFP2 32 NC PLC no FLOAT 2 variable 2 floating point for application 1 UTENRI UTEFRE 16 NC PLC no Number of entries still available in tempory memory for updating tool tables MAGNPO 16 NC PLC no Number of tool storage locations configured in the parameters MAGCUA 16 NC PLC no Array representing tool storage image 0 MAGNPO READING AND WRITING OF RADIUS AND LENGTH CORRECTORS The PLC can have read and write access to the fields that relate to length and radius correction in the tool table using the variables listed below the mode of access is the same that used for the other tool table access variables Each element of the arrays corresponds to a line of the tool table The number of elements in each vector depends on dimensions of the tool table Name Size Direction Description CORR_Z 32 NC gt PLC correction of length of tool on spindle axis or longitudinal for lathes CORR_R 32 NC gt PLC tool radius correction CORR_X 32 NC e PLC tool diameter correction for lathes only 2 4 SERIAL LINE MANAGEMENT MODULE FROM PLC The PLC has access to the serial lines of the PC board through a set of dedicated instructions the description of the syntax of the instruc
225. n documentation It is necessary to remember that these types of instructions require ten times more CPU processing time If the maximum time limit for this section is exceeded the following message will appear Superfast cycle too long Fast logic The FAST LOGIC section is comprised of the instructions written between the key words PROG and the first END which are cycled every 10 mSec If the maximum time allowed for this section is exceeded the following message will appear Fast cycle too long Slow Logic The Slow logic section is comprised of the instructions written between the first and second END This part of the program is executed in the time left between the fast logic executions and the time allotted for the PLC If this time is not sufficient the Slow section is broken into more cycles Machine Logic Development PLC Part 01 3 3 Series S3000 selca 3 Program organization Superslow logic The SUPERSLOW logic section is comprised of the instructions written between the second and third END and are executed with lesser priority for such slower phenomena as thermal compensation message management and may be further divided into more cycles Syncronization The SUPERFAST FAST and SLOW sections are executed in sequence after the INIT section The super slow logic is not necessarily in sequence with the others The INPUTS are read at the beginning of the superfast cycle when present and the OUTPUTS ar
226. n individual blocks and between blocks and their sequence number Valid numbers are between 1 and 10 Press to confirm 2 6 Machine Logic Development PLC Part I 01 selca Series S3000 2 Operating procedure RENUMBER BLOCKS To apply the new parameters press this key followed by EJ You will then return to the previous menu TRANSLATE PLC 1200 The system S1200 programs differ slightly from the Series S3000 to make them completely compatible press this softkey while editing the older programs 2 2 COMPILE LOGIC This is the first operation to be performed after creating a new program or modifying an old one to verify correct syntax and to render it executable by the computer During the execution of this command the system displays the line number being compiled any errors will stop the program An error message will be displayed together with the program line number in which the error was found If the compiling operation is successful the following message will appear Program compile end program name If an error is found during compiling the software will automatically return to the edit mode and place the cursor at the line where the error was found 2 3 LOAD AND RUN The LOAD AND RUN softkey accessible from the EDIT LOGIC menu resets the PLC variables memory and starts the execution of the last PLC program to be compiled The key is illuminated when a PLC program is being executed It is possible to halt the progr
227. nageable the TC interrupts the active sequence and communicates the error In addition no TC sequence is operable if it is an error condition Machine Logic Development PLC Part Il 01 selca Tool tables UTENRI UTNUM UTPOS UTCAP UTDIM UTSPC UTPLKO UTVTKO UTVITA UTVTRE UTVTMI UTWD1 UTWD2 UTFP1 UTFP2 UTEFRE MAGNPO MAGCUA UTRUN UTTIM UTSTS CUATYP MAGGEO MAGTYP MAGGST Machine Logic Development PLC Part Il 01 16 16 16 16 8 64 64 64 16 16 32 32 16 16 16 1 32 16 16 16 16 NC gt PLC NC lt gt PLC NC PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC NC lt gt PLC c PLC c NC PLC PLC PLC PLC c PLC c PLC NC gt PLC NC PLC NC PLC no no no Series S3000 4 Summary of predefined signals and registers Line number in the tool maximum number of vector elements representing the columns in the tool table Tool codes in the table 1 UTENRI Tool storage location 1 UTENRI Tool fathers 1 UTENRI Tool types 1 UTENRI where 0 small 1 medium 2 large 3 extra Special tools 1 UTENRI where 0 normal tool not 0 special tool Excluded tools 1 UTENRI where 0 tools not excluded
228. nalyzer To set the graphic analyzer parameters the softkey GRAFIC ANALYZER is pressed from the DEBUG ENTER MODIFY DELETE TRIGGER TRIGGER NAME EXPR INAME EXPR NAME EXPR NAME EXPR TIMING menu The function of each key is as follows ENTER NAME EXPR After pressing this key the variable name to be displayed is typed and then rene the key is pressed to confirm MODIFY NAME EXPR After having selected a variable this softkey will allow for the name to be changed to that of another variable as well as for allowing the max min limits Retum to be changed When finished press pem DELETE NAME EXP Removes the variable on which the cursor is resting form the display 2 10 Machine Logic Development PLC Part I 01 selca TIME BASES ACQUIRE TIME FORCED VALUE NAME EXP TRIGGER TRIGGER TIMING ACQUIRE Series S3000 2 Operating procedure Selects the interval between two consecutive scans of the signals being analized Normally it is a multiple of 10 mSec PLC scanning time The default value is 10 mSec To analyze quickly changing phenomena such as axes responses or traces of variables used in the superfast logic section a time base may be used which is equal to the axis standard defined during configuration It must be noted that it is not possible to analyze signals using a time base which is smaller than their update times For example signals from the high speed logic section which have a
229. nce of load unload or change That means that the management of the TC sequencer must be similar to the M H auxiliary common functions 2 3 1 SIMPLE DEFINITIONS OPERATION is the code of a basic action that the TC module sequencer communicates to the PLC Every basic action must not have similar sequences with the others SEQUENCE is the arranged series of OPERATIONS that the TC module must execute in function of the actual state of the storage tool table etc JAWS are the gripper part of the arm to remove the tool from the spindle or in the case of an intermediate station the exchange arm INTERMEDIATE a secondary tool station to hold the next tool to be used STATION 2 10 Machine Logic Development PLC Part Il 01 selca Series S3000 2 Dedicated internal modules When it is necessary to differentiate the tools by different types and sizes the following must also be considered TOOL TYPE normal tool used with the selected TC type in a coherent manner random or fixed position special tool only and always used as a fixed position tool it will be returned to the same position as picked up TOOL SIZE normal and special tools can be of the following sizes small tool always occupies the one position in storage medium tool occupies the number of positions in storage large tool declared in the configuration extra tool 2 3 2 TYPES OF TOOL CHANGER CONFIGURATION The main chioce in the configuration i
230. nnn nnne 1 8 1 5 1 ENABLING AND LOCKING AXES i 1 8 1 5 2 AXES ALWAYS ACTIVE OR WITH LOCKING M10 MT T 1 9 1 5 3 AXES RELEASE M45 M46 i 1 10 1 5 4 TRANSDUCER DISABLING no eene ren aAa nnne trennen 1 10 1 5 5 MANUAL MOVEMENT IN JOG cnn cnn cnn cnn cnn nnnn enne 1 10 1 5 6 MANUAL MOVEMENT WITH HANDWHEEL emen 1 11 WIN 1 11 Reference cycle using home SWItChES pp 1 12 Homing using the electrical zero of the transducer marker pp 1 15 Homing using optical scales iii 1 16 1 5 8 MOVEMENTS IN MANUAL DURING HOLD STATE 1 17 1 5 9 MOVEMENT IN MANUAL AND REFERENCING DURING PROGRAM EXECUTION C me EE ET A A EEE AEAEE NE TEA EA ieta ANEETA A RAT AF 1 17 1 5 10 INFORMATION REGARDING THE AXES pp 1 17 1 5 11 DYNAMIC COMPENSATION OF AXIS POSITION pp 1 19 1 5 12 OFFSET FOR CONTROLLED AXES ii 1 19 Additional origin offset for controlled axes e 1 19 1 6 MANAGEMENT OF CONTACT MEASUREMENT PROBE eee 1 20 1 7 AXIS SOFTWARE LIMITS centeno cane 1 20 Controller axis software limits de activating error E93 1 21 1 7 1 ADDITIONAL SOFTWARE LIMITS sse 1 21 Machine Logic Development PLC 00 selca Series S3000 Ge 1 8 SPECIAL TYPE AXIS MANAGEMENT ertt ttt trente cerrar 1 8 1 PARALLEL GANTRY AXES oA tetto semuis Mente e RN aaa 1 8 2 PROGRAMMABLE NON CONTROLLED AX
231. not normally accessible to the user To obtain access to this environment it is necessary to follow the procedure below 1 Press the Meru of key 2 Press the E key The following softkey menu appears NC LOGIC PART PERIPHER MONITOR UTILITIES DIAGN OPERATIONS MESSAGES PROGRAMS SETUP TOOLS TOOLS 3 To access the APPLICATIONS environment for the first time after turning ON the NC press the keys simultaneously The softkey LOGIC MESSAGES changes to LOGIC SYS SETUP and remains that way until the NC is turned OFF The softkey menu then appears as follows The LOGIC SYS SETUP softkey allows access to the machine logic described in this manual For subsequent access it suffices to press the F2 key or LOGIC SYS SETUP softkey ej NC LOGIC PART PERIPHER MONITOR UTILITIES DIAGN OPERATION SYS SETUP PROGRAMS SETUP TOOLS TOOLS The are two modes of operation for PLC program maintenance EDIT LOGIC to write or modify an existing program DEBUG LOGIC to verify the the PLC program function the integrity of the inputs and outputs and the correct functioning of the algorithms Machine Logic Development PLC Part I 01 2 1 Series S3000 selca 2 Operating procedure 2 1 EDITING THE LOGIC The procedures selected from this menu allow the writing of PLC programs directly on the machine using all of the instructions and commands explained in this manual To write a new program it is necessary to respond to the system prompt
232. nstants common to the whole system called KMF 1 KMF 2 KMF 3 KMF 16 in 32 bit floating point e 32constants called KMW 1 KMW 2 KMW 3 KMW 32 in word format 3 3 5 DISPOSITION OF SINGLE BITS INTERNAL TO THE VARIABLES The disposition of single bits internal to BYTE WORD are as follows BYTE Format e 7 6 5 4 3 2 1 Least significant BIT Most significant BIT BYTE sign WORD format HI BYTE LO BYTE s ICI Ae a A 116 15 14 13 12 11 10 9 Least significant BIT___ WORD sign Note BYTE and WORD are used by the PLC in signed binary format that is negative numbers are represented in 2 s complement Example BYTE 1 00000001 B i 111114111 B sign bit WORD 1 0000000000000001 B 4 1 11113 1114340 11 1111 1B sign bit Machine Logic Development PLC Part 01 3 7 Series S3000 selca 3 Program organization 3 3 6 ACCESS TO VARIABLE BITS Single Variables To access the bits within a variable the variable is treated as an eight element matrix if it is a BYTE or 16 element matrix if it is a WORD etc The following matrix syntax is used var index index may be one of the following lengths in the examples the variables are single and not vectorial e An integer between 1 and the maximum number of bits for that variable Example BIT3 NUMBT 3 with this function BIT3 will equal 1 or 0 depending on the state of the third bit in NUMBT e the name of a variabl
233. nual 1 32 Machine Logic Development PLC Part II 01 selca Series S3000 2 Dedicated internal modules 2 DEDICATED INTERNAL MODULES It is possible to use the INTERNAL MODULES to simplify the management of frequently used complex functions By setting some variables you obtain the desired effect without having to implement complicated algorithms In this way a more readable program with reduced development time is obtained 2 1 SPINDLE MANAGEMENT MODULE Up to 4 spindles are allowed with or without transducers They are controlled directly by a reduced set of pre defined registers belonging to the INTERNAL SPINDLE CONTROL MODULE Functions are e acceleration deceleration ramps e speed regulation based on range and value of potentiometer e orientation on a programmable position in relation to the absolute zero based on declared accelerations absolute zero too is subject to offset on configuration parameters e timing for changing range e synchronism of more slave spindles with a master spindle e limit on speeds out of range The registers for control are all asynchronous not connected to program blocks or BURDY Each register must be used with the index relative to the spindle to which refers for registers of n bits a single bit of the register is activated All parameters relative to various spindles range speed accelerations transducer types thresholds must be written in the system configuration data
234. nual reset to default values manual active in hold state OOD Assigning to the FNCMD register the value of 3 the NC is forced in a semiautomatic program execution status NCMD 3 In normal conditions the FNCMD value must be zero and 3 is the only assignable value different from zero Summary of Registers and Signals Involved NCMD 8 NC E PLC no NC operating status code 1 coordinate reading 2 single block 3 semiautomatic program execution 4 automatic program execution 5 manual 8 reset to default values 9 manual active in hold state STBMD 1 NC gt PLC no Strobe pulse signaling change in NC status having a duration of one slow logic cycle FNCMD 8 CN PLC no NC forcing register in semiautomatic execution Machine Logic Development PLC Part Il 01 1 1 Series S3000 selca 1 Management and flow of commands 1 2 AUXILIARY SYNCHRONOUS AND PREPARATORY FUNCTIONS The presence in the program blocks of an auxiliary function M S T H performed individually in single block status or in the interior of a program in automatic or semiautomatic status is signaled to the PLC by means of communication registers and signals These communication signals are synchronized with the blocks themselves and for the sake of brevity will simply be referred to as synchronous signals The primary synchronous signal is BURDY BUffer ReaDY It is set by the NC to signal to the PLC that there is a new auxiliary function T
235. o Final programmed axis position 1 8 Axis status INTOL 8 NC PLC no Axis 1 8 within in position zone defined in the parameters JOGIN 8 NC gt PLC no Axis 1 8 moving following a JOG command manual or referencing RAPI 1 NC PLC no Blocks being executed in rapid Control of transducers and electronic handwheels MKSAX 8 NC gt PLC no Marker pulse signal electrical zero for encoders or optical scales for axes 1 8 Set by the NC when received from the transducer and reset by the subsequent system sampling for this reason the pulse is only seen by using the graphic analyser AIRGP 64 NC PLC no Signal level from analog transducers INDUCTOSYN or RESOLVER in the case of an ENCODER it is the number of lost pulses determined by the recover step function for the axes 1 8 SPMANO 64 NC PLC no Distance per rev of the handwheel 1 3 according to the selected resolution The distance accumulated is reset by changes of NC status and axis status SSA DSERV Information regarding the axes entity of origin offset G851 The values in millimetres for each machine axis respectively of the offset of the origin obtained with the handwheels when function G851 is active are loaded on the 8 element vector OFHWLY The entity of the offset can be displayed on the NC video panels by using the display variables available in the PLC Name Size Direction Description OFHWL 64 NC gt PLC Offsets 1 8 of the
236. o the electrical zero of transducer 1 8 1 5 8 MOVEMENTS IN MANUAL DURING HOLD STATE With the execution halted after a HOLD comand HOLDA 1 signal it is possible without interrupting the program to enable the movement of the axes in JOG or handwheel by means of the softkey In this state the register NCMD has a value of 9 if this function is required it is not necessary to inhibit the JOG controls To resume the execution of the program it is necessary to use the softkey to select the RETURN TO PROFILE state NCMD 8 and reposition the axes on the profile in execution using the JOG FUNCTION only the controls in the direction towards the piece are automatically enabled 1 5 9 MOVEMENT IN MANUAL AND REFERENCING DURING PROGRAM EXECUTION The cycles for manual movement and referencing can be performed during the execution of a program on condition that the axis bit in the synchronous register FOMAN is set forced for manual mode This status causes the release of the axis The NC performs the configuration requested in synchronous mode Summary of Registers and Signals Involved FOMAN 8 NC PLC yes Axes on which to force manual control 1 8 1 5 10 INFORMATION REGARDING THE AXES Through a set of previously defined registers it is possible at any given moment to read any important information related to any single NC axis for the purpose of debugging calibration or in isolated cases in order to implement algorithms of
237. oating long or double point formats The display of these areas is enabled by default values in the video tables Registers for NC video character display in the preset areas 1 16 The ASCII character code must be used Machine Logic Development PLC Part II 01 4 7 Series S3000 4 Summary of predefined signals and registers WNDINT WNDSTR GIRMI SFKMEN SFKLNG CNDVIS VISMC 16 o r 64 8 16 16 16 NC NC NC NC NC NC NC 4 PLC no 4 PLC no 4 PLC no lt gt PLC no C PLC no 4 PLC no C PLC System date and time DATE 1 DATE 2 DATE 3 DATE 4 DATE 5 DATE 6 Copying and digitizing of surfaces COPIA COPIA 1 COPIA 2 COPIA 3 COPIA 4 COPIA 5 COPIA 6 COPIA 7 COPIA 8 COPIA2 COPIA2 1 COPIA2 2 COPIA2 3 COPIA2 4 COPIA2 5 4 8 8 1 X Al l2 NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC 5 PLC no C PLC no 5 PLC no 5 PLC no 5 PLC no 5 PLC no lt gt PLC no 4 PLC no 4 PLC no lt gt PLC no 4 PLC no PLC no 4 PLC no 5 PLC no lt gt PLC no 4 PLC no 4 PLC no 4 PLC no 4 PLC no 4 PLC no selca Registers for NC video character areas 1 16 in word format String registers containing a Max of 64 alphanumeric characters for the NC video display in the preset area 1 16 Register for the display of the S function value in the preset area of the NC video display in the p
238. of BCD Machine Logic Development PLC Part 01 5 5 Series S3000 selca 5 Operations and functions Example BYTE1 BIN BCD1 if BCD1 was equal to 0001 0010 BYTE1 would be 00001100 IFP Converts a byte or word into floating point format This function is necessary for executing mathematical operations on bytes and words which are reserved for floating point variables Example NUTF IFP DTOOL converts DTOOL variable into floating point FPI Converts floating point format into byte or word 5 6 1 COMPLEX EXPRESSIONS The functions described above for the transformation between various formats may be used in conjunction with the arithmetical and mathematical functions to form complex expressions However not all of the functions are useful in complex expressions In particular the following complex expressions are not allowed e Functions with more than one argument FF MUX RIC e Functions with string arguments VAL LEN INSTR STRCMP The following are examples of valid complex expressions Example 1 RAM 8 ANGLE RAM 32 RESULT RESULT SIN IFP ANGLE 2 45 the result of the expression ANGLE 2 45 is converted to floating point and then the sin of that value is taken Example 2 POWER OFFSET SIN 1 FREQ TIMBAS COS ANGLE Power is equal to the sum of offset and the cosine of ANGLE plus the sine of the expression 1 FREQ TIMBAS 5 6 Machine Logic Development PLC
239. of axis position iii 4 6 Offset of controlled axEes i 4 6 Contact probe management none n nano nano cerro nene nene nine nen 4 6 Axis software limits se aia eR ed peteret 4 6 Parallel axes Gantby ii A e ta tani 4 7 Programmable non controlled axes pp 4 7 Reading and writing analog inputs and outputs sene 4 7 Data exchange between PLC and part program pp 4 7 NC video display WINdOW seen enne nennen 4 7 System date and time 2 ii insae a a aE a aa a aai 4 8 Copying and digitizing of surfaces nemen 4 8 Variables to verify system execution tiMes i 4 9 Error sigrialscaccessed by logi6 e a ia 4 10 Reading and modifying axis configuration parameters sees 4 10 4 3 DEDICATED MODULES ci m eL eden gue denis ecd lait 4 11 Spindle rotation deese Rr e E Re vee eere dept rete re p eed 4 11 Range change selectioni i oe nude e 4 11 Spindleorient pn ne a aeaa a ea a aaa e a Rra aa aa aa aa R Ar aa a ACERRA Ea 4 11 Synchronization between spindleS nene 4 12 Common to all peratioris eo ut td Go eque qu Ms 4 12 Fixed Cy Cle GS E 4 12 Independent axis movement module nennen 4 12 Tool change management module essere nens 4 14 A ee a De EG e Des Deere a e tede 4 15 5 LIMITS 10 Machine Logic Development PLC 00 selca Seri
240. of last readings N10 ELE 30 table of last readings N11 MEDI A filtered result N12 N13 RAM 8 N14 MAXELE maximum number of readings N15 ELE index of current element N16 N17 NT N18 MAXELE 30 number of reads per sample N19 N20 PROG N21 ELE ELE 1 current element N22 F I ELE MAXELE ELE 1 check on maximum number N23 SOMMA SOMMA ELE ELE remove old element fromsum N24 ELE ELE ANI 1 read new element N25 SOMMAzSOMMA ELE I ELE put new element in place N26 MEDI A SOMMA I FP MAXELE divide sum by number of reads N27 END N2 9 ol aw er t fetis programada ala Machine Logic Development PLC Part III 00 1 43 Series S3000 1 Programming examples TABUTE 1 Reorder tool positions in table 1 44 EEE ROO KK K KK OOO ROO K KK KK K KK K KK KK K K K K K K KK KK K K K K K K K K K RECONFI GURE TOOL TABLE TABUTE1 940908 KEK KKK OOOO KKK KK KKK KK K KK K KK KK K K K RR KK A K K K K K K K K K K RAM 16 ND Index of current element RAM 1 MM1234 Reset cycle in progress PROG END F BURDY ASI NC DHOLD 1 FHOLD 1 F STROM amp AUXM 1234 CALL GEFUM BURDY 0 ASI NC ce HOLD MM1234 FHOLD DHOLD T x RESET TOOL TABLE end tdi ee This cycle repositions the tool places from 1 to the number of storage places F MM1234 SKIP cycle M1234 not active F UTEFRE lt 0 SKIP no more entries possible EXEC UTEFRE write the required number of entries F IND g
241. of the mandrels axis movements and tool changer control Chapter 3 This chapter briefly describes the modifications needed to convert a series S1200 program to an S3000 program Chapter 4 This chapter contains a table which summarizes the registers and associated variables described in chapters 1 amp 2 This table is particularly useful as a reference sheet for programming Part Ill The third part contains a single chapter which lists various program examples which may be used on their own or as starting points for writing programs to perform analogous work TERMINOLOGY AND SYMBOLS All of the instructions and variables defined previously are capitalized and written in boldface ex VARIAB while those written in boldface and lowercase are references for generic instructions or expressions which are to be assigned by the program ex operator In the instruction syntax all that is contained within these symbols and is optional and may even be omitted The symbol is used to separate choices in parameters for example A B C means either A or B or C may be inserted The keys of the keyboard are represented as they appear on the NC keyboard except for the alphanumeric keys es ini eu Ed fenu of ecc Note The Return key is positioned vertically on the keypad d However it is represented horizontally in this manual for better use of space The term set indicates the forcing of a variable to the logic
242. ogram flow 6 7 SUBROUTINE To call a subroutine the instruction CALL is used followed by the name of the subroutine desired The last instruction of a subroutine must be RTS to return A subroutine is called conditionally if the CALL instruction is preceded by an IF statement in the same expression Example IF STROM CALL GEFUM If a subroutine is written within a fast slow superslow logic section it may be called only from within that section Writing the subroutines instead in the reserved ROUTINE section at the end of the program it is possible to call them from different parts of the program It is possible to nest subroutine calls up to 8 levels Machine Logic Development PLC Part 00 6 5 Series S3000 selca 6 Instructions to control the program flow 6 6 Machine Logic Development PLC Part 00 selca Series S3000 7 Special functions 7 SPECIAL FUNCTIONS This chapter describes certain functions which have not been described in earlier chapters and which may be used to activate machine signals for searching vector variables for managing the user interface and finally for the management of commands generated by the machine logic program PLC and sent to the NC T 1 FLIP FLOP This function can be generated using the following instruction format Output FF set equation reset equation The output variable assumes the following values as a function of the input values Set Reset
243. om tool storage SELECU 0 Sequence 6 6 23 13 1 4 34 return tool to storage pick up tool from storage and place in spindle exchange Sequence 7 6 1 4 34 pick up tool from storage and place in spindle Sequence 8 6 23 13 34 return tool to storage unloading Other sequences SELECU 0 Sequence 11 6 34 same as above changer corrector execute INTOF 1 in synchronous mode Load and unload sequences tools from floor to storage via spindle SELECU 2 Sequence 9 6 16 23 13 34 load tool in spindle return from spindle to storage SELECU 3 Sequence 10 6 1 4 10 34 tool in spindle from storage unload from spindle to floor TOOL CRIB 1 NEW TOOL POSITION REQUEST 23 OLD TOOL POSITION REQUEST 8 Wait M06 34 End TC Machine Logic Development PLC Part Il 01 2 15 Series S3000 selca 2 Dedicated internal modules Semiasynchronous tool changes This configuration has the following characteristics Physically no intermediate station exists the gripper and intermediate station cells have non significance in the tool table and are therefore not managed Updating of the tool table has been considerably simplified even in the change cycle interruption stage the only tool to have the minus sign is the one in the spindle A requirement of the semiasynchronous tool change is that the operation of depositing the old tool is always simultaneous wit
244. ool storage with 24 positions N9 The algorithm will use the shortest path to the tool N10 Using a non absolute transducer N11 In manual mode positioning will always end over a station N12 N13 The INPOS signal indicates the last position reached N15 NP N16 ZERM storage zero switch N17 RI PM storage door switch N18 N19 OUT N20 UMOVEX enable axis X N21 UMOVEY enable axis Y N22 UMOVEZ enable axis Z N23 UABMAG enable storage N24 NPOS axis in position N25 N26 RAM 16 N27 PORIT request positioning storage N28 N29 RAM N30 RICUT request tool storage positioning N31 N32 STI MER N33 ti mer for storage positioning tolerance N34 TIRIC TURI C TDRI C TARIC TCRI C N35 softkey menu controlled by PLC N36 SOFTK 1 N37 P1 L1 1 JOG storage N38 P2 12 1 JOG storage N39 N40 PROG N41 END N42 KRKKKRKR RX SLOW SECTION Xe ooo ERE NES oues decode auxiliary functions N44 F BURDY ASI NC HOLD 1 FHOLD 1 N46 F STROT CALL GEFUT N47 F STROM CALL GEFUM en N48 BURDY 0 N49 ASINC N50 N51 ASYNCHRONOUS PART N52 UMOVEX MOVCN 1 enable X N53 UMOVEY MOVCN 2 enable Y N54 UMOVEZ MOVCN 3 enable Z N55 RDMOV MOVCN axes enabled by NC request N56 NOT mt nn positioning storage e eee ae N58 F NCMD lt gt 5 NO OG N59 F P1 PORIT FPI NEI POAP2P 1 RICUT 1 L1 1 N60 F P2 PORIT FPI NEI POAP2P 1 RICUT 1 L2
245. ot intended to be an initialization value for the variable when the NC is first turned ON Machine Logic Development PLC Part I 01 4 13 Series S3000 selca 4 Declarations SOFTKEY for menu call When a softkey must call the next menu or return to the previous one the syntax for creating the chain is as follows switch lamp label menu number An alternative to this method is to select the softkey menu directly by writing the number into the PLC variable SFKMEN This variable always contains the softkey menu number currently displayed even when the menu change is effected automatically The respective formats for text descriptions are 18 characters on three lines for labels and 20 characters on the command line for messages The message text may contain all characters except the quotes Example SOFTK 1 first softkey menu P1 L1 1 JOG X the label is JOG X and the switch is on while pushed P7 L7 0 REFERENCE AXIS the 7th softkey label is zero search amp the switch is momentary P8 L8 DISPLACEMENT 2 the softkey with label DISPL calls the 2nd softkey menu SOFTK 2 second softkey menu P21 L21 1 DISPLACE AXIS X first softkey of the second menu 4 9 SOFTKEY AND MESSAGES WITH MULTILINGUAL TEXT Sofkeys managed by PLC E Fj may be defined as c in order to automatically adjust themselves to the selected language for the menus of NC tl Fo Before SOFTK definition in the declaration section of PLC it mus
246. ously stored variable names RECALL FORCE FILE Recalls a previously stored file which containing display and trace variables A file name must be supplied by the user or selected with the arrow keys for each of these two functions after which the must be pressed 2 5 6 RESET STATIC RAM The static ram may be reset using a softkey contained in the following menu which is accessed from the main menu with the DEBUG LOGIC softkey ENABLE DYNAMIC GRAPHIC PLC LOGIC CROSS SCREEN ANALYZER FORCING RESET PLC LOGIC DISPLAY ANALYZER MESSAGES REFERENCE TABLES FILES FILES SRAM By pressing the softkey F19 the static RAM is deleted and the NC restarted 2 5 7 CROSS REFERENCE GENERATION OF USED VARIABLES Cross reference is a file where all variables and signals used within PLC program are listed in alphabetic order with an annotation included at the moment of the declaration and in order the line numbers where they are used The syntax is as follows NAME VARIABLE num line declaration annotation num line line where NAME VARIABLE is written gt num line line where NAME VARIABLE is read The cross reference may be generated only if the PLC program has been compiled By pressing LOGIC BEBUG softkey and then CROSS REFERENCE the following menu will appear MEMORY FLOPPY FLASH EDIT CROSS SELECT SELECT RENAME COPY DELETE DRIVE MEMORY REFERENCE SOURCE CROSS REF PROGRAM PROGRAM PROGRAM With the prompt on the active PLC file press
247. pendices 00 selca Series S3000 Appendix A ASCII code table APPENDIX A ASCII CODE TABLE pepe jam Machine Logic Development PLC Appendix 00 A 7 Series S3000 sekca Appendix A ASCII code table e pj pr Co Gal Is A 2 Machine Logic Development PLC Appendix 00 pee je DEA cc I AIN EEN le MEN EEN ACA p Machine Logic Development PLC Appendix 00 A 3 ESE efef n epe e ele elon ere OEI eee ICI FIT EI Series S3000 Appendix A ASCII code table ope mele e rete e ee ele ESE eT Series S3000 selea Appendix A ASCII code table A 4 Machine Logic Development PLC Appendix 00 selca Series S3000 Appendix B Auxiliary functions table APPENDIX B AUXILIARY FUNCTION TABLE This table contains the principle auxiliary functions defined in the ISO RS 274 D standard ACTIVE ACTIVE HANDLED BY CODE FIRST IN LAST IN N FUNCTION DESCRIPTION BLOCK BLOCK T Moo M01 M02 o o 5 o o 9 ko Q d 3 S S S 9 C C C U U U En U D U I U U U pindle ON CW pindle ON CCW pindle stop ol change oolant ON oolant OFF lamp axes nclamp axes nassigned d of program nassigned isable axes nassigned i ide nassigned nassigned nassigned indle speed CD o 5 ao D o 3 D 5 2 Unassigned O End of program Unassigned Change gear range Restore disabled axes nibit rapid override
248. pindle UTSTS 1 life finished UTSTS 2 life remaining lt 0 2 3 6 DIFFERENTIATING THE TOOL FAMILY Management by family presumes the existence of technologically equivalent tool series At program level there exists only one tool father and a series of substitutes children that will be mounted in its place at the end of tool life breakage or wear etc If for example tool T65 has as a father tool T23 then when T23 is requested it will be used as long as possible then substituted with T65 With this management the PLC does not recognize the tool or the correction to apply The choice of the tools in the family is performed as a function of the parameters life expired and excluded tool Every tool is characterized by a maximum life represented in minutes and seconds of the maximum time of usage a life remaining that represents the maximum life minus activity time past a minimum life reached in which the tool is considered worn Prohibited tool tool exclusion that has priority over the tool life situation At the moment a tool is chosen from a family those ones with life expired and those excluded will be discarded 2 3 7 DIFFERENTIATING TOOLS WITH DIFFERENT SHAPES The TC module is capable of managing tools of different sizes up to 4 transparently without effecting any PLC operation Tool dimensions must be indicated in the configuration data 2 20 Machine Logic Development PLC Part Il 01 sel
249. r WORD with a value between 0 and 16 Since message texts such as MESDI in the previous example are usually constants it is best to declare them in the initialization section Alternatively the message can be defined within the DISPL instruction at the point of use Example DISPL 1 LUBRICATION PRESSURE ANOMALY NOTE In the third part of this manual PLC Program examples a program is described called SCROLLIN management of up to 128 messages using display scrolling which automatically compacts many messages on the 16 available lines scrolling through all available messages until the one desired is found 7 5 MACHINE LOGIC PROGRAM COMMANDS Sometimes it is more efficient to use a program written in the PLC language to manage the function of a tool change or a part change that requires complex sequences or axis movements The machine logic can activate these desired commands by accessing the NC program through the EDITCOM see the System Configuration Manual COM 1 program name where program name may be e a sequence of characters delimitated by e a string variable e an expression whose result is a string 51200 Unlike the S3000 in the S1200 system it is not possible to run a sub program contained within a program and identified by a label Programs run with the COM functions however may contain any NC executable block including jumps measure cycles and PROGET2 advanced geometry False positioning of paramete
250. r single block states setting of CWFCS must be made synchronously with the signal BURDY Name Size Direction Description CWFCS 8 PLC NC Check of software limit errors CWFCS 1 1 check E93 disabled 0 check E93 enabled default 1 7 1 ADDITIONAL SOFWARE LIMITS In configuration parameters it is possible for each axis to introduce a second pair of software limits when changes dimensions in the operative field occur These parameters must be activated through PLC program for example in a tool crib within a change of work Example Consider a configuration with X Y Z where secondary limits must be activated on Z axis FCA 3 2 Activate secondary limit pair Z axis To go back TO primary limits it is identical writing FCA 3 1 Activate primary limit pair Z axis or FCA 3 0 Deactivate management additional limits Z axis If array FCA is not used primary limits on all controlled axes are active by default Summary of signals and registers involved FCA 8 NC PLC no Secondary limits array activation for NC axes 1 8 Machine Logic Development PLC Part Il 01 1 21 Series S3000 selica 1 Management and flow of commands 1 8 SPECIAL TYPE AXIS MANAGEMENT 1 8 1 PARALLEL GANTRY AXES Gantry axes are normally managed by the NC system software according to the configuration parameters Configuration parameters concerning acceleration and speed must be identical MASTER axis is associated to a name chosen
251. rd number slave number input number where master board number indicates which BOARD SLOT the board with RIO master interface will have like the case of local I O where it relates to the I OMIX board slave number declares the address set with the microswitches on the remote module input number declares the input used on the module Example TEMP17 6002 signifies input probe no 2 of the SLAVE remote module with address 60 connected to the RIO MASTER interface in position 17 1 24 Machine Logic Development PLC Part II 01 selca Series S3000 1 Management and flow of commands 1 9 READING AND WRITING ANALOG INPUTS AND OUTPUTS The PLC has the ability to directly access the physical analog input and output channels Every element in the following registers has as an index the physical channel number and a board number at the end of its name Example ANI2 3 signifies the analog input channel 3 of the second card I OMIX ANI 2 signifies the analog input channel 2 of the first card YOMIX Summary of Registers and Signals Involved ANIx 64 NC PLC no Analog input readings from the l OMIX card specified and its expansions The value read varies from 0 and 1 as a percentage of the full range value VELOx 64 NC PLC no Analog output from the I OMIX card specified and its expansions These outputs can always be read but written only if they are not utilized by the NC for the controlled axes or by the internal module
252. res an array of 3 16 bit variables TEMPOR tempory storage used for bit manipulation PROG example to invert the 4th bit of the first element in the array CONFI TEMPOR CONFI 1 IF TEMPOR 4 TEMPOR 4 0 CONFI 1 CONFI 1 amp TEMPOR END reset bit 4 IF TEMPOR 4 TEMPOR 4 1 CONFI 1 CONFI 1 TEMPOR set bit 4 END 5 2 ARITHMETIC OPERATIONS May be applied to byte word double and long formats The typical syntax format is result operand operator operand operator operand possible operators are addition subtraction multiplication division Il division remainder Example 10 5 7 3 5 If this operation is made on bytes or words the result will be an integer remainder The operation can be used to extract the decimal portion of a floating point number by dividing it by 1 0 Example 4 123 1 0 0 123 Operators and parenthesis have the same priorities as in traditional arithmetic IMPORTANT If the result of an operation results in a number greater than the size of the variable it is converted to its 2 s compliment The result of a division by 0 results in the maximum positive number for the variable If overflow underflow and division by O occur during program execution the system displays an appropriate error message see Part Il List of Preset Signal and Registers 5 2 Machine Logic Development PLC Part I 01 selca Series S3000 5 Operations and functions 5 3 FLOATING P
253. reset Current PLC softkey menu Active language code on NC Array to use for conditionings within video tables 1 64 Number of the active video panel Year last two digits Month Day Hour 0 24 Minutes Seconds First byte for remote copying commands 0 selects continuous digitization mode data points are memorized as a function of the parameters of the manual copy program selects the digitization mode data points are memorized only following an pulse transition from O to 1 on the bit COPIA 2 in manual copy Digitizing signal see COPIA 1 Active copying cycle signal When reset by PLC it signifies the end of the cycle It is important to terminate a digitizing cycle by zeroing out this bit or with the appropriate softkey if already implemented in the NC otherwise the last points digitized will not be memorized Signal to STEP increment Signal to STEP increment Signal to STEP increment and reverse copy direction Active copy Not assigned Second byte for remote control of copy function passage in manual status 0 digitizing disabled 1 digitizing enabled Probe offset acquired 1 copying axis 1 locked 0 unlocked 1 copying axis 2 locked 0 unlocked Machine Logic Development PLC Part Il 01 selca COPIA2 6 1 COPIA2 7 1 COPIA2 8 1 COPIA3 8 COPIA3 1 1 COPIA3 2 1 COPIA3 3 1 COPIA3 4 1 COPIA3 5 1 COPIA3 6 1 COPIA3 7 1 COPIA3 8 1 COPIA4 8 COPIA4 1
254. ristics for each register variable or signal e The mnemonic name e The format in the Dim column 1 bit 8 byte 16 word 32 floating point 64 STR double floating point character string e The synchronous constraints with the signal BURDY in the Syn column e The information directions from PLC to NC vice versa or in both directions in the Direction column Note Writing to PLC read only variables with the direction from the NC to the PLC and not vice versa can have unpredictable consequences e A brief Description in the corresponding column The units of measure used are the following for measurement of heights distances adjustment settings mm for rotative dimensions degrees for timing msec sec or min for speed mm min for acceleration mm sec for spindle speed revolutions min for voltage V Machine Logic Development PLC Part II 00 1 Serie S3000 selca Introduction The symbology used are the following The character after the name of a register indicates there is a multi element vector in the specified format for example UTNUM while MOVCN is a single register Whenever the symbol 1 n appears following a listed item the register or the vector must be interpreted by individually analyzing the elements from 1 to n In order to determine a single register whose bits are described it must be kept in mind that e The dimension of vector elements is gre
255. rmed using a home microswitch it will be necessary to set the bit for the axes on the register MICZE In all cases whether the axis has been homed or not is signaled by the status of the relevant axis bit in register MIZEA Machine Logic Development PLC Part Il 01 1 11 Series S3000 selica 1 Management and flow of commands In the configuration data it is necessary to specify whether or not a home microswitch is present This information is used by the NC to differentiate special cases such as the use of a resolver connected 1 1 with the motor or when the transducer used is absolute and does not require any additional PLC management For absolute transducers or those used as such see preceding case MIZEA is always present unless there are errors on the measurement system It is important to remember that the SOFTWARE LIMITS are active only after the axes have been homed The selection priority of the type of axis movement in JOG manual and homing is the following MICZE higher priority MARK MOVMA low priority Reference cycle using home switches A phase e After having set the bit corresponding to the axis on the register MICZE the axis is enabled and taken under control if not already e With the register JOGP or JOGM the movement control is furnished which must be then maintained until the end of the cycle that is when register MIZEA is set e The velocity is adjusted as in manual JOG by means of the r
256. rol The content varies from 1 to 1 in relation to the input voltage of 10 and 10 V POA 64 NC SF PLC no Absolute position of axes 1 8 POO 64 NC gt PLC no Axis position referred to the current origin and active tool compensation 1 8 POATE 64 NC PLC no Instantaneous calculated axis position along the trajectory of interpolation 1 8 relative to the absolute origin POOTE 64 NC PLC no Instantaneous calculated axis position along the trajectory of interpolation 1 8 relative to the active origin POORT 64 NC PLC no Instantaneous calculated position of any rotary translation of System coordinates along the trajectory of interpolation 1 8 relative to the active origin PLC no Final programmed axis position 1 8 PLC Speed command sent to the axes 1 8 mm min PFNC 64 NC AXRIF 64 NC DI Machine Logic Development PLC Part II 01 4 5 Series S3000 selca 4 Summary of predefined signals and registers OFSVA 64 NC PLC Additional speed offset for the axes 1 8 mm min also impacts AXRIF use only for special applications AFF 64 NC PLC Acceleration command imparted to the axes 1 8 mm sec OFHWL 64 NC gt PLC Offsets 1 8 of the origin with G851 in mm GDAVIS 8 NC gt PLC Number of the axis group that the display refers to Axis status INTOL 8 NC PLC no Axis 1 8 within in position zone defined in the parameters JOGIN 8 NC PLC no Axis 1 8
257. rom logic active tool compensation etc indicated in the summary list of previously defined variables INTOF COM instructions see paragraphs This same information can also be acquired when the DHOLD signal is active i e when it is set before resetting BURDY and after an M function block end or block start if programmed alone 1 2 2 SIGNALING COM SUBPROGRAM TERMINATION In synchronous mode the termination of a subprogram run by the PLC COM is signaled by NC through the STCOM strobe This signal works in the same way as the STROM and STROH strobes but in addition when set It activates the synchronous acquisition of further subprogram calls as described in the preceding paragraph It is important to remember that e Inthe case of additional nested subprograms a subprogram containing a function that in turn launches another subprogram STCOM is issued only when the primary subprogram is terminated e Inthe case of subprograms run with the NC in manual status STCOM is not issued 1 2 3 SUPPLEMENTARY PARAMETERS 1 J K Q The parameters I J K Q which are programmed along with the auxiliary functions M H are communicated to the PLC at the beginning of the block on the AUXVAL array accompanied by the STRAUX strobes with the following indices These can be used for example to define M19 Q12 2 type syntax AUXVAL 1 parameter with the strobe STRAUX 1 AUXVAL 2 parameter J with the strobe STRAUX 2 AUXVAL 3 par
258. rs P1 P99 is no longer possible as it was with the S1200 where PO P 1 The programs called by COM may use the specific P parameters P1 P99 These parameters are independent from the part program parameters and are directly accessible by the PLC writing the P variables on the elements from P 1 to P 99 7 4 Machine Logic Development PLC Part 01 selca Series S3000 7 Special functions When a COM command is run the coordinate system functions are automatically reset origin displacement fixed cycles rotary translation The FEED and SPEED values can be saved in the P parameters example P 1 F and later restored using the inverse instruction F P 1 Particular care must be taken to use the COM instruction to run a given program only once or else the possibility of error due to nested sub programs may result 7 5 1 PROGRAM COMMANDS USED DURING AUTOMATIC PROGRAM EXECUTION The COM instructions to be implemented during automatic program execution must be synchronized with the program and follow the T or M functions at the end of a block see part II List of predefined registers and signals The implementation must be e before the BURDY signal is reset e orwith DHOLD high The COM instruction must be completed before the BURDY signal is reset See the paragraph in Part Il of this manual describing the system interface Acquisition of synchronous data from the PLC to the NC A program started by an auxiliary
259. s When required the manual calls out the differences between the Series S3000 system and the preceding system 81200 This information may be helpful for those who have been working with the earlier system REFERENCES In addition to this manual please refer to the following documents for further information on the S3000 system hardware and NC programming e User s Manual for Programming e System Configuration Manual e Installation Manual Machine Logic Development PLC 01 3 Series 3000 selca General SUMMARY The manual is divided into three independent parts Part Programming language and operating procedures This part contains descriptions of all the programming instructions including simple examples as well as utilization procedures and the softkeys that control the operations in this area Part Il System Interface This part describes all of the instructions exchanged by the PLC and the NC including their function and use Part Ill Programming examples This part contains a few examples of actual applications which were made using the PLC language The contents of the individual chapters found in each of the parts is as follows Part Chapter 1 Characteristics and Usefulness This chapter lists all of the primary characteristics of the SELCA Series S3000 and their usefulness Chapter 2 Operating procedures This chapter describes the softkeys used in the APPLICATIONS environment to execute such program
260. s Axes 1 8 where actual value results are greater than the positive travel limit set in the configuration Axes 1 8 where actual value results are greater than the negative travel limit set in the configuration Theoretical speed computed axes 1 8 If in the configuration data it is declared that the D A converter is not present the reference in voltage will not be sent through the output channel but the speed in this register is always available Axes 1 8 in motion after a JOGP2P command Axes 1 8 motion direction revealed by the analog reference sign The value 1 means negative speed Feed speed axes 1 8 Rapid speed axes 1 8 Slow zone speed axes 1 8 Slow zone distance axes 1 8 Exponential deceleration distance axes 1 8 Acceleration in manual axes 1 8 Acceleration in automatic axes 1 8 Deceleration from feed speed to slow speed axes 1 8 Exponential deceleration from slow speed axes 1 8 Positioning tolerance axes 1 8 Transducer offset applied to the reading to obtain the absolute value POAP2P 1 8 Origin shift for independent axes 1 8 Allows definition of lt zero position different from the absolute zero The final positions of PFNP2P are always POOP2P Independent axis position 1 8 affected by the origin shift SHIP2P referred to 4 13 Series S3000 4 Summary of predefined signals and registers Tool change management module
261. s e Analog I O 24 outputs and 41 inputs plus 8 inputs for temperature probes e Tool Center Point Management function TCPM for 5 axis machines with automatic control of tool to work piece contact in three dimensions with bi rotational heads and rotating or tilting tables Version P e Cubic interpolation for high speed work of complex shapes Version P e Three dimensional surface scanning for digitizing and direct copying e Mass storage DOS compatible hard disk and floppy disk e Interface and communication software for serial and network communication point to point and multi point e Expandable configuration L and PL allowing additional I O and transducer and hard disk interfaces as well as network connections e Compatibility with earlier SELCA CNC models 1 2 Machine Logic Development PLC 00 selca Series S3000 2 Operating procedure 2 PROCEDURE Before examining the program structure and writing instructions it is helpful to understand the operating procedures for the PLC machine logic programs The procedures for the peripherals not described herein may be found in the User s Manual for Programming Programs can only be run and debugged if 24V is present on the I OMIX PC board and all of its expansion cards see Installation Manual This is not a requirement for editing or compiling programs The PLC programming environment as well as the machine parameter configuration environment APPLICATION are
262. s communication with the NC BURDY 1 NC lt PLC yes Signals the presence of new synchronous data for the machine logic It is set by the NC and most important must be reset by the PLC as soon as the information is acquired Synchronous auxiliary and preparatory functions AUXM 16 NC PLC yes Last programmed M function MO M9999 STROM 1 NC PLC yes Strobe indicating presence of M function TOOL 16 NC PLC yes Last programmed T function TO T32767 STROT 1 NC PLC yes Strobe indicating presence of T function AUXH 16 NC PLC yes Last programmed H function HO H9999 STROH 1 NC PLC yes Strobe indicating presence of H function SPEED 32 NC PLC yes Last programmed S function S0 S99999 STROS 1 NC PLC yes Strobe indicating presence of S function STCOM 1 NC PLC yes Strobe signaling the end of a COM subprogram FEED 64 NC PLC no Last feed programmed AUXG 16 NC PLC no Last programmed G function G0 G9999 CICFI 16 NC PLC no Fixed cycle in progress AXPGM 8 NC PLC yes Axes programmed in the block along with the auxiliary function e g M11XYZ generates AXPGM 00000111B AUXVAL 64 NC PLC yes Array for transmitting the parameters I J K Q along with the auxiliary functions M H AUXVAL 1 parameter AUXVAL 2 parameter J AUXVAL 3 parameter K AUXVAL 4 parameter Q STRAUX 8 NC PLC yes Strobe for parameters I J K Q STRAUX 1 strobe STRAUX 2 strobe J STRAUX 3 strobe K STRAUX
263. s for management of the spindles or independent axes The content can vary from 1 to 1 as a percentage of the full range value 10 V TEMPx 64 NC PLC no Degrees of temperature read by the thermal probes if the interface is present associated with the specified card 1 10 EXCHANGE OF DATA BETWEEN PLC AND PART PROGRAM The PART PROGRAM has the ability to exchange data with the PLC in the BIT BYTE WORD and LONG formats through the instructions OUT format parameter to send the parameter to the PLC Pxx INP format to receive a value from the PLC where format can be 1 8 16 32 respectively identifying BIT BYTE WORD LONG parameter can be the result of an expression a Pxx parameter or a number in explicit mode The summary below shows the format and direction of the information in the variables where data passes from part program to PLC a strobe signals that a new value is present In turn the PLC can directly read or write to the Pxx parameters from P1 to P99 of the NC with the array variables PNC from PNC 1 to PNC 99 For programs run with COM instructions a set of parameters exists in the PLC from P 1 to P 99 these correspond to the Pxx used in the program running Machine Logic Development PLC Part Il 01 1 25 Series S3000 1 Management and flow of commands selca These have the same name but they have nothing to do with the Pxx parameters of the part program executed directly by th
264. s possible to write more than one equation on a single line by separating them with a semi colon LABELS and symbols are always followed by a colon The comments within a program may be placed at any position as long as they are preceded by the symbol It is recommended that many comments are used to ease of troubleshooting the program since they do not occupy extra memory space when the program is compiled In order to change from the maximum of 6 characters allowed in the definition of variables default to 9 or 12 enter these instructions at the start of the PLC program CONST _MXCHR 6 or 9 12 Machine Logic Development PLC Part 01 3 1 Series S3000 3 Program organization The default is MXCHR 6 It must be remembered when using long names for variables that not only will the source printout naturally occupy greater space in memory but larger size exec files will also be generated 3 2 PROGRAM STRUCTURE Programs are divided into sections and entered in the sequence shown below Each section must be preceded by it s heading Declaration section Initialization section used only where necessary Superfast section use only when absolutely necessary if not used remove the key word FAST Fast section used only where necessary Slow section ordinary logic Super slow section used only where necessary Routines section used only where necessary 3 2 1 DECLARATION
265. s present N371 IF SGLP2P 1 amp TDRIC RICUT 0 movment completed N372 RTS N373 ZEMAG GPP2P 1 RICUT zero search N374 MCZP2P 1 RI CUT set zero search N375 NPOS 0 reset position OK N376 RTS NS E ise gone Patel program end uo nih LO La ia Machine Logic Development PLC Part III 00 Series S3000 1 Programming examples 1 27 Series S3000 selca 1 Programming examples SCROLLIN Manage upto 128 messages with on screen scrolling 1 2 N3 B Program for on screen message scrolling ii N4 SCROLLIN 940516 i N5 S N6 e deed oc koc kc oe AG A x e I e v KU ce ete ck e e de A e es ec eee e ok o x x x x Xx 7 8 THIS PROGRAM DISPLAYS A MAXIMUM OF 16 CONTEMPORARY MESSAGES 9 SEQUENCING ONLY THOSE DECLARED ACTIVE 10 In the example NMAX 48 N11 To display the nth message with automatic scrolling N12 the corresponding nth bit of SG must be set N13 N14 INP ES I1 message 1 enable input 16 message 10 enable input 17 I3 message 47 enable input 18 N19 RAM 8 N20 NMSG message index N21 NMAX MAX number of messages N22 NRIGA message row number 23 Declare up to SGxx where xx gt NMAX 8 24 SG flag for messages numbered from 1 to 8 25 562 flag for messages numbered from 9 to 16 26 SG3 flag for messages numbered from 17 to 24 N27 SG4 flag for messages numbered from 25 to 32 N28 SG5 flag for messages numbered from 33 to 40 N29 SG6 flag for messages numbered from 41 to 48 30 31 STR
266. s the form of the TC operation MANUAL TYPE S1200 PLC control is not necessary to activate tool compensation and a program in execution break is automatically generated for every T with a value from 10 to 98 Any T from TO to T9 are origin parts T99 forces the absolute origin every other T exits this state MANUAL PLC control is not necessary to activate tool compensation anda program in execution break is automatically generated for every T operation The origin parts are managed separately with the O operations The O0 code eliminated by every other O allows the passage to absolute origin The O 1 code allows the present origin to be reactivated before passing into the absolute origin The TO operation cancels the active length correction AUTOMATIC The T operation code is sent to the PLC but does not generate any program break or activate any correction The PLC program must activates the TC module except for particular situations The part origins are managed separately with the O oodes The O0 code cancelled by every other O code sets the part origin to absolute The O 1 code allows the present origin to be reactivated before passing into the absolute origin The activation of OFST 2 0 cancels the active length correction Machine Logic Development PLC Part Il 01 2 11 Series S3000 selca 2 Dedicated internal modules 2 3 3 CONFIGURATION OF AUTOMATIC TOOL CHANGER The choices relative to the storag
267. s the name of the WORD containing the cumulative count The functional block diagram is Count Forward Reverse COUNTER Carry Zero Machine Logic Development PLC Part I 01 4 11 Series S3000 selca 4 Declarations The counter functions as follows zero the count value goes to 0 when this signal changes from O to 1 forward the counter increments at each rising slope of this signal reverse the counter decrements at each rising slope of this signal carry signals that the counter has passed through zero ie that an OVERFLOW or UNDERFLOW occured The following figures illustrate both forward and reverse operation of a counter with modules 10 Forward count During the forward count when the counter arrives at the module value the count is automatically set to zero In the reverse count after arriving at zero the module value is loaded into the counter In these cases the zero transition is signalled by activation of the carry signal All of the signals named in a counter declaration may be read or written from within the program except for the carry signal which may only be read The count parameter does not have to be defined in the declarative section however it must be assigned in the program in the statement that sets the counter to zero This makes it possible to modify the counter action in the course of the program and allows fixed or parametric functions to be implemented The count module is loaded wh
268. sabled instantaneously This signal is used in case of an emergency SPDRQ Disabling the spindle transducer This command disables the spindle transducer When disibled the position no longer read and any transducer errors no longer read transducer zeroing is lost SPMZA 2 4 Machine Logic Development PLC Part Il 01 selca Series S3000 2 Dedicated internal modules SPTCH Effective spindle speed The spindle speed determined by the transducer is read directly in rpm on each register PASP Absolute angular position of the spindle The transducer must always have a mechanical ratio of 1 1 with the spindle The range of this register is 131071 9999 131071 9999 SPMZA Referencing of spindle transducer When the spindle transducer has been zeroed electrical zero the bit for the relevant spindle is set high Referencing is automatically executed on the first orientation or request of synchronism If it is required to repeat the transducer referencing cycle all that is required is to reset the relevent spindle bit on SPMZA SPMKS Zero marker This signal is set by the leading edge of the transducer zero signal This signal has a duration equal to one system cycle A typical application is to verifiy the transducer function NEW VARIABLES Variables for debugging and calibration Name Size Direction Description SPRIF 64 NC gt PLC Speed command sent to the spindles 1 4 revs min can be used to check t
269. sed in C phase during positioning to MIZEA is signaled in so far as the transducer has machine zero already been electrically zeroed even though the axis has not been positioned on machine zero If the cycle begins with the home switch already pressed the sequence initiates from B phase In any case the cycle is always interrupted when the MICZE register is released If a repetition of the research cycle is desired after having terminated the preceding one it is sufficient to repeat the sequence of controls described previously The MIZEA signal is again zeroed out and the sequence begins anew Reference cycle on microswitch Transducer Zero MIZER Speed A P2 P1 Position B C P1 point at which value machine zero is entered P2 position of end of home cycle Machine Logic Development PLC Part Il 01 1 13 Series S3000 selca 1 Management and flow of commands Timing of home cycle on microswitch Micze Jog Mizer Movcn Transducer Zero Mizea P1 point at which value machine zero is entered P2 position of end of home cycle V1 home speed V2 speed off the switch 1 8 di V1 1 14 Machine Logic Development PLC Part II 01 selca Series S3000 1 Management and flow of commands Homing using the electrical zero of the transducer marker A phase e After having set the bit corresponding to the axis on the register MARK the axis is enabled and
270. see relative documents 2 1 1 SIGNALS AND REGISTERS FOR SPINDLE ROTATION SPVEL setting of rotation speed The required speed in rpm must be placed in this register If the requested speed is greater then the maximum permissible value it is automatically reduced Machine Logic Development PLC Part Il 01 2 1 Series S3000 selca 2 Dedicated internal modules SPSSO Potentiometer override It is possible to regulate the speed between 0 and 200 of the given speed by choosing a value on this register between 0 to 2 with respect to the maximum speed range SPDIR Spindle rotation direction If the signal is to O after a rotation command the referred analog output will be positive If equal to 1 negative SPROT Rotation command The rotation command parameters are provided by the first 4 bits one for each spindle of the byte format register SPREG Speed rate reached The first 4 bits of this register one for each spindle are set high by the NC when the theoretical acceleration ramp has been reached and the actual spindle speed is within the specified percentage in the configuration data table If the requested speed is less than the threshold in the configuration table the signal is always equal to 1 SPMOT Operating spindle The first 4 bits of this register one for each spindle are set high by the NC when the spindle speed exceeds the specified threshold This signal is always updated even if the spindle
271. shing of the yellow key on the NC keyboard CYON Cycle On The signal provided by the NC to the PLC to inform it that the execution of a block is in progress REME Emergency Request This signal permits the PLC to make an external emergency request to which the NC responds by setting the EMEA signal Acknowledge to indicate the presence of the emergency state In this state the controlled axes are instantaneously disabled and the velocity commands forced to O volts Every program or movement activity in progress is canceled and the NC returns to the coordinate reading state NCMD 1 while displaying this message on the video screen Machine Logic Development PLC Part Il 01 1 5 Series S3000 selca 1 Management and flow of commands RBRK BRKA M C off due to emergency Every subsequent execution instruction is refused The EMEA signal is also activated following internal NC alarms and alarms associated with transducers and servos To exit from this state the cause of the emergency must be removed and the yellow BREAK control key pushed Break Request Is the PLC signal that duplicates the yellow key on the NC keyboard This command set by the PLC and reset by the NC when acquired cancels any NC activity in progress After causing deceleration of the axes it forces the system to the Manual state NCMD 5 movement in manual is not effected RBRK cancels EMEA emergency status and HOLDA HOLD status Break Ackno
272. sing shortest path PFNP2P 1 FP PORIT NEI 1FP PORIT NEI POAP2P 1 24 24 F RI CUT RUNP2P 1 1 start positioning TI RI C 5 RUNP2P 1 TDRI C sync signal for NPOS note entered only if MZAP2P is present F SGLP2P 1 amp TDRIC RICUT 0 movement completed RTS axis to be zeroed ZEMAG GPP2P 1 RI CUT force JOG for zero search MCZP2P 1 RICUT select search mode n NPOS immediately remove NPOS RTS added decode MG T functions vicio errem pene GEFUT PORIT TOOL select position to search RTS GEF UM WNDI NT 1 AUXM display M F AUXM 6 RICUT 1 RTS storage position on last T RTS DET reset TOUELL TG sp ti ne ke eR Rune PRX RESET F EMAP2P 1 RBKP2P 1 1 RI CUT 0 recover P2P emergency WNDI NT 1 230 display M30 RTS Machine Logic Development PLC Part III 00 selca COMMUOCM Switch spindle with C axis KKK KK KKK KK KKK K KK K KK KK KK KKK KKK KKK KKK KK RK K KK K K K KK K KK K SWITCHING C axis C and SPINDLE E COMMUCM 940516 AE RARA KK KK KK K K K RAK KEK KK KKK GO X ke K KK X KK KK K KK e e GG GGG X K Switching with the spindle 1 is accomplished via M21 from spindle to C axis M20 from C axis to spindle It is important to use the M function at the end of the block so that the change over cannot take place while the axis is in motion The C axis and the spindle have the same 1 0 channels the transducer is an encoder and
273. sition where the searched value is found e table is the name of the table containing the value to be searched e firstand last index indicate the search interval To search the whole table the first index 21 and the last index table dimension e search value the value to be searched for e label the instruction for the program to jump to if the search value is not found position may be a BYTE or WORD variable table may be a BYTE or WORD vector first index last index and search value may be a whole number between 1 and 32767 a BYTE or WORD value between 1 and 32767 an expression resulting in a BYTE or WORD value between 1 and 32767 Vector tables created in the PLC can be displayed and modified by the user following the methods outlined in chapter 2 6 Display and Modification of PLC tables Example POMAG RIC TABUT 1 25 NEWTOL 2 ERRCU searches for a new tool in the table TABUT 7 2 Machine Logic Development PLC Part I 01 selca Series S3000 7 Special functions 7 4 MESSAGES FOR THE OPERATOR The display screen provides 16 lines for messages of up to 62 characters each They may be accessed by the softkey LOGIC MESSAGES To display a message the command DISPL is used followed by the line number and the message desired The message remains displayed until it is cancelled by the command CLR or when it is overwritten To recall a message during the course of a program the display command must be used The s
274. sult is a BYTE or WORD variable with a value between 1 and the length of the string The function output must be assigned to a string variable The following rules apply If argument2 is longer than argument all available characters are extracted If the length of argument is 0 the result is an empty string 5 7 4 COMBINING STRINGS Strings can be appended to each other to form a new combined string The syntax is name argument1 argumentN where argument1 and argumentN may be a sequence of alphanumeric characters delimitated by inverted commas a string variable an expression whose result is a string Example RAM 32 IPERC STR MSG 10 PROG MSG 10 ABSORBED CURRENT MSG 1 MSG 10 MKN IPERC AMPERE the value of the current IPERC is inserted in the string Machine Logic Development PLC Part 01 5 13 Series S3000 selca 5 Operations and functions 5 14 Machine Logic Development PLC Part I 01 selca Series S3000 6 Instructions to control the program flow 6 INSTRUCTIONS FOR PROGRAM FLOW CONTROL A LABEL is the name given to a program line which is to be called by a subroutine or jump statement Labels can be identified by the use of the after the expression Program flow can be controlled with the following instructions UNCONDITIONAL JUMP CONDITIONAL JUMP CONDITIONAL EXECUTION CALCULATED GOTO QUESTIONED GOTO LOOP SUBROUTINE 6 1 UNCONDITIONAL JUMP The format is
275. syntax for activating a timer within a program is as follows input count modules expression 4 10 Machine Logic Development PLC Part I 01 selca Series S3000 4 Declarations where the count modules may be a number between 1 and 32767 a BYTE or WORD variable with contents ranging from 1 to 32767 an expression that results in a BYTE or WORD with the same range as above Example 1 FTIMER T11 T1U T1D T1A T1W declaration of timer 1 T21 T2U T2D T2A T2W declaration of timer 2 PROG T11 25 timer 1 set to 250 mSec fixed T2I 2 TIMBAS 10 timer 2 set as a function of TIMBAS Example 2 OUT U1 oscillator output STIMER T21 T2U T2D T2A T2W declaration of timer 2 PROG T21 10 2U timer 2 set to oscillate with 1 sec base time U1 T2W lt 5 square wave output with 1 sec period 4 7 COUNTERS There are 48 up down counters with programmable modules between 2 and 32767 The counters like the timers must be defined in the declaration section however the modules or quantity to be counted must be defined inside the program The declaration format is as follows COUNT zero forward reverse carry count zero forward reverse carry count where zero is the name of the signal which zeroes the counter forward is the name of the signal which advances the counter reverse is the name of the signal which reverses the counter carry is the name of the signal generated by the counter when passing zero count i
276. t where the argument may be a string variable an expression whose result is a string variable The output of this function may be in byte or word format Example RAM 8 LUNST STR MSGI1 PROG MSG1 ALARM NUMBERS 5 8 Machine Logic Development PLC Part I 01 selca Series S3000 5 Operations and functions LUNST LEN MSG1 LUNST contains the number of characters in MSG1 STRCMP String comparisons compares two arguments specified by the operator and supplies a result of true or false The two arguments may take different formats The format is STRCMP argument1 operator argument2 the operator may be lt gt lt gt lt gt argument and argument2 may be a sequence of characters delimitated by inverted commas a string variable an expression whose result is a string The result is in bit format and is obtained according to the following rules argument1 gt argument2 If the ASCII code starting from the first character to last is larger in argument1 than its counterpart in argument2 The result will be true Example STRCMP COSE gt COSA result is true argument1 gt argument2 If the preceding condition is not true and the length of argument1 is greater than the length of argument2 Example STRCMP COSE gt CO the result is true argument1 argument2 If all characters in both arguments are identical including blanks Example RAM 1 TEST PROG TEST STRCMP AVARIA
277. t MAGNPO MM1234 0 NOWRI Cycle finished UTPOS ND ND Load position ND I ND 1 Increment position index NOWRI ENDE SKIP END END GEFUM MM1234 1 Start cycle ND 1 Initialize index RTS Machine Logic Development PLC Part III 00 selca TESTAR Indexed head moved by spindle motor N1 X C CK XO XO K K K K GO GO K K GO Ge Ge K K K K eoe eoe oe K K SSS SESS SSS K K K K K K K K K N2 N3 EXAMPLE SWITCHING SPINDLE W TH INDEXED HEAD A axis N4 N5 TESTAR 941010 N6 KK KOK K XO XO K K K K KK KK K K K K KK K K K K K K K K K K K K K K KK K K K K K K K K K K K K K K K K K K N7 This example shows the switching technique to contro N8 spindle and head with the same motor and transducer N9 configuration parameters are defined in two channels N10 that the PLC program will enable alternately N11 N12 The preffered method is to use two sequences controlled N13 by the PLC using the functions M20 and M21 to simplify N14 the use of other comands necessary for the mechanica N15 operations and the extension to two axes N16 N17 The head axis uses the spindle transducer in incremental N18 mode so to avoid a reset occuring when the marker pulse N19 is sensed the axis must be configured for a home switch N20 N21 On power up a two phase initialization is carried out N22 l update head position N23 2 switch to spindle N25 program PROM21 switches the spindle to the head axis N27 M5 stop spindle
278. t are applied immediately The axis configuration files are updated only when the UPDATE FILE softkey is pressed 2 16 Machine Logic Development PLC Part 01 selca Series S3000 3 Program organization 3 PROGRAM ORGANIZATION 3 1 GENERAL RULES The following rules should be kept in mind when writing a program Each PLC program must have a name containing up to 8 uppercase alphanumeric characters The first character must be a letter of the alphabet The name may not contain blank spaces PRN AUX COM1 COM2 COM3 COMA LPT1 LPT2 LPT3 LPT4 CON NUL may not be used as names for programs All symbols and variables must be defined by mnemonic names within uppercase alphanumeric strings up to 6 characters in length All symbols must begin with a letter and may not contain the following characters A2NHA 8 1 gt lt 0 blank spaces Because these are special control characters or are reserved for logic and arithmetic expressions The blanks are ignored during compiling of instructions Words used to describe key functions or system variables may not be used as names The use of long expressions is discouraged however it is possible to edit these expressions by using the at the end of the line before starting on the next line The maximum line length for a logical expression in a PLC program is 500 characters excluding blank spaces these may be tied together on several lines using the sign It i
279. t be introduced the following instruction LANG cod lang 1 cod lang 2 cod lang 5 where language codes may be 1s Italian 2 French 3 German 4 English 5 Spanish 6 Portuguese 4 14 Machine Logic Development PLC Part I 01 selca Series S3000 4 Declarations In the declaration of menus the label for each softkey must be specified together with microedit text in all the required languages following the declaration of LANG with the syntax shown Example Italian and English messages LANG 1 4 SOFTK 1 P01 L01 volantino X handwheel X P02 L02 tempo lubrif lubrif time minuti minuts TIME P03 L03 parola chiave password inserisci insert STR CHIAVE manutenzione service The variable SFKLNG written from NC contains the code indicating the active language on the NC By testing this variable it is possible to organizing the PLC program in order to initialize the string variables to display multilingual messages Language codes are the same of those used in the declaration of LANG Example INIT IF SFKLNG lt gt 1 ENGL Initialization Italian messages MSG 1 EMERGENCY STOP MSG 2 FAULT ON SPINDLE DRIVE ENDMSG ENGL IF SFKLNG lt gt 4 ENDMSG Initialization English messages MSG 1 EMERGENCY STOP MSG 2 FAULT ON SPINDLE DRIVE ENDMSG Machine Logic Development PLC Part I 01 4 15 Series S3000 s
280. ting from the left Extracts a specified number of characters from a string starting from the beginning of that string The format is LEFT argument1 argument2 where argument1 is the string from which to extract argument 2 is the number of characters to be extracted where argument1 may be a string variable where argument2 may be a whole number between 1 and the length of the string a BYTE or WORD variable with a value between 1 and the length of the string an expression whose result in a BYTE or WORD variable with a value between 1 and the length of the string The output of the function must be assigned to a string variable The following rules apply If argument2 is longer than argument all available characters are extracted If the length of argument is 0 the result is an empty string 5 12 Machine Logic Development PLC Part I 01 selca Series S3000 5 Operations and functions RIGHTS Extracts a string starting from the right Extracts a specified number of characters starting from the last character in the string The format is RIGHT argument1 argument2 where argument1 is the string from which to extract the characters argument2 is the number of characters to be extracted argument1 may be a string variable argument2 may be a whole number between 1 and the length of the string a BYTE or WORD variable with a value between 1 and the length of the string an expression whose re
281. tions and of these features has not been included in this documentation for reasons of space see instead the specific documentation 2 24 Machine Logic Development PLC Part Il 01 Series S3000 3 Adapting a PLC program from 1200 to 3000 3 ADAPTING A PLC PROGRAM FROM 1200 TO 3000 In the following pages are described the main modifications to make PLC programs written for the 1200 system compatable with the language of the S3000 system without using the new language the INTERNAL MODULES FOR THE MANAGEMENT OF THE SPINDLE potential INDEPENDENT AXES AND TOOL CHANGES GENERIC PROGRAM 1200 INP IMAPR OUT ABX Machine ready enable X axis presas DECLARE VARIABLES RAM 32 LEPOTE POSX COMPX VELX VEMA RAM 8 NUMUT INIT PROG Machine Logic Development PLC Part II 00 variables reading potentiometer absolute position X temperature compensation X Convert X axis spindle speed numeric variable for ASC instruction GENERIC PROGRAM 3000 INP IMAPR Machine ready OUT ABX enable X axis DECLARE VARIABLES Substitute RAM with SRAM as the first is no longer retained in memory after switch off SRAM 32 variables LEPOTE reading potentiometer POSX absolute position X COMPX temperature compensation X VELX Convert X axis VEMA spindle speed SRAM 8 NUMUT numeric variable for MKN instruction S
282. ual The default is 1 if this parameter is omitted After declaring the types of inputs outputs a list of all the variable names for those types must be made Example INP NOMEA name of input 1 NOMEB name of input 2 NOMEC name of input 3 OUT NOMED name of output 1 NOMEE name of output 2 This determination assigns three names to the first three inputs and two names to the first two outputs all are bit types The I O expansion boards follow the same rules as the main I O board Example Configuration 1 I OMIX board in slot 1 2 Digital MO expansion boards 1 OD 4 2 Machine Logic Development PLC Part I 01 selca Series S3000 4 Declarations In this case the declaration of the INP must be INP attribute 1 NAME 1 input number 1 on main board NAME2 NAME96 input number 96 last input on the second expansion board The numbering and configuration of the I O on each board is described in the Installation Manual Instead in cases where a group of 8 or 16 signals exist which must be treated as a single unit it is helpful to define them as a BYTE or a WORD In such instances to access a single signal from the group the rules for the access to variable bits apply see access to variable bits in the preceding chapter Example INP 8 NAME Or INP 16 NAME In general it is possible to have a double declaration for mixed treatment via a syntax of the type group name1 name2 namen Where
283. ured automatic tool change the possible SEQUENCES are shown below In every sequence that requires the insertion of a new tool in the spindle it is necessary to activate the tool length compensation before initiating the work INTOF 1 Asynchronous tool changes Management sequence for placing tools on the ground with POSIZ MAGAZ 0 and SELECU 0 or SELECU 1 Sequence 1 6 16 34 pick up tool and insert in the spindle loading Sequence 2 6 10 34 remove tool from spindle unloading Sequence 3 6 10 16 34 remove tool from spindle pick up and insert in spindle exchange Machine Logic Development PLC Part Il 01 2 13 Series S3000 selca 2 Dedicated internal modules Exchange sequences between tools from the floor and tool storage SELECU 0 Sequence 4 1 5 6 10 17 34 unload tool from spindle to floor pick up tool from storage and place in spindle Sequence 5 23 6 12 16 27 34 unload tool from spindle to storage load tool from floor to spindle Sequences of tools from tool storage SELECU 0 Sequence 6 1 5 6 12 17 23 27 34 place spindle tool in storage pick up from storage and place in spindle exchange Sequence 7 1 5 6 17 34 pick up tool from storage and place in spindle loading Sequence 8 23 6 12 27 34 return tool from spindle to storage unloading Others sequences SELECU 0 Sequence 11 6 34 same as above changer correctio
284. uses are e Seeking the SEQUENCE load unload exchange from storage or from the floor for the requested tool by analyzing the storage and spindle situation tool table change type configuration and explicit load unload requests Each SEQUENCE is then identified by a number for example sequence 6 tool change between spindle and storage e Management of the tool table and the finding of the positions of tool pick up and return e Management of the different tool sizes e Management of the same tool family e Simplify the sequence execution through the right integrated sequencer The application does not necessarily need to manage all the SEQUENCE possibilities but only those considered necessary according to the type of machine and the complexity required They must be defined in the PLC program indicating for each one all the OPERATION CODES elementary actions to physically initiate the exchange for example operation 9001 tool disengagement operation 9021 open changer arm jaws They must be indicated next to the internal codes necessary for updating the sequence in the tool table At the time of the sequence execution the relative codes of OPERATION are sent to the PLC in the defined order The latter must mainly manage the mechanical operations controlling the change search and carry out the single simple physical operations without being overloaded by the management of the tool table tool sizes tool family or the seque
285. ween axes already locked functions not envisaged by macro Machine Logic Development PLC Appendix 01 selca Series S3000 Appendice D Diagnostic Messages E401 macro block in wrong order E402 insufficient internal memory to execute macro E403 compulsory parameters missing E404 wrong parameters in call to macro E405 wrong profile recalled in macro E406 tool angles not compatible with profile E407 too many threading passes E408 number of threading passes insufficient min 4 E409 threading of a circle E410 non monotone profile on the feed axis E411 pass depth null or negative E412 stock causes interference between passes E413 max diam of finite profile greater than that of workpiece E414 elements of profile not connected E415 elements of profile intersecting E416 throat profile wrong E417 width of throat less than of the tool E418 number of threading passes null or negative E419 tool angles and orientation missing E420 profile approach machining direction incompatibility E421 incompatibility between profile and parameters defined E422 memory for shadow zone storage missing E423 number of entities greater than allowed E424 insufficient length of profile E425 profiles lie on the same plane E426 profile of the limit zone concave E427 island outside the profile E428 macro cannot find entities in profile E429 definition of finite profile only with horizontal entities E430 min di
286. with an alphanumeric name with a maximum of 8 characters in capitol letters The first character must not be a number Then Retum press If the program has already been stored in memory it will appear on the display otherwise a new one will be created under the name given The menu functions allow the insertion and modification of text the movement and cancellation of large blocks of text copying text from other programs substitution of words and automatic line numbering The keys for moving the cursor are 1 to move up one line to move down one line to move to first line in the program to move to the last line in the program to move one page down E to move one page up To move the cursor along a line E to move to right of a character O to move to left of a character kg to move to the beginning of a line eu E to move to the end of a line All of the operator or machine dialog operations are effected by softkey and if necessary an associated request line for parameters These are organized within menus and are accessed by activating the relevant softkey The following keys are reserved to speed up this process Esc Ed returns to the previous menu returns to the main menu The written program is saved automatically each time the key is pressed or when the editor is exited by or The functions used for writing editing and modifying PLC programs are reviewed below For more details please
287. wledge Is a pulse signal with a duration equal toa complete slow logic cycle transmitting a BREAK reset order derived from pressing the 53 key on the keyboard or as a response to the RBRK request so that the PLC can cancel its own activity for example to stop the spindle 512007 In the S1200 system a Break generates the M30 function program end and M30 generates a Break this no longer occurs in the S3045 system Summary of Registers and Signals Involved DHOLD RHOLD or hold Hold 1 6 Break 1 NC PLC no Temporary stop of the program run beginning with the first subsequent block that contains a stop point in the continuous movement typically an auxiliary function without interruption of the activity in progress 1 NC lt PLC no Temporary stop of feed 1 NC PLC no External HOLD request Tempory stop of programmed moves and blocks in execution NC PLC no Axes in Hold state NC PLC no External CYCLE START request NC PLC no Cycle in execution NC lt PLC no External EMERGENCY request NC E PLC no NC in emergency alarm state or external emergency request NC PLC no External BREAK request Interruption of the program or block in execution Cancel emergency state 1 NC E PLC no Command to BREAK from PLC NC ACTION Stop Stop Stop manual Forced subsequent programmed manual stop blocks movement on the next block commanding movment yes ye OT wm yes yes yes
288. xes that must be enabled at all times 1 8 Axes to be freed 1 8 Command to disable the transducers on axes 1 8 Axes that may be selected in manual mode 1 8 Axes selected to be homed without reference switch 1 8 Axes selected to be homed with reference switch 1 8 Reference microswitch for axes 1 8 Axes referred to transducer zero then repositioned after homing 1 8 Speed regulation potentiometer for axes 1 8 From 0 to 100 percent of the speed if in automatic or of the acceleration if in manual Command JOG positive axes 1 8 Command JOG negative axes 1 8 Automatically move to programmed position axes 1 8 Positioning commands in automatic for axes 1 8 They must be set by the PLC to command the movement to the set position they are reset by the NC when the axis having ended the movement enters the in position threshold set in configuration data Machine Logic Development PLC Part Il 01 selca RHDP2P HDAP2P RBKP2P BKAP2P REMP2P EMAP2P POAP2P TCHP2P SGLP2P MKSP2P FCPP2P FCMP2P VATP2P JINP2P DIRP2P FEDP2P RAPP2P VLNP2P ZLNP2P DEXP2P ACMP2P ACCP2P DECP2P DE2P2P TOLP2P OFSP2P SHIP2P POOP2P Machine Logic Development PLC Part Il 01 00 64 64 64 Co 64 NC PLC NC gt PLC NC lt gt PLC NC lt gt PLC NC NC PLC PLC PLC PLC PLC PLC PLC PLC yy 00 SII IL
289. ximum servo error 9 10 Frict comp rate 10 11 Acceleration error offset 11 12 Negat travel limit 1 12 13 Posit travel limit 1 13 14 Transducer pitch 14 15 Integral time constant 15 16 Integral gain 16 Start operation request signal on HOWSTP Reset by NC when operation is finished Machine Logic Development PLC Part Il 01 selca Series S3000 4 Summary of predefined signals and registers INCH 1 NC PLC no Kind of measure 0 millimeters 1 inches The NC sets this variable according to the related parameter stored in the system configuration area PLC can overwrite this variable to change the kind of measure but the new value will not be saved permanentlyin the system configuration parameter area Various _ENIDX 8 NC PLC activates de activates the diagnostic that checks validity of the indices for access to the individual variables and the vectors _ENIDX 1 diagnostic on ENIDX 0 diagnostic off default 4 3 DEDICATED MODULES Spindle Rotation SPVEL 64 NC PLC no Speed spindle s 1 4 SPSSO 64 NC PLC no Override potentiometer spindle s 1 4 SPDIR 8 NC PLC no Rotation direction spindle s 1 4 SPROT 8 NC PLC no Command spindle s 1 4 SPREG 8 NC PLC no o Spindle s 1 4 up to speed SPMOT 8 NC PLC no Spindle s 1 4 in motion SPRMP 8 NC PLC no Spindle s 1 4 ramp up to speed SPSGL 8 NC PLC no Effective speed within threshold spindle s 1 4
290. xis 1 8 on negative software limit DFCOP 8 NC lt PLC no Axis 1 8 disable positive software limit DFCOM 8 NC lt PLC no Axis 1 8 disable negative software limit FCA 8 NC lt PLC no Secondary limits array activation 4 6 Machine Logic Development PLC Part Il 01 CWFCS 8 NC PLC Parallel axes Gantry NC PLC no OFSGY 8 Series S3000 4 Summary of predefined signals and registers Control of software limit errors CWFCS 1 1 E93 error report disabled CWFCS 1 0 E93 error report enabled Enable nominal offset gantry axis 1 8 It must be set the bit corresponding to the SLAVE axis number Programmable non controlled axes 64 NC PLC yes NC gt PLC yes AUXPF STRPF 8 Programmed positions for axes moved by the PLC 1 6 Strobe when new information is present on AUXPF 1 6 Reading and writing analog inputs and outputs 64 NC PLC no ANIx VELOx TEMPx 64 NC PLC no 64 NC gt PLC no Analog input readings from the l OMIX card specified and its expansions The value read varies from O and 1 as a percentage of the full range value Analog output from the I OMIX card specified and its expansions These outputs can always be read but written only if they are not utilized by the NC for the controlled axes or by the internal modules for management of the spindles or independent axes The content can vary from 1 to 1 as a percentage of the full range va
291. y where namex is the new symbol to insert and namey is a quantity that must have been already declared Example RAM 8 ARRAY 10 EQU 8 NAMEX ARRAY 3 The new variable NAMEX describes the third byte of ARRAY which was defined earlier as having 10 elements EQU 16 WORD ARRAY 1 the variable WORD refers to the first two bytes of ARRAY In addition to the syntax of the preceding example it is possible to declare a new vector operand Example RAM 16 OLDVAR EQU 8 NEWVAR 2 OLDVAR Where NEWVAR 2 is a two element vector of BYTE format in which NEWVAR 1 is equivalent to the upper part of OLDVAR and NEWVAR 2 is equivalent the lower part of OLDVAR OLDVAR upper part of OLDVAR lower part of OLDVAR NEWVAR 1 NEWVAR 2 Machine Logic Development PLC Part I 01 4 7 Series S3000 selca 4 Declarations By way of the declarative EQU equivalences can be assigned between string variables and byte vectors This is a useful feature if wishing to dispose of a vector containing the ASCII characters of a given string Es STR BUFSTR string variable EQU 8 VETSTR 64 BUFSTR I associate a 64 byte vector with the string PROG BUFSTR ABCD VETSTR 1 0 this byte is always at 0 VETSTR 2 4 the second byte contains the string length VETSTR 3 65 ASCII code for letter A VETSTR 4 66 ASCII code for letter B VETSTR 5 67 ASCII code for letter C VETSTR 6 68 ASCII code for letter D
292. yntax is DISPL line number message where line number may be e an integer between 1 and 16 or 0 to display a message in the reserved area of the NC s display monitor e a BYTE or WORD variable with a value between 0 and 16 e an expression whose result is a BYTE or WORD variable with a value between 0 and 16 message may be e asequence of characters delimitated by inverted commas e a string variable e an expression which results in a string Messages may also be obtained by combining predefined messages with strings obtained using the MKNS function Example STR MESDI MESSAG PROG MESSAG CYCLE STOP DUE TO ANOMALIES IN MESDI MKN NUM DISPL 1 MESSAG In the example the message is defined by the first expression MESSAG and displayed on line 1 If MESDIZ MOVEMENT OF AXIS N and NUM 2 the phrase appearing on line 1 of the display is CYCLE STOP DUE TO ANOMALIES IN MOVEMENT OF AXIS No2 If the ASCII text is changed in MESDI or a vector is substituted such as MESDI n the same instruction could yield the following messages CYCLE STOP DUE TO ANOMALIES IN PUMP No1 CYCLE STOP DUE TO ANOMALIES IN PALLET POSITION No4 messages can be cleared using the following command Machine Logic Development PLC Part 01 7 3 Series S3000 selca 7 Special functions CLR line where line may be an integer between 0 and 16 a BYTE or WORD with a value between 0 and 16 an expression resulting in a BYTE o
293. you enter this menu write the new block then press MODIFY BLOCK Press this key to modify the line the cursor is currently positioned on Modify the block as it is presented within the command line box then press LES DELETE BLOCK Press this key to delete the line on which the cursor is currently positioned A confirmation message is delivered Do you want to delete YES NO Yes Press STRING SEARCH This key starts the search for a string of characters within the program starting from the cursor position If a number is specified the cursor is moved directly to that line in the program Both the character string and line number Retum must be followed by a ADVANCED FUNCTIONS This key activates a menu for block operations such as text copy and editing parameters To use all of the softkeys from this menu sufficient memory area is needed In the cases where available memory is limited the available functions are limited to two 2 4 Machine Logic Development PLC Part I 01 selca Series S3000 2 Operating procedure Advanced function menu When the ADVANCED FUNCTION softkey is selected and sufficient memory space is available the following menu will appear HIGHLIGHT DELETE COPY MOVE DELETE REPLACE IMPORT RENUMBER EDITING CANCEL BLOCK BLOCK BLOCK BLOCK FROM HERE STRING FROM OTHER BLOCKS PARAMS MODIF In the case where there is insufficient memory only the following two softkeys appear DELETE REPLACE FROM

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