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CNC 8037 - Installation manual

1. 88 Bo B24 B16 B8 BO R561 R561 R560 R560 R560 R560 B9 B1 B25 B17 B9 BI ASI R561 R561 R560 R560 R560 R560 A B6 R563 B10 B2 B26 B18 B10 B2 R561 R561 R560 R560 R560 R560 B5 R563 B11 B3 B27 B19 B11 B3 R561 R561 R560 R560 R560 R560 B4 R563 B12 B4 B28 B20 B12 B4 R561 R561 R560 R560 R560 R560 B3 R563 B31 B30 B29 B21 B13 BS R561 R561 R560 R560 R560 R560 R563 B26 B25 B30 B22 B14 B6 R561 R561 R560 R560 R560 R560 R563 B29 B28 B31 B23 B15 B7 R561 R561 R560 R560 R560 R560 BO BI B2 B3 B4 BS B6 B27 B24 B19 B18 B17 B16 R562 R562 R562 R562 R562 R562 R562 R561 R561 R561 R561 R561 R561 di EA EA eer Ea cai R561 R561 R561 R561 R561 R562 R561 R563 R561 B10 B25 EN B10 B15 B16 B17 R562 R562 a R563 R563 R562 R562 R562 R562 aN mmo R563 R563 R562 fori fl ha pe B8 B23 B24 bl BO B18 sone B20 R562 R562 R562 Dos N R563 R562 R562 SA am X SE a eee B9 B26 GC Bo B7 B21 B22 R562 R562 a R563 R563 R562 R562 S A E D E F G H I J K L A L f
2. A Power supply B Ground connection C To connect the USB hard disk Pen Drive or USB extension cable D To connect the keyboard signal E Communications board F Compact flash memory with the CNC configuration KeyCF X1 For RS232 serial line connection X2 For digital I O connection 11 through 116 and O1 through O8 X3 For probe connection X4 For analog spindle connection X5 For electronic handwheel connection X6 For Operator Panel connection X7 For digital I O connection 197 to 1104 and O33 to 056 X8 For axis velocity command connection X9 For digital input connection 165 to 196 X10 For feedback connection of the first axis X11 For feedback connection of the second axis X12 For feedback connection of the third axis Do not get into the inside of the unit Only authorized personnel from Fagor Automation may do it Do not handle the connectors with the unit connected to main AC power Before manipulating these connectors make sure that the unit is not connected to main AC power The machine manufacturer must comply with the EN 60204 1 IEC 204 1 standard in terms of protection against electrical shock due to faulty I O contacts with external power supply Protection at the connectors It detects over currents or short circuits at the 5 V of th
3. PLC resources Inputs 11 512 Outputs O 1 512 User marks M 1 2000 and 2049 3999 Arithmetic flag marks M 2003 D n Clock marks M 2009 2024 pr Fixed status marks M 2046 2047 Marks associated with messages M 4000 4254 E Marks associated with errors M 4500 4627 O Screen marks M 4700 4955 n CNC communication marks M 5000 5957 gt Timers T 1 512 Counters C 1 256 D User registers R 1 499 Registers for communication with the CNC R 500 559 The value stored in each register will be considered by the PLC as a signed integer which could be referred to in the following formats Decimal Integer within 2147483647 Hexadecimal Number preceded by the sign and between 0 and FFFFFFFF Binary Number preceded by the letter B and made up of up to 32 bits 1 or 0 Directing instructions PRG Main module CY1 First cycle module PEt Periodic module It will be executed every t time in milliseconds END End of module L 1 2000 Label DEF Symbol definition REA The consultations will use real values IMA The consultations will use image values IRD Updates the I resources with the values of the physical inputs MRD Updates resources M5000 5957 and R500 559 with the values of the logic CNC outputs OWR Updates the physical outputs with the real values of the O resources MWR i internal variables with the values of resources FAGOR TRACE Captures data for the Logic Analyzer wh
4. Bit 0 of g m p STARTDIS P190 Value Meaning 0 The program is sent to the CNC and is executed 1 The program is sent to the CNC and is not executed until the START key is pressed Default value 1 SI MACHINE PARAMETERS General machine parameters FAGOR 2 CNC 8037 SOFT V01 6x 129 MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 130 LCOMPTYP P191 It may be used to define whether to maintain or change the longitudinal axis when changing the work plane G17 G18 or G19 This parameter has 16 bits counted from right to left bit 1514131211109 8 7 6 5 4 3 210 m m m SOCCORSO sO m a Bit 0 of g m p LCOMPTYP P191 Value Meaning 0 The longitudinal axis changes when changing planes 1 The longitudinal axis does not change when changing planes Default value 0 G16SUB P192 General machine parameter G16SUB P192 indicates the number of the subroutine associated with function G16 Possible values Integer numbers between 0 and 9999 Default value 0 no associated subroutine When there is a subroutine associated with G16 the CNC acts as follows e If there is no other G16 inside the associated subroutine the G16 will be executed after the subroutine e If there is another G16
5. 3 Once the extension set has been properly connected it will be possible to connect and disconnect USB devices to the CNC while it is on ml CNC CONFIGURATION CNC structure FAGOR 2 CNC 8037 SOFT V01 6x 43 CNC CONFIGURATION CNC structure FAGOR 2 CNC 8037 SOFT V01 6x 44 Sercos CAN and Ethernet communications board There are 3 communications boards CAN CAN Ethernet CAN AXES CAN I Os v b Ethernet 4 PEER TERE This board has the following connections e CAN servo system bus Bus CAN Open for remote digital I O e Ethernet bus CAN Ethernet CAN AXES v Ethernet lt This board has the following connections e CAN servo system bus e Ethernet bus Ethernet Ethernet 4 This board has the following connection Ethernet bus Ethernet CNC configuration in a local network Transmitting data Network connection The Ethernet option permits configuring the CNC as another node within the local area network This makes it possible to communicate with other PC s to transfer files The Ethernet card has an RJ 45 connector and two LED s that inform on the status of the connection Red LED Blin
6. Once the switch has been turned to one of the handwheel positions the CNC checks this variable and depending on the values assigned to each axis bit c b a it applies the multiplying factor selected for each one of them c b a O O 0 The value indicated at the front panel or keyboard switch 0 O 1 x1 factor O 1 0 x10 factor 1 0 0 x100 factor If there are more than one bit set to 1 for an axis the least significant bit will be considered Thus c b a 1 1 1 x1 factor 1 1 0 x10 factor a The screen always shows the value selected at the switch HBEVAR It must be used when having a Fagor HBE handwheel It indicates whether the HBE handwheel is enabled or not the axis to be jogged and the multiplying factor to be applied x1 x10 x100 c B A Ww V U Z Y X EA clbla c b a c b a c b a c b a c b a c bla c bla c bla Isb Indicates whether the HBE handwheel pulses will be taken into account or not in jog mode O They are ignored 1 They are taken into account 4 When the machine has a general handwheel and individual handwheels associated with an axis it indicates which handwheel has priority when both are turned at the same time 0 The individual handwheel has priority The relevant axis ignores the pulses from the general handwheel the rest of th
7. Each parameter of the table represents a point of the profile to compensate The following information is defined at each point e The position occupied by the point in the profile position to compensate It is defined by its coordinate referred to machine zero Possible values 99999 9999 mm or 3937 00787 inches e The amount of error of the axis in this point in the positive direction Possible values 99999 9999 mm or 3937 00787 inches e The amount of error of the axis in this point in the negative direction Possible values 99999 9999 mm or 3937 00787 inches Foreach axis position define the amount of error to be compensated in both directions If the amount of error in the negative direction is zero in all points it assumes that the amount of error defined for the positive direction is valid for both directions Leadscrew error compensation on rotary axes On rotary axes although the display is limited between 0 and 360 the internal count is accumulative When using leadscrew error compensation set positions 0 and 360 first and last point of the table with the same amount of error This way the CNC will apply the same compensation in all the revolutions Otherwise the compensation will be limited to the indicated field Considerations and limitations When defining the profile points in the table the following requirements must be met e The axis points must be in sequential o
8. Once the program has been compiled it is not necessary to keep the source program PLC_PRG in memory because the PLC always executes the executable program The PLC has 512 inputs and 512 outputs Some of them depending on the CNC configuration communicate with external devices There is an exchange of information between the CNC and the PLC which is done automatically and the system has a series of commands which allow the following to be done quickly and simply The control of Logic CNC inputs and outputs by means of an exchange of information between both systems e The transfer from the CNC to the PLC of M S and T auxiliary functions FAGOR 2 e To display a screen previously defined by the user as well as generating messages and errors in the CNC e Read and modify internal CNC variables from the PLC CNC 8037 e Access all PLC resources from any part program e Monitor PLC resources on the CNC screen e Access to all PLC variables from a computer via DNC and through the RS 232 C serial line SOFT V01 6x 305 PLC resources INTRODUCTION TO THE PLC FAGOR CNC 8037 SOFT V01 6x 306 8 1 PLC resources Inputs I They are elements that provide information to the PLC on the signals they receive from the outside world They are represented by the letter and there are 512 inputs available Outputs O They are elements that let the PLC activate or deactivate the vari
9. 08 GND 08 GND 24V 09 24V 09 Connector X6 X6 8 digital outputs Connector X2 8 digital outputs X2 016 GND 016 GND Digital inputs and digital outputs double module Connector X7 12 digital inputs X3 connector 12 digital inputs X3 X7 REMOTE MODULES BUS CAN WITH CANOPEN PROTOCOL 112 113 Connector X8 12 digital inputs Connector X4 12 digital inputs X4 X8 124 FAGOR CNC 8037 SOFT V01 6x 66 Description of the connectors digital inputs and outputs Connector X1 amp X2 amp X5 amp X6 Digital outputs 8 outputs in each connector 10 pin male Phoenix minicombicon connector 3 5 mm pitch Both connectors must be powered with 24 V DC and GND Signal Function X1 X5 X2 X6 24V Power supply H a 01 08 Digital outputs Lejo le oio Te 03 l e 011 O9 016 Digital outputs ajoa 012 HKA 05 e 013 GND Power supply Lejo 014 Lejo 015 Lejo ejos ae cnn ond Connector X3 amp X4 amp X7 amp X8 Digital inputs 12 inputs in each connector 12 pin male Phoenix minicombicon connector 3 5 mm pitch Signal Function
10. FAGOR 2 CNC 8037 SOFT V01 6x 397 ACCESS TO INTERNAL CNC VARIABLES N Variables associated with feedback FAGOR CNC 8037 SOFT V01 6x 398 Installation manual 12 8 Variables associated with feedback ASIN X C A signal of the CNC s sinusoidal feedback for the X C axis BSIN X C B signal of the CNC s sinusoidal feedback for the X C axis ASINS A signal of the CNC s sinusoidal feedback for the spindle BSINS B signal of the CNC s sinusoidal feedback for the spindle 12 9 Variables associated with the main spindle Variables associated with the real speed SREAL It returns the actual real turning speed of the main spindle Its value is given in 0 0001 rpm units FTEOS ol 2 It returns the theoretical turning speed of the main spindle Variables associated with spindle speed PLCS is a read write variable the rest are read only SPEED It returns the turning speed of the main spindle currently selected at the CNC Its value is given in 0 0001 rpm units This turning speed may be indicated by program by PLC or by DNC the CNC selects one of them the one indicated by DNC has the highest priority and the one indicated by program has the lowest priority ACCESS TO INTERNAL CNC VARIABLES Variables associated with the main spindle DNCS It returns the spindle speed limit selected via DNC If it has a value of 0 it means that itis not selected PLCS It
11. When using servo motors first reduce the maximum torque of the drive by means of an M function in order to prevent the motor from overheating bal This parameter is especially designed for hydraulic devices STOPAOUT Minimum velocity command CNC 8037 1 0 3 mV 3277 1V 32767 Tax SOFT V01 6x 143 MACHINE PARAMETERS FAGOR CNC 8037 Axis parameters SOFT V01 6x 144 INPOSW2 P51 This parameter is used when function G50 controlled round corner is active It defines the area before the programmed coordinate where the CNC considers the axis to be in position and goes on to execute the next block Possible values Between 0 and 99999 9999 degrees or millimeters Between 0 and 3937 00787 inches Default value 0 1 mm It should be assigned a value 10 times the value of INPOSW IOTYPE P52 Axis machine parameter IOTYPE has two digits Units It indicates the type of lo signal marker pulse provided by the feedback device Value Meaning x0 normal l0 x1 A type distance coded l0 x2 Type B distance coded reference mark only linear encoder COVS x3 Normal l0 search with retraction When using linear encoders with distance coded reference marks 10 set a m p IOCODI1 P68 and IOCODI2 P69 Tens It defines whether it stops smoothly or not when detecting the reference mark of the axes or not Value Meaning Ox Normal stop on 10 1x Smooth stop on 10
12. Machine reference point setting To set the machine reference point proceed as follows Indicate in the s m p REFPULSE P32 the type of marker pulse lo being used for Home Search Likewise set s m p REFDIREC P33 to indicate the direction of the axis when searching Home On the other hand set s m p REFEED1 P34 that defines the approach feedrate of the spindle until the home switch is pressed and s m p REFEED2 P35 that indicates the homing feedrate until the reference mark marker pulse is detected The machine reference point will be set to 0 s m p REFVALUE P36 Once in JOG mode and after positioning the spindle in the right area start homing the spindle When done the CNC will assign a 0 value to this point After moving the spindle to the Machine Reference Zero or up to a known position with respect to Machine Reference Zero observe the position reading of the CNC for that point This will be distance from the Machine Reference Zero to that point Therefore the value to be assigned to s m p REFVALUE P36 which defines the coordinate corresponding to the Machine Reference Point physical location of the marker pulse REFVALUE P36 Machine coordinate CNC reading Example If the point whose known position is located at 12 mm from Machine Reference Zero and the CNC reads 123 5 as the coordinate value for this point the coordinate of the Machine Reference Point with respect to Machi
13. Each bit has a function or work mode associated with it By default all the bits will be assigned the value of 0 Assigning the value of 1 activates the corresponding function Bit Meaning Bit 0 Threading in blind threads for lathe 8 only 1 G34 9 2 10 3 G74 11 4 JOG 12 5 Rigid tapping 13 6 G95 14 7 G75 G76 15 Meaning G51 G50 G33 G01 G00 Default value in all the bits 0 Every time each of the functions or work modes assigned to the bits of g m p ACTGAIN2 P108 or ACTGAINT P185 is activated the CNC checks the value assigned to the bit corresponding to that function in these parameters and acts as follows e f the bit of ACTGAINT2 is set to 0 and the bit of ACTGAINT is set to 0 it applies the first set ACCTIME PROGAIN etc e If the bit of ACTGAINT2 is set to 1 and the bit of ACTGAINT is set to 0 it applies the third set ACCTIME2 PROGAINZ2 etc e Ifthe bits of ACTGAINT is set to 1 and the bit of ACTGAIN2 is set to 0 it applies the third set ACCTIMET PROGAINT etc When that function or work mode is deactivated the CNC applies the first of the sets ACCTIME PROGAIN Example When setting ACTGAIN2 1000 0000 0001 0000 and ACTGAINT 0000 0000 0000 0000 the CNC applies the second set to all the axes and the spindle whenever function GO or the JOG mode is selected Considerations to bear in mind The change of gains and accelerations is alway
14. 4 F2 Fa Fa F5 Fe FF T E e E e FE 2 e a 32 1 26 The minimum distance from each side of the monitor to its enclosure in order to guarantee the required ambient conditions is shown below 180 7 087 50 1 968 50 1 968 gt ae E 50 1 968 50 1 968 It is up to the installer to make sure that the enclosure has forced ventilation or ventilation grooves in order to prevent the inside temperature to exceed the specified ambient temperature Between 5 C and 50 C 41 F and 122 F Relative humidity between 5 and 95 non condensing When using a fan to better ventilate the enclosure a DC fan must be used since an AC fan may generate electromagnetic interference resulting in distorted images being displayed by the CRT CNC CONFIGURATION CNC structure FAGOR 2 CNC 8037 SOFT V01 6x 27 CNC CONFIGURATION CNC structure FAGOR CNC 8037 SOFT V01 6x 28 1 1 1 Connectors The connectors are located in the rear of the CNC 3 oA
15. X6 X3 0000000000000000000000 0000000000000000000000 ITITI IAAT ETT ETETETT x4 0000000000000000000000 0000000000000000 000000 0000000000000000000000 0000000000000000000000 rai gt w e O A Power supply with 24 digital inputs and 16 digital outputs This module must be powered at 24 V DC and connected to the system CAN bus B Power supply with 4 analog inputs 4 analog outputs and 2 inputs for temperature sensors This module must be powered at 24 V DC and connected to the system CAN bus C Digital Inputs Outputs single module Each module has 24 digital inputs and 16 digital outputs D Digital Inputs Outputs double module Each module has 48 digital inputs and 32 digital outputs FAGOR Consumption CNC 8037 The consumption of each group is 1 2 A not including the consumption of the outputs SOFT V01 6x 55 REMOTE MODULES BUS CAN WITH CANOPEN PROTOCOL FAGOR CNC 8037 SOFT V01 6x 56 Some general points to consider When mounting the groups bear in mind the following considerations e One of the power supply modules must be present in each group e Two power supply modules cannot be in the same group e Power supplies of both models may be connected to the same CAN bus e The system will only support the treatment of
16. 136 Installation manual DERGAIN P24 Indicates the value of the derivative gain Its value represents the analog command in millivolts corresponding to a change in following error of 1mm 0 03937 inches in 10 milliseconds This velocity command will be added to the one calculated for the proportional gain Command DERGAI gt E PROGAIN Te To apply this gain to an axis that axis should be working with acc dec a m p ACCTIME P18 other than 0 Integer numbers between 0 and 65535 Default value 0 derivative gain not applied The best adjustment is achieved when minimizing the following error as much as possible but without inverting the peaks The peaks of the right graph are inverted Bad adjustment The graph on the left shows the system response without DERGAIN 10 um per square and the one on the right with DERGAIN 1 um per square FFGAIN P25 Indicates the of velocity command due to the programmed feedrate The rest will depend upon the following error Both the proportional and derivative gains will be applied onto this following error FFGAIN da gl N Analog Progammed PROGAIN ni urna Feedrate DERGAIN Feedback Command amp DERGAIN FFGAIN x Fprog x MAXVOL amp PROGAIN wa 100 GOOFEED The feed forward gain improves the position loop minimizing the following error but
17. ACCESS TO INTERNAL CNC VARIABLES Variables associated with the main spindle FAGOR 2 CNC 8037 SOFT V01 6x 401 ACCESS TO INTERNAL CNC VARIABLES N Variables associated with local and global parameters FAGOR CNC 8037 SOFT V01 6x 402 12 10 Variables associated with local and global parameters The CNC has two types of general purpose variables These two variables may be used to read and write the following arithmetic parameters e Local parameters PO P25 e Global parameters P100 P299 e User parameters P1000 P1255 e OEM parameters P2000 P2255 It is possible to assign local parameters to more than one subroutine Up to 6 nesting levels of the local parameters are possible within the 15 nesting levels for the subroutines Therefore each time a local parameter must be referred to it is necessary to indicate its current nesting level Local and global parameters may be assigned a value within 2147483647 Reading these parameters using functions GUP and LUP gives an integer number ignoring its decimals Likewise if the parameter value is greater than 2147483647 the obtained value will be the maximum allowed i e either 2147483647 or 2147483647 Read and write variables GUP n It may be used to read or modify the indicated n global parameter P100 P299 user parameter P1000 P1255 n or OEM parameter P2000 P2255 n CNCRD GUP 155 R100 M102 Loads register R100 wit
18. Qa oa END Og a Bo The periodic module will be executed every time the time indicated in the directing instruction PE t elapses This count starts when the execution of the main module the first time begins Every time this module is executed the execution of the main module is interrupted and its execution resumes when the execution of the periodic module finishes FAGOR CNC 8037 SOFT V01 6x 315 Installation manual co weJjHoid y Jo aunjonjs Jejnpoyy O1d JHL OL NOILONGOYLNI CNC 8037 SOFT V01 6x 316 PLC PROGRAMMING The PLC program is structured by modules and it may consist of e Main module PRG e Periodic execution module PE e First cycle module CY1 Every time the PLC program starts running the CNC will execute first if it has been defined the First Cycle module CY1 Then it will execute the Main Program module PRG continuously until the PLC program is stopped The periodic execution modules PE will be executed every so often with the frequency established for each of them This time period starts counting from the time the CY1 cycle is ended The execution of a periodic module temporarily interrupts the execution of the main module PRG PE When defining the PLC program both the processing of the main module PRG and the periodic mod
19. CNC 8037 SOFT V01 6x 282 Analog spindle Parameters involved in the calculation of the velocity command s m p s m p s m p s m p s m p s m p s m p s m p MAXGEARI P2 maximum rpm of the first gear 1000 MAXGEAR2 P3 maximum rpm of the second gear 2000 MAXGEAR3 P4 maximum rpm of the third gear 3000 MAXGEARA4 P5 maximum rpm of the fourth gear 3500 MAXVOLT1 P37 MAXVOLT2 P38 maximum velocity command for the second gear 9500 MAXVOLTS P39 MAXVOLT4 P40 maximum velocity command for the fourth gear maximum velocity command for the first gear 9500 P39 maximum velocity command for the third gear 9500 9500 x 3500 rpm 4000 rpm 8312 Parameters involved in the calculation of the position feedback S m p S m p s m p s m p s m p s m p s m p s m p s m p s m p NPULSES P13 number of pulses per turn of the encoder 18000 SINMAGNI P65 Multiplying factor if the encoder is sinusoidal 200 INPREV1 P72 Input revolutions of the first gear 2 INPREV2 P74 Input revolutions of the second gear 2 INPREV3 P76 Input revolutions of the third gear 2 INPREV4 P78 Input revolutions of the fourth gear 2 OUTPREV1 P73 OUTPREV2 P75 OUTPREV3 P77 OUTPREV4 P79 output revolutions of the fourth gear 3 output revolutions of the first gear 3 ou
20. ii 224 6 5 5 Derivative AC forward gain setting 225 6 5 6 Leadscrew backlash compensation 226 6 5 7 Leadscrew error compensation 227 6 5 8 Circle geometry testi iaia 229 6 6 Reference systems nia aiar 231 6 6 1 FIOIMESSCANCING isc aliante 232 6 6 2 Setting on systems without distance coded feedback 235 6 6 3 Setting on systems with distance coded feedback 237 6 6 4 Axis travel limits Software limits ii 238 6 7 Unidirectional approachi uranio acari iaia 6 8 Auxiliary M S T function transfer z 6 8 1 Transferring M S T using the AUXEND signal 242 6 8 2 Transferring the auxiliary miscellaneous M functions without the AUXEND signal 243 6 9 SPINA EEE aaa T 244 6 9 1 Spindle types horae enia a a a aa aaa 6 9 2 Spindle speed S control 2 6 9 3 Spindle g ar Change siti ridi 6 9 4 Spindle in closed OOP 00 eeeseceeceeeeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeaeeeeeseeseeeaesaeeeaeeaeeeeeeaeeneeeaeees 6 10 Treatment of emergency signals 255 6 11 Digital CAN servo 258 6 11 1 Communications channel 258 6 11 2 Drive s absolute feedback rin 261 6 12 Fagor handwheels HBA HBE and LGB enne 262 6 13 Machine safety related functions 266 6 13 1 Maximum machining spindle speed 266 6 13 2 Cycle start disabled when hardware errors occur z 6
21. ADIMPG P176 This parameter enables manual intervention with an additive handwheel This function allows jogging the axes while a program is being executed This movement will be applied as if it were another zero offset This parameter has 16 bits counted from right to left bit 15 14 13 121110 9 8 7 6 5 4 3 2 10 E RAS AAA Each bit has a function or work mode associated with it By default all the bits will be assigned the value of 0 Assigning the value of 1 activates the corresponding function Bit Meaning 0 10 Not being used 11 Selecting the additive handwheel as handwheel associated with the axis 12 The resolution of the handwheel is set by g m p ADIMPRES 13 Manual intervention enabled with look ahead 14 Cancel the additive offset after M02 M30 emergency or Reset 15 Manual intervention with additive handwheel is available Default value in all the bits 0 When enabling the additive handwheel the following must be borne in mind e If the DWELL parameter of an axis has been set and it is not previously in motion it activates the ENABLE mark of the axis and waits a time period indicated in DWELL to check whether its SERVOON has been activated or not e The acceleration applied to the additive handwheel movement is that of parameter ACCTIME of the axis e On Gantry axes the movement of the mast
22. PAR R1 559 M1 5957 If the register being checked has an EVEN parity this instruction will set the indicated mark to 1 and if its parity is ODD it will set it to 0 Example 115 PAR R123 M222 If 115 1 the PLC checks the parity of register R123 and sets M222 1 if itis EVEN or M222 0 if itis ODD CNC PLC COMMUNICATION With the data exchange between the CNC and the PLC it is possible to The control of logic inputs and outputs from the CNC by means of an exchange of information between both systems which is done periodically and by means of specific PLC Marks and Registers The transfer from the CNC to the PLC of M S and T auxiliary functions Display screens which have been defined previously by the user as well as generating messages and errors in the CNC by means of specific PLC Marks Read and modify internal CNC variables from the PLC Access all PLC resources from any part program Monitor PLC resources on the CNC screen Access to all PLC variables from a computer via DNC through the RS 232 C serial line FAGOR 2 CNC 8037 Sort V01 6x 335 Auxiliary M S T functions CNC PLC COMMUNICATION FAGOR CNC 8037 SOFT V01 6x 336 10 1 Auxiliary M S T functions MBCD1 R550 MBCD2 R551 MBCD3 R552 MBCD4 R553 MBCDS5 R554 MBCD6 R555 MBCD7 R556 MBCDP1 R565 MBCDP2 R566 MBCDP3 R567 MBCDP4 R568 MBCDP5 R569 MBCDP6 R570 MBCDP7 R571 MBCD resgist
23. INPOS1 M5607 INPOS2 M5657 INPOS3 M5707 The CNC sets these signals high to tell the PLC that the corresponding axis is in position There is also the general logic output INPOS in which the CNC indicates to the PLC that all the axes have reached their position 11 8 Spindle logic outputs ENABLES M5950 Main spindle This signal is used when working with the spindle in closed loop M19 The CNC only considers the signals for the currently selected spindle The CNC sets this signal high to tell the PLC to allow the spindle to move DIRS M5951 Main spindle b This signal is used when working with the spindle in closed loop M19 The CNC only considers the signals for the currently selected spindle The CNC uses this signal to tell the PLC in which direction the spindle is moving If the signal is at a high logic level this indicates that the spindle moves in a negative direction If the signal is low this indicates that the spindle moves in a positive direction REFPOINS M5952 Main spindle Spindle logic outputs This signal is used when working with the spindle in closed loop M19 The CNC only considers the signals for the currently selected spindle The CNC sets this signal high to tell the PLC that the spindle reference point search has already been made LOGIC CNC INPUTS AND OUTPUTS This is set low when the CNC is powered up after executing the SHIFT RESET sequence or a feedback alarm occurs
24. They do not have image values and are represented by the letter R followed by the register number it is desired to reference for example R1 R25 R102 etc The PLC has the following registers User registers R1 R499 Registers for communication with the CNC R500 R559 The PLC will consider each value stored in each register as an integer with a sign and can be within 2147483647 It is also possible to make reference to a BIT of the REGISTER by putting the letter B and the bit number 0 31 in front of the selected register For example B7R155 Refers to Bit 7 of Register 155 The PLC considers bit 0 as being the one with least significance and bit 31 as being the one with most significance The value stored ina register can be treated as being decimal hexadecimal preceded by binary preceded by B or in BCD Example Decimal 156 Hexadecimal 9C Binary B0000 0000 0000 0000 0000 0000 1001 1100 S n L DL n 2 5 0 O CC v Ww ao O par A FAGOR 2 CNC 8037 SOFT V01 6x 289 Timers PLC RESOURCES FAGOR CNC 8037 SOFT V01 6x 290 7 5 Timers These are elements capable of maintaining their output at a determined logic level during a preset time time constant after which the output changes status They do not have image values and are represented by the letter T followed by the number of the timer it is required to reference for example T1 T25 T102 etc The t
25. When the PLC sets this mark high the CNC ends the movement in progress and starts executing the next block If the interrupted block had M functions to be executed after the block they will be executed before going on to the next block This mark only affects the execution in automatic mode and the simulation with motion This mark does not stay active after the execution Once executed the CNC deactivates it Likewise if they are activated in a block that does not accept them they will also be deactivated they do not stay active for the next block b le These marks affect the following functions e It affect motion blocks GO G1 G2 G3 e They affect the dwell programmed with G4 e It affects the look ahead In this type of programs with very small blocks it is not possible to stop at the same block where the BLOABOR mark is detected In these cases it will be canceled at the block where the axis is fully decelerated These marks do not affect the following functions e It does not affect motionless blocs which will be executed e lt does not affect the M functions that are executed after the block These functions are always executed even if the movement of the block is interrupted Logic inputs of the PLC channel e Itdoes affect not affect threading blocks G33 Nor does it affect the regular tapping or rigid tapping cycles regardless of the value of parameter STOPTAP LOGIC CNC INPUTS AND OUTPUTS e ltdoes no
26. 12 digital inputs Description of the connectors digital inputs and outputs Connector X1 amp X2 Digital outputs 8 outputs in each connector 10 pin male Phoenix minicombicon connector 3 5 mm pitch Both connectors must be powered with 24 V DC and GND Signal Function XI x2 24V Power supply e 24v o 24v K ie Hol ba 01 08 Digital outputs le 02 lle o10 Lejo e fou 09 016 Digital outputs Lajo 012 pe hedo GND Power supply e 014 Ie o 015 le 08 lle 016 cnd e cnD Connector X3 amp X4 Digital inputs 12 inputs in each connector 12 pin male Phoenix minicombicon connector 3 5 mm pitch Signal Function X3 XA 11 112 Digital inputs o FILI LL 113 124 Digital inputs 12 e una 13 10 115 116 117 118 19 NNN WN ons 0 co 5 124 Digital inputs and digital outputs single module REMOTE MODULES BUS CAN WITH CANOPEN PROTOCOL FAGOR 2 CNC 8037 SOFT V01 6x 65 3 4 Digital inputs and digital outputs double module This module is used to expand the digital inputs and outputs remote I O Each module has 48 digital inputs and 32 digital outputs Digital inputs and outputs double module 3 DIGITAL E 24V 01 z O Cc 24 01 Pr 1 Connector X5 X5 8 digital outputs Connector X1 8 digital outputs x1
27. 98 Possible values 99999 9999 mm or 3937 00787 inches Default value 0 PRBMOVE P46 Indicates the maximum distance the tool can travel when calibrating it with a probe in JOG mode Possible values Between 0 0001 and 99999 9999 millimeters Between 0 00001 and 3937 00787 inches Default value 50 mm USERDPLY P47 Indicates the number of the user program associated with the execution mode This program will be executed via the user channel when pressing the softkey USER in the EXECUTE mode Possible values Integer numbers between 0 and 65535 Default value 0 none USEREDIT P48 Indicates the number of user program associated with the Edit mode This program will be executed via the user channel when pressing the softkey USER in the EDIT mode Possible values Integer numbers between 0 and 65535 Default value 0 none USERMAN P49 Indicates the number of the user program associated with the JOG mode This program will be executed via the user channel when pressing the softkey USER in the JOG mode Possible values Integer numbers between 0 and 65535 Default value 0 none USERDIAG P50 Indicates the number of the user program associated with the Diagnosis mode This program will be executed via the user channel when pressing the softkey USER in the DIAGNOSIS mode Possible values Integer numbers between 0 and 65535 Default value 0 none ROPARMIN P51 RO
28. Auxiliary M S T function transfer FAGOR CNC 8037 SOFT V01 6x 340 10 2 1 Transferring M S T using the AUXEND signal Once the block has been analyzed and after sending the corresponding values in the variables MBCD1 7 SBCD TBCD and T2BCD the CNC will tell the PLC by means of the general logic outputs MSTROBE SSTROBE TSTROBE and T2STROBE that the required auxiliary functions must be executed AUXEND INARNDW MINAENDW When the PLC detects that one of the STROBE signals is active it must deactivate the general logic input AUXEND to tell the CNC that the execution of the corresponding function or functions is starting The PLC will execute all the auxiliary functions required it being necessary to analyze the MSTROBE SSTROBE TSTROBE T2STROBE general logic outputs and the MBCD1 7 SBCD TBCD and T2BCD variables in order to do this Once this has been executed the PLC must activate the general logic input AUXEND to indicate to the CNC that the processing of the required functions was completed Once the general AUXEND input is activated the CNC will require that this signal be kept active for a time period greater than the value given to the g m p MINAENDW P30 This way erroneous interpretations of this signal by the CNC due to an improper PLC program logic are avoided Once the period of time MINAENDW has elaps
29. FAGOR CNC 8037 SOFT V01 6x 25 CNC CONFIGURATION FAGOR CNC 8037 SOFT V01 6x 26 CNC structure 1 1 CNC structure The central unit is located on the rear of the monitor oo 1 LI a Fs F F e e CS e 9 DO ga DEI ke Keyboard auto identification The keyboard has an auto identification system With this system parameter CUSTOMTY is updated refreshed automatically Dimensions TDI 222 35 8 8 aL 56 3 2 21 115 5 4 54 125 4 92 men a jje e E F i ATE UU mamaaa i O alaaa EEE g 5 Sele SS fe e IL Js 8 g Fi F2 Fs Fs Fs es FF 4 Fell N 5 3 5 5 a 7 GI jan E 3 8 5 0 3 L 335 13 2 Q L 352 13 9 Ss 318 12 51 287 8 11 3 I Enclosure 335 13 2 6 0 236 M5x0 7 323 12 72 194 257 10 12
30. FAGOR CNC 8037 SOFT V01 6x ATA axis machine parameters PO P50 P100 P150 P1 P51 P101 P151 P2 P52 P102 P152 P3 P53 P103 P153 P4 P54 P104 P154 P5 P55 P105 P155 P6 P56 P106 P156 P7 P57 P107 P157 P8 P58 P108 P158 P9 P59 P109 P159 P10 P60 P110 P160 P11 P61 P111 P161 P12 P62 P112 P162 P13 P63 P113 P163 P14 P64 P114 P164 P15 P65 P115 P165 P16 P66 P116 P166 P17 P67 P117 P167 P18 P68 P118 P168 P19 P69 P119 P169 P20 P70 P120 P170 P21 P71 P121 P171 P22 P72 P122 P172 P23 P73 P123 P173 P24 P74 P124 P174 P25 P75 P125 P175 P26 P76 P126 P176 P27 P77 P127 P177 P28 P78 P128 P178 P29 P79 P129 P179 P30 P80 P130 P180 P31 P81 P131 P181 P32 P82 P132 P182 P33 P83 P133 P183 P34 P84 P134 P184 P35 P85 P135 P185 P36 P86 P136 P186 P37 P87 P137 P187 P38 P88 P138 P188 P39 P89 P139 P189 P40 P90 P140 P190 P41 P91 P141 P191 P42 P92 P142 P192 P43 P93 P143 P193 P44 P94 P144 P194 P45 P95 P145 P195 P46 P96 P146 P196 P47 P97 P147 P197 P48 P98 P148 P198 P49 P99 P149 P199 Machine parameters for the main spindle PO P50 P100 P150 P1 P51 P101 P151 P2 P52 P102 P152 P3 P53 P103 P153 P4 P54 P104 P154 P5 P55 P105 P155 P6 P56 P106 P156 P7 P57 P107 P157 P8 P58 P108 P158 P9 P59 P109 P159 P10 P60 P110 P160 P11 P61 P111 P161 P12 P62 P112 P162 P13 P63 P
31. I CONDI M01STOP When the operator selects the conditional mode I CONDI the CNC general logic input M01STOP must be activated It interrupts the program when executing M01 START AND rest of conditions CYSTART When the cycle START key is pressed the CNC activates the general logic output START The PLC must check that the rest of the conditions hydraulic safety devices etc are met before setting the general input CYSTART high in order to start executing the program SERVO OK AND NOT LOPEN SERVO1ON SERVO2ON SERVO30N If the servo drives are OK and the CNC does not detect any errors in the positioning loop of the axes LOPEN the positioning loop must be closed on all axes Axis logic inputs of the CNC SERVO1ON SERVO2ON SERVO3ON Treatment of the axis overtravel limit switches I LIMTX1 LIMIT 1 I LIMTX2 LIMIT 1 I LIMTY1 LIMIT 2 I LIMTY2 LIMIT 2 I LIMTZ1 LIMIT 3 I LIMTZ2 LIMIT 3 sl W a dl a 3 0 g E as O gt lt x cc e ao a O ar a FAGOR 2 CNC 8037 SOFT V01 6x 431 PLC PROGRAMMING EXAMPLE I gt Main module FAGOR CNC 8037 SOFT V01 6x 432 Treatment of the machine reference home switches I REFOX DECEL1 I REFOY DECEL2 I REFOZ DECEL3 Message treatment The PLC allows displaying the corresponding PLC message at the CNC screen by activating marks MSG1 through MSG255 This text mus
32. RETRACT M5567 It indicates that the drilling or mill type threading operation or the lathe type threading withdrawal has stopped TMINEM M5569 It indicates tha the CNC has detected an error during tool change Axis logic outputs Axis 1 Axis 2 Axis 3 ENABLE M5600 M5650 M5700 Enables axis movement DIR M5601 M5651 M5701 Indicate axis moving direction REFPOIN M5602 M5652 M5702 Home search done DRSTAF M5603 M5653 M5703 With Sercos They indicate servo drive status DRSTAS M5604 M5654 M5704 With Sercos They indicate servo drive status ANT M5606 M5656 M5706 If distance lt MINMOVE P54 ANT 1 INPOS M5607 M5657 M5707 Axis in position Spindle logic outputs Main ENABLES M5950 Enables spindle movement DIRS M5951 Spindle turning direction REFPOINS M5952 The spindle has been already referenced homed DRSTAFS M5953 With Sercos They indicate servo drive status DRSTASS M5954 With Sercos They indicate servo drive status REVOK M5956 Spindle rpm correspond to programmed speed INPOSS M5957 Spindle in position Auxiliary M S T function transfer MBCD1 R550 Auxiliary M function to be executed in the main channel MBCD2 R551 Auxiliary M function to be executed in the main channel MBCD3 R552 Auxiliary M function to be executed in the main channel MBCD4 R553 Auxiliary M function to be executed in the main channel MBC
33. These adjustments are performed on servo drives of the axes and on spindle drives Offset drift adjustment Disconnect the velocity command input and short circuit it with a wire jumper Turn the offset potentiometer of the drive until the voltage on the tach terminals is OmVdc Check this with a volt meter set at a range of 200 mV 4 Remove take the wire jumper that short circuited the velocity command input Maximum feedrate adjustment Setup Itis recommended to adjust the drives so the maximum feedrate is obtained with a velocity command voltage of 9 5V If they are adjusted to a different voltage it must be indicated in the a m p or s m p MAXVOLT P37 Also the maximum feedrate must be indicated in the a m p GOOFEED P38 The maximum feedrate can be calculated from the motor rpm the gear ratios and the type of leadscrew being used Example A motor can turn at 3000 rpm and it is attached to a 5 pitch screw 5 mm turn The maximum feedrate will be MACHINE AND POWER CONNECTION 3000 rpm x 5 mm turn 15000 mm minute This will be the value to be assigned to a m p GOOFEED P38 Once these values are assigned to the relevant parameters the drives must be adjusted To do so a CNC program can be executed which will move the axis back and forth continuously at GOO feedrate One such program could be N10 G00 G90 X200 X 200 GOTO N10 If the Tach in use provides 20V per 1000 rpm its voltage should be 20
34. Value Meaning NO It ignores the setting of the switch Always at 100 YES It is affected by the of the switch Default value NO CFGFILE P127 Not being used STEODISP P128 It indicates whether the CNC displays the real or theoretical RPM affected by the of the main spindle Value Meaning 0 It displays the real RPM 1 It displays the theoretical RPM Default value 0 When not having spindle encoder NPULSES 0 it is recommended to set P128 1 so it displays theoretical value SI HDIFFBAC P129 This parameter has 16 bits counted from right to left bit 1514131211109 8 7 6 543210 LIS LEUCA LECCESE CEE MACHINE PARAMETERS General machine parameters Each bit has a function or work mode associated with it By default all the bits will be assigned the value of 0 Assigning the value of 1 activates the corresponding function Bit Meaning Bit Meaning 0 Handwheel 1 8 1 Handwheel 2 9 2 10 3 11 4 12 5 13 6 14 7 15 It limits the movement Default value in all the bits 0 Bit 15 indicates how the CNC acts when requesting a feedrate greater than the maximum allowed depending on the handwheel turning speed and the position of the switch 0 It limits the feedrate to the maximum allowed but it moves the indicated distance 1 It limits the feedrate and the distan
35. With these variables it is possible to set a second travel limit for each axis LIMPL for the upper limit and LIMMI for the lower one The PLC activates and deactivates these second limits through general logic input ACTLIM2 M5052 The second travel limit will be taken into account if the first one has been set using axis machine parameters LIMIT P5 and LIMIT P6 A x Variables associated with coordinates ACCESS TO INTERNAL CNC VARIABLES FAGOR 2 CNC 8037 SOFT V01 6x 395 ACCESS TO INTERNAL CNC VARIABLES N Variables associated with electronic handwheels FAGOR CNC 8037 SOFT V01 6x 396 12 7 Variables associated with electronic handwheels Read only variables HANPF HANPS HANPT HANPFO They return the pulses of the first HANPF second HANPS third HANPT or fourth HANPFO handwheel received since the CNC was turned on HANDSE For handwheels with axis selector button it indicates whether that button has been pressed or not A value of 0 means that it has not been pressed Read and write variables HANFCT It returns the multiplying factor set by PLC for each handwheel It must be used when using several electronic handwheels or when using a single handwheel but different multiplying factors x1 x10 x100 are to be applied to each axis Cc B A Ww V U Z Y X cibla c b alc b a c b alc bjaj c b la c bla c b la c bla Isb
36. 0 z X max fy Nu SWITCH2 C N _ SWITCH2 1 4 r 7 ML 1 gt 77 X Feedback e X FAGOR CNC 8037 SOFT V01 6x 148 JERKLIM P67 It defines the derivative of the acceleration It may be used to limit the acceleration changes to smooth the machine movements on small speed increments or decrements and with FFGAIN values close to 100 The CNC ignores this parameter when moving with electronic handwheels mechanical handwheels look ahead threading G33 and rigid tapping The smaller the value assigned to JERKLIM the smoother the machine s response but the acc dec time will be longer When increasing the value of JERKLIM it decreases the acc dec time but the machine response worsens I Possible values Use parameter ACCTIME2 when adjusting the second set of parameters 3 9 2 Between 0 and 99999 9999 m s o g 2 Default value 0 mi S Recommended values 4 a In millimeters JERKLIM 82 GOOFEED ACCTIME 2 2 In inches JERKLIM 2082 GOOFEED ACCTIME 2 I O lt x If the stability of the machine is affected by the values mentioned earlier the JERKLIM value should be lowered to half as much IOCODI1 P68 IOCODI2 P69 The CNC takes this parameter into account when a m p IOTYPE P52 has been set with a value other than 0 Parameter IOCODD1 P68 indicates the gap between 2 fixed
37. 160 POLARM3 P7 POLARMA P8 Indicates the sign of the spindle velocity command for M03 and M04 Value Meaning sign Positive command sign Negative command Default value For POLARMS P7 sign For POLARM4 P8 sign If the same value is assigned to both parameters the CNC will output a single polarity OV to 10V command with the indicated sign SREVMOS5 P9 This parameter is used with a Mill model CNC Indicates whether it is necessary or not to stop the spindle M05 when reversing rotation direction during a tapping canned cycle G84 Value Meaning NO It is not necessary YES It is necessary Default value YES MINSOVR P10 MAXSOVR P11 Indicate the minimum and maximum applicable to the programmed spindle speed Possible values Integer numbers between 0 and 255 Default value For MINSOVR P10 50 For MAXSOVR P11 150 The resulting speed will be limited to the value indicated by s m p MAXVOLT1 P37 MAXVOLT2 P38 MAXVOLT3 P39 or MAXVOLT4 P40 corresponding to the selected gear SOVRSTEP P12 Indicates the incremental step of the programmed spindle speed every time the override keys at the operator panel are pressed Possible values Integer numbers between 0 and 255 Default value 5 NPULSES P13 Indicates the number of pulses per revolution provided by the spindle encoder 0 means that there is no spindle encoder It must be set when the drive s vel
38. CNC 8037 SOFT V01 6x 163 Spindle parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 164 Installation manual The scale for the following error is 10um per square e Proper adjustment with Feed forward Actual Feed Actual Feed Following Error E LOOPCHG P26 Indicates the sign of the velocity command If correct leave it as is but to change it select YES if it was set to NO and viceversa NO YES Default value NO MINANOUT P27 Indicates the minimum value for the spindle velocity command It is given in D A converter units and it admits integer values between 0 and 32767 which corresponds to an analog command of 10V Default value 0 MINANOUT Minimum velocity command 1 0 3 mV 3277 1V 32767 10 V SERVOFF P28 Defines the velocity command offset value for the drive Itis given in D A converter units and it admits integer values between 0 and 32767 which corresponds to an analog command of 10V Default value 0 not applied SERVOFF Command 32767 10 V 3277 av fe 0 3 mv 3277 iv 32767 10v LOSPDLIM P29 UPSPDLIM P30 Indicate the upper and lower limits of the actual spindle speed so the CNC can notify the PLC by means of the REVOK signal that the actual spindle rpms are the same as the programmed ones Possible values Integer numbers between 0 and 255 Default value For L
39. Default value 1 It admits values other than 1 and decimal values When HPITCH is set with a decimal value the screen will show the coordinates with decimals Any stop or continuous jog movement will stop the axis in coordinates multiple of HPITCH The incremental jog movements will be similar to the ones carried out with a 1 degree pitch e For incremental switch positions of 1 10 100 or 1000 it will move 1 step e For an incremental switch position 10000 the movement will be multiple of the closest pitch to 10 and under 10 If the pitch value is greater than 10 it will move a single step Even if the position of a Hirth axis does not coincide with its Hirth pitch any other axis may be moved to a valid position in both automatic and jog modes An error message will be issued if the position to move the axis does not coincide with the pitch In any case it is possible to move any other axis in both automatic and jog modes AXISDEF P90 It allows customizing the movement of the axis This parameter has 16 bits counted from right to left bit 1514131211109 8 7 6 5 4 3 2 10 E E E E SOC Jedd Each bit has a function or work mode associated with it By default all the bits will be assigned the value of 0 Assigning the value of 1 activates the corresponding function Bit Meaning 0 14 Not being used 15 Rollover axis Movemen
40. FAGOR CNC 8037 SOFT V01 6x 158 If the feedback difference exceeds the value set in a m p FBACKDIF P100 the CNC will issue the corresponding error message MAXDIFAB P101 This parameter sets the maximum feedback difference between that of the CNC and the one indicated by the absolute encoder on power up Possible values Between 0 and 99999 9999 degrees or millimeters Between 0 and 3937 00787 inches Default value 1mm for linear axes Default value 1 for rotary axes When using absolute feedback and a m p MAXDIFAB P101 0 on power up the CNC will issue a warning indicating that safety is disabled If the position value received from the absolute feedback is not the same as that of the CNC and it is even greater than the value of a m p MAXDIFAB P101 the CNC will show a error window on power up this window only comes up once in every power up To eliminate this error select the option REMOVE ERROR and press ENTER This way the axis will assume the value indicated by the absolute feedback If the EXIT option is selected or the ESC key is pressed the CNC will show the error message Feedback error on the axis and it will prevent the machine from moving This error can only be eliminated by powering the CNC up again and selecting the option REMOVE ERROR Once the error has been removed if the axis is out of the permitted limits the CNC will only allow to move the axes towards the are
41. If the drive has version V4 02 or later absolute feedback is treated at the drive s first feedback The CNC checks the RV5 variable of the drive drive set with absolute encoder and drive parameter PP177 Absolute distance1 that indicates the distance between machine zero home and the encoder s absolute zero DI es a o Ww o Oz Z lt O O Og D Q FAGOR CNC 8037 SOFT V01 6x 261 6 12 Fagor handwheels HBA HBE and LGB Fagor handwheels HBA HBE and LGB have e a pulse generator encoder e an emergency output e One or two enable buttons e An axis selector switch e A resolution selector switch 6 The encoder signals must be taken to the specific connectors of the CNC CONCEPTS Fagor handwheels HBA HBE and LGB Shield 0V 5V A CNC In the example the handwheel signals are taken to the feedback input connector Set the corresponding g m p AXIS for example AXIS4 P3 11 The emergency button must be used in the safety chain of the electrical cabinet EMERGENCY SWITCH HBE HB4 LGB gt gt 5 5 AL AF SL The HBE handwheel has one contact and the HBA and LGB models have a dual safety contact FAGOR The enable push button or buttons the axis selector and resolution selector switches are always handled b
42. It returns the speed limit of the main spindle in rpm currently selected via DNC If it has a value of O it means that it is not selected PLCSL It returns the speed limit of the main spindle in rpm currently selected by PLC If it has a value of O it means that it is not selected PRGSL It returns the speed limit of the main spindle in rpm currently selected by program MDISL Maximum machining spindle speed This variable is also updated refreshed when programming function G92 via MDI Position related variables POSS Indicates the spindle travel considering the 214748 3647 limit of the variable Once the maximum is exceeded it starts adding from the minimum RPOSS It returns the real position of the main spindle Its value is given in 0 0001 degree units between 360 and 360 TPOSS It returns the theoretical position of the main spindle real position lag Its value is given in 0 0001 degree units within 999999999 RTPOSS It returns the theoretical position of the main spindle real position lag in 360 module Its value is given in 0 0001 degree units within 0 and 360 PRGSP Position programmed in M19 via program for the main spindle This variable may be read from the CNC from the PLC and from DNC Read only variables associated with the following error axis lag FLWES Following error lag of the main spindle Its value is given in 0 0001 degree units within 999999999
43. MSTROBE L AUXEND ey e a o I E Once the AUXEND input is activated the CNC will require that this signal be kept active for a time period greater than the value given to the g m p MINAENDW P30 This way erroneous interpretations of this signal by the CNC due to an improper PLC program logic are avoided Once the MINAENDW time has elapsed with the AUXEND general input kept high the CNC will check whether the new spindle gear has been selected by verifying that the corresponding input GEAR1 GEAR4 is set high If it is it will cancel the general logic output MSTROBE to tell the PLC that the gear change has finished and if the corresponding input GEAR1 GEAR4 is not selected the CNC will stop the axes feed and the spindle rotation displaying the corresponding error message If the M41 M42 M43 or M44 function does not use the AUXEND signal e The CNC indicates to the PLC the selected gear M41 M42 M43 or M44 in one of the registers MBCD1 through MBCD7 and it activates the MSTROBE signal to let the PLC know that it must execute it The CNC will keep the output MSTROBE active during the time indicated by means of g m p MINAENDW P30 e After this time the CNC will check whether the new spindle gear has been physically selected by verifying that the corresponding GEAR input GEAR1 GEAR4 is set high e If it is not selected the CNC will stop t
44. The central unit has a protection against overvoltage that activates at 36 V The supply current has the following shape on power up FAGOR CNC 8037 SOFT V01 6x 71 MACHINE AND POWER CONNECTION FAGOR CNC 8037 SOFT V01 6x 72 Machine connection The machine tool must have all the interference generating elements relay coils contactors motors etc uncoupled DC relay coils Diode type 1N4000 e AC relay coils RC connected as close as possible to the coils Their approximate values should be R 220 Q 1W C 0 2 uF 600 V e AC motors RC connected between phases with values R 300 0 6W C 0 47 uF 600 V Ground connection It is imperative to carry out a proper ground connection in order to achieve e Protection of anybody against electrical shocks caused by a malfunction e Protection of the electronic equipment against interference generated by the proper machine or by other electronic equipment near by which could cause erratic equipment behavior Thus it is essential to connect all metallic parts to a point and it to ground in order to achieve this Therefore itis crucial to install one or two ground points where the above mentioned elements must be connected Use large section cables for this purpose in order to obtain low impedance and efficiently avoid any interference This way all parts of the installation will have the same voltage reference Proper
45. additional velocity command is eliminated peak compensation cutoff depending on the values of the following parameters G m p BAKTIME P30 g m p ACTBAKAN P145 and a m p PEAKDISP P98 The axis machine parameter PEAKDISP P98 defines the actual distance traveled along the corresponding axis after the theoretical reversal from which the reversal peak is cut off on that axis Possible values Between 0 and 99999 9999 millimeters Default value 0 005 This axis machine parameter will be taken into account when bit 1 of general machine parameter ACTBAKAN P145 is set to 1 if the peak is exponential or if it is square If the value of a m p PEAKDISP P98 0 and bit 1 of g m p ACTBAKAN P145 1 the compensation peak will be cut off with the second consecutive loop where the counting reversal has been detected Example Cutting the exponential compensation off rpm Command to end the execution of the compensation cutoff The axis has moved PEAKDISK mm indicated by the feedback device BAKANOUT ms Command to execute the compensation Theoretic al A Moving distance set by parameter PEAKDISP A Position given by the feedback device REVEHYST P99 This parameter is used to be able to control when the compensation should really be applied after detecting a movement reversal and not applying it every time a reversal command is received This
46. consist of a series of instructions which depending on their functionality can be divided into e Directing instructions e Executable instructions The directing instructions provide the PLC with information on the type of module PRG CY1 and on how it must be executed REA IMA Executable instructions allow inquiries to be made on and or alterations to the status of PLC resources and consist of Logic expressions Boolean 0 1 128 AND 130 Action instructions 025 Logic expressions consist of Consulting instructions 128 025 Operators AND All comments must begin with Lines beginning with a are considered comments and are not executed Programming example PRG Directing instruction Example Comment 1100 M102 Executable instruction 128 AND 130 Logic expression 025 Action instruction 132 Consulting instruction 1st part of expression AND 136 Consulting instruction 2nd part of expression M300 Action instruction END Directing instruction See Summary of PLC commands on page 453 Empty lines are not allowed they must contain at least one comment 9 2 Directing instructions These provide the PLC with information on the type of module and the way it must be executed The directing instructions available at the PLC are PRG PEt CY1 Define the module type PRG Main module CY1 First cycle module 9g n PE Periodic module It is exec
47. s I resources are assigned the current values of the physical inputs connectors For example if the physical input 110 is at 24V the PLC sets the 110 resource to 1 2 It allocates the current values of the logic CNC outputs CNCREADY START FHOUT etc to PLC resources M5500 thru M5957 and R550 thru R562 3 It runs the program cycle The following sections indicate how the PLC program is structured and which are its execution modules See 8 4 Modular structure of the program on page 311 4 After executing the cycle it updates the Logic CNC inputs EMERGEN STOP FEEDHOL etc with the current values of PLC resources M5000 thru M5465 and R500 thru R505 5 It assigns the current values of the PLC s O resources to the physical outputs connectors For example if the O5 resource is at 1 the PLC sets physical output O5 connector to 24V 6 The cycle ends and is ready for the next scan Bear in mind that all the actions of the program executed by the PLC alter the status of its resources Example 110 AND 120 O5 When this condition is met resource 110 is 1 and 120 is also 1 the PLC sets resource O5 to 1 If this condition is not met the PLC sets resource O5 to 0 Therefore the status of a resource may change during the execution of the PLC program Example assuming that the initial status of resource M100 is 0 M100 AND 17 03 Resource M100 0 110
48. 161 80 401 240 561 320 1 24V 24V 24V External power supply 1 2 033 033 i 3 035 035 4 037 037 O 5 5 039 039 aS 6 sue 041 041 5 re 7 ch 043 043 SO gt 8 045 045 O 9 ae 047 047 3 10 ds a 049 zZ i 11 se size O51 Oo 06 12 053 Dali 13 055 10 616 14 197 34 0 0 15 15 199 33 0 14 3210 613 16 1101 31 9 615 17 st sea 1103 29 8 011 18 OV OV OV External power supply x Olic 19 OV OV OV External power supply o o A 20 24V 24V 24V External power supply ol 21 034 034 lo ole 22 036 036 5 310 o5 23 038 038 olo 2 4 24 040 040 0 2 25 ssi 042 042 91 oli 26 044 044 27 046 046 28 048 048 29 050 30 052 31 054 32 O56 33 198 34 1100 35 1102 36 1104 37 Chassis Chassis Chassis Shield FAGOR CNC 8037 SOFT V01 6x 137 CNC CONFIGURATION CNC structure FAGOR CNC 8037 SOFT V01 6x 38 Connector X8 For connecting the outputs for the velocity command of the axes 9 pin normal density SUB D type female connector Pin Signal and function oo000 00000 1 Chassis Shield 2 Cons 1 Velocity command output for the first axis 3 Cons 2 Velocity command output for the second axis 4 Cons 3 Velocity command output for the third axis 5 Cons 4 Not being used 6 GND 7 GND
49. 341 10 3 Displaying messages errors and screens The PLC has a series of marks that allow messages and errors to be displayed in the CNC as well as displaying screens which have been defined previously by the user Displaying messages 1 0 The PLC has 255 marks with their corresponding mnemonic for displaying messages in the CNC un z v M4000 MSG001 M4100 MSG101 M4252 MSG253 Cc 2 M4001 MSG002 M4101 MSG102 M4253 MSG254 qo M4002 MSG003 M4102 MSG103 M4254 MSG255 55 9 o 9 5 o g D If one of these marks is activated high logic level the CNC will display the selected message 9 2 number and its associated text on the PLC message display window upper right hand part O E The CNC allows a text to be associated to each PLC message PLC message editing mode Ifthe PLC activates 2 or more messages the CNC will always display the message with the highest a priority this being understood as being the message with the lowest number In this way MSG1 will A have the highest priority and MSG255 the lowest priority In this same message display window the CNC can show the character plus sign which indicates that there are more messages activated by the PLC and these can be displayed if the active message page option is accessed in the PLC operating mode A message can be erased by deactivating it from the PLC program low logic level or from the CNC keyboard after selecting
50. Di Jog CONCEPTS FAGOR 2 CNC 8037 SOFT V01 6x 205 Jog CONCEPTS FAGOR CNC 8037 SOFT V01 6x 206 6 2 2 Path jog mode This mode may be used to act upon the jog keys of an axis to move both axes of the plane at the same time for chamfering straight sections and rounding curved sections The path jog mode acts when the switch is in the continuous or incremental jog positions The CNC assumes as Path jog the keys associated with the X axis Feature setting This feature must be managed from the PLC To activate or cancle the Path jog work mode act upon the logic CNC input MASTRHND M5054 M5054 0 Path JOG function off M5054 1 Path jog mode ON To indicate the type of movement use CNC logic input HNLINARC M5053 M5053 0 Linear Path M5053 1 Circular path For a linear path indicate the path angle in the MASLAN variable value in degrees between the linear path and the first axis of the plane For an arc indicate the arc center coordinates in the MASCFI MASCSE variables for the first and second axes of the main plane i MASCFI Variables MASLAN MASCFI and MASCSE may be read and written from the CNC DNC and PLC Operation of the path jog feature The path jog mode is only available with the X axis keys When pressing one of the keys associated with the X axis the CNC behaves as follows Switch position Path jog Type of
51. FAGOR CNC 8037 Variables associated with coordinates SOFT V01 6x 394 12 6 Variables associated with coordinates The values are given in the units set by g m p INCHES If INCHES 0 in ten thousandths of a millimeter 999999999 If INCHES 1 in hundred thousandths of an inch 393700787 If rotary axis in ten thousandths of a degree 999999999 Read only variables Accessing any of the variables POS X C TPOS X C APOS X C ATPOS X C DPOS X C or FLWE X C interrupts block preparation and the CNC waits for that command to be executed before resuming block preparation POS X C It returns the real tool base position value referred to machine reference zero home On limit less rotary axes this variable takes into account the value of the active zero offset The values of the variable are between the active zero offset and 360 ORG 360 If ORG 20 it displays between 20 and 380 displays between 340 and 20 If ORG 60 it displays between 60 and 300 displays between 420 and 60 At the lathe model CNC the coordinates of each axis are given as follows e When read from the CNC they are given in radius or diameter depending on the active units system Check the DIAM variable to know the active units system e When read from the PLC they are always given in radius TPOS X C It returns the theoretical position value real coordinate following error of th
52. FFGAIN P25 to the desired value As an example the following values may be used For slow machining between 40 and 60 For regular feed machining between 60 and 80 Machines laser plasma between 80 and 100 6 5 5 Derivative AC forward gain setting With the derivative gain it is possible to reduce the following error during the acc dec stages Its value is given by a m p DERGAIN P24 When this additional velocity command is due to fluctuations of following error ACFGAIN P46 NO it is called derivative gain FFGAIN o te Programmed Raf N i DI PROGAIN lt Feedback CONCEPTS Axis adjustment When it is due to variations of the programmed feedrate ACFGAIN P46 YES it is called AC forward gain since it is due to acc dec FEGAIN is gt DERGAIN pm Analog output Programmed PROGAIN Best results are usually obtained when using it as AC forward Gain ACFGAIN P46 YES together with feed forward gain This gain is only to be used when operating with acceleration deceleration control A practical value between 2 to 3 times the Proportional Gain PROGAIN P23 may be used To perform a critical adjustment proceed as follows e Verify that there are no oscillations of following error In other words that it is not unstable e Check with an oscilloscope the tacho voltage or the command voltage at the drive v
53. FIRST Indicates whether it is the first time that a program has been run or not It returns a value of 1 if it is the first time and 0 if not A first time execution is considered as being one which is done e After turning on the CNC e After pressing SHIFT RESET e Every time a new program is selected ANAIn It returns the status of the indicated analog input n The value is given in tenth thousandths of a volt e It is possible to select one of the 8 analog inputs 1 8 available The values returned will be within the 5 V range e In the case of analog CAN I O the value assigned will be expressed in 0 0001 volt units and within 10 V It is possible to select one of the 16 analog inputs 1 16 available See chapter 3 Remote modules bus CAN with CanOPEN protocol CNCERR Returns the Error code active at the CNC If none it returns 0 DNCERR Returns the Error code generated via DNC If none it returns 0 DNCSTA DNC transmission status even when not having this option There is on bit that will be set to 1 when a transmission is in progress TIMEG It shows the timing status of the timer programmed with G4 K in the CNC channel This variable returns the time remaining to end the timing block in hundredths of a second RIP Linear theoretical feedrate resulting from the next loop in mm min The calculation of the resulting feedrate ignores the rotary axes slave axes gantry coupled and synchr
54. FZUP X C R R W R Work zone 1 Upper limit along the selected axis X C SZONE R R W R Status of work zone 2 SZLO X C R R W R Work zone 2 Lower limit along the selected axis X C SZUP X C R R W R Work zone 2 Upper limit along the selected axis X C TZONE R R W R Status of work zone 3 TZLO X C R R W R Work zone 3 Lower limit along the selected axis X C TZUP X C R R W R Work zone 3 Upper limit along the selected axis X C FOZONE R R W R Status of work zone 4 FOZLO X C R R W R Work zone 4 Lower limit along the selected axis X C FOZUP X C R R W R Work zone 4 Upper limit along the selected axis X C FIZONE R R W R Status of work zone 5 FIZLO X C R R W R Work zone 5 Lower limit along the selected axis X C FIZUP X C R R W R Work zone 5 Upper limit along the selected axis X C Feedrate related variables Variable CNC PLC DNC section 12 5 FREAL R R R Real feedrate of the CNC in mm min or inch min FREAL X C R R R Actual real CNC feedrate of the selected axis FTEO X C R R R Theoretical CNC feedrate of the selected axis Variables associated with function G94 FEED R R R Active feedrate at the CNC in mm min or inch min DNCF R R R W Feedrate selected via DNC PLCF R R W R Feedrate selected via PLC PRGF R R R Feedrate selected by program Variables associated with function G94 FPREV R R R Active feedrate at CNC in m rev or inch rev DNCFPR R R R W Feedrate selected
55. Grooving cycle 4 19 Taper turning cycle 3 27 Turning cycle 2 28 Cut off cycle 29 A A Other variables ACCESS TO INTERNAL CNC VARIABLES FAGOR CNC 8037 SOFT V01 6x 411 Other variables ACCESS TO INTERNAL CNC VARIABLES N FAGOR 2 CNC 8037 SOFT V01 6x 412 Cycle lathe model TC CYCEDI Facing cycle 2 31 Part zero offset cycle 34 Work zones cycle 35 Labels and jumps cycle 36 Mirror image cycle 37 Scaling factor cycle 38 DISBLO Variable that indicates the value of thetotal distance programmed in blocks with look ahead This variable is read only from the CNC and PLC and DNC and may be viewed at the oscilloscope RADIOC Variable that indicates the programmed radius value when executing a G15 R This variable can only be read from the CNC Read and write variables TIMER This variable allows reading or modifying the time in seconds indicated by the clock enabled by the PLC Possible values 0 4294967295 The CNC will set this value to 0 when changing the software version or when a checksum error occurs PARTC The CNC has a part counter whose count increases in all modes except simulation every time M30 or M02 is executed and this variable allows its value to be read or modified This value will be between 0 and 4294967295 The CNC will set this value to 0 when changing the software version or when a checksum error occurs KEY It allows
56. Ham radio transmitters Nearby radio TV transmitters Nearby arc welding machines Nearby High Voltage power lines Etc Enclosures The manufacturer is responsible of assuring that the enclosure involving the equipment meets all the currently effective directives of the European Community Avoid disturbances coming from the machine tool The machine tool must have all the interference generating elements relay coils contactors motors etc uncoupled DC relay coils Diode type 1N4000 AC relay coils RC connected as close to the coils as possible with approximate values of R 220 Q 1Wy C 0 2 pF 600 V AC motors RC connected between phases with values of R 300 Q 6 W y C 0 47 pF 600 V Use the proper power supply Use an external regulated 24 Vdc power supply for the inputs and outputs Grounding of the power supply The zero volt point of the external power supply must be connected to the main ground point of the machine Analog inputs and outputs connection It is recommended to connect them using shielded cables and connecting their shields mesh to the corresponding pin Ambient conditions The working temperature must be between 5 C and 40 C 41 F and 104 F The storage temperature must be between 25 C and 70 C 13 F and 158 F Central unit enclosure 8037 CNC Make sure that the needed gap is kept between the central unit and each wall of the enclosure Use
57. LED on The module works properly Single blinking Module stopped Blinking fast Module configuration stage Continuous blinking Start up stage or error Line Term selector Line terminating resistor The Line_Term switch identifies which are the elements that occupy the ends of the CAN bus i e the first and last physical element in the connection The switch of the elements at the ends must be in the 1 position and the rest of the elements in the 0 position The central unit must always be at one end of the line The other end will be the last one of the remote module groups Description of the connectors digital inputs and outputs 3 gt nl Q S Connector X4 amp X5 Digital outputs 8 outputs in each connector ro D EF o 10 pin male Phoenix minicombicon connector 3 5 mm pitch 2 3 o o Both connectors must be powered with 24 V DC and GND Z oO Signal Function x4 x5 24V Power supply Pa n 24V 24V ni t a 01 08 Digital outputs e 02 lle O10 z Majos e on 09 016 Digital outputs Pi tejo Pe Jor n eos Le fos GND Power supply 06 le 014 Melo re jos in lle 08 l e 016 a GND cnD a e Connector X6 amp X7 Digital inputs 12 inputs in each connector Li fe 12 pin male Phoenix minicombicon connector 3 5 mm pitch cc Signal Function X6 11 112 Digital inputs x Li 13 1
58. M5060 When the PLC sets this mark high the CNC ends the movement in progress and starts executing the next block If the interrupted block had M functions to be executed after the block they will be executed before going on to the next block This mark only affects the execution in automatic mode and the simulation with motion This mark does not stay active after the execution Once executed the CNC deactivates it Likewise if they are activated in a block that does not accept them they will also be deactivated they do not stay active for the next block These marks affect the following functions e It affect motion blocks GO G1 G2 G3 e They affect the dwell programmed with G4 e It affects the look ahead In this type of programs with very small blocks it is not possible to stop at the same block where the BLOABOR mark is detected In these cases it will be canceled at the block where the axis is fully decelerated These marks do not affect the following functions e It does not affect motionless blocs which will be executed e It does not affect the M functions that are executed after the block These functions are always executed even if the movement of the block is interrupted e Itdoes affect not affect threading blocks G33 Nor does it affect the regular tapping or rigid tapping cycles regardless of the value of parameter STOPTAP e Itdoes not affect spindle positioning blocks M19 If the spindle positioning is in
59. SSTROBE to indicate to the PLC to go ahead with its execution This transmission is carried out at the beginning of the block execution and the CNC will wait for the AUXEND general input to be activated and then consider its execution completed T function The CNC will indicate via the variable TBCD R558 the T function which has been programmed in the block and activates the general logic output TSTROBE to tell the PLC to go ahead with its execution This transmission is made at the beginning of the block execution and the CNC will wait for the general input AUXEND to be activated to consider the execution completed Second T function The CNC transfers the second T function to the PLC in the following cases e When having a machining center with non random tool magazine g m p TOFFM06 P28 YES and RANDOMTC P25 NO e When using a random tool magazine g m p RANDOMTC P25 YES and a special tool change takes place See the chapter Tool table of the operating manual On executing the M06 function a the CNC indicates the position of the magazine empty pocket where the tool being in the spindle must be placed This indication will be made by means of the variable T2BCD R559 and by activating the general logic output T2STROBE to tell the PLC that it must execute this The CNC will wait for the general input AUXEND to be activated to consider the execution completed ae eee It must be borne in mind that at th
60. The status of each one of the functions will be given in the 25 least significant bits and it will be indicated by a 1 when active and a 0 when not active or when not available in the current software version G149 G148 G147 G146 G145 sas G129 G128 G127 G126 G125 GGSG It returns the status of functions G150 through G174 The status of each one of the functions will be given in the 25 least significant bits and it will be indicated by a 1 when active and a 0 when not active or when not available in the current software version G174 G173 G172 G171 G170 sii G154 G153 G152 G151 G150 GGSH It returns the status of functions G175 through G199 The status of each one of the functions will be given in the 25 least significant bits and it will be indicated by a 1 when active and a 0 when not active or when not available in the current software version G199 G198 G197 G196 G195 dar G179 G178 G177 G176 G175 GGSI It returns the status of functions G200 through G224 The status of each one of the functions will be given in the 25 least significant bits and it will be indicated by a 1 when active and a 0 when not active or when not available in the current software version G224 G223 G222 G221 G220 sxs G204 G203 G202 G201 G200 GGSJ It returns the status of functions G225 through G249 The status of each one of the functions will b
61. X3 X7 X4 X8 11 112 Digital inputs pA Ka Hi 113 124 Digital inputs pej 15 Feju l e ne e is en a G 18 eli Lefn le 18 e 120 l e E Lefi e no e i22 Dali i23 e 12 Ie 124 Digital inputs and digital outputs double module REMOTE MODULES BUS CAN WITH CANOPEN PROTOCOL FAGOR 2 CNC 8037 SOFT V01 6x 67 Electrical characteristics of the inputs and outputs REMOTE MODULES BUS CAN WITH CANOPEN PROTOCOL FAGOR CNC 8037 SOFT V01 6x 3 5 Electrical characteristics of the inputs and outputs Digital inputs All digital inputs are galvanically isolated through opto couplers The electrical characteristics of the inputs are Nominal voltage 24 V DC between 18 V and 30 V DC High threshold 1 From 18 V DC up Low threshold 0 Under 9 V DC Typical consumption of each input 5 MA Maximum consumption of each input 7 MA Digital outputs All digital outputs are galvanically isolated through opto couplers The electrical characteristics of the outputs are Nominal voltage 24 V DC between 18 V and 30 V DC Output voltage 2 V less than the supply voltage Maximum output current 500 mA per output The digital outputs have a fuse inside for protection against over voltage over 33 V DC and against reverse connection of the power supply Analog inputs Use shielded cables connecting their me
62. a DC fan to improve enclosure ventilation e Power switch This power switch must be mounted in such a way that it is easily accessed and at a distance between 0 7 meters 27 5 inches and 1 7 meters 5 5ft off the floor E PROTECTIONS OF THE UNIT ITSELF 8037 o e e Central Unit It has a 4 A 250V external fast fuse F x7 ce n a amp FUSE 6 KE E oa O gt 5 O i Dv e Inputs Outputs AII the digital inputs and outputs have galvanic isolation via optocouplers between the CNC circuitry and the outside FAGOR 2 CNC 8037 Safety conditions FAGOR CNC 8037 16 PRECAUTIONS DURING REPAIR Do not get into the inside of the unit Only personnel authorized by Fagor Automation may manipulate the inside of this unit Do not handle the connectors with the unit connected to main AC power Before manipulating the connectors inputs outputs feedback etc make sure that the unit is not connected to AC power SAFETY SYMBOLS e Symbols which may appear on the manual Symbol for danger or prohibition It indicates actions or operations that may cause damage to people or to units Warning symbol It indicates situations that may be caused by certain operations and the actions to be taken to prevent them Obligation symbol It indicates actions and oper
63. bits 4 and 5 set to 0 or not See table below A remote module may have physical connections for PT100 probes but they are not connected That is why there is a bit indicating that there is a physical connection for the PT100 probe and another bit to indicated whether a probe is connected or not Therefore for a 16 bit string bit Ain Ea BOT cat 4 3210 Pee See ee UO PT100_1 XXXX XXXX XxX 0 1 0 1 xx 0 1 0 1 bit O Does it have a physical connection for PT100_1 probe no yes 0 1 bit 1 Does it have a physical connection for PT100_2 probe no yes 0 1 bit 4 Is there a PT100_1 probe connected to it yes no 0 1 bit 5 Is there a PT100_2 probe connected to it yes no 0 1 Others Reserved for Fagor remote modules Ifthe probe is not properly connected or the cable is defective the CNC will display an error message that will be treated like the errors at the digital inputs outputs NUIANA1 P122 NUIANA2 P124 NUIANA3 P126 NUIANA4 P128 They are used to set the remote modules They indicate the number of the first analog input of each remote module The rest of analog inputs of the same module will be numbered sequentially NUOANA1 P123 NUOANA2 P125 NUOANA3 P127 NUOANAA4 P129 They are used to set the remote modules They indicate the number of the first analog output of each remote module The rest of analog outputs of the same module will be numbered sequ
64. gt Gutput ALC pi __ pa L DERGAIN ACFGAIN YES FFGAIN DERGAIN Pro gammed la PROGAIN M19TYPE P43 This parameter sets the type of spindle orient M19 available It indicates whether the spindle must be homed when switching from open to closed loop or it is enough to home it once on power up Value Meaning 0 When switching from open loop to closed loop 1 Once after power up Default value 0 DRIBUSID P44 It indicates the address of the digital drive CAN associated with the spindle lt corresponds with the value of the drive s rotary switch address device select Value Meaning 0 Analog spindle 1 8 Address of the digital drive Default value 0 It is recommended not necessary that the Can addresses of the various axes and spindles be consecutive and start from number 1 the address of the CNC is always 0 For example with 3 CAN axes and 1 CAN spindle the values of this parameter must be 1 2 3 and 4 OPLACETI P45 When working in open loop M3 M4 spindle command variations may be in a step or in a ramp This parameter indicates the duration of the ramp in milliseconds for the maximum S If OPLACETI 0 it will be in a step Possible values Integers between 0 and 65535 ms Default value 0 in steps Sl Spindle parameters MACHINE PARAMETERS FAGOR 2 CNC 8037 SOFT V01 6x 167 MACHIN
65. home switches are no longer necessary However home switches may be used as travel limits during home search If while homing the home switch is pressed the axis will reverse its movement and it will keep searching home in the opposite direction Distance coded Fagor linear encoders have negative coded marker pulses Io Do not mistake the type of pulse provided by the feedback system with the value to be assigned to a m p REFPULSE P32 This parameter must indicate the type of active flank leading or trailing edge positive or negative of the reference mark lo used by the CNC If while homing an axis its corresponding DECEL signal is set high the axis will reverse movement and the home search will be carried out in the opposite direction 6 oO o FE a S O S 20 Q S O c g D OC FAGOR CNC 8037 SOFT V01 6x 237 CONCEPTS Reference systems FAGOR CNC 8037 SOFT V01 6x 238 Installation manual 6 6 4 Axis travel limits software limits Once all the axes have been referenced their software limits must be measured and set This operation must be carried out one axis at a time and it could be done as follows e Move the axis in the positive direction towards the end of the axis travel stopping at a safe distance from the mechanical end of travel stop e Assign the coordinate shown by the CNC for that point to a m p LIMIT P5 e Repeat these steps in the negative direction assigning th
66. s m p OUTPREV1 P73 output revolutions of the first gear 1 s m p OUTPREV2 P75 output revolutions of the second gear 1 s m p OUTPREV3 P77 output revolutions of the third gear 3 s m p OUTPREV4 P79 output revolutions of the fourth gear 1 Parameters involved in the calculation of the position feedback a m p NPULSES P13 number of pulses per turn of the encoder 18000 a m p SINMAGNI P65 Multiplying factor if the encoder is sinusoidal 200 Di CONCEPTS Gear ratio management on axes and spindle FAGOR CNC 8037 SOFT V01 6x 279 CONCEPTS Gear ratio management on axes and spindle FAGOR CNC 8037 SOFT V01 6x 280 Analog spindle Parameters involved in the calculation of the velocity command s m p s m p s m p s m p s m p s m p s m p s m p s m p s m p s m p s m p s m p s m p s m p s m p MAXGEARI P2 maximum rpm of the first gear 1000 MAXGEAR2 P3 maximum rpm of the second gear 2000 MAXGEAR83 P4 maximum rpm of the third gear 3000 MAXGEARA4 P5 maximum rpm of the fourth gear 3500 INPREV1 P72 INPREV2 P74 INPREV3 P76 INPREV4 P78 OUTPREV1 P73 OUTPREV2 P75 output revolutions of the second gear 1 OUTPREV3 P77 output revolutions of the third gear 1 OUTPREV4 P79 MAXVOLT1 P37 maximum velocity command for the firs
67. the corresponding axis feedback system as being valid INHIBIT1 M5103 INHIBIT2 M5153 INHIBIT3 M5203 The PLC sets one of these signals at a high logic level in order to tell the CNC to prevent any movement of the corresponding axis This movement will continue when the PLC sets this signal at the low logic level once more If the inhibited axis is moving together with other axes all these stop moving until the signal returns to the low logic level b Axis logic inputs LOGIC CNC INPUTS AND OUTPUTS FAGOR 2 CNC 8037 SOFT V01 6x 357 11 Axis logic inputs LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 358 MIRROR1 M5104 MIRROR2 M5154 MIRRORS M5204 If the PLC sets one of these signals at a high logic level the CNC applies mirror image to the movement of the corresponding axis It must be borne in mind that if this signal is activated during a programmed movement the CNC will only apply mirror image to the movement not to the final coordinate NOO G01 X0 YO F1000 N10 G01 X70 Y42 N20 G01 X100 Y60 N30 M30 If when executing the programmed movement in block N20 the signal corresponding to the X axis MIRROR1 is active the CNC will apply mirror image to the remaining movement in X This way the new end of travel point will be X40 Y60 By means of the activation of these signals symmetrical parts can be executed by using a single progr
68. the general handwheel will be ignored CONCEPTS n Movement with an electronic handwheel FAGOR 2 CNC 8037 SOFT V01 6x 209 CONCEPTS Movement with an electronic handwheel FAGOR 2 CNC 8037 SOFT V01 6x 210 6 3 2 Path handwheel With this feature it is possible to jog two axes at the same time along a linear path chamfer or circular path rounding with a single handwheel The CNC assumes as the path handwheel the general handwheel or when this one is missing the one associated with the X axis mill or Z axis lathe Feature setting This feature must be managed from the PLC To activate or cancle the Path jog work mode act upon the logic CNC input MASTRHND M5054 M5054 0 Path JOG function off M5054 1 Path jog mode ON To indicate the type of movement use CNC logic input HNLINARC M5053 M5053 0 Linear Path M5053 1 Circular path For a linear path indicate the path angle in the MASLAN variable value in degrees between the linear path and the first axis of the plane For an arc indicate the arc center coordinates in the MASCFI MASCSE variables for the first and second axes of the main plane Variables MASLAN MASCFI and MASCSE may be read and written from the CNC DNC and PLC The next example uses the O2 key to activate and deactivate the path handwheel mode and the 03 key to indicate the type of movement DFU B29 R561 CPL M5054 Activate or cancel t
69. the option to define the thread pitch as number of threads per inch The number of threads per inch can only be entered when not working with any particular thread defining system i e when using a FREE system Bit 9 It enables the option to program variable pitch threads This bit enables bit 0 or disables bit 1 the option to program variable pitch threads Bit 10 Enables zig zag penetration by the flanks lathe only This bit enables bit 0 or disables bit01 the option to penetrate in zig zag by the flanks in lathe type threading cycles Bit 11 Enables the option for repairing part of a thread lathe only This bit enables bit 0 or disables bit01 the option for thread repair in lathe type threading cycles Bit 12 Enables the option for repairing threads with multiple entries or starts lathe only This bit enables bit 0 or disables bit01 the option for multiple entry thread repair in lathe type threading cycles COCYF1 P148 COCYF4 P151 COCYF7 P154 COCYPROF P157 COCYF2 P149 COCYF5 P152 COCYZ P155 COCYF3 P150 COCYF6 P153 COCYPOS P156 COCYGROO P158 COCYZPOS P159 In the TC work mode it allows hiding the operations or cycles not being used showing only the desired ones Each parameter is associated with an operation or cycle and each one of their bits refers to each available level This parameter has 16 bits counted from right to left By default all the bits
70. value at CNC logic input SANALOG R504 This S value corresponds to the velocity command value to be applied to the spindle drive Also set CNC logic input PLCCNTL M5465 high to let the CNC know that from this moment on the PLC is the one setting the velocity command for the spindle 2 From this instant on the CNC outputs the spindle velocity command indicated by the PLC at CNC logic input SANALOG R504 Ifthe PLC changes the value of the SANALOG input the CNC will update the velocity command accordingly 3 Once the operation has concluded the CNC must recover the control of the spindle back from the PLC To do this CNC logic input PLCCNTL M5465 must be set low again A typical application of this feature is the control of the spindle oscillation during the spindle gear change 6 9 3 Spindle gear change With this CNC the machine can use a gear box for adjusting the best spindle speed and torque for the particular machining needs at any time The CNC admits up to 4 spindle gears that are determined by s m p MAXGEAR1 P2 MAXGEAR2 P3 MAXGEAR8 P4 and MAXGEAR4 P5 They indicate the maximum speed in rpm for each range The value assigned to MAXGEARI P2 will be the one corresponding to the lowest gear and the one assigned to MAXGEAR4 P5 will be the one corresponding to the highest gear When not using all 4 gears use the lower parameters starting with MAXGEAR1 P2 Set the unused gears with
71. will be performed moving the selected axes one by one and in the selected sequence This second movement will be carried out at the feedrate established by a m p REFEED2 P35 for each axis until the marker pulse of the feedback system is found If machine parameter IOTYPE P52 3 the home search procedure is the following The CNC moves all selected axes that have a home switch in the direction indicated by a m p REFDIREC P33 This movement will be carried out at the feedrate established by a m p REFEED1 P34 until the home switch is hit Once all the axes have reached their respective home switches the axes move back one at a time in the selected order and at REFEED2 until the switch is released Once it has released it it will recognize the first reference mark found without changing either its moving direction or its feedrate e On axes with distance coded feedback system Home switches are no longer necessary since the axes may be homed anywhere along its travel However a m p REFVALUE P36 must be set when operating with leadscrew error compensation The home search will be performed on one axis at a time and in the selected sequence The axes will move a maximum of 20 mm or 100 mm in the direction set by a m p REFDIREC P33 at the feedrate set by a m p REFEED2 P35 If during the home search the home switch is pressed if any the CNC will reverse the homing direction A If after the machine is a
72. 0 001 a 90 000 line encoder is required and a 180 000 line encoder to obtain a resolution of 0 0005 s m p NPULSES P13 must indicate the number of square pulses supplied by the spindle encoder In order to be able to use feedback alarm on the spindle encoder FBACKAL P15 the pulses provided by the encoder must be differential double ended squarewave DIFFBACK P14 YES Gain setting The various types of gains must be adjusted in order to optimize the system s performance for the programmed movements An oscilloscope is highly recommended to make this critical adjustment by monitoring the tacho signals The illustration below shows the optimum shape for this signal on the left and the instabilities to be avoided during start up and braking There are three types of gain They are adjusted by means of machine parameters and following the sequence indicated next Proportional gain It defines the velocity command corresponding to a feedrate resulting in 1 of following error It is defined with s m p PROGAIN P23 Feed forward gain It sets the percentage of velocity command due to the programmed feedrate To use it acc dec must be active s m p ACCTIME P18 It is defined with s m p FFGAIN P25 Derivative gain or AC forward gain The derivative gain sets the percentage of velocity command applied depending on the fluctuations of following error The AC forward gain sets the percentag
73. 000 pulses s 250 pulses turn x 5 mm turn Max feedrate 4 000 mm s 240 m min Example 3 Resolution in mm with squarewave linear encoder Since the CNC applies a x4 multiplying factor to squarewave signals we must select a linear encoder whose grading pitch is 4 times the desired resolution FAGOR linear encoders use a grading pitch of either 20 um or 100 um Therefore the resolution that can be obtained with them are 5 um 20 4 or 25 um 100 4 Therefore INCHES 0 PITCH 0 0200 NPULSES 0 SINMAGNI 0 PITCH 0 1000 The CNC s maximum squarewave feedback input frequency is 400 kHz which means that the maximum feedrate obtainable with a 20 um pitch linear encoder is Max Feed 20 um pulse x 400 000 pulses s Max feedrate 8000 mm s 480 m min When using Fagor linear encoders the maximum feedrate is limited by their own characteristics to 60 m min Example 4 Resolution in mm with sinusoidal signal linear encoder We have a sinusoidal linear encoder with a 20 um pitch and we would like to obtain 1 um resolution We must calculate the multiplying factor SINMAGNI to be applied by the CNC to the pulses provided by the linear encoder in order to obtain the desired resolution SINMAGNI linear encoder pitch resolution 20 um 1 um 20 Therefore INCHES 0 PITCH 0 0200 NPULSES 0 SINMAGNI 20 The CNC s maximum sinusoidal feedback input frequency is 250 KHz which means that the maximum feedrate for this axis w
74. 1 will be attended to The status of these signals INT1 INT2 INT3 INT4 are not stored therefore it is recommended to activate these marks at the PLC by means of an instruction of the SET type These marks will be deactivated automatically when starting the execution of the corresponding subroutine An interruption subroutine cannot in turn be interrupted BLKSKIP1 M5028 The PLC sets this signal at a high logic level to tell the CNC that the block skip condition or 1 is met therefore the blocks which have this block skip condition will not be executed BLKSKIP2 M5029 The PLC sets this signal at a high logic level to tell the CNC that the block skip condition or 2 is met therefore the blocks which have this block skip condition will not be executed BLKSKIP3 M5030 The PLC sets this signal at a high logic level to tell the CNC that the block skip condition or 3 is met therefore the blocks which have this block skip condition will not be executed MO1STOP M5031 The PLC sets this signal at a high logic level to tell the CNC to stop the execution of the part program when the auxiliary miscellaneous M01 function is executed TOOLINSP M5050 The CNC takes this input into account on the TC model It indicates whether the T key must be pressed or not after executing the operation or the part in order to inspect the tool TOOLINSP 0 The tool inspection mode is available when interrup
75. 14 ToolmagaZine uui ai 6 14 1 Tool change via PLGi iiiscimiane salaria iaia 6 14 2 Tool magazine management 6 15 Gear ratio management on axes and Spindle eee eeeeeeeeeeeeeeeeeeeaeeeeeeaeeeeeeaees 270 6 15 1 Axis example Encoder at the MOtor 271 6 15 2 Axis example external feedback device without a gear DOX eerie 272 6 15 3 Axis example external feedback device with gear DOX i 275 6 15 4 Spindle example Encoder at the motor FP 6 15 5 Spindle example external encoder without gear DOX i 279 6 15 6 Spindle example external encoder with gear DOX 281 6 16 Auto adjustment of axis machine parameter DERGAIN i 283 PLC RESOURCES 7 1 7 2 7 3 7 4 7 5 7 5 1 Monostable mode TG1 input 293 7 5 2 Delayed activation mode TG2 input 295 7 5 3 Delayed deactivation mode TG input 297 7 5 4 Signal limiting Mode TG4 Input eee cece eeseeeeeeeeeeeeeeeeaeeeeesaeeeeesaeseeeeaeeneneeeaees 299 7 6 Gounters s E T oi 301 7 6 1 Operating mode of a counter i 304 INTRODUCTION TO THE PLC 8 1 PLEC ESOU Sirani ai aa 8 2 PLC program execution 8 3 LOOP MO thecscciics costewsniecercrncistieasen 4 8 4 Modular structure of the program i 311 8 4 1 First cycle module CY1 ccicr iii alii 312 8 4 2 Main module PRG 31
76. 56 1000 1119 80 3 29 71 79 57 1120 1249 81 2 4 32 80 89 58 1250 1399 82 5 34 90 99 59 1400 1599 83 2 6 35 100 111 60 1600 1799 84 7 36 112 124 61 1800 1999 85 8 38 125 139 62 2000 2239 86 5 9 39 140 159 63 2240 2499 87 3 10 11 40 160 179 64 2500 2799 88 A 12 41 180 199 65 2800 3149 89 a 13 42 200 223 66 3150 3549 90 D 14 15 43 224 249 67 3550 3999 91 di 16 17 44 250279 68 4000 4499 92 18 19 45 280 314 69 4500 4999 93 20 22 46 315 354 70 5000 5599 94 23 24 47 355399 71 5600 6299 95 25 27 48 400 449 72 6300 7099 96 28 31 49 450 499 73 7100 7999 97 32 35 50 500 559 74 8000 8999 98 36 39 51 560 629 75 9000 9999 99 40 44 52 630 709 76 45 49 53 710 799 77 FAGOR 2 CNC 8037 SOFT V01 6x 463 Installation manual 2 digit BCD code output conversion table FAGOR CNC 8037 SOFT V01 6x 464 KEY CODE Alphanumeric operator panel M T models a b G d e f ra C97 98 99 K100 101 K102 Gialle g h i i7 k I n 103 104 105 106 107 108 71
77. 72 73 74 75 76 m Jn fi o P q 0 109 V110 Vaea 144 112 a13 Me i Mc sti Bt sa 38 O r s t u v w 83 84 85 86 87 88 gt TE 114 115 116 117 118 119 Q x iy z 89 90 91 32 Kazoj 124 K122 35 40 41 7 36 65454 65453 Pai 7 A A A 37_ 91 7 93 7 38 lt E 65456 65445 pore J A A be A 6 lt 33 A 34 447 65460 65462 as A A A 62 60 59 _ 58_ 64812 4813 le4514 64515 ste 84517 4518 65458 65455 gt LA E All aA 65522 65524 027 61446 013 61447 61452 61443 65523 l J L J os J a EE UIL se tie Le Li 65521 OHO f 05 00 01 mm SPINDLE ih ny VP ar 65520 LL e LIEL UL UL IL dI V E D E il a u t 4 K fe 2 _ d m N N R S T U 3 i u 6 SF CLEAR i INS 7 na ti Ss la g n A i 1 2 F1 Lise e e o HELP Eu EE RESET 2 BL FAGOR 2 DO A CORB SIE e da x a FEED J J Pat eo fa NALI VENE Ai pen x SPINDLE w CNC 8037 SOFT V01 6x 465 Key code FAGOR CNC 8037 SOFT V01 6x 466 Installation manual LOGIC OUTPUTS OF KEY STATUS Alphanumeric operator panel M T models
78. 96 MINAENDW P30 Indicates the minimum time period that the AUXEND signal must remain activated so the CNC will interpret it as a valid signal AUXEND is a PLC signal which indicates to the CNC that functions M S or T have been executed If the corresponding M function has been set in the M table not to wait for the AUXEND signal the time period indicated in this parameter will be the duration of the MSTROBE signal Possible values Integers between 0 and 65535 ms Default value 100 See 6 8 Auxiliary M S T function transfer on page 240 NPCROSS P31 Indicates the number of points available in the first cross compensation table This compensation is used when the movement of one axis causes a position change on another axis The CNC offers a table where one could enter the position variations of one axis for the particular positions of the other axis Possible values Integer numbers between 0 and 255 Default value 0 not available MOVAXIS P32 Used in the first cross compensation table itindicates the axis causing position variations on another axis The definition code is Value Meaning Value Meaning 0 None 5 V axis 1 X axis 6 W axis 2 Y axis 7 A axis 3 Z axis 8 B axis 4 U axis 9 C axis Default value 0 none COMPAXIS P33 Used in the first cross compensation table it indicates the axis suffering the position variations caused by another axis The compensation is a
79. B15 B7 R501 R501 R500 R500 R500 R500 BO BI B2 B3 B4 B5 B6 B27 B24 B19 B18 B17 B16 R502 R502 R502 R502 R502 R502 R502 R501 R501 R501 R501 R501 R501 B14 B7 B6 B15 B13 B7 B22 B8 B5 R501 R501 R501 R501 R501 R502 R501 R504 R501 B10 B25 B10 B15 B16 B17 ra R502 R502 R504 R504 R502 R502 FEED sta R502 rai ZZZ g B8 B23 B24 B9 B18 sore B20 R502 R502 R502 R504 R502 R502 B31 B9 B26 Bo B7 B21 B22 R502 R502 R502 R504 R504 R502 R502 9 A E E D E G H I J K L A L fl N N P R T u Yy n Xx Y Z sF CLEAR n INS 7 8 fila ta Ps s Fa 72 AL fog 2 z Key inhibiting codes FAGOR 2 CNC 8037 SOFT V01 6x 469 Installation manual Key inhibiting codes FAGOR CNC 8037 SOFT V01 6x 470 MACHINE PARAMETER SETTING CHART General machine parameters PO P50 P100 P150 P1 P51 P101 P151 P2 P52 P102 P152 P3 P53 P103 P153 P4 P54 P104 P154 P5 P55 P105 P155 P6 P56 P106 P156 P7 P57 P107 P157 P8 P58 P108 P158 P9 P59 P109 P159 P10 P60 P110 P160 P11 P61 P111 P161 P12 P62 P112 P162 P13 P63 P113 P163 P14 P64 P114 P164 P15 P65 P115 P165 P16 P66 P116 P166 P17 P67 P117 P167 P18 P68 P118 P168 P19 P69 P119 P169 P2
80. CNC structure FAGOR 2 CNC 8037 SOFT V01 6x 47 DIGITAL DRIVES Digital CAN servo system Digital servo is being used to communicate with Fagor drives CAN field bus and standard CanOpen communication protocol Module identification at the bus Each one of the elements integrated into the CAN bus is identified by the 16 position rotary switch 0 15 Address also referred to as Node_Select This rotary switch selects the address node occupied by each element integrated in the bus 1 Although the switch has 16 positions only positions 1 through 8 are valid The CNC does not have z a switch The drives occupy consecutive positions recommended starting from 1 5 The corresponding drive must be turned off and back on or press the Reset button for the address change to be assumed lt zZ a D I rr o_o __ _r_t_mtTT_T tzt1 1X1T T_T essi 3 O Although both CAN buses are independent the CAN addresses of the drives cannot be the same as iL 6 the CAN addresses of the I O modules If address 1 is used at the drive s CAN bus there cannot be any module with that address in the CAN bus of the I O s O The Line_Term switch O The Line_Term switch identifies which are the elements that occupy the ends of the CAN bus i e the first and last physical element in the connection The central unit must always be at one end of the line The o
81. DEF Used in DEF DEF DEF DEF DEF DEF DEF DEF DEF DEF DEF DEF DEF DEF DEF Coolant treatment I COOLMA 182 The operator control the coolant Manual mode I COOLAU 183 The CNC controls the coolant Automatic mode O COOL 03 Coolant output Spindle turning control O S ENAB 04 Spindle enable output Treatment of the spindle gear change O GEARI 05 Move gears to select range 1 gear 1 O GEAR2 06 Move gears to select range 2 gear 1 I GEAR1 184 Indicates that Gear 1 is selected GEAR2 185 Indicates that Gear 2 is selected Keyboard simulation I SIMULA 186 The operator requests the simulation of program P12 SENDKEY M1100 Indicates that the code of a key is to be sent out to the CNC KEYCODE R55 Indicates the code of the key to be simulated LASTKEY R56 Indicates which is the last key accepted by the CNC SENTOK M1101 Indicates that the key code has been sent correctly KEYBOARD R57 Used to indicate to the CNC the source of the keys CNCKEY 0 Used to indicate that the keys come from the CNC keyboard PLCKEY 1 Used to indicate that the keys come from the PLC MAINMENU FFF4 Code of the MAIN MENU key SIMULATE FC01 Code of the SIMULATE key F2 KEY1 31 Code of the 1 key KEY2 32 Code of the 2 key ENTER 0D Code of the ENTER key THEOPATH FC00 Code of the THEORETICAL PATH key F1 START FFF1 Code of the START key 14 PLC PROGRAMMING EXAMPLE Definition of symbols mnemonics FAGOR
82. FAGOR 2 CNC 8037 SOFT V01 6x 247 CONCEPTS Spindle FAGOR CNC 8037 SOFT V01 6x 248 When requiring spindle oscillation control during a gear change follow these steps 1 Indicate from the PLC at CNC logic input SANALOG R504 the value of the residual S command to be applied to the spindle drive Also set CNC logic input PLCCNTL M5465 high to let the CNC know that from this moment on the PLC is the one setting the velocity command for the spindle 2 From this instant on the CNC outputs the spindle velocity command indicated by the PLC at CNC logic input SANALOG R504 Ifthe PLC changes the value of the SANALOG input the CNC will update the velocity command accordingly 3 Once the operation has concluded the CNC must recover the control of the spindle back from the PLC To do this CNC logic input PLCCNTL M5465 must be set low again Once the requested gear change is completed the PLC must set the corresponding CNC logic input GEAR1 M5458 GEAR2 M5459 GEAR3 M5460 or GEAR4 M5461 high Finally the PLC will reactivate CNC general logic input AUXEND M5016 indicating to the CNC that it has finished executing the auxiliary function Automatic gear change when working with M19 Every time M19 is programmed itis recommended that the corresponding spindle gear be selected If no gear is already selected the CNC proceeds as follows It converts the speed indicated in deg
83. INTRODUCTION TO THE PLC Modular structure of the program FAGOR CNC 8037 SOFT V01 6x 312 8 4 1 Installation manual First cycle module CY1 This module is optional and will only be executed when the PLC is turned on It is used to initialize the different resources and variables with their initial values before proceeding to execute the rest of the program This module operates by default with the real values of resources I O M It is not necessary for this to be at the beginning of the program but must always be preceded by the instruction CY1 Installation manual 8 4 2 Main module PRG This module contains the user program It will be executed cyclically and will be given the task of analyzing and modifying CNC inputs and outputs Its execution time will be limited by the value of pic m p WDGPRG PO This module operates by default with the image values of resources l O M There can only be one main program and this must be preceded by the instruction PRG it is not necessary to define it if it starts on the first line Modular structure of the program 00 INTRODUCTION TO THE PLC FAGOR 2 CNC 8037 SOFT V01 6x 313 8 4 3 Periodic execution module PE t This module is optional and will be executed every period of time t indicated in the directing instruction defining the module This module may be used to process certain critical inputs and outputs which cannot be checked or updat
84. If the value of any of these parameters is other than 0 the CNC shows a message indicating that the parameters are wrong In this case in JOG mode or in execution it displays an error and it will not be possible to move the machine In any configuration where the INPREV or OUTPREV values are indivisible the 10 home signal will be generated from the home switch DECEL FAGOR CNC 8037 SOFT V01 6x 270 6 15 1 Axis example Encoder at the motor Di CONCEPTS Gear ratio management on axes and spindle We have an axis with a maximum feedrate of 20 m min with a leadscrew pitch of 20 and a 3 to 1 gear ratio between the motor and the leadscrew The motor encoder provides 2500 pulses per turn CAN axes a m p DRIBUSLE P63 1 Parameters involved in the calculation of the velocity command a m p GOOFEED P38 Maximum feedrate of the axis 20000 a m p PITCHB P86 Leadscrew pitch 20 Motor gear ratio a m p INPREV P87 Input revolutions 3 a m p OUTPREV P88 Output revolutions 1 NP121 drive it automatically loads the value of a m p INPREV P87 of the CNC NP122 drive it automatically loads the value of a m p OUTPREV P88 of the CNC NP123 drive it automatically loads the value of a m p PITCHB P86 of the CNC Calculation of maximum motor speed for a feedrate of GOOFEED Maximum motor speed GOOFEED x INPREV PITCHB x OUTPREV 20000 x 3 20
85. M100 M100 takes the value of resource 110 M100 AND 18 M101 The value of M100 depends on the previous instruction This type of problems may be prevented by careful programming or by using Image resource values instead of Real values The PLC has 2 memories to store the status of the registers the real memory and the image memory All the steps described so far work with the real memory Saying value of a particular resource is the same as saying real value of a particular resource The image memory contains a copy of the values status that the resources had at the end of the previous cycle The PLC makes this copy at the end of the cycle The resources having an image value are 11 thru 1512 O1 thru 0512 and M1 thru M2047 PLC program execution INTRODUCTION TO THE PLC FAGOR 2 CNC 8037 SOFT V01 6x 307 2 Beginning 8 I O s i at 2 I ng HI oO I I E I I O E z i i o 2 I I 5 I I oO i i 5 I I a i Q I I E I I z I I I I I I I I I I I I I I I I i I IMAGE MEMORY I Last ssss ssaa J The following example shows how the PLC acts when working with real or image values PLC program M1 Assigns the value of 1 to mark M1 M1 M2 Assigns the value of M1 to M2 M2 M3 Assigns the value of M2 to M3 M3 05 Assigns the value of M3 to output O5 Q M1 M1 M2 M2 M3 M3 05 As can be observed the
86. Meaning Value Meaning 0 Free not associated 12 Handwheel with axis selector button 5 1 X axis 13 2 Y axis 14 n 5 3 Z axis 21 Handwheel associated with X E 4 U axis 22 Handwheel associated with Y 5 5 V axis 23 Handwheel associated with Z lt 6 W axis 24 Handwheel associated with U 7 A axis 25 Handwheel associated with V E T 8 B axis 26 Handwheel associated with W g S 9 C axis 27 Handwheel associated with A 10 Main spindle 28 Handwheel associated with B 11 Handwheel 29 Handwheel associated with C The following table shows the feedback input the velocity command output and the default values associated with each parameter Parameter Feedback Command Default value connector M T AXIS1 P0 st axis X10 X8 Pin 2 1 X axis 1 X axis AXIS2 P1 2nd axis X11 X8 Pin 3 2 Y axis 3 Z axis AXIS3 P2 3rd axis X12 X8 Pin 4 3 Z axis 0 free AXIS4 P3 Not being used 0 free 0 free AXIS5 P4 Spindle X4 X4 Pins 10 and 10 spindle 10 spindle 12 AXIS6 P5 1st handwheel X5 lt 11 handwheel 11 handwheel AXIS7 P6 2nd handwheel X5 0 free 0 free AXIS8 P7 Not being used 0 free 0 free About the handwheels Depending on their configuration the available handwheels are e General handwheel It can be used to jog any axis one by one Select the axis and turn the handwheel to move it FAGOR e Indi
87. PLC EMERGENCY STOP Physical input coming from the outside Pin 10 of connector X2 The emergency outputs of the CNC are ALARM M5507 Physical output to the PLC EMERGENCY OUTPUT Physical output to the outside Pin 2 of connector X2 CNC EMERGEN ELECTRICAL CABINET There are to ways to cause an emergency at the CNC by activating the physical input EMERGENCY STOP or the general logic input EMERGEN from the PLC Whenever any of these signals is activated the CNC stops the axes feed and the spindle rotation and it displays the corresponding error message By the same token when the CNC detects an internal malfunction or at an external device it stops the axes feed and the spindle rotation displaying at the same time the corresponding error message In both cases the CNC will activate the EMERGENCY OUTPUT and ALARM signals to indicate to the PLC and to the outside world that an emergency has occurred at the CNC Once the cause of the emergency has disappeared the CNC will deactivate these signals to indicate to the PLC and to the outside world that everything is back to normal PLC Treatment of emergency signals The emergency inputs of the PLC are EMERGENCY STOP Physical input coming from the outside ALARM M5507 Physical input coming from the CNC The emergency outputs of the PLC are EMERGENCY OUTPUT Physical output to the outside EMERGEN M5000 Physical output to the CNC
88. Servo signal 1 closes the position loop o AXIS M5108 M5158 M5208 Moves the axis in JOG mode Similar to JOG keys AXIS M5109 M5159 M5209 Moves the axis in JOG mode Similar to JOG keys Q SPENA M5110 M5160 M5210 With Sercos Speed enable signal of the drive DRENA M5111 M5161 M5211 With Sercos Drive enable signal of the drive T ELIMINA M5113 M5163 M5213 It does not display the axis and cancels the feedback alarms E SMOTOF M5114 M5164 M5214 Cancels the SMOTIME filter a m p SMOTIME P58 So LIM OFF M5115 M5165 M5215 It ignores the software limits MANINT M5116 M5166 M5216 Activate the additive handwheel in each axis Spindle logic inputs Main LIMIT S M5450 Travel limit overrun Stops the axes and the spindle Displays the error LIMIT S M5451 Travel limit overrun Stops the axes and the spindle Displays the error DECELS M5452 Home switch pressed SPDLEINH M5453 Outputs a zero command for the spindle SPDLEREV M5454 Reverses the spindle turning direction SMOTOFS M5455 Cancels the SMOTIME filter s m p SMOTIME P46 SERVOSON M5457 Servo signal 1 to move the spindle in closed loop M19 GEARI M5458 Spindle gear 1 selected GEAR2 M5459 Spindle gear 2 selected GEAR3 M5460 Spindle gear 3 selected GEAR4 M5461 Spindle gear 4 selected SPENAS M5462 With Sercos Speed enable signal of the drive DRENAS M5463 With Sercos Drive enable signal of the drive PLCFM19 M5464 Rapid synchronization feedrate in M19 FAGOR M19FEED R
89. There are two ways to tell the PLC that an emergency condition must be treated by activating the physical input EMERGENCY STOP of the PLC which is 11 or the general logic input ALARM of the PLC which is mark M5507 In both cases the treatment of these signals will be up to the PLC programmer The PLC program must have the necessary instructions to properly attend to these emergency inputs and act accordingly By the same token the PLC program must have the necessary instructions to properly activate the emergency outputs when required These emergency signals are the physical output EMERGENCY OUTPUT output O1 of the PLC and the general logic output EMERGEN which is mark M5000 of the PLC It must be borne in mind that every time a new PLC program cycle is initiated the real inputs are updated with the physical inputs Therefore input 11 will have the value of the physical input EMERGENCY STOP Also before executing the PLC program cycle the values of the M and R resources corresponding to the CNC logic outputs internal variables are updated as well as mark M5507 corresponding to the ALARM signal After the execution of each cycle the PLC updates the physical outputs with the values of the real outputs except the physical output EMERGENCY OUTPUT which will be activated whenever the real output 01 or mark M5507 ALARM signal coming from the CNC is active Si CONCEPTS Treatment of emergency signals FAGOR 2 C
90. V 1000 rpm x 3000 rpm 60 V FAGOR 2 CNC 8037 SOFT V01 6x 79 MACHINE AND POWER CONNECTION Connection of the emergency input and output FAGOR CNC 8037 SOFT V01 6x 4 4 Connection of the emergency input and output The emergency input of the CNC corresponds with the PLC input 11 pin 10 of connector X2 and must be supplied with 24V Since the CNC also processes this signal directly if the 24V disappear the CNC will display EXTERNAL EMERGENCY ERROR and will deactivate all axes enables and will cancel all velocity commands 24V de e gfle ELECTRICAL CABINET During the initializing process carried out by the CNC on power up the EMERGENCY OUTPUT of the CNC pin 2 of connector X10 remains at low at 0 in order to avoid a premature activation of the electrical cabinet If this process is successful the CNC will set the real value of PLC output O1 to 1 Otherwise it will keep the EMERGENCY OUTPUT signal active low and it will display the corresponding error message Once the initialization process is over the PLC will execute the PLC program stored in memory If none is available it wait for one to be entered and executed When the execution of the first cycle CY1 or the first program scan is finished the PLC will assign the value of output O1 to physical output EMERGENCY OUTPUT It is recommended to program the CY1 cycle of the PLC program assigning a value of 1
91. Velocity command reference signals 8 GND 9 GND The cable shield must be connected to the metallic hood at each end The axis nomenclature is set when setting machine parameters AXIS1 PO to AXIS4 P3 Connector X9 Digital inputs 165 to 196 It is a 37 pin normal density SUB D type male connector The table shows the signal of each pin according to the I O of the CNC model Connect the OV of the power supply used for these inputs to pins 18 and 19 for OV of the connector Pin Signal and function 161 80 401 240 561 320 1 sse r su 2 165 165 3 167 167 4 169 169 5 171 171 6 173 173 7 175 175 8 177 177 9 179 179 10 181 181 11 183 183 Jo 12 185 185 slo 5 13 sua 187 187 5 0 o 14 189 s o 15 191 2 0 o 16 nee 193 31 19 o 17 195 500 6 18 OV OV OV External power supply ae s o 19 OV OV OV External power supply sjo Si 20 090 21 aie 166 166 310 0 5 22 168 168 gt lo 91 23 170 170 o o 24 Li 172 172 1 0 25 sa 174 174 26 176 176 27 178 178 28 180 180 29 182 182 30 184 184 31 186 186 32 188 188 33 190 34 192 35 194 36 196 37 Chassis Chassis Chassis Shield CNC CONFIGURATION CNC structure FAGOR CNC 8037 SOFT V01 6x 39 CNC CONFI
92. We must calculate the multiplying factor SINMAGNI to be applied by the CNC to the pulses provided by the encoder in order to obtain the desired resolution SINMAGNI ballscrew pitch Nr pulses x Resolution SINMAGNI 0 2 inch turn 250 x 0 0001 8 Therefore INCHES 1 PITCH 0 20000 NPULSES 250 SINMAGNI 8 The feedback frequency of Fagor rotary encoders is limited to 200 KHz The CNC s maximum sinusoidal feedback input frequency is 250 KHz which means that the maximum feedrate for this axis will be Max Feed 200 000 pulses s 250 pulses turn x 0 2 inch turn Max Feed 160 inches s 9 600 inch min Example 7 Resolution in degrees with squarewave encoder We would like to obtain a 0 0005 resolution by using a squarewave encoder mounted on a x10 reduction gear Since the CNC applies a x4 multiplying factor to squarewave signals we would require an encoder that provides the following number of pulses lines per turn Nr of pulses turn multiplying factor x gear ratio x Resolution Nr of pulses 360 4 x 10 x 0 0005 18 000 pulses turn Therefore INCHES 0 PITCH 36 0000 NPULSES 18000 SINMAGNI 0 Allthough the CNC accepts a maximum squarewave frequency of 400 kHz when using Fagor squarewave rotary encoders their output frequency is limited to 200 kHz thus the maximum possible feedrate F will be Max Feed 200 000 pulses s 18 000 pulses turn Max Feed 11 111 turns s 666 666
93. When setting the smooth stop parameters DERGAIN and FFGAIN should be set to zero ABSOFF P53 The CNC takes this parameter into account when a m p IOTYPE P52 has been set with a value other than 0 Linear encoders having a distance coded reference mark indicate the machine position with respect to the zero of the linear encoder Possible values Within 99999 9999 millimeters Within 3937 00787 inches Default value 0 In order for the CNC to show the position of the axes with respect to the machine reference zero home this parameter must be assigned the position value coordinate of the machine reference zero point M with respect to the zero of the linear encoder C MINMOVE P54 This parameter has to do with the axis logic outputs ANT1 through ANT3 Ifthe axis move is smaller than the value indicated by this a m p MINMOVE P54 the corresponding axis logic output ANT1 through ANT3 goes high Possible values Within 99999 9999 degrees or millimeters Within 3937 00787 inches Default value 0 ROLLOVER P55 The CNC takes this parameter into account when the axis has been set as rotary AXISTYPE P0 2 or 3 It indicates whether the rotary axis is Rollover or not Value Meaning NO It is NOT Rollover YES It is Rollover Default value YES DRIBUSID P56 It indicates the address of the digital drive CAN associated with the axis It corresponds
94. Z axis AX Ax 7 X Cartesian axis x Angular axis Z Orthogonal axis Programming in the Cartesian system Z X requires activating an angular transformation of an inclined plane that converts the movements of the real non perpendicular axes Z X This way a movement programmed on the X axis is transformed into movements on the Z X axes i e it then moves along the Z axis and the angular X axis Configuring the incline axis The incline axis is configured by the following general machine parameters XA x v 60 kri ANGAXNA X EAn ORTAXNA Z Ot Z ANGANTR 60 OFFANGAX Configuring the axes The parameter ANGAXNA configures the incline axis The parameter ORTAXNA defines the axis perpendicular to the Cartesian axis associated with the incline axis The parameter OFFANGAX sets the distance between machine zero and the origin that defines the coordinate system of the incline axis The axes defined in parameters ANGAXNA and ORTAXNA must exist and must be linear Those axes may have Gantry axes associated with them Angle of the incline axis The parameter ANGANTR defines the angle between the Cartesian axis and the angular axis it is associated with The angle is positive when the angular axis has been rotated clockwise and negative if otherwise If its value is 0 there is no need to do an angular transformation CONCEPTS Axes and coordinate systems FAGOR CNC 8037 SOFT
95. a block containing axis movement it aborts the movement of the axes but it completes the positioning of the spindle e It does not interrupt the execution of function G74 home search Considerations for the execution These marks do not affect block preparation When canceling the execution of a block the next movement is carried out up to the prepared target coordinates no preparation is done On the other hand only the programmed axes are involved in the next movement The rest of the axes are ignored even if there is a real difference in position because the previous block has been aborted Path 1 Path 2 mn b The solid lines represent the programmed paths and the dashed lines the real paths after activating the BLOABOR mark If a block is aborted and then the RETRACE function is activated the retraced path backwards will not be the same as the one traveled forward The two paths will not coincide either when aborting a block while the RETRACE function is active General logic inputs ACTGAINT M5063 The axes and the spindle can have 3 sets of gains and accelerations By default the first set is always assumed The one indicated by the a m p and s m p ACCTIME P18 PROGAIN P23 DERGAIN P24 and FFGAIN P25 g m p ACTGAINT P185 indicates with which functions or in which mode the third set is applied the one set by a m p ACCTIMET P92 PROGAINT P93 DERGAINT P94 and FFGAINT P95 o
96. a m p should be set with the value that the position must vary after the first movement reversal hysteresis so it is considered that the command to compensate has been issued hence prevent it from issuing the compensations every time it receives the command to reverse the moving direction if that margin has not been exceeded The value entered in this parameter must be in mm for linear axes and in degrees for rotary axes Default value 0 0000 Example I If REVEHYST 5 dum the CNC will not activate the reversal compensation in all the reversals after the first one as long as the position does not change at least a value equal to the setting of a m p REVEHYST since the first command to reverse the position command was issued In other words if a reversal command is sent when the position command has varied 2 dum from the position where the first reversal command took place it does not issue the compensation ithas not exceeded the value given by a mp REVHYST and it just reverses the movement Axis parameters Only when the position command variation reaches 5 dum it will issue the compensation and the next command to reverse will be taken as the new reference for evaluating the position variation to determine when it reaches the value given in a m p REVEHYST again and it compensates for it again MACHINE PARAMETERS Position G m p REVEHYST P99 P99 PRINS y Hysteresis amplitude 1 WS Aree fs vy son sprite ni si h
97. and LGB FAGOR CNC 8037 SOFT V01 6x 264 Axis selection Inputs 170 171 172 170 171 172 NOT 170 AND NOT I71 AND NOT 172 XSEL XSEL 0 01 0 NOT 170 AND NOT I71 AND 172 YSEL YSEL 00 1 NOT 170 AND 171 AND 172 ZSEL ZSEL O0 1 1 NOT 170 AND 171 AND NOT 172 4SEL 4SEL 0 140 170 AND 171 AND NOT 172 5SEL 5SEL 1 10 170 AND 171 AND 172 6SEL 6SEL 1 1 1 170 AND NOT I71 AND 172 7SEL 7SEL 1 0 1 If handwheel jog HDWON R60 must be ready to store what will be written into the HBEVAR variable The a b c bits indicate the x1 x10 x100 factor for each axis and bit 30 must be set to 1 in order for the CNC to read the handwheel pulses C B A W V U Z Y X EILA clb a c b a c bj a c bla c b a c bla c b a c b a c bla MOV 0 R60 Delete its contents Sets the bit a of the selected axis to 1 x1 multiplying factor HDWON AND XSEL MOV 1 R60 HDWON AND YSEL MOV 8 R60 HDWON AND ZSEL MOV 40 R60 HDWON AND 4SEL MOV 200 R60 HDWON AND 5SEL MOV 1000 R60 HDWON AND 6SEL MOV 8000 R60 HDWON AND 7SEL MOV 40000 R60 It then analyzes the multiplying factor indicated at the switch x1 x10 x100 173 174 c b a x1 oilo oli 173 AND 174 RL1 R60 1 R60 x10 ili olai o 173 AND NOT 174 RL1 R602R60 io 1 0 1 0 0 And final
98. and an analog spindle S Setting of g m p AXIS1 PO through AXIS8 P7 AXIS1 PO 1 X axis associated with feedback X1 and output O1 AXIS2 P1 3 Z axis associated with feedback X2 and output 02 AXIS3 P2 10 Spindle S associated with feedback X3 and output 03 AXIS4 P3 0 AXIS5 P4 AXIS6 P5 AXIS7 P6 AXIS8 P7 oj ojojo The CNC activates a machine parameter table for each axis X Z and another one for the spindle S a m p AXISTYPE PO must be set as follows X axis AXISTYPE PO 0 Regular linear axis Z axis AXISTYPE PO 0 Regular linear axis s m p SPDLTYPE PO must be set as follows Spindle SPDLTYPE P0 0 10V spindle analog output Likewise a m p DFORMAT P1 and s m p DOFORMAT P1 must be properly set to indicate their display formats CONCEPTS Axes and coordinate systems FAGOR 2 CNC 8037 SOFT V01 6x 199 CONCEPTS Axes and coordinate systems FAGOR CNC 8037 SOFT V01 6x 200 6 1 1 Rotary axes With this CNC it is possible to select the type of rotary axis by means of a m p AXISTYPE PO Normal rotary axis AXISTYPE PO 2 Positioning only rotary axis AXISTYPE P0 3 Rotary Hirth axis AXISTYPE P0 4 By default their position is always displayed between 0 and 360 Rollover axis If these limits are not to be set modify a m p ROLLOVER P55 ROLLOVER Y
99. associated with C 25 Handwheel associated with V Parameters MPG1 correspond to the first handwheel MPG2 to the second one and MPG3 to the third one The CNC uses the following order to know which one is the first second and third handwheel X Y Z U V W A B C The meaning of parameters MPG CHG MPG RES and MPG NPUL is similar to the meaning of parameters MPGCHG P80 MPGRES P81 and MPGNPUL P82 CUSTOMTY P92 It indicates the configuration being used Possible values 250 Default value 0 FAGOR Keyboard auto identification CNC 8037 The keyboard has an auto identification system that updates this parameter automatically XFORM P93 XFORM1 P94 XFORM2 P95 SOFT V01 6x Not being used 106 XDATAO P96 XDATA1 P97 XDATA2 P98 XDATA3 P99 XDATA4 P100 XDATAS P101 XDATAG P102 XDATA7 P103 XDATA8 P104 XDATA9 P105 Not being used PRODEL P106 The CNC takes this parameter into account when probing functions G75 G76 SI When the digital probe communicates with the CNC via infrared beams there could be some delay milliseconds from the time the probe touches the part to the instant the CNC receives the probe signal MACHINE PARAMETERS General machine parameters The probe keeps moving until the CNC receives the probe signal Parameter PRODEL indicates in milliseconds the delay mentioned earlier Poss
100. beginning of the block execution and the CNC will wait for the general input AUXEND to be activated to consider the execution completed T function The CNC will indicate via the variable TBCD R558 the T function which has been programmed in the block and activates the general logic output TSTROBE to tell the PLC that it must execute it This transmission is made at the beginning of the block execution and the CNC will wait for the general input AUXEND to be activated to consider the execution completed Second T function If this involves changing a special tool or a machining center with non random tool magazine the CNC will indicate on executing the M06 function the position of the magazine empty pocket in which the tool which was on the spindle must be deposited This indication will be made by means of the variable T2BCD R559 and by activating the general logic output T2STROBE to tell the PLC that it must execute it The CNC will wait for the general input AUXEND to be activated to consider the execution completed the execution of the M S T and T2 functions by activating their STROBE signals together and waiting N It must be borne in mind that at the beginning of the execution of the block the CNC can tell the PLC for a single AUXEND signal for all of them b CNC PLC COMMUNICATION Auxiliary M S T function transfer FAGOR 2 CNC 8037 SOFT V01 6x 339 CNC PLC COMMUNICATION
101. bit of these 32 bit registers high The appendix of this manual shows which key each bit corresponds to See Key inhibiting logic inputs KEYDIS2 R501 Key inhibiting codes on page 469 Register KEYDIS4 disables the positions of the feedrate override switch feedrate selector KEYDIS3 R502 KEYDIS4 R503 Register KEYDIS5 disables the specific keys for the conversational models Register Bit Inhibited key Register Bit Inhibited key KEYDIS4 0 Handwheel x100 KEYDIS4 16 Feedrate override 60 KEYDIS4 1 Handwheel x10 KEYDIS4 17 Feedrate override 70 KEYDIS4 2 Handwheel x1 KEYDIS4 18 Feedrate override 80 KEYDIS4 3 Jog 10000 KEYDIS4 19 Feedrate override 90 KEYDIS4 4 Jog 1000 KEYDIS4 20 Feedrate override 100 KEYDIS4 5 Jog 100 KEYDIS4 21 Feedrate override 110 KEYDIS4 6 Jog 10 KEYDIS4 22 Feedrate override 120 KEYDIS4 7 Jog 1 KEYDIS4 23 KEYDIS4 8 Feedrate override 0 KEYDIS4 24 KEYDIS4 9 Feedrate override 2 KEYDIS4 25 KEYDIS4 10 Feedrate override 4 KEYDIS4 26 KEYDIS4 11 Feedrate override 10 KEYDIS4 27 KEYDIS4 12 Feedrate override 20 KEYDIS4 28 KEYDIS4 13 Feedrate override 30 KEYDIS4 29 KEYDIS4 14 Feedrate override 40 KEYDIS4 30 KEYDIS4 15 Feedrate override 50 KEYDIS4 31 Should one of the inhibited positions of the feedrate override switch be selected the CNC will take the value corresponding to the nearest uninhibited position below it If all of them are inhibited the
102. bits 4 to 7 and the ordinate axis bits 0 to 3 of the active plane in 32 bits and in binary 7654 3210 Isb Abscissa i axis The axes are coded in 4 bits and indicate the axis number according to the programming order Example If the CNC controls the X Y and Z axes and the ZX plane G18 is selected CNCRD PLANE R100 M33 assigns the hexadecimal value 31 to register R100 0000 0000 0000 0000 0000 0000 0011 0001 LSB Abscissa axis 3 0011 gt Axis Ordinate axis 1 0001 gt X axis LONGAX This variable can only be used at the mill model It returns the number according to the programming order corresponding to the longitudinal axis This will be the one selected with the G15 function and by default the axis perpendicular to the active plane if this is XY ZX or YZ Example If the CNC controls the X Y and Z axes and the Z axis is selected CNCRD LONGAX R22 M34 assigns the value of 3 to register R22 MIRROR Returns in the least significant bits of the 32 bit group the status of the mirror image of each axis 1 in the case of being active and 0 if not Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 LSB Axis 3 Axis 2 Axis 1 The axis name corresponds to the number according to the programming order for them Example If the CNC controls the X Y and Z axes axis1 X axis2 Y axis 3 Z SCALE It returns the general scali
103. ce 5 e v LU CC O al a FAGOR 2 CNC 8037 SOFT V01 6x 293 Timers PLC RESOURCES FAGOR CNC 8037 SOFT V01 6x 294 Operation of the TRS input in this mode If a leading edge is produced at the TRS input at any moment during timing or afterwards the PLC initializes the timer assigning the value 0 to its T status and cancelling its count it initializes this to 0 Due to the fact that the timer is initialized it will be necessary to activate its trigger input to activate it again TEN Operation of the TEN input in this mode If once the timer has been activated TEN 0 the PLC interrupts the timing and TEN must be set to 1 to resume timing TEN I I I 7 5 2 Delayed activation mode TG2 input This mode applies a delay between the activation of the trigger input TG2 and that of the timer status output T The time delay is set by the time constant Timers If the timer is initialized with values TEN 1 and TRS 0 the timer will be activated when a leading edge is produced at TG2 input At that instant the timing t begins from 0 PLC RESOURCES Once the time specified by the time constant has elapsed the timing operation will be considered as having completed and the timer status output T 1 will be activated and will remain in this status until the trailing edge is produced i
104. command peak in the second position loop after detecting that the moving direction has changed Ifthe internal peaks are not eliminated adjust the leadscrew backlash compensation better A fine adjustment of the leadscrew backlash consists in testing the circle geometry and watch for internal peaks when changing quadrants left figure Bit 13 Additional pulse only in circular paths G2 G3 This bit indicates whether the additional pulse of velocity command is applied only on circular paths G2 G3 bit 1 or in any other type of movement bit 0 MACHINE PARAMETERS General machine parameters STPFILE P146 It defines the number of the program where the oscilloscope configuration will be saved This program will be saved in the hard disk KeyCF Possible values Integer numbers between 0 and 65535 Default value 0 CODISET P147 This parameter is associated with the MC TC work mode This parameter has 16 bits counted from right to left bit 1514131211109 8 7 6 5 4 3 2 10 ER E E E E Eee E E E he FAGOR 2 CNC 8037 SOFT V01 6x 115 MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 116 Each bit has a function or work mode associated with it By default all the bits will be assigned the value of 0 Assigning the value of 1 activates the corresponding funct
105. command will be output If low the CNC will stop the axes feed and the spindle rotation displaying the corresponding error message i i ERROR SERVOON I ENABLE signal CONSIGNA i DWELL DWELL Also if the SERVOON signal changes states during the movement of the axis the CNC stops the FAGOR 2 axes feed and the spindle rotation displaying the corresponding error message CNC 8037 SOFT V01 6x 359 11 Axis logic inputs LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 360 AXIS 1 M5108 AXIS 1 M5109 AXIS 2 M5158 AXIS 2 M5159 AXIS 3 M5208 AXIS 3 M5209 The CNC uses these signals when working in the manual JOG operating mode Ifthe PLC sets one of these signals high the CNC will move the corresponding axis in the direction indicated positive or negative This movement will be performed at the feedrate override currently selected The treatment which these signals receive is similar to that given to the JOG keys of the operator panel SPENA1 M5110 DRENA1 M5111 SPENA2 M5160 DRENA2 M5161 SPENA3 M5210 DRENAS M5211 The CNC uses these signals when communicating with the drive via CAN Every time the PLC sets one of these signals high the CNC lets the corresponding drive know about it These signals correspond to the speed enable and drive enable signals of the drive The drive manual describes how the two signals
106. ground installation reduces the effects of electrical interference But signal cables also require additional protections This is generally achieved by using twisted pair cables that are also covered with antistatic shielding mesh wire This shield must be connected to a specific point avoiding ground loops that could cause undesired effects This connection is usually done at one of CNC s ground point Each element of the machine tool CNC interface must be connected to ground via the established main points These points will be conveniently set close to the machine tool and properly connected to the general ground of the building When a second point is necessary it is recommended to join both points with a cable whose section is no smaller than 8 mm Verify that the impedance between the central point of each connector housing and the main ground point is less than 1 Q SPINDLE X10 X11 X12 X13 HANDWHEELS Chassis Ground Protection ground for safety MACHINE AND POWER CONNECTION FAGOR 2 CNC 8037 SOFT V01 6x 73 Digital inputs and outputs MACHINE AND POWER CONNECTION FAGOR CNC 8037 SOFT V01 6x 74 4 1 Digital inputs and outputs Digital outputs The CNC system offers a number of optocoupled digital PLC outputs which can be used to activate relays deacons etc The electrical characteristics of these outputs are Nominal voltage value
107. in DELAYED CONNECTION mode e TG3 input in DELAYED DISCONNECTION mode e TG4 input in SIGNAL LIMITING mode This activation of the timer is made when a logic level transition of any of these inputs is produced either from 0 to 1 or from 1 to 0 leading or trailing edge depending on the chosen input By default and every time the timer is initialized by means of the reset input TRS the PLC will assign logic level 0 to these inputs The operating mode of each of these trigger inputs is explained individually SI Timers PLC RESOURCES FAGOR CNC 8037 SOFT V01 6x 291 Timers PLC RESOURCES FAGOR CNC 8037 SOFT V01 6x 292 Status output T This output indicates the logic status of the timer It is referred to by the letter T followed by the timer number For example T1 T25 T102 etc The logic status of the timer depends on the operating mode selected by means of the trigger inputs TG1 TG2 TG3 and TG4 and so the activation or deactivation of this signal is explained in each of the PLC operating modes Elapsed time T This output indicates the time elapsed in the timer since the moment it was activated It is referred to by the letter T followed by the timer number For example T1 T25 T102 etc Although when written as T123 it coincides with the status output both are different and they are also used in different types of instruction In binary type instructions function
108. input TG3 and that of the T output of the timer The time delay is set by the time constant Too f t rel a cc S Timers PLC RESOURCES If the timer is initialized with values TEN 1 and TRS 0 the timer will be activated when a leading edge is produced at the TG3 input At that moment the timer status output will have a value of T 1 The timer waits for a down flank at input TG8 to start the t timing from 0 Once the time specified by the time constant has elapsed the timing operation will be considered as having completed and the timer status output will be deactivated T 0 The elapsed time will remain as a timer time value T once timing has been completed TEN If once the timing has finished it is required to activate the timer again another leading edge must be produced at the TG3 input If another leading edge of the trigger input TG3 is produced before the time specified by the time constant has elapsed the PLC will consider that the timer has been activated again maintaining its status T 1 and initializing timing at 0 FAGOR CNC 8037 SOFT V01 6x 297 Timers PLC RESOURCES FAGOR CNC 8037 SOFT V01 6x 298 Operation of the TRS input in this mode If a leading edge is produced at the TRS input at any moment during timing or afterwards the PLC initializes the timer assigning t
109. insta ation man tens Additional compensation block The tens indicate whether the additional compensation block is executed at the end of the current block or at the beginning of the next block with compensation Value Meaning x00 It is executed at the end of the current block x10 It is executed at the beginning of the next block with compensation Default value 00 2 B gt gt 1 x 1 l COMPTYPE 00 COMPTYPE 10 Executing block by block single block Executing block by block single block mode the first movement ends at point mode the first movement ends at point B A When the beginning or the end of the compensation takes place in a different plane there is an intermediate vertical movement and with angle greater than 270 one should be analyze the CNC s behavior as shown next e At the beginning of the compensation the tool should be positioned before penetrating into the part The additional block must be executed in the upper plane and consequently together with the first block COMPTYPE 00 e At the end of the compensation the tool should withdraw from the part without penetrating into it The additional block must be executed in the upper plane and consequently together with the second block COMPTYPE 10 Si 4 COMPTYPE 10 COMPTYPE 00 hundreds Activate the compensation in the first motion block The hu
110. it activates the general logic output MSTROBE to tell the PLC to go ahead with their execution Should any of them need the AUXEND activated the CNC will wait for this signal to be activated before going on to executing the rest of the block If none of them need the AUXEND signal activated the CNC will maintain the MSTROBE signal activated for a period of time set by the general machine parameter MINAENDW P30 This output stays active for the time indicated by g m p MINAENDW P30 2 It sends out to the PLC the 3 M functions programmed to be executed after the move It sets logic outputs MBCD1 61 MBCD2 62 MBCD3 63 and it activates the general logic output MSTROBE to tell the PLC to go ahead with their execution Should any of them need the AUXEND activated the CNC will wait for this signal to be activated before going on to executing the rest of the block If none of them need the AUXEND signal activated the CNC will maintain the MSTROBE signal activated for a period of time set by the general machine parameter MINAENDW P30 This output stays active for the time indicated by g m p MINAENDW P30 Di S function The CNC transfers the S function out to the PLC only when using the BCD coded S output s m p SPDLTYPE PO set to other than 0 CONCEPTS Auxiliary M S T function transfer The CNC sends the programmed S value via logic output SBCD R557 and activates the general logic output
111. it on the active messages page Nevertheless and depending on the program the PLC may reactivate this message in the following cycle Example DFU 110 MSG1 110 MSG2 1 Input 110 changes from 0 to 1 Messages MSG1 and MSG2 are activated 2 The user deletes the messages using the keyboard 3 In the next PLC cycle since 110 is kept at 1 MSG2 is activated again FAGOR CNC 8037 SOFT V01 6x 342 Displaying errors The PLC has 128 marks with their corresponding mnemonic for displaying errors at the CNC M4500 ERROO1 M4530 ERRO031 M4625 ERR126 M4501 ERR002 M4531 ERR032 M4626 ERR127 M4502 ERR003 M4532 ERR033 M4627 ERR128 When one of these marks is activated they are set high they interrupt CNC part program execution It also displays the selected error message and its associated text in the middle of the screen The CNC allows a text to be associated to each PLC error PLC error editing mode It is recommended to change the state of these marks by means of accessible external inputs since the PLC will not stop and the CNC will receive the error message in each new PLC cycle scan thus preventing access to any of the PLC modes Displaying screens pages The PLC has 256 marks with their corresponding mnemonic for displaying screens pages at the CNC M4700 PIC000 M4900 PIC200 M4953 PIC253 M4701 PICO01 M4901 PIC201 M4954 PIC254 M4702 PIC002 M4902 P
112. lowest will be taken 0 For example if only positions 110 and 120 ofthe switch are allowed and position 50 is selected the CNC will take a value of 0 b Key inhibiting logic inputs LOGIC CNC INPUTS AND OUTPUTS FAGOR 2 CNC 8037 SOFT V01 6x 367 11 Logic inputs of the PLC channel LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 368 11 5 Logic inputs of the PLC channel To govern the axes managed by PLC IFEEDHOP M5004 It is similar to general logic input FEEDHOL M5002 but for the PLC channel When the PLC sets this signal low the CNC stops the axes maintaining spindle rotation When the signal returns to the high logic level the movement of the PLC axes continues This input must always be defined in the PLC program XFERINP M5005 It is similar to general logic input XFERINH M5003 but for the PLC channel If the PLC sets this signal low the CNC prevents the following block from starting but finishes the one it is executing When the signal returns to high logic level the CNC continues to execute the program This input must always be defined in the PLC program AUXENDP M5006 It is similar to general logic input AUXEND M5016 but for the PLC channel This signal is used in the execution of auxiliary M functions to tell the CNC that the PLC is executing them It operates in the following way 1 Once the block has been analyze
113. mark to 0 or to 1 if otherwise The CNC only indicates that the ASCII Block has been accepted It is up to the operator to verify whether the command has actually been executed by the CNC or not CNCEX G1 U125 V300 F500 M200 Sends to the CNC the command G1 U125 V300 F500 so it executes a linear interpolation of the U and V axes at a feedrate of F500 being the end point U125 V300 CNCEXI1 T5 M200 Selects the tool T5 in the tool changer Example of how to use action CNCEX1 when using a tool changer controlled by the PLC 1 The T executed last at the CNC is T1 Therefore it is the active T 2 A new tool is selected for example T5 If carried out by means of action CNCEX1 the change is made by the CNC and it assumes T5 as the new active tool If not carried out by means of action CNCEX1 the change is made by the PLC and T1 remains as the active tool 3 Then an operation programmed with T1 is carried out If the change was made with action CNCEX1 the CNC detects the tool change from T5 to T1 and carries out the change If the change was not made with action CNCEX1 the CNC does not detect the tool change T1 it does not make the change and carries out the operation with the selected tool T5 with the problems this may cause FAGOR CNC 8037 SOFT V01 6x 415 AXES CONTROLLED FROM THE PLC GO PLC execution channel FAGOR CNC 8037 SOFT V01 6x A16 13 1 Installation manual PLC execut
114. millivolts mm it takes any integer between 0 and 65535 Its value indicates the velocity command corresponding to a feedrate resulting in 1 millimeter 0 03937 inch of following error Example The maximum feedrate for a particular axis rapid traverse GOO is 15 m min but we would like to limit its maximum porgrammable machining feedrate F to 3 m min with an axis lag of 1 mm ata feedrate of 1 m min gain of 1 in metric a m p GOOFEED P38 must be set to 15 000 15 m min a m p MAXVOLT P37 must be set to 9500 and the servo drive adjusted so as to provide 15m min with a velocity command of 9 5 V a m p MAXFEED P42 must be set to 3 000 3 m min Velocity command corresponding to F 1000 mm min Velocity command F x 9 5V GOOFEED Velocity command 1000 mm min x 9 5V 15000 mm min 0 633V Velocity command 633 mV Therefore PROGAIN P23 633 Considerations to bear in mind When setting the proportional gain e The maximum amount of following error allowed by the CNC for the axis is the value indicated by a m p MAXFLWE1 P21 When exceeded the CNC issues the corresponding following error message e The amount of following error decreases as the gain increases but it tends to make the system unstable e In practice most machines show an excellent behavior with a unitary gain gain of 1 1 mm of following error for a feedrate of 1m minute adjusted so their following errors are as identical a
115. move at the same time the X axis is the main axis and the Z axis is the secondary associated with the X axis SWITCHAX for X 0 SWITCHAX for Z 1 Sl Axis parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 147 SWINBACK P66 When having 2 axes controlled by a single servo drive machine parameter SWINBACK of the secondary axis indicates whether it has its own feedback device or it uses that of the main axis it is associated with Value Meaning 0 It assumes the feedback of the main axis 1 It has its own feedback device 5 Default value 0 ra The following examples show several possibilities In all of them the toggling of the velocity command must be done from the PLC using the SWTCH2 mark 0 L o Lu E Each axis has its own feedback device Lu z X axis main SWINBACK for X axis 0 a o Z axis secondary SWINBACK for Z axis 1 a Lu z a CNC g x 4 ma N Een Velocity __ SWITCH2 0 Y yster Command SWITCH2 1 L_ 7 T Z Feedback p si X Feedback gt The two axes share the same feedback device It must be connected to the feedback connector of the main axis X axis main SWINBACK for X axis 0 Z axis secondary SWINBACK for Z axis
116. movement Continuous jog OFF Only the axis and in the indicated direction ON Both axes in the indicated direction and along the indicated path Incremental jog OFF Only the axis the selected distance and in the indicated direction ON Both axes the selected distance and in the indicated direction but along the indicated path Handwheel It ignores the keys The rest of the jog keys always work in the same way whether path jog is on or off The rest of the keys move only the axis and in the indicated direction stalla tion manual Considerations about the jog movements This mode assumes as axis feedrate the one selected in jog mode and it will also be affected by the feedrate override switch If FO is selected it assumes the one indicated by machine parameter JOGFEED P43 This mode ignores the rapid jog key PATH JOG movements respect the travel limits and the work zones Path jog movements may be aborted in the following ways By pressing the STOP key e By turning the JOG switch to one of the handwheel positions e By setting general logic input MASTRHND M5054 0 e By setting general logic input STOP M5001 0 Di Jog CONCEPTS FAGOR 2 CNC 8037 SOFT V01 6x 207 CONCEPTS Movement with an electronic handwheel FAGOR CNC 8037 SOFT V01 6x 208 6 3 Movement with an electronic handwheel Depending on their configuration the available handwheels are e G
117. numbers between 0 and 65535 Default value 1250 When using CAN servo if both parameters NPULSES and PITCHB are set to 0 the CNC will assume the equivalent values of the drive I Axis parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 133 Axis parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 134 DIFFBACK P9 Indicates whether the feedback device uses differential signals double ended or not Value Meaning NO It does NOT use differential signals YES It uses differential signals Default value YES SINMAGNI P10 Indicates the multiplying factor x1 x4 x20 etc that the CNC must apply only to sinusoidal feedback signal For square feedback signals this parameter must be set to 0 and the CNC will always apply a multiplying factor of x4 Possible values Integer numbers between 0 and 255 Default value 0 The axis feedback resolution must be set using a m p PITCH P7 NPULSES P8 and SINMAGNI P10 as shown in the following table PITCH NPULSES SINMAGNI P7 P8 P10 Square signal encoder Leadscrew pitch Nr of pulses 0 Sinusoidal signal encoder Leadscrew pitch Nr of pulses multiplying factor Square signal linear encoder linear encoder pitch 0 0 Sinusoidal signal linear encoder linear encoder pitch 0 multiplying factor FBACKAL P11 This parameter is to be used only when the feedback signals are sin
118. or because the general logic input RESETIN has been activated LOPEN M5506 The CNC sets this signal high in order to tell the PLC that the positioning loop of the axes is open since an error has occurred FAGOR CNC 8037 SOFT V01 6x 370 ALARM M5507 The CNC sets this signal low in order to tell the PLC that an alarm or emergency condition has been detected This signal will be set high once again once the message from the CNC has been eliminated and the cause of the alarm has disappeared CNC 7 EMERGEN ALARM 1 1 24 Se L L DL e 5 Q o 5 E O 5 a 2 Z 5 lt pes p 5 3 ARMARIO ELECTRICO zZ O Likewise while this signal is low the CNC keeps the emergency output pin 2 of connector X2 active low O Example ALARM AND other conditions O1 The emergency output O1 of the PLC must be normally high If an alarm or an emergency is detected at the CNC the emergency output O1 must be set low OV MANUAL M5508 The CNC sets this signal high to tell the PLC that the JOG Manual operating mode is selected AUTOMAT M5509 The CNC sets this signal high to tell the PLC that the automatic operating mode is selected MDI M5510 The CNC sets this signal high to tell the PLC that the MDI mode manual data input is selected in one of the operating modes JOG automatic etc SBOUT M5511 The CNC sets this signal high to tell the PLC that the single block execution mode i
119. outputs The transmission speed depends on the length of the cable or total CAN connection distance Machine parameter IOCANSPE P88 must be set Module identification at the bus Each one of the elements integrated into the CAN bus is identified by the 16 position rotary switch 0 15 Address also referred to as Node_Select This rotary switch selects the address node occupied by each element integrated in the bus The CNC s communications board does not have a switch and always assumes position 0 inside the bus The rest of the modules occupy consecutive positions starting from 1 SS ee ae a ZN l the CAN addresses of the I O modules If address 1 is used at the drive s CAN bus there cannot be any module with that address in the CAN bus of the I O s a Although both CAN buses are independent the CAN addresses of the drives cannot be the same as The Line_Term switch The Line_Term switch identifies which are the elements that occupy the ends of the CAN bus i e the first and last physical element in the connection The switch position of the terminating elements must be 1 and that of the rest of the elements 0 The central unit must always be at one end ofthe line The other end will be the last one of the remote module groups The CNC does not have a Line_Term switch and always has the terminating resistor activated CAN connector pinout 5 pin male Phoenix minicombicon connector 3 5 mm pit
120. points outside the compensation zone the CNC will apply the compensation value corresponding to the table point closest to them When both leadscrew and cross compensations are applied on the same axis the CNC will apply the sum of the two CONCEPTS disk KeyCF or in a peripheral or PC to avoid losing them N Itis recommended to save the machine parameters as well as the PLC program and files into the hard 6 1 Axes and coordinate systems Given thatthe purpose of the CNC is to control the movement and positioning of axes itis necessary to determine the position of the point to be reached through its coordinates The CNC allows you to use absolute relative or incremental coordinates throughout the same program Axis nomenclature The axes are named according to DIN 66217 Characteristics of the system of axes X and Y main movements on the main work plane of the machine Z parallel to the main axis of the machine perpendicular to the main XY plane U V W auxiliary axes parallel to X Y Z respectively ABC Rotary axes on each axis X Y Z FAGOR 2 CNC 8037 SOFT V01 6x 197 CONCEPTS Axes and coordinate systems FAGOR CNC 8037 SOFT V01 6x 198 The figure below shows an example of the nomenclature of the axes on a milling profiling machine with a tilted table Axis selection Of the 9 possible axes that may exist the CNC allows the manu
121. protocol is active or not when operating with a generic peripheral ON It is active OFF It is NOT active Default value ON RCVMAXCAR P11 It indicates the maximum number of characters that may be received in the communication Integer numbers between 0 and 255 Default value 0 RCVENDTI P12 Indicates the maximum reception time Reception ends when the time indicated in this parameter has elapsed after reception began Integers between 0 and 65535 ms Default value 0 5 7 HDDIR PO Ethernet parameters These parameters may be used to configure the CNC like any other node in the network the DNC for Ethernet the remote hard disk and the Ethernet network Doing that requires the Ethernet option Parameters Configuration Basic configuration DIRIP P24 NETMASK P25 IPGATWAY P26 optional Configure the CNC like another node in the network The hard disk is accessible via FTP CNHDPASI P7 Basic configuration and also Protectthe access to the hard disk with a password DNCEACT P22 IPWDNC P27 Basic configuration and also Configure the DNC for Ethernet IPSNFS P28 DIRNFS P29 Basic configuration and also Configure the remote hard disk Not being used CNID P2 Possible values It admits up to a maximum of 15 characters without blank spaces e Access the part program directory of the Hard Disk HD e Copy program
122. pulses the axis may be homed anywhere within its travel Thus this parameter must only be set when applying leadscrew error CNC 8037 compensation The amount of leadscrew error of the machine reference point may have any value MAXVOLT P37 Defines the value of the velocity command corresponding to the maximum feedrate of the axis Sort V01 6x indicated by a m p GOOFEED P38 Possible values Integer numbers between 0 mV and 9999 mV Default value 9500 9 5 V 140 GOOFEED P38 Indicates the maximum feedrate GOO rapid traverse of this axis Possible values Between 0 0001 and 199999 9999 degrees min or mm min Between 0 00001 and 7874 01574 inches min Default value 10000 mm min UNIDIR P39 Indicates the direction of the unidirectional approach in GOO moves Value Meaning sign Positive direction sign Negative direction Default value sign OVERRUN P40 Indicates the distance to be kept between the approach point and the programmed point If it is a Lathe model this distance must be in radius Possible values Between 0 0001 and 99999 9999 degrees min or mm min Between 0 00001 inches min and 3937 00787 inches min Default value 0 not unidirectional UNIFEED P41 Indicates the feedrate to be used from the approach point to the programmed point Possible values Between 0 0001 and 99999 9999 degrees min or mm min Between 0 00001 inches min and 3937 00787 inches min Defau
123. reading the last accepted keystroke or simulating the CNC keyboard assigning the desired key code to it CNCRD KEY R110 M10 Loads register R110 with the value of the last key accepted To simulate the CNC keyboard from the PLC follow these steps R111 1 R110 0 CNCWR R111 KEYSCR M10 Indicates to the CNC that only keystrokes coming from the PLC must be processed CNC keyboard inhibited CNCWR R101 KEY M10 It indicates to the CNC that a key has been pressed whose code is indicated in register R101 CNCWR R110 KEYSCR M10 Process only keystrokes coming from the CNC KEYSRC This variable allows reading or modifying the source of keystrokes possible values being 0 Keyboard 1 PLC 2 DNC The CNC only allows modification of this variable if it is set to O or 1 Once the keystroke simulation is finished it is advisable to re enable the CNC keyboard in order to be able to access the various operating modes of the CNC The CNC will assign a value of 0 to this variable on power up and after pressing SHIFT RESET ANAOn This variable allows the required analog output n to be read or modified The value assigned will be expressed in 0 0001 volt units and within 10 V A A The analog outputs which are free among the sixteen 1 through 16 available at the CNC may be modified the corresponding error being displayed if an attempt is made to write in one which is occupied When setting an axis as a DRO a
124. returns the spindle speed limit selected via PLC If it has a value of 0 it means that it is not selected PRGS It returns the spindle speed limit selected by programa If it has a value of 0 it means that it is not selected Variables associated with constant cutting speed lathe model PLCCSS is a read write variable the rest are read only CSS It returns the constant surface speed selected at the CNC This constant surface speed may be indicated by program by PLC or by DNC the CNC selects one of them the one indicated by DNC has the highest priority and the one indicated by program has the lowest priority The values are given in the units set by g m p INCHES FAGOR 2 If INCHES 0 in m min 4999999999 If INCHES 1 in ft min 893700787 CNC 8037 DNCCSS It returns the constant surface speed selected via DNC Its value is given in m min or ft min and it is 0 it means that it is not currently selected SOFT V01 6x PLCCSS It returns the constant surface speed selected by PLC Its value is given in m min or ft min 399 ACCESS TO INTERNAL CNC VARIABLES N Variables associated with the main spindle FAGOR CNC 8037 SOFT V01 6x 400 PRGCSS It returns the constant surface speed selected by program Its value is given in m min or ft min Variables associated with the spindle override The variable PLCSSO is a read write variable the rest are read only SSO It returns the turning speed ov
125. s m p FFGAIN P25 to the desired value Derivative AC forward gain setting With the derivative gain it is possible to reduce the following error during the acc dec stages Its value is given by s m p DERGAIN P24 When this additional velocity command is due to fluctuations of following error ACFGAIN P46 NO it is called derivative gain FFGAIN a a Programmed gt PROGAIN gt gt Analog output Feedrate asd 2 Ki DERGAIN FAGOR CNC 8037 SOFT V01 6x 252 When it is due to variations of the programmed feedrate ACFGAIN P42 YES it is called AC forward gain since it is due to acc dec FFGAIN I DERGAIN PROGAIN Best results are usually obtained when using it as AC forward Gain ACFGAIN P42 YES together with feed forward gain This gain is only to be used when operating with acceleration deceleration control A practical value between 2 to 3 times the Proportional Gain PROGAIN P23 may be used To perform a critical adjustment proceed as follows e Verify that there are no oscillations of following error In other words that it is not unstable e Check with an oscilloscope the tacho voltage or the command voltage at the drive velocity command verify that it is stable left graph and that there are no instabilities when starting up center graph or when braking right graph
126. scan unless the MRD instruction is used The type of information available and its associated identifiers are Type of information Identifier Class2Diagnostics Warnings 00012 Class3Diagnostics OperationStatus 00013 VelocityFeedback 00040 PositionFeedbackValue1 00051 TorqueFeedback 00084 CurrentFeedback 33079 FagorDiagnostics 33172 AnalogInputValue 33673 AuxiliaryAnaloginputValue 33674 DigitallnputsValues 33675 PowerFeedback 34468 PowerFeedbackPercentage 34469 The bits of identifier 33172 FagorDiagnostics contain the following information bits Meaning Id at the drive 0 1 2 3 GV25 ActualGearRatio 000255 4 5 6 7 GV21 ActualParameterSet 000254 po lB ggg sd 9 SV5 000331 10 SV3 000332 fd TVI0TGreaterEqualx 000388 12 TV60 PGreaterEqualPx 000337 Cyclic channel Write variables for the CNC PLC pic m p SWR800 P68 through SWR819 P87 indicate which type of information has been put in registers R800 through R819 and which drive will be assigned that value P68 gt R800 P69 gt R801 P70 gt R802 P71 gt R803 etc These parameters are set in 1 5 format The units digit identifies the drive node supplying the data and the decimals indicate the identifier number see table below For example P70 2 34178 indicates that the value of PLC register R802 will be assigned to the DigitalOutputsValues of the drive located in bus node 2 il To ident
127. system is faster when operating with real resource values Operating with image values permits analyzing the same resource along the whole program with FAGOR the same value regardless of its current instantaneous real value CNC 8037 SOFT V01 6x 308 Operating with real values Inthe first scan when execution the instruction M1 M2 M1 has areal value of 1 set by the previous instruction The same is true for instructions M2 M3 and M3 O5 That is why real values are used output O1 takes the value of 1 in the first scan Operating with image values The first cycle scan sets the real value of M1 1 but its image value will not be set to 1 until the end of the cycle In the 2nd cycle scan the image value of M1 is 1 and the real value of M2 is set to 1 but the image value of M2 will not be set to 1 until the end of the cycle In the 3rd cycle scan the image value of M2 is 1 and the real value of M3 is set to 1 but the image value of M3 will not be set to 1 until the end of the cycle In the 4th cycle scan the image value of M3 is 1 and the real value of O5 is set to 1 Sd 9 5 o 5 W z E O F 6 8 2 69 zZ FAGOR 2 CNC 8037 SOFT V01 6x 309 Loop time INTRODUCTION TO THE PLC FAGOR CNC 8037 SOFT V01 6x 310 8 3 Loop time The time the PLC requires to execute the program is called cycle time and can vary in the success
128. the PLC will assign a value of 0 to the indicated error detection mark and 1 if otherwise CNCRD FEED R150 M200 It loads the value of the feedrate selected at the CNC when working in G94 into the PLC register R150 When requesting information about a nonexisting variable i e the position value of a nonexisting axis this instruction will not alter the contents of the register and it will set the selected error mark indicating that the variable does not exist Writing variables CNCWR command The CNCWR command allows writing the CNC s internal variables Its programming format is CNCWR Register Variable Mark This PLC action loads the contents of the indicated register into the selected variable If this instruction has been executed properly the PLC will assign a value of 0 to the indicated error detection mark and 1 if otherwise CNCWR R92 TIMER M200 It resets the clock enabled by the PLC with the value contained in register R92 When trying to modify the contents of a nonexisting variable or assign an improper value to it the selected error mark will be set to 1 which will indicate that this instruction is incorrect When performing an improper reading or writing request the PLC will continue the execution of the program unless interrupted by the programmer after having analyzed the error mark defined in the instruction FAGOR 2 CNC 8037 SOFT V01 6x 381 ACCESS TO INTERNAL CNC VARIA
129. the anticipation signal ADVINPOS will never be activated PERCAX P70 Not being used TAFTERS P71 g m p TOOLSUB P60 indicates the number of the subroutine associated with the tool The TAFTERS parameter determines whether the tool selection is carried out before or after executing that subroutine Value Meaning YES After executing the subroutine NO Before executing the subroutine Default value NO LOOPTIME P72 It sets the sample period used by the CNC and consequently affects the block processing time Value Meaning 0 4 ms period standard 1 6 Period in milliseconds Default value 0 If general machine parameter LOOPTIME P72 is set with a value lower than 4 the period will be 4 ms IPOTIME P73 Not being used COMPTYPE P74 It determines how tool radius compensation is applied This parameter has three digits units Type of tool radius compensation beginning and end The units set the type of beginning end of tool radius compensation applied by the CNC Value Meaning xx0 It approaches the starting point going around the corner xx1 It goes directly perpendicular to the point without going around the corner Default value 0 i COMPTYPE x0 COMPTYPE x1 SI MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 101 MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 102
130. the doors etc In the following cases the value set in axis parameter FLIMIT P75 is not exceeded 1 Electronic handwheel In order to respect the limit set by a m p FLIMIT P75 some of the pulses received from the handwheel must be ignored when exceeding FLIMIT i e if FLIMIT is active some pulses will be lost whether bit 15 of general parameter HDIFFBAC P129 is set to 0 or to 1 2 Handwheel associated with a mechanical handwheel 3 Path handwheel TANSLAID P76 TANSLANA P77 TORQDIST P78 PRELOAD P79 PRELFITI P80 TPROGAIN P81 TINTTIME P82 TCOMPLIM P83 Not being used ADIFEED P84 Maximum feedrate allowed due to the additive handwheel Possible values Between 0 and 99999 9999 degrees min or mm min Between 0 inches min and 3937 00787 inches min Default value 1000 FRAPIDEN P85 Maximum axis feedrate when activating the EXRAPID mark and when pressing the rapid key in execution or in simulation with motion If set to 0 it assumes the feedrate set by parameter GOOFEED If it is set with a value higher than GOOFEED the feedrate will be limited to GOOFEED Possible values Between 0 and 199999 9999 degrees min or mm min Between 0 and 7874 01574 inches min Default value 0 This limit does not affect the rapid jog which will still have the value of parameter GOOFEED PITCHB P86 Leadscrew pitch This parameter must be set when using CAN or analog servo drives Depending on the type
131. the greater the drop Value Filter type 0 4 Low passing filter 0 4 Notch filter anti resonance 0 30 FAGOR filter Default value 0 the filter is not applied When applying a filter it must be set with an order of 3 Before setting it to another value consult with Fagor Automation s technical service r T T T r______rr1__ TTTET TPT7 TK lt vwr If the filter has been designed wrong it will not be applied The filters are not applied while moving with an electronic handwheel or a mechanical handwheel It is recommended not to activate these filters on machines carrying out movements against a hard stop When detecting that the FAGOR filter order is too high for the filter configuration according to parameters FREQUEN and LOOPTIME on power up it will issue the message Itis recommended to lower the order of the frequency filter It is recommended to start from low values e g ORDER 5 and go on increasing this value until that message is displayed TYPE P68 Filter type There are three types of filter low passing notch filter and FAGOR low passing To obtain a good machining quality all the axes and the spindle interpolating with each other should be defined with the same type of filter and with the same frequency For the spindle the filters are only applied in M19 and in rigid tapping where the spindle is interpola
132. the logic state of the resource SET 11 512 RES O 1 512 CPL M 1 5957 B 0 31 R 1 559 Sequence breaking action instructions JMP L 1 256 Unconditional jump RET Return or End of a subroutine CAL L 1 256 Call to a subroutine Arithmetic action instructions MOV Transfers the logic states of the indicated source to the indicated destination NGU Complements all register bits NGS Changes the sign of the Register contents ADS Adds the contents of a two registers or a number and a register content SBS Subtracts between the contents of two registers or between a number and a register content MLS Multiplies the contents of two registers or a number and a register content DVS Divides the contents of two registers or a number and a register content MDS Module between registers contents or between a number and a register content Origin Destination Source code Destination Number of bits to code transmit MOV 11 512 11 512 0 Bin 0 Bin 32 O 1 512 O 1 512 1 BCD 1 BCD 28 M 1 5957 M 1 5957 24 T 1 256 R 1 559 20 C 1 256 16 R 1 559 12 8 4 ADS R1 559 R1 559 R1 559 SBS MLS DVS MDS O Summary of PLC commands FAGOR 2 CNC 8037 SOFT V01 6x 455 Logic action instructions AND Logic AND operation between register contents or between a number and a register content OR Logic OR operation between register content
133. the same ground cable GND pin thus avoiding reference points at different voltages especially in long cables Recommended RS232C interface connection Simplified connection Full connection PC 9pin CNC PC Hold Hold AVAVVA AYAYAY w oO FAGOR B CNC 8037 ae AYAYYA AYAYYA SOFT V01 6x 32 Connector X2 Digital inputs I1 to 116 and digital outputs 01 to 08 It is a 37 pin normal density SUB D type female connector Connect both 24V and OV of the power supply used for these inputs and outputs must be connected to pins 18 and 19 for OV and pins 1 and 20 for the 24V of the connector Since the response time of the emergency signal must be very short the CNC has assigned input 11 for this purpose thus the CNC will treat this input immediately regardless of how the PLC program uses it The emergency output which coincides with O1 of the PLC will be activated change from logic level 1 to 0 when an ALARM or ERROR occurs at the CNC or when the PLC output O1 is set to 0 logic level 0 Pin Signal and function 1 24V External power supply 2 01 Emergency output 3 03 4 05 5 O7 6 7 ses 8 9 ae te 10 l1 Emergency input 6 11 13 J 0 12 15 36 0 o 13 17 E o 14 19 i o 15 111 300 o cO o 16 113 196 17 115 2 o o 18 OV External power
134. the same value as the highest of the ones used The auxiliary functions M41 M42 M43 and M44 are used to tell the PLC that spindle gear 1 2 3 or 4 must be selected In turn the PLC must tell the CNC the speed gear being selected This will be indicated by means of the logic inputs for the spindle GEAR1 M5458 GEAR2 M5459 GEAR3 M5460 and GEAR4 M5461 Since to each S speed corresponds a spindle gear before selecting a new S one must 1 Analyze whether the new S involves a gear change 2 If it does execute the M function corresponding to the new gear M41 thru M44 in order for the PLC to select it 3 Wait for the PLC to select the new gear Check spindle logic inputs GEAR1 M5458 GEAR2 M5459 GEAR3 M5460 and GEAR4 M5461 4 Select the new speed S To have the CNC perform all these operations automatically set s m p AUTOGEAR P6 YES to indicate that the gear change is to be generated by the CNC Automatic gear change controlled by the PLC MINAENDW When the CNC detects a gear change it sends out to the PLC the corresponding M code M41 thru M44 via one of the logic outputs MBCD1 7 R550 thru R556 It also activates general logic output MSTROBE M5532 to tell the PLC to go ahead with the execution The PLC deactivates CNC general logic input AUXEND M5016 to indicate to the CNC that it began processing the M function CONCEPTS Spindle
135. the tool the value of the RIGIER variable must be as close to zero as possible That will require retouching the following errors of the longitudinal axis and of the spindle Since adjusting the spindle in closed loop is usually harder than adjusting an axis we recommend to first adjust the spindle as best as possible and then adjust the following error of the longitudinal axis so the displayed value of the RIGIER variable is as small as possible Other variables ACCESS TO INTERNAL CNC VARIABLES N FAGOR CNC 8037 SOFT V01 6x 414 AXES CONTROLLED FROM THE PLC The PLC offers actions CNCEX and CNCEX1 to send commands to the CNC CNCEX sends commands to the CNC so it executes movements on one or several axes CNCEX1 sends commands to the CNC so it executes any kind of block The CNCEX action is executed through the execution channel of the PLC The CNCEX1 action is executed via main channel of the CNC and as long as the JOG keyboard is enabled Its execution can be interrupted by pressing CYCLE STOP or even canceled by pressing RESET Ifa CNCEXI action is received when the JOG keyboard is disabled the CNC ignores this command The programming format for these actions is CNCEX ASCII block Mark CNCEX1 ASCII block Mark By means of these actions the PLC sends to the CNC the command indicated in the ASCII Block to be executed If the ASCII Block has been accepted by the CNC the PLC will set the indicated
136. to 01 when everything checks out fine and a value of 0 when there is an error The interface of the electrical cabinet will take into account all the elements that could cause this type of error Among such elements are e E stop has been pressed e The travel limit of any axis has be exceeded e There is a malfunction on a drive or it is locked without velocity command signal When the CNC detects an error it will indicate it to the PLC with the general logic output ALARM and it will set the emergency output low pin 2 of connector X2 Since this signal corresponds to the PLC output O1 it can also be activated by the PLC program gt ELECTRICAL CABINET The recommended connection diagram is the following MACHINE AND POWER CONNECTION Connection of the emergency input and output 11 RE Emergency STOP 24V RSE eg a Emergency Other emergency ___y STOP button buttons RE e OV Emergency from electrical cabinet 01 RSE Emergency output p Ov Emergency STOP relay FAGOR CNC 8037 SOFT V01 6x 81 Installation manual vr yndjno pue indui AvuaBiawa au Jo UonogUUoI NOILIAINNO9 YIMOd ANV ANIHOVIN CNC 8037 SOFT V01 6x 82 MACHINE PARAMETERS It is recommended to save the CNC machine parameters into the hard disk KeyCF or in a peripheral or PC to avoid losing them On power up the
137. to Machine Reference Zero observe the position reading of the CNC for that point This will be the distance away from the machine reference point thus the value to be assigned to a m p REFVALUE P36 will be Machine coordinate of the measured point CNC reading at that point Example If the point whose known position is located 230 mm from Machine Reference Zero and the CNC reads 123 5 mm as the coordinate value for this point the coordinate of the Machine Reference Point with respect to Machine Reference Zero will be REFVALUE 230 123 5 353 5 mm Assign this new value and press RESET so it is assumed by the CNC It is also necessary to search Home once again in order for this axis to assume the correct reference values Axis travel limits software limits Once all the axes have been referenced their software limits must be measured and set This is achieved a single axis at a time as follows e Move the axis in the positive direction towards the end of the axis travel stopping at a safe distance from the mechanical end of travel stop e Assign the coordinate shown by the CNC for that point to a m p LIMIT P5 e Repeat these steps in the negative direction assigning the resulting coordinate to a m p LIMIT P6 e Once this process is completed hit SHIFT RESET or turn the CNC off and back on in order for it to assume the new values Adjustment of the drift offset and maximum feedrate G00
138. two analog I O boards 3 1 Installation of the modules Place the modules on 2 profiles according to the UNE 50022 standard with 2 securing ends one at each end of the group they help securing the modules besides maintaining the right gap between the profiles Dimensions of the modules Always leave a 140 mm gap under the modules for ventilation and later handling 43 26 ni EN50022 EN50022 Connection of the modules The modules of the group are connected as follows A For ground connection B Ribbon cable to interconnect the modules C Securing studs Each group is connected to the system CPU Keyboard etc through the CAN bus as described later on Installation of the modules REMOTE MODULES BUS CAN WITH CANOPEN PROTOCOL FAGOR CNC 8037 SOFT V01 6x 57 Power supply REMOTE MODULES BUS CAN WITH CANOPEN PROTOCOL FAGOR CNC 8037 SOFT V01 6x 58 3 2 Power supply The power supply must be powered at 24 V DC and connected to the CAN bus of the system There are two power supply models e Power supply
139. values Four numbers between 0 and 255 separated by dots Default value 0 0 0 0 it has no gateway IPWDNC P27 WinDNC server s IP address The WinDNC server is the external device to connect with via DNC This device may be a CNC or a PC with WinDNC Defining it as 0 0 0 0 does not allow transferring from the CNC but it is possible from the PC Possible values Four numbers between 0 and 255 separated by dots Default value 0 0 0 0 IPSNFS P28 IP address of the server acting as remote hard disk If other than 0 the remote hard disk is activated This means that the local hard disk if there is any is disabled and can no longer be accessed Possible values Four numbers between 0 and 255 separated by dots FAGOR Default value 0 0 0 0 there is no remote hard disk CNC 8037 DIRNFS P29 Directory of the server that is used as remote hard disk Possible values It admits up to a maximum of 22 characters without blank spaces SOFT V01 6x Default value Nameless MACID P30 Reserved lt must be set to 0 182 ETHEINLE P31 Not being used CNC connection in an Ethernet network Connection using Windows 95 or 98 Connection with a shared CNC without password I At the Web browser e g IExplorer or from the file explorer only on Windows 98 write in the command line the CNC s IP address For example ftp 10 0 7 224 Connection with a shared CNC with password At the Web browser e g IExplorer or f
140. variable sets from the PLC the of feedrate selected by the execution channel of the PLC G m p MAXFOVR P18 limits the value of the percentage applied to both execution channels main and PLC The OVRCAN M5020 mark sets the feedrate override of the main channel to 100 It does not affect the feedrate override of the PLC channel Same as with the main channel the following movements have a special treatment e When searching home the value of PLCCFR is ignored e In GO it considers the value of g m p RAPIDOVR P17 If P17 NO always 100 except if PLCCFR 0 In that case the movement stops If P17 YES considers PLCCFR but it limits its value to 100 e In G1 G2 G3 it is always applied except when operating at maximum feedrate FO it is limited to 100 e In G75 G76 it is only applied when g m p FOVRG75 P126 YES Blocks programmed in high level language The high level instructions that can be used in the PLC execution channel are IF condition lt action1 gt ELSE lt action2 gt CALL expression CNCEX CALL 100 M1000 Sends the CALL 100 command to the CNC so it executes calls subroutine 100 CNCEX P100 P100 2 M1000 Sends the P100 P100 2 command to the CNC to increment the value of parameter P100 in 2 units Programming high level blocks has the following restrictions e The programmed blocks can only work with global parameters e Up to 5 nesting levels of standard subroutines are allow
141. will be assigned the value of 0 option available Assigning the value of 1 bit 15 14 13 121110 9 8 7 6 5 4 3 2 10 hides the level of the corresponding cycle Meaning of the parameters in the TC work mode Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 COCYF1 COCYF2 Turning 1 Turning 2 COCYF3 Facing 1 Facing 2 COCYF4 Taper turning 1 Taper turning 2 Taper turning 3 COCYF5 Rounding 1 Rounding 2 COCYF6 Threading 1 Threading 2 Threading 3 COCYF7 Grooving 1 Grooving 2 Grooving 3 Grooving 4 Cut off COCYZ Drilling 1 Tapping COCYPOS Positioning 1 Positioning 2 COCYPROF Profile 1 Profile 2 COCYGROO COCYZPOS SI MACHINE PARAMETERS General machine parameters FAGOR 2 CNC 8037 SOFT V01 6x 117 MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 118 LOOKATYP P160 This parameter has 16 bits counted from right to left bit 1514131211109 8 7 6 5 43210 CeCe m m a a m a a m a Each bit has a function or work mode associated with it By default all the bits will be assigned the value of 0 except bits 12 14 and 15 that will be assigned a value of 1 Assigning the value of 1 activates the corresponding fu
142. with 24 digital inputs and 16 digital outputs e Power supply with 4 analog inputs 4 analog outputs and 2 inputs for temperature sensors Power supply with digital inputs and digital outputs Connector X1 Power supply SPEED selector CAN bus transmission speed ADDRESS selector Address node ofthe element within the CAN bus Line Term selector Line terminating resistor Connector X2 CAN bus connection X3 connector CAN bus connection Leds N Status indicators POWER X1H X2 X3 N A D O 24 01 a Connector X4 X4 8 digital outputs 08 GND 24V 09 stili _ _ gi Connector X5 X5 8 digital outputs 016 GND Connector X6 12 digital inputs X6 Connector X7 12 digital inputs X7 Power supply with analog inputs and outputs POWER ANALOG 1 0 _r11 1__1_1___111111 E _ _ _ _ lt lt RL CHS Connector X1 Power supply X1 GND 24V M4 Connector X4 4 general purpose analog outputs SPEE
143. with a label L 1 2000 A subroutine is any part of the program that starts with a label L1 2000 and end with the directing instruction END JMP 9 Unconditional Jump a If the result of evaluating the logic expression is a 1 it causes jump to the indicated label If the S result is a 0 it goes on to the next program line z 5 Example qo n 18 JMP L12 If 18 1 it goes on to L12 2 2 M14 AND B7R120 08 If I8 1 it is not executed A lt o CPS T2 EQ 2000 012 If 18 1 it is not executed a me L12 112 AND 123 OR M54 06 CAL Call to a subroutine If the result obtained in the evaluation of the logic expression is a 1 this action will execute the indicated subroutine Once the subroutine execution is over the PLC will continue at the action instruction or executable instruction programmed after CAL If the result obtained in the evaluation of the logic expression is a 0 this action will be ignored by the PLC without executing the subroutine Example 12 CAL L5 02 With I2 1 subroutine L5 will be executed and once executed the PLC will set O2 to the value of input 12 1 If 12 0 the subroutine is not executed and the PLC sets output O2 to the status of input 12 0 RET Return or end of subroutine If the result obtained in the evaluation of the logic expression is a 1 this action will be treated by the PLC as if it involved the directing instruction END If the result is a 0 the PLC will ignore it
144. with the value of the drive s rotary switch address device select Value Meaning 0 Analog axis 1 8 Address of the digital drive Default value 0 It is recommended not necessary that the Can addresses of the various axes and spindles be consecutive and start from number 1 the address of the CNC is always 0 For example with 3 CAN axes and 1 CAN spindle the values of this parameter must be 1 2 3 and 4 EXTMULT P57 This parameter is to be used when utilizing a distance coded feedback system It indicates the ratio between the mechanical period or the graduation pitch on the glass or steel tape and the electrical period or period of the feedback signal supplied to the CNC Possible values Period of the graduation on the glass mechanical period or pitch EXTMULT P57 Period of the feedback signal electrical period Default value 0 Example E g Fagor linear encoder FOT has a graduation pitch of 100 um and a feedback signal period of 20 um EXTMULT 100 20 5 Sl Axis parameters MACHINE PARAMETERS FAGOR 2 CNC 8037 SOFT V01 6x 145 Axis parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 146 Values to be assigned for Fagor encoders with distance coded 10 Linear encoders IOCODI1 IOCODI2 EXTMULT P68 P69 P57 SOP GOP MOT COT FOP 1000 1001 1 SVOP MOC COC MOP COP SOX GOX MOX COX FOT 1000 1001 5 SV
145. x 1 3000 rpm Analog axes Parameters involved in the calculation of the velocity command a m p GOOFEED P38 Maximum feedrate of the axis 20000 Parameters involved in the calculation of the position feedback a m p NPULSES P8 number of pulses per turn of the encoder 2500 FAGOR 2 a m p PITCHB P86 Leadscrew pitch 20 Motor gear ratio CNC 8037 a m p INPREV P87 Input revolutions 3 a m p OUTPREV P88 Output revolutions 1 SOFT V01 6x 271 Installation manual 6 15 2 Axis example external feedback device without a gear box In this case on linear axes the encoder is connected directly to the leadscrew and on rotary axes it is connected directly to the center of rotation If it is a rotary axis the leadscrew pitch will be 360 CONCEPTS Gear ratio management on axes and spindle We have an axis with a maximum feedrate of 20 m min with a leadscrew pitch of 20 and a 3 to 1 gear ratio between the motor and the leadscrew The encoder is an HOP model Vpp and provides 18 000 pulses per turn If a linear encoder is a FAGOR GOX model with a glass steel tape grading pitch of 20u and the actual TTL pitch is 4p FAGOR CNC 8037 SOFT V01 6x 272 CAN axes 1 External feedback connected to the CNC A m p DRIBUSLE P63 0 Parameters involved in the calculation of the velocity command a m p GOOFEED P38 Maximum feedrate of the axis 20000 a
146. 0 P70 P120 P170 P21 P71 P121 P171 P22 P72 P122 P172 P23 P73 P123 P173 P24 P74 P124 P174 P25 P75 P125 P175 P26 P76 P126 P176 P27 P77 P127 P177 P28 P78 P128 P178 P29 P79 P129 P179 P30 P80 P130 P180 P31 P81 P131 P181 P32 P82 P132 P182 P33 P83 P133 P183 P34 P84 P134 P184 P35 P85 P135 P185 P36 P86 P136 P186 P37 P87 P137 P187 P38 P88 P138 P188 P39 P89 P139 P189 P40 P90 P140 P190 P41 P91 P141 P191 P42 P92 P142 P192 P43 P93 P143 P193 P44 P94 P144 P194 P45 P95 P145 P195 P46 P96 P146 P196 P47 P97 P147 P197 P48 P98 P148 P198 P49 P99 P149 P199 Machine parameter setting chart C FAGOR 2 CNC 8037 SOFT V01 6x 471 Machine parameter setting chart FAGOR CNC 8037 SOFT V01 6x 472 axis machine parameters PO P50 P100 P150 P1 P51 P101 P151 P2 P52 P102 P152 P3 P53 P103 P153 P4 P54 P104 P154 P5 P55 P105 P155 P6 P56 P106 P156 P7 P57 P107 P157 P8 P58 P108 P158 P9 P59 P109 P159 P10 P60 P110 P160 P11 P61 P111 P161 P12 P62 P112 P162 P13 P63 P113 P163 P14 P64 P114 P164 P15 P65 P115 P165 P16 P66 P116 P166 P17 P67 P117 P167 P18 P68 P118 P168 P19 P69 P119 P169 P20 P70 P120 P170 P21 P71 P121 P171 P22 P72 P122 P172 P23 P73 P123 P173 P24 P74 P124 P174 P25 P75 P125 P175 P26 P76 P126 P176 P27 P77 P127 P177 P28 P78 P128 P178 P29 P79 P129 P179 P30 P80 P130 P180 P31 P81 P131 P181 P32 P82 P132 P182 P33 P83 P133 P183
147. 0 from BCD to Binary in 20 bits If the number to be converted from binary to BCD is larger than the maximum BCD its value will be truncated ignoring the most significant bits The maximum BCD value that can be converted is 9 with 4 bits 9999 with 16 bits 9999999 with 28 bits 99 with 8 bits 99999 with 20 bits 99999999 with 32 bits 999 with 12 bits 999999 with 24 bits In these cases it is recommended to make the move increasing the number of bits by using if necessary registers or marks in intermediate steps Example 111 MOV 114 016 108 If input 111 is 1 the PLC moves the logic states of the 8 inputs 114 plus the next 7 in BCD code to the 8 outputs 016 and the next 7 in binary code NGU Complements the bits of a register It changes the state of each one of the 32 bits of a register Example 115 NGU R152 If input 115 is 1 the PLC changes the state of the 32 bits of register R152 R152 before 0001 0001 0001 0001 0001 0001 0001 0001 R152 after 1110 1110 1110 1110 1110 1110 1110 1110 Action instruction PLC PROGRAMMING FAGOR 2 CNC 8037 SOFT V01 6x 329 NGS Register sign change Example 116 NGS R89 If input 116 1 the PLC changes the sign of the contents of register R89 R89 before 0001 0001 0001 0001 0001 0001 0001 0001 R89 after 1110 1110 1110 1110 1110 1110 1110 1111 9 ADS SBS MLS DVS MDS n They may be used to carry out arit
148. 0 mA Protection by means of galvanic isolation by optocouplers Shortcircuit protection Place external recovery diodes Analog outputs for axes and spindle Command voltage within 10 V 16 bit solution Minimum impedance of the connected connector 10 kQ Shielded cable should be used Ambient conditions Relative humidity 30 95 without condensation Operating temperature between 5 C 41 F and 40 C 104 F with an average under 35 C 95 F Storage temperature between 25 C 13 F and 70 C 158 F Maximum work altitude Meets the IEC 1131 2 standard Packaging Meets the EN 60068 2 32 standard Vibration When running 10 50 Hz amplitude 0 2 mm 19 While being shipped 10 50 Hz amplitude 1 mm 59 Free fall of packaged unit under Fagor ruling 1m Electromagnetic compatibility and safety Refer to the section on safety conditions in the introduction of this manual Installation manual Degree of protection Central Unit IP54 for the front panel and IP2X for the rear panel Accessible parts inside IP 1X Operator panel IP54 Battery 3 5 V lithium battery Estimated life 3 years As from error indication low battery the information contained in the memory will be kept for 10 days maximum with the CNC off It must be replaced gt Neither attempt to recharge the battery nor expose it to temperatures over 100 C 212 F Do not short circuit the terminals for risk of explo
149. 00 If the internal count of counter C12 is GREATER than the value of register R14 the PLC will assign the value of 1 to mark M100 and a 0 if otherwise CPS T2 EQ 100 TG1 5 2000 When the time elapsed on the counter T2 is EQUAL to the value of 100 timer T5 willbe activated working as a monostable and with a time constant of 2 seconds FAGOR 2 CNC 8037 SOFT V01 6x 323 PLC PROGRAMMING Operators and symbols FAGOR CNC 8037 SOFT V01 6x 324 9 4 Operators and symbols Used to group and operate with different consulting instructions The available operators are NOT AND OR XOR The available symbols are The operators are associated from left to right and the priorities ordered from the highest to the lowest are NOT AND XOR OR With the and symbols it is possible to clarify and select the order in which the logic expression is evaluated Example 12 OR I3 AND 14 OR NOT 15 AND 16 O7 NOT Reverses the result of the consultation NOT 12 03 Output O3 will be active when input 12 is not AND Logic function AND 14 AND 15 06 Output O6 will be active when both inputs 14 15 are active OR Logic function OR I7 OR 18 09 Output O9 will be active when either one or both inputs are active XOR Logic Exclusive OR function 110 XOR 111 012 Output O12 will be active when both inputs 110 and 111 have different logic states Open and close parenth
150. 01 6x 480 CROSS COMPENSATION TABLE MOVAXIS COMPAXIS Moving axis P32 Axis to be compensated P33 Point Position Error Point Position Error P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E P E Cross compensation table n FAGOR 2 CNC 8037 SOFT V01 6x 481 Installation manual Cross compensation table FAGOR CNC 8037 SOFT V01 6x 482 MAINTENANCE Cleaning The accumulated dirt inside the unit may act as a screen preventing the proper dissipation of the heat generated by the internal circuitry which could result in a harmful overheating of the CNC and consequently possible malfunctions On the other hand accumulated dirt can sometimes act as an electrical conductor and short circuit the internal circuitry especially under high humidity conditions To clean the operator panel and the monitor a smooth cloth should be used which has been dipped into de ionized water and or non abrasive dish washer soap liquid never powder or 75 alcohol Do not use highly compressed air to clean the unit because it could generate electrostatic discharges The plastics used on the front panel are resistant to e Grease and mineral oils e Bases and bleach e Dissolved detergents e Alcohol Fagor Automation shall not be held
151. 0P model handwheel connect it as first handwheel and connect the axis selecting signal button to pin 13 FAGOR 2 CNC 8037 SOFT V01 6x 135 Connector X6 For Operator Panel connection 26 pin high density SUB D type female connector Fagor Automation provides the union cable required for this connection It consists of a cable hose one high density SUB D type 26 pin male connector and a SUB D type 25 pin male connector Both connectors have a latching system by means of two screws UNC4 40 The cable hose shield is soldered to the metal hoods covering both connectors 1 Cable connection n Connector of the operator panel CNC connector X6 z o 25 pin 26 pin 2 z 1 1 lt 3 oe 2 13 O oc Z e 4 23 O Q 5 15 Z o 6 7 7 25 8 17 9 9 10 19 11 11 12 3 13 21 14 4 15 22 16 14 17 6 18 24 19 16 20 8 21 26 22 10 23 2 24 20 25 12 FAGOR CNC 8037 SOFT V01 6x 36 Connector X7 Digital inputs 197 to 1104 and digital outputs 033 to 056 It is a 37 pin normal density SUB D type female connector The table shows the signal of each pin according to the I O of the CNC model Connect both 24V and OV of the power supply used for these inputs and outputs must be connected to pins 18 and 19 for OV and pins 1 and 20 for the 24V of the connector Pin Signal and function
152. 1 2 Maximum limit given by P99 Issuing the compensation 1 PA Position command reversal 3 F ee Compensation cancellation limit Considerations e Setting a m p REVEHYST P99 0 backlash error compensation using a reversal peak will be applied at every reversal e Having set a m p REVEHYST P99 with a value other than 0 to set a m p PEAKDISP P14 to cut the backlash peak we recommend to use a smaller REVEHYST value than that of PEAKDISP so as not to apply the backlash peak e If they have been set as DRO axes the value of a m p BACKLASH P14 will be taken into account for these axes In these cases especially if they have sinusoidal feedback we recommend to use a value of a m p REVEHYST P99 other than 0 in order to apply backlash compensation FBACKDIF P100 FAGOR Axis machine parameter that sets the maximum difference allowed between the first and second feedbacks CNC 8037 Possible values Between 0 and 99999 9999 degrees or millimeters Between 0 and 3937 00787 inches Default value 1mm for linear axes Default value 1 for rotary axes SOFT V01 6x This difference in position values may be monitored on the oscilloscope through the read only variable FBDIF X C If the value of FBACKDIF P100 0 the feedback difference is not monitored It is recommended to set a m p FBACKDIF P100 with a value other than 0 157 Axis parameters MACHINE PARAMETERS
153. 1000 MAXGEAR2 P3 maximum rpm of the second gear 2000 MAXGEAR3 P4 maximum rpm of the third gear 3000 MAXGEAR4 P5 maximum rpm of the fourth gear 3500 INPREV1 P72 Input revolutions of the first gear 4 INPREV2 P74 Input revolutions of the second gear 2 INPREV3 P76 Input revolutions of the third gear 4 INPREV4 P78 Input revolutions of the fourth gear 1 OUTPREV1 P73 output revolutions of the first gear 1 OUTPREV2 P75 output revolutions of the second gear 1 OUTPREV3 P77 output revolutions of the third gear 3 OUTPREV4 P79 output revolutions of the fourth gear 1 Parameters involved in the calculation of the position feedback s m p s m p s m p s m p s m p s m p s m p s m p INPREV1 P72 Input revolutions of the first gear 4 INPREV2 P74 Input revolutions of the second gear 2 INPREV3 P76 Input revolutions of the third gear 4 INPREV4 P78 Input revolutions of the fourth gear 1 OUTPREV1 P73 output revolutions of the first gear 1 OUTPREV2 P75 output revolutions of the second gear 1 OUTPREV3 P77 output revolutions of the third gear 3 OUTPREV4 P79 output revolutions of the fourth gear 1 Di CONCEPTS Gear ratio management on axes and spindle FAGOR 2 CNC 8037 SOFT V01 6x 277 CONCEPTS Gear ratio management on axes and spindle FAGOR CNC 8037 SOFT V01 6x 278 An
154. 113 P163 P14 P64 P114 P164 P15 P65 P115 P165 P16 P66 P116 P166 P17 P67 P117 P167 P18 P68 P118 P168 P19 P69 P119 P169 P20 P70 P120 P170 P21 P71 P121 P171 P22 P72 P122 P172 P23 P73 P123 P173 P24 P74 P124 P174 P25 P75 P125 P175 P26 P76 P126 P176 P27 P77 P127 P177 P28 P78 P128 P178 P29 P79 P129 P179 P30 P80 P130 P180 P31 P81 P131 P181 P32 P82 P132 P182 P33 P83 P133 P183 P34 P84 P134 P184 P35 P85 P135 P185 P36 P86 P136 P186 P37 P87 P137 P187 P38 P88 P138 P188 P39 P89 P139 P189 P40 P90 P140 P190 P41 P91 P141 P191 P42 P92 P142 P192 P43 P93 P143 P193 P44 P94 P144 P194 P45 P95 P145 P195 P46 P96 P146 P196 P47 P97 P147 P197 P48 P98 P148 P198 P49 P99 P149 P199 Machine parameter setting chart C FAGOR CNC 8037 SOFT V01 6x 475 Machine parameter setting chart FAGOR CNC 8037 SOFT V01 6x 476 Machine parameters for serial line PO P8 P16 P24 P1 P9 P17 P25 P2 P10 P18 P26 P3 P11 P19 P27 P4 P12 P20 P28 P5 P13 P21 P29 P6 P14 P22 P30 P7 P15 P23 P31 Ethernet machine parameters PO P8 P16 P24 P1 P9 P17 P25 P2 P10 P18 P26 P3 P11 P19 P27 P4 P12 P20 P28 P5 P13 P21 P29 P6 P14 P22 P30 P7 P15 P23 P31 PLC machine parameters PO P22 P44 P66 P1 P23 P45 P67 P2 P24 P46 P68 P3 P25 P47 P69 P4 P26 P48 P70 P5 P27 P49 P71 P6 P28 P50 P72 P7 P29 P51 P73 P8 P30 P52 P74 P9 P31 P53 P75 P10 P32 P54 P76 P11
155. 165 LIM3OFF M5215 The PLC sets one of these signals high so that the CNC ignores the software limits of the corresponding axis MANINT1 M5116 MANINT2 M5166 MANINT3 M5216 The PLC sets one of these signals high to activate the additive handwheel on each axis Only one additive handwheel may be enabled at a time If there are more than one mark active only the first one will be attended to When a program is in execution and the mark associated with an axis is activated it calculates the movement to be applied to that axis according to the resolution of the handwheel DIFFCOM1 M5117 DIFFCOM2 M5167 DIFFCOM3 M5217 Depending on the logic level of these signals it corrects the theoretical difference between the master and the slave of a Gantry pair after homing both axes of that pair of axes The theoretical difference between the master and the slave is corrected as follows e With the leading edge up flank of DIFFCOMaxis while SERVOaxisON 1 e With the leading edge up flank of SERVOaxisON while DIFFCOMaxis 1 In this case to correct the theoretical difference between master and slave both the master and the slave axes must be set as Gantry axis or as DRO axis Otherwise the upflank of the SERVOaxisON mark corrects the following error of the slave axis mt cl Axis logic inputs LOGIC CNC INPUTS AND OUTPUTS FAGOR 2 CNC 8037 SOFT V01 6x 361 11 3 Spindle logic inputs LIMIT S M5450 LIMIT
156. 2 CNC 8037 SOFT V01 6x 429 14 2 First cycle module CY1 ERA 01 512 ERA C1 256 ERA T1 256 ERA R1 256 ERA M1 2000 ERA M4000 4127 ERA M4500 4563 ERA M4700 4955 Initializes all PLC resources to low logic level 0 TG1 2 120000 Initializes the timer which controls the lubrication of the machine ways on power up This operation will be performed for 2 minutes TG2 4 3600000 Initializes the timer which controls the amount of time the axes are moving before they are lubricated This lubrication lasts 5 minutes and it takes place after the axes have been moving for 1 hour First cycle module END PLC PROGRAMMING EXAMPLE FAGOR CNC 8037 SOFT V01 6x 430 14 3 Main module PRG REA Basic and necessary programming STOP Permission to execute the part program FEEDHOL Permission to move the axes XFERINH Permission to execute the next block I EMERG AND rest of conditions EMERGEN If the external emergency input is activated or any other emergency occurs the general logic input EMERGEN of the CNC When there is no emergency this signal must remain high ALARM AND CNCREADY O EMERG The emergency output 01 of the PLC O EMERG must be normally high If an alarm or emergency is detected at the CNC ALARM or a problem was detected when powering the CNC up CNCREADY the emergency output O EMERG must be brought low
157. 2 P108 correctly or activate the CNC s general logic input ACTGAIN2 M5013 DRIBUSLE P51 The CNC considers this parameter when using a digital drive CAN Spindle parameter DRIBUSID P44 other than 0 Even when the data exchange between the CNC and the drive is done via digital CAN bus one must define whether the feedback is also handled via bus or through the corresponding connector for the axis or spindle The axis feedback is done via CAN First feedback motor feedback The command to the drive is sent out via CAN Value Meaning 0 The feedback is done via connector 1 The feedback is done via digital CAN bus 5 First feedback motor feedback v 2 c 9 When using a communication interface via CAN bus im DRIBUSLE 0 The CNC controls the position loop my The axis feedback is done via connector D The command to the drive is sent out via CAN a g Ww a DRIBUSLE 1 The CNC controls the position loop Z a O lt MSPINDO P52 Indicates when functions M3 M4 M5 are to be sent out While the spindle is accelerating and decelerating MSPINDO NO Pom M3 us Ma sia gt M3 MSPINDO YES M3 M3 Pa M4 M3 M5 i SYNPOSOF P53 SYNSPEOF P54 Not being used ACCTIME3 P55 FFGAIN3 P58 PROGAIN3 P56 DERGAIN3 P57 These parameters define the third set of gains and accelerations They must be set like the parameters that define the f
158. 2 2 Heat dissipation by forced convection with inside fan cece eee eee eeeee tee eeeeeeee 53 2 3 Heat dissipation by air flow to the outside using a fan ii 54 REMOTE MODULES BUS CAN WITH CANOPEN PROTOCOL 3 1 Installation of the MOdUles ciuiiiiiiii iaia 57 3 2 POWEr SUPpplY iicciia iaia 58 3 3 Digital inputs and digital outputs single module 3 4 Digital inputs and digital outputs double module ii 66 3 5 Electrical characteristics of the inputs and QUtputs ii 68 3 6 Numbering of the digital inputs and OUtputs i 70 MACHINE AND POWER CONNECTION 4 1 Digital inputs and OUtputs nur i 4 2 Analog inputs and outputs 4 3 Setup ella 4 4 Connection of the emergency input and output MACHINE PARAMETERS 5 1 Parameters that may be modified from the oscilloscope OEM program or OEM SUDIOUUNeir titani Lia 89 5 2 General machine parameters ii 91 5 3 AXis paramMetefSi iicicciianiia iaia acari 131 5 4 Spindle parameters s aaa alia ia liane 159 5 5 Drive parameterSs uuiiiiri iii 176 5 6 Se al line parametefS insni u e alia 178 5 7 Ethernot Parameters ccicciscsssescssccaseeeatscsassrsstcssceasoesessaasncaaseaseegosssuvesinatesaseeausansssaesicssaans 181 5 8 PLC Paramete Si lai iaia 185 5 9 EE olle seach E ET A trani 192 5 9 1 Miscellaneous M function table i 192 5 9
159. 2 Leadscrew error compensation table i 194 5 9 3 Cross compensation parameter table ii 196 CONCEPTS 6 1 Axes and coordinate SYyStemSs i 197 6 1 1 Rota AKC voice scsrcsscexsfeceascnsecen ince sueafusdeasecnasetosbeaguinsazeaansnaareeacesaasacsstsacerusapesseanecnensie 200 6 1 2 GANTIY AXCS T A E eaten ney 202 6 1 3 INCHING AXIS Ra 203 6 2 LeTo EEPE EEEE PREPA iii 205 6 2 1 Relationship between the axes and the JOG keys 6 2 2 Patl OG OG R natalia T FAGOR CNC 8037 SOFT V01 6x FAGOR CNC 8037 SOFT V01 6x CHAPTER 7 CHAPTER 8 6 3 Movement with an electronic handwheel 208 6 3 1 Standard handwheel 6 3 2 Path handwheel i 6 3 3 Feed handwheel mode csccsccssscecssrsssescsescneessecessecsssesesescseesoneeseaeesseesensessesoes 211 6 3 4 Additive handwheel MOdE rire 212 6 4 feedback system i 6 4 1 Counting speed limitation iii 215 6 4 2 Resolution siii aiar aa 216 6 5 Axis ACjUSUMONE svcsiscsseccssccssecesatansavesttcsssieedeteosseioascadecaeetesadanvacestecsveedy estes araara riaria 220 6 5 1 Drive adjustmenti usinani i 221 6 5 2 Gain setting ge 6 5 3 Proportional gain SOtiinG cidsscsassccecccsinaassceeasceasseasiensconssedeaascassinaaceusdecasssacchicazenssenasaas 223 6 5 4 Feed forward gain Setting
160. 211109 8 7 6 5 4 3 21 0 m m m SOCCORSO SOB 80 Each bit has a function or work mode associated with it By default all the bits will be assigned the value of 0 Assigning the value of 1 activates the corresponding function Bit Meaning Bit Meaning 0 Exponential backlash peak 8 1 Minimizes the inside backlash peaks 9 when changing quadrants 2 10 3 11 4 12 5 13 Apply the additional pulse with G2 G3 6 14 7 15 Default value in all the bits 0 Bit 0 Exponential backlash peak The additional command pulse used to make up for the possible leadscrew backlash in movement reversals may be rectangular or exponential This bit indicates whether it applies a rectangular backlash peak bit 0 or an exponential backlash peak bit 1 A L a If the duration of the rectangular pulse is adjusted for low speed it may be too high for high speed or not enough for low speed when adjusted for high speed In this cases it is recommended to use the exponential type that applies a strong pulse at the beginning and decreases in time Bit 1 Eliminate inside backlash peaks when changing quadrants This bit indicates whether the inside backlash peaks are eliminated bit 1 or not bit 0 when the axis changes its moving direction a ag a bitl 0 bitl 1l SI In these conditions the CNC eliminates the additional
161. 24 V DC Maximum voltage value 30 V Minimum voltage value 18 V Output voltage 2 V less than the supply voltage Maximum output current 100 mA All outputs are protected by means of e Galvanic isolation by optocouplers e The CNC has protection against short circuits overvoltage of the external power supply over 33 Vdc and against reverse connection of the power supply up to 30 Vdc Digital inputs The digital PLC inputs offered by the CNC system are used to read external devices etc The electrical characteristics of these inputs are Nominal voltage value 24 V DC Maximum voltage value 30 V DC Minimum voltage value 18 V DC High threshold voltage logic level 1 from 18 V up Low threshold voltage logic level 0 Under 5 V Typical consumption of each input 5 mA Maximum consumption of each input 7 mA All inputs are protected by means of e Galvanic isolation by optocouplers e Protection against reversal of power supply connection up to 30 V eee ET The external 24Vdc power supply used for the PLC s inputs and outputs MUST be regulated The OV point of this power supply must be connected to the main ground point of the electrical cabinet 4 2 Analog inputs and outputs Analog outputs They may be used with axis spindle drives The electrical characteristics of these outputs are Command voltage within range 10 V Minimum impedance of the connected drive 10 kW Maximum cable length withou
162. 3 8 4 3 Periodic execution module PE t 314 8 4 4 Priority of execution of the PLC MOdUIES i 315 CHAPTER 9 CHAPTER 10 CHAPTER 11 CHAPTER 12 CHAPTER 13 CHAPTER 14 PLC PROGRAMMING 9 1 MOAU E StUCHUre iciii seabes 9 2 Directing instructions 9 3 Consulting instructions 9 4 Operators and SyMbOolS i 324 9 5 Action instructions iaia ia iaia 325 9 5 1 Binary assignment instructions i 326 9 5 2 Conditional binary action instructions 9 5 3 Sequence breaking action iNStrUCtiONS i 328 9 5 4 Arithmetic action instructions ee eeeecee eee eeeeeceseeseaeseaeeseeeseeeseaeesseeseaeeneaes 329 9 5 5 Logic action instructions 9 5 6 Specific action instructions CNC PLC COMMUNICATION 10 1 Auxiliary M S T FUNCHONS ci 10 2 Auxiliary M S T function transfer 10 2 1 Transferring M S T using the AUXEND signal i 340 10 2 2 Transferring the auxiliary miscellaneous M functions without the AUXEND signal 341 10 3 Displaying messages errors and SCreenSs i 342 10 4 Access to the PLC from the CNC 10 5 Access to the PLC from a PC via DNC LOGIC CNC INPUTS AND OUTPUTS 11 1 Generallogic inputs eee eeeeeeseeceeeeeeceeeeeeeeeeeeeaeeeeesaeeeaeeaeseeesaeseeseesaeseseeeeaeeeeeeaees 348 112 AXISIIOGIC IMputsi cassiera ad aided sheds ail ica ae 357 11 3 Spi
163. 4 15 16 17 18 19 20 21 22 123 24 113 124 Digital inputs 5 FAGOR 2 CNC 8037 SOFT V01 6x 61 Description of the connectors analog inputs and outputs Connector X4 General purpose analog outputs 4 outputs 12 pin male Phoenix minicombicon connector 3 5 mm pitch Signal Function x4 O1 O1 Analog output Ie Ott 02 02 Analog output 3 n 01 g p e SH gt l e 02 03 03 Analog output 2 e 02 D a SH 04 O4 Analog output 5 e 03 03 a SH SH Grid connection fe o pelo Ie SH 10 pin male Phoenix minicombicon connector 3 5 mm pitch Connector X5 Inputs for the temperature sensor PT100 2 inputs Each analog output has three pins 0 O SH Use shielded cables connecting their meshes to the corresponding shield pin REMOTE MODULES BUS CAN WITH CANOPEN PROTOCOL Signal Function x5 R1 R1 Signals of the PT100 sensor RL1 RFI le Rit Ie R1 R2 R2 Signals of the PT100 sensor KIGE RL2 RF2 l e RFI a SH SH Grid connection Ie RL2 KIGA KIGA l e RF2 re si Each input has 5 pins RL R R RF1 SH Use shielded cables connecting their meshes to the corresponding shield pin FAGOR R1i p RL1 ban eRFI eRI 4 wires Ri J RL1 n RF1 R1 3 wires E LC 2 wires Ri eRLi e RFI Ri CNC
164. 4 indicates the resulting feedrate in mm min or inches min Read only variables associated with the override FRO It returns the feedrate override currently selected at the CNC Itis given in integer values between 0 and MAXFOVR maximum 255 This feedrate percentage may be indicated by program by PLC by DNC or by the front panel the CNC selects one of them and the priority from the highest to the lowest is by program by DNC by PLC and from the front panel switch DNCFRO It returns the feedrate override currently selected by the DNC If it has a value of 0 it means that it is not selected CNCFRO It returns the feedrate override currently selected by the switch PRGFRO This variable may be used to read or modify the feedrate override percentage currently selected by program It is given in integer values between 0 and MAXFOVR maximum 255 If it has a value of 0 it means that it is not selected Read write variables associated with the override PLCFRO It returns the feedrate override currently selected by the PLC If it has a value of 0 it means that it is not selected PLCCFR It returns the feedrate percentage currently selected by the PLC s execution channel It is only set from the PLC using an integer between 0 and 255 x Variables associated with feedrates ACCESS TO INTERNAL CNC VARIABLES FAGOR 2 CNC 8037 SOFT V01 6x 393 ACCESS TO INTERNAL CNC VARIABLES N
165. 5 FFGAIN2 P62 FFGAINT P95 To select the third set of gains and accelerations set g m p ACTGAINT P185 correctly or activate the CNC s general logic input ACTGAINT M5063 DIFFCOMP P96 It indicates whether or not the position difference between master and slave will be corrected so that difference is zero once the two axes of a Gantry pair have been homed Value Meaning 0 The position difference between the master and the slave is not corrected 1 The position difference between the master and the slave is corrected Default value 1 MAXDIFF P97 It indicates the maximum position difference in mm between master and slave from where on to compensate for the difference after homing the two axes of a Gantry pair Value Meaning 0 There is no maximum limit from which the position difference is not compensated 0 0001 99999 9999 From this value on the position difference is not compensated for Default value 0 This axis machine parameter is taken into account when itis about correct the coordinate difference PEAKDISP P98 Every time the axis movement is inverted the CNC will apply to that axis the velocity command corresponding to the movement plus an additional velocity command to make up for backlash This Sl Axis parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 155 Axis parameters MACHINE PARAMETERS FAGOR 2 CNC 8037 SOFT V01 6x 156
166. 505 Rapid synchronization feedrate in M19 PLCCNTL M5465 Spindle controlled directly by the PLC CNC 8037 SANALOG R504 Spindle velocity command Only for spindle controlled by PLC ELIMIS M5456 The CNC does not display the spindle although it keeps controlling it SOFT V01 6x 458 Key inhibiting logic inputs KEYDIS1 R500 KEYDIS2 R501 KEYDIS3 R502 KEYDIS4 R503 Inhibit the operation of the panel keys Logic inputs of the PLC channel FEEDHOP M5004 Stops the PLC axes momentarily maintaining spindle rotation XFERINP M5005 Prevents the next block from being executed in the PLC channel but finishes the one being executed AUXENDP M5006 Indicates that the execution of the M S and T functions has completed BLOABORP M5061 Possibility to abort the PLC channel General logic outputs CNCREADY M5500 CNC without errors START M5501 The CYCLE START key of the front panel has been pressed FHOUT M5502 Indicates that program execution has been interrupted RESETOUT M5503 Indicates that the CNC is set to initial conditions LOPEN M5506 Indicates that the positioning loop for the axes is open ALARM M5507 An alarm or emergency condition was detected JOG M5508 The manual operation JOG mode has been selected AUTOMAT M5509 The automatic operation mode has been selected MDI M5510 The MDI mode has been se
167. 5057 Selects rapid travel for all the movements that are executed in execution mode FLIMITAC M5058 Limit the feedrate of each axis to the value set in its machine parameter FLIMIT P75 SLIMITAC M5059 Limit the spindle speed to the value set in its machine parameter SLIMIT P66 BLOABOR M5060 Finish the movement in progress and start executing the next block ACTGAINT M5063 Indicates that the CNC assumes the 3rd set of gains SKIPCYCL M5064 Go to the next hole after drilling or mill type threading withdrawal RETRACYC M5065 It indicates tha the Z axis has stopped before starting the withdrawal SETTMEM M5066 It can activate an error during a tool change RESTMEM M5067 It cancels the error state of the CNC m Summary of PLC inputs and outputs FAGOR CNC 8037 SOFT V01 6x 457 Axis logic inputs Axis 1 Axis 2 Axis 3 LIMIT M5100 M5150 M5200 Travel limit overrun Stops the axes and the spindle Displays the error LIMIT M5101 M5151 M5201 Travel limit overrun Stops the axes andthe spindle Displays the error DECEL M5102 M5152 M5202 Home switch pressed E INHIBIT M5103 M5153 M5203 Inhibits axis movement n MIRROR M5104 M5154 M5204 Applies mirror image L SWITCH M5105 M5155 M5205 Swaps commands axes with 1 drive 2 DRO M5106 M5156 M5206 DRO axis DRO 1 and SERVOON 0 SERVO ON M5107 M5157 M5207
168. 8037 18 WARRANTY ON REPAIRS In a similar way to the initial warranty FAGOR offers a warranty on standard repairs according to the following conditions PERIOD 12 months CONCEPT Covers parts and labor for repairs or replacements at the network s own facilities EXCLUDING CLAUSES The same as those applied regarding the chapter on initial warranty If the repair is carried out within the warranty period the warranty extension has no effect When the customer does not choose the standard repair and just the faulty material has been replaced the warranty will cover just the replaced parts or components within 12 months For sold parts the warranty is 12 moths length MAINTENANCE CONTRACTS The SERVICE CONTRACT is available for the distributor or manufacturer who buys and installs our CNC systems MATERIAL RETURNING TERMS When sending the central nit or the remote modules pack them in its original package and packaging material If the original packaging material is not available pack it as follows 1 Get a cardboard box whose three inside dimensions are at least 15 cm 6 inches larger than those of the unit The cardboard being used to make the box must have a resistance of 170 kg 375 pounds Attach a label indicating the owner of the unit person to contact type of unit and serial number In case of failure also indicate the symptom and a short description Wrap the unit in a polyethylene r
169. 8037 SOFT V01 6x 62 Connector X6 Differential analog inputs 4 inputs 15 pin male Phoenix minicombicon connector 3 5 mm pitch Signal Function I Analog input 2 12 Analog input 3 I3 Analog input 14 14 Analog input SH Grid connection 12 Reference outputs 12 GND Each analog input has three pins I I SH Use shielded cables connecting their meshes to the corresponding shield pin Power supply oO n REMOTE MODULES BUS CAN WITH CANOPEN PROTOCOL FAGOR 2 CNC 8037 SOFT V01 6x 63 Digital inputs and digital outputs single module REMOTE MODULES BUS CAN WITH CANOPEN PROTOCOL FAGOR CNC 8037 SOFT V01 6x 64 3 3 Digital inputs and digital outputs single module This module is used to expand the digital inputs and outputs remote I O Each module has 24 digital inputs and 16 digital outputs Digital inputs and outputs single module DIGITAL z O Cc a X1 08 GND 24V 09 X2 016 GND X3 12 13 x4 A Connector X1 8 digital outputs Connector X2 8 digital outputs X3 connector 12 digital inputs Connector X4
170. 9 The CNC only considers SOFT V01 6x the signals for the currently selected spindle The CNC sets this signal high to tell the PLC that the spindle is in position 379 Installation manual 11 9 Logic outputs of key status KEYDIS1 R560 KEYBD2 R561 KEYBD3 R562 KEYBD4 R563 These registers indicate whether or not one of the keys on the keyboard or on the operator panel is pressed When one of these keys is pressed the corresponding bit will be set high and it will return low when the key is released The appendix of this manual shows the code for each key See Logic outputs of key status on page 467 11 Logic outputs of key status LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 380 ACCESS TO INTERNAL CNC VARIABLES The CNC has a number of internal variables that may be accessed from the user program from the PLC program or via DNC Depending on how they are used these variables may be read only or read write Reading and writing variables from the PLC The PLC provides two instructions actions which permit to read or modify the various internal variables of the CNC from the PLC Reading variables CNCRD command The CNCRD command allows reading the CNC s internal variables Its programming format is CNCRD Variable Register Mark This PLC action loads the contents of the indicated variable into the selected register If this instruction has been executed properly
171. 9999 The cutter angle is given in ten thousandths of a degree 0 359999 The cutter width is given in the units set by g m p INCHES If INCHES 0 in ten thousandths of a millimeter 1999999999 If INCHES 1 in hundred thousandths of an inch 393700787 If rotary axis in ten thousandths of a degree 999999999 The cutting angle is given in ten thousandths of a degree 0 359999 nl A Variables associated with tools ACCESS TO INTERNAL CNC VARIABLES FAGOR 2 CNC 8037 SOFT V01 6x 383 ACCESS TO INTERNAL CNC VARIABLES N Variables associated with tools FAGOR CNC 8037 SOFT V01 6x 384 Tool magazine table Each magazine position is represented as follows 1 255 Tool number 0 The magazine position is empty 1 The magazine position has been canceled The tool position in the magazine is represented as follows 1 255 Position number 0 The tool is in the spindle 1 Tool not found 2 The tool is in the change position Read only variables Variables TOOL NXTOOL TOD and NXTOD can only be written from the PLC while no block or part program is being executed or simulated TOOL Returns the number of the active tool CNCRD TOOL R100 M100 Assigns the number of the active tool to register R100 TOD Returns the number of the active tool offset NXTOOL Returns the next tool number which is selected but is awaiting the execution of MO6 to be active NXTOD Re
172. BLES N FAGOR CNC 8037 SOFT V01 6x 382 Identifying the variables in the PLC commands These variables are accessed from the PLC using high level commands Each one of these variables is referred to by its mnemonic that must be written in upper case capital letters e Mnemonics ending in X C indicate a set of 9 elements formed by the corresponding root followed by X Y Z U V W A B and C ORG X C gt ORGX ORGY ORGZ ORGU ORGV ORGW ORGA ORGB ORGC e Mnemonics ending in n indicate that the variables are grouped in tables To access an element of any of these tables indicate the field of the desired table using the relevant mnemonic followed by the desired element TORn gt TORI TOR3 TOR11 These variables can also be referred to by its corresponding mnemonic and a register that indicates the element number of that table TORn gt TOR R1 TOR R23 CNCRD TOR R222 R100 M102 It assigns the radius value of the offset indicated by Register R222 to register R100 12 1 Variables associated with tools These variables are associated with the tool offset table tool table and tool magazine table so the values which are assigned to or read from these fields will comply with the formats established for these tables Tool table for mill model CNC The radius R length L and wear offset I K values of the tool are given in the units set by g m p INCHES If INCHES 0 in ten thousandths of a millimete
173. C DNC or by program between 0 and 255 CIRINLIM P19 Indicates the maximum angular feedrate value for circular interpolations This limitation prevents circular interpolations resulting in polygons instead of arcs when the radius is very small The CNC adjusts the angular feedrate in order not to exceed the selected maximum angular feedrate Possible values Integer numbers between 0 and 65535 Default value 0 it is not limited Example If CIRINLIN 1500 and an arc of a radius 0 5mm at F 10000mm min The theoretical angular speed is 10000 mm min 0 5 mm 20000 min But since the speed was limited to 1500 the CNC adjusts the feedrate in the following manner Feedrate to be applied 1500 x 0 5 750 mm min CIRINERR P20 Indicates the maximum error allowed when calculating the end point of an arc From the programmed path the CNC will calculate the radius for both the starting point and end point of the arc Although both of them should be exactly the same This parameter allows a certain calculation tolerance by establishing the maximum difference between these two radii Possible values Between 0 0001 and 99999 9999 millimeters Between 0 00001 and 3937 00787 inches Default value 0 01 mm PORGMOVE P21 Indicates whether the CNC assumes or not as the new polar coordinate origin the center of the last G02 or G03 programmed Value Meaning YES It assumes the arc center NO It
174. CAN2 0 NUOCAN1 89 NUOCAN2 0 The axis board is assigned inputs 11 40 and outputs 01 24 The first expansion module assigned inputs 141 through 1104 and outputs 025 through O56 The second expansion module assigned inputs 1105 through 1168 and outputs 057 through O88 The first remote module node 1 is assigned inputs 1169 216 and outputs 089 120 The second remote module node 2 is assigned inputs 1217 240 and outputs 0121 136 The inputs of the first expansion module are numbered sequentially after the value assigned to parameter NUILO1 141 chosen with the restriction 8n 1 The inputs of the second expansion module are numbered sequentially after the last input used in the first expansion module 1104 1 1105 Follow the same procedure for the outputs The inputs of the first remote module are numbered sequentially after the last input of the second expansion module 1168 1 1169 The inputs of the second remote module are numbered sequentially after the last available input of the first remote module 1216 1 1217 Follow the same procedure for the outputs remote modules 1 and 2 This order is not compulsory these modules may be ordered as desired This way the remote modules could be numbered first and then the expansion ones or intercalating one of each Rr In the previous example the I O will be ordered so expansion modules 1 and 2 come first and then The total limit of inputs local remote is 512 The total limit of outp
175. CNC performs a system autotest and when this is over it displays the following screen FAGOR d SIMULATE Report window The CNC allows the display of a previously defined screen instead of the Fagor logo Refer to the operating manual During the autotest if any error occurs its relevant message will be displayed in the report window The main menu for the various operating modes will appear at the bottom of the CRT These options will be selected using the softkeys F1 through F7 Since it is possible to have more than 7 options to choose from at one time use the softkey to display the rest of them Once the Machine Parameters operating mode has been selected the CNC shows the machine parameter tables that are saved in the hard disk KeyCF FAGOR 2 CNC 8037 SOFT V01 6x 83 MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 84 The available machine parameter tables are General machine parameters Machine parameters for the axes one table per axis Spindle parameters Drive parameters access to the parameters of each drive Parameters for the serial line and Ethernet PLC Parameters Auxiliary miscellaneous M functions Leadscrew backlash Compensation one table per axis Cross compensation To access each one of them use the softkeys shown at the bottom of the screen Some characters appear next to
176. CONCEPTS Auxiliary M S T function transfer FAGOR CNC 8037 SOFT V01 6x 240 6 8 Auxiliary M S T function transfer Every time a block is executed in the CNC information is passed to the PLC about the M S and T functions which are active Auxiliary M function The CNC uses logic outputs MBCD1 thru MBCD7 R550 thru R556 to tell the PLC which M functions it must execute One function per logic output It also activates the general logic output MSTROBE to tell the PLC to start executing them Every time the CNC detects an M function it analyzes the M function table to find out when to pass it along to the PLC either before or after the movement and whether it must wait for the AUXEND signal or not before resuming program execution If the programmed function is not defined in that table it will be executed at the beginning of the block and the CNC will wait for the AUXEND signal to resume program execution See 10 1 Auxiliary M S T functions on page 336 See 11 6 General logic outputs on page 370 See 5 9 Tables on page 192 Example 1 Execution of a motion block containing 7 M functions 4 of which are executed before the axes move M51 M52 M53 M54 and 3 afterwards M61 M62 M63 1 It sends out to the PLC the 4 M functions programmed to be executed before the move It sets logic outputs MBCD1 51 MBCD2 52 MBCD3 53 MBCD4 54 and it activates the general logic output MSTROBE
177. CSTA R DNC transmission status TIMEG R R R Remaining time to finish the dwell block in hundredths of a second SELPRO RW RW R When having two probe inputs it selects the active input DIAM RW RW R It changes the programming mode for X axis coordinates between radius and diameter PRBMOD RW RW R Indicates whether a probing error must be displayed or not RETREJ RW RW R Itindicates that the drilling mill or lathe type withdrawal iscompleted RIP R R R Linear theoretical feedrate resulting from the next loop in mm min RIGIER R R R Offset between the projection of the following error of the spindle onto the longitudinal axis and the following error of the longitudinal axis FBDIF X C R R R For monitoring the difference between the coordinates position values of the first and second feedback on the oscilloscope CYCLEV R R R It indicates on the conversational model the tab number being displayed at a particular moment CYCEDI R R R__ Itindicates on the conversational model the cycle or screen number being displayed at a particular moment DISBLO R R R__ Itindicates the value of the total programmed distance in blocks with look ahead RADIOC R It indicates the programmed radius value when executing a G15 R The KEY variable can be written at the CNC only via the user channel The NBTOOL variable can only be used within the tool change subroutine SUMMARY OF PLC COMMANDS
178. D selector CAN bus transmission speed E Power supply oO n ADDRESS selector Address node of the element within the CAN bus RFI Connector X5 2 PT100 inputs n Line Term selector Line terminating resistor Connector X2 CAN bus connection REMOTE MODULES BUS CAN WITH CANOPEN PROTOCOL Connector X6 4 differential analog inputs X3 connector CAN bus connection Description of the connectors power supply Connector X1 Power supply 3 pin male Phoenix connector 7 62 mm pitch Pin Signal and function FAGOR 1 Chassis Shield 4 cHs CNC 8037 L GND 2 GND Power supply H o 24V 3 24V_ Power supply SOFT V01 6x 59 Power supply REMOTE MODULES BUS CAN WITH CANOPEN PROTOCOL FAGOR CNC 8037 SOFT V01 6x 60 Connector X2 amp X3 CAN bus connection Description x2 x3 5 pin male Phoenix minicombicon connector 3 5 mm pitch iso GND _ CANL _ SHIELD cANH _ sHieLD SPEED selector CAN bus transmission speed When using the CANopen pro
179. D5 R554 Auxiliary M function to be executed in the main channel MBCD6 R555 Auxiliary M function to be executed in the main channel MBCD7 R556 Auxiliary M function to be executed in the main channel MBCDP1 R565 Auxiliary M function to be executed in the PLC channel MBCDP2 R566 Auxiliary M function to be executed in the PLC channel MBCDP3 R567 Auxiliary M function to be executed in the PLC channel MBCDP4 R568 Auxiliary M function to be executed in the PLC channel MBCDP5 R569 Auxiliary M function to be executed in the PLC channel MBCDP6 R570 Auxiliary M function to be executed in the PLC channel MBCDP7 R571 Auxiliary M function to be executed in the PLC channel SBCD R557 Spindle speed in BCD 2 or 8 digits TBCD R558 Indicates the magazine position of the tool to be placed in the spindle T2BCD R559 Magazine position pocket for the tool Logic outputs of key status KEYBD1 R560 KEYBD2 R561 KEYBD3 R562 KEYBD4 R563 Indicate whether a key of the operator panel is pressed m Summary of PLC inputs and outputs FAGOR 2 CNC 8037 SOFT V01 6x 461 Installation manual Summary of PLC inputs and outputs FAGOR CNC 8037 SOFT V01 6x 462 2 DIGIT BCD CODE OUTPUT CONVERSION TABLE S S S S S S Programmed BCD Programmed BCD Programmed BCD 0 00 50 55 54 800 899 78 1 20 56 62 55 900 999 79 F 2 26 63 70
180. E TSTROBE T2STROBE to tell the PLC that the execution of the required auxiliary function or functions has been completed TIMERON M5017 The CNC is provided with a timer which can be enabled and disabled By means of this logic CNC input it will be enabled timing when the PLC sets the signal TIMERON at a high logic level This general purpose timer can be accessed by means of the internal variable TIMER An application of this timer is to monitor tool life TREJECT M5018 The PLC sets this signal at a high logic level in order to tell the CNC to reject the tool in use even though it may not have come to the end of its service life An important application is to replace the tool when the PLC detects that it is broken PANELOFF M5019 The PLC sets this signal high to tell the CNC that the keyboard is deactivated It is recommended to change the state of this mark by means of an accessible external input since the PLC will not stop and the CNC will receive the error message in each new PLC cycle scan thus preventing access to any of the PLC modes mn b General logic inputs LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 351 11 General logic inputs LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 352 PLCABORT M5022 The PLC sets this signal high to indicate to the CNC that it must stop the PLC axes It also cancels the rest of the movement and the possi
181. E PARAMETERS Spindle parameters FAGOR CNC 8037 SOFT V01 6x 168 SMOTIME P46 Sometimes the axis does not respond as desired on particular movements handwheel movements etc In these cases the response of the spindle may be smoothed by applying a filter to the speed changes This filter is set by parameter SMOTIME that indicates the duration of the filter in milliseconds value given by g m p LOOPTIME P72 Possible values Integers between 0 and 64 times the value assigned to g m p LOOPTIME P72 If LOOPTIME 0 4 ms the maximum value that could be assigned to SMOTIME will be 64 x 4 256 ms Default value 0 not applied To obtain a better response parameter SMOTIME of the axes interpolating with each other should be set with the same value The spindle s response can also be smoothened when working in open loop M3 M4 In this case s m p OPLACETI P45 and SOMTIME P46 must be used OPLACETI OPLACETI SMOTIME ACCTIME2 P47 PROGAIN2 P48 DERGAIN2 P49 FFGAIN2 P50 These parameters define the second set of gains and accelerations They must be set like the parameters that define the first set First set Second set ACCTIME P18 ACCTIME2 P47 PROGAIN P23 PROGAIN2 P48 DERGAIN P24 DERGAIN2 P49 FFGAIN P25 FFGAIN2 P50 To select the second set of gains and accelerations set g m p ACTGAIN
182. ERS FAGOR CNC 8037 SOFT V01 6x 88 5 1 Parameters that may be modified from the oscilloscope OEM program or OEM subroutine Here is a list of the machine parameters that may be modified either from the oscilloscope or from an OEM program subroutine The variables associated with the machine parameters must be used to modify these parameters from an OEM program subroutine See 12 3 Variables associated with machine parameters on page 388 General machine parameters Parameter Number Update TLOOK P161 Beginning of program execution CODISET P147 Immediate Machine parameters of an axis Parameter Number Update BACKLASH P14 Immediate ACCTIME P18 Beginning of the next block INPOSW P19 Immediate MAXFLWE1 P21 Immediate MAXFLWE2 P22 Immediate PROGAIN P23 Immediate DERGAIN P24 Immediate FFGAIN P25 Immediate BAKANOUT P29 Immediate BAKTIME P30 Immediate REFDIREC P33 Immediate REFVALUE P36 Immediate MAXVOLT P37 Immediate GOOFEED P38 Beginning of the next block MAXFEED P42 Beginning of the next block JOGFEED P43 Beginning of the next block ACCTIME2 P59 Beginning of the next block PROGAIN2 P60 Immediate DERGAIN2 P61 Immediate FFGAIN2 P62 Immediate JERKLIM P67 Beginning of the next block FLIMIT P75 Beginning of the next block TORQDIST P78 Immediate PRELOAD P79 Immediate TPROGAIN P81 Immediate TINTTIME P82 Immediate TCOMPLIM P83 Immedia
183. ES Rotary axis display between 0 and 360 ROLLOVER NO No display limits Although the display is limited between 0 and 360 the internal count is accumulative Therefore a m p LIMIT P5 and LIMIT P6 should be set to limit the maximum number of turns in each direction When both parameters are set to 0 the axis can move indefinitely in either direction rotary tables indexers etc See 5 3 Axis parameters on page 131 When using leadscrew error compensation set positions 0 and 360 first and last point of the table with the same amount of error This way the CNC will apply the same compensation in all the revolutions See 6 5 7 Leadscrew error compensation on page 227 Normal rotary axes They can interpolate with linear axes GOO and G01 movement e Absolute coordinate programming G90 The sign indicates the turning direction and the end coordinate the position between 0 and 359 9999 e Incremental coordinate programming G91 The sign indicates the turning direction If the programmed movement exceeds 360 the axis will turn more than once before positioning at the desired point Normal rotary axis AXISTYPE 2 ROLLOVER YES It counts between 0 and 360 G90 The sign indicates the turning direction LIMIT 8000 G91The sign indicates the turning direction LIMIT 8000 ROLLOVER NO It counts between 7999 9999 and 7999 9999 G90 and G91 as linear axis ROLLOVER YES
184. FU MSTROBE AND CPS MBCD EQ 0 RES M 08 DFU MSTROBE AND CPS MBCD EQ 2 RES M 08 Functions MOO and M02 cancel the coolant M08 DFU MSTROBE AND CPS MBCD EQ 3 SET M 03 RES M 04 DFU MSTROBE AND CPS MBCD EQ 4 SET M 04 RES M 03 DFU MSTROBE AND CPS MBCD EQ 5 RES M 03 RES M 04 Functions M03 and M04 are incompatible with each other and MO5 cancels both DFU MSTROBE AND CPS MBCD EQ 8 SET M 08 DFU MSTROBE AND CPS MBCD EQ 9 RES M 08 DFU MSTROBE AND CPS MBCD EQ 30 RES M 08 Functions M09 and M30 cancel the coolant M08 DFU MSTROBE AND CPS MBCD EQ 41 SET M 41 RES M 42 DFU MSTROBE AND CPS MBCD EQ 42 SET M 42 RES M 41 Functions M41 and M42 are incompatible with each other Spindle turning control The spindle enable output O S ENAB will be activated when selecting function M03 or M04 M 03 OR M 04 O S ENAB sl Main module PLC PROGRAMMING EXAMPLE FAGOR 2 CNC 8037 SOFT V01 6x 433 PLC PROGRAMMING EXAMPLE I gt Main module FAGOR CNC 8037 SOFT V01 6x 434 Treatment of spindle gear change The spindle in this example has two gears high and low To perform a gear change proceed as follows e Deactivate the general CNC input AUXEND e Remove the control of the spindle back to the CNC Controlled by PLC e Output an oscillating velocity command to change gears e Move the gears e Verify that the gear change has been complete
185. GURATION CNC structure FAGOR CNC 8037 SOFT V01 6x 40 Connectors X10 X11 X12 Feedback inputs for the axes X10 For feedback connection of the first axis X11 For feedback connection of the second axis X12 For feedback connection of the third axis 15 pin high density SUB D type female connectors Pin Signal and function 1 A 2 A 3 B 4 B Feedback signals 10 5 10 150905 6 ue 11059 7 ai 130 03 8 12 0202 LI olo 1 9 5 V Voltage supply for the feedback system o 10 5 V 7 11 GND 12 GND 13 100P 14 15 Chassis Shield Admits differential TTL and 1Vpp sinusoidal feedback The cable shield must be connected to the metallic hood at each end Protection at the connectors It detects over current or short circuits at the feedback devices issuing the relevant error message Supply voltage error on axis feedback Slot COMPACT FLASH Compartment of the KeyCF CNC configuration card The COMPACT FLASH slot is located on the left side of the CNC This slot is used for the KeyCF and for upgrading software versions a AL Slot COMPACT FLASH j lt q Compartment of the KeyCF CNC configuration 1 gr LOTTE card z L i O 2 T lt E D O mal zZ sa I dh O i O r zZ O Th
186. IC202 M4955 PIC255 If one of these marks is activated high logic level the CNC will display the character asterisk on the PLC message display window upper right hand part indicating that at least one of the 256 screens pages defined by the user in the graphic editor mode is activated The selected screens pages will be displayed one by one if the active page screen option is accessed in the PLC operating mode A page can be deactivated from the PLC program by placing the corresponding mark at the low logic level or from the CNC keyboard after selecting it in the active page mode b CNC PLC COMMUNICATION Displaying messages errors and screens FAGOR 2 CNC 8037 SOFT V01 6x 343 Installation manual 10 4 Access to the PLC from the CNC The CNC is provided with an operating mode in which it can e Monitor the user PLC program e Monitor PLC resources Modify PLC resources e Execute PLC commands compile execute etc Etc Likewise the CNC allows access to all PLC variables of any part program and is provided with several high level language instructions for this purpose which allow Inputs Outputs Marks Registers Timers and Counters to be read or modified CNC PLC COMMUNICATION Access to the PLC from the CNC FAGOR CNC 8037 SOFT V01 6x 344 Installation manual 10 5 Access to the PLC from a PC via DNC The CNC allows the PLC to commun
187. ILCOMP P12 It is only used in the Mill model CNC and indicates which function G43 tool length compensation ON or G44 tool length compensation OFF is assumed on power up after executing M02 M30 EMERGENCY or RESET the code is Value Meaning FAGOR 0 G44 tool length compensation OFF 1 G43 tool length compensation ON CNC 8037 Default value 0 SOFT V01 6x 92 ISYSTEM P13 Indicates which function G90 absolute programming or G91 incremental programming is assumed on power up after executing M02 M30 EMERGENCY or RESET Value Meaning 0 G90 absolute programming 1 G91 incremental programming Default value 0 IFEED P14 Indicates which function G94 feedrate in mm min or inch min or G95 mm rev or inch rev is assumed on power up after executing M02 M30 EMERGENCY or RESET Value Meaning 0 G94 mm min or inches min 1 G95 mm rev or inches rev Default value 0 THEODPLY P15 Indicates whether the CNC will display real or theoretical position values according to the following code Value Meaning 0 Real position values 1 Theoretical position values Default value 1 GRAPHICS P16 On T and TC models it indicates the axes coordinates system to be used for the graphic representation On these models it also defines the layout of the keys of the X Z axis on the jog keypad on vertical lathes the X axis keys are swapped with those of the Z axis and vice versa Possible v
188. ING EXAMPLE It is a three axes machine X Y Z having a spindle with two speed ranges The PLC besides controlling the 3 axes and the spindle is in charge of lubricating the axes as well as turning the coolant on and off CNC configuration The PLC has 512 inputs and 512 outputs Some of them depending on the CNC configuration communicate with external devices eoe Input I1 is the emergency input of the CNC and must be supplied with 24V Regardless of how it is treated by the PLC program this signal is processed directly by the CNC at all times Output O1 is normally at 24V high logic level and it is set low OV whenever an ALARM or an ERROR occurs at the PLC output O1 FAGOR 2 CNC 8037 SOFT V01 6x 427 PLC PROGRAMMING EXAMPLE Definition of symbols mnemonics FAGOR CNC 8037 SOFT V01 6x 428 14 1 Definition of symbols mnemonics It is a possible to associate a symbol name to any PLC resource It may have up to 8 characters so long as the name does not coincide with any of the reserved instructions It may not contain the following characters blank space equal sign parenthesis or comma or semi colon These symbols or names must always be defined at the beginning of the program Duplicate symbols cannot be defined but several symbols may be assigned to the same resource For better clarification the symbols used in this program are grouped by subjects Used in B
189. If while executing a subroutine the PLC detects a validated RET it will conclude the subroutine If END is not programmed as end of subroutine the PLC will continue executing until the end of the module END or the end of the program and it will finish the execution of the subroutine at that point It is advisable to place the subroutines after the END of the main program since if these are placed at the beginning the PLC will start to execute them and will interpret the END of the subroutine as FAGOR the END of the module and it will consider that this has finished because no call was made to the subroutine CNC 8037 SOFT V01 6x 328 9 5 4 Arithmetic action instructions MOV It is used to move data from one PLC resource to another The programming format is Origin Destination Source code Destination Number of code bits to transmit MOV 11 512 11 512 Bin 0 Bin 32 O 1 512 O 1 512 1 BCD 1 BCD 28 M 1 5957 M 1 5957 24 T 1 256 R 1 559 20 C 1 256 16 R 1 559 12 8 4 The source and destination codes indicate the original and destination format binary or BCD of the data 4 8 12 16 20 24 28 or 32 bits may be transmitted If the codes and number of bits to be moved are not indicated 32 binary bits will be moved bit to bit 0032 MOV 112 M100 0032 from Binary to Binary in 32 bits MOV 021 R100 0012 from Binary to Binary in 12 bits MOV C22 023 0108 from Binary to BCD in 8 bits MOV T10 M112 102
190. It counts between 0 and 360 G90 The sign indicates the turning direction LIMIT 0 G91The sign indicates the turning direction BM 6 ROLLOVER NO There are 2 loops one between 0 and 3602 and the other between 0 and 360 It is possible to switch from one to the other G90 and G91 as linear axis LIMIT 350 ROLLOVER YES NO It can only move between 10 and 350 LIMIT 10 With G90 and G91 like when LIMIT 8000 An error message is issued if the target position is beyond the limits Positioning only rotary axis It cannot interpolate with linear axes Movement always in GOO and they do not admit tool radius compensation G41 G42 e Absolute coordinate programming G90 Always positive and in the shortest direction End coordinate between 0 and 359 9999 e Incremental coordinate programming G91 The sign indicates the turning direction If the programmed movement exceeds 360 the axis will turn more than once before positioning at the desired point Rotary Hirth axis Positioning only rotary axis AXISTYPE 3 ROLLOVER YES It counts between 0 and 360 G90 does not admit negative values Always via the LIMIT 8000 shortest path LIMIT 8000 G91The sign indicates the turning direction ROLLOVER NO It counts between 7999 9999 and 7999 9999 G90 and G91 as linear axis ROLLOVER YES It counts between 0 and 360 G90 does not admit negative values Always via t
191. L co Lu D Inanon random magazine the tools must be placed in the tool magazine table in the pre established S order P1 T1 P2 T2 P3 T3 etc Optionally g m p TOOLMATY P164 may be used to assign qs several different tools to each tool position In this case the magazine position number may be g different from the tool number a z g TOOLMONI P26 g S Selects the display units of the tool s nominal and real lives e Value Meaning 0 Tool life in minutes 1 Tool life in number of operations Default value 0 NTOFFSET P27 Indicates the number of tool offsets available in the tool offset table On the other hand the CNC adjusts the length of the tool offset magazine table to that value Possible values Integer numbers between 0 and 255 Default value 100 TOFFMO6 P28 Indicates if the machine is a machining center If it is the CNC will select at the tool magazine the tool indicated when executing the T function and it will be necessary to execute M06 afterwards in order to carry out the tool change Value Meaning YES Yes it is a machining center NO It is not a machining center Default value NO It is recommended to associate he subroutine corresponding to the tool changer with the M06 FAGOR NMISCFUN P29 CNC 8037 Indicates the number of M functions available in the M function table Possible values Integer numbers between 0 and 255 Default value 32 SOFT V01 6x
192. L2 Oc Z 2 3 ce O c O cso ac O ina a FAGOR 2 CNC 8037 SOFT V01 6x 331 Action instruction PLC PROGRAMMING FAGOR CNC 8037 SOFT V01 6x 332 Installation manual The origin and destination registers must always be defined even when they are both the same The number of repetitions indicates the consecutive number of times the register will be rotated Examples RR1 R100 1 R200 1 type 1 rotation to the right of the contents of R100 leaving the result in R200 RL2 R102 4 R101 4 type 2 rotations to the left of the contents of R102 leaving the result in R101 RL2 R17 4 R20 R17 0011 0000 1100 1100 0100 0110 1101 0100 R20 0000 1100 1100 0100 0110 1101 0100 0011 9 5 6 Specific action instructions ERA Used to delete a group of resources Indicate the first and last resource to be erased Its programming format is ERA 1 512 1 512 O 1 512 1 512 M 1 5957 1 5957 9g un T 1 256 1 256 C 1 256 1 256 25 S R 1 559 1 559 so lt 3 The marks can be M1 2047 M4000 4127 M4500 4563 M4700 4955 or M5000 5957 and registers 5 T R1 559 Q ac When deleting a group of I O M or R the PLC sets them to 0 9 A If a group of timers is erased this is the equivalent of Resetting them and if a group of counters is erased this is similar to making a preset with a value 0 for them This action is especially handy when executed in the first cycle modu
193. M5604 DRSTAF2 M5653 DRSTAS2 M5654 DRSTAF3 M5703 DRSTAS3 M5704 The CNC uses these signals when communicating with the drive via CAN and they indicate the drive status DRSTAF DRSTAS Actuating the main switch of the electrical cabinet supplies 24 Vdc to the 0 0 drive The drive runs an internal test If correct it activates the output System OK From that moment on the power supply must be turned on 0 1 When there is power at the drive bus it is ready to output torque To do that activate the drive enable and speed enable inputs 1 0 Once the drive enable and speed enable are activated the drive is 1 il running properly When an internal error occurs at the drive the DRSTAF and DRSTAS signals are set low logic level low MAXDIFF1 M5605 MAXDIFF2 M5655 MAXDIFF3 M5705 These marks are activated when the position difference between master and slave is not compensated because the coordinate difference is greater than the value of a m p MAXDIFF P97 This can happen after homing both axes of a Gantry pair This way the PLC can issue a warning indicating that the position difference between the master and the slave has not been compensated for ANT1 M5606 ANT2 M5656 ANT3 M5706 These signals are related to a m p MINMOVE P54 Ifthe axis move is smaller than the value indicated by this a m p MINMOVE P54 the corresponding axis logic output ANT1 thru ANT7 goes high
194. N CNC structure FAGOR 2 CNC 8037 SOFT V01 6x 49 Installation manual CNC structure CNC CONFIGURATION FAGOR CNC 8037 SOFT V01 6x 50 HEAT DISSIPATION The working temperature of the central unit enclosure must not exceed 45 C 113 F To ensure that this temperature is not exceeded the enclosure must have enough surface to evacuate the heat generated inside and maintain the ambient conditions within the working temperature range Calculating the surface needed to dissipate the heat The expressions have been obtained for an enclosure having a2 mm wall and made out of aluminum When using internal cooling the fan is located at 30 mm from the bottom To calculate the required total surface of the enclosure in order to dissipate the heat generated in it the following data must be taken into account HTT Ta A m Total surface required P W Total power dissipated by all the elements that generate heat inside the enclosure including the power supply and the fan if there is one Ta C Ambient temperature outside the enclosure Ti C Temperature inside the enclosure At C Temperature difference Ti Ta Q m3 h Air flow provided by the fan if there is one Dissipating surface Only surfaces dissipating heatby convection willbe considered the top andthe rearofthe enclosure The rest of the surfaces are not to be considered when calcu
195. N2 M5013 DRIBUSLE P63 The CNC considers this parameter when using a digital drive CAN Axis parameter DRIBUSID P56 other than 0 Even when the data exchange between the CNC and the drive is done via digital CAN bus one must define whether the feedback is also handled via bus or through the corresponding connector for the axis or spindle Value 0 1 Meaning The feedback is done via connector The feedback is done via CAN bus First feedback motor feedback DRIBUSLE 0 The CNC controls the position loop The axis feedback is done via connector The command to the drive is sent out via CAN DRIBUSLE 1 The CNC controls the position loop The axis feedback is done via CAN First feedback motor feedback The command to the drive is sent out via CAN POSINREF P64 Not being used SWITCHAX P65 When having 2 axes controlled by a single servo drive machine parameter SWITCHAX of the secondary axis indicates which one is the main axis it is associated with Value 0 1 2 3 4 5 Meaning None With the X axis With the Y axis With the Z axis With the U axis With the V axis Value 6 7 8 9 10 Meaning With the W axis With the A axis With the B axis With the C axis Spindle Default value 0 Parameter SWINBACK P66 must be set when having two axes controlled by a servo drive Example On a machine where the X and Z axes cannot
196. NC 8037 SOFT V01 6x 257 pe a Ww A Oz z q O O Og D Q FAGOR CNC 8037 SOFT V01 6x 258 6 11 Digital CAN servo G m p CANSPEED P169 may be used to set the CAN communication speed 6 11 1 Communications channel The data exchange between the CNC and the drives takes place in each position loop The more data to be transmitted the more overloaded the transmission will be These registers should be limited leaving only the ones absolutely necessary after the setup On the other hand there is data that MUST be transmitted at each position loop velocity commands feedback etc and other information that could be transmitted in several loops monitoring etc Since the CNC must know the priority for those transmissions from now on we will use the terms cyclic channel and service channel to refer to each of them Cyclic channel fast channel Data transmitted at each position loop velocity commands feedback etc At every loop time the CNC transmits to the drive through this channel the World Control Speed Enable Drive Enable Homing Enable bit handshake and the velocity command The drive transmits to the CNC the Word Status and the position value The transmitted data depends on a m p DRIBUSLE P63 The type of data to be transmitted basically variables must be indicated The data to be sent to the drives must be placed in certain particular registers of the PLC and the data
197. NC 8037 SOFT V01 6x 438 MOV ENTER KEYCODE SET SENDKEY and the code for the ENTER key is sent out M124 AND SENTOK RES M124 RES SENTOK SET M125 If the previous key was sent out successfully SENTOK flags M124 and SENTOK will be turned off the flag for the next stage M125 is activated MOV THEOPATH KEYCODE SET SENDKEY and the code for the THEORETICAL PATH F1 is sent out M125 AND SENTOK RES M125 RES SENTOK SET M126 If the previous key was sent out successfully SENTOK flags M125 and SENTOK will be turned off the flag for the next stage M126 is activated MOV START KEYCODE SET SENDKEY and the code for the START key is sent out M126 AND SENTOK RES M126 RES SENTOK If the last key was sent out successfully SENTOK flags M126 and SENTOK will be turned off MOV CNCKEY KEYBOARD CNCWR KEYBOARD KEYSRC M100 and the CNC is told that from now on the keys will be coming from CNC keyboard CNCKEY not from the PLC Subroutine used to send a key SENDKEY SET M100 SET M101 SET M102 RES SENDKEY To send a key SENDKEY set to 1 internal marks M100 through M102 and reset the SENDKEY flag to 0 M100 CNCWR KEYCODE KEY M100 Sends to the CNC the code of the key to be simulated KEYCODE If this command is not executed correctly M100 1 the PLC will try again on the next cycle scan M101 AND NOT M100 CNCRD KEY LASTKEY M101 If
198. NC is shared with password the session is not initiated anonymously The user must identify itself and it must be as cnc or CNC 3 Define the name to be associated with the new connection This is the name that will appear on the PC s net directory Just select it from the list to start the connection For example FAGOR_CNC After the configuration is done and every time the connection is made a window will open requesting the user name and password As user name select cnc or CNC and as password the one defined by machine parameter CNHDPASI P7 To make it easier the Save password option may be selected in this window This way it will no longer request the password when connecting again and it will access the hard disk directly be requested for the connection and therefore anybody is free to access the CNC from the PC A Use the save password option with caution Bear in mind that if you save the password it will not 5 8 PLC Parameters WDGPRG PO Indicates the Watchdog time out period for the main PLC program Possible values Integers between 0 and 65535 ms Default value 0 WDGPER P1 Indicates the Watch Dog time out period for the periodic module of the PLC Possible values Integers between 0 and 65535 ms Default value 0 USERO P2 a USER23 P25 Parameters USERO through USER23 do not mean anything to the CNC They could contain the type of information that the OEM may fin
199. NC loop Drive loop setting 1 Verify that the power output of the drives is OFF Set all a m p FBALTIME P12 to a value other than 0 for example FBALTIME 1000 Turn the CNC OFF Turn the drive power output ON Turn the CNC ON Ifthe axis runs away the CNC will issue the following error message for this axis Turn the CNC off and swap the tacho wires at the drive a A WO N 6 Repeat steps 4 and 5 until the CNC stops issuing errors Loop setting of the CNC The axes are set one at a time 1 Select the JOG operating mode at the CNC 2 Jog the axis to be adjusted If the axis runs away the CNC issues the corresponding following error message In this case the a m p LOOPCHG P26 must be changed If the axis does not run away but it does not move in the desired direction Change both a m p AXISCHG P13 and LOOPCHG P26 6 5 1 Drive adjustment Offset drift adjustment This adjustment is made on one axis at a time e Select the JOG mode at the CNC and press the softkey sequence Display Following error The CNC shows the current following Error axis lag of the axes e Adjust the offset by turning the offset potentiometer at the drive NOT AT THE CNC until a 0 following error is obtained Maximum feedrate adjustment The drives should be adjusted so they provide maximum axis feedrate when receiving a velocity command of 9 5 V Set each a m p MAXVOLT P37 9500 so the CNC ou
200. NE R R R Abscissa and ordinate axes of the active plane LONGAX R R R Axis affected by the tool length compensation G15 MIRROR R R R Active mirror images SCALE R R R General scaling factor applied Reading from the PLC in ten thousandths SCALE X C R R R Scaling Factor applied only to the indicated axis Reading from the PLC in ten thousandths ORGROT R R R Rotation angle G73 of the coordinate system ROTPF R Abscissa of rotation center ROTPS R Ordinate of rotation center PRBST R R R Returns probe status CLOCK R R R System clock in seconds TIME R R R W Time in Hours minutes and seconds DATE R R R W Date in Year Month Day format TIMER R W R W RW Clock activated by PLC in seconds CYTIME R R R Time to execute a part in hundredths of a second PARTC R W R W R W Parts counter of the CNC FIRST R R R First time a program is executed KEY R W R W RW keystroke code KEYSRC R W R W R W Source ofthe keys ANAIn R R R Voltage in volts of the indicated analog input n ANAOn R W RW R W Voltage in volts to apply to the indicated output n CNCERR R R Active CNC error number O Summary of internal CNC variables FAGOR CNC 8037 SOFT V01 6x 451 Summary of internal CNC variables FAGOR CNC 8037 SOFT V01 6x 452 Variable CNC PLC DNC section 12 12 PLCERR R Active PLC error number DNCERR R Number of the error generated during DNC communications DN
201. OSPDLIM P29 50 Default value For UPSPDLIM P30 150 DECINPUT P31 Indicates whether or not the spindle has a home switch to synchronize the spindle when working in M19 Value Meaning NO It has no home switch YES It has a home switch Default value YES REFPULSE P32 Indicates the type of marker pulse lo to synchronize the spindle when working in M19 Value Meaning sign Positive pulse 5 V sign Negative pulse 0 V Default value sign REFDIREC P33 Indicates the rotating direction when synchronizing the spindle during M19 Value Meaning sign Positive direction sign Negative direction Default value sign REFEED1 P34 Indicates the spindle s positioning speed when in M19 and the synchronizing speed until it finds the home switch Possible values Between 0 0001 degrees min and 99999 9999 degrees min Default value 9000 degrees min Sl Spindle parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 165 MACHINE PARAMETERS Spindle parameters FAGOR CNC 8037 SOFT V01 6x 166 REFEED2 P35 Indicates the synchronizing speed of the spindle after hitting the home switch and until it finds the marker pulse Possible values Between 0 0001 degrees min and 99999 9999 degrees min Default value 360 degrees min REFVALUE P36 Indicates the position value assigned to the reference point of the spindle home or marke
202. OX MOY COY 1000 1001 10 LOP 2000 2001 1 LOX 2000 2001 10 FOX 1000 1001 25 Rotary encoder IOCODI1 IOCODI2 EXTMULT P68 P69 P57 HO SO 90000 pulses 1000 1001 5 HO SO 180000 pulses 1000 1001 10 HOP SOP 18000 pulses 1000 1001 1 ACCTIME2 P59 FFGAIN2 P62 SMOTIME P58 Sometimes the axis does not respond as desired on particular movements handwheel movements etc In these cases the axis response may be smoothed by applying a filter to speed variations This filter is set by parameter SMOTIME that indicates the duration of the filter in milliseconds value given by g m p LOOPTIME P72 Possible values Integers between 0 and 64 times the value assigned to g m p LOOPTIME P72 If LOOPTIME 0 4 ms the maximum value that could be assigned to SMOTIME will be 64 x 4 256 ms Default value 0 To obtain a better response parameter SMOTIME of the axes interpolating with each other should be set with the same value PROGAIN2 P60 DERGAIN2 P61 These parameters define the second set of gains and accelerations They must be set like the parameters that define the first set First set Second set ACCTIME P18 ACCTIME2 P59 PROGAIN P23 PROGAIN2 P60 DERGAIN P24 DERGAIN2 P61 FFGAIN P25 FFGAIN2 P62 To select the second set of gains and accelerations set g m p ACTGAIN2 P108 correctly or activate the CNC s general logic input ACTGAI
203. P M5004 Similar to the FEEDHOL signal FHOUTP M5504 Similar to the FHOUT signal XFERINP M5005 Similar to the XFERINH signal Auxiliary M functions To control the M functions managed by the PLC the following marks and registers are generated MBCDP1 through MBCDP7 R565 through R571 similar to signals MBCD1 through MBCD7 AUXENDP M5006 Similar to the AUXEND signal MSTROBEP M5505 Similar to the MSTROBE signal Data transfer If when executing at the PLC the action CNCEX ASCII Block Mark the CNC detects that the contents of the ASCII block being received is erroneous it will set the indicated Mark to 1 The PLC program will keep executing while it is up to the programmer to check whether the function was executed correctly or not The CNC considers the contents of the ASCII block incorrect in the following instances e When the syntax is incorrect e When programming a not permitted preparatory function G code e When programming an auxiliary function M S T or tool offset D e When programming a high level language block e When the axis to be moved cannot be controlled from the PLC e When the internal buffer for PLC command storage is full Si PLC execution channel AXES CONTROLLED FROM THE PLC FAGOR 2 CNC 8037 SOFT V01 6x 417 AXES CONTROLLED FROM THE PLC GO PLC execution channel FAGOR CNC 8037 SOFT V01 6x 418 Errors during execution When the CNC detect
204. P33 P55 P77 P12 P34 P56 P78 P13 P35 P57 P79 P14 P36 P58 P80 P15 P37 P59 P81 P16 P38 P60 P82 P17 P39 P61 P83 P18 P40 P62 P84 P19 P41 P63 P85 P20 P42 P64 P86 P21 P43 P65 P87 M FUNCTIONS SETTING CHART Associated perting bits Associated Setting bits nn M functions setting chart AN ai nn M M M M M M M M M M M M M M M M M M o ST e DEL ci IU ei a ST T T ST OOS ST T T T So i OOO ST S OOS ST T T S _ OS ST T T O 0 S T T T T i ed mai FAGOR 2 CNC 8037 SOFT V01 6x 477 Installation manual M functions setting chart FAGOR CNC 8037 SOFT V01 6x 478 LEADSCREW ERROR COMPENSATION TABLE N m x 2 de 00 S R J e qe uoesu dwos 10119 MEAJISPEAT O O o Di Ww Z P O 5 bla D T d o Lu wW Ww wW LU wW W wW W wW W wW W wW W d o dn dn ui wW LU lu Ww wW LU lu W lu LU wW LU wW LU 2 5 xX da fe a o a aad aa aad aad aa aad aad LU LU DI T 2 Th he Www w w jo w low uu jw w w w wi wu w w wu ui ui wW W wW W wW W wW W wW W wW W wW W wW W wW W 2 6 2 6 x x lt 7 lt to fs a a s f f a a aa aa aa aa aa aa lhaa aa laa Installation manual Leadscrew error compensation table FAGOR CNC 8037 SOFT V
205. P34 P84 P134 P184 P35 P85 P135 P185 P36 P86 P136 P186 P37 P87 P137 P187 P38 P88 P138 P188 P39 P89 P139 P189 P40 P90 P140 P190 P41 P91 P141 P191 P42 P92 P142 P192 P43 P93 P143 P193 P44 P94 P144 P194 P45 P95 P145 P195 P46 P96 P146 P196 P47 P97 P147 P197 P48 P98 P148 P198 P49 P99 P149 P199 axis machine parameters PO P50 P100 P150 P1 P51 P101 P151 P2 P52 P102 P152 P3 P53 P103 P153 P4 P54 P104 P154 P5 P55 P105 P155 P6 P56 P106 P156 P7 P57 P107 P157 P8 P58 P108 P158 P9 P59 P109 P159 P10 P60 P110 P160 P11 P61 P111 P161 P12 P62 P112 P162 P13 P63 P113 P163 P14 P64 P114 P164 P15 P65 P115 P165 P16 P66 P116 P166 P17 P67 P117 P167 P18 P68 P118 P168 P19 P69 P119 P169 P20 P70 P120 P170 P21 P71 P121 P171 P22 P72 P122 P172 P23 P73 P123 P173 P24 P74 P124 P174 P25 P75 P125 P175 P26 P76 P126 P176 P27 P77 P127 P177 P28 P78 P128 P178 P29 P79 P129 P179 P30 P80 P130 P180 P31 P81 P131 P181 P32 P82 P132 P182 P33 P83 P133 P183 P34 P84 P134 P184 P35 P85 P135 P185 P36 P86 P136 P186 P37 P87 P137 P187 P38 P88 P138 P188 P39 P89 P139 P189 P40 P90 P140 P190 P41 P91 P141 P191 P42 P92 P142 P192 P43 P93 P143 P193 P44 P94 P144 P194 P45 P95 P145 P195 P46 P96 P146 P196 P47 P97 P147 P197 P48 P98 P148 P198 P49 P99 P149 P199 Machine parameter setting chart C FAGOR CNC 8037 SOFT V01 6x 473 Machine parameter setting chart
206. P72 OUTPREV1 P73 INPREV2 P74 OUTPREV2 P75 INPREV3 P76 OUTPREV3 P77 INPREV4 P78 OUTPREV4 P79 When using a CAN servo system only with DRIBUSLE 0 these parameters set the gear ratios in each range Parameters INPREV1 trough INPREV4 indicate the input speed for each gear Parameters OUTPREV1 through OUTPREV4 indicate the output speed for each gear Possible values Integer numbers between 0 and 65535 Default value 0 When using a CAN servo system if parameter NPULSES and parameters INPREV and OUTPREV of all the gears are set with a 0 value the CNC will assume the equivalent ones of the drive JERKLIM P80 Square sine bell shape ramp acceleration This type of ramp is used to gain in smoothness This spindle parameter becomes effective with RESET in machine parameters Value Meaning JERKLIM 0 Linear acceleration ramp Default value 0 A JERKLIM value other than zero activates the square sine ramp It comes in degrees s in other words a parameter value of 20 means a jerk of 20000 degrees s This parameter only affects the spindle acceleration in open loop M3 M4 M5 The parameter value so maximum acceleration resulting from OPLACETI is reached in half the acceleration time up to MAXGEARI is calculated as follows JERKLIM 6000 MAXGEAR1 OPLACETI 2 In this case the spindle will take twice as long to reach the MAXGEAR1 speed than it would without jerk The JERKLIM value depends on t
207. PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 105 3 Since the handwheel outputs square signals and the CNC applies a x4 multiplying factor to them we get 100 pulses per turn 4 The value to be assigned to parameter MPGRES depends on the axis resolution format With 5 3mm type display format set MPGRES 1 With 4 4 mm type display format set MPGRES 2 With 6 2 mm type display format set MPGRES 0 Format Resolution 5 MPGRES 0 MPGRES 1 MPGRES 2 LI 5 3 mm Resolution 0 001 mm 0 010 mm 0 100 mm n Pulses turn 0 100 mm 1 000 mm 10 000 mm m 4 4 mm Resolution 0 0001 mm 0 0010 mm 0 0100 mm n Pulses turn 0 0100 mm 0 1000 mm 1 0000 mm g 6 2 mm Resolution 0 01 mm 0 10 mm 1 00 mm lt 2 Pulses turn 1 00 mm 10 000 mm 100 000 mm pled w Z 5 MPG1CHG P83 MPG1RES P84 MPGI1NPUL P85 g MPG2CHG P86 MPG2RES P87 MPG2NPUL P88 oi MPG3CHG P89 MPG3RES P90 MPG3NPUL P91 These parameters must be used when the machine has several electronic handwheels one per axis Set the a m p for the feedback input of the electronic handwheel AXIS1 PO through AXIS7 P6 to one of the following values Value Meaning Value Meaning 21 Handwheel associated with X 26 Handwheel associated with W 22 Handwheel associated with Y 27 Handwheel associated with A 23 Handwheel associated with Z 28 Handwheel associated with B 24 Handwheel associated with U 29 Handwheel
208. PARMAX P52 They indicate the upper limit ROPARMAX and lower limit ROPARMIN of the global arithmetic parameter group P100 P299 user arithmetic parameters P1000 P1255 or OEM arithmetic parameters P2000 P2255 to be write protected There are no restrictions to read these parameters Possible values Integer numbers between 0 and 9999 Default value 0 it is not protected The parameters write protected from the CNC may be modified from the PLC SI MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 99 MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 100 PAGESMEM P53 NPCROSS2 P54 MOVAXIS2 P55 COMAXIS2 P56 NPCROSS3 P57 MOVAXIS3 P58 COMAXIS3 P59 Not being used TOOLSUB P60 Indicates the number of the subroutine associated with the tools This subroutine will be executed automatically every time a T function is executed Possible values Integer numbers between 0 and 9999 Default value 0 none CYCATC P61 This parameter must be used when having a machining center g m p TOFFMO6 P28 YES Indicates whether a cyclic tool changer is being used or not A cyclic tool changer is an automatic tool changer which requires an M06 command tool change after searching for a tool and before searching for the next one With a non cyclic tool changer it is possible to search for several tools in a row without
209. PLC will always assign the result of analyzing the last one of those instructions This example shows how to group in a single instruction all the conditions that activate or deactivate one logic CNC input NOT T1 AND NOT M 41 AND NOT M 42 AUXEND Input AUXEND will remain low while e The Treatment of the MSTROBE TSTROBE STROBE signals is in progress timer T1 active e A spindle gear change is being performed M 41 M 42 Keyboard simulation With this example it is possible to simulate the theoretical path of part program P12 whenever the operator requests it To do this follow these steps e Indicate to the CNC that from now on the keys will come from the PLC e Simulate all the necessary steps sending the code of each one of the keys e Indicate to the CNC that from now on the keys will be coming from the CNC keyboard not from the PLC In order to make sending the keys easier a subroutine is used which utilizes the following parameters SENDKEY Send Key Calling parameter that must be activated whenever a key is to be sent KEYCODE Code of the key Calling parameter that must contain the code corresponding to the key being simulated SENTOK Sent OK Outgoing parameter indicating that the key code has been sent successfully DFU I SIMULA SET M120 ERA M121 126 Whenever the operator requests the simulation I SIMULA marks M120 through M126 must be activated MOV PLCKEY KEYBOARD CNCWR KE
210. POSITION zone in order to consider pu D it to be in position E Lu S On axes that are only controlled during the interpolation or the positioning dead axes this prevents gt the CNC from considering the block completed before the axis has stopped and could get out of gt the in position zone lt 2 Possible values BS Integers between 0 and 65535 ms Default value 0 MAXFLWE1 P21 Indicates the maximum following error allowed when this axis moves Possible values Between 0 and 99999 9999 degrees or millimeters Between 0 and 3937 00787 inches Default value 30 mm MAXFLWE2 P22 Indicates the maximum following error allowed when this axis is stopped Possible values Between 0 and 99999 9999 degrees or millimeters Between 0 and 3937 00787 inches Default value 0 1 mm PROGAIN P23 Indicates the value of the proportional gain It sets the command in millivolts desired for a following error of 1 mm Velocity command mV Following error mm x PROGAIN FAGOR Possible values CNC 8037 Integers between 0 and 65535 mV mm Default value 1000 mV mm Example A feedrate of 20000 mm min is selected by a m p GOOFEED P38 to obtain 1 mm of following error axis lag for a feedrate of F 1000 mm min SOFT V01 6x Command from the drive 9 5V for a feedrate of 20000 mm min Command for a feedrate of F 1000 mm min Command 9 5 20000 x 1000 475 mV Therefore PROGAIN 475
211. R R Real spindle speed FTEOS R R R Theoretical spindle speed Variables associated with spindle speed SPEED R R R Active spindle speed at the CNC DNCS R R R W Spindle speed selected via DNC PLCS R R W R Spindle speed selected via PLC PRGS R R R Spindle speed selected by program Variables associated with constant cutting speed lathe model CSS R R R Constant surface speed active at the CNC DNCCSS R R RW Constant surface speed selected via DNC PLCCSS R RW R Constant surface speed selected via PLC PRGCSS R R R Constant surface speed selected by program O Summary of internal CNC variables FAGOR 2 CNC 8037 SOFT V01 6x 449 Summary of internal CNC variables FAGOR CNC 8037 SOFT V01 6x 450 Variables associated with the spindle override SSO R R R Spindle Speed Override active at the CNC PRGSSO RW R R Override selected by program DNCSSO R R R W Override selected via DNC PLCSSO R R W R Override selected via PLC CNCSSO R R R Spindle Speed Override selected from front panel Speed limit related variables SLIMIT R R R Spindle speed limit active at the CNC DNCSL R R R W Spindle speed limit selected via DNC PLCSL R R W R Spindle speed limit selected via PLC PRGSL R R R Spindle speed limit selected by program MDISL R R W R Maximum machining spindle speed Position related variables POSS R R R Real Spindle position Reading from t
212. RGAIN P24 and FFGAIN P25 g m p ACTGAIN2 P108 indicates with which functions or in which mode the second setis applied the one set by a m p ACCTIME2 P59 PROGAIN2 P60 DERGAIN2 P61 and FFGAIN2 P62 or s m p ACCTIME2 P47 PROGAIN2 P48 DERGAIN2 P49 and FFGAIN2 P50 The gains and accelerations can also be changed from the PLC regardless of the active operating mode or function To do this use general input ACTGAIN2 M5013 ACTGAIN2 M5013 0 The CNC assumes the first set ACTGAIN2 M5013 1 The CNC assumes the 2nd set When working in round corner G5 the change does not take place until G07 is programmed l The change of gains and accelerations is always made at the beginning of the block RESETIN M5015 This signal will be treated by the CNC when the JOG mode is selected and there is no movement of the axes or when a program to be executed is selected and it is not running When there is a rising edge leading edge of this signal change from low to high the CNC assumes the initial machining conditions selected by the machine parameter The CNC will indicate by means of the general logic output RESETOUT that this function has been selected The treatment received by this signal is similar to that given to the RESET key on the front panel AUXEND M5016 This signal is used in the execution of auxiliary functions M S and T to tell the CNC that the PLC is executing them It operates in the
213. S M5451 Main spindle The CNC uses this signal while searching home when the spindle changes to working in closed loop M19 The CNC only considers the signals for the currently selected spindle The PLC sets one of the signals high to tell the CNC that the spindle has overrun its range of travel in the positive or negative direction In this case the CNC stops axis feed and spindle rotation and displays the corresponding error on 1 1 screen a DECELS M5452 Main spindle The CNC uses this signal while searching home when the spindle changes to working in closed loop M19 The CNC only considers the signals for the currently selected spindle The PLC sets this signal high to indicate to the CNC that the reference search switch is pressed When this signal is activated in the reference search mode the CNC decelerates the spindle changing the rapid approach speed indicated by the s m p REFEED1 P34 with the slow feedrate indicated by the s m p REFEED2 P35 After decelerating it accepts the following reference signal from the spindle feedback systems as being valid Spindle logic inputs SPDLEINH M5453 Main spindle The CNC considers these 2 signals at all times so both spindles can be controlled by the PLC LOGIC CNC INPUTS AND OUTPUTS When the PLC sets this signal high the CNC outputs a zero velocity command for the spindle SPDLEREV M5454 Main spindle The CNC considers these 2 signals at all times so both sp
214. T123 makes reference to the logic status of the timer T123 M100 Assigns mark to M100 the status 0 1 of Timer 123 In arithmetic and comparison functions T123 makes reference to the time elapsed in the timer from the moment it was activated 12 MOV T123 R200 Transfers the time of T123 to register R200 CPS T123 GT 1000 M100 Compares the time elapsed at T123 is greater than 1000 If so it activates mark M100 The PLC has a 32 bit variable to store the time of each timer 7 5 1 Monostable mode TG1 input In this operational mode the timer status is kept at the high logic level T 1 from the moment the TG1 input is activated until the time indicated by the time constant elapses If the timer is initialized with values TEN 1 and TRS 0 the timer will be activated when a leading edge is produced at input TG1 At that moment the timer status output T changes states T 1 and the timing starts from 0 sg el LEN Once the time specified by the time constant has elapsed timing will be considered as having finished The timer status output T changes status T 0 and the elapsed time will be maintained with the time value of the timer T Any changes at the TG1 input up or down flank while timing has no effect If once the timing is complete it is required to activate the timer again another leading edge must be produced at the TG1 input S Yn 2 D e E
215. TX M302 CNCWR R39 DISTY M302 CNCWR R39 DISTZ M302 reset to 0 the count of the distance traveled by each axis Activate the lubricating lubing operation T2 OR T3 OR T5 OR T6 O LUBING If any of these conditions is met the lubing output will be activated DFD O LUBING TRS2 TRS3 TRS4 TRS5 TRS6 Once the lubricating operation has concluded All timers must be reset to 0 Coolant treatment The CNC executes function M08 to turn the coolant on and function MO9 to turn it off Also in this case the operator has a switch to select whether the coolant is activated manually by the operator or automatically by the CNC I COOLMA The operator control the coolant Manual mode I COOLAU The CNC controls the coolant Automatic mode O COOL Coolant on off output I COOLMA OR I COOLAU AND M 08 O COOL Coolant ON RESETOUT NOT O COOL RES M 08 The coolant will be turned off when the CNC is reset to initial conditions RESETOUT or when executing functions MOO M02 MO9 and M30 This instruction does not contemplate functions MOO M02 MO9 and M30 since the treatment of M S T functions turns mark M 08 off when activating any of them Treatment of the general CNC input AUXEND It is advisable to have one single instruction to control each one of the logic CNC inputs thus preventing undesired functioning When having several instructions which can activate or deactivate an input the
216. UAL AND NOT MDI AND T17 NOT STOP END CONCEPTS Fagor handwheels HBA HBE and LGB DI A In order to comply with the EN61000 4 4 IEC 1000 4 4 regulation on immunity against rapid transients and blasts use a 7x1x0 14 PVC shielded cable for the 5 V feedback cable FAGOR CNC 8037 SOFT V01 6x 265 6 CONCEPTS Machine safety related functions FAGOR CNC 8037 SOFT V01 6x 266 6 13 Machine safety related functions 6 13 1 Maximum machining spindle speed The following safety regulation forces to limit the spindle speed on lathes part is entered as well as the proper maximum speed for the part holding fixture for the machine l A program will not be executed in machining mode unless the maximum spindle speed value for the Should the operator forget to enter or validate these speeds in each program change the execution in machining mode will not be possible It will not exceed the lower speed among the maximum by parameter the maximum by program and the maximum entered manually There is a variable MDISL associated with the spindle speed limits to make this routine easier This variable is read write from the PLC and read only from DNC and CNC Besides updated by the PLC this variable can also be updated in the following cases e When programming G92 in MDI mode e When programming G92 in ISO code in MC or TC mode e In MC or TC mode when a new speed limit is defined
217. UOCAN2 113 Node 1 is assigned inputs 1129 through 1176 and outputs O65 through 096 Node 2 is assigned inputs 1201 through 1224 and outputs 0113 through 0128 The inputs of the first remote module are numbered sequentially after the value assigned to parameter NUICAN1 1129 The inputs of the second remote module are numbered after the value assigned to parameter NUICAN2 I201 Follow the same procedure for the outputs IANALOG1 P110 IANALOG2 P113 IANALOG3 P116 IANALOG4 P119 They are used to set the remote modules They indicate the number of analog inputs of each of the 4 remote modules a CAN node number identifies each one in the system Its value will be 4 if it is a Fagor remote module OANALOG1 P111 OANALOG2 P114 OANALOG3 P117 OANALOG4 P120 They are used to set the remote modules They indicate the number of analog outputs of each of the 4 remote modules a CAN node number identifies each one in the system Its value will be 4 if it is a Fagor remote module PT100_1 P112 PT100_2 P115 PT100_3 P118 PT100_4 P121 They are used to set the remote modules They indicate the number of physical connections available for PT 100 probes in each of the 4 remote modules and also indicate which ones are connected All this information is reflected in a 16 bit string Their value will be 0000 0000 0000 0011 if it is a Fagor remote module 2 physical connections bits 0 and 1 set to 1 and whether they are both connected
218. V01 6x 203 CONCEPTS Axes and coordinate systems FAGOR CNC 8037 SOFT V01 6x 204 Programming and movements Coordinates display If the incline axis is active the coordinates displayed will be those of the Cartesian system otherwise it will display the coordinates of the real axes Movement programming The inclined plane is activated from the part program function G46 Two kinds of movements may be executed e The movements are programmed in the Cartesian system and are transformed into movements on the real axes e Movementalong the incline axis but programming the coordinate in the Cartesian system While this mode is active in the motion block only the coordinate of the incline axis must be programmed Jog movements PLC mark MACHMOVE determines how the manual movements with handwheels or with the keyboard will be carried out MACHMOVE 0 Movements on the Cartesian axes MACHMOVE 1 Movements on the incline axes of the machines Home search While searching home the movements are carried out on the incline axes of the machine The incline axis is deactivated when searching home on any axis that is part of the incline axis configuration Installation manual 6 2 Jog 6 2 1 Relationship between the axes and the JOG keys The CNC has 3 pairs of keys to manually control the machine axes x rs Mill model OE lt Gi Ba Jele DI Afe Lathe model
219. YBOARD KEYSRC M100 Indicate to the CNC that from now on the keys will be coming from the PLC PLCKEY MOV MAINMENU KEYCODE SET SENDKEY and send the code for the MAIN MENU key M120 AND SENTOK RES M120 RES SENTOK SET M121 If the previous key was sent out successfully SENTOK flags M120 and SENTOK will be turned off the flag for the next stage M121 is activated MOV SIMULATE KEYCODE SET SENDKEY and the code for the SIMULATE key F2 is sent out M121 AND SENTOK RES M121 RES SENTOK SET M122 If the previous key was sent out successfully SENTOK flags M121 and SENTOK will be turned off the flag for the next stage M122 is activated MOV KEY1 KEYCODE SET SENDKEY and the code for the 1 key is sent out M122 AND SENTOK RES M122 RES SENTOK SET M123 If the previous key was sent out successfully SENTOK flags M122 and SENTOK will be turned off the flag for the next stage M123 is activated MOV KEY2 KEYCODE SET SENDKEY and the code for the 2 key is sent out M123 AND SENTOK RES M123 RES SENTOK SET M124 If the previous key was sent out successfully SENTOK flags M123 and SENTOK will be turned off the flag for the next stage M124 is activated sl W a dl a 3 0 g E as O gt lt x cc e ao a O ar a FAGOR 2 CNC 8037 SOFT V01 6x 437 PLC PROGRAMMING EXAMPLE I gt Main module FAGOR C
220. a square corner Bit 15 Stop block preparation when executing the T function If while executing the T function the block preparation detects a programming error this function might not be executed completely This means that the tool change may have concluded correctly but the requested tool has not been assumed by the CNC To avoid this situation it is possible to stop block preparation during the execution of the T function This bit determines whether block preparation is interrupted bit 1 or not bit 0 while executing a T function Remember that when having a subroutine associated with the T function the tool change is carried out as follows 1 It executes the associated subroutine 2 The T function is executed without using the M06 function 3 The CNC assumes the change PROBEDEF P168 Defines the behavior of the probe This parameter has 16 bits counted from right to left bit 1514131211109 8 7 6 5 4 3 2 10 E E E E E E ARR Each bit has a function or work mode associated with it By default all the bits will be assigned the value of 0 Assigning the value of 1 activates the corresponding function Bit Meaning 0 Smooth stop of the probe 1 15 Not being used Default value in all the bits 0 Bit 0 Smooth stop of the probe G75 G76 This bit permits defining a smooth stop for
221. a within the limits this error will come up the first time an absolute feedback is connected or when the offsets of the feedback device are changed In these cases once the error has been removed as described earlier that error will not come up again FBMIXTIM P102 Machine parameter that may be used to set the time constant to be used when combining feedbacks i e it sets the delay between the position values of the first and the second feedback This parameter only works for Sercos axes with external feedback a m p DRIBUSLE P63 0 Possible values Between 0 and 9999 9 ms Default value 0 Operation of feedback combination depending on the value of a m p FBMIXTIM e A value equal to or greater than g m p LOOPTIME P72 enables the use of feedback combination e A value smaller than g m p LOOPTIME P72 disables feedback combination and the external feedback will be used Activating feedback combination if it is off on CNC power up after setting a m p FBMIXTIM to a value equal to or greater than g m p LOOPTIME requires a Shift Reset or turning the CNC off and back on Once feedback combination is activated on power up later changes to the value of parameter FBMIXTIM even those involved in turning feedback combination on or off are validated by simply pressing Reset or automatically if it was changed from the oscilloscope 5 4 Spindle parameters SPDLTYPE PO Indicates the type of spindle output being u
222. al machine parameter RANDOMTC P25 The CNC tells the PLC by means of the 32 bit register the position of the magazine empty pocket in which the tool which was on the spindle must be deposited This will be coded in BCD code 8 digits If a second T function is not required the CNC will assign a value FFFFFFFF to the register The second T function will be sent together with M06 and the CNC will wait for the general logic input AUXEND to the activated to consider the execution completed 10 2 Auxiliary M S T function transfer Every time a block is executed in the CNC information is passed to the PLC about the M S and T functions which are active M function The CNC analyzes the M functions programmed in the block and in accordance with how these are defined will send these to the PLC before and or after the movement To do this it uses variables MBCD1 to MBCD7 R550 to R556 and activates the general logic output MSTROBE to indicate to the PLC that it must execute them Depending on how these functions are defined on the table the CNC must wait or not forthe general input AUXEND to be activated to consider the execution completed S function If an S function has been programmed and the spindle has BCD input the CNC will send this value to the variable SBCD R557 and will activate the general logic output SSTROBE to indicate to the PLC that it must be executed This transmission is made at the
223. alog spindle Parameters involved in the calculation of the velocity command s m p s m p s m p s m p s m p s m p s m p s m p MAXGEARI P2 maximum rpm of the first gear 1000 MAXGEAR2 P3 maximum rpm of the second gear 2000 MAXGEAR3 P4 maximum rpm of the third gear 3000 MAXGEARA4 P5 maximum rpm of the fourth gear 3500 MAXVOLT1 P37 MAXVOLT2 P38 maximum velocity command for the second gear 9500 MAXVOLTS P39 MAXVOLT4 P40 maximum velocity command for the fourth gear maximum velocity command for the first gear 9500 P39 maximum velocity command for the third gear 9500 9500 x 3500 rpm 4000 rpm 8312 Parameters involved in the calculation of the position feedback a m p a m p s m p s m p s m p s m p s m p s m p s m p s m p NPULSES P13 number of pulses per turn of the encoder 18000 SINMAGNI P65 Multiplying factor if the encoder is sinusoidal 200 INPREV1 P72 Input revolutions of the first gear 4 INPREV2 P74 Input revolutions of the second gear 2 INPREV3 P76 Input revolutions of the third gear 4 INPREV4 P78 Input revolutions of the fourth gear 1 OUTPREV1 P73 OUTPREV2 P75 OUTPREV3 P77 OUTPREV4 P79 output revolutions of the fourth gear 1 output revolutions of the first gear 1 output revolutions of the second gear 1 o
224. alue other than 0 e Controlled via PLC With this feature the PLC may take control of the spindle for a certain period of time A typical application of this feature is the control of the spindle oscillation during the spindle gear change Regardless of the type of spindle command being used the CNC admits up to 4 spindle gears The spindle gear change may be made either manually or automatically by the CNC To change spindle gears functions M41 M42 M43 and M44 are used to let the PLC know which one is to be selected 6 9 2 Spindle speed S control BCD output When using BCD 2 or 8 digits coded command output the spindle will operate in open loop and it will be controlled by means of functions M3 M4 and M5 To do that set s m p SPDLTYPE PO with the right value SPDLTYPE 1 2 digit BCD coded spindle command output S SPDLTYPE 2 8 digit BCD coded spindle command output S Whenever a new spindle speed is selected the CNC will transfer the programmed S value into register SBCD R557 and it will activate general logic output SSTROBE M5533 to tell the PLC to go ahead with its execution This transmission is carried out at the beginning of the block execution and the CNC will wait for the AUXEND general input to be activated and then consider its execution completed If it uses 2 bit BCD code the CNC will indicate the S value to the PLC by means of this register and according to the following conve
225. alues Integer numbers between 0 1 2 3 Default value 0 GRAPHICS 0 GRAPHICS 1 GRAPHICS 2 GRAPHICS 3 Sl MACHINE PARAMETERS General machine parameters FAGOR 2 CNC 8037 SOFT V01 6x 93 MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 94 On the M model this parameter indicates the axis system being used for the graphic representation as well as the motion possibilities for the W axis added to those of the Z axis in the graphic representation W additive Value Meaning 0 Mill graphics 1 Mill graphics with added W axis 2 Boring Mill graphics 3 Boring Mill graphics with added W axis 4 Mill graphics changed line graphics Default value 0 GRAPHICS 0 GRAPHICS 4 RAPIDOVR P17 Indicates whether it is possible to vary the feedrate override between 0 and 100 when working in GOO Value Meaning YES It may be modified NO It cannot be modified it is set to 100 Default value NO The feedrate override may be changed from the operator panel switch from the PLC via DNC or by program The feedrate can always be changed in JOG movements MAXFOVR P18 Indicates the maximum value of the feedrate override applicable to the programmed feedrate Possible values Integer numbers between 0 and 255 Default value 120 From the operator panel switch it may be varied between 0 and 120 and from the PL
226. alues 1 through 8 must be assigned to these parameters depending on the connector that the handwheel is associated with When detecting any incompatibility on power up it will issue the messages Feedback busy or Feedback not available FAGOR 2 ACTBACKL P144 It is related to a m p BACKLASH P14 leadscrew backlash compensation due to change of CNC 8037 direction This parameter has 16 bits counted from right to left bit 1514131211109 8 7 6 5 4 3 2 10 mj m m eee j a a m a SOFT V01 6x 113 MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 114 Each bit has a function or work mode associated with it By default all the bits will be assigned the value of 0 Assigning the value of 1 activates the corresponding function Bit Meaning Bit Meaning 0 8 1 9 2 10 3 11 4 12 5 13 G2 G3 6 14 7 15 Default value in all the bits 0 Bit 13 Backlash compensation on arcs G2 G3 This bit indicates whether the compensation is applied only on circular paths G2 G3 bit 1 or in any other type of movement bit 0 ACTBAKAN P145 It is related to a m p BAKANOUT P29 and BAKTIME P30 additional analog command pulse to recover the possible leadscrew backlash when reversing the movement This parameter has 16 bits counted from right to left bit 1514131
227. am for example soles of shoes In order to obtain the same effect as functions G11 G12 G13 and G14 it is necessary for the corresponding axis or axes to be positioned at part zero when these signals are activated SWITCH1 M5105 SWITCH2 M5155 SWITCH3 M5205 When having 2 axes controlled by the same servo drive this mark may be used to toggle the velocity commands between the two axes DRO1 M5106 DRO2 M5156 DRO3 M5206 These inputs together with the corresponding SERVOON inputs make it possible to operate with the axes as DRO In order for the axis to work in DRO mode its DRO input must be high and its corresponding SERVOON input must be low When an axis works as a DRO the positioning loop is open and its following error is ignored while in motion If the DRO signal is brought back low the axis will no longer behave as a DRO and the CNC will take as position value its current position assigning a 0 value to the following error SERVO10ON M5107 SERVO2ON M5157 SERVO30N M5207 SERVO4ON M5257 SERVOS5ON M5307 SERVO6ON M5357 SERVO7ON M5407 When one of these signals is set high the CNC closes the positioning loop of the corresponding axis If set low the CNC does not close the position loop of the axis Any position deviation is stored as following error thus when the signal gets back high the axis moves to return to position These signals are controlled by the PLC and when the positioning loop
228. an 0 if this gain is to be applied Integer numbers between 0 and 65535 Default value 0 derivative gain not applied The best adjustment is achieved when minimizing the following error as much as possible but without inverting the peaks The peaks of the right graph are inverted Bad adjustment The graph on the left shows the system response without DERGAIN 10 um per square and the one on the right with DERGAIN 1 um per square FFGAIN P25 The CNC takes this parameter into account when operating in closed loop M19 Indicates the of velocity command due to the programmed speed The rest will depend upon the following error both the proportional and derivative gains will be applied onto this following error FEGAIN Progammed i Analog 4 PROGAIN output DERGAIN Feedback Command DERGAIN FFGAIN x Fprog x MAXVOL amp PROGAIN Cie and 100 GOOFEED The feed forward gain improves the position loop minimizing the following error but it should only be used when working with acceleration deceleration Integer numbers between 0 and 100 Default value 0 feed forward gain not applied The best adjustment is achieved when the following error is minimized as much as possible but without changing its sign maintaining the moving direction of the axis Si DL E oO H E s f q S an co a g WS zo an E lt FAGOR
229. and ENTER to validate it This option is common to all the axes Sl nN 2 T g h E wig g do Co a z w A z os O lt FAGOR 2 CNC 8037 SOFT V01 6x 177 5 6 Serial line parameters BAUDRATE PO Indicates the communication speed in baud between the CNC and the peripherals It is given in baud and it is selected with the following code Value Meaning Value Meaning 5 0 110 baud 7 9 600 baud n 1 150 baud 8 19 200 baud n g 2 300 baud 9 38 400 baud E 3 600 baud 10 57 600 baud A 4 1 200 baud 11 115 200 baud lt 2 5 2 400 baud 12 Reserved u E 6 4 800 baud 5 D Default value 11 115200 baud NBITSCHR P1 Indicates the number of data bits per transmitted character Value Meaning 0 Uses the 7 least significant bits of an 8 bit character It is used when transmitting ASCII characters standard 1 Uses all 8 bits of the transmitting character Used when transmitting special characters whose codes are greater than 127 Default value 1 PARITY P2 Indicates the type of parity check used Value Meaning 0 No parity 1 Odd parity 2 Even parity Default value 0 STOPBITS P3 Indicates the number of stop bits at the end of each transmitted word i Value Meaning 0 1 STOP bit FAGOR 1 2 STOP bits Default value 0 CNC 8037 PROTOCOL P4 Indicates the type of communications protocol to be used Value Meaning SOFT V01 6x 0 Communications protocol for general device 1 DNC commu
230. and 99999 9999 degrees Default value 0 1 degrees PROGAIN P23 The CNC takes this parameter into account when operating in closed loop M19 Indicates the value of the proportional gain Its value represents the analog command in millivolts corresponding to a following error of 1 degree Velocity command mV Following error degrees x PROGAIN Possible values Integers between 0 and 65535 mV degree Default value 1000 mV degree This value is taken for the first spindle gear and the CNC calculates the values for the rest of the gears Example s m p MAXGEARI1 P2 500 rev min The desired speed for a 1 degree of following error is S 1000 min 2 778 rev rpm Command from the drive 9 5V for 500 rpm Velocity command corresponding to S 1000 min 2 778 rpm Velocity command 9 5 500 x 2 778 52 778 mV Therefore PROGAIN 53 DERGAIN P24 The CNC takes this parameter into account when operating in closed loop M19 Indicates the value of the derivative gain Its value represents the analog command in millivolts corresponding to a change in following error of 1mm 0 03937 inches in 10 milliseconds This velocity command will be added to the one calculated for the proportional gain Installation manual Command DERGAI PROGAL e OGAIN 10 7 It is a good idea to also use the acc dec a m p ACCTIME2 P18 for this axis with a value other th
231. and the spindle PITCH P7 Defines the pitch of the ballscrew or the linear encoder being used When using a Fagor linear encoder this parameter must be set with the pitch value of the feedback signals 20 um or 100 um When using a rotary axis indicate the number of degrees per encoder revolution E g if the encoder is mounted on the motor and the axis has a gear ratio of 1 10 parameter PITCH must be set with the value of 360 10 36 NPULSES P8 Indicates the number or pulses rev provided by the rotary encoder When using a linear encoder it must be set to 0 When using a gear reduction on the axis the whole assembly must be taken into account when defining the number of pulses per turn SINMAGNI P10 Indicates the multiplying factor x1 x4 x20 etc that the CNC must apply only to sinusoidal feedback signal For square feedback signals this parameter must be set to 0 and the CNC will always apply a multiplying factor of x4 The counting resolution for each axis will be defined by means of the combination of these parameters as shown in the following table PITCH NPULSES SINMAGNI Square signal encoder Leadscrew pitch Nr of pulses 0 Sinusoidal signal encoder Leadscrew pitch Nr of pulses multiplying factor Square signal linear encoder linear encoder pitch 0 0 Sinusoidal signal linear encoder linear encoder pitch 0 multiplying factor Example 1 Resolution in mm with squarewave encoder We
232. anual Probe connection FAGOR CNC 8037 SOFT V01 6x 446 SUMMARY OF INTERNAL CNC VARIABLES e The R symbol indicates that the variable can be read e The W symbol indicates that the variable can be modified Variables associated with tools Variable CNC PLC DNC section 12 1 TOOL R R R Number of the active tool TOD R R R Number of active tool offset NXTOOL R R R Number of the next requested tool waiting for MO6 NXTOD R R R Number of the next tool s offset TMZPn R R n tool s position in the tool magazine TLFDn RW RW n tool s offset number TLFFn RW RW n tool s family code TLFNn RW RW Nominal life assigned to tool n TLFRn RW RW Real life value of tool n TMZTn R W RW Contents of tool magazine position n HTOR RW R R Tool radius being used by the CNC to do the calculations Tool related variables specific of the mill model TORn R W RW Tool radius value of offset n TOLn RW RW Tool length value of offset n TOIn RW RW Tool radius wear of offset n TOKn R W RW Tool length wear of offset n Tool related variables specific of the lathe model TOXn RW RW Tool length offset n along X axis TOZn RW RW Tool length offset n along Z axis TOFn RW RW Location code of offset n TORn RW RW Tool radius value of offset n TOIn R W RW Tool length wear of offset n along X axis TOKn RW RW Tool length wear of off
233. ard Roundness test Setup assistance Standard Standard Standard FAGOR CNC 8037 DECLARATION OF CONFORMITY The manufacturer Fagor Automation S Coop Barrio de San Andr s N 19 C P 20500 Mondrag n Guipuzcoa SPAIN Declares Under their responsibility that the product 8037 CNC Consisting of the following modules and accessories 8037 M 8037 T 8037 TC Remote modules RIO ETHERNET ETHERNET CAN CAN AXES ETHERNET CAN AXES Note Some additional characters may follow the references mentioned above They all comply with the directives listed However check that that s the case by checking the label of the unit itself Referred to by this declaration with following directives Low voltage regulations EN 60204 1 2006 Electrical equipment on machines Part 1 General requirements Regulation on electromagnetic compatibility EN 61131 2 2007 PLC Part 2 Requirements and equipment tests As instructed by the European Community Directives 2006 95 EEC on Low Voltage and 2004 108 EC on Electromagnetic Compatibility and its updates In Mondrag n March 14th 2012 Pedro Ruiz de Aguirre FAGOR 2 CNC 8037 VERSION HISTORY Here is a list of the features added in each software version and the manuals that describe them The version history uses the following abbreviations INST Installation manual PRG Programming manual OPT Operating manual OPT TC Operating manual for the TC option S
234. ard or from a peripheral pendrive computer etc via the two serial communication ports RS 232C and USB Some characters appear next to certain parameters indicating when the CNC assumes the new value assigned to that parameter Il It is necessary to press the keystroke sequence Shift Reset or turn the CNC off and back on Just press Reset The rest of the parameters those unmarked will be updated automatically only by changing them Setting of the machine parameters for the axes Once the active axes have been assigned by means of g m p AXIS1 PO thru AXIS8 P7 the CNC will enable the relevant axes parameter tables The values to be assigned to the parameters of each of these tables will depend on the results obtained when adjusting each machine axis Before making this adjustment position the axes near the middle of their travel and place the hard stops monitored by the electrical cabinet near these mid travel points in order to prevent any possible damage to the machine Verify that the PLC Mark LATCHM is OFF Then after selecting the parameters of the desired axes go on to adjusting them following these advises e Adjust the axes one by one e Connect the power output of the drive corresponding to the axis being adjusted e Selecting the Jog mode at the CNC jog the axis to be adjusted In case of runaway the CNC will display the relevant following error and the machine parameter labeled LOOPCHG cor
235. asic and necessary programming DEF I EMERG l1 External emergency input DEF I CONDI 170 Conditional mode The CNC interrupts part program execution when executing auxiliary function M01 DEF SERVO OK 171 The servo drives are O K DEF O EMERG O1 Emergency output It must be normally high Used in Treatment of the axis travel limit switches DEF I LIMTX1 172 X axis positive overtravel limit switch DEF I LIMTX2 173 X axis negative overtravel limit switch DEF I LIMTY1 174 Y axis positive overtravel limit switch DEF I LIMTY2 175 Y axis negative overtravel limit switch DEF I LIMTZI 176 Z axis positive overtravel limit switch DEF I LIMTZ2 177 Z axis negative overtravel limit switch Used in Treatment of the machine reference home switches DEF I REFOX 178 X axis home switch DEF I REFOY 179 Y axis home switch DEF I REFOZ 180 Z axis home switch Used in Treatment of M S T functions DEF M 03 M1003 Auxiliary mark Indicates that M03 must be executed DEF M 04 M1004 Auxiliary mark Indicates that M04 must be executed DEF M 08 M1008 Auxiliary mark Indicates that M08 must be executed DEF M 41 M1041 Auxiliary mark Indicates that M41 must be executed DEF M 42 M1042 Auxiliary mark Indicates that M42 must be executed Used in Machine way lubrication DEF I LUBING 181 Operator request to lubricate the ways of the machine DEF O LUBING 02 Ways lubrication output Used in DEF DEF DEF Used in DEF Used in DEF DEF DEF
236. ath handwheel or path jog function on 353 11 General logic inputs LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 354 EXRAPID M5057 The CNC only takes this signal into account if parameter RAPIDEN has been set to 1 or 2 If the PLC sets this signal high the programmed movements are executed as follows RAPIDEN 1 When the mark is activated the programmed movements are executed in rapid There is no need to press the rapid key RAPIDEN 2 When the mark is activated the rapid key is enabled The key must be pressed to make movements in rapid in other words both the key and the mark must be active When the signal is set back low the movements are executed at the programmed feedrate The treatment which this signal receives is similar to that given to the rapid feedrate key on the control panel The MANRAPID M5009 signal is similar but for movements in jog mode FLIMITAC M5058 When the PLC sets this signal high it limits the feedrate of each axis to the value set by its a m p FLIMIT P75 When this limit is canceled the CNC recovers the programmed feedrate SLIMITAC M5059 When the PLC sets this signal high it limits the spindle speed to the value set by its s m p SLIMIT P66 When this limit is canceled the CNC recovers the programmed turning speed When the spindle is controlled by the PLC by means of the PLCCNTL mark this limit is ignored BLOABOR
237. ations that must be carried out Information symbol It indicates notes warnings and advises WARRANTY TERMS INITIAL WARRANTY All products manufactured or marketed by FAGOR carry a 12 month warranty for the end user which could be controlled by the our service network by means of the warranty control system established by FAGOR for this purpose In order to prevent the possibility of having the time period from the time a product leaves our warehouse until the end user actually receives it run against this 12 month warranty FAGOR has set up a warranty control system based on having the manufacturer or agent inform FAGOR of the destination identification and on machine installation date by filling out the document accompanying each FAGOR product in the warranty envelope This system besides assuring a full year of warranty to the end user enables our service network to know about FAGOR equipment coming from other countries into their area of responsibility The warranty starting date will be the one appearing as the installation date on the above mentioned document FAGOR offers the manufacturer or agent 12 months to sell and install the product This means that the warranty starting date may be up to one year after the product has left our warehouse so long as the warranty control sheet has been sent back to us This translates into the extension of warranty period to two years since the product left our warehouse If this sheet ha
238. atus of such resources and when detecting that one of them is activated it must execute the corresponding section of the PLC program Itis also possible to transfer data from the CNC to the PLC via global and local arithmetic parameters The PLC has the following variables related to those CNC parameters AXES CONTROLLED FROM THE PLC GUP To read or modify a global parameter of the CNC LUP To read or modify a local parameter of the CNC Example The U axis is controlled by the PLC and we want to command it from any part program of the CNC in such way that we could select the type of move GOO or G01 the positioning coordinate and the feedrate for that move In order to command it from any part program it is convenient to have in a subroutine the section of the CNC program allowing the data transfer with the PLC This example uses subroutine SUB1 and for data exchange it uses global CNC parameters P100 Type of move If P100 0 then GOO If P100 1 then G01 P101 U axis positioning coordinate P102 Feedrate It only makes sense when moving in G01 To indicate to the PLC that it must execute this move it activates the following PLC resource M1000 Command to begin movement Any part program of the CNC may contain a block of the type PCALL 1 G1 U100 F1000 This block calls subroutine SUB1 and it transfers the local parameters G U and F with the following information G Type of move eee FAGOR 2 U U axis pos
239. aximum amount of following error allowed by the CNC for the spindle is the value indicated by s m p MAXFLWE1 P21 When exceeded the CNC issues the corresponding following error message e The amount of following error decreases as the gain increases but it tends to make the system unstable Feed forward gain setting With the feed forward gain it is possible to reduce the following error without increasing the gain thus keeping the system stable It sets the percentage of velocity command due to the programmed feedrate the rest depends on the proportional and derivative AC forward gains This gain is only to be used when operating with acceleration deceleration control Nn Oo a O FAGOR CNC 8037 SOFT V01 6x 251 CONCEPTS Spindle H Analog output For example if s m p FFGAIN P25 has been set to 80 the spindle velocity command will be 80 of it will depend on the programmed feedrate feed forward gain e 20 of it will depend on the spindle following error proportional gain Setting the Feed Forward gain involves a critical adjustment of s m p MAXVOLT P37 1 Set the spindle at maximum speed and at 10 2 Measure the actual analog command at the drive 3 Set parameter MAXVOLT P37 to a value 10 times the measured value For example If the measured command voltage was 0 945 V then set this parameter to 9 45 V in other words P37 9450 Next set
240. azine manager in emergency state ERA M1007 1010 Initialize magazine management related marks RES M_SUBM06 Tool change subroutine M06 in execution CNC 8037 M98 Confirm magazine checked with M98 AND TMINEM Tool magazine manager in emergency state SET RESTMEM Reset the emergency request to the manager I SOFT V01 6x 269 6 15 Gear ratio management on axes and spindle The gear ratios on axes and spindle depending on whether they are analog or CAN are managed as follows CAN If axis machine parameters INPREV P87 0 and OUTPREV P88 0 they will be taken as if they were 1 There is no need to put anything in a m p PITCH P7 except in the following case Ifa m p DRIBUSLE P63 0 anda m p INPREV P87 and OUTPREV P88 are 0 it will attend 6 n to a m p PITCH P7 the way to set gear ratios in an axis is the following e PITCHB P86 leadscrew pitch INPREV P87 input revolutions e OUTPREV P88 output revolutions CONCEPTS Gear ratio management on axes and spindle Analog the way to set gear ratios in an axis is the following e If axis parameters PITCHB P86 INPREV P87 and OUTPREV P88 are 0 the gear ratios are set as follows PITCH P7 leadscrew pitch If there are gears PITCH P7 leadscrew pitch x OUTPREV INPREV e If axis parameters PITCHB P86 INPREV P87 and OUTPREV P88 are other than 0 the CNC will assume these values and will not issue an error e
241. being executed CNCRD and the speed limit set by MDISL Di M100 CNCRD PRGSL R103 M1000 While executing it reads the speed limit set by the CNC M100 AND CPS R101 NE R201 M101 If there is a new program in execution it activates mark M101 CONCEPTS Machine safety related functions M100 AND CPS R101 EQ R201 M102 If it is the same program it activates mark M102 M101 AND CPS R102 EQ 0 ERR10 If there is a new program in execution M101 and the speed has not been limited with MDISL R102 it issues error 10 This error must be defined in the PLC messages M101 AND CPS R102 NE 0 MOV R101 R201 MOV R102 R202 If there is a new program in execution M101 and the speed has been limited with MDISL R102 it copies the program number and the speed limit M102 AND CPS R102 NE 0 MOV R102 R202 If the same program is in execution M102 and the speed is limited again with MDIS R102 it copies the speed limit M100 AND CPS R202 LT R103 CNCWR R202 PLCSL M1000 If there is a program in execution M100 and the speed limit with MDISL R202 is smaller than the limit by CNC R103 it applies the limit by PLC value set by MDISL M100 AND CPS R202 GT R103 CNCWR R210 PLCSL M1000 If there is a program in execution M100 and the speed limit with MDISL R202 is greater than the limit by CNC R103 it does not limit the speed by PLC R210 0 DFD M100 CNCWR R210 PLCSL M1000 CNCWR R210 MDISL M1000 After the executi
242. ble and execute the profile 10 4 mm in the table and execute the profile 10 3 mm in the table and execute the profile Variables associated with tools 10 2 mm in the table and execute the profile 10 1 mm in the table and execute the profile 10 0 mm in the table and execute the profile ACCESS TO INTERNAL CNC VARIABLES However if while machining the program is interrupted or a reset occurs the table assumes the radius value assigned in that instant e g 10 2 mm Its value has changed To avoid this instead of modifying the tool radius in the TOR table use the variable HTOR to change the tool radius value used by the CNC to calculate Now if the program is interrupted the tool radius value initially assigned in the TOR table will be correct because it has not changed Read and write variables of the mill model CNC TORn This variable allows the value assigned to the radius of the indicated tool offset n in the tool offset table to be read or modified CNCRD TOR3 R100 M102 Assigns the R value of tool offset 3 to register R100 CNCWR R101 TOR3 M101 Assigns the value indicated in R101 to the radius of tool offset 3 TOLn This variable allows the value assigned to the length of the indicated tool offset n to be read or modified in the tool offset table FAGOR 2 TOIn This variable allows the value assigned to the wear in radius 1 of the indicated tool offset n to be CNC 8037 read or modified
243. ble blocks that might have been sent from the PLC Once this process is ended the CNC automatically deactivates this signals The following example shows how the axes controlled by the PLC may be moved by means of external push buttons Example The PLC will order to move the C axis by 1 meter every time the C button is pressed but stopping it when this key is released DEF CPLUS 12 Symbol to define the C push button DFU CPLUS CNCEX G91 G1 C1000 F3000 M1 Pressing the button commands it to move 1000 mm DFD CPLUS SET PLCABORT Releasing the button aborts the movement On power up the CNC sets this mark to 0 PLCREADY M5023 This mark indicates the PLC status PLCREADY 0 PLC stopped PLCREADY 1 PLC in execution running If this mark is set to 0 The PLC program will stop This mark MUST be set to 1 so the CNC allows the spindle and or the axes to be moved Otherwise it will issue the corresponding error message INT1 M5024 INT2 M5025 INT3 M5026 INT4 M5027 The PLC sets one of these signals to logic state 1 to tell the CNC to interrupt the execution of the currently running program and jump to execute the interruption subroutine whose number is indicated in the general machine parameter INT1SUB P35 INT2SUB P36 INT3SUB P37 or INT4SUB P38 respectively All these inputs have the same priority and are active by level not by flank or edge Only the first one being detected high
244. ce to the maximum allowed The movement stops when the handwheel stops It does not move the indicated distance The individual handwheels those associated with each axis always limit the feedrate and the distance bits 0 and 1 indicate whether the handwheels output differential signals 1 or not 0 RAPIDEN P130 It indicates how the rapid movements are carried out The behavior of this key is managed using FAGOR the EXRAPID mark Value Meaning CNC 8037 0 It has no effect 1 When the mark is activated or the rapid key is pressed the movements are executed in rapid 2 When the mark is activated and the rapid key is pressed the movements are executed in rapid SOFT V01 6x Default value 0 The rapid key is treated in execution and simulation as follows e The movements are carried out in rapid traverse GOO while the rapid key is pressed 111 MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 112 e The rapid key is ignored while threading while look ahead is active e IfG95 is active it switches to G94 mode When releasing the rapid key it goes back to G95 mode e It only affects the main channel It is ignored in the PLC channel MSGFILE P131 Number of the program that contains the OEM texts in several languages By default the CNC sets this parameter to 0 there is no program If programmed with a value of 0 the texts defined by the OEM are in a single la
245. certain parameters indicating when the CNC assumes the new value assigned to that parameter Character Type of update Il Itis necessary to press the keystroke sequence SHIFT RESET or turn the CNC off and back on Just do a reset The rest of the parameters those unmarked will be updated automatically only by changing them On each table it is possible to move the cursor line by line using the t keys or page by page using the Page up and Page down keys Abbreviations used in this manual The manual uses the following abbreviations to identify the type of machine parameter Abbreviation Machine parameter Example g m p General machine parameter g m p CUSTOMTY P92 a m p Axis machine parameter a m p AXISTYPE PO s m p Spindle machine parameter s m p MAXGEARI P2 plc m p PLC machine parameter pic m p WDGPRG PO Operation with parameter tables Once one of the table lines has been selected the user can move the cursor over this line by means of the keys It is also possible to perform other functions by using the following keys Key Function CL Deletes characters INS Switches between insert and overwrite replace writing modes CAP Switches between upper case and lower case letters when the CRT shows CAP it will indicate that the upper case mode has been selected Make sure this mode is selected since a
246. ch Pin Pin ISO GND 1 e CANL 2e _ _ _ _ ___ 2 SHIELD _ 3 1 903 CAN H 4e _ _ _ a 4 SHIELD 50 5 Signal Description ISO GND Ground 0 V CANL Bus signal LOW SHIELD CAN shield CAN H Bus signal HIGH SHIELD CAN shield The connector has two shield pins Both pins are equivalent the CAN shield may be connected to either one Characteristics of the CAN cable Use a specific CAN cable The ends of all the wires and the shield must be protected by the corresponding pin Also use the pins to secure the cable to the connector Type Flexibility Cover Impedance Shield Twisted pairs 1 x 2 x 0 22 mm Superflexible Minimum static bending radius of 50 mm and a dynamic radius of 95 mm PUR Cat 5 100 Q 120 Q Interconnection of modules It is a serial connection and any of the two connectors may be used The figure shows the CAN connection between the central unit and 2 groups of remote modules CNC MODULE 1 MODULE 2 Sf ADS Pps L ADDRESS 1 LINE TERM 0 ISO GND CAN L SHIELD CAN H SHIELD ISO GND CAN L ADDRESS 2 LINE TERM 1 ml CNC CONFIGURATION
247. chine parameter PROBERR P119 YES e When a G75 probing move finishes before the probe has touched part e When a G76 probing move finishes but the probe is still touching the part The PRBMOD variable takes the following values PRBMOD 0 It issues an error message default value PRBMOD 1 No error message is issued The PRBMOD variable can be read and written from the CNC and the PLC an read from the DNC FAGOR uo CNC 8037 It indicates that the retraction in drilling or the mill type threading or lathe type threading cycle has finished This variable is set to 1 at the end of the retraction and is set to 0 when pressing START In lathe it indicates that the CNC has carried out a withdrawal from the thread This variable takes the value of 1 when the withdrawal distances are reached and stays at 1 until pressing START SOFT V01 6x or executing an M30 or a RESET After executing one of these functions it will take the value of 0 413 RIGIER It indicates the offset in mm inches between the projection of the following error of the spindle onto the longitudinal axis and the following error of the longitudinal axis This variable may be displayed on the oscilloscope and on the screen for following error The screen for following error only displays the offset value during rigid tapping while tapping is in progress Once the tapping is completed the data will disappear To make the taping smoother and easier on
248. cle time 3 ms 1000 instructions Minimum position loop 4ms USB Standard RS 232 serial line Standard DNC via RS232 Standard Ethernet Option 5 V or 24 V probe inputs 2 Local digital inputs and outputs 161 80 401 240 561 320 Feedback inputs for the axes and spindle Feedback inputs for handwheels 4 TTL 1Vpp inputs 2 TTL inputs Analog outputs 4 for axes and spindle CAN servo drive system for Fagor servo drive connection Remote CAN modules for digital I O expansion RIO Option Option Before start up verify that the machine that integrates this CNC meets the 89 392 CEE Directive FAGOR 2 CNC 8037 OOOO O e I I mmmnmnq lt m 7 ov v_ my _ _5n pm3 _Z 4 m mwmwmw mp A e E SOFTWARE OPTIONS gello _ ee _ y O Model M T TC Number of axes 3 2 2 Number of spindles 1 1 1 n Electronic threading Standard Standard Standard E Tool magazine management Standard Standard Standard S Machining canned cycles Standard Standard Standard 2 Multiple machining Standard wee 8 Rigid tapping Standard Standard Standard DNC Standard Standard Standard Tool radius compensation Standard Standard Standard Retracing Standard Jerk control Standard Standard Standard Feed forward Standard Standard Standard Oscilloscope function Setup assistance Standard Standard Stand
249. come up on CNC n power up CNCREADY emergency output 01 must be set low OV START M5501 The CNC sets this signal high in order to tell the PLC that the START key on the front panel has been pressed Ifthe PLC program considers that there is nothing to prevent the part program from starting it must set the general logic input CYSTART at a high logic level thereby starting the execution of the program General logic outputs When the CNC detects an up flank logic level change from low to high at the CYSTART signal it reset the START signal to low Example START AND rest of conditions CYSTART When the cycle START key is pressed the CNC activates the general logic output START The PLC must check that the rest of the conditions hydraulic safety devices etc are met before setting the general input CYSTART high in order to start executing the program LOGIC CNC INPUTS AND OUTPUTS FHOUT M5502 The CNC sets this signal high in order to tell the PLC that the execution of the program is stopped due to one of the following causes e Because the CONTROL PANEL STOP key has been pressed e Because the general logic input STOP has been set low even though later it has returned high e Because the general logic input FEEDHOL is low RESETOUT M5503 The CNC sets this signal high for 100 milliseconds in order to tell the PLC that it is under initial conditions because the Reset key on the front panel has been pressed
250. convection forcing hot air flow to flow outside with a fan and ambient air input through the holes of the bottom surface of the enclosure For this case calculate the necessary air flow that the fan must supply to dissipate the heat generated inside the enclosure The fan s air flow is calculated according to the power dissipated by the CNC and the fan itself as well as the inside and outside temperatures Surface without paint D6 40 40 Bear in mind that this air flow through the unit extracts hot air to the outside but it allows dirt into the enclosure Thus a filter should be installed to maintain the ambient conditions allowed REMOTE MODULES BUS CAN WITH CANOPEN PROTOCOL Remote modules may be used to have an additional number of digital and analog inputs and outputs remote I O as well as inputs for temperature sensors The remote modules are distributed by groups and are connected to the central unit through the CAN bus Up to 4 groups may be connected to the CAN bus where each group may consist of 1 or 2 of the following elements POWE DIGITAL IN OUT v 8 a a S 2 Q 5 R IN OUT ANALOG 1 0 42481 o1 2ay HS o1 x1 GND X14 a 2 X4 X1 Ed O000000000000000000000 0000000000000000000000 of GND GND 24v 24V o9 X5 X2 CO GND
251. cs 3 feedback inputs for the axes 3 analog outputs to control the axes 10 V 1 feedback input for the spindle encoder 1 analog output to control the spindle 10 V 2 feedback inputs for the electronic handwheels 2 inputs for digital probes TTL or 24 V DC Digital CAN servo 0 0001mm or 0 00001 inch resolution Multiplying factor up to x 25 with sinewave input Feedrate from 0 0001 to 99999 9999 mm min 0 00001 3937 inches min Maximum travel 99999 9999 mm 3937 inches 1 RS232C communication line 56 optocoupled digital inputs 32 optocoupled digital outputs Remote modules for digital I O expansion 32 bit processor Math coprocessor Graphics coprocessor 1Mb CNC program memory Block processing time of 7 ms Sampling time that can be configured by the machine manufacturer 4 5 and 6 ms Approximate weight 7 5 Kg Maximum consumption of 60 W in normal operation Color monitor Technology Color TFT LCD Diagonal display area dimension 7 5 Resolution VGA 3 x 640 x 480 pixels Number of colors 262144 Colors 6 bit for each subpixel RGB Backlit with 2 cold cathode fluorescent lamps Due to the current state of the COLOR TFT LCD technology all manufacturers accept the fact the LCD screens have a certain number of defective pixels Power supply Nominal voltage 20 V minimum and 30 V maximum Ripple 4 V Nominal current 2 A Current peak on power up 8 A The figure shows th
252. ction i e the position of its rotary switch In other words the position of the Sercos switch The main window shows the variables or parameters of the selected group and set indicating their Fagor name in each variable its value its meaning and its identifier If the variable does not have a write permission a key will appear before the Fagor name This information is updated when selecting a new information group or set when modifying a variable or parameter or when pressing page up page down It is not refreshed continuously e The ACCESS window shows the permitted access level There are 3 access levels at the drive basic level OEM level and Fagor level To change the level press the Password softkey key in the relevant code and press ENTER e The VERSION window shows the software version installed at the drive the name of the motor associated with the drive and the drive model Softkeys available in this mode Password Modifies the access level selected in the Access window In the case of CAN servo system to access the drive parameters with an OEM access level the password is defined in Utilities mode as OEMPSW Modify To modify the variables that are not protected those without a key icon After selecting the variable with the t keys pressing the modify softkey displays two windows The first one shows the range of possible values and the second one the current value Enter the new value and p
253. ctions must be executed MSTROBE MINAENDW 2 The CNC will keep the general logic output MSTROBE active during the time indicated by means of g m p MINAENDW P30 Once this period of time has elapsed the CNC will continue to execute the program It is advisable for the MINAENDW P30 value to be equal to or greater than the duration of a PLC cycle in order to ensure the detection of this signal by the PLC 3 When the PLC detects the activation of the general logic signal MSTROBE it will execute the required auxiliary M functions at the CNC logic outputs MBCD1 thru 7 Di CONCEPTS Auxiliary M S T function transfer FAGOR 2 CNC 8037 SOFT V01 6x 243 CONCEPTS Spindle FAGOR CNC 8037 SOFT V01 6x 244 6 9 6 9 1 Spindle Spindle types The setting of s m p SPDLTYPE PO allows the following possibilities SPDLTYPE 0 Spindle analog command output SPDLTYPE 1 2 digit BCD coded spindle command output S SPDLTYPE 2 8 digit BCD coded spindle command output S When using BCD 2 or 8 digits coded command output the spindle will operate in open loop and it will be controlled by means of functions M3 M4 and M5 When using analog command output the spindle can operate e In open loop controlled by means of functions M3 M4 and M5 e In closed loop by means of function M19 This requires an encoder mounted on the spindle and s m p NPULSES P13 must be set to a v
254. cu G Installation manual Ref 1402 Soft V01 6x FAGOR FAGOR AUTOMATION FAGOR All rights reserved No part of this documentation may be transmitted transcribed stored in a backup device or translated into another language without Fagor Automation s consent Unauthorized copying or distributing of this software is prohibited The information described in this manual may be subject to changes due to technical modifications Fagor Automation reserves the right to change the contents of this manual without prior notice All the trade marks appearing in the manual belong to the corresponding owners The use of these marks by third parties for their own purpose could violate the rights of the owners It is possible that CNC can execute more functions than those described in its associated documentation however Fagor Automation does not guarantee the validity of those applications Therefore except under the express permission from Fagor Automation any CNC application that is not described in the documentation must be considered as impossible In any case Fagor Automation shall not be held responsible for any personal injuries or physical damage caused or suffered by the CNC if it is used in any way other than as explained in the related documentation The content of this manual and its validity for the product described here has been verified Even so involuntary errors are possible hence no absolute match is g
255. d SINMAGNI P65 It indicates the multiplying factor x1 x4 x20 etc that the CNC must apply only to sinusoidal feedback signals of the spindle For square feedback signals this parameter must be set to 0 and the CNC will always apply a multiplying factor of x4 Possible values Integer numbers between 0 and 255 Default value 0 Spindle feedback resolution is set by s m p NPULSES P13 and SINMAGNI P65 Example We would like to obtain a 0 001 resolution by using a 3600 pulse rev sinusoidal encoder We must calculate the multiplying factor SINMAGNI to be applied by the CNC to the pulses provided by the encoder in order to obtain the desired resolution SINMAGNI degrees per turn number of pulses x resolution SINMAGNI 360 3600 x 0 001 100 Therefore NPULSES 3600 SINMAGNI 100 SLIMIT P66 Maximum safety limit for the spindle speed This limit is activated from the PLC and is applied in all the work modes including the PLC channel When the spindle is controlled by the PLC by means of the PLCCNTL mark this limit is ignored Possible values Between 0 and 65535 rpm Default value 0 This limit is activated using the mark SLIMITAC M5059 When this limit is canceled the CNC recovers the programmed speed This limit permits clearing the spindle speed temporarily via PLC e g when opening the doors etc ORDER P67 Filter order The down ramp is dampened down the larger the number
256. d e Remove the oscillating velocity command e Return the control of the spindle back to the CNC e Activate the general CNC input AUXEND Deactivate the general CNC input AUXEND While changing gears ranges general CNC input AUXEND should be canceled in order to interrupt the execution of the CNC Treatment of the general CNC input AUXEND Remove the control of the spindle back to the CNC Controlled by PLC Output an oscillating velocity command to change gears DFU M 41 OR DFU M 42 When a range gear change is requested MOV 2000 SANALOG A 0 610V analog command for the spindle is prepared and SET PLCCNTL the PLC grabs the control of the spindle loop PLCCNTL AND M2011 While the PLC has the spindle control SPDLEREV the spindle turning direction is changed every 400 milliseconds Move the gears The corresponding gear output O GEAR is kept active until the range selection is completed I GEAR M 41 AND NOT I GEAR1 O GEAR1 M 42 AND NOT I GEAR2 O GEAR2 Verify that the gear change has been completed Remove the oscillating velocity command Return the control of the spindle back to the CNC M 41 AND I GEAR1 OR M 42 AND I GEAR2 Once the gear change has concluded the following must be done RES M 41 RES M 42 remove the request for a gear change M 41 M 42 MOV 0 SANALOG emove the spindle velocity comman4d RES PLCCNTL Return the control
257. d By default and every time a timer is activated the PLC will assign this input a logic level of 0 If once the timer is activated a leading edge is produced at the TRS input the PLC initializes the timer assigning value 0 to its T status and cancelling the count it initializes this to 0 The timer is deactivated and its trigger input must be activated to turn the timer back on Example 1I3 TRS 10 Input 13 controls the Reset input of timer T10 Trigger input TG1 TG2 TG3 TG4 These inputs allow the timer to be activated and it begins to time They are referred to by the letters TG1 TG2 TG3 TG4 followed by the number of the timer it is required to reference and the value which is required to start the count with time constant For example TG1 1 100 TG2 25 224 TG3 102 0 TG4 200 500 etc The time constant value is defined in thousandths of a second and it is possible to indicate this by means of a numerical value or by assigning it the internal value of an R register TG1 20 100 Activates timer T20 by means of trigger input TG1 and with a time constant of 100 milliseconds TG2 22 R200 Activates timer T22 by means of trigger input TG2 and with a time constant which will be defined in thousandths of a second by the value of Register R200 when the instruction is executed Inputs TG1 TG2 TG3 and TG4 are used to activate the timer in four different operating modes e TG1 input in MONOSTABLE mode e TG2 input
258. d DERGAIN will have to be readjusted The best results of the auto adjustment are obtained by setting SERCOS drive parameter SERCOS SP51 2 CONCEPTS Auto adjustment of axis machine parameter DERGAIN FAGOR CNC 8037 SOFT V01 6x 283 CONCEPTS Auto adjustment of axis machine parameter DERGAIN FAGOR CNC 8037 SOFT V01 6x 284 Feature limitations The area for the back and forth axis movement must be long enough to reach GO DERGAIN can only be auto adjusted on linear and rotary axes Auto adjustment is not possible on switched axes gantry tandem axes dead axes or spindles The DERGAIN auto adjustment requires properly setting parameter FFGAIN of the corresponding set If parameter FFGAIN is not properly set it will issue the relevant error message e First set of gains and accelerations a m p FFGAIN P25 Second set of gains and accelerations a m p FFGAIN2 P62 e Third set of gains and accelerations a m p FFGAINT P95 If the CNC has the OEM password going into auto adjustment will require that password PLC RESOURCES 7 1 Inputs They are elements that provide information to the PLC on the signals they receive from the outside world They are represented by the letter followed by the input number which is desired to reference for example 11 125 1102 etc The PLC may control 512 inputs although when communicating with the outside world it can only access the physica
259. d FFGAIN2 This parameter has 16 bits counted from right to left bit 1514131211109 8 7 6 5 4 3 2 10 E E E E E E E aa Each bit has a function or work mode associated with it By default all the bits will be assigned the value of 0 Assigning the value of 1 activates the corresponding function Bit Meaning Bit Meaning 0 Threading in blind threads for lathe 8 G51 only 1 G34 9 G50 2 10 G49 3 G74 11 G48 4 JOG 12 G47 5 n 5 Rigid tapping 13 G33 6 G95 14 G01 7 G75 G76 15 Goo Default value in all the bits 0 Every time each of the functions or work modes assigned to the bits of g m p ACTGAIN2 P108 or ACTGAINT P185 is activated the CNC checks the value assigned to the bit corresponding to that function in these parameters and acts as follows e If the bit of ACTGAINT2 is set to 0 and the bit of ACTGAINT is set to 0 it applies the first set ACCTIME PROGAIN etc e If the bit of ACTGAINT2 is set to 1 and the bit of ACTGAINT is set to 0 it applies the third set ACCTIME2 PROGAIN2 etc e Ifthe bits of ACTGAINT is set to 1 and the bit of ACTGAIN2 is set to 0 it applies the third set ACCTIMET PROGAINT etc MACHINE PARAMETERS General machine parameters When that function or work mode is deactivated the CNC applies the first of the sets ACCTIME PROGAIN Example When sett
260. d OPMODC The OPMODE variable is generic and contains different values to those of the standard mode OPMODE It returns the code corresponding to the selected operating mode 0 CNC starting up 10 In execution mode In execution or waiting for the CYCLE START key drawing of the CYCLE START on top 12 Indicates one of the following situations h A In MDI mode when pressing the ISO key from the jog mode or tool inspection mode One of the following fields of the main screen that admits the START key has been selected Axes T F or S 21 In graphic simulation mode 30 Cycle editing 40 In Jog mode standard screen 43 Doing a home search 45 In tool calibration mode 60 Managing parts PPROG mode Operating mode related variables OPMODA ACCESS TO INTERNAL CNC VARIABLES Indicates the operating mode currently selected when working with the main channel Use the OPMODE variable to know at any time the selected operating mode main channel user channel PLC channel This information is given at the least significant bits with a 1 when active and with a 0 when not active or when it is not available in the current version Bit 0 Program in execution Bit 1 Program in simulation Bit 2 Block in execution via MDI JOG Bit 3 Repositioning in progress Bit 4 Program interrupted by CYCLE STOP Bit 5 MDI JOG Block interrupted Bit 6 Repositioning interrupted Bit 7 In tool inspection B
261. d and after passing the corresponding values in variables MBCD1 7 the CNC will tell the PLC through the general logic output MSTROBEP that the required auxiliary function or functions must be executed MSTROBEP AUXENDP le le MINAENDW MINAENDW 2 When the PLC detects the activation of the MSTROBEP signal it must deactivate the general logic input AUXENDP to tell the CNC that the execution of the function has started 3 The PLC will execute all the required auxiliary functions analyzing general logic output MSTROBEP and variables MBCDP1 through MBCDP7 R565 through R571 Once this has been executed the PLC must activate the general logic input AUXENDP to indicate to the CNC that the processing of the required functions was completed 4 Once the general AUXENDP input is activated the CNC will require that this signal be kept active for a time period greater than the value given to the g m p MINAENDW P30 This way erroneous interpretations of this signal by the CNC due to an improper PLC program logic are avoided 5 Once the period of time MINAENDW has elapsed with the general input AUXENDP at a high logic level the CNC will deactivate the general logic output MSTROBEP to tell the PLC that the execution of the required auxiliary function or functions has been completed BLOABORP M5061 It is similar to general logic input BLOABOR M5060 but for the PLC channel
262. d in the PLC execution channel must be written in the CNC s own programming format Si Preparatory functions O The preparatory functions which can be used in the PLC execution channel are the following E G00 Rapid travers E 5 G01 Linear interpolation Q 3 G02 Clockwise circular helical interpolation a G03 Counterclockwise circular helical interpolation a G04 Interrupt block preparation of the PLC channel 9 G04 K Dwell z G05 Round corner 3 G06 Circle center in absolute coordinates y G07 Square corner si G09 Arc defined by three points G16 Main plane selection by two addresses and longitudinal axis G32 Feedrate F as an inverted function of time G50 Controlled corner rounding G52 Movement until making contact G53 Programming with respect to machine zero G70 Programming in inches G71 Metric programming G74 Home search G75 Probing move until touching G76 Probing move while touching G90 Absolute programming G91 Incremental programming G92 Coordinate preset G93 Polar origin preset G94 Feedrate in millimeters inches per minute G95 Feedrate in millimeters inches per revolution All these functions must be programmed as described in the programming manual FAGOR CNC 8037 Move the axes Only those axes set by means of a m p AXISTYPE PO for each axis as to be controlled by the PLC can be mentioned SOFT V01 6x The position values of these axes which can be either linear or rotary can be programmed in ei
263. d necessary to customize this machine such as Information about the type of machine PLC program version etc This information can be accessed from the PLC program by means of the CNCRD high level instruction Possible values USERO P2 USER7 P9 Integer numbers between 0 and 255 USERO P10 USER7 P17 Integer numbers between 0 and 65535 USERO P18 USER7 P25 Within 99999 9999 mm or 3937 00787 inches Default value 0 CPUTIME P26 This parameter indicates the time the system CPU dedicates to the PLC Value Meaning 0 0 2 ms every 8 samplings 1 0 2 ms every 4 samplings 2 0 2 ms every 2 samplings 3 0 2 ms every sampling 4 0 4 ms every sampling With LOOPTIME 3 4 5 or 6 5 0 6 ms every sampling With LOOPTIME 3 4 5 or 6 6 0 8 ms every sampling With LOOPTIME 4 5 or 6 7 1 ms every sampling With LOOPTIME 5 or 6 8 1 2 ms every sampling With LOOPTIME 6 Default value 0 The sampling period is determined by the g m p LOOPTIME P72 Hence for a sampling period of 4 msec and a CPUTIME 0 the system CPU dedicates 0 2 millisecond every 8 samplings thus 32 milliseconds to the PLC I PLC Parameters MACHINE PARAMETERS FAGOR 2 CNC 8037 SOFT V01 6x 185 PLC Parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 186 The Status window of the PLC statistics screen indicates the time the system CPU dedicates to the PLC Refer to the operating man
264. de 1 with 48 inputs and 32 outputs IOCANID1 1 CAN1 48 OCAN1 32 NUICAN1 P102 NUOCAN1 P103 NUICAN2 P104 NUOCAN2 P105 NUICAN3 P106 NUOCAN3 P107 NUICAN4 P108 NUOCANA P109 They are used to set the remote modules Parameter NUICAN indicates the number of the first digital input and NUOCAN the number of the first digital output for the group The CPU is always considered as the first I O module The first input number is always 11 and the first output number O1 and they cannot be set by parameters I On remote module the inputs and outputs of the different elements are numbered sequentially The inputs and outputs are defined in groups of 8 and the possible values of NUICAN and NUOCAN must be multiple of 8 plus 1 8n 1 n v ui Ifincoherentparameter settings are detected on power up an error message will be issued indicating it dd Ca C e O 29 If NUICAN 0 or NUOCAN 0 the group following the one assigned to the previous node is assigned si o to the corresponding node Examples of remote module setting The central unit does not have an I O expansion board Remote module in node 1 with 48 inputs and 32 outputs Remote module in node 2 with 24 inputs and 16 outputs Case 1 We want the inputs and outputs to be sequential starting with the first ones available Node 1 Node 2 IOCANID1 1 IOCANID2 2 ICAN1 48 ICAN2 24 OCAN1 32 OCAN2 16 NUICAN1 0 NUICAN2 0 NUOCAN1 0 NUOCAN2 0 Node 1 is as
265. delayed activation mode with a time constant of 1 hour 3600000 milliseconds TG2 4 3600000 ENABLE1 OR ENABLE2 OR ENABLE3 TEN 4 T4 only times when any of the axis is moving T4 TG1 5 300000 After having timed 1 hour T5 must be activated in the mono stable mode for 5 minutes 300000 milliseconds T5 TRS 4 TG2 4 3600000 Resets the axis motion timer T4 to zero Lubrication when an axis has traveled a specific distance since the last time it was lubricated PLC machine parameters USER12 P14 USER13 P15 and USER14 P16 are used to indicate the distance each axis must travel before it gets lubricated CNCRD MPLC12 R31 M302 CNCRD MPLC13 R32 M302 CNCRD MPLC14 R33 M302 Assigns to registers R31 R32 and R33 the values of PLC machine parameters USER12 P14 USER13 P15 and USER14 P16 CNCRD DISTX R41 M302 CNCRD DISTY R42 M302 CNCRD DISTZ R43 M302 Assigns to registers R41 R42 and R43 the distance each axis has travelled sl Main module PLC PROGRAMMING EXAMPLE FAGOR CNC 8037 SOFT V01 6x 435 PLC PROGRAMMING EXAMPLE I gt Main module FAGOR CNC 8037 SOFT V01 6x 436 CPS R41 GT R31 OR CPS R42 GT R32 OR CPS R43 GT R33 If the distance traveled by any axis exceeds the one set by machine parameter TG1 6 240000 timer T6 must be activated in the mono stable mode for 4 minutes 240000 milliseconds and MOV 0 R39 CNCWR R39 DIS
266. distance coded 10 s and parameter IOCODD2 P69 indicates the gap between 2 variable distance coded 10 s It is set in number of waves Possible values Between 0 and 65535 waves Default value For IOCODD1 P68 1000 Default value For IOCODD2 P69 1001 Example with Fagor linear encoder Gap between two fixed distance coded lo s 20 000 um Gap between two variable distance coded Io s 20 020um Signal period 20 um Number of waves between fixed lo s 20000 20 x EXTMULT 1000 Number of waves between variable lo s 20020 20 x EXTMULT 1001 FAGOR 2 CNC 8037 SOFT V01 6x 149 Axis parameters MACHINE PARAMETERS FAGOR 2 CNC 8037 SOFT V01 6x 150 Values to be assigned for Fagor encoders with distance coded 10 Linear encoders IOCODI1 IOCODI2 EXTMULT P68 P69 P57 SOP GOP MOT COT FOP 1000 1001 1 SVOP MOC COC MOP COP SOX GOX MOX COX FOT 1000 1001 5 SVOX MOY COY 1000 1001 10 LOP 2000 2001 1 LOX 2000 2001 10 FOX 1000 1001 25 Rotary encoder lOCODI1 loCODI2 EXTMULT P68 P69 P57 HO SO 90000 pulses 1000 1001 5 HO SO 180000 pulses 1000 1001 10 HOP SOP 18000 pulses 1000 1001 1 ORDER P70 Filter order The down ramp is dampened down the larger the number the greater the drop Value Filter type 0 4 Low passing filter 0 4 Notch filter anti resonance 0 30 FAGOR filter Default value 0 th
267. drate per revolution is permitted or not Value Meaning YES Admitted NO Not admitted Default value NO MPGAXIS P76 It is only used on the Lathe model CNCs and it indicates which axis the handwheel is assigned to It is set according to the following codes Value Meaning Value Meaning 0 None 5 V axis 1 X axis 6 W axis 2 Y axis 7 A axis 3 Z axis 8 B axis 4 U axis 9 C axis Default value 0 shared DIRESET P77 It is used on the lathe model CNC It indicates whether the RESET is effective with or without a previous CYCLE STOP Value Meaning YES The CNC accepts the RESET any time NO Only if the STOP condition occurs Default value NO If DIRESET YES the CNC first carries out an internal CYCLE STOP to interrupt program execution and then executes the RESET Obviously if it is performing a threadcutting or similar operation not admitting a CYCLE STOP it will wait for the operation to be concluded before interrupting the program PLACOMP P78 Not being used MACELOOK P79 When using Look Ahead the operator sets the percentage of acceleration being applied in Look Ahead by means of function G51 With g m p MACELOOK P79 the OEM can limit the maximum percentage of acceleration that the user may set with G51 Possible values Integer numbers between 0 and 255 MPGCHG P80 MPGRES P81 Default value 0 there is no limit MPGNPUL P82 These parameters must be u
268. due to loss of count and every time a change is made from closed loop M19 to open loop DRSTAFS M5953 DRSTASS M5954 Main spindle The CNC uses these signals when communicating with the drive via Sercos or via Can and indicate the status of the drive DRSTAF DRSTAS Actuating the main switch of the electrical cabinet supplies 24 Vdc to the 0 0 drive The drive runs an internal test If correct it activates the output System OK From that moment on the power supply must be turned on 0 1 When there is power at the drive bus it is ready to output torque To do that activate the drive enable and speed enable inputs 1 0 Once the drive enable and speed enable are activated the drive is 1 1 running properly When an internal error occurs at the drive the DRSTAF and DRSTAS signals are set low logic level low REVOK M5956 Main spindle The CNC only considers the signals for the currently selected spindle When working with M03 and M04 the CNC sets this signal high to tell the PLC that the real spindle revolutions correspond to those programmed FAGOR The CNC will activate this signal every time the real revolutions are within the range defined by s m p LOSPDLIM and UPSPDLIM CNC 8037 When working with the spindle in closed loop M19 the CNC sets this signal high if the spindle is stopped INPOSS M5957 Main spindle This signal is used when working with the spindle in closed loop M1
269. e When executing an M function which has not been defined in the M table the programmed function will be executed at the beginning of the block and the CNC will wait for the AUXEND signal to continue the execution of the program Tables MACHINE PARAMETERS FAGOR 2 CNC 8037 SOFT V01 6x 193 Tables MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 194 5 9 2 Leadscrew error compensation table The CNC provides a table for each one of the axes requiring leadscrew compensation The CNC will provide a table for each one of the axes having leadscrew compensation This type of compensation is selected by setting a m p LSCRWCOM P15 The number of elements of the table must be set by a m p NPOINTS P16 being possible to define up to 1000 points per axis Different compensation values may be defined at each point for each moving direction X AXIS COMPENSATION NUMBER POSTTION ERROR ERROR X 600 X 5 na T CAP INS Mh INITIALIZE SAVE MM INCH Each parameter of the table represents a point of the profile to compensate The following information is defined at each point e The position occupied by the point in the profile position to compensate This position is defined by its coordinate referred to machine reference zero Possible values Within 99999 9999 mm or 3937 00787 inches e The error of t
270. e KeyCF supplied by Fagor with each CNC has an identification code corresponding to e The card id all the cards are different e The software features that have been purchased for that unit The id code only needs very little memory space The rest of memory space of the KeyCF may be used to store data on machine customizing user screens PLC program backup and or machine parameters etc as well as user part programs The CNC will recognize the KeyCF as lt Hard Disk gt it can also be accessed from the CNC FAGOR 2 CNC 8037 SOFT V01 6x 41 CNC CONFIGURATION CNC structure FAGOR CNC 8037 SOFT V01 6x 42 USB port USB hard disk Pen Drive connection The USB 1 1 port with type A connector it admits connecting a Pendrive type memory device These memory devices are commercially available off the shelf and they re all valid regardless of their size brand name or model USB 1 1 port aE A 5 DI ca USB device device at the CNC The extension cable must not be longer than 3 m and it must be plugged in while the CNC is off We recommend to use the extension set supplied by Fagor Once this cable has been plugged in USB devices may be connected or disconnected t
271. e axes don t 1 The general handwheel has priority It ignores the pulses from the individual handwheel a b c Indicate the axis to be moved and the selected multiplying factor c b a O 0 The value indicated at the front panel or keyboard switch A 0 0 0 1 x1 factor O 1 0 x10 factor 1 0 0 x100 factor If several axes are selected the following order of priority is applied X Y Z U V W A B C If there are more than one bit set to 1 for an axis the least significant bit will be considered Thus c b a 1 1 1 x1 factor 1 1 0 x10 factor The HBE handwheel has priority That is regardless of the mode selected at the CNC switch continuous or incremental JOG handwheel HBEVAR is set to other than 0 the CNC goes into handwheel mode ACCESS TO INTERNAL CNC VARIABLES Variables associated with electronic handwheels It shows the selected axis in reverse video and the multiplying factor selected by the PLC When the HBEVAR variable is set to 0 it shows the mode selected by the switch again See 6 12 Fagor handwheels HBA HBE and LGB on page 262 MASLAN It must be used when the path handwheel or the path jog is selected i MASLAN pp G18 Indicates the angle of the linear path MASCFI MASCSE They must be used when the path handwheel or the path jog is selected aa On circular paths arcs they indicate the center va coordinates MASCSE J l ji MASCFI
272. e beginning of the execution of the block the CNC can tell the PLC the execution of the M S T and T2 functions by activating their STROBE signals together and waiting for a single signal AUXEND for all of them FAGOR CNC 8037 SOFT V01 6x 241 CONCEPTS Auxiliary M S T function transfer FAGOR CNC 8037 SOFT V01 6x 242 6 8 1 Transferring M S T using the AUXEND signal 1 Once the block has been analyzed and after sending the corresponding values in the MBCD1 7 SBCD TBCD and T2BCD variables the CNC will tell the PLC by means of the general logic outputs MSTROBE SSTROBE TSTROBE and T2STROBE that the required auxiliary functions must be executed AUXEND MINAENDW MINAENDW 2 When the PLC detects the activation of one of the STROBE signals it must deactivate the general CNC logic input AUXEND to tell the CNC that the execution of the corresponding function or functions has begun 3 The PLC will execute all the auxiliary functions required it being necessary to analyze the general CNC logic outputs MBCD1 through MBCD7 and MSTROBE to execute the M functions SBCD and SSTROBE to execute the S function TBCD and TSTROBE to execute the T function T2BCD and T2STROBE to execute the second T function Once this has been executed the PLC must activate the general logic input AUXEND to indicate to the CNC that the processing of the re
273. e feedback of the handwheels spindle and probe and it issues the relevant error message Besides this it also detects the 24V of the external supply at the digital outputs Hardware protections The axis board installed in the CNC includes the recognition of the 24V at the inputs and outputs Signal adapters The following signal adapters are available to be used with the feedback inputs SA TTL TTLD Adapter for Non differential TTL to differential TTL signals SA FS P Adapter for Fagor sinusoidal signal to Vpp signal Technical characteristics of the feedback inputs Feedback inputs for the axes and spindle Power supply consumption of 5 V 1 A 250 mA per axis Work levels for differential square signal axes and spindle Maximum frequency Maximum gap between flanks Phase shift Vmax in common mode Vmax in differential mode Hysteresis Maximum differential input current 1000 kHz 460 ns 90 20 7 V 6 V 0 2 V 3 MA Work levels for non differential square signal axes and spindle Maximum frequency Maximum gap between flanks Phase shift High threshold logic level 1 Vjy Low threshold logic level 0 Vi Vmax Hysteresis Maximum differential input current 400 kHz 460 ns 90 20 1 25 V lt VH lt 7 V 7 V lt V lt 1 V 7 V 0 25 V 3 mA CNC CONFIGURATION CNC structure FAGOR 2 CNC 8037 SOFT V01 6x 29 CNC struct
274. e filter is not applied When applying a filter it must be set with an order of 3 Before setting it to another value consult with Fagor Automation s technical service _ i erre _ordI go e o tTtTTTTTT TTT _____ If the filter has been designed wrong it will not be applied If a m p TYPE P71 0 or 1 the filters are not applied in electronic or mechanical handwheel movements It is recommended not to activate these filters on machines carrying out movements against a hard stop When detecting that the FAGOR filter order is too high for the filter configuration according to parameters FREQUEN and LOOPTIME on power up it will issue the message Itis recommended to lower the order of the frequency filter It is recommended to start from low values e g ORDER 5 and go on increasing this value until that message is displayed TYPE P71 Filter type There are three types of filter low passing notch filter and FAGOR low passing To obtain a good machining quality all the axes and the spindle interpolating with each other should be defined with the same type of filter and with the same frequency Value Meaning 0 Low passing filter 1 Anti resonance notch filter 2 FAGOR low passing filter Default value 0 When defining anti resonance filters parameters NORBWIDTH and SHARE must also be set Low passing filter The low passing filter is used to limit the jerk by making the mo
275. e given in the 25 least significant bits and it will be indicated by a 1 when active and a 0 when not active or when not available in the current software version G249 G248 G247 G246 G245 sas G229 G228 G227 G226 G225 GGSK It returns the status of functions G250 through G274 The status of each one of the functions will be given in the 25 least significant bits and it will be indicated by a 1 when active and a 0 when not active or when not available in the current software version G274 G273 G272 G271 G270 sii G254 G253 G252 G251 G250 GGSL It returns the status of functions G75 through G299 The status of each one of the functions will be given in the 25 least significant bits and it will be indicated by a 1 when active and a 0 when not active or when not available in the current software version G299 G298 G297 G296 G295 sas G279 G278 G277 G276 G275 GGSM It returns the status of functions G300 through G320 The status of each one of the functions will be given in the 25 least significant bits and it will be indicated by a 1 when active and a 0 when not active or when not available in the current software version G320 G319 G318 G317 G316 Mi G304 G303 G302 G301 G300 PLANE Returns data on the abscissa axis
276. e of 0 it means that it is not selected Read write variables associated with function G94 PLCF It returns the feedrate in mm minute or inches minute selected by PLC If it has a value of 0 it means that it is not selected A x Variables associated with feedrates ACCESS TO INTERNAL CNC VARIABLES FAGOR CNC 8037 SOFT V01 6x 391 ACCESS TO INTERNAL CNC VARIABLES N Variables associated with feedrates FAGOR CNC 8037 SOFT V01 6x 392 Read only variables associated with function G95 FPREV It returns the feedrate selected at the CNC by function G95 In mm turn or inches turn This feedrate may be indicated by program by PLC or by DNC the CNC selects one of them the one indicated by DNC has the highest priority and the one indicated by program has the lowest priority DNCFPR It returns the feedrate in mm turn or inches turn selected by DNC If it has a value of 0 it means that it is not selected PRGFPR It returns the feedrate in mm turn or inches turn selected by program If it has a value of 0 it means that it is not selected Read write variables associated with function G95 PLCFPR It returns the feedrate in mm turn or inches turn selected by PLC If it has a value of 0 it means that it is not selected Read only variables associated with function G32 PRGFIN It returns the feedrate selected by program in 1 min Likewise the CNC variable FEED associated with G9
277. e of velocity command proportional to the feedrate increments acceleration and deceleration stages To use it acc dec must be active s m p ACCTIME P18 It is defined with s m p DERGAIN P24 and ACFGAIN P46 If ACFGAIN No it applies derivative gain If ACFGAIN Yes it applies AC forward gain Proportional gain setting In a pure proportional position loop the velocity command provided by the CNC to control the spindle is at all times proportional to the following error axis lag which is the difference between its theoretical and actual real position Velocity command Proportional Gain x Following Error a m p PROGRAIN P23 sets the value of the proportional gain Expressed in millivolts degree it takes any integer between 0 and 65535 Its value indicates the velocity command corresponding to a feedrate resulting in 1 of following error This value is taken for the first spindle gear and the CNC calculates the values for the rest of the gears Example The maximum speed for the 1st gear is 500 rpm and we would like to obtain 1 of following error at a speed of S 1000 min 2 778 rpm Command from the drive 9 5V for 500 rpm Velocity command corresponding to S 1000 min 2 778 rpm Analog velocity command S x 9 5 V MAXGEAR1 Analog command 9 5 V 500 rev min 2 778 rev min 52 778 mV Therefore PROGAIN 53 Bear in mind When setting the proportional gain that e The m
278. e resolution used for each axis e When using linear feedback devices PITCH P7 NPULSES P8 6 n DIFFBACK P9 SINMAGNI P10 FBACKAL P11 CONCEPTS feedback system PITCH P7 NPULSES P8 DIFFBACK P9 SINMAGNI P10 FBACKAL P11 Pitch of the linear encoder being used 0 Indicates whether the feedback device uses differential signals double ended or not Feedback multiplying factor applied by the CNC Feedback alarm e When using rotary encoders On rotary axes it sets the degrees per turn of the encoder On linear axes it sets the leadscrew pitch Number of pulses lines per encoder turn Indicates whether the feedback device uses differential signals double ended or not Feedback multiplying factor applied by the CNC Feedback alarm Next the feedback counting speed frequency limitation is described as well as how to set these machine parameters for the axes FAGOR CNC 8037 SOFT V01 6x 214 6 4 1 Counting speed limitation Sinusoidal signals The maximum counting speed frequency for sinusoidal feedback is 250 kHz The maximum feedrate for each axis on linear systems will depend upon the selected resolution and the signal pitch distance per pulse in use whereas on rotary encoders it will depend on the number of pulses per revolution Example 1 When using a Fagor linear encoder the signal pitch is 20 um Therefore with a counting resolution of 1 u
279. e resulting coordinate to a m p LIMIT P6 e Once both travel limits have been set for all the axes press SHIFT RESET or turn the CNC OFF and back ON in order for these new values to be assumed by the CNC 6 7 Unidirectional approach The FAGOR 8055 CNC provides a number of machine parameters to help improve repeatability when positioning the axes in rapid GOO by always approachingg the end pointin the same direction UNIDIR P39 Indicates the direction of unidirectional approach OVERRUN Indicates the distance to be kept between the approach point and the programmed point If this parameter is set to 0 the CNC will not perform the unidirectional approach UNIFEED P41 Indicates the feedrate to be used from the approach point to the programmed point The CNC will calculate the approach point 2 based on the programmed target point 1 and the a m p UNIDIR P39 and OVERRUN P40 UNIDIR P39 2A OVERRUN P40 GOO UNIFEED P41 S UNIFEED P41 The positioning will be carried out in two stages 1 Rapid positioning GOO up to the calculated approach point 2 If the axis is moving in the direction opposite to that indicated by UNIDIR it will overshoot the programmed point 2 Positioning at feedrate UNIFEED P41 from this point to the programmed point 1 6 Q E 3 WS Z 3 Og Oe Q 5 Cc gt FAGOR 2 CNC 8037 SOFT V01 6x 239
280. e shape of the supply current on power up gt CNC technical characteristics FAGOR 2 CNC 8037 SOFT V01 6x 441 CNC technical characteristics FAGOR CNC 8037 SOFT V01 6x 442 PLC Memory 135 kb Programming in mnemonics 1 millisecond time unit 512 inputs 512 outputs 3999 user marks 499 32 bit registers 256 32 bit counters 512 32 bit timers 5V probe input Typical value 0 25 mA Vin 5V High threshold logic level 1 VIH A partir de 2 4 Vcc Low threshold logic level 0 VIL Por debajo de 0 9 Vcc Maximum nominal voltage Vimax 15 Vcc 24V probe input Typical value 0 30 mA Vin 24V High threshold logic level 1 VIH A partir de 12 5 Vcc Low threshold logic level 0 VIL Below 4 Vdc Maximum nominal voltage Vimax 35 Vcc Digital inputs Nominal voltage 24 Vdc Maximum nominal voltage 30 Vdc Minimum nominal voltage 18 Vdc High threshold logic level 1 VIH A partir de 18 Vcc Low threshold logic level 0 VIL Under 5 Vdc or not connected Typical consumption of each input 5 mA Maximum consumption of each input 7 mA Protection by means of galvanic isolation by optocouplers Protection against reverse connection up to 30 Vdc Digital outputs Nominal supply voltage 24 Vdc Maximum nominal voltage 30 Vdc Minimum nominal voltage 18 Vdc Output voltage Vout Supply voltage Vdc 3 V Maximum output current 10
281. e tool base referred to machine reference zero home On limit less rotary axes this variable takes into account the value of the active zero offset The values of the variable are between the active zero offset and 360 ORG 360 If ORG 20 it displays between 20 and 380 displays between 340 and 20 If ORG 60 it displays between 60 and 300 displays between 420 and 60 At the lathe model CNC the coordinates of each axis are given as follows e When read from the CNC they are given in radius or diameter depending on the active units system Check the DIAM variable to know the active units system e When read from the PLC they are always given in radius APOS X C It returns the real tool base position value referred to part zero of the selected axis At the lathe model CNC the coordinates of each axis are given as follows e When read from the CNC they are given in radius or diameter depending on the active units system Check the DIAM variable to know the active units system e When read from the PLC they are always given in radius ATPOS X C It returns the theoretical position value real coordinate following error of the tool base referred to part zero At the lathe model CNC the coordinates of each axis are given as follows e When read from the CNC they are given in radius or diameter depending on the active units system Check the DIAM variable to know the active unit
282. e up for backlash This additional velocity command is eliminated peak compensation cutoff depending on the values of the following parameters G m p BAKTIME P30 g m p ACTBAKAN P145 and a m p PEAKDISP P98 Hysteresis in the reversal movement compensation command Axis machine parameter REVEHYST P99 is used to be able to control when the compensation should really be applied after detecting a movement reversal and not applying it every time a reversal command is received This feature should only be applied in situations where the moving direction reversals are very small e g 1dum The purpose is to prevent the reversal compensation to be applied in these situations because it can cause slight machining marks ridges on the part 6 5 7 Leadscrew error compensation The CNC provides a table for each one of the axes requiring leadscrew compensation It is possible to define different compensation values for each moving direction This type of compensation is activated by setting a m p LSCRWCOM P15 ON for the desired axis The CNC enables one leadscrew error compensation table for each axis The number of elements of the table is determined by the a m p NPOINTS P16 being possible to define up to 1000 points per axis X AXIS COMPENSATION POINT NUMBER POSITION sielele elelelelel elolelele e oleloloele CAP INS MN MODIFY INITIALIZE JAD SAVE MM INCH
283. ected axis does not have a machine reference home switch a m p DECINPUT P31 NO the CNC will move the spindle at the feedrate set by a m p REFEED2 P35 until the first marker pulse from the current position is found thus ending the home search FAGOR linear encoders scales provide a negative marker reference pulse lo every 50 mm about 2 inches and the FAGOR rotary encoders provide one positive reference pulse per revolution Do not mistake the type of pulse provided by the feedback system with the value to be assigned to a m p REFPULSE P32 This parameter must indicate the type of active flank leading or trailing edge positive or negative of the reference mark lo used by the CNC 6 6 3 Setting on systems with distance coded feedback Offset adjustment The offset of the linear encoder must be adjusted on one axis at a time preferably following this procedure 1 Set the following a m p REFDIREC P33 Homing direction REFEED2 P35 Homing feedrate 2 Verify that the value allocated to a m p REFPULSE P32 type of marker pulse of the feedback system is correct To do this seta m p DECINPUT P31 NO anda m p IOTYPE P52 0 Then perform a home search Then do a home search If assumed immediately change a m p REFPULSE P32 and check again 3 Set a m p IOTYPE P52 1 and ABSOFF P53 0 4 Once in JOG mode and after positioning the axis in the proper area home the axis The new posit
284. ected to the center of rotation through a gear box Di CONCEPTS Gear ratio management on axes and spindle We have an axis with a maximum feedrate of 20 m min with a leadscrew pitch of 20 and a 3 to 1 gear ratio between the motor and the leadscrew The encoder is an HOP model Vpp and provides 18 000 pulses per turn and a 2 to 3 gear ratio CAN axes 1 External feedback connected to the CNC A m p DRIBUSLE P63 0 Parameters involved in the calculation of the velocity command a m p GOOFEED P38 Maximum feedrate of the axis 20000 a m p PITCHB P86 Leadscrew pitch 20 Motor gear ratio a m p INPREV P87 Input revolutions 3 a m p OUTPREV P88 Output revolutions 1 NP121 drive it automatically loads the value of a m p INPREV P87 of the CNC NP122 drive it automatically loads the value of a m p OUTPREV P88 of the CNC NP123 drive it automatically loads the value of a m p PITCHB P86 of the CNC Parameters involved in the calculation of the position feedback a m p NPULSES P8 number of pulses per turn of the encoder 18000 3 2 12000 only integer values are allowed a m p SINMAGNI P10 Multiplying factor if the encoder is sinusoidal 200 a m p EXTMULT P57 Multiplying factor of the feedback 1 FAGOR 2 a m p PITCHB P86 Leadscrew pitch 20 CNC 8037 SOFT V01 6x 275 CONCEPTS Gear ratio management o
285. ed neither parametric nor global Example in mm Move the W axis to the coordinate indicated by register R101 When the PLC works with integers 32 bits the value of register R2 is given in tenths of microns 0 0001 mm CNCWR R101 GUP 155 M101 Assigns the value indicated in R101 to global parameter P155 CNCEX P155 P155 10000 M101 Converts the value of P155 into mm CNCEX G1 WP155 F2000 M101 Movement of the W axis Interrupt block preparation Same as in the CNC channel blocks are also prepared in advance in the PLC channel CNCEX G1 W100 M101 Movement of the W axis CNCEX IF P100 0 lt action1 gt P100 is analyzed during block preparation The value of P100 may be different before during and after the movement of the W axis If it is to be analyzed after moving the axis function G4 must be programmed CNCEX G1 W100 M101 Movement of the W axis CNCEX G4 M102 Interrupts block preparation CNCEX IF P100 0 lt action1 gt P100 is analyzed after moving the axis Likewise every time a PLC resource is accessed I O M R block preparation is interrupted CNCEX G1 W100 M101 Movement of the W axis CNCEX IF PLCI8 1 lt action2 gt 18 is checked after moving the axis 2 PLC execution channel AXES CONTROLLED FROM THE PLC FAGOR 2 CNC 8037 SOFT V01 6x 421 AXES CONTROLLED FROM THE PLC GO PLC execution channel FAGOR CNC 8037 SOFT V01 6x 422 Auxiliary M
286. ed properly in the body of the main program due to its extended execution time Another application for this module is for those cases where specific tasks need not be evaluated at every PLC program cycle Those tasks would be programmed in the periodic module and they would be executed with the frequency established by the execution time assigned to this module 8 rc for example if t 30 000 every 30 seconds A t value between 1 and 65535 milliseconds may be programmed The execution time of this module will be limited by the value of plc m p WOGPER P1 This module operates by default with the real values of resources I O M Example PE 10 Defines the beginning of the periodic module PE which will be executed every 10 milliseconds If this module is being executed with real values and acts on a physical output this is updated at the end of the execution of the periodic module INTRODUCTION TO THE PLC Modular structure of the program FAGOR CNC 8037 SOFT V01 6x 314 8 4 4 Priority of execution of the PLC modules Every time the PLC program is started command RUN the first module to be executed is the first cycle module CY1 Once execution has been completed it will continue with the main module PRG The main module will be executed cyclically until the execution of the PLC has stopped command STOP n O E END po nil a y a PRG o a Fs E 6 2
287. ed the probe signal while executing function G75 or G76 Value Meaning YES It issues the error message NO It does NOT issue the error message Default value NO Sl MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 109 MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 110 SERSPEED P120 SERPOWSE P121 Not being used LANGUAGE P122 Defines the work language Value Meaning Value Meaning 0 English 7 Czech 1 Spanish 8 Polish 2 French 9 Mainland Chinese 3 Italian 10 Basque 4 German 11 Russian 5 Dutch 12 Turkish 6 Portuguese Default value 0 GEOMTYPE P123 It indicates whether the cutter geometry is associated with the tool T or with the tool offset D The T function tool number indicates the magazine position it occupies The D function offset indicates the tool dimensions Value Meaning 0 It is associated with the tool 1 It is associated with the tool offset Default value 0 When using a tool holding turret the same turret position is usually used by several tools In those cases the T function refers to the turret position and the D function to the dimensions and geometry of the tool occupying that position Thus GEOMTYPE 1 SPOSTYPE P124 AUXSTYPE P125 Not being used FOVRG75 P126 It indicates whether function G75 ignores the feedrate override switch of the front panel or not
288. ed with the general input AUXEND at a high logic level the CNC will deactivate the general logic outputs MSTROBE SSTROBE TSTROBE T2STROBE to tell the PLC that the execution of the required auxiliary function or functions has been completed set by g m p MINAENDW P30 between two consecutive transfers N When the block being executed has several auxiliary functions M S T the CNC waits a time period 10 2 2 Transferring the auxiliary miscellaneous M functions without the AUXEND signal Once the block has been analyzed and after passing the corresponding values in variables MBCD1 7 the CNC will tell the PLC through the general logic output MSTROBE that the required auxiliary function or functions must be executed MSTROBE PLC EXECUTION e MINAENDW The CNC will keep the general logic output MSTROBE active during the time indicated by means of g m p MINAENDW P30 Once this period of time has elapsed the CNC will continue to execute the program It is advisable for the MINAENDW value to be equal to or greater than the duration of a PLC cycle in order to ensure the detection of this signal by the PLC When the PLC detects the activation of the general logic signal MSTROBE it will execute the required miscellaneous M functions in the MBCD1 7 variables CNC PLC COMMUNICATION Auxiliary M S T function transfer FAGOR 2 CNC 8037 SOFT V01 6x
289. ed with the mark MANINT X C The PLC sets one of these signals high to activate the additive handwheel on each axis Only one additive handwheel may be enabled at a time If there are more than one mark active only the first one will be attended to Configuring the additive handwheel The parameter ADIMPG enables the additive handwheel and makes it possible to configure its operation Handwheel resolution and maximum feedrate The resolution of the additive handwheel depends on the setting of parameter ADIMPG P176 There are two options to set the resolution e The resolution of the handwheel is set by parameter ADIMPRES P177 of the axis e The handwheel resolution is set with the switch of the operator panel If the switch is not in the handwheel position it assumes a x1 factor Maximum feedrate allowed due to the additive handwheel is limited by parameter ADIFEED P84 Coordinates display Parameter DIPLCOF determines whether the CNC takes into consideration or not the additive zero offset when displaying the coordinates of the axes on the screen and when accessing the POS X C and TPOS X C variables Di CONCEPTS Movement with an electronic handwheel FAGOR 2 CNC 8037 SOFT V01 6x 213 6 4 feedback system The various feedback inputs available at the CNC admit sinusoidal and squarewave differential signals from feedback systems The following axis machine parameters indicate the type of feedback system and th
290. efault value 0 none With the angular transformation of an incline axis it is possible to make movements along an axis that is not perpendicular to another In order to program it in the Cartesian system Z X activate the incline axis transformation to convert the movements to the non perpendicular real axes Z X X x 60 wee al ANGAXNA X se ORTAXNA Z ii ANGANTR 60 O S RARO FI CI ORARIE FARA Z OFFANGAX The axes defined in parameters ANGAXNA and ORTAXNA must exist and must be linear Those axes may have Gantry axes associated with them While searching home the movements are carried out on the incline axes of the machine PLC mark MACHMOVE determines how the manual movements with handwheels or with the keyboard will be carried out The inclined plane is activated from the part program function G46 If the inclined plane is active the displayed coordinates will be those of the Cartesian system Otherwise it will display the coordinates of the real axes ORTAXNA P172 Axis perpendicular to the Cartesian axis associated with the inclined plane Value Meaning Value Meaning 0 None 5 V axis 1 X axis 6 W axis 2 Y axis 7 A axis 3 Z axis 8 B axis 4 U axis 9 C axis Default value 0 none ANGANTR P173 Angle between the Cartesian angle and the angular axis it is associated with If its value is 0 there is no need to do an angular transformation Positive angle when the an
291. eing executed DM42 M5551 The CNC sets this signal high to tell the PLC that the second spindle gear is selected or that the auxiliary function M42 is programmed in the block being executed DM43 M5550 The CNC sets this signal high to tell the PLC that the third spindle gear is selected or that the auxiliary function M43 is programmed in the block being executed DM44 M5549 The CNC sets this signal high to tell the PLC that the fourth spindle gear is selected or that the auxiliary function M44 is programmed in the block being executed RETRACT M5567 During the drilling tapping and rigid tapping cycles of the mill model CNC it is now possible to withdraw the tool to the starting plane and once there stop the spindle Once the retraction is completed the user may finish the hole go to the next hole or go into tool inspection General logic output RETRACT M5567 is activated when the stop is completed and it is canceled when completing the retraction of the drilling or mill type threading operation When retracting the axes on the lathe model general logic output RETRACT M5567 is activated when pressing STOP and the CNC starts retracting This mark will stay active until the withdrawal distances set in G233 are reached mn b General logic outputs LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 375 Installation manual TMINEM M5569 Mark activated when the CNC detects an
292. elocity command verify that it is stable left graph and that there are no instabilities when starting up center graph or when braking right graph FAGOR 2 CNC 8037 SOFT V01 6x 225 CONCEPTS Axis adjustment FAGOR CNC 8037 SOFT V01 6x 226 6 5 6 Leadscrew backlash compensation On this CNC the leadscrew backlash may be compensated for when reversing the direction of movement Leadscrew backlash is defined with a m p BACKLASH P14 Sometimes an additional velocity command pulse may also be needed to recover the possible backlash when reversing the axis movement The additional velocity command pulse may be either rectangular or exponential VT l _ Pu If the duration of the rectangular pulse is adjusted for low speed it may be too high for high speed or not enough for low speed when adjusted for high speed In these cases it is recommended to use the exponential type that applies a strong pulse initially and decreases in time a m p BACKNOUT P29 sets the value of the additional velocity command and a m p BACKTIME P30 indicates the duration of this additional command pulse and general machine parameter ACTBAKAN P145 indicates the type of backlash peak applied Cutting the compensation peak off Every time the axis movement is inverted the CNC will apply to that axis the velocity command corresponding to the movement plus an additional velocity command to mak
293. eneral handwheel It can be used to jog any axis one by one Select the axis and turn the handwheel to move it e Individual handwheel It replaces the mechanical handwheels Up to 2 handwheels can be used one per axis It only moves the axis it is associated with To move any of them turn the switch to any of the handwheel positions Positions 1 10 and 100 indicate the multiplying factor being applied besides the internal x4 to the feedback pulses supplied by the electronic handwheel For example if the manufacturer has set a distance of 0 100 mm or 0 0100 inches per handwheel turn for switch position 1 Switch position Distance per turn 1 0 100 mm or 0 0100 inches 10 1 000 mm or 0 1000 inches 100 10 000 mm or 1 0000 inches There are 3 operating modes with handwheels Standard handwheel e With the general handwheel select the axis to be moved and turn the handwheel e With individual handwheels turn the handwheel associated with the axis to be moved Path handwheel e For chamfering and rounding corners e 2 axes are moved along a selected path chamfer or rounding by moving a single handwheel e This feature must be managed from the PLC e The general handwheel is assumed as the path handwheel or the individual handwheel associated with the X axis Mill or Z lathe Feed handwheel mode e To control the feedrate of the machine e This feature must be managed from the PLC Depending
294. eneral logic outputs LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 373 11 General logic outputs LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 374 SSTROBE M5533 This signal will be used when operating a spindle with BCD coded S signal s m p SPDLTYPE PO The CNC sets this signal high to tell the PLC that it must execute the auxiliary S function which is indicated in the register SBCD R557 TSTROBE M5534 The CNC sets this signal high to tell the PLC that it must execute the auxiliary S function which is indicated in the register TBCD R558 In this register the CNC will tell the PLC the position of the magazine where the selected tool is If the g m p RANDOMTC P25 has been set so it is not a random magazine the magazine pocket position coincides with the tool number T2STROBE M5535 This register is used when a special tool change has been made family code or 200 or with machining centers with a non random tool magazine g m p RANDOMTC P25 The CNC sets this signal high to tell the PLC that it must execute a second auxiliary T function indicated in the register T2BCD R559 In this register the CNC indicates to the PLC the position of the magazine in which the tool which was on the spindle must be placed ADVINPOS M5537 It is used on punch presses that have an eccentric cam as a punching system The CNC sets this signal high a specific
295. ent with an electronic handwheel FAGOR CNC 8037 SOFT V01 6x 211 CONCEPTS Movement with an electronic handwheel FAGOR CNC 8037 SOFT V01 6x 212 Installation manual Additive handwheel mode With manual intervention or additive handwheel it is possible to move the axes manually while a program is being executed To do this once this option is activated use the handwheel to make a movement to be added to the one resulting from the automatic execution This movement will be applied as if it were another zero offset The general handwheel will be used as the additive handwheel If there is no general handwheel use the handwheel associated with the axis DLL DI ADIOFX G01 X_Z_ A x R x A Position of the tool while in execution B Position of the tool after a manual intervention The intervention with an additive handwheel is only possible in execution mode even while the program is interrupted However it is not allowed in the tool inspection mode The additive handwheel may be enabled for a coordinate transformation G46 inclined axis where the handwheel movements are applied to the machining operation even if they are not shown on the graphics screen The offset caused by the additive handwheel stays active after disabling the handwheel and it is reset to zero after a home search The offset stays active or is reset after an M02 or M30 and after an emergency or a re
296. entially If the value of all these parameters is zero they are by default the numbering of the analog inputs outputs will be consecutive to the last local inputs outputs Their maximum value will be 16 both for the analog inputs and analog outputs On power up the CNC verifies that the number of analog inputs outputs detected at the module matches the value assigned to the relevant machine parameters If these values do not match the CNC screen will display a message indicating it and then it will turn the remote module off IANASV P130 Not being used NUILO1 P131 NUOLO1 P132 NUILO2 P133 NUOLO2 P134 NUILO3 P135 NUOLO3 P136 NUILO4 P137 NUOLO4 P138 These PLC machine parameters may be used to redefine the numbering of the inputs outputs of the local expansion modules without having to modify the PLC program Value Meaning NUILO1 Numbering of the first input of the first expansion module with inputs outputs NUOLO1 Numbering of the first output of the first expansion module with inputs outputs NUILO2 Numbering of the first input of the second expansion module with inputs outputs NUOLO2 Numbering of the first output of the second expansion module with inputs outputs NUILO3 Numbering of the first input of the third expansion module with inputs outputs NUOLO3 Numbering of the first output of the third expansion module with inputs outputs NUILO4 Numbering of the first input of the fourth expansion module with inpu
297. er axis using an additive handwheel is also applied to the slave axis The mirror image by PLC is not applied to the additive handwheel movement e When testing the software limits during block preparation it checks the theoretical coordinate ignoring the additional movement of the additive handwheel Bit 11 Selecting the additive handwheel as handwheel associated with the axis When setting this bit to 1 even if there is a general handwheel the additive handwheel will always be the handwheel associated with the axis Bit 12 The resolution of the handwheel is set by g m p ADIMPRES This bit indicates whether the handwheel resolution is set by parameter ADIMPRES bit01 or not Otherwise bit 0 the resolution of the handwheel is set with the switch of the operator panel If the switch is not in the handwheel position it assumes a x1 factor Bit 13 Manual intervention enabled with look ahead This bit indicates whether manual intervention is available bit 1 or not bit 0 when look ahead is active Bit 14 Cancel the additive offset after M02 M30 emergency or Reset This bit determines bit 1 that the additive offset is canceled after executing M02 M30 or after an emergency or reset Bit 15 Manual intervention with additive handwheel is available This bit indicates whether manual intervention with an additive handwheel is available bit 1 or not bit 0 If set to 0 the rest of the bits are ignored The addit
298. er ignores both up count CUP and down count CDW inputs it being necessary to assign CEN 1 for the counter to take notice of these inputs INTRODUCTION TO THE PLC It is recommended to save the PLC program and files into the hard disk KeyCF or in a peripheral or PC to avoid losing them The PLC program PLC_PRG may be edited at the front panel or copied from the hard disk KeyCF or from a peripheral device or PC The PLC program PLC_PRG is stored in the internal CNC memory with the part programs and it is displayed in the program directory utilities together with the part programs Before executing the PLC_PRG program it must be compiled Once it is done compiling the CNC requests whether the PLC should be started or not To make the operator life easier and avoid new compilations the source code generated at each compilation is stored in memory After power up the CNC acts as follows 1 If there is an executable program stored in memory it executes it RUN E 2 If there is no executable program but there is a PLC_PRG in No memory it compiles it COMPILE and executes it RUN oe 3 If there is no PLC_PRG in memory it looks for it in the hard disk KeyCF If it is there it compiles it COMPILE and executes it RUN If it is not there it does nothing Later on when accessing the Jog ne SOMEIE mode Execution mode etc the CNC will issue the corresponding error message Y vu END RUN
299. er values between 0 and 32767 which corresponds to an analog command of 10V Default value 0 not applied SERVOFF Command 32767 10 V 3277 av a 0 3 mv 3277 iv 32767 10v BAKANOUT P29 Additional velocity command pulse to make up for the possible leadscrew backlash when reversing the moving direction Possible values It is given in D A converter units and it admits integer values between 0 and 32767 which corresponds to an analog command of 10V Default value 0 not applied BAKANOUT Additional velocity command 1 0 3 mV 3277 1V 32767 10 V Every time the movement is inverted the CNC will apply to that axis the velocity command corresponding to the movement plus the additional velocity command pulse set in this parameter This additional velocity command will be applied for a period of time indicated in the a m p BAKTIME P30 BAKTIME P30 It indicates the duration of the additional velocity command pulse to make up for backlash in movement reversals Possible values Integers between 0 and 65535 ms Default value 0 DECINPUT P31 Indicates whether or not this axis has a home switch for machine reference search Value Meaning NO It has no home switch YES It has a home switch Default value YES I Axis parameters MACHINE PARAMETERS FAGOR 2 CNC 8037 SOFT V01 6x 139 REFPULSE P32 It indicates the type of flank of the 10
300. erride of the main spindle currently selected at the CNC It is given in integer values between 0 and MAXFOVR maximum 255 This turning speed percentage of the main spindle may be indicated by program by PLC by DNC or by the front panel the CNC selects one of them and the priority from the highest to the lowest is by program by DNC by PLC and from the front panel PRGSSO This variable may be used to read or modify the speed override percentage of the main spindle currently selected by program It is given in integer values between 0 and MAXFOVR maximum 255 If it has a value of 0 it means that it is not selected DNCSSO It returns the turning speed override of the main spindle currently selected via DNC If it has a value of 0 it means that it is not selected PLCSSO It returns the turning speed override of the main spindle currently selected by PLC Ifithas a value of 0 it means that it is not selected CNCSSO It returns the turning speed override of the main spindle currently selected from the front panel Speed limit related variables PLCSL and MDISL are read write variables the rest are read only SLIMIT It returns the value set in rpm at the CNC for the turning speed limit of the main spindle This limit may be indicated by program by PLC or by DNC the CNC selects one of them the one indicated by DNC has the highest priority and the one indicated by program has the lowest priority DNCSL
301. error difference between two consecutive points must not be greater than the distance between them maximum slope 100 o Tables MACHINE PARAMETERS FAGOR 2 CNC 8037 SOFT V01 6x 195 Tables MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 196 5 9 3 Cross compensation parameter table Up to 3 cross compensation tables may be used To enable each one set g m p MOVAXIS P32 COMPAXIS P33 NPCROSS P31 Parameter MOVAXIS indicates the axis that moves and COMPAXIS the axis affected by the movement of the movaxis to be compensated and NPCROSS indicates the number of points in the table CROSSED COMP TABLE ERROR POINT Pa PS PL PS PS PS PS PS PS PA PS PS Pa MODIFY INITIALIZE The table must indicate the amount of error to be compensated in specific positions of the moving axis The position is defined in home coordinates referred to machine reference zero Depending on g m p TYPCROSS P135 the CNC will take into account either the theoretical or real actual coordinates Possible values for the position and error fields Possible values Within 99999 9999 mm or 3937 00787 inches When defining the profile points in the table the following requirements must be met e The axis points must be in sequential order starting from the most negative least positive point to be compensated e For those
302. error during tool change This mark stays memorized until it is canceled by the RESTMEM mark or with the option REMOVE ERROR shown in the error message 11 General logic outputs LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 376 11 7 Logic outputs of the axes There are several groups of logic inputs ENABLE DIR etc which refer to the possible axes of the machine by means of digits 1 through 3 ENABLE2 DIR1 etc or using the axis name ENABLEX DIRZ etc The marks of the axes that do not exist in the machine parameters assume the value of the M2045 mark that s always set to 0 When monitoring the PLC program it shows the edited marks either with a letter or with a number However the resource windows created from monitoring will replace the marks with axis names by the marks with axis numbers For example ENABLEX with ENABLE1 ENABLEZ by ENABLE2 if there is no Y axis but there are X and Z axes Mnemonics using numbers 1 through 3 These signals are numbered as the logic order of the axes it is not related to the values assigned to g m p AXIS1 PO through AXIS8 P7 For example if the CNC controls the X Z and Y axes the order will be X Y Z and therefore ENABLE1 DIR1 REFPOIN1 INPOS1 for the X axis ENABLE2 DIR2 REFPOIN2 INPOS2 for the Y axis ENABLES DIR3 REFPOINS INPOS3 for the Z axis Mnemonics using the axis name The mnemonics of the signals refer to the axis
303. ers correspond to the main channel whereas MBCDP registers are for the PLC channel The CNC tells the PLC by means of these 32 bit registers the miscellaneous M functions programmed in the block being executed If there are less than 7 miscellaneous M functions in each block the CNC will send the information in the lower numbered registers assigning the value F FFFFFFF to those which are left free This way if a block contains functions M100 M120 and M135 the CNC will transfer the following information to the PLC MBCD1 R550 100 MBCD2 R551 120 MBCD3 R552 135 MBCD4 R553 FFFFFFFF MBCDS R554 FFFFFFFF MBCD6 R555 FFFFFFFF MBCD7 R556 F FFFFFFF To know whether a particular M function is programmed in the execution block use one of the following methods 1 Check all MBCD registers one by one until the specific M function is found or until one of them contains the FFFFFFFF value 2 Use the MBCD format which permits checking all MBCD registers at the same time Example CPS MBCD EQ 30 It returns a 1 if it detects an M30 and a 0 if otherwise The miscellaneous M functions can be executed at the beginning or end of the block according to how these are set in the miscellaneous M function table Besides this table will indicate whether the CNC must wait or not for the general logic input AUXEND to consider the execution of the corresponding M as having been compl
304. esis They help clarify and select the order the logic expression is evaluated Example 12 OR 13 AND 14 OR NOT I5 AND I6 O7 A consulting instruction consisting of only these two operators always has a value of 1 i e 02 Output O2 will always be high 1 9 5 Action instruction The action instructions depending on the result obtained in the logic expression may be used to alter the status of the PLC resources and CNC PLC communication marks Logic expression Action instruction There may be several action instructions associated with a single logic expression All the action instructions must be preceded by the sign All Action Instructions allow a previous NOT which reverses the result of the expression for that action Example 12 03 NOT M100 NOT TG1 2 100 CPR 1 100 Output O3 will show the status of input 12 Mark M100 will show the negated state of input 12 A down flank at input 12 will activate the trigger input TG1 of timer T2 An up flank at 12 will preset counter C1 with a value of 100 Action instructions are divided into e Assignment Binary Action Instructions e Conditioned binary actions instructions e Sequence breaking action instructions e Arithmetic action instructions e Logic action instructions e Specific action instructions Action instructions can alter the status of all the PLC resources except that of the physical inputs being used When seeing the fie
305. eted SBCD R557 This register will be used when using a spindle operating with BCD coded S signal s m p SPDLTYPE PO The auxiliary S function will always be executed at the beginning of the block and the CNC will wait for the general logic input AUXEND to be activated to consider the execution completed If S output in 2 digit BCD is used the CNC will tell the PLC by means of this register the selected spindle speed according to the following conversion table S S S S S S Programmed BCD Programmed BCD Programmed BCD 0 00 50 55 54 800 899 78 1 20 se62 55 900999 79 2 26 63 70 56 1000 1119 80 3 29 71 79 57 1120 1249 81 4 32 8089 58 1250 1399 82 5 34 90 99 59 1400 1599 83 6 35 100 111 60 1600 1799 84 7 36 112124 61 1800 1999 85 8 38 125 139 62 2000 2239 86 9 39 140 159 63 2240 2499 87 10 11 40 160 179 64 2500 2799 88 12 41 180 199 65 2800 3149 89 13 42 200 223 66 3150 3549 90 14 15 43 224249 67 35503099 91 16 17 44 250 279 68 4000 4499 92 18 19 45 280 314 69 4500 4999 93 20 22 46 315 354 70 5000 5599 94 23 24 47 355 399 71 5600 6299 95 25 27 48 400 449 72 6300 7099 96 28 31 49 450 499 73 7100 7999 97 32 35 50 500 559 74 8000 8999 98 36 39 51 560 629 75 9000 9999 99 40 44 52 630 709 76 45 49 53 710 799 TI If a value over 9999 is programmed the CNC will
306. eter the time delay between the instant probing takes place and the CNC is aware of it G m p PRODEL P106 must be set to 0 STOPTAP P116 This parameter indicates whether general inputs STOP M5001 FEEDHOL M5002 and XFERINH M5003 are enabled or not while executing function G84 G m p STOPTAP P116 must be set to NO INSFEED P117 This parameter sets the tool inspection feedrate G m p INSFEED P117 mustbe set with a proper value other than 0 RAPIDEN P130 This parameter indicates whether the rapid key affects the execution and the simulation or not G m p RAPIDEN P130 must be set to 0 MAXOFFI P165 This parameter indicates the maximum amount of wear that may be entered for I when modifying the wear offsets from tool inspection mode G m p MAXOFFI P165 must be set with a proper value other than 0 MAXOFFK P166 This parameter indicates the maximum amount of wear that may be entered for K when modifying the wear offsets from tool inspection mode G m p MAXOFFK P166 must be set with a proper value other than 0 FEEDTYPE P170 This parameter indicates the behavior of the feedrate when programming FO G m p FEEDTYPE P170 must be set to 0 MAXOFFJU P182 This parameter indicates the maximum incremental value allowed for Y axis wear compensation G m p MAXOFFJ P182 must be set with a proper value other than 0 Axis parameters LIMIT P5 and LIMIT P6 These parameter
307. expansion module Second expansion module NUILO1 0 NUILO2 0 NUOLO1 0 NUOLO2 0 The first expansion module assigned inputs 165 through 1112 and outputs O33 through O64 The second expansion module assigned inputs 1129 through 1192 and outputs O65 through O96 The inputs of the first expansion module are numbered sequentially after the last input of the first module 164 1 165 The inputs of the second expansion module are numbered sequentially after the last available input of the first expansion module 1128 1 1129 Follow the same procedure for the outputs Case 2 We wish the inputs and outputs to be sequential but starting with 141 025 so they are numbered after the 401 240 of the axis board First expansion module Second expansion module NUILO1 41 NUILO2 0 NUOLO1 25 NUOLO2 0 The first expansion module assigned inputs 141 through 1104 and outputs 025 through O56 The second expansion module assigned inputs 1105 through 1168 and outputs 057 through O88 The inputs of the first expansion module are numbered sequentially after the value assigned to parameter NUILO1 141 chosen with the restriction 8n 1 The inputs of the second expansion module are numbered sequentially after the last input used in the first expansion module 1104 1 1105 Follow the same procedure for the outputs Case 3 We wish the inputs and outputs start at 165 033 the first expansion module and at 1201 0113 the second expansion module First expansion mod
308. facturer to select up to 3 on the mill model and 2 on the lathe model Moreover all the axes should be suitably defined as linear rotary etc through the axis machine parameters There is no limitation to the programming of the axes and up to 3 axes may be interpolated at the same time Example of milling The machine has two regular linear axes X Y and Z an analog spindle S and a handwheel Setting of g m p AXIS1 PO through AXIS8 P7 AXIS1 PO 1 X axis associated with feedback X1 and output O1 AXIS2 P1 2 Y axis associated with feedback X2 and output O2 AXIS3 P2 3 Z axis associated with feedback X3 and output O3 AXIS4 P3 10 Spindle S associated with feedback X5 1 6 and output O5 AXIS5 P4 0 AXIS6 P5 0 AXIS7 P6 11 Handwheel associated with feedback input X6 1 6 AXIS8 P7 0 The CNC activates a machine parameter table for each axis X Y Z and another one for the spindle S a m p AXISTYPE PO must be set as follows X axis AXISTYPE P0 0 Regular linear axis Y axis AXISTYPE P0 0 Regular linear axis Z axis AXISTYPE P0 0 Regular linear axis s m p SPDLTYPE PO must be set as follows Spindle SPDLTYPE P0 0 10V spindle analog output Likewise a m p DFORMAT P1 and s m p DOFORMAT P1 must be properly set to indicate their display formats Example of lathe The machine has two regular linear axes X and Z
309. following way 1 Once the block has been analyzed and after sending the corresponding values in the variables MBCD1 7 SBCD TBCD and T2BCD the CNC will tell the PLC by means of the general logic outputs MSTROBE SSTROBE TSTROBE and T2STROBE that the required auxiliary functions must be executed STROBE AUXEND MINAENDW MINAENDW 2 When the PLC detects that one of the STROBE signals is active it must deactivate the general logic input AUXEND to tell the CNC that the execution of the corresponding function or functions is starting 3 The PLC will execute all the auxiliary functions required it being necessary to analyze the MSTROBE SSTROBE TSTROBE T2STROBE general logic outputs and the MBCD1 7 SBCD TBCD and T2BCD variables in order to do this Once this has been executed the PLC must activate the general logic input AUXEND to indicate to the CNC that the processing of the required functions was completed 4 Once the general AUXEND inputis activated the CNC will require that this signal be kept active for a time period greater than the value given to the g m p MINAENDW P30 This way erroneous interpretations of this signal by the CNC due to an improper PLC program logic are avoided 5 Once the period of time MINAENDW has elapsed with the general input AUXEND at a high logic level the CNC will deactivate the general logic outputs MSTROBE SSTROB
310. for the anti resonance notch filter type Possible values between 0 and 100 0 Default value 1 VERA RR ee 0 707 Ao 3dB T Axis parameters n fe FREQUEN MACHINE PARAMETERS It is calculated with the following formula Points f1 and f2 correspond to the cutoff frequency or frequency at which its amplitude drops 3 dB or reaches 70 of the nominal amplitude FREQUEN f NORBWID SHARE P74 Signal percentage that passes through the filter This value must be equivalent to the percentage overshooting of the resonance because it has to make up for it This parameter is only taken into account for the anti resonance notch filter type Possible values between 0 and 100 Default value 100 Calculation example for a particular response of the machine Ay Ar Ao FAGOR CNC 8037 fr SHARE 100 Ar Ao Ao SOFT V01 6x 152 FLIMIT P75 Maximum safety limit for the axis feedrate This limit is activated from the PLC and is applied to all the work modes including the PLC channel Possible values Between 0 and 99999 9999 degrees min or mm min Between 0 inches min and 3937 00787 inches min Default value 0 This limit is activated for all the axes using the mark FLIMITAC M5058 When the limit is canceled the CNC recovers the programmed feedrate This limit permits clearing the axis feedrate temporarily via PLC e g when opening
311. fset except when showing the Command Actual To Go coordinates The coordinate returned by the POS X C and TPOS X C variables takes into account the additive zero offset Default value 0 The additive zero offset can be originated as follows e With variable PLCOF X C it is possible to set an additive zero offset for each CNC axis from the PLC e With the additive handwheel HANDWIN P111 HANDWHE1 P112 HANDWHE2 P113 HANDWHE3 P114 HANDWHE4 P115 Not being used STOPTAP P116 Indicates whether the general inputs STOP M5001 FEEDHOL M5002 and XFERINH M5003 are enabled P116 YES or not P116 NO while executing function G84 regular tapping or rigid tapping INSFEED P117 Sets the tool inspection feedrate When accessing tool inspection the CNC assumes this feedrate as the new one and it resumes the execution of the program at the previous feedrate the one used in the program or set via MDI while in tool inspection when tool inspection is over Possible values Between 0 0001 and 199999 9999 degrees min or mm min Between 0 00001 and 7874 01574 inches min Default value NO If set to 0 by default tool inspection will be carried out at the feedrate currently used for machining DISTYPE P118 Only to be used by Fagor Automation technical personnel PROBERR P119 Indicates whether the CNC issues an error message when the axes reach the programmed position without having receiv
312. functions The M functions programmed in the PLC channel may be defined in the M function table In the PLC channel the following functions cannot be programmed MO M1 M2 M3 M4 M5 M6 M19 M30 M41 M42 M43 and M44 The following marks and registers are generated for managing the M functions MBCDP1 through MBCDP7 R565 through R571 similar to signals MBCD1 through MBCD7 AUXENDP M5006 Similar to the AUXEND signal MSTROBEP M5505 Similar to the MSTROBE signal 13 1 3 Control of the PLC program from the CNC The section of the PLC program regarding the axes controlled from the PLC can be controlled from the CNC itself To do this the inputs outputs marks registers timers or counters of the PLC itself are used The CNC has the following PLC related variables to read or change the status of the selected resource PLCI To read or modify up to 32 PLC inputs PLCO To read or modify up to 32 PLC outputs 1 3 PLCM To read or modify up to 32 PLC marks internal relays PLCR To read or modify the status of a register PLCT To read or modify the count of a timer PLCC To read or modify the count of a counter With these variables the desired values will be assigned in the part program of the CNC to the PLC resources used in the communication The setting of these values will be carried out whenever an axis or axes are to be controlled from the PLC PLC execution channel In turn the PLC program must check the st
313. gement on axes and spindle FAGOR CNC 8037 SOFT V01 6x 273 CONCEPTS Gear ratio management on axes and spindle FAGOR CNC 8037 SOFT V01 6x 274 Analog axes 1 External feedback connected to the CNC A m p DRIBUSLE P63 0 Parameters involved in the calculation of the velocity command a m p GOOFEED P38 Maximum feedrate of the axis 20000 Parameters involved in the calculation of the position feedback With rotary encoder e a m p NPULSES P8 number of pulses per turn of the encoder 18000 e a m p SINMAGNI P10 Multiplying factor if the encoder is sinusoidal 200 e a m p EXTMULT P57 Multiplying factor of the feedback 1 e a m p PITCHB P86 Leadscrew pitch 20 e Motor gear ratio a m p INPREV P87 Input revolutions 3 a m p OUTPREV P88 Output revolutions 1 With linear encoder e a m p PITCH P7 linear encoder pitch 20 e a m p NPULSES P8 0 e a m p SINMAGNI P10 Multiplying factor if the encoder is sinusoidal 0 e A m p EXTMULT P57 Multiplying factor of the feedback 20p 4u 5 Calculation of the motor speed with a command of MAXVOLT for a feedrate of GOOFEED Motor speed GOOFEED x INPREV PITCHB x OUTPREV 20000 x 3 20 x 1 3000 rpm 6 15 3 Axis example external feedback device with gear box In this case on linear axes the encoder is connected to the leadscrew through a gear box and on rotary axes it is conn
314. gular axis has been rotated clockwise and negative if counterclockwise Possible values Within 90 degrees Default value 0 OFFANGAX P174 Distance between machine zero and the origin of the coordinate system of the incline axis Possible values Within 99999 9999 millimeters Within 3937 00787 inches Default value 0 COMPMODE P175 Sl It defines how to apply tool radios compensation cases such as COMPMODE 0 Default value 0 nN 2 Value Meaning ro 0 With an angle between paths of up to 300 both paths are joined with straight sections E In the rest of the cases both paths are joined with arcs qe a 1 Both paths are joined with arcs e Cc 2 With an angle between paths of up 300 it calculates the intersection In the rest of the 3 T E O S q o 5 O COMPMODE 0 The compensation method depends on the angle between paths e For angles up to 300 it compensates joining both paths with straight sections e For angles over 300 it compensates joining both paths with arcs FAGOR 2 CNC 8037 SOFT V01 6x 123 MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 124 COMPMODE 2 The compensation method depends on the angle between paths e For angles up to 300 it calculates the intersection between the compensated paths e For angles over 300 it resolves it like when COMPMODE 0
315. h the value of global parameter P155 CNCWR R101 GUP 155 M102 It assigns the value of global parameter P155 to register R100 LUP ab It permits reading or modifying the indicated local parameter P0 P25 b of the indicated nesting level a CNCRD LUP 3 15 R100 M102 It assigns the value of local parameter P15 of nesting level 3 to register R100 CNCWR R101 GUP 2 15 M102 It assigns the value of local parameter P15 of nesting level 2 to register R101 12 11 Operating mode related variables Read only variables related to the standard mode OPMODE It returns the code corresponding to the selected operating mode 0 Main menu A 10 Automatic execution 11 Single block execution 12 MDI in EXECUTION 13 Tool inspection 14 Repositioning 15 Block search executing G 16 Block search executing G M S T 20 Theoretical path simulation Operating mode related variables 21 G function simulation 22 G M S and T function simulation ACCESS TO INTERNAL CNC VARIABLES 23 Simulation with movement in the main plane 24 Simulation with rapid movement 25 Rapid simulation with S 0 30 Normal editing 31 User editing 32 TEACH IN editing 33 Interactive editor 40 Movement in continuous JOG 41 Movement in incremental JOG 42 Movement with electronic handwheel 43 HOME search in JOG 44 Position preset in JOG 45 Tool calibration 46 MDI i
316. he LIMIT 0 shortest path LIMIT 0 G91The sign indicates the turning direction ROLLOVER NO There are 2 loops one between 0 and 360 and the other between 0 and 360 It is possible to switch from one to the other G90 and G91 as linear axis LIMIT 350 ROLLOVER YES NO It can only move between 10 and 350 LIMIT 10 With G90 and G91 like when LIMIT 8000 An error message is issued if the target position is beyond the limits It is a positioning only axis which can take decimal coordinates More than one Hirth axis may be used but they can only move one at a time Rotary Hirth axis AXISTYPE 4 ROLLOVER YES It counts between 0 and 360 G90 does not admit negative values LIMIT 8000 G91The sign indicates the turning direction LIMIT 8000 ROLLOVER NO It counts between 7999 9999 and 7999 9999 G90 and G91 as linear axis ROLLOVER YES It counts between 0 and 360 G90 does not admit negative values Always via the LIMIT 0 shortest path LIMIT 0 G91The sign indicates the turning direction ROLLOVER NO There are 2 loops one between 0 and 360 and the other between 0 and 360 It is possible to switch from one to the other G90 and G91 as linear axis LIMIT 350 ROLLOVER YES NO It can only move between 10 and 350 LIMIT 10 With G90 and G91 like when LIMIT 8000 An error message is issued if the target position is beyond the limits CONCEPTS Axes and coordinate sy
317. he path handwheel mode DFU B31 R561 CPL M5053 Select the type of movement straight section or arc section Simultaneous handwheels When selecting the path handwheel mode the CNC behaves as follows Ifthere is a general handwheel it will be the one working in path handwheel mode The individual handwheels if any will remain associated with the corresponding axes e If there is no general handwheel one of the individual handwheels starts working in path handwheel mode The one associated witht the X axis if mill model or the one associated with the Z if lathe model 6 3 3 Feed handwheel mode Usually when making a part for the first time the machine feedrate is controlled by means of the feedrate override switch From this version on it is also possible to use the machine handwheels to control that feedrate This way the machining feedrate will depend on how fast the handwheel is turned To do this proceed as follows e Inhibit all the feedrate override switch positions from the PLC e Detect how far the handwheel is turned reading of pulses received e Set the corresponding feedrate override from the PLC depending on the pulses received from the handwheel The following CNC variables return the number of pulses the handwheel has turned HANPF shows the number of pulses of the 1st handwheel HANPS shows the number of pulses of the 2nd handwheel HANPT shows the number of pulses of the 3rd handwheel HANPFO sho
318. he PLC brings the EMERGEN input back high 24V the CNC deactivates the EMERGENCY OUTPUT and ALARM signals to let the outside world and the PLC know that there is no longer an emergency at the CNC Example I EMERG AND rest of conditions EMERGEN If the external emergency input is activated or any other emergency occurs the general logic input EMERGEN of the CNC When there is no emergency this signal must remain high STOP M5001 When the PLC sets this signal low the CNC stops the part program and maintains spindle rotation In order to continue executing the program as well as setting this signal at a high logic level the general logic input CYSTART must be activated The treatment which this STOP signal receives is similar to that given to the STOP key on the CNC front panel keeping all the keys enabled even when the STOP signal is at low logic level 0 Example STOP There is always permission to execute the part program FEEDHOL M5002 When the PLC sets this signal low the CNC stops the axes maintaining spindle rotation When the signal returns to the high logic level the movement of the axes continues If the FEEDHOL signal is activated OV in a block without motion the CNC will continue the execution of the program until detecting a block with motion Example FEEDHOL There is always permission to move the axes XFERINH M5003 If the PLC sets this signal low the CNC prevents
319. he PLC in ten thousandths of a degree within 999999999 and from the CNC in degrees within 99999 9999 RPOSS R R R Real Spindle position Reading from the PLC in ten thousandths of a degree between 3600000 and 3600000 and from the CNC in degrees between 360 and 360 TPOSS R R R Theoretical spindle position Reading from the PLC in ten thousandths of a degree within 999999999 and from the CNC in degrees within 99999 9999 RTPOSS R R R Theoretical spindle position Reading from the PLC in ten thousandths of a degree between 0 and 3600000 and from the CNC in degrees between 0 and 360 PRGSP R R R Position programmed in M19 via program for the main spindle Variables related to the following error FLWES R R R Spindle following error PLC related variables Variable CNC PLC DNC PLCMSG R R Number of the active PLC message with the highest priority PLCIn R W 32 PLC inputs starting from n PLCOn R W 32 PLC outputs starting from n PLCMn R W 32 PLC marks starting from n PLCRn R W n Register PLCTn R W Indicated n Timer s count PLCCn RW Indicated n Counter s count PLCMMn R W Modifies the n mark of the PLC Variables associated with local and global parameters Variable CNC PLC DNC section 12 10 GUP n R W Global parameter P100 P299 n user parameter P1000 P1255 n OEM parameter P2000 P2255 n LUP a b R W Indicated l
320. he axes feed and the spindle rotation displaying the corresponding error message SPENAS M5462 DRENAS M5463 Main spindle The CNC uses these signals when communicating with the drive via CAN Every time the PLC sets one of these signals high the CNC lets the corresponding drive know about it These signals correspond to the speed enable and drive enable signals of the drive The drive manual describes how the two signals work however remember the following e Both signals must be initialized low when powering up the PLC e For normal drive operation both signals must be set high e A down flank trailing edge of the DRENA signal drive enable turns off the power circuit of the drive and the motor loses its torque In this situation the motor is no longer governed and it will stop when its kinetic energy runs out Stop by friction b e A trailing edge of the SPENA signal speed enable switches the internal velocity reference to 0 rpm and brakes the motor while maintaining its torque Once the motor has stopped the drive s power circuit is turned off and the motor has no torque PLCFM19 M5464 M19FEED R505 Main spindle The CNC only considers the signals for the currently selected spindle Spindle logic inputs The PLC uses the PLCM19 signal to indicate to the CNC the positioning and rapid synchronized speed value to assume when operating in closed loop M19 When this input is low the CNC assumes t
321. he dynamics of the machine ACCTIMET P81 PROGAINT P82 DERGAINT P83 FFGAINT P84 These parameters define the third set of gains and accelerations They must be set like the parameters that define the first set First set Second set Third set ACCTIME P18 ACCTIME2 P47 ACCTIMET P81 PROGAIN P23 PROGAIN2 P48 PROGAINT P82 DERGAIN P24 DERGAIN2 P49 DERGAINT P83 FFGAIN P25 FFGAIN2 P50 FFGAINT P84 To select the third set of gains and accelerations set g m p ACTGAINT P185 correctly or activate the CNC s general logic input ACTGAINT M5063 THREAOVR P85 When beginning to machine long threads on large lathes the part usually bends To prevent this itis possible to change the spindle override in the first passes This parameter affects canned cycles G86 and G87 while machining the thread Possible values Meaning 0 50 Maximum increment allowed via override switch Default value 0 the override cannot be varied while threading A value of 30 means that the override may be varied between 70 and 130 In spite of this the limits set for the spindle with spindle machine parameters MINSOVR P10 and MAXSOVR P11 can never be exceeded On the other hand it will not be possible to vary the override in the last threading pass it will be set to the value imposed in the previous threading pass Spindle machine parameter M19TYPE P43 must be set to 1 in order for the
322. he leadscrew at that point when moving in the positive direction Possible values Within 99999 9999 mm or 3937 00787 inches e The error of the leadscrew at that point when moving in the negative direction Possible values Within 99999 9999 mm or 3937 00787 inches For each axis position define the amount of error to be compensated in both directions If the amount of error in the negative direction is zero in all points it assumes that the amount of error defined for the positive direction is valid for both directions Leadscrew error compensation on rotary axes On rotary axes although the display is limited between 0 and 360 the internal count is accumulative When using leadscrew error compensation set positions 0 and 360 first and last point of the table with the same amount of error This way the CNC will apply the same compensation in all the revolutions Otherwise the compensation will be limited to the indicated field Installation manual Considerations and limitations When defining the profile points in the table the following requirements must be met e The axis points must be in sequential order starting from the most negative least positive point to be compensated e For those points outside the compensation zone the CNC will apply the compensation value corresponding to the table point closest to them e The amount of error of the machine reference point may have any value e The
323. he programmed feedrate that are due to acceleration deceleration AC forward ADVANCED Itis used in a digital drive system and provides a smoother and more stable adjustment of the machine Default value YES If the value of a m p ACFGAIN P46 is changed DERGAIN will have to be readjusted In the digital system a m p ACFGAIN P46 must be set to ADVANCED This parameter setting allows a smoother and more stable adjustment of the machine using a lot lower DERGAIN values than those used when a m p AFCGAIN P46 YES This is valid for axes and spindles All axes of the channel CNC or PLC must have the same value for a m p ACFGAIN P46 When setting ACFGAIN ADVANCED in an analog system it will be treated as AFGAIN YES ACFGAIN NO a FFGAIN o ved S Analog PROGAIN Je Soi g DERGAIN ACFGAIN YES FFGAIN DERGAIN gt PROGAIN REFSHIFT P47 This parameter is used when once the machine has been all set up it is necessary to reinstall the feedback system and the new machine reference point home no longer coincides physically with the previous one Itindicates the difference existing between the two reference points the previous one and the current one Possible values Within 838 8608 degrees or millimeters Within 33 026 inches I Default value 0 If this parameter has a value other
324. he spindle will keep turning in the same direction and at the speed indicated by s m p REFEED1 P34 Before completing the next 350 the spindle slows down to the speed indicated by s m p REFEED2 P35 From then on the home switch is detected while turning at REFEED2 speed and keeps moving until detecting the reference mark REFEED1 350 gt i i Some points to consider The first movement until the home switch is detected and the entire next process is carried out in the direction indicated by s m p REFDIREC P33 The home search may be started when the spindle is stopped or moving M3 or M4 If the home search starts when the spindle is stopped or it has to change its turning direction the transition from the starting speed SO to the one indicated by s m p REFEED1 will be made with a linear acceleration ramp If the home search starts when it is stopped and the home switch is pressed it will also turn one more revolution This type of spindle home search may be carried out with a CAN drive In order for it to work on CAN or analog spindles when there are several reference marks per revolution due to different gear ratios the reference mark must be managed with the DECELS signal ignoring the actual real reference mark signal For greater accuracy if the average cycle of the PLC exceeds 8 ms we recommend to manage the DECELS input at the PLC with a periodic cycle equal to or sho
325. he tapping cycle G84 Only for the mill o model wW ia 3 Enables disables the threading withdrawal in the rigid tapping cycle G84 Only for the 5 mill model do De Default value 0 a g E TAPTYPE P188 g 2 Rigid tapping without sending M functions to the PLC na If bit 0 of g m p TAPTYPE P188 1 the M3 M4 and M5 that are executed in rigid tapping will appear in the history but they are not sent to the PLC Since these M s are not sent to the PLC the dwells associated with them are eliminated and consequently the cycle will be faster Bit 0 Meaning 0 Regular rigid tapping 1 Rigid tapping and without sending M functions to the PLC Default value 1 MANTFCON P189 While executing in look ahead G51 some blocks of the program cause the feedrate to slow down almost to zero hence causing a square corner effect To avoid this effect when G05 or G51 have been programmed it is necessary to maintain the machining feedrate of the blocks that cause it To maintain the machining feedrate of these blocks and avoid the square corner effect change bit 0 of general machine parameter MANTFCON P189 This parameter has 16 bits counted from right to left bit 1514131211109 8 7 6 5 4 3 210 Beeman eee sO tO g0 8080 Bit 0 of g m p MANTFCON P189 Value Meaning 0 Motionless blocks are executed in square corner mode FAGOR 1 Motionless blocks maintain the feedrate and are not executed in square corner mode Default val
326. he value 0 to its T status and cancelling its count it initializes this to 0 Due to the fact that the timer is initialized it will be necessary to activate its trigger input to activate it again TEN Operation of the TEN input in this mode If once the timer has been activated TEN 0 the PLC interrupts the timing and TEN must be set to 1 to resume timing TEN j t f t i f DIRS a 7 5 4 Signal limiting mode TG4 Input In this operating mode the timer status is kept high T 1 from the moment the TG4 inputis activated until the time indicated by the time constant has elapsed or a down flank occurs at input TG4 TGA l S Yn L D e t E ce sr O v LU T l l oc O er o If the timer is initialized with values TEN 1 and TRS 0 the timer will be activated when a leading edge is produced at the TG4 input At that moment the timer status output T changes states T 1 and the timing starts from 0 TEN TRS je _ 6 _ zk Once the time specified by the time constant has elapsed timing will be considered as having finished The time status output T changes status T 0 and the elapsed time will be kept as a timer time value T If before the time specified by the time constant has ela
327. he value set by s m p REFEED1 P34 When this input is high the CNC assumes the value set by the spindle input register M19FEED R505 LOGIC CNC INPUTS AND OUTPUTS The M19FEED value is given in 0 0001 min PLCCNTL M5465 Main spindle The CNC considers these 2 signals at all times so both spindles can be controlled by the PLC This is used to tell the CNC that the spindle is controlled directly by the PLC high logic level It is used for example for oscillating the spindle during a gear change or for changing tools The following example shows how a new spindle speed is selected involving a gear change MINAENDW After analyzing the block and detecting the gear change the CNC indicates this to the PLC in one of the MBCD1 7 registers M41 to M44 and will activate the general logic output MSTROBE to tell the PLC that it must execute it The PLC will deactivate the logic input AUXEND to tell the CNC that the treatment of the auxiliary function is starting FAGOR 2 After calculating the value corresponding to the residual velocity command S for the gear change the PLC will indicate this to the CNC by means of the register SANALOG afterwards setting the signal PLCCNTL at a high logic level CNC 8037 At this time the CNC will output the velocity command indicated in the register SANALOG Once the requested gear change has been made the new active speed will be indicated to the CNC spind
328. heless and if required the PLC allows a different symbol to be assigned to them REA IMA Indicate to the PLC that the consultations defined below will be made on the real REA or image IMA values of I O M resources Counters timers and registers do not have image values so their real values will always be evaluated Action instructions 032 will always update the real values of PLC resources Example IMA Consultations will evaluate image values 11 AND 12 01 REA Consultations will evaluate real values IMA 13 AND REA M4 02 Evaluates the image of 13 and the real of M4 IMA I5 REA 03 Evaluates the image of 15 and the next ones in real IRD IREMRD Update the real values of the local inputs IRD and the remote ones IREMRD after reading the relevant physical inputs Care must be taken when using these instructions since the current real values of the inputs will be lost OWR OREMWR Update the local physical outputs OWR and the remote ones OREMWR with the current real values of the corresponding O resources MRD Updates the values of resources M5000 5957 and R500 559 with the values of the logic outputs of the CNC Care must be taken when using this instruction since the current values of those resources will be lost After executing this instruction the new values will match those of the logic outputs of the CNC internal variables MWR Updates the logic inputs of the CNC internal variab
329. his way When programming an X axis move the U axis will also move the same distance SYNCHRO P3 5 Not being used a v 5 DROAXIS P4 LU n E Indicates whether it is a normal axis or it only works as a Digital Read Out lo o Value Meaning lt 2 o NO It is a normal axis W YES It only works as a Digital Read Out Default value NO LIMIT P5 LIMIT P6 They set the travel limits for the axis positive and negative Each one of them indicates the distance from machine reference zero to the relevant travel limit Possible values Within 99999 9999 degrees or millimeters Within 3937 00787 inches Default value For LIMIT P5 8000 mm For LIMIT P6 8000 mm On linear axes if both parameters are set to 0 the travel limits will be ignored On the rotary axes act as follows e When both parameters are set to 0 the axis may be moved indefinitely in any direction rotary tables indexers etc e When working with positioning axes and Hirth axes try to program in incremental coordinates to avoid mistakes For example C axis with P5 0 P6 720 and the positioning axis in 700 340 on the screen when programming G90 C10 the CNC tries to move the axis via the shortest path 701 702 etc but it will issue an error message for overrunning the travel limits e If the travel of positioning axes and hirth axes is limited to less than a turn they cannot move via the shortest path e When the t
330. hmetic operations such as addition ADS subtraction SBS multiplication MLS division DVS and module or remainder of a division MDS Its programming format is ADS R1 559 R1 559 R1 559 SBS MLS DVS MDS Action instruction PLC PROGRAMMING The operands may be Registers CNC PLC communication registers and numbers within 2147483647 or between 0 and FFFFFFFF The result of the operation may be stored in a register or in CNC PLC communication register Examples with R100 1234 and R101 100 ADS R100 R101 R102 R102 1234 100 1334 SBS R100 R101 R103 R103 1234 100 1134 MLS R100 R101 R104 R104 1234 x 100 123400 DVS R100 R101 R105 R105 1234 100 12 MDS R100 R101 R106 R106 1234 MOD 100 34 ADS 1563 R101 R112 R112 1563 100 1663 SBS R100 1010 R113 R113 1234 1010 224 MLS 1563 100 R114 R114 1563 x 100 156300 DVS R100 1000 R115 R115 1234 1000 1 MDS 8765 1000 R116 R116 8765 MOD 1000 765 Ifa division by 0 is performed in the DVS operation the CNC stops the execution of the PLC program and it displays the corresponding error message FAGOR CNC 8037 SOFT V01 6x 330 9 5 5 Logic action instructions AND OR XOR To perform logic operations AND OR and XOR between register contents or between a register content and a number The result is always stored in a register Its progra
331. hrough it while the CNC is on D Use a USB extension cable to prevent undesired short circuits with the metal housing A of the USB The CNC recognizes the connected device as USB Hard Disk When itis connected it will be shown as lt USB hard disk gt on the left panel of the lt explorer gt To see its contents press the lt update gt refresh softkey Do not connect a multi hub USB adapter to connect several devices at the same time It will only recognize the first Pen Drive that is connected Nor will it recognize other types of devices such as keyboards mice recorders etc Within the USB device the CNC will only recognize files with extensions f55 software version fhw firmware update files part programs parameters tables pages screens and symbols The CNC will not recognize any other type of file Part programs cannot be edited or executed from the USB hard disk Installation manual Connecting the USB extension set supplied by Fagor 1 Connect the cable and the USB adapter Check that the seal and the nut of the USB adaptor are secured as shown in the figure USB adapter USB extension cable p Securing nut Seal 2 While the CNC is off connect the extension cable to the USB connector of the CNC USB extension cable USB adapter To connect USB devices
332. hru M4127 M4500 thru M4563 M4700 thru M4955 and M5000 thru M5957 will be executed with their real values even when working with image values since these marks have no image values Considering that these instructions can evaluate real and image values the following points must be taken into account The PLC updates the real values of the inputs at the beginning of the cycle taking the values of the physical inputs The image values of the inputs outputs and marks are updated after executing the program cycle 13 phy physical 13 13 rea real I3 13 ima image 13 SY Examples DFU 123 DFU B3R120 DFU AUXEND Comparison CPS PLC PROGRAMMING Consulting instructions Used to compare two operands checking whether the first one is greater than GT greater than or equal to GE equal to EQ not equal to NE smaller than or equal to LE or less than LT the second one The following may be used as operands Timers internal count Counters internal count Registers CNC PLC communication registers and numbers within 2147483647 or between 0 and FFFFFFFF The programming format of the different combinations is CPS T 1 256 GT T 1 256 C 1 256 GE C 1 256 R 1 559 EQ R 1 559 NE LE LT If the required condition is met the consulting instruction returns a logic value 1 and a 0 if otherwise Programming examples CPS C12 GT R14 M1
333. iable Consequently its value will be inthe 2147483647 range The PLC has 256 counter each of which has the C status output and CUP CDW CEN and CPR inputs It is also possible to consult the count value at any time CEN _ OPR N Feedback input CUP This input allows the counter count to be increased in a unit every time a leading edge is produced in it It is referred to by the letters CUP followed by the counter number for example CUP 1 CUP 25 CUP 102 etc Example 12 CUP 10 Every time a leading edge is produced at input 12 the counter count C10 will be increased Count down input CDW This input allows the counter count to be decreased in a unit every time a leading edge is produced in it It is referred to by the letters CDW followed by the counter number for example CDW 1 CDW 25 CDW 102 etc Example 13 CDW 20 Every time a leading edge is produced at input 13 the counter count C20 will be decreased S Counters PLC RESOURCES FAGOR 2 CNC 8037 SOFT V01 6x 301 PLC RESOURCES Counters FAGOR CNC 8037 SOFT V01 6x 302 Enable input CEN This input allows the internal counter count to be stopped Itis referred to by the letters CEN followed by the counter number for example CEN 1 CEN 25 CEN 102 etc In order to be able to modify the internal count by means of the inputs CUP and CDW this input must be at logic level 1 By defaul
334. ible values Integer numbers between 0 and 255 Default value 0 While probing the CNC always takes into account the value assigned to parameter PRODEL and provides the following information variables associated with the coordinates TPOS Actual position of the probe when the CNC receives the probe signal DPOS Theoretical position of the probe when the probe touched the part With PRODEL 0 the DPOS variable has the same value as the TPOS variable MAINOFFS P107 Indicates whether the CNC maintains the tool offset number D on power up and after an EMERGENCY or RESET Value Meaning 0 It does not maintain it It always assumes offset DO 1 It maintains it Default value 0 ACTGAIN2 P108 FAGOR 2 The axes and the spindle can have 3 sets of gains and accelerations By default the CNC always assumes the first set indicated by the parameters of the axis or of the spindle ACCTIME PROGAIN CNC 8037 DERGAIN and FFGAIN Parameter ACTGAIN2 indicates when the CNC assumes the second set of gains and accelerations indicated by the parameters of the axis or of the spindle ACCTIME2 PROGAIN2 DERGAIN2 and FFGAIN2 SOFT V01 6x 107 MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 108 This parameter has 16 bits counted from right to left bit 15 14 13 121110 9 8 7 6 5 4 3 2 10
335. icate with a computer via DNC through the RS232C serial line In this way a computer can access the PLC carrying out e Transfer and reception of the user PLC program e Monitoring of the user PLC program e Monitoring of PLC resources e Consultation or modification of PLC resources e Execution of PLC commands compile execute etc Etc The DNC manual can be applied for from the Commercial Department of Fagor Automation CNC PLC COMMUNICATION Access to the PLC from a PC via DNC oh FAGOR 2 CNC 8037 SOFT V01 6x 345 Installation manual ONG BIA Od WO1 OTd 24 0 SSA n O NOLLVOINNININOD D1d ONI T N m co O O SOFT V01 6x 346 LOGIC CNC INPUTS AND OUTPUTS Physical inputs and outputs are the names given to the set of inputs and outputs of the CNC system which being controlled by the PLC communicate with the outside through CNC connectors The CNC also has a series of logic inputs and outputs for the internal exchange of information with PLC marks and registers This type of marks do not have images on the PLC Each of these CNC logic inputs and outputs may be referred to with the corresponding PLC resource or with their associated mnemonic Mnemonics which begin with indicate that the signal is active low 0 V For example M5000 EMERGEN M5104 MIRROR1 M5016 AUXEND M5507 ALARM All the mnemonics refer to their associated variable it being necessary to use the NOT o
336. icated in the corresponding parameter These interruption subroutines do not change the nesting level of local parameters thus only global parameters must be used in them MACHINE PARAMETERS General machine parameters Once the CNC completes the execution of the subroutine it will continue running the original program Possible values Integer numbers between 0 and 9999 Default value 0 no associated subroutine PRBPULSE P39 Indicates whether the probe functions of the CNC react to the up flank leading edge or down flank trailing edge of the signals provided by the probes connected through connector X3 Value Meaning sign Positive pulse 24 V or 5 V sign Negative pulse 0 V Default value sign PRBXMIN P40 PRBXMAX P41 PRBYMIN P42 PRBYMAX P43 PRBZMIN P44 PRBZMAX P45 Indicate the position of the tabletop probe used for tool calibration These position values must be absolute and with respect to machine reference zero home If a lathe model CNC these values must be in radius A A FAGOR PRBZMAX Yj PRBYMAX Yj 7 CNC 8037 PRBZMIN 7 PRBYMIN PRBXMIN PRBXMAX mx PRBXMIN PRBXMAX mx PRBXMIN Probe s minimum X coordinate PRBXMAX Probe s maximum X coordinate PRBYMIN probe s minimum Y coordinate PRBYMAX Probe s maximum Y coordinate PRBZMIN Probe s minimum Z coordinate PRBZMAX Probe s maximum Z coordinate SOFT V01 6x
337. ify the units of the variables see the drive manual The type of information available and its associated identifiers are Type of information Identifier DA1Value 34176 DA2Value 34177 DigitalOutputsValues O AB VelocityCommand 00036 The VelocityCommand variable can be modified for the axes that have been selected as DRO axes by a m p DROAXIS P4 or via PLC by activating the logic CNC axis input DRO1 2 3 Si CONCEPTS Digital CAN servo FAGOR CNC 8037 SOFT V01 6x 259 CONCEPTS Digital CAN servo FAGOR CNC 8037 SOFT V01 6x 260 Service channel The service channel can only be accessed through a high level block of a part program a PLC channel or a user channel All variables can be accessed except the string type appearing in the drive manual e Reading and writing from a part program or from a user channel Read P SVARaxis Write SVARaxis P Example P110 SVARX 40 It assigns to parameter P110 the value of the X axis variable with the identifier 40 which corresponds to VelocityFeedback e Reading and writing from the PLC channel Read CNCEX P SVARaxis M1 Write CNCEX SVARaxis P M1 Example CNCEX SVARX 100 P120 M1 It assigns the value of parameter P120 to the X axis variable with identifier 100 VelocityProportionalGain Installation manual 6 11 2 Drive s absolute feedback
338. igns a 1 to the resource If the result of evaluating the logic expression is a 1 it assigns a 1 to the indicated resource If the result is 0 it does not change the resource Action instruction Example CPS T2 EQ 100 SET B0R100 When the timing of timer T2 reaches 100 milliseconds it sets bit 0 of register R100 to 1 PLC PROGRAMMING RES If expression 1 it assigns a 0 to the resource If the result of evaluating the logic expression is a 1 it assigns a 0 to the indicated resource If the result is 0 it does not change the resource Example 112 OR NOT 122 RES M55 NOT RES M65 When the result of the logic expression isa 1 the PLC sets M55 0 but does not change M65 When the result of the logic expression is a 0 the PLC sets M65 0 and does not change M55 CPL If expression 1 it complements the resource If the result of evaluating the logic expression is a 1 it complements the status of the indicated resource If the result is 0 it will not change the resource Example DFU I8 OR DFD M22 CPL B12R35 Every time an Up Flank leading edge is detected at input 18 or a down flank trailing edge in mark M22 the PLC will complement the status of bit 12 of register R35 FAGOR 2 CNC 8037 SOFT V01 6x 327 9 5 3 Sequence breaking action instructions These actions interrupt the sequence of a program resuming it somewhere else in the program That area must be identified
339. ile executing the PLC cycle CNC 8037 SOFT V01 6x 453 Summary of PLC commands FAGOR CNC 8037 SOFT V01 6x 454 Simple consulting instructions I 1 512 Inputs O 1 512 Outputs M 1 5957 Marks T 1 512 Timers C 1 256 Counters B 0 31 R 1 499 Register bit Flank detection instructions DFU Up flank detection 11 512 DFD Down flank detection O 1 512 M 1 5957 Comparing instructions CPS T 1 256 GT T 1 256 C 1 256 GE C 1 256 R 1 559 EQ R 1 559 NE LE LT Operators NOT Inverts the result of the consulting instruction it precedes AND Performs the logic function AND between consulting instructions OR Performs the logic function OR between consulting instructions XOR Performs the logic function EXCLUSIVE OR between consulting instructions Assignment binary action instructions 1 512 Inputs O 1 512 Outputs M 1 5957 Marks TEN 1 256 Timer enable TRS 1 256 Timer reset TGn 1 256 n R Timer trigger input CUP 1 256 Counter count up CDW 1 256 Counter count down CEN 1 256 Counter enable CPR 1 256 n R Counter preset B 0 31 R 1 499 Register Bits Conditional binary action instructions SET If the logic expression is 1 this action assigns a 1 to the resource RES If the logic expression is 1 this action assigns a 0 to the resource CPL If the logic expression is 1 this action complements
340. ill be Max Feed 20 um pulse x 250 000 pulses s Max feedrate 5 000 mm s 300 m min When using Fagor linear encoders the maximum feedrate is limited by their own characteristics to 60 m min CONCEPTS FAGOR CNC 8037 SOFT V01 6x 217 Nn aie a a Oa gt x Oo 2 o S ne oO FAGOR CNC 8037 SOFT V01 6x 218 Example 5 Resolution in inches with squarewave encoder Calculate the necessary squarewave encoder line count and parameter settings to obtain a 0 0001 inch counting resolution on a 4 pitch ballscrew 4 turns inch 0 25 inch rev Since the CNC applies a x4 multiplying factor to squarewave signals we would require an encoder that provides the following number of pulses lines per turn Nr of pulses ballscrew pitch multiplying factor x Resolution Nr pulses 0 25 4 x 0 0001 625 pulses turn Therefore INCHES 1 PITCH 0 25000 NPULSES 625 SINMAGNI 0 Allthough the CNC accepts a maximum squarewave frequency of 400 kHz when using Fagor squarewave rotary encoders their output frequency is limited to 200 kHz thus the maximum possible feedrate F will be Max Feed 200 000 pulses s 625 pulses turn x 0 255 inch turn Max Feed 80 inches s 4800 inches min Example 6 Resolution in inches with sinusoidal encoder We would like to obtain a 0 0001 inch resolution by using a 250 line sinusoidal encoder mounted on a leadscrew with a 5 turns inch pitch
341. ill be activated In this case the PLC can issue a warning 6 6 2 Setting on systems without distance coded feedback Machine reference point The reference point must be adjusted on one axis at a time The following procedure is recommended Indicate in the a m p REFPULSE P32 the type of marker pulse lo being used for Home Search Likewise seta m p REFDIREC P33 to indicate the direction of the axis when searching Home On the other hand set a m p REFEED1 P34 that defines the approach feedrate of the axis until the home switch is pressed and a m p REFEED2 P35 that indicates the homing feedrate until the reference mark marker pulse is detected The machine reference point will be set to 0 a m p REFVALUE P36 Once in the JOG mode and after positioning the axis in the right area start homing the axis When done the CNC will assign a 0 value to this point After moving the axis to the Machine Reference Zero or up to a known position with respect to Machine Reference Zero observe the position reading of the CNC for that point This will be distance from the Machine Reference Zero to that point Therefore the value to be assigned to a m p REFVALUE P36 which defines the coordinate corresponding to the Machine Reference Point physical location of the marker pulse REFVALUE Machine coordinate CNC reading Example If the point whose known position is located 230 mm from Machine Reference Zero and
342. ime constant is stored in a 32 bit variable and so its value can be between 0 and 4294967295 milliseconds which is equivalent to 1193 hours almost 50 days The PLC has 512 timers each of which has T status output and TEN TRS TG1 TG2 TG3 and TG4 inputs Itis also possible to consult at any moment the time which has elapsed from the moment it was activated EN T T1 512 G1 D gt Enable input TEN This input allows the timing of the timer to be stopped It is referred to by the letter TEN followed by the number of the timer which is wished to reference for example TEN 1 TEN 25 TEN 102 etc So that the time elapses within the timer this input must be at level 1 By default and every time a timer is activated the PLC will assign this input a logic level of 1 If once the timer has been activated TEN 0 the PLC interrupts the timing and TEN must be set to 1 to resume timing Example I2 TEN 10 Input 12 controls the Enable input of timer T10 Reset input TRS This input allows the timer to be initialized by assigning the value 0 to its T status and by canceling its count it initializes this to 0 It is referred to by the letters TRS followed by the timer number it is wished to reference for example TRS 1 TRS 25 TRS 102 etc This initialization of the timer will be made when a transition of logic level from 0 to 1 leading edge is produce
343. in degrees Positioning only and or Hirth axes follow the shortest path when programmed in absolute G90 In other words if its current position is 10 and its target position is 350 the axis will go through 10 9 352 351 350 See 6 1 Axes and coordinate systems on page 197 DFORMAT P1 Indicates the work units radius or diameter and the display format used for the axis Value Work units Data format degrees mm inch 0 radius 5 3 5 3 4 4 1 radius 4 4 4 4 3 5 2 radius 5 2 5 2 5 3 3 radius It is not displayed 4 diameters 5 3 5 3 4 4 5 diameters 4 4 4 4 3 5 6 diameters 5 2 5 2 5 3 GANTRY P2 Indicates if it is a Gantry axis which axis is this one associated with This parameter is to be set only on the slaved axis according to the following code FAGOR Value Meaning Value Meaning 0 Not Gantry 5 With the V axis CNC 8037 1 With the X axis 6 With the W axis 2 With the Y axis 7 With the A axis 3 With the Z axis 8 With the B axis 4 With the U axis 9 With the C axis SOFT V01 6x Default value 0 it is not Gantry The position of the Gantry axis is displayed next to its associated axis unless machine parameter DFORMAT P1 3 131 Example If the X and U axes form a Gantry pair the U axis being the slave axis program as follows Parameter GANTRY P2 for the X axis 0 Parameter GANTRY P2 for U axis 1 associated with X axis T
344. in the SMAX field The speed limits entered via CNC PLC PLCSL and DNC DNCSL keep the same functionality and priority and are not affected by the MDISL variable in other words the CNC also limits the spindle speed with these variables Management via PLC To comply the safety regulation we recommend to manage from the PLC the variables associated with speed limit as shown in the following example It applies the following restrictions e A new part program cannot be executed without previously entering the spindle speed limit Otherwise an error message will be issued When repeating the execution of the program the speed limit needs not be entered it must only be entered when executing the program for the first time e While executing a program if a new limit is entered in MDI it replaces the previous one e Inindependent MC or TC cycles itis not required to enter the SMAX because it is already defined in each cycle e If the program being executed has a G92 function the program will only be valid if the value defined in G92 is smaller than the one programmed by MDI e When having two main spindles the speed limit entered will be valid for both PLC programming example PRG REA CNCRD OPMODA R100 M1000 Reading of the OPMODA variable BOR100 AND INCYCLE M100 Indicator of program in execution DFU M100 CNCRD PRGN R101 M1000 CNCRD MDISL R102 M1000 At the beginning of the execution it reads the program
345. in the tool offset table TOKn This variable allows the value assigned to the wear in length K of the indicated tool offset n to be read or modified in the tool offset table SOFT V01 6x 385 ACCESS TO INTERNAL CNC VARIABLES N Variables associated with tools FAGOR CNC 8037 SOFT V01 6x 386 Read and write variables of the lathe model TOXn This variable allows reading or modifying the length value along the X axis assigned to the indicated tool offset n CNCRD TOX3 R100 M102 Loads R100 with the length value along X of the tool offset 3 CNCWR R101 TOX3 M101 Assigns the value indicated in R101 to the length along X of tool offset 3 TOZn This variable allows reading or modifying the length value along the Z axis assigned to the indicated tool offset n TOFn This variable allows reading or modifying the location code F of the indicated tool offset n TORn This variable allows reading or modifying the radius R value of the indicated tool offset n TOIn This variable allows reading or modifying the length wear value 1 along the X axis of the indicated tool offset n TOKn This variable allows reading or modifying the length wear value K along the Z axis of the indicated tool offset n NOSEAn This variable allows reading or modifying the cutter angle assigned to the indicated tool n in the tool table NOSEWn This variable allows reading or modifying
346. indles can be controlled by the PLC When the PLC sets this signal high the CNC reverses the programmed spindle turning direction If while being this signal high a block containing an M3 or M4 is executed the spindle will start turning in the opposite direction SMOTOFS M5455 Main spindle The SMOTIME P46 filter set for the spindle with parameter P46 can be canceled from the PLC This SMOTIME filter will be activated or deactivated at the beginning of the block If one of these logic inputs is activated or deactivated while the CNC is overlapping blocks being executed in round corner it will be ignored until that operation is finished FAGOR CNC 8037 SOFT V01 6x 362 SERVOSON M5457 Main spindle These signals are controlled by the PLC and the CNC will process them only when the spindle is working in closed loop M19 Its treatment depends on the value assigned to s m p DWELL P17 DWELL 0 If s m p DWELL P17 has been set to 0 the CNC will check the status of the SERVOSON signal at the time when the ENABLE signal is to be output If the SERVOSON signal is high the CNC will allow the spindle to rotate by activating the ENABLE signal and providing the required velocity command output b SERVOSON E E a an __ 1 ENABLE signal a sass ssecs CONSIGNA si On the other hand if the SERVOSON signal is low or if it changes to low during the rotation of the spindle the CNC wi
347. ing ACTGAINT 1000 0000 0001 0000 and ACTGAIN2 0000 0000 0000 0000 the CNC applies the third set to all the axes and the spindle whenever function G1 or the JOG mode is selected Considerations to bear in mind The change of gains and accelerations is always made at the beginning of the block When working in round corner G5 the change does not take place until GO7 is programmed Example 1 Example 2 G2 X10 Y10 110 JO Set 1 G05 G2 X10 Y10 110 JO Set 1 G1 X20 Set 2 G1 X20 Set 1 G3 X30 Y20 10 J10 Set 1 G3 X30 Y20 I0 J10 Set 1 G1 Y30 Set 2 G7 G1 Y30 Set 2 The gains and accelerations may also be changed from the PLC To do that there is a general logic CNC input ACTGAINT M5063 Every time this input is activated the CNC selects the third set of gains and accelerations regardless of the active operating mode or function FAGOR 2 CNC 8037 SOFT V01 6x 127 RETRACTE P186 Enables or disables the various retracting options for drilling or mill type threading O Value disabled 1 Value enabled Bit Meaning 0 Enables disables the threading withdrawal in the threading cycles G86 and G87 Only for the lathe model 1 Enables disables the threading withdrawal in the drilling cycles G69 G81 G82 and n G83 Only for the mill model n 2 Enables disables the threading withdrawal in t
348. ion Bit Meaning 0 Not being used 1 It is not possible to access cycles or programs from the auxiliary screen 2 5 Not being used 6 It shows the coolant icon 7 It enables the option to select roughing or finishing 8 Enables the possibility of defining the thread pitch as number of threads per inch 9 It enables the option to program variable pitch threads 10 Enables zig zag penetration by the flanks lathe only 11 Enables the option for repairing part of a thread lathe only 12 Enables the option for repairing threads with multiple entries or starts lathe only 13 15 Not being used Default value in all the bits except bit 7 0 Default value of bit 7 1 Bit 1 It is not possible to access the cycles or the programs from the auxiliary screen This bit indicates whether it allows bit 0 or not bit 1 access the cycles and programs from the auxiliary screen With restricted access the program selected for execution cannot be removed either with CLEAR Bit 6 It shows the coolant icon This bit indicates whether the coolant icon is displayed bit1 0 or hidden bit1 1 in the cycles of the MC TC model Bit 7 It enables the option to select or unselect roughing or finishing This bit indicates whether the roughing or finishing operation may be selected bit 1 or not bit 0 Bit 8 Enables the possibility of defining the thread pitch as number of threads per inch This bit enables bit 0 or disables bit01
349. ion channel The CNC offers a parallel execution channel to execute commands received from the PLC This channel will have its own history and it permits the execution of blocks programmed from the PLC regardless of the operating mode being selected at the CNC at the time When the CNC receives a command from the PLC and it is executing another command received earlier it will store the new one in an internal buffer This new command will be executed after finishing the one being executed The internal buffer can store up to 3 commands received from the PLC besides the one currently in execution 13 1 1 Considerations Screen editor The a m p AXISTYPE of each axis of the machine must be set properly indicating whether that axis is controlled by the CNC or from the PLC The axes of the PLC channel can only be governed from the PLC They may be edited and part programs may be generated with axes of the PLC channel This permits generating part programs or subroutines associated with the PLC channel It issues an error message when trying to execute from the CNC channel a program block that includes a PLC axis When all the axes of the machine are set to be governed from the CNC with the CNCEX action only blocks programmed in high level language may be executed through the PLC execution channel Axis control To govern axes managed by PLC use the following marks associated with Feed hold and Transfer Inhibit FEEDHO
350. ion value displayed by the CNC is the distance from the current point to the origin of the linear encoder 5 Perform several consecutive home searches and observe the CNC display during the whole process The counting must be continuous If it is not if jerky set a m p IOTYPE P52 2 and repeat steps 4 and 5 6 Move the axis up to the Machine Reference Zero or up to a point whose position with respect to Machine Reference Zero is already known and observe the position value displayed by the CNC This value is the distance from the current point to the origin of the linear encoder 7 The value to be assigned to a m p ABSOFF P53 must be calculated with the following formula ABSOFF P53 CNC reading Machine coordinate Example If the point whose position is already known is located 230 mm from Machine Reference Zero and the CNC shows 423 5 mm as the position for this point the linear encoder offset will be ABSOFF P53 423 5 230 653 5 mm 8 After allocating this new value press SHIFT RESET or turn the CNC off and back on in order for the CNC to assume this new value 9 Home the axis again in order for it to assume the new correct reference values Considerations If the axis is positioned beyond the software limits LIMIT P5 and LIMIT P6 it mustbe brought back into the work area within those limits and on the proper side for referencing home searching When using distance coded linear encoders
351. irst set FAGOR 2 First set Second set Third set ACCTIME P18 ACCTIME2 P47 ACCTIMES P55 PROGAIN P23 PROGAIN2 P48 PROGAINS P56 DERGAIN P24 DERGAIN2 P49 DERGAINS P57 FFGAIN P25 FFGAIN2 P50 FFGAINS P58 CNC 8037 SOFT V01 6x 169 MACHINE PARAMETERS Spindle parameters FAGOR CNC 8037 SOFT V01 6x 170 Possible values The same as for the first gear Default value For ACCTIME3 P55 4000 ms For PROGAINS P56 50 mV degree For DERGAINS P57 0 For FFGAIN3 P58 100 When working with FFGAIN3 P58 100 set the MAXGEAR and MAXVOLT parameters properly ACCTIME4 P59 SECACESP P60 SYNCPOLA P61 Not being used CONCLOOP P62 It indicates whether the spindle operates in closed positioning loop as if it were an axis or not Value Meaning NO It operates in open loop YES It operates in closed position loop as if it were an axis Default value NO In order to operate in closed positioning loop the spindle must have an encoder and a good servo system for the full speed range When working with M19 the first two sets of gains and accelerations are used regardless of the value given to this parameter When working in closed positioning loop M3 M4 M5 the third set of gains and accelerations is used ACCTIME3 PROGAIN3 DERGAIN3 and FFGAINS SYNMAXSP P63 M3M4SIM P64 Not being use
352. is determined by the machine builder and can be introduced either from the CNC s keyboard or via the CNC s two serial ports First the general machine parameters must be set since they determine the machine axes There are some parameters to indicate whether the machine has cross compensation or not This compensation table will be generated by the CNC from the values assigned to those parameters The general machine parameters also determine the number of elements at the tables for tools tool magazine tool offsets and M functions miscellaneous The axes parameters will define the leadscrew compensation tables and they will only be generated for those axes which require them er Te__ r rr rs sscroer SSS sesti stored at each drive The CNC does not have parameters of the drive although their copies may be stored in the hard disk KeyCF ti When selecting the drive parameters at the CNC it is possible to display and modify the parameters Sl MACHINE PARAMETERS FAGOR 2 CNC 8037 SOFT V01 6x 85 MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x VERIFICATIONS BEFORE STARTUP In order for the CNC to perform properly after a setup check that the following machine parameters have been set with proper values This is very important for safety reasons because if those values are not the right ones the machine s performance could be deficient General machine parameters PRODEL P106 This param
353. is not affected by G02 and G03 Default value NO BLOCKDLY P22 It indicates the delay between motion blocks when operating in G7 Square corner This dwell can be very useful when some devices have to activated after the execution of each block Possible values Integers between 0 and 65535 ms Default value 0 there is no delay NTOOL P23 Indicates the number of tools in the tool magazine On the other hand the CNC adjusts the length of the tool table to that value Possible values Integer numbers between 0 and 255 Default value 100 NPOCKET P24 Indicates the number of pockets in the tool magazine On the other hand the CNC adjusts the length of the tool magazine table to that value Possible values Integer numbers between 0 and 255 Default value 100 for the M model Default value 0 for the T model Sl MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 95 RANDOMTC P25 Indicates whether the tool magazine is random or not e On a random magazine the tools may occupy any position pocket If this machine parameter is set for random magazine g m p TOFFMO06 P28 must be set for machining center e On a non random magazine the tool always occupies its own pocket The magazine position number is the same as the tool number Value Meaning 5 YES It is a random tool magazine n NO It is not a random tool magazine Default value NO D
354. is parameter indicates the maximum axis feedrate when activating the EXRAPID mark and when pressing the rapid key in execution or in simulation with motion A m p FRAPIDEN P85 must be set with a proper value other than 0 Spindle parameters FBACKAL P15 This parameter indicates whether the feedback alarm for the spindle will be ON or OFF S m p FBACKAL P15 must be set to ON MAXFLWE1 P21 This parameter indicates the maximum following error allowed for the spindle when moving in closed loop M19 The value of s m p MAXFLWE1 P21 must be slightly higher than the amount of following error lag in GO MAXFLWE2 P22 This parameter indicates the maximum following error allowed for the spindle when stopped in closed loop M19 The value of MAXFLWE2 P22 must be snug i e the value must not be too large SLIMIT P66 This parameter sets the maximum safety limit for the spindle speed S m p SLIMIT P66 must be set with a proper value other than 0 PLC Parameters WDGPRG P0 This parameter sets the Watchdog time out period for the main PLC program PLC m p WDGPRG PO must be set with a proper value Sl MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 87 Installation manual WDGPER P1 This parameter sets the Watch Dog time out period for the periodic module of the PLC Only if a periodic subroutine has been defined PLC m p WDGPER P1 must be set with a proper value MACHINE PARAMET
355. is to be closed they will be processed by the CNC according to the value given to machine parameter DWELL P17 for the axes b DWELL 0 When a m p DWELL P17 for the axis to be moved is set to 0 the CNC will check the status of n d the SERVOON signal at the time when the ENABLE must be output a a 5 Cra o 2 i i i i ERROR a 2 SERVOON S eae eae l ze sa ENABLE signal PS oe pe ai Gi einem gt zZ CONSIGNA es e 9 O S Oo If the SERVOON signal is high the CNC allows the movement of this axis by activating the ENABLE 9 signal and providing the required velocity command output On the other hand if the SERVOON signal is low or if it changes during the movement of the axes the CNC stops the axes feed and the spindle rotation displaying the corresponding error message DWELL lt gt 0 When a m p DWELL P17 for the axis to be moved is set to other than 0 the CNC will check the status of the SERVOON signal at the time when the ENABLE must be output When this signal SERVOON is high the CNC allows the movement of the axis by activating the ENABLE signal and providing the required velocity command output On the other hand ifthe SERVOON signal is low the CNC activates the ENABLE signal and after waiting for a time period indicated in DWELL it checks again the status of the SERVOON signal If it is high the required spindle velocity
356. it 8 Block in execution via CNCEX1 Bit 9 Block via CNCEX1 interrupted Bit 10 CNC ready to accept JOG movements jog handwheel teach in inspection Bit 11 CNC ready to receive the CYCLE START command execution simulation and MDI modes Bit 12 The CNC is not ready to execute anything involving axis or spindle movement FAGOR 2 Bit 13 It identifies the block search CNC 8037 SOFT V01 6x 405 ACCESS TO INTERNAL CNC VARIABLES N Operating mode related variables FAGOR CNC 8037 SOFT V01 6x 406 OPMODB Installation manual Indicates the type of simulation currently selected This information is given at the least significant bits indicating with a 1 the one currently selected Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 OPMODC Theoretical path G functions GM ST functions Main plane Rapid Rapid S 0 Indicates the axes selected by handwheel This information is given at the least significant bits indicating with a 1 the one currently selected Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8 Axis 1 Axis 2 The axis name corresponds to the number according to the programming order for them Example If the CNC controls the X and Z axes axis1 X axis2 Z 12 12 Other variables Read only variables NBTOOL Indicates the tool number being managed This variable can only be used within the tool change subroutine Example There is a manual tool changer Tool T1 is cur
357. it should only be used when working with acceleration deceleration Between 0 and 100 99 numbers with two decimals Default value 0 feed forward gain not applied a Axis parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 137 Installation manual The best adjustment is achieved when the following error is minimized as much as possible but without changing its sign maintaining the moving direction of the axis The scale for the following error is 10um per square e Proper adjustment with Feed forward Actual Feed 5 n L T o o GE SG da cc n lt ew a lt Lu zZ Actual Feed I 8 lt Following Error E LOOPCHG P26 Indicates the sign of the velocity command If correct leave it as is but to change it select YES if it was set to NO and viceversa NO YES Default value NO When controlling two axes with a single servo drive the direction of the analog command must be set on both axes MINANOUT P27 Indicates the minimum velocity command for the axis It is given in D A converter units and it admits integer values between 0 and 32767 which corresponds to an analog command of 10V Default value 0 FAGOR MINANOUT Minimum velocity command CNC 8037 a 3277 1V 32767 10 V SOFT V01 6x 138 SERVOFF P28 Defines the velocity command offset value for the drive Possible values It is given in D A converter units and it admits integ
358. itioning coordinate F Feedrate for the movement CNC 8037 SOFT V01 6x 423 AXES CONTROLLED FROM THE PLC GO PLC execution channel FAGOR CNC 8037 SOFT V01 6x 424 Installation manual Subroutine SUB1 can be programmed as follows SUB 1 P100 G P101 U P102 F Data transfer to global parameters PLCM1000 PLCM1000 OR 1 Execution command for the PLC RET The PLC program in turn will have to contain the following instructions M1000 CNCEX G90 GP100 UP101 FP102 M111 When mark M1000 is active it sends the indicated block to the CNC NOT M111 RES M1000 If the CNC accepts this block it resets mark M1000 13 2 Action CNCEX1 The CNCEX1 action is executed via main channel of the CNC and as long as the JOG keyboard is enabled Its execution can be interrupted by pressing CYCLE STOP or even canceled by pressing RESET Ifa CNCEXI action is received when the JOG keyboard is disabled the CNC ignores this command The block to be executed must be written in the programming format of the CNC itself Any type of block can be sent which is edited in ISO or high level language It admits preparatory functions auxiliary functions calls to subroutines etc 2 Action CNCEX1 AXES CONTROLLED FROM THE PLC FAGOR 2 CNC 8037 SOFT V01 6x 425 Installation manual Action CNCEX1 AXES CONTROLLED FROM THE PLC GO FAGOR CNC 8037 SOFT V01 6x 426 PLC PROGRAMM
359. ive cycles of a same program as the conditions under which they are executed are not the same Cicle i Cicle i 1 Cicle i 2 Cicle i 3 ja rie rl gt Cicle time pic m p WDGPRG PO sets the maximum cycle execution time This is called WATCH DOG time and if a cycle is executed which lasts longer than 1 5 times this time or two cycles are executed one after the other taking longer than this time period the CNC will display the WATCH DOG error of the main module WATCH DOG error This way the execution of cycles that due to their duration disturb the operation of the machine can be prevented and the PLC can be prevented from executing a cycle which has no end due to a programming error Installation manual 8 4 Modular structure of the program The program to be executed by the PLC consists of a series of modules which are appropriately defined by means of directing instructions The modules which can make up the program are e Main module PRG e Periodic execution module PE e First cycle module CY1 Each module must begin with the directing instruction which defines it PRG PE CY1 and end with the directing instruction END Should the main program contain the main module only it is not necessary to place the instructions PRG and END Modular structure of the program 00 INTRODUCTION TO THE PLC FAGOR 2 CNC 8037 SOFT V01 6x 311
360. ive handwheel is activated and deactivated with PLC signal MANINT ADIMPRES P177 Resolution of the additive handwheel Value Meaning 0 0 001 mm or 0 0001 inch 1 0 01 mm or 0 001 inch 2 0 1 mm or 0 01 inch Default value 0 These values are only applied when bit 12 of parameter ADIMPG has been set to 1 SERCDEL1 P178 SERCDEL2 P179 Not being used EXPLORER P180 It sets how to access the explorer Value Meaning 0 Itis accessed using the explorer softkey of the utilities execute simulate or edit modes 1 It is accessed directly from the utilities execute simulate or edit modes Default value 1 REPOSTY P181 It allows selecting the repositioning mode Value Meaning 0 It activates the basic repositioning mode 1 It activates the extended repositioning mode Default value 1 MAXOFFJ P182 This parameter indicates the maximum incremental value allowed for Y axis wear compensation it is programmed in mm or in inches Default value 0 5 SI MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 125 MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 126 ISOSIMUL P183 In the conversational mode of the CNC it is possible to generate an ISO coded program with some basic G functions as well as M and T functions from an operation cycle or on a part program This parameter identifies the number of the ISO
361. ks while transmitting data Green LED On while connected to the network Use a standard shielded 10BASE T cable for this connection It must not be longer than 100 meters Once the connection to Ethernet has been configured the following types of connections are possible e PC connection through WinDNC it requires WinDNC version 4 0 or higher e Connection from a PC through an FTP client e Connection to a remote hard disk Remote hard disk The Ethernet connection may be used to use a PC directory server as a hard disk This memory space may be shared by several CNC s or each may have its own memory space The interface and the softkeys of the CNC will the same as if it were a local hard disk When accessing the CNC through WinDNC or FTP the remote hard disk behaves like a local hard disk The remote hard disk is configured by machine parameters The PC that makes its hard disk server public must be connected to the local network at the PC that is used as server bal The NFS protocol is used to communicate with the remote hard disk This protocol must be available CNC CONFIGURATION CNC structure FAGOR 2 CNC 8037 SOFT V01 6x 45 CNC CONFIGURATION CNC structure FAGOR CNC 8037 SOFT V01 6x 46 CAN I Os Expansion of inputs and outputs remote I O The CAN bus connection allows connecting up to 4 remote modules to the central unit to expand the number of digital or analog inputs and
362. l N N R T u Yy n Xx Y Z SF CLEAR INS 7 5 file 14 lis e s a 1172 F1 Lia e eF o e S US i 2 on TI O a e mA z x w SPINDLE E i inno inn owt x ee Ls Jl sua JU Logic outputs of key status FAGOR 2 CNC 8037 SOFT V01 6x 467 Installation manual Logic outputs of key status FAGOR CNC 8037 SOFT V01 6x 468 KEY INHIBITING CODES Alphanumeric operator panel M T models a ES B8 Bo B24 B16 B8 BO FAGOR S R501 R501 R500 R500 R500 R500 B9 B1 B25 B17 B9 B1 R501 R501 R500 R500 R500 R500 m Be R504 B10 B2 B26 B18 B10 B2 R501 R501 R500 R500 R500 R500 R504 B11 B3 B27 B19 B11 B3 R501 R501 R500 R500 R500 R500 B4 R504 B12 B4 B28 B20 B12 B4 SEA R501 R501 R500 R500 R500 R500 B3 R504 B31 B30 B29 B21 B13 B5 ca R501 R501 R500 R500 R500 R500 B2 RS08 826 B25 B30 B22 B14 B6 R501 R501 R500 R500 R500 R500 R504 B29 B28 B31 B23
363. l ones Local physical inputs are the ones corresponding to the central unit Remote physical inputs are the ones corresponding to the remote modules FAGOR 2 CNC 8037 SOFT V01 6x 285 Outputs PLC RESOURCES FAGOR CNC 8037 SOFT V01 6x 286 7 2 Installation manual Outputs They are elements that let the PLC activate or deactivate the various devices of the electrical cabinet They are represented by the letter O followed by the output number which is desired to reference for example 01 025 0102 etc The PLC may control 512 outputs although when communicating with the outside world it can only access the physical ones Local physical outputs are the ones corresponding to the central unit Remote physical outputs are the ones corresponding to the remote modules Output O1 coincides with the emergency output of the CNC connector thus it must be kept high logic level 1 7 3 Marks These are elements capable of memorizing in one bit as if they were an internal relay information defined by the user their value being inalterable even when the power supply to the system is turned off This will be programmed by the letter M followed by the number of the mark which it is wished to reference for example M1 M25 M102 etc The PLC controls the following marks User marks M1 M2000 and M2049 M3999 5 Arithmetic flag marks M2003 MO g Clock marks M2009 M2024 SA zs Fixed status ma
364. lating the total surface FAGOR Power dissipated by the CNC The maximum power dissipated by the CNC is 55 W power supply not included CNC 8037 SOFT V01 6x 51 O O O Installation manual 2 1 Heat dissipation by natural convection Ta A Surface without paint A P A nn 1 5 AT 2 P Surface with smooth metallic enamel z P 57 AT HEAT DISSIPATION Heat dissipation by natural convection FAGOR CNC 8037 SOFT V01 6x 52 2 2 Heat dissipation by forced convection with inside fan Fan whose air flow is Q 13 6 m h facing down Surface without paint Ta A P Ti 5 6 AT P Surface with smooth metallic enamel P E SE A Fan whose air flow is Q 13 6 m h facing up Surface without paint et 5 8 AT Fan whose air flow is Q 30 m h facing down Surface without paint P 6 75 AT Surface with smooth metallic enamel P SEA Fan whose air flow is Q 102 m3 h facing down Surface without paint Ta A P Acce Ti 7 5 AT B Surface with smooth metallic enamel P a AAT HEAT DISSIPATION Heat dissipation by forced convection with inside fan N FAGOR CNC 8037 SOFT V01 6x 53 HEAT DISSIPATION Heat dissipation by air flow to the outside using a fan FAGOR CNC 8037 SOFT V01 6x 54 2 3 Heat dissipation by air flow to the outside using a fan Heat dissipation by
365. ld I 1 1024 one must understand that only the status of the unused inputs may be changed For example if physical inputs 11 through 132 are used only inputs 133 through 11024 may be changed s Action instruction PLC PROGRAMMING FAGOR CNC 8037 SOFT V01 6x 325 9 5 1 Binary assignment instructions They assign the value obtained from evaluating the logic expression 0 1 to the indicated resource 1 512 Inputs O 1 512 Outputs M 1 5957 Marks TEN 1 256 Timer enable 9 TRS 1 256 Timer reset n TGn 1 256 n R Timer trigger input S CUP 1 256 Counter count up z E CDW 1 256 Counter count down 2 CEN 1 256 Counter enable S 5 CPR 1 256 n R Counter preset z B 0 31 R 1 499 Register Bits a I3 TG1 4 100 Assigns the status of input 13 to the trigger input TG1 of timer T4 Thus an up flank at 13 will trigger the TG1 input of timer T4 12 OR 13 AND I4 OR NOT I5 AND 16 M111 It assigns to Mark M111 the value obtained in the evaluation of the Logic Expression 12 OR 13 AND 14 OR NOT I5 AND 16 FAGOR CNC 8037 SOFT V01 6x 326 9 5 2 Conditional binary action instructions There are 3 instructions SET RES and CPL that are used to change the status of the indicated resource Their programming format is SET 1 512 RES O 1 512 CPL M 1 5957 B 0 31 R 1 559 SET If expression 1 it ass
366. le CY1 in order to set the desired resources to their initial work conditions states Examples 112 ERA O5 12 If input 112 has a value of 1 the PLC will set to 0 outputs O5 thru 012 123 ERA C15 18 If input 123 1 the PLC presets counters C15 through C18 both included to 0 CNCRD CNCWR Access to the internal CNC variables Used to read CNCRD and write CNCWR the internal CNC variables Their programming format is CNCRD Variable Register Mark CNCWR Register Variable Mark The CNCRD action loads the contents of the variable into the register and the CNCWR action reads the contents of the register into the variable The internal CNC variables are described in the chapter on CNC PLC communication The mark is set to 1 at the beginning of the operation and it keeps its value until the end of the operation When requesting information on a nonexistent variable for example the position of an nonexistent axis it will show the relevant error message Examples CNCRD FEED R150 M200 FAGOR 2 Loads into register R150 the feedrate value selected at the CNC by means of function G94 CNCWR R92 TIMER M200 ere ree CNC 8037 It resets the clock enabled by the PLC with the value contained in register R92 SOFT V01 6x 333 Action instruction PLC PROGRAMMING FAGOR CNC 8037 SOFT V01 6x 334 Installation manual PAR It analyzes the type of parity of a register Its programming format is
367. le logic inputs GEAR1 to GEARA4 In order to give the control of the spindle back to the CNC the signal PLCCNTL must be set low SOFT V01 6x Finally the PLC will activate the logic input AUXEND once more to tell the CNC that the execution of the auxiliary function has been completed 365 11 Spindle logic inputs LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 366 SANALOG R504 Main spindle The CNC considers these 2 signals at all times so both spindles can be controlled by the PLC The PLC will indicate by means of this 32 bit register the spindle velocity command which the CNC must send out when it is controlled by the PLC SANALOG 32767 corresponds to an analog command of 10 V 10 32767 0 305185 millivolts of analog command correspond to SANALOG 1 This way for 4V of velocity command the following must be programmed SANALOG 4x32767 10 13107 For 4V of analog command the following must be programmed SANALOG 4x32767 10 13107 ELIMIS M5456 Main spindle If the PLC sets this signal high the CNC does not display the corresponding spindle but keeps controlling it Same as when setting a m p DFORMAT P1 4 This mark can be activated and deactivated at any time and it also cancels the feedback alarms which the machine parameter does not do 11 4 KEYDIS1 R500 KEYDIS5 R508 The PLC can individually inhibit the operation of the panel keys setting the corresponding
368. lected SBOUT M5511 The single block execution mode has been selected CUSTOM M5512 Selected work mode 0 M or T 1 TC INCYCLE M5515 The part program is being executed RAPID M5516 A rapid traverse is being executed G00 TAPPING M5517 A tapping cycle is being executed G84 THREAD M5518 A threading block is being executed G33 PROBE M5519 A probing movement is being executed G75 G76 ZERO M5520 A machine reference search is being executed G74 RIGID M5521 A rigid tapping block in execution Milling model RETRAEND M5522 Retrace function All possible blocks have been retraced CSS M5523 The G96 function is selected SELECTO M5524 Position selected at the front panel switch SELECT1 M5525 Position selected at the front panel switch SELECT2 M5526 Position selected at the front panel switch SELECT3 M5527 Position selected at the front panel switch SELECT4 M5528 Position selected at the front panel switch SELECT5 M5529 Position selected at the front panel switch SELECT6 M5530 Position selected at the front panel switch SELECT7 M5531 Position selected at the front panel switch SELECTOR R564 Position selected at the front panel switch m Summary of PLC inputs and outputs FAGOR CNC 8037 SOFT V01 6x 459 Summary of PLC inputs and outputs FAGOR CNC 8037 SOFT V01 6x 460 MSTROBE M5532 Indicates that the auxiliary M fu
369. lected axis X C FIZONE Status of work zone 5 FIZLO X C Lower limit of zone 5 along the selected axis X C FIZUP X C Upper limit of zone 5 along the selected axis X C Installation manual 12 5 Variables associated with feedrates Read only variables associated with the real actual feedrate FREAL It returns the CNC s real feedrate It takes into account the feedrate override and the acc dec of the machine In 0 0001 mm min or 0 00001 inch min units On Laser cutting machines it is recommended to use this variable to make the power of the Laser proportional to the actual feedrate at all times FREAL X C It returns the actual real CNC feedrate of the selected axis In 0 0001 mm min or 0 00001 inch min units FTEO X C It returns the theoretical CNC feedrate of the selected axis In 0 0001 mm min or 0 00001 inch min units Read only variables associated with function G94 FEED It returns the feedrate selected at the CNC by function G94 In mm minute or inches minute This feedrate may be indicated by program by PLC or by DNC the CNC selects one of them the one indicated by DNC has the highest priority and the one indicated by program has the lowest priority DNCF It returns the feedrate in mm minute or inches minute selected by DNC If it has a value of 0 it means that it is not selected PRGF It returns the feedrate in mm minute or inches minute selected by program If it has a valu
370. les with the current real values of resources M5000 5957 and R500 559 TRACE This instruction is used when working with the Logic Analyzer in order to capture data during the execution of the PLC cycle It must be born in mind that the logic analyzer performs a data capture at the beginning of each cycle PRG and PE after reading the physical inputs and updating the marks corresponding to the CNC logic outputs and just before starting the program execution Directing instructions PLC PROGRAMMING Use this instruction to carry out another data capture while executing the PLC cycle Example of how to use the TRACE instruction PRG TRACE Data capture TRACE Data capture TRACE Data capture END PE5 TRACE Data capture END The data capture in the execution of the trace in this program takes place e At the beginning of each PRG cycle e Every time the periodic cycle is executed every 5 milliseconds e 3 times while executing the PRG module e Once while executing the PE module This way by means of the TRACE instruction the data capture can be done any time especially at those program points considered more critical This instruction must only be used when debugging the PLC program and it should be avoided once the PLC program is fully debugged FAGOR 2 CNC 8037 SOFT V01 6x 321 PLC PROGRAMMING Consulting instructions FAGOR CNC 8037 SOFT V01 6x 322 9 3 Consulting instr
371. ll characters entered in these tables must be upper case ESC Quits line editing ENTER Assumes the edited line and ends the editing of the line The CNC offers the following options when working with each parameter of these tables EDIT Edit a parameter The CNC will indicate the proper format by means of the softkeys MODIFY Modify a parameter Position the cursor on the desired parameter and press the Modify softkey Once the modification is done press ENTER for the CNC to assume the new value FIND Look for a parameter The cursor will be positioned over the indicated parameter With this function it is also possible to find the beginning or the end of the table INITIALIZE Initialize the table assuming the default values LOAD Load into memory the tables saved in the hard disk KeyCF a peripheral device or a PC SAVE Save the tables into the hard disk KeyCF a peripheral device or a PC MM INCHES To see the parameter values in the desired units Only those parameters affected by this conversion will be altered It will not change the g m p INCHES P8 that indicates machine units Machine parameter setting In order for the machine tool to be able to properly execute the programmed instructions as well as interpret the different elements connected to it the CNC must know the specific data of the machine such as feedrates accelerations feedback automatic tool change etc This data
372. ll set up it is necessary to remove the feedback system it may happen that when it is reinstalled its marker pulse is no longer at the same physical location as it was before In that case the distance shift between the previous marker pulse location and the current one must be assigned to a m p REFSHIFT P47 of the affected axis in order for the machine reference point home to remain the same This way when searching home the axis will move this additional distance indicated by a m p REFSHIFT P47 value after finding the new marker pulse of the feedback system This movement is carried out at the feedrate indicated by a m p REFEED2 P35 Gantry axes Home search on Gantry axes may be carried out in JOG mode or by program It will be carried out as follows e On axes with no distance coded feedback system The CNC starts the movements of both axes in the direction indicated by a m p REFDIREC P33 of the main axis These movements will be performed at the feedrate indicated by a m p REFEED1 P34 for the main axis until the home switch for this axis is hit Then the home search will start on both axes at the feedrate indicated by a m p REFEED2 P35 of the main axis The CNC will wait until the marker pulse home of the slave axis is found and then it will look for the marker pulse from the main axis If machine parameter IOTYPE 3 the home search procedure is the following The CNC starts the movement
373. ll stop the axes feed and the spindle rotation displaying the corresponding error message Spindle logic inputs LOGIC CNC INPUTS AND OUTPUTS DWELL lt gt 0 If s m p DWELL P17 has been set to other than 0 the CNC will check the status of the SERVOSON signal at the time when the ENABLE signal is to be output If the SERVOSON signal is high the CNC will allow the spindle to rotate by activating the ENABLE signal and providing the required velocity command output On the other hand if the SERVOSON signal is low the CNC will activate the ENABLE signal and after waiting for a time period indicated by the value given to DWELL the CNC checks the SERVOSON signal again If it is high the required spindle velocity command will be output If low the CNC will stop the axes feed and the spindle rotation displaying the corresponding error message i ERROR Also if it changes to low during the rotation of the spindle the CNC will stop the axes feed and the spindle rotation displaying the corresponding error message FAGOR 2 CNC 8037 SOFT V01 6x 363 11 Spindle logic inputs LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 364 GEAR1 M5458 GEAR2 M5459 GEAR3 M5460 GEAR4 M5461 Main spindle The PLC uses these signals to indicate to the CNC which spindle gear is currently selected high logic level The CNC only considers the
374. lock of the program p Variables associated with electronic handwheels Variable CNC PLC DNC section 12 7 HANPF R R Pulses received from 1st handwheel since the CNC was turned on HANPS R R Pulses received from 2nd handwheel since the CNC was turned on HANPT R R Pulses received from 3rd handwheel since the CNC was turned on HANPFO R R Pulses received from 4th handwheel since the CNC was turned on HANDSE R R For handwheels with a selector button it indicates whether that button has been pressed or not HANFCT R R W R Multiplying factor different for each handwheel when having several HBEVAR R R W R HBE handwheel Reading enabled axis being jogged and multiplying factor x1 x10 x100 MASLAN R W RW RW Linear path angle for Path handwheel or Path Jog mode MASCFI R W R W RW Arc center coordinates for Path handwheel mode or Path jog MASCSE R W R W RW Arc center coordinates for Path handwheel mode or Path jog Feedback related variables Variable CNC PLC DNC section 12 8 ASIN X C R R R A signal of the CNC s sinusoidal feedback for the selected axis BSIN X C R R R Bsignalofthe CNC s sinusoidal feedback for the selected axis ASINS R R R A signal of the CNC s sinusoidal feedback for the spindle BSINS R R R B signal of the CNC s sinusoidal feedback for the spindle Variables associated with the main spindle Variable CNC PLC DNC section 12 9 SREAL R
375. lt value 0 MAXFEED P42 Indicates the maximum programmable feedrate FO Possible values Between 0 0001 and 199999 9999 degrees min or mm min Between 0 00001 and 7874 01574 inches min Default value 5000 mm min JOGFEED P43 Indicates the feedrate F assumed in the JOG mode if no feedrate is active Possible values Between 0 0001 and 199999 9999 degrees min or mm min Between 0 00001 and 7874 01574 inches min Default value 1000 mm min Sl Axis parameters MACHINE PARAMETERS FAGOR 2 CNC 8037 SOFT V01 6x 141 Axis parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 142 PRBFEED P44 Indicates the probing feedrate when calibrating a tool in JOG mode Possible values Between 0 0001 and 99999 9999 degrees min or mm min Between 0 00001 inches min and 3937 00787 inches min Default value 100 mm min MAXCOUPE P45 It indicates the maximum difference allowed between the following errors of the Gantry axes This value is only assigned to the slave axis Possible values Between 0 0001 and 99999 9999 degrees or millimeters Between 0 00001 and 3937 00787 inches Default value 1 mm ACFGAIN P46 Indicates whether or not the value assigned to a m p DERGAIN P24 is applied onto the variations of the programmed feedrate AC forward Value Meaning NO It is applied on variations of following error derivative gain YES It is applied on the variations of t
376. ly the bit 30 of HBEVAR 1 is enabled for the CNC to read the handwheel pulses OR R60 40000000 R60 When enabling the handwheel or changing the position of one of the switches HBEVAR and its image register R61 are updated refreshed DFU HDWON OR CPS R60 NE R61 MOV R60 R61 CNCWR R61 HBEVAR M201 When disabling the handwheel HBEVAR 0 and its image register R61 are initialized DFD HDWON MOV 0 R61 CNCWR R61 HBEVAR M201 If JOG movement JOGON and key pressed 175 then axis movement in the positive direction JOGON AND 175 AND XSEL AXIS 1 JOGON AND 175 AND YSEL AXIS 2 JOGON AND 175 AND ZSEL AXIS 3 JOGON AND 175 AND 4SEL AXIS 4 JOGON AND 175 AND 5SEL AXIS 5 JOGON AND 175 AND 6SEL AXIS 6 JOGON AND 175 AND 7SEL AXIS 7 If JOG movement JOGON and key pressed 177 then axis movement in the negative direction JOGON AND 177 AND XSEL AXIS 1 JOGON AND 177 AND YSEL AXIS 2 JOGON AND 177 AND ZSEL AXIS 3 JOGON AND 177 AND 4SEL AXIS 4 JOGON AND 177 AND 5SEL AXIS 5 JOGON AND 177 AND 6SEL AXIS 6 JOGON AND 177 AND 7SEL AXIS 7 If JOG movement JOGON and Rapid key pressed 176 axis movement in rapid JOGON AND 176 MANRAPID Safety When releasing the Enable Push Button the STOP command is sent out to the CNC 100 ms pulse to stop the possible movement active at the time for example 10 mm in incremental Only if the JOG mode is selected and NOT MDI DFD 179 TG1 17 100 MAN
377. m the maximum feedrate will be 20 um pulse x 250 000 pulses s 300 m min When using Fagor linear encoders the maximum feedrate is limited by their own characteristics to 60 m min Example 2 Using an indexer with a sinusoidal Fagor encoder of 3600 lines per turn for a feedback resolution of 1 um the maximum axis feedrate will be 360 degrees turn 3600 pulses turn x 250 000 pulses s 25 000 degrees sec 1 500 000 degrees min Since Fagor sinusoidal encoders admit a frequency of up to 200 kHz the maximum feedrate will be 360 degrees turn 3600 pulses turn x 200 000 pulses s 20 000 degrees sec 1 200 000 degrees min Squarewave signals The maximum frequency speed for squarewave differential feedback is 400 KHz with a separation of 450 ns between A and B flanks Which is equivalent to 90 20 The maximum feedrate for each axis will depend upon the selected resolution and the signal pitch distance per pulse in use When using Fagor linear encoders the maximum feedrate is limited by their own characteristics to 60 m min When using FAGOR rotary encoders their intrinsic output frequency limit is 200Kz CONCEPTS FAGOR 2 CNC 8037 SOFT V01 6x 215 CONCEPTS feedback system FAGOR CNC 8037 SOFT V01 6x 216 6 4 2 Resolution The CNC provides a number of machine parameters for the axes and for the spindle in order to establish the counting resolution of each one of the axes
378. m p PITCHB P86 Leadscrew pitch 20 Motor gear ratio a m p INPREV P87 Input revolutions 3 a m p OUTPREV P88 Output revolutions 1 NP121 drive it automatically loads the value of a m p INPREV P87 of the CNC NP122 drive it automatically loads the value of a m p OUTPREV P88 of the CNC NP123 drive it automatically loads the value of a m p PITCHB P86 of the CNC Parameters involved in the calculation of the position feedback With rotary encoder e a m p NPULSES P8 number of pulses per turn of the encoder 18000 e a m p SINMAGNI P10 Multiplying factor if the encoder is sinusoidal 200 e a m p EXTMULT P57 Multiplying factor of the feedback 1 e a m p PITCHB P86 Leadscrew pitch 20 With linear encoder e a m p PITCH P7 linear encoder pitch 20 e a m p NPULSES P8 0 a m p SINMAGNI P10 Multiplying factor if the encoder is sinusoidal 0 e A m p EXTMULT P57 Multiplying factor of the feedback 20u 4u 5 Calculation of the velocity command for a feedrate of GOOFEED Command GOOFEED x INPREV PITCHB x OUTPREV 20000 x 3 20 x 1 3000 rpm Calculation of the resulting resolution TTL encoder Resolution PITCHB 4 x NPULSES Sinusoidal encoder Resolution PITCHB SINMAGNI x NPULSES TTL linear encoder Resolution PITCH 4 Sinusoidal linear encoder Resolution PITCH SINMAGNI Di CONCEPTS Gear ratio mana
379. mming format is AND R1 559 R1 559 R1 559 OR XOR Registers R1 559 or numbers expressed in decimal hexadecimal or binary format can be defined as first or second operand The destination register indicates where the result of the operation will be deposited and will be defined by means of a register R1 559 The mark M2003 is called zero flag and indicates whether the result of an AND OR XOR operation equals zero in which case it follows that M2003 1 Examples with R200 B1001 0010 R201 B0100 0101 AND R200 R201 R202 R202 B0 M2003 1 OR R200 R201 R203 R203 B11010111 M2003 0 XOR R200 R201 R204 R204 B11010111 M2003 0 AND B1111 R201 R205 R205 B00000101 M2003 0 OR R200 B1111 R206 R206 B10011111 M2003 0 XOR B1010 B1110 R207 R207 B00000100 M2003 0 RR RL Used to rotate registers clockwise RR or counterclockwise RL There are two types of rotations type 1 RR1 or RL 1 and type 2 RR2 or RL2 Rotation type 1 RL1 or RR1 Itinserts a 0 at the least significant bit RL1 or atthe most significant bit RR1 pushing the other bits of the register The value of the last bit disappears Rotation type 2 RL2 or RR2 Circular rotation of the register in the indicated direction Its programming format is Origin Nr of repetitions Destination RR1 R1 559 R1 559 R1 559 RR2 0 31 RL1 R
380. n G49 G48 G47 G46 G45 si G29 G28 G27 G26 G25 GGSC It returns the status of functions G50 through G24 The status of each one of the functions will be given in the 25 least significant bits and it will be indicated by a 1 when active and a 0 when not active or when not available in the current software version G74 G73 G72 G71 G70 PA G54 G53 G52 G51 G50 h x Other variables ACCESS TO INTERNAL CNC VARIABLES FAGOR CNC 8037 SOFT V01 6x 407 Other variables ACCESS TO INTERNAL CNC VARIABLES N FAGOR CNC 8037 SOFT V01 6x 408 GGSD It returns the status of functions G5 through G99 The status of each one of the functions will be given in the 25 least significant bits and it will be indicated by a 1 when active and a0 when not active or when not available in the current software version G99 G98 G97 G96 G95 sii G79 G78 G77 G76 G75 GGSE It returns the status of functions G100 through G124 The status of each one of the functions will be given in the 25 least significant bits and it will be indicated by a 1 when active and a 0 when not active or when not available in the current software version G124 G123 G122 G121 G120 bai G104 G103 G102 G101 G100 GGSF It returns the status of functions G125 through G149
381. n JOG 47 User JOG operation 50 Zero offset table 51 Tool offset table FAGOR 2 52 Tool table 53 Tool magazine table CNC 8037 54 Global parameter table 55 Local parameter table 56 User parameter table 57 OEM parameter table SOFT V01 6x 60 Utilities 70 DNC status 403 ACCESS TO INTERNAL CNC VARIABLES N Operating mode related variables FAGOR CNC 8037 SOFT V01 6x 404 71 CNC status 80 PLC file editing 81 PLC program compilation 82 PLC monitoring 83 Active PLC messages 84 Active PLC pages 85 Save PLC program 86 Restore PLC program 87 PLC usage maps 88 PLC statistics 90 Customizing 100 General machine parameter table 101 Axis machine parameter tables 102 Spindle machine parameter table 103 Serial line related machine parameter tables 104 PLC machine parameter table 105 M function table 106 Leadscrew error compensation tables and cross compensation tables 107 Machine parameter table for Ethernet 110 Diagnosis configuration 111 Diagnosis hardware test 112 Diagnosis RAM memory test 113 Diagnosis Flash memory test 114 User diagnosis 115 Hard disk diagnosis HD 116 Circle geometry test 117 Oscilloscope 120 DERGAIN auto adjustment Read only variables related to the conversational TC mode In this work mode it is recommended to use variables OPMODA OPMODB an
382. n axes and spindle FAGOR CNC 8037 SOFT V01 6x 276 Analog axes 1 External feedback connected to the CNC A m p DRIBUSLE P63 0 Parameters involved in the calculation of the velocity command a m p GOOFEED P38 Maximum feedrate of the axis 20000 Parameters involved in the calculation of the position feedback a m p NPULSES P8 number of pulses per turn of the encoder 18000 a m p SINMAGNI P10 Multiplying factor if the encoder is sinusoidal 200 a m p EXTMULT P57 Multiplying factor of the feedback 1 a m p PITCHB P86 Leadscrew pitch 20 Motor gear ratio a m p INPREV P87 Input revolutions 3 a m p OUTPREV P88 Output revolutions 1 6 15 4 Spindle example Encoder at the motor Having a spindle with 4 gears The maximum rpm and the gear ratio for each gear are the following Gear 1 maximum speed 1000 rpm gear ratio 4 1 Gear 2 maximum speed 2000 rpm gear ratio 2 1 Gear 3 maximum speed 3000 rpm gear ratio 4 3 Gear 4 maximum speed 3500 rpm gear ratio 1 1 The encoder is an HOP model Vpp and provides 18 000 pulses per turn CAN spindle s m p DRIBUSLE P51 1 Parameters involved in the calculation of the velocity command s m p s m p s m p s m p s m p s m p s m p s m p s m p s m p s m p s m p MAXGEARI P2 maximum rpm of the first gear
383. n the trigger input TG2 The elapsed time will remain as a timer time value T once timing has been completed TEN mero oA If once the timing has finished it is required to activate the timer again another leading edge must be produced in the TG2 input If the trailing edge of the trigger input TG2 is produced before the time specified by the time constant has elapsed the PLC will consider that the timing operation has concluded maintaining the time count it had at that moment as the timer time T FAGOR 2 CNC 8037 SOFT V01 6x 295 Timers PLC RESOURCES FAGOR CNC 8037 SOFT V01 6x 296 Operation of the TRS input in this mode If a leading edge is produced at the TRS input at any moment during timing or afterwards the PLC initializes the timer assigning the value 0 to its T status and cancelling its count it initializes this to 0 Due to the fact that the timer is initialized it will be necessary to activate its trigger input to activate it again LEN Operation of the TEN input in this mode If once the timer has been activated TEN 0 the PLC interrupts the timing and TEN must be set to 1 to resume timing 7 5 3 Delayed deactivation mode TG3 input This operating mode is used to apply a delay between the deactivation of trigger
384. name Mnemonics with axis names offer the advantage that if an axis is eliminated the PLC program will still be consistent with the rest of the axes ENABLE1 M5600 ENABLE2 M5650 ENABLE3 M5700 The CNC sets these signals at a high logic level to tell the PLC to allow the corresponding axis to move DIR1 M5601 DIR2 M5651 DIR3 M5701 The CNC uses these signals to tell the PLC in which direction the axes move If the signal is high this indicates that the corresponding axis moves in a negative direction If the signal is low this indicates that the corresponding axis moves in a positive direction REFPOIN1 M5602 REFPOIN2 M5652 REFPOINS M5702 The CNC sets these signals high to tell the PLC that the machine reference search has been made already The CNC forces a home search on an axis by setting its mark low The marks are set low in the following instances e On CNC power up e After executing the sequence SHIFT RESET e When the feedback is direct through the axes board and a feedback alarm occurs e When modifying certain machine parameters for example number of axes In all these cases a home search must be carried out so the signal is set back high mn b Logic outputs of the axes LOGIC CNC INPUTS AND OUTPUTS FAGOR 2 CNC 8037 SOFT V01 6x 377 11 Logic outputs of the axes LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 378 DRSTAF1 M5603 DRSTAS1
385. nction Bit Meaning 0 It may be used to apply jerk control in look ahead scold Not being used 12 It activates deactivates the speed control in arcs with linear blocks in look ahead 13 It makes it possible to use Fagor filters with Look ahead standard look ahead algorithm and with jerk control 14 Activates deactivates smoother machining 15 It activates deactivates the advanced look ahead algorithm integrating Fagor filters Bit 0 Apply jerk control in look ahead That bit indicates whether jerk control is to be applied bit 1 or not bit 0 in look ahead Using jerk in look ahead a trapezoidal acceleration profile is applied with a ramp slope equivalent to the maximum jerk of the axis The maximum jerk depends on the value assigned to a m p JERKLIM P67 of that axis and of the number of axes involved in the programmed path For the axes whose JERKLIM parameter has been set to zero the CNC assumes the jerk value recommended for that parameter Bit 12 Speed control in arcs with linear blocks in look ahead O Value It deactivates the speed control in arcs with linear blocks in look ahead 1 Value It enables the speed limit in arcs with linear blocks in look ahead This provides more accurate and smoother machining when machining arcs of a small radius programmed with linear blocks G1 This function could extend machining time slightly This speed control may be applied with the standard look ahead algorithm
386. nctions which are indicated in registers R550 to R556 must be executed SSTROBE M5533 Indicates that the auxiliary S function of register R557 must be executed TSTROBE M5534 Indicates that the auxiliary T function of register R558 must be executed T2STROBE M5535 Indicates that the auxiliary T function of register R559 must be executed ADVINPOS M5537 For punch presses it indicates that punching may begin INTEREND M5538 It indicates that the interpolation is finished INPOS M5539 The axes are in position DMOO M5547 Program interrupted after executing the auxiliary function MOO DMO1 M5546 Program interrupted after executing the auxiliary function M01 DM02 M5545 The execution of the program has stopped after executing the auxiliary M02 function DM03 M5544 The spindle is turning clockwise M03 DM04 M5543 The spindle is turning counterclockwise M04 DM05 M5542 The spindle is stopped M05 DM06 M5541 The auxiliary MO6 function has been executed DM08 M5540 The coolant output has been activated M08 DM09 M5555 The coolant output has been canceled M09 DM19 M5554 A block with spindle stop has been executed M19 DM30 M5553 The program concluded after executing the auxiliary M30 function DM41 M5552 First spindle speed gear range selected M41 DM42 M5551 Second spindle speed gear range selected M42 DM43 M5550 Third spindle speed gear range selected M43 DM44 M5549 Fourth spindle speed gear range selected M44
387. nd provides 18 000 pulses per turn and a 2 to 3 gear ratio CAN spindle 1 External encoder connected to the CNC s m p DRIBUSLE P51 0 Parameters involved in the calculation of the velocity command s m p MAXGEAR1 P2 maximum rpm of the first gear 1000 s m p MAXGEAR 2 P3 maximum rpm of the second gear 2000 s m p MAXGEAR8 P4 maximum rpm of the third gear 3000 s m p MAXGEAR4 P5 maximum rpm of the fourth gear 3500 s m p INPREV1 P72 Input revolutions of the first gear 4 s m p INPREV2 P74 Input revolutions of the second gear 2 s m p INPREV3 P76 Input revolutions of the third gear 4 s m p INPREV4 P78 Input revolutions of the fourth gear 1 s m p OUTPREV1 P73 output revolutions of the first gear 1 s m p OUTPREV2 P75 output revolutions of the second gear 1 s m p OUTPREV3 P77 output revolutions of the third gear 3 s m p OUTPREV4 P79 output revolutions of the fourth gear 1 Parameters involved in the calculation of the position feedback S m p NPULSES P13 number of pulses per turn of the encoder 18000 3 2 12000 only integer values are allowed S m p SINMAGNI P65 Multiplying factor if the encoder is sinusoidal 200 Di CONCEPTS Gear ratio management on axes and spindle FAGOR CNC 8037 SOFT V01 6x 281 CONCEPTS Gear ratio management on axes and spindle FAGOR
388. ndle logic inputs 362 11 4 Kevyinhibiting logic iNputs sccccri 367 11 5 Logic inputs of the PLC chante lisse ccs csicie ci nites Re 368 11 6 General lOgi QUIpuUts c cciiiciii iaia 370 11 7 Logic outputs of the axes 377 11 8 Spindle logic QUtputs 379 11 9 Logic outputs of key Status i 380 ACCESS TO INTERNAL CNC VARIABLES 12 1 Variables associated with t001S nna ia Nra 383 12 2 Variables associated with zero Offsets i 387 12 3 Variables associated with machine parameterS i 388 12 4 Variables associated with work ZONES 389 12 5 Variables associated with feedrates 391 12 6 Variables associated with coordinateS i 394 12 7 Variables associated with electronic handwheels i 396 12 8 Variables associated with feedback nne 398 12 9 Variables associated with the main spindle i 399 12 10 Variables associated with local and global parameters i 402 12 11 Operating mode related variables 12 12 Other variableS cunacaniana macari sa AARON AXES CONTROLLED FROM THE PLC 13 1 PLC execution channel r aaa aae aa ar aea Aa Aaaa aT ASAR aeS ALAA RAR ARASA TERE 416 13 1 1 Considerations iii 417 13 1 2 Block
389. ndreds indicate whether the compensation is activated in the first motion block or not even if the plane axes are not involved The same criteria also applies when turning the compensation off Value Meaning Oxx The compensation is activated in the first block having a movement of the plane axes 1xx The compensation is activated in the first motion block even if there is no movement of the plane axes Default value 000 After activating the compensation it could happen that the plane axes do not get involved in the first motion block either because they have not been programmed or because the same point as the tool position has been programmed or because a null incremental move has been programmed In this case the compensation is applied in the current tool position depending on the first movement programmed in the plane the tool moves perpendicular to the path on its starting point Sl MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 103 MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 104 The first movement programmed in the plane may be either linear or circular Example of beginning of compensation COMPTYPE 1x1 La X0 YO e G01 Y40 G90 G91 G40 YO Z10 G01 X 30 Y30 G02 X20 Y20 120 JO G01 G41 X 30 Y30 Z10 pia G90 G01 X25 XO YO FPRMAN P75 It is only used on lathe model CNC s and it indicates whether fee
390. ne Reference Zero will be REFVALUE P36 12 123 5 135 5 After allocating this new value press SHIFT RESET or turn the CNC off and back on in order for the CNC to assume this new value The spindle must be homed again in order for it to assume its right reference values Nn es Oo a O FAGOR 2 CNC 8037 SOFT V01 6x 253 CONCEPTS Spindle FAGOR CNC 8037 SOFT V01 6x 254 Considerations If atthe time when the home search is requested the spindle is sitting on the home switch the spindle will back up in the direction opposite to the one indicated by REFDIREC P33 until it is off the switch and then it will go on to search home Care must be taken when placing the home switch and when setting feedrates REFEED1 P34 and REFEED2 P35 The home switch 1 will be installed so the marker pulse 2 will be found in the zone corresponding to feedrate REFEED2 P35 If there is no room for it reduce the value of REFEED1 P34 For example for encoders whose consecutive marker pulses are very close to each other REFEED 1 REFEED2 When the spindle does not have a machine reference home switch s m p DECINPUT P31 NO the CNC will move the spindle at the feedrate set by s m p REFEED2 P35 until the first marker pulse from the current position is found thus ending the home search Fagor rotary encoders provide one positive reference pulse
391. ne parameters FAGOR CNC 8037 SOFT V01 6x 120 MAXOFFI P165 Tool wear offsets may be modified from tool inspection mode This parameter indicates the maximum amount of wear that may be entered for I it is programmed in mm or in inches It is defined in diameter at the lathe model Default value 0 5 MAXOFFK P166 Tool wear offsets may be modified from tool inspection mode This parameter indicates the maximum amount of wear that may be entered for K it is programmed in mm or in inches Default value 0 5 TOOLTYPE P167 It defines the behavior of the tool or of the tool offset This parameter has 16 bits counted from right to left bit 15 14 13 121110 9 8 7 6 5 4 3 210 m m m m ECC eee Each bit has a function or work mode associated with it By default all the bits will be assigned the value of 0 Assigning the value of 1 activates the corresponding function Bit Meaning 0 12 Not being used 13 The STOP signal is always executed after the T function 14 Machining in round corner mode when changing the tool offset 15 Stop block preparation when executing a new T Default value in all the bits 0 Bit 13 The stop signal is taken into account after the T function is completed This function is applied when the tool change subroutine has been defined so it is executed a
392. necessarily having to make the actual tool change M06 function Value Meaning YES It is a cyclic changer NO It is not a cyclic changer Default value YES TRMULT P62 TRPROG P63 TRDERG P64 MAXDEFLE P65 MINDEFLE P66 TRFBAKAL P67 Not being used TIPDPLY P68 Indicates whether the CNC displays the position of the tool tip or that of the tool base when working with tool length compensation Value Meaning 0 It displays the coordinate of the tool base 1 It displays the coordinate of the tool tip Default value 0 for the M model Default value 1 for the T model On the Mill model it is necessary to execute G43 in order to work with tool length compensation When not working with tool length compensation G44 the CNC displays the tool base position On the Lathe model it always works with tool length compensation Therefore by default the CNC always displays the tool tip position ANTIME P69 It is used on punch presses that have an eccentric cam as a punching system It indicates how far in advance the general logic output ADVINPOS M5537 is activated before the axes reach position This reduces idle time thus increasing the number of punches per minute Possible values Integers between 0 and 65535 ms Default value 0 If the total duration of the movement is lower than the value in parameter ANTIME the anticipation signal ADVINPOS will be activated immediately If ANTIME 0
393. ng factor being applied It will be multiplied by 10000 SCALE X C Returns the specific scaling factor of the indicated axis X C It will be multiplied by 10000 ORGROT This variable can only be used at the mill model It returns the rotation angle of the coordinate system currently selected with G73 Its value in 0 0001 degree units PRBST Returns probe status 0 the probe is not touching the part 1 the probe is touching the part A A Other variables ACCESS TO INTERNAL CNC VARIABLES FAGOR 2 CNC 8037 SOFT V01 6x 409 Other variables ACCESS TO INTERNAL CNC VARIABLES N FAGOR CNC 8037 SOFT V01 6x 410 CLOCK Returns the time in seconds indicated by the system clock Possible values 0 4294967295 TIME Returns the time in hours minutes seconds format CNCRD TIME R100 M102 assigns the time to register R100 For example if the time is 18h 22m 34s R100 will show 182234 DATE Returns the date in year month day format CNCRD DATE R101 M102 assigns the date to register R101 For example if the date is April 25th 1992 R101 920425 CYTIME It returns the amount of time in hundredths of a second elapsed executing the part It ignores the time the execution has been interrupted Possible values 0 4294967295 The CNC will consider the execution of the program finished after executing its last block or after executing a block containing an M02 or M30 miscellaneous function
394. ng the password the values shown at the bottom right may be modified The CNC assigns the new values to the relevant machine parameters therefore it is recommended to jot the initial values down Once the graphic display area and the machine parameters have been defined capture the data by pressing the following softkeys SINGLE It deletes the current graph and draws over the theoretical circle the machining error enlarged according to the defined scale until a full circle is drawn or until the STOP softkey or ESC key is pressed Si CONCEPTS Axis adjustment FAGOR CNC 8037 SOFT V01 6x 229 CONTINUOUS It deletes the current graph and draws over the theoretical circle a series of circles with the machining error enlarged according to the defined scale until the STOP softkey or ESC key is pressed DELETE It may be pressed at any time even while drawing the graph It deletes the screen and resets the statistics shown at its right 6 During continuous graphics itis possible to modify the machine parameters and view the new graph n over the previous one or press the DELETE softkey to only display the new one The data shown by the CNC at the top right is updated while capturing data A internal Maximum negative value of the error over the theoretical value in microns or ten thousandths of an inch and its angular position CONCEPTS Axis adjustment A external Maximum positive value of the error ove
395. nguage and stored in several programs PLCMSG Texts for PLC messages PLCERR Texts for PLC error messages The MSGFILE program may be in user memory or in the hard disk KeyCF If it is in several places it takes the one in user memory FLWEDIFA P132 Not being used RETRACAC P133 It indicates whether retracing is allowed or not Value Meaning 0 It is not permitted 1 It is permitted The withdrawal stops at the M functions 2 It is permitted The withdrawal does not stop at the M functions Default value 0 If RETRACAC 2 only the MO is executed the rest of the M functions are not sent out to the PLC it neither executes them nor interrupts the withdrawal The CYCLE START key must be pressed after executing MO Retracing is activated and deactivated with the RETRACE M5051 signal This function may also be activated while function G51 look ahead is active If while executing a part program the PLC sets this signal high the CNC interrupts the execution of the program and starts executing backwards what has executed so far When the PLC sets the RETRACE signal back low and retracing is canceled The CNC starts executing forward what was done backwards and it will go on to execute the part of the program that was not machined G15SUB P134 Not being used TYPCROSS P135 It indicates how cross compensation is applied This parameter has two digits units Cross compensation with theoretical or
396. nications protocol 2 Communications protocol for Fagor floppy disk unit Default value 1 DNC 178 PWONDNC P5 Indicates whether the DNC feature will be active on power up or not Value Meaning NO Not active on power up YES Active on power up Default value YES DNCDEBUG P6 Indicates whether the debugging feature for DNC communications is active or not It is advisable to use this safety feature in all DNC communications It could be deactivated in the debugging process Value Meaning NO Debug NOT active Communication aborted YES Debug active Communication not aborted Default value NO ABORTCHR P7 Indicates the character used to abort communications with general peripheral device Value Meaning 0 CAN 1 EOT Default value 0 EOLCHR P8 Indicates the character used to indicate end of line when communicating with general peripheral device Value Meaning 0 LF 1 CR 2 LF CR 3 CR LF Default value 0 EOFCHR P9 Indicates the character used to indicate end of text end of file wnen communicating with a general peripheral device Value Meaning 0 EOT 1 ESC 2 SUB 3 ETX Default value 0 I MACHINE PARAMETERS Serial line parameters FAGOR 2 CNC 8037 SOFT V01 6x 179 MACHINE PARAMETERS Serial line parameters FAGOR CNC 8037 SOFT V01 6x 180 Installation manual XONXOFF P10 Indicates whether the XON XOFF communications
397. nnector Pin Signal and function 1 A 2 A 3 B Feedback signals 4 B 10 5 10 15 059 5 6 l0 14 0001 7 a 13 05013 8 ua 12 0 0 2 LI 0 0 i 9 5 V 5 V output for feedback LI 10 ana_out Velocity command output 5 11 GND O V output for feedback 12 GND 0 V output for velocity command 13 14 ni 15 Chassis Shield It admits differential TTL and 1Vpp sinusoidal feedback signals The cable shield must be connected to the metallic hood at each end Connector X5 For electronic handwheel connection 15 pin high density SUB D type female connector Pin Signal and function 1 AI 2 A1 Feedback signals of first handwheel 3 BI 4 B1 1 5 A2 15 0 9 5 6 A2 Feedback signals of second handwheel 1 a 140504 7 B2 1 AO 13000 8 B2 gt 12 05 2 6 5 11 00 il 9 5 V Supply output 5 3 10 5 V Supply output a 5 i 11 GND Supply output T O 12 GND Supply output TE 5 13 100P Push button of Fagor 100P handwheel 5 14 Saa O 15 Chassis Shield O It admits differential double ended and non differential single ended TTL feedback The cable must have overall shielding The rest of the specifications depend on the feedback system used and the cable length required The cable shield must be connected to the metallic hood at each end Itis highly recommended to run these cables as far as possible from the power cables of the machine When using a FAGOR 10
398. ns Nominal voltage 20 V minimum 30 V maximum Ripple 4V Nominal current 2A Current peak on power up 8A The central unit has a protection against overvoltage that activates at 36 V The supply current has the following shape on power up CNC CONFIGURATION CNC structure FAGOR 2 CNC 8037 SOFT V01 6x 31 Connector X1 RS232 It is a 9 pin SUB D type male connector to connect the RS 232 C serial port The cable shield must be connected to the metallic hood at each end Pin Signal 1 DCD 2 RxD oem 3 TxD 9 0 2 4 DTR n o 03 5 GND ISO o ol 6 DSR o o5 7 RTS gt 5 8 CTS 9 Li N O O All the pins of this connector are opto isolated Cable length EIARS232C standards specify thatthe capacitance of the cable must not exceed 2500pF therefore since average cables have a capacitance between 130pF and 170pF per meter the maximum length of the cable should not be greater than 15m 49ft CNC CONFIGURATION Shielded cables with twisted pair wires should be used to avoid communication interference when using long cables Use shielded 7 conductor cable of 0 14 mm section Transmission speed The CNC can operate at up to 115 200 Baud It is recommended to ground the unused pins in order to avoid erroneous control and data signal interpretations Ground connection It is suggested to reference all control and data signals to
399. nter number for example C1 C25 C102 etc Although when written C123 it coincides with the status output both are different and are used in different types of instructions In binary type instructions function C123 makes reference to the counter s logic status C123 M100 Assigns mark to M100 the 0 1 status of counter 123 In arithmetic and function comparison instructions C123 makes reference to the internal counter count 12 MOV C123 R200 Transfers the count of C123 to register R200 CPS C123 GT 1000 M100 Compares whether the count of C123 is greater than 1000 If so it activates mark M100 The PLC has a 32 bit variable to store the count of each counter Counters PLC RESOURCES FAGOR 2 CNC 8037 SOFT V01 6x 303 Counters PLC RESOURCES FAGOR CNC 8037 SOFT V01 6x 304 7 6 1 Operating mode of a counter If the CEN counter input is initialized CEN 1 the counter allows its count to be increased and decreased by means of the CUP and CDW inputs Operation of CUP and CDW inputs Every time a leading edge is produced at the CUP input the counter increases its count by one count Every time a leading edge is produced at the CDW input the counter decreases its count by one count Operation of the CPR input If a leading edge is produced at the CPR input the internal count value will take the new value assigned Operation of the CEN input If CEN 0 is selected the count
400. o execute the M functions indicated at the variables MBCD1 through MBCD7 It also activates the SSTROBE output when the S function indicated at variable SBCD must be executed the TSTROBE output when the T function indicated at variable TBCD must be executed and the T2STROBE output when the T function indicated at variable T2BCD must be executed Whenever the CNC activates one of these signals it is convenient to deactivate the general CNC input AUXEND in order to interrupt the execution of the CNC When the PLC concludes the processing of the required function this AUXEND signal must be activated back so that the CNC resumes the execution of the interrupted program This example deactivates the AUXEND signal for 100 milliseconds using the timer T1 MSTROBE OR SSTROBE OR TSTROBE OR T2STROBE TG1 1 100 The activation of the STROBE signals activates timer T1 in the mono stable mode for 100 milliseconds Whenever timer T1 is active the PLC must set the AUXEND signal low as described in Treatment of the general CNC input AUXEND When the CNC activates the MSTROBE signal the contents of variables MBCD1 through MBCD7 must be analyzed in order to know which auxiliary functions are to be executed All MBCD variables may be analyzed at the same time by using MBCD This example SETs the auxiliary marks so they can be analyzed later Once analyzed they must be RESet so that the PLC does not analyze them again on the next cycle scan D
401. ocal PO P25 parameter b of the nesting level a CALLP R Indicates which local parameters have been defined by means of a PCALL or MCALL instruction calling a subroutine Operating mode related variables Variable CNC PLC DNC section 12 11 OPMODE R R R Operating mode OPMODA R R R Operating mode when working in the main channel OPMODB R R R Type of simulation OPMODC R R R Axes selected by handwheel Other variables Variable CNC PLC DNC section 12 12 NBTOOL R R Number of the tool being managed PRGN R R R Number of the program in execution BLKN R R R Label number of the last executed block GSn R Status of the indicated G function n GGSA R R Status of functions GOO thru G24 GGSB R R Status of functions G25 thru G49 GGSC R R Status of functions G50 thru G74 GGSD R R Status of functions G75 thru G99 GGSE R R Status of functions G100 thru G124 GGSF R R Status of functions G125 thru G149 GGSG R R Status of functions G150 thru G174 GGSH R R Status of functions G175 thru G199 GGSI R R Status of functions G200 thru G224 GGSJ R R Status of functions G225 thru G249 GGSK R R Status of functions G250 thru G274 GGSL R R Status of functions G275 thru G299 GGSM R R Status of functions G300 through G320 MSn R Status of the indicated M function n GMS R Status of M functions M 0 6 8 9 19 30 41 44 PLA
402. ocity command is analog or it is sent via CAN DRIBUSLE 0 or 1 When the main spindle does not have an encoder NPULSES 0 the CNC shows its theoretical rpm affected by the Possible values Integer numbers between 0 and 65535 Default value 1000 When using a CAN servo system if parameter NPULSES and parameters INPREV and OUTPREV of all the gears are set with a 0 value the CNC will assume the equivalent ones of the drive DIFFBACK P14 Indicates whether the feedback device uses differential signals double ended or not Value Meaning NO It does NOT use differential signals YES It uses differential signals Default value YES FBACKAL P15 Indicates whether the feedback alarm for this axis will be ON or OFF Value Meaning OFF No feedback alarm desired it is canceled ON Feedback alarm is being used Default value ON AXISCHG P16 Indicates the counting direction If correct leave it as is but to change it select YES if it was set to NO and viceversa If this parameter is changed s m p LOOPCHG P26 must also be changed so the spindle does not run away Possible values NO YES Default value NO DWELL P17 Indicates the dwell from the moment the ENABLE signal is activated until the velocity command is sent out Possible values Integers between 0 and 65535 ms Default value 0 there is no dwell ACCTIME P18 This parameter is used when working with the s
403. of servo drives a m p PITCHB P86 must be set as follows Analog servo drives When using analog servo drives if a m p NPULSES P8 0 it indicates that it is a linear encoder and axis machine parameter PITCH P7 indicates the pitch of the linear encoder If a m p NPULSES P8 0 it indicates that it is an encoder and axis machine parameter PITCHB P86 indicates the pitch of the leadscrew Sl n 2 2 DE U g 3 da Cc o a 3 LU zZ O lt FAGOR 2 CNC 8037 SOFT V01 6x 153 Axis parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 154 Digital CAN servo Axis machine parameter PITCHB P86 sets the leadscrew pitch When using CAN servo if both parameters NPULSES and PITCHB are set to 0 the CNC will assume the equivalent values of the drive INPREV P87 OUTPREV P88 Parameters that indicate the input revolutions INPREV and the output revolutions OUTPREV of each axis These parameters are used to deal with gear ratios on the axis The default value for both parameters is 0 4 Both axis machine parameters INPREV and OUTPREV must be 0 or both other than zero Do not program one with a 0 value and the other one with a value other than 0 HPITCH P89 On Hirth axes it indicates its pitch in degrees When set to 0 it assumes a pitch value of 1 Possible values Between 0 and 99999 9999 degrees the remainder of 360 HPITCH must necessarily be zero
404. of the spindle to the CNC I GEAR1 GEAR1 I GAMA2 GEAR2 The corresponding CNC logic input GEAR1 GEAR2 must be activated to confirm the gear change Lubrication of the machine ways In this example the machine axes are lubricated in the following instances e On machine power up For 2 minutes e When requesting a manual lubrication For 5 minutes e After the axes have been moving for 1 hour For 5 minutes e After an axis has travelled a specific distance since last lubricated For 4 minutes Lubrication on machine power up This operation will be performed for 2 minutes Whenever the machine is powered up the PLC program starts running Therefore the first cycle module CY1 must activate timer T2 in the mono stable mode for 2 minutes 120000 milliseconds TG1 2 120000 Manual lubrication This operation will last 5 minutes and it will be performed at operator s request DFU I LUBING TG1 3 300000 Whenever the operator requests the lubricating lubing operation T3 must be activated in the mono stable mode for 5 minutes 300000 milliseconds Lubrication every hour of axis motion This operation takes place when the axes of the machine have been moving for an accumulated time period of 1 hour They will be lubricated for 5 minutes Timer T4 is used to keep track of the axis accumulated moving time and T5 to time the 5 minute lubrication period The first cycle module CY1 must activate timer T4 in the
405. oftware V01 42 March 2012 First version Software V01 60 December 2013 List of features Manual Auto adjustment of axis machine parameter DERGAIN INST New value for axis machine parameter ACFGAIN P46 INST Value 120 of the OPMODE variable INST PRG FAGOR 2 CNC 8037 11 Version history FAGOR CNC 8037 SAFETY CONDITIONS Read the following safety measures in order to prevent harming people or damage to this product and those products connected to it This unit may only be repaired by authorized personnel at Fagor Automation Fagor Automation shall not be held responsible of any physical damage or defective unit resulting from not complying with these basic safety regulations ee le _ _______ mmm n _ zrznoN MI I IE PRECAUTIONS AGAINST PERSONAL DAMAGE TS e Interconnection of modules Use the connection cables provided with the unit e Use proper Mains AC power cables To avoid risks use only the Mains AC cables recommended for this unit e Avoid electrical overloads In order to avoid electrical discharges and fire hazards do not apply electrical voltage outside the range selected on the rear panel of the central unit e Ground connection In order to avoid electrical discharges connect the ground terminals of all the modules to the main ground terminal Before connecting the inputs and outputs of this unit make sure that all the grounding connections a
406. oll or similar material to protect it When sending the central unit protect especially the screen Pad the unit inside the cardboard box with polyurethane foam on all sides Seal the cardboard box with packing tape or industrial staples N 0a ND FAGOR 2 CNC 8037 19 sua Bulusnje jeLeyey FAGOR CNC 8037 20 ADDITIONAL REMARKS Mount the CNC away from coolants chemical products blows etc which could damage it Before turning the unit on verify that the ground connections have been properly made In case of a malfunction or failure disconnect it and call the technical service Do not get into the inside of the unit FAGOR 2 CNC 8037 21 Additional remarks FAGOR CNC 8037 22 FAGOR DOCUMENTATION OEM manual It is directed to the machine builder or person in charge of installing and starting up the CNC USER M manual Directed to the end user It describes how to operate and program in M mode USER T manual Directed to the end user It describes how to operate and program in T mode TC Manual Directed to the end user It describes how to operate and program in TC mode It contains a self teaching manual FAGOR 2 CNC 8037 23 uoneruawnoop Jobe FAGOR CNC 8037 24 CNC CONFIGURATION The CNC is prepared to be used in industrial environments especially on milling machines lathes etc The CNC can control machine movements and devices
407. ome switches will be pressed After this if IOTYPE P52 3 the axes move one by one to release the home switches and search home in the selected order Managing the alignment between master and slave using a PLC mark and a machine parameter After homing both axes of the Ganty pair if a m p of the master DIFFCOMP P96 1 it corrects the position difference of the slave so the coordinate difference between the master and the slave is Zero Whether parameter DIFFCOMP 1 or 0 the difference between the Gantry axes may be corrected at any time using the PLC marks SERVOaxisON and the DIFFCOMaxis where axis is the name or the logic number of the master axis The theoretical difference between the master and the slave is corrected as follows e With the leading edge up flank of DIFFCOMaxis while SERVOaxisON 1 e With the leading edge up flank of SERVOaxisON while DIFFCOMaxis 1 In this case to correct the theoretical difference between master and slave both the master and the slave axes must be set as Gantry axis or as DRO axis Otherwise the upflank of the SERVOaxisON mark corrects the following error of the slave axis Besides the value of axis machine parameter MAXDIFF P97 is taken into account when it is about correct the position difference If the position difference between master and slave is not compensated because the coordinate difference is greater than the value of a m p MAXDIFF PLC mark MAXDIFFaxis w
408. on it cancels the speed limit by PLC and initializes the MDISL variable END 6 13 2 Cycle start disabled when hardware errors occur If when pressing the CYCLE START key a hardware error is detected Axes board error CAN FAGOR board error etc the CNC does not allow executing or simulating the program When a hardware error occurs the corresponding message is displayed CNC 8037 SOFT V01 6x 267 CONCEPTS Tool magazine FAGOR CNC 8037 SOFT V01 6x 268 6 14 6 14 1 Tool magazine Tool change via PLC If the tool change process is interrupted the values of the tool magazine table and active tool may not reflect the machine s reality In order to be able to update the tool table the tool change may be resumed from the PLC using variables TOOL NXTOOL TOD NXTOD and TMZT This way it is possible to resume the tool change from the PLC and redefine the tool table according to their positions using the TMZT variable TOOL Number of the active tool TOD Number of active tool offset NXTOOL Number of next tool Tool that is selected but is awaiting the execution of M06 to be active NXTOD Number of the next tool s offset Variables TOOL NXTOOL TOD and NXTOD can only be written from the PLC while no block or part program is being executed or simulated Redefine the tool and tool magazine tables To allocate a magazine position to the tool that is considered active by the CNC but is actually
409. on the turning speed of the handwheel and the position of the selector switch when requesting a movement at a faster feedrate than the maximum allowed e With individual handwheels the movement stops when stopping the handwheel It does not move the indicated distance e With general handwheels g m p HDIFFBAC P129 indicates whether the movement is stopped or it moves the indicated distance 6 3 1 Standard handwheel General handwheel 1 Select the axis to be jogged Press one of the JOG keys of the axis to be jogged The selected axis will be highlighted When using a Fagor handwheel with an axis selector button the axis may be selected as follows Pushthe button on the back of the handwheel The CNC select the first axis and it highlights it When pressing the button again the CNC selects the next axis and so on ina rotary fashion To deselect the axis hold the button pressed for more than 2 seconds 2 Jog the axis Once the axis has been selected it will move as the handwheel is being turned and in the direction indicated by it Individual handwheels Each axis will move as the corresponding handwheel is being turned according to the switch position and in the direction indicated by it Simultaneous handwheels The machine may have a general handwheel and up to 3 individual handwheels associated with each axis The individual handwheels have priority over the general handwheel So if an individual handwheel is moving
410. onized as well as DRO axes FBDIF X C Variable that can be read from the CNC PLC and DNC for monitoring the difference between the position value of the first and second feedbacks on the oscilloscope with Fagor digital servo system If the feedback difference exceeds the value set in a m p FBACKDIF P100 the CNC will issue the corresponding error message This monitoring depends on the value of a m p FBACKAL P11 Monitoring of the difference between the first and second feedbacks is not possible on CAN axes CYCLEV Variable that can be read from CNC PLC and DNC and indicates on the conversational model the tab number that is being displayed at all times beginning from 0 when navigating browsing through the cycles It takes the value of 1 when not navigating browsing through the cycles CYCEDI Variable that may be read from CNC PLC and DNC that indicates on the conversational model the cycle or screen number according to the following list Screen CYCEDI Standard screen 100 Auxiliary screen 101 Cycle lathe model TC CYCEDI Rounding cycle 1 1 Rounding cycle 2 2 Turning cycle 1 3 Facing cycle 1 4 Taper turning cycle 1 5 Taper turning cycle 2 6 Threading cycle 1 7 Threading cycle 2 8 Threading cycle 3 9 Profiling cycle 1 10 Profiling cycle 2 11 Grooving cycle 1 12 Positioning cycle 1 13 Drilling cycle 14 Tapping cycle 15 Grooving cycle 2 16 Positioning cycle 2 17 Grooving cycle 3 18
411. or NPULSES Linear axis with a 5 mm pitch leadscrew PITCH 5 mm Axis with a 20um pitch Fagor linear encoder PITCH 0 020 mm Rotary axis with 1 10 gear ratio PITCH 36 CAN servo system The meaning of parameter PITCH depends on the type of axis regardless of the type of encoder used e On linear axis it sets the resolution of the encoder e On rotary axis it sets the number of degrees the shaft rotates per encoder turn In this type of servo system the leadscrew pitch is set through parameter PITCHB P86 Axis type Encoder type PITCH P7 PITCHB P86 NPULSES P8 Linear axis Linear encoder Encoder resolution 0 0 Rotary encoder Encoder resolution Leadscrew pitch per Number of pulses lines encoder turn per encoder turn Rotary axis Rotary encoder Degrees that the shaft 0 Number of pulses lines rotates per encoder per encoder turn turn When using gear reduction on the shaft only the whole assembly must be taken into account when setting one of parameters PITCH or NPULSES NPULSES P8 Indicates the number or pulses rev provided by the rotary encoder When using a linear encoder it must be set to 0 It must be set when the drive s velocity command is analog or itis sent via CAN DRIBUSLE 0 or 1 When using gear reduction on the shaft only the whole assembly must be taken into account when setting one of parameters PITCH or NPULSES Possible values Integer
412. or modified in the table corresponding to the indicated zero offset n CNCRD ORGX 55 R100 M102 Loads register R100 with the X value of G55 in the zero offset table CNCWR R101 TOX3 M101 Assigns the value indicated in R101 to the Y value of G54 in the zero offset table PLCOF X C This variable allows the value of the selected axis to be read or modified in the table of additive offsets indicated by the PLC Accessing any of the PLCOF X C variables interrupts block preparation and the CNC waits for that command to be executed before resuming block preparation nl A Variables associated with zero offsets ACCESS TO INTERNAL CNC VARIABLES FAGOR 2 CNC 8037 SOFT V01 6x 387 ACCESS TO INTERNAL CNC VARIABLES N Variables associated with machine parameters FAGOR 2 CNC 8037 SOFT V01 6x 388 12 3 Variables associated with machine parameters These variables associated with machine parameters are read only variables Refer to the installation and start up manual to know the format of the values returned The values of 1 0 correspond to the parameters that are set as YES NO or ON OFF Values regarding position and feedrate values will be given in the units set by g m p INCHES If INCHES 0 in ten thousandths of a millimeter 999999999 If INCHES 1 in hundred thousandths of an inch 393700787 If rotary axis in ten thousandths of a degree 999999999 OEM programs or subroutines The
413. ous devices of the electrical cabinet These are represented by the letter O and there are 512 outputs available Marks M These are elements capable of memorizing in one bit as if it were an internal relay the status of the different internal variables of the CNC information of the logic outputs received in the communication between the CNC and the PLC of the CNC and the status of the different variables of the PLC whether these are internal or established by the user They are represented by the letter M and there are 3999 user marks and other special marks Registers R These are elements which allow a numerical value to be stored in 32 bits or facilitate CNC PLC communication with the Logic CNC inputs and outputs They are represented by the letter R and there are 256 user registers and other special registers Timers T These are elements which once activated alter the status of their output for a specific time time constant They are represented by the letter T and there are 512 timers Counters C They are elements capable of counting up or down a preset amount of events They are represented by the letter C and there are 256 counters 8 2 PLC program execution The PLC executes the user program cyclically In other words once it executes the complete program it restarts running this program from the first instruction This cyclic processing of the program is done as follows 1 Atthe beginning of the cycle PLC
414. override to work while threading In order not to damage the thread when varying the override the feed forward value of the axes must be close to 100 so as to work with a near zero following error OPLDECTI P86 It indicates the duration of the spindle deceleration ramp in open loop Possible values Integers between 0 and 65535 ms Default value 0 The s m p OPLDECTI P86 works on the first and second spindle If OPLDECTI P86 0 s m p OPLACETI P45 will be applied both for acceleration and deceleration If s m p JERKLIM P80 other than 0 and s m p OPLDECTI P86 other than 0 parameter JERKLIM will be applied for deceleration VA i P45 0 VA na _ lt a gt P45 P86 Sl Spindle parameters MACHINE PARAMETERS FAGOR 2 CNC 8037 SOFT V01 6x 175 Drive parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 176 5 5 Drive parameters This option is available when the CNC uses digital servo drive system i e the drives are connected to the CNC via CAN CAN interface This option works fine for spindles with drive version SPD V7 01 or newer It also works fine for axes with drive version ACSD V1 01 or newer This option displays the tables of the drive parameters that are stored in the hard disk KeyCF and the softkeys of the digital axes Press one of those softkeys for editing the drive parameters for that particular axis When
415. p 3 n NUOCAN Number of the first digital output of the group IANALOG Number of analog inputs of the group OANALOG Number of analog outputs of the group PT100_ Number of physical connections for PT100 probes of the group NUIANA Number of the first analog input of the group NUOANA Number of the first analog output of the group Refer to the parameters and examples of how to set the remote modules See 5 8 PLC Parameters on page 185 Numbering of the digital inputs and outputs REMOTE MODULES BUS CAN WITH CANOPEN PROTOCOL FAGOR CNC 8037 SOFT V01 6x 70 MACHINE AND POWER CONNECTION Power switch e This power switch must be mounted in such a way that it is easily accessed and at a distance between 0 7 meters 27 5 inches and 1 7 meters 5 5ft off the floor Install this unit in the proper place e Itis recommended whenever possible to install the CNC away from coolants chemical product blows etc that could damage it Mains connection of the central unit The Central Unit Monitor set has a three prong male Phoenix connector with a 7 62 mm pitch Nominal voltage Ripple Nominal current Current peak on power up Pin Signal and function 24 I 1 24V_ Power supply E 2 OV Power supply _ 3 Chassis Shield Use an independent external power supply with the following specifications 20 V minimum 30 V maximum 4V 2A 8A
416. pection nor MDI operations are possible The Retracing function cannot be activated while a canned cycle is active the RETRACE mark is activated until the machine starts retracing Besides the look ahead calculations will be different when going in one direction and returning therefore both paths might not be exactly the same N When working with G51 active it must be borne in mind several blocks may go by from the moment ACTLIM2 M5052 The PLC sets this signal high to tell to the CNC to activate the second travel limits set by means of variables LIMPL X C and LIMMI X C The second travel limit of each axis will be taken into accountif the first one has been set using a m p LIMIT P5 and LIMIT P6 HNLINARC M5053 This signal is used when either the path handwheel or path jog work mode has been selected using general input MASTRHND M5054 It allows selecting the type of movement M5053 0 Linear Path FAGOR 2 M5053 1 Circular path Fora linear path the path angle must be indicated by the MASLAN variable and for an arc the center CNC 8037 coordinates must be indicated by the MASCFI and MASCSE variables Variables MASLAN MASCFI and MASCSE may be read and written from the CNC DNC and PLC MASTRHND M5054 SOFT V01 6 The PLC sets this signal high to tell the CNC to activate the path handwheel or the path jog oe i mode M5054 0 Normal work mode with handwheels or jog keys M5054 1 P
417. ped and before beginning to retract SETTMEM M5066 PLC mark used by the OEM to activate an error message during tool change When this mark is activated the CNC activates the TMINEM mark RESTMEM 5067 PLC mark that may be used to cancel the error state of the CNC This mark is activated when the user confirms that the tool magazine has been inspected and that everything is OK to continue working 11 2 Axis logic inputs There are several groups of logic inputs LIMIT DECEL etc which refer to the possible axes of the machine by means of digits 1 through 3 LIMIT 2 DECEL1 etc or using the axis name LIMIT X DECELZ etc The marks of the axes that do not exist in the machine parameters assume the value of the M2045 mark that s always set to 0 When monitoring the PLC program it shows the edited marks either with a letter or with a number However the resource windows created from monitoring will replace the marks with axis names by the marks with axis numbers For example SERVOXON by SERVO1ON SERVOZON by SERVO2ON if there is no Y axis but there are X and Z axes Mnemonics using numbers 1 through 3 These signals are numbered as the logic order of the axes it is not related to the values assigned to g m p AXIS1 PO through AXIS8 P7 For example if the CNC controls the X Z and Y axes the order will be X Y Z and therefore LIMIT 1 LIMIT 1 DECEL1 etc for the X axis LIMIT 2 LIMIT 2 DECEL2 e
418. per revolution Do not mistake the type of pulse provided by the feedback system with the value to be assigned to s m p REFPULSE P32 This parameter must indicate the type of active flank leading or trailing edge positive or negative of the reference mark lo used by the CNC 6 10 Treatment of emergency signals The CNC provides the following emergency signals EMERGENCY STOP Physical emergency input It is generated from the outside and corresponds to the physical emergency input This signal is active low 0 V Di EMERGENCY OUTPUT Physical emergency output It is generated internally when an error is detected at the CNC or at the PLC CONCEPTS Treatment of emergency signals This signal is active low 0 V EMERGEN M5000 Logic input of the CNC generated by the PLC When the PLC activates this signal the CNC stops the axis feed and the rotation of the spindle and it displays the corresponding error message This signal is active low 0 V ALARM M5507 Logic input of the PLC generated by the CNC The CNC activates this signal to let the PLC know that an alarm or emergency condition has occurred This signal is active low 0 V FAGOR 2 CNC 8037 SOFT V01 6x 255 CONCEPTS Treatment of emergency signals FAGOR CNC 8037 SOFT V01 6x 256 CNC Treatment of emergency signals The emergency inputs of the CNC are EMERGEN M5000 Physical input coming from the
419. perator to refer to its negation for example NOT M5000 NOT EMERGEN NOT M5016 NOT AUXEND CNC logic inputs and outputs can be grouped in e General logic inputs e Axis logic inputs e Spindle logic inputs e Key inhibiting logic inputs e Logic inputs of the PLC channel e General logic outputs e Axis logic outputs e Spindle logic outputs e Logic outputs of key status e Logic inputs of the PLC channel FAGOR 2 CNC 8037 SOFT V01 6x 347 11 General logic inputs LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 348 11 1 General logic inputs These inputs must always be defined in the PLC program EMERGEN M5000 STOP M5001 FEEDHOL M5002 XFERINH M5003 EMERGEN M5000 There are to ways to cause an emergency at the CNC by activating the physical input Emergency stop pin 10 of connector X2 or the general logic input EMERGEN from the PLC CNC EMERGEN ALARM OUTPUT emergency emergency ELECTRICAL CABINET When the PLC sets the EMERGEN input low OV the CNC stops the axes and the spindle and it displays the corresponding error message Also the CNC activates the EMERGENCY OUTPUT and ALARM signals to let the outside world and the PLC know that an emergency has occurred at the CNC The CNC does not allow executing programs and it aborts any attempt to move the axes or the spindle while the EMERGEN input is low OV When t
420. physically in the tool magazine proceed as follows 1 Deactivate the tool that the CNC considers active TOOL 0 and TOD 0 2 Assign to the tool the relevant position using the TMZT variable Before trying to write in variables TOOL NXTOOL TOD and NXTOD check the OPMODA variable to make sure that no block or part program is being executed or simulated The next bits of the OPMODEA variable must be set to 0 Bit 0 Program in execution Bit 1 Program in simulation Bit 2 Block in execution via MDI JOG Bit 8 Block in execution via CNCEX1 6 14 2 Tool magazine management The following must be borne in mind when doing a tool change e The tool change is not validated until the execution of the T function or M06 is completed correctly If it is not completed correctly the tool magazine table is not refreshed e If while executing a T or M06 function something unexpected happens CNC error PLC error e stop button pressed CNC reset etc a mark TMINEM will be activated that will set the CNC in an error state e When executing a tool change O1 must be set 1 in the tool change operation of the PLC program Otherwise the CNC will issue the error message tool magazine in error state e If an error is detected during a tool change the CNC memorizes this error until it is canceled by a PLC mark RESTMEM or by the option REMOVE ERROR that appears in the error message If this error is not canceled as mentioned earlier it
421. pindle in closed loop and it indicates the acceleration time given to reach the maximum speed set by s m p MAXVOLT1 P37 thru MAXVOLT4 P40 in each gear This time is also valid for the deceleration stage Possible values Integers between 0 and 65535 ms Default value 0 there is no control INPOSW P19 Indicates the width of the IN POSITION zone where the CNC considers the spindle to be in position when working in closed loop M19 Possible values Between 0 and 99999 9999 degrees Default value 0 01 degrees INPOTIME P20 Indicates the time period that the spindle must remain in the IN POSITION zone in order to consider it to be in position SI Spindle parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 161 MACHINE PARAMETERS Spindle parameters FAGOR CNC 8037 SOFT V01 6x 162 This prevents the CNC from considering the spindle to be in position and executing the next block on those machines where the spindle could just overshoot the IN POSITION zone Possible values Integers between 0 and 65535 ms Default value 0 MAXFLWE1 P21 Indicates the maximum following error allowed for the spindle when moving in closed loop M19 Possible values Between 0 and 99999 9999 degrees Default value 30 degrees MAXFLWE2 P22 Indicates the maximum following error allowed for the spindle when stopped in closed loop M19 Possible values Between 0
422. pplied onto this axis The definition code is Value Meaning Value Meaning 0 None 5 V axis 1 X axis 6 W axis 2 Y axis 7 A axis 3 Z axis 8 B axis 4 U axis 9 C axis Default value 0 none Example If NPCROSS 20 MOVAXIS X and COMPAXIS W the CNC will allow access to the cross compensation table Each one of these 20 points NPCROSS of this table will indicate the X position value and the error suffered by the W axis when the X axis is positioned at this point This way the CNC will apply the compensation of the X axis table onto the W axis Sl MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 97 REFPSUB P34 Indicates the number of the subroutine associated with function G74 machine reference zero or home search This subroutine will be executed automatically when G74 is programmed alone in a block or also when searching home in the JOG mode by pressing the softkey ALL AXES Possible values Integer numbers between 0 and 9999 Default value 0 no associated subroutine 5 INT1SUB P35 INT2SUB P36 INT3SUB P37 INT4SUB P38 They indicate the number of the subroutine associated with the corresponding general logic input INT1 M5024 INT2 M5025 INT3 M5026 INT4 M5027 When one of these inputs is activated the program currently being executed is interrupted and the CNC jumps to execute the associated subroutine whose number is ind
423. probing moves bit 1 When the probe pulse is detected the following error is not reset thus making the probe stop more smoothly When setting the smooth stop a m p DERGAIN P25 and s m p FFGAIN P25 should be set to zero This may be done by setting the set of gains through g m p ACTGAIN2 P108 with the bit corresponding to G75 G76 CANSPEED P169 CAN bus transmission speed for the digital drives The transmission speed depends on the length of the cable or total CAN connection distance Value Meaning 0 1 Mbit s Maximum distance 20 meters 1 800 kbit s Maximum distance 45 meters 2 500 kbit s Maximum distance 95 meters Default value 0 1 Mbit s FEEDTYPE P170 Behavior of the feedrate when programming FO Value Meaning 0 Movement at maximum feedrate possible 1 FO cannot be programmed Default value 0 If set to 0 FO may be programmed and the motion blocks will be executed at the maximum feedrate allowed If set to 0 it is not possible to program FO or execute motion blocks with FO active SI MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 121 MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 122 ANGAXNA P171 Cartesian axis associated with the incline axis Value Meaning Value Meaning 0 None 5 V axis 1 X axis 6 W axis 2 Y axis 7 A axis 3 Z axis 8 B axis 4 U axis 9 C axis D
424. program generated in user RAM memory Value Meaning 0 An ISO coded program cannot be generated 1 65535 Indicates the number of the ISO coded program generated Default value 0 DISSIMUL P184 It may be used to disable the simulation modes and the block search modes when selecting blocks in execution Setting the relevant bit to 1 disables it and removes from the menu the softkey assigned to this bit This parameter has 16 bits counted from right to left bit 1514131211109 8 7 6 5 4 3 210 DS OSOfO0f 00 0 S SUOS S R S S REL For the block search Disabling in execution DISSIMUL XXXX XXXX O 1LXXX XXXX bit7 1 EXEC G SEARCH bit 6 1 EXEC GMST SEARCH For simulation Disabling in simulation DISSIMUL 0 1XXX XXXX XXXX XXXX bit 10 1 RAPID S0 bit 11 1 RAPID bit 12 1 MAIN PLANE bit 13 1 G M S T FUNCTIONS bit 14 1 G FUNCTIONS bit 15 1 THEORETICAL PATH ACTGAINT P185 The axes and the spindle can have 3 sets of gains and accelerations By default the CNC always assumes the first set indicated by the parameters of the axis or of the spindle ACCTIME PROGAIN DERGAIN and FFGAIN Parameter ACTGAINT indicates when the CNC assumes the third set of gains and accelerations indicated by the parameters of the axis or of the spindle ACCTIME2 PROGAIN2 DERGAIN2 an
425. psed a trailing edge is produced in the trigger input TG4 the PLC will consider that the timing operation has concluded it will deactivate the status output T 0 and maintain the value it has at that moment as the timer time value T If once the timing has concluded it is required to activate the timer again another leading edge must be produced at the TG4 input FAGOR CNC 8037 SOFT V01 6x 299 Timers PLC RESOURCES FAGOR CNC 8037 SOFT V01 6x 300 Operation of the TRS input in this mode If a leading edge is produced at the TRS input at any moment during timing or afterwards the PLC initializes the timer assigning the value 0 to its T status and cancelling its count it initializes this to 0 Due to the fact that the timer is initialized it will be necessary to activate its trigger input to activate it again TEN Operation of the TEN input in this mode If once the timer has been activated TEN 0 the PLC interrupts the timing and TEN must be set to 1 to resume timing TEN t j i t 7 6 Counters They are elements capable of counting up or down a preset amount of events They do not have image values and are represented by the letter C followed by the counter number which itis required to reference for example C1 C25 C102 etc The counter s countis stored in a 32 bit var
426. put R503 If while being the 60 and 120 inhibited the 100 position is selected SELECTOR will show the selected position 100 and SELECT will show the value being applied 50 SELECTOR bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Hex SELECT7 SELECTO Handwheel x100 1 1 1 1 0 0 0 0 FO Handwheel x10 1 1 1 1 0 0 0 1 F1 Handwheel x1 1 1 1 1 0 0 1 0 F2 JOG 10000 1 1 1 1 0 0 1 1 F3 JOG 1000 1 1 1 1 0 1 0 0 F4 JOG 100 1 1 1 1 0 1 0 1 F5 JOG 10 1 1 1 1 0 1 1 0 F6 JOG 1 1 1 1 1 0 1 1 1 F7 Feedrate override 0 0 0 0 0 1 0 0 0 08 Feedrate override 2 0 0 0 1 1 0 0 0 18 Feedrate override 4 0 0 1 0 1 0 0 0 28 Feedrate 0 0 1 1 1 0 0 0 38 override10 Feedrate override 0 1 0 0 1 0 0 0 48 20 Feedrate override 0 1 0 1 1 0 0 0 58 30 Feedrate override 0 1 1 0 1 0 0 0 68 40 Feedrate override 0 1 1 1 1 0 0 0 78 50 Feedrate override 1 0 0 0 1 0 0 0 88 60 Feedrate override 1 0 0 1 1 0 0 0 98 70 Feedrate override 1 0 1 0 1 0 0 0 A8 80 Feedrate override 1 0 1 1 1 0 0 0 B8 90 Feedrate override 1 1 0 0 1 0 0 0 C8 100 Feedrate override 1 1 0 1 1 0 0 0 D8 110 Feedrate override 1 1 1 0 1 0 0 0 E8 120 MSTROBE M5532 The CNC sets this signal high to tell the PLC that it must execute the auxiliary M function or functions which are indicated in registers MBCD1 to MBCD7 R550 to R556 mn le G
427. quired functions was completed 4 Once the general input AUXEND is active the CNC will require that this signal be kept active for a period of time greater than that defined by means of the g m p MINAENDW P30 This way erroneous interpretations of this signal by the CNC due to an improper PLC program logic are avoided 5 Once the period of time MINAENDW P30 has elapsed with the general input AUXEND at a high logic level the CNC will deactivate the general logic outputs MSTROBE SSTROBE TSTROBE T2STROBE to tell the PLC that the execution of the required auxiliary function or functions has been completed When executing 2 consective blocks which send information to the PLC and after finishing the execution of the first block the CNC waits a MINAENDW period of time before starting to execute the second block This way it assures thata MINAENDW delay takes place between the STROBE off end of first block and STROBE on beginning of the second block It is advisable for the MINAENDW P30 value to be equal to or greater than the duration of a PLC cycle in order to ensure the detection of this signal by the PLC 6 8 2 Transferring the auxiliary miscellaneous M functions without the AUXEND signal Once the block has been analyzed and after passing the corresponding values in variables MBCD1 7 the CNC will tell the PLC through the general logic output MSTROBE that the required auxiliary function or fun
428. r 999999999 If INCHES 1 in hundred thousandths of an inch 393700787 If rotary axis in ten thousandths of a degree 999999999 Tool table for lathe model CNC The length X Z radius R and wear offset I K values of the tool are given in the units set by g m p INCHES If INCHES 0 in ten thousandths of a millimeter 999999999 If INCHES 1 in hundred thousandths of an inch 393700787 If rotary axis in ten thousandths of a degree 999999999 The location tool shape code F will be an integer between 0 and 9 Tool table at the mill model CNC The tool offset number is an integer between 0 and 255 The maximum number of tool offsets is limited by g m p NTOFFSET The family code is a number between 0 and 255 0 to 199 if it is a normal tool 200 to 255 if itis a special tool The nominal life is given either in minutes or in operations 0 65535 The real actual life is given either in hundredths of a minute 0 9999999 or in operations 0 999999 Tool table at the lathe model CNC The tool offset number is an integer between 0 and 255 The maximum number of tool offsets is limited by g m p NTOFFSET The family code is a number between 0 and 255 0 to 199 if it is a normal tool 200 to 255 if itis a special tool The nominal life is given either in minutes or in operations 0 65535 The real actual life is given either in hundredths of a minute 0 9999999 or in operations 0 99
429. r corresponding to the PLC error table to be displayed on the CNC screen as well as to interrupt the execution of the CNC program stopping CNC 8037 axis feed and spindle rotation Activating any of these marks does not activate the external CNC emergency output They can be named by means of mark M4500 M4627 or by means of their associated mnemonic ERR1 ERR128 SOFT V01 6x M4500 M4501 M4502 M4626 M4627 ERRI ERR2 ERR3 ERR127 ERR128 287 Marks PLC RESOURCES FAGOR CNC 8037 SOFT V01 6x 288 Installation man Because the PLC program is not interrupted by these marks it is advised to make it possible to change their status via accessible external inputs otherwise the CNC will keep receiving the same error at every PLC scan cycle thus preventing access to any PLC mode By activating each mark M4700 M4955 it is possible to activate at the CNC user pages screens 0 255 They can be named by means of mark M4700 M4955 or by means of their associated mnemonic PICO PIC255 M4700 M4701 M4702 M4954 M4955 PICO PIC1 PIC2 PIC254 PIC255 The PLC has marks M5000 through M5957 to exchange information with the CNC all of which have associated mnemonics See chapter 11 Logic CNC inputs and outputs 7 4 Registers These are elements which store a numerical value in 32 bits their value remaining unalterable even when the power supply to the system is cut off
430. r frequency where the amplitude drops 3 dB or it reaches 70 of the nominal amplitude 3dB 20 log A Ao gt A 0 707 Ao For the anti resonance notch filter it indicates the mid frequency or frequency at which the resonance reaches its maximum value Possible values Between 0 and 500 0 Hz Default value 30 NORBWID P70 Standardized bandwidth This parameter is only taken into account for the anti resonance notch filter type Possible values between 0 and 100 0 Default value 1 ee E 0 707 Ao 3dB f fe FREQUEN It is calculated with the following formula Points f1 and f2 correspond to the cutoff frequency or frequency at which its amplitude drops 3 dB or reaches 70 of the nominal amplitude FREQUEN a f NORBWID SHARE P71 Signal percentage that passes through the filter This value must be equivalent to the percentage overshooting of the resonance because it has to make up for it This parameter is only taken into account for the anti resonance notch filter type Possible values between 0 and 100 Default value 100 Calculation example for a particular response of the machine A Ar Ao fr SHARE 100 Ar Ao Ao Sl Spindle parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 173 MACHINE PARAMETERS Spindle parameters FAGOR CNC 8037 SOFT V01 6x 174 INPREV1
431. r pulse Possible values Within 99999 9999 degrees Default value 0 MAXVOLT 1 P37 MAXVOLT 2 P38 MAXVOLT 3 P39 MAXVOLT 4 P40 Indicates the velocity command corresponding to the maximum speed of gears 1 2 3 and 4 Possible values Integer numbers between 0 mV and 9999 mV Default value 9500 9 5 V There is no need to set this parameter for an axis handled via CAN GAINUNIT P41 The CNC takes this parameter into account when operating in closed loop M19 Defines the units for s m p PROGAIN P23 and DERGAIN P24 Value Meaning 0 millivolts degree 1 millivolts 0 01 degree Default value 0 mV degree This parameter is used when working with the spindle in closed loop A value of 1 will be assigned when the analog command corresponding to a following error of 1 degree is very small This offers greater sensitivity for adjusting s m p PROGAIN P23 and DERGAIN P24 ACFGAIN P42 The CNC takes this parameter into account when operating in closed loop M19 Indicates whether or not the value assigned to a m p DERGAIN P24 is applied onto the variations of the programmed speed AC forward Value Meaning NO It is applied on variations of following error derivative gain YES It is applied on the variations of the programmed speed that are due to acceleration deceleration AC forward Default value YES ACFGAIN NO om FFGAIN pe rined Analog Tamed gt PROGAIN
432. r s m p ACCTIMET P81 PROGAINT P82 DERGAINT P83 and FFGAINT P84 LOGIC CNC INPUTS AND OUTPUTS The gains and accelerations can also be changed from the PLC regardless of the active operating mode or function To do this use general input ACTGAINT M5063 ACTGAINT M5063 1 The CNC assumes the third set The change of gains and accelerations is always made at the beginning of the block When working in round corner G5 the change does not take place until G07 is programmed SKIPCYCL M5064 During the drilling tapping and rigid tapping cycles of the mill model CNC it is now possible to withdraw the tool to the starting plane and once there stop the spindle Once the retraction is completed the user may finish the hole go to the next hole or go into tool inspection General logic input SKIPCYCL M5064 is used to go to the next hole once the withdrawal is completed FAGOR 2 CNC 8037 SOFT V01 6x 355 11 General logic inputs LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 356 RETRACYC M5065 During the drilling tapping and rigid tapping cycles of the mill model CNC it is now possible to withdraw the tool to the starting plane and once there stop the spindle Once the retraction is completed the user may finish the hole go to the next hole or go into tool inspection The PLC activates this mark and the CNC cancels it automatically once the Z axis stop
433. r the theoretical value in microns or ten thousandths of an inch and its angular position Once data capture is done it draws two lines indicating the angular positions of both errors on the graph They appear in dashed lines when the error exceeds the value assigned to the display area in its quadrant and it goes on to the opposite quadrant a While capturing points for the geometry test the execution graphics stops drawing FAGOR CNC 8037 SOFT V01 6x 230 6 6 Reference systems A CNC machine needs the following origin and reference points defined Machine zero Machine s origin point This is set by the manufacturer as the origin of the coordinate system of the machine Part zero Part origin point This is the origin point that is set for programming the measurements of the part It can be freely selected by the programmer and its machine reference zero can be set by the zero offset Reference point This is a point on the machine established by the manufacturer physical location of the marker pulse from the feedback device When the feedback system is semi absolute with distance coded reference mark lo this point is only used when leadscrew error compensation must be applied on the axis When the feedback is a normal incremental system without distance coded reference mark lo besides using this point in the leadscrew error compensation the system is synchronized at this point instead of ha
434. ravel is limited to less than a revolution and a positive and negative display is desired for example P5 120 P6 120 it is possible to program G90 with positive and negative values PITCH P7 Defines the pitch of the ballscrew or the resolution of the linear feedback device being used FAGOR It must be set when the feedback is handled through the CNC connector analog servo or digital with DRIBUSLE 0 CNC 8037 Possible values Between 0 0001 and 99999 9999 degrees or millimeters Between 0 00001 and 3937 00787 inches Default value 5 mm SOFT V01 6x 132 Analog servo system The meaning of parameter PITCH depends on the type of axis and encoder used e On linear axis with rotary encoder it sets the leadscrew pitch per encoder turn e On linear axis with linear encoder it sets the resolution of the encoder e On rotary axis it sets the number of degrees the shaft rotates per encoder turn With this type of servo system parameter PITCHB P86 has no meaning Axis type Encoder type PITCH P7 NPULSES P8 Linear axis Linear encoder Encoder resolution 0 Rotary encoder Leadscrew pitch per Number of pulses lines encoder turn per encoder turn Rotary axis Rotary encoder Degrees that the shaft Number of pulses lines rotates per encoder turn per encoder turn When using gear reduction on the shaft only the whole assembly must be taken into account when setting one of parameters PITCH
435. rder starting from the most negative least positive point to be compensated e For those points outside the compensation zone the CNC will apply the compensation value corresponding to the table point closest to them e The amount of error of the machine reference point may have any value e The error difference between two consecutive points must not be greater than the distance between them maximum slope 100 Setting example The X axis leadscrew must be compensated in the positive direction for between X 20 and X160 according to the leadscrew error graph below Si CONCEPTS Axis adjustment FAGOR CNC 8037 SOFT V01 6x 227 Set a m p LSCRWCOM P15 ON and NPOINTS P16 7 0 g E o DERE f De E Considering that the Machine Reference Point physical location of the marker pulse is located 30 2 5 mm from HOME machine reference zero at X30 The leadscrew error compensation parameters 3 must be set as follows O i Point Position Positive error Negative error P001 X 20 000 EX 0 001 EX 0 P002 X 0 000 EX 0 001 EX 0 P003 X 30 000 EX 0 000 EX 0 P004 X 60 000 EX 0 002 EX 0 P005 X 90 000 EX 0 001 EX 0 P006 X 130 000 EX 0 002 EX 0 P007 X 160 000 EX 0 003 EX 0 FAGOR CNC 8037 SOFT V01 6x 228 6 5 8 Circle geometry test This adjustment improves the axis reversal peaks It consists in machining a circle without compen
436. re properly made Before powering the unit up make sure that it is connected to ground In order to avoid electrical discharges make sure that all the grounding connections are properly made e Do not work in humid environments In order to avoid electrical discharges always work under 90 of relative humidity non condensing and 45 C 113 F e Do not work in explosive environments In order to avoid risks or damages do no work in explosive environments FAGOR 2 CNC 8037 13 Safety conditions FAGOR CNC 8037 14 MEEUE eo rr r T StTFT r mmc MM j jMjM SJ PRECAUTIONS AGAINST PRODUCT DAMAGE EEE O Working environment This unit is ready to be used in industrial environments complying with the directives and regulations effective in the European Community Fagor Automation shall not be held responsible for any damage suffered or caused when installed in other environments residential or homes Install this unit in the proper place Itis recommended whenever possible to install the CNC away from coolants chemical product blows etc that could damage it This unit complies with the European directives on electromagnetic compatibility Nevertheless it is recommended to keep it away from sources of electromagnetic disturbance such as Powerful loads connected to the same AC power line as this equipment Nearby portable transmitters Radio telephones
437. real coordinates The units indicate whether cross compensation is applied with theoretical coordinates or with real ones Value Meaning x0 With real coordinates x1 With theoretical coordinates 5 Default value 0 tens The cross compensation on Ganiry axis affects the slave axis The tens indicate whether cross compensation on Gantry axes affects only the master axis or both MACHINE PARAMETERS General machine parameters Value Meaning Ox It affects the master axis 1x It affects both axes Default value 0 AXIS9 P136 PAXIS9 P137 AXIS10 P138 PAXIS10 P139 AXIS11 P140 PAXIS11 P141 AXIS12 P142 PAXIS12 P143 If a CNC is configured so that any of the feedback inputs of its axes or spindles is free because they are digital axes or spindle without feedback connection to the CNC these free connectors could be configured as electronic or mechanical handwheels AXIS9 AXIS12 Define the handwheel type The values to be assigned to these parameters are Value Meaning Value Meaning 11 Handwheel 12 Handwheel with axis selector button 21 Handwheel associated with X 22 Handwheel associated with Y 23 Handwheel associated with Z 24 Handwheel associated with U 25 Handwheel associated with V 26 Handwheel associated with W 27 Handwheel associated with A 28 Handwheel associated with B 29 Handwheel associated with C PAXIS9 PAXIS12 Define which connector is each handwheel associated with V
438. rees per minute ats m p REFEED1 P34 into rpm It selects the spingle gear corresponding to those rpm The spindle gear cannot be changed when operating in M19 The gear must be selected beforehand 6 9 4 Spindle in closed loop One of the following conditions must be met in order for the spindle to operate in closed loop by means of spindle orientation M19 e Itis an analog or digital drive with feedback to the CNC via connector and s m p NPULSES P13 is other than 0 e Itis a digital drive CAN with feedback to the drive and s m p DRIBUSLE P51 is other than 0 Also when switching from open to closed loop either an M19 or an M19 S 5 5 must be executed The S 5 5 code indicates the spindle position in degrees from the spindle reference point marker pulse When switching form open to closed loop the CNC behaves as follows e If the spindle has a home switch In this case it is possible to detect the right reference mark among the possible ones having the encoder at the motor originated especially by different gear ratios In order for the drive to detect the right reference mark the home switch detection must be accurate This is achieved by having the spindle turn one more revolution once the home switch has been detected The end portion of this last spindle revolution is carried out slowly Spindle home search The spindle must have an encoder so it can be homed Once the home switch has been detected t
439. rently selected and the operator requests tool T5 The subroutine associated with the tools may contain the following instructions P103 NBTOOL MSG SELECT T P103 AND PRESS CYCLE START Instruction P103 NBTOOL assigns the number of the tool currently being managed to parameter P103 Therefore P103 5 The message displayed by the CNC will be SELECT T5 AND PRESS CYCLE START Note The NBTOOL variable is refreshed in all simulations including those where T functions are not executed In other words it may not correspond with the active tool TOOL PRGN Returns the program number being executed Should none be selected a value of 1 is returned BLKN It returns the label number of the last executed block GGSA It returns the status of functions GOO through G24 The status of each one of the functions will be given in the 25 least significant bits and it will be indicated by a 1 when active and a 0 when not active or when not available in the current software version G24 G23 G22 G21 G20 oi G04 G03 G02 G01 GOO CNCRD GGSA R110 M10 Loads register R110 with the status of functions GOO through G24 GGSB It returns the status of functions G25 through G49 The status of each one of the functions will be given in the 25 least significant bits and it will be indicated by a 1 when active and a 0 when not active or when not available in the current software versio
440. responding to the sign of the velocity command output of the CNC will have to be changed e If the axis does not run away but the direction of the move is not the desired one parameters labeled AXISCHG P13 axis feedback counting direction and LOOPCHG P26 sign of the velocity command output will have to be changed Setup MACHINE AND POWER CONNECTION FAGOR 2 CNC 8037 SOFT V01 6x TT Setup MACHINE AND POWER CONNECTION FAGOR CNC 8037 SOFT V01 6x 78 Machine reference point home adjustment for each axis Once the movement of the axes has been properly adjusted place the travel limit switches back where they should be The following adjusting sequence is one of the many that could be used This adjustment should be done one axis at a time Indicate in the a m p REFPULSE P32 the type of marker pulse lo being used for Home Search Set a m p REFDIREC P33 to indicate the direction of the axis when searching Home Set g m p REFEED1 P34 and REFEED2 P35 to indicate the feedrates for Home search a m p REFVALUE P36 will be set to 0 Once in the JOG mode and after positioning the axis in the right area start homing the axis When done the CNC will assign a 0 value to this point If the machine reference zero is in a different physical location from the machine reference point location of the marker pulse proceed as follows After moving the axis to a known position with respect
441. responsible for any material or physical damage derived from the violation of these basic safety requirements To check the fuses first unplug the unit from mains If the CNC does not turn on when flipping the power switch check that the fuses are the right ones and they are in good condition Avoid solvents The action of solvents such as chlorine hydrocarbons benzole esters and ether may damage the plastics used to make the front panel of the unit Do not get into the inside of the unit Only personnel authorized by Fagor Automation may manipulate the inside of this unit Do not handle the connectors with the unit connected to main AC power Before handling these connectors I O feedback etc make sure that the unit is not connected to main AC power Maintenance FAGOR 2 CNC 8037 SOFT V01 6x 483 Maintenance z FAGOR CNC 8037 SOFT V01 6x 484 Installation manual Installation manual FAGOR CNC 8037 SOFT V01 6x 485 FAGOR CNC 8037 SOFT V01 6x 486 Installation manual
442. ress ENTER The drive assumes that value and refreshes the screen Execute command Shows the list of commands that can be executed by the drive Select one using the t keys and press ENTER Change group Selects the group of parameters or variables to be displayed Change set Selects the set number of the parameters or variables to be displayed To drive flash The drive stores all its parameters in its flash memory and it then executes a soft reset command This command interrupts the communication press ENTER to restore it Save It makes a copy of the parameters of the drive s RAM memory into the CNC s hard disk KeyCF or to a peripheral device or PC through the serial line The parameters are storedwith the name of the axis they are associated with for example the X axis parameters A file saved from the CNC via WinDNC may be loaded into the drive via DDSSETUP and vice versa Load It copies into the drive s RAM memory the parameters saved in the CNC s hard disk KeyCF or in a peripheral device or in PC through the serial line The CNC copies the axis parameters that are being edited Drive Errors It displays a window with the warnings and errors of the drive If all of them do not fit on the screen use t 4 Options It shows a screen where one can select to display either all the parameters and variables or just the ones than can be modified Press the Modify Option softkey to change it
443. rks M2046 and M2047 8 Marks associated with messages M4000 M4254 ni Cc Marks associated with errors M4500 M4627 oO al Screen marks M4700 M4955 a CNC communication marks M5000 M5957 Marks M1 thru M2047 have image values unlike the remainder of the marks and so the PLC will always work with their real values The arithmetic flag mark available at the PLC is M2003 Is the Zero flag and is set to 1 high logic level when the result of an AND OR XOR operation is 0 The clock marks M2009 to M2024 make up internal clocks of different periods which can be used by the user The following table shows the available marks and the average period of each one M2009 100 ms M2015 6 4 s M2021 16s M2010 200 ms M2016 12 8 5 M2022 32 s m2011 4ooms M2017 1s M2023 64 s M2012 800 ms M2018 26 M2024 128 s M2013 1 65 M2019 45 m2014 32s M2020 85 The fixed status marks available at the PLC are M2046 Always has a value of 0 M2047 Always has a value of 1 The PLC allows by means of the activation of a series of message marks the PLC message corresponding to the PLC message table to be displayed on the CNC screen They can be named by means of the mark M4000 M4254 or by means of their associated mnemonic MSG1 MSG255 M4000 M4001 M4002 _ M4253 M4254 MSGI MSG2 MSG3 MSG254 MSG255 FAGOR 2 Likewise 128 error marks are available which allow the erro
444. rom the file explorer only on Windows 98 write in the command line the user name the password and the CNC s IP address The user name is always cnc MACHINE PARAMETERS Ethernet parameters For example ftp cnc password 10 0 17 62 Assign a name to the IP address The IP address may be assigned a name for easier identification This operation is carried out at the PC and there are two different ways to do it e Editing the file c windows hosts This file may be modified with any text editor In the file add a line containing the CNC S IP address and the name to identify it with For example 10 0 7 40 CNC_1 10 1 6 25 MILL_MACH_01 On the Web browser or from the file explorer only on Windows 98 write the defined name in the command line For example CNC without password ftp CNC_01 For example CNC with password ftp cnc password MILL MACH 01 e Through the Favorites menu of the Web browser In the Web explorer write the IP address in the command line After accessing the site select the Favorites option on the menu add to favorites and assign a name to that IP address This way it is possible to access the CNC by selecting the assigned name on the Favorites menu pt re T_ wxy_e_Er_rr SSS Sa On the lexplorer browser it is called Favorites This name may vary depending on the Web browser being used FAGOR 2 CNC 8037 SOFT V01 6x 183 MACHINE PARAMETERS Ethernet parameter
445. rpm Example 8 Resolution in degrees with sinusoidal encoder We would like to obtain a 0 001 resolution by using a 3600 pulse rev sinusoidal encoder Installation manual We must calculate the multiplying factor SINMAGNI to be applied by the CNC to the pulses provided by the encoder in order to obtain the desired resolution SINMAGNI degrees per turn Nr of pulses x Resolution SINMAGNI 360 3600 x 0 001 100 Therefore INCHES 0 PITCH 360 0000 NPULSES 3600 SINMAGNI 100 The feedback frequency of Fagor rotary encoders is limited to 200 KHz The CNC s maximum sinusoidal feedback input frequency is 250 KHz which means that the maximum feedrate for this axis will be Max Feed 200 000 pulses s 3 600 pulses turn Max Feed 55 5556 turns s 3333 33 rpm CONCEPTS 6 E O g i gt no x O 2 D O d FAGOR 2 CNC 8037 SOFT V01 6x 219 CONCEPTS Axis adjustment FAGOR CNC 8037 SOFT V01 6x 220 6 5 Axis adjustment In order to be able to set the axes their corresponding feedback devices must be previously connected to the CNC Before making this adjustment position the axes near the middle of their travel and place the hard stops monitored by the electrical cabinet near these mid travel points in order to prevent any possible damage to the machine The axis adjustment is carried out in two steps First the servo drive loop is adjusted and then the C
446. rs Within 3937 00787 inches Default value 0 LSCRWCOM P15 Indicates whether the CNC should apply leadscrew error compensation or not Value Meaning OFF Leadscrew compensation not being used ON Leadscrew compensation being used Default value OFF NPOINTS P16 Indicates the number of leadscrew error compensation points available in the table The values in this table will be applied if a m p LSCRWCOM P15 is ON Possible values Integer numbers between 0 and 1000 Default value 30 DWELL P17 Indicates the dwell from the moment the ENABLE signal is activated until the velocity command is sent out Possible values Integers between 0 and 65535 ms Default value 0 none ACCTIME P18 Defines the acceleration stage or the time it takes the axis to reach the feedrate selected with a m p GOFFED P38 This time is also valid for the deceleration stage Possible values Integers between 0 and 65535 ms Default value 0 none I n 2 2 Ee U g 3 da Cc o a 3 LU zZ O lt FAGOR CNC 8037 SOFT V01 6x 135 INPOSW P19 Indicates the width of the IN POSITION zone dead band where the CNC considers the axis to be in position Possible values Between 0 and 99999 9999 degrees or millimeters Between 0 and 3937 00787 inches Default value 0 01 mm 5 INPOTIME P20 BI Indicates the time period that the axis must remain in the IN
447. rsion table S S S S S Programmed BCD Programmed BCD Programmed BCD 800 899 EC om E zeman 8 sis sonno 400 449 5 7100 7999 450 499 500 559 8000 8999 9000 9999 9 s 54 5 6 57 8 9 61 62 63 64 65 67 70 71 72 73 74 75 560 629 630 709 76 If a value over 9999 is programmed the CNC will tell the PLC the spindle speed corresponding to value 9999 N o 5 2 Ww a O Ww Z O O FAGOR 2 CNC 8037 SOFT V01 6x 245 CONCEPTS Spindle FAGOR CNC 8037 SOFT V01 6x 246 If S output in 8 digit BCD is used the CNC will indicate the programmed spindle speed to the PLC by means of this register This value will be coded in BCD format 8 digits in thousandths of a revolution per minute S 12345 678 0001 0010 0011 0100 0101 0110 0111 1000 Analog output In order for the CNC to provide an analog output to control the spindle speed it is necessary to set s m p SPDLTYPE PO 0 The CNC will generate the analog output within 10V corresponding to the programmed rotation speed or a unipolar velocity command if the s m p POLARM8 P7 and POLARM4 P8 have been assigned the same value The Closed Loop mode of operation with M19 is described later on in this manual PLC controlled spindle With this feature the PLC may take control of the spindle for a certain period of time To do that follow these steps 1 Have the PLC place the S
448. rter than 8 ms It is also recommended to manage the DECELS input from a local input Nn Oo a O FAGOR CNC 8037 SOFT V01 6x 249 CONCEPTS Spindle FAGOR CNC 8037 SOFT V01 6x 250 When managing the DECELS input from a CAN remote input use the commands IREMRD OREMWR and MWR inside the periodic cycle to obtain proper synchronism PE IREMRD NOT 1200 DECELS OREMWR MWR END The delay of the DECELS signal detector can cause a low home search feedrate REFEED1 In order for this not to affect successive positioning movements that are not related with home search we recommend to use a positioning feedrate higher than REFEED1 through the M19FEED variable and its associated PLC mark PLCFM19 e If the spindle does not have a home switch If the spindle does not have a home switch it searches the encoder marker pulse at the turning speed set by s m p REFEED2 P35 S m p REFDIREC P33 sets the spindle homing direction Then it positions the spindle at the programmed S 5 5 point S m p REFVALUE P36 sets the position value assigned to the reference point of the spindle home or marker pulse Calculating spindle resolution The CNC assumes that one encoder revolution represents 360 Therefore the feedback counting resolution depends on the number of lines of the spindle encoder Resolution 360 4 x number of pulses per revolution Hence to obtain a resolution of
449. s FAGOR CNC 8037 SOFT V01 6x 184 CNC connection in an Ethernet network Connection using Windows 2000 or XP The easiest way to access the CNC s hard disk from a PC is configuring a new connection At the file explorer select My Network sites gt Add network sites It will show the Windows help to add network sites that permits configuring the connection step by step Press the OK button to go on to the next step Follow the instructions shown on the screen to configure the connection refer to the Windows help for additional information Connection with a shared CNC without password 1 First select the network site in this case an ftp folder Write ftp followed by the CNC s IP address defined by machine parameter DIRIP P24 For example ftp 10 0 17 62 2 Define how the session is initiated anonymously or not When the CNC is shared without password the session is initiated anonymously 3 Define the name to be associated with the new connection This is the name that will appear on the PC s net directory Just select it from the list to start the connection For example FAGOR_CNC Connection with a shared CNC with password 1 First select the network site in this case an ftp folder Write ftp followed by the CNC s IP address defined by machine parameter DIRIP P24 For example ftp 10 0 17 62 2 Define the user name and how the session is initiated anonymously or not When the C
450. s a single block and the stop signal has been disabled If the stop signal CYCLE STOP key or PLC signal is received while executing a subroutine the CNC memorizes it until enabling the stop signal In this situation it does not finish the subroutine and it does not consider the T as done which could cause irregularities at the tool magazine To avoid this situation it is possible to consider the stop signal after executing the T function This bit determines whether the stop signal is considered after completing the T function bit 1 or not bit 0 If the bit is set to 0 the stop signal is considered in the following cases e If the stop signal has been disabled when it is re enabled e If the stop signal has not been disabled when pressing the CYCLE STOP key It should be borne in mind that the DSTOP instruction disables both the CYCLE STOP key and the signal coming from the PLC Both may be re enabled with the ESTOP instruction Bit 14 Type of corner when changing tool offsets When changing a tool offset the change takes place at the end of the path The corner where the tool offset is changed may be machined either with rounding or without it This bit indicates whether that point is machined as a round corner bit 1 or as a Square corner bit 0 This bit is only taken into account when round corner machining is active when working in square corner the corner where the change takes place is always machined as
451. s an execution error in one of the two execution channels for example travel limit overrun it will show the corresponding error code If it must also stop the movement of the axes and the spindle rotation the CNC will stop the movement of all the axes regardless of whether they are controlled from the CNC or the PLC Also if the detected error stops the program execution the CNC will stop the execution of both channels and each one of them will act as follows CNC channel Once the cause of the error has been removed select again the execution or simulation mode and continue with the program execution PLC channel The PLC program does not stop and continues running The commands sent by means of action CNCEX will not be executed until removing the cause of the error Once the cause of the error removed the CNC will execute all the new commands sent by the PLC To know from the PLC program whether any CNC error is active this information can be requested by accessing the internal CNC variable CNCERR This variable indicates the error number being active at the CNC and if none is active it returns a 0 value 13 1 2 Blocks which can be executed from the PLC It is possible to execute blocks that contain G codes axis position values feedrates M functions and high level language programming Auxiliary functions S T and D cannot be programmed The ASCII block to be sent to the CNC by means of the action CNCEX to be execute
452. s from the hard disk to the PC and vice versa CNMODE P1 If the CNC is configured like another node in the network it may be accessed from any PC of the network knowing its IP Only the CNC s hard disk may be accessed i e it is not possible to access programs in RAM nor read variables tables etc With the CNC configured in the network the following is possible from any PC of the network e Edit modify delete rename etc the programs stored on the hard disk HD CNC name when connecting it via FTP only when allowed by the FTP client CNGROUP P3 Not being used CNHDPASI1 P7 Possible values It admits up to a maximum of 15 characters without blank spaces CNHDDIRI1 P6 Password for accessing the hard disk from the network Default value FAGORCNC EXTNAME2 P8 Not being used DNCEACT P22 Not being used SERUNI2 P21 Sl MACHINE PARAMETERS Ethernet parameters FAGOR CNC 8037 SOFT V01 6x 181 IPTYPE P23 Reserved It must be set to 0 DIRIP P24 CNC s IP address Possible values Four numbers between 0 and 255 separated by dots 5 n Default value 0 0 0 0 the network is not activated v 2 co pu D NETMASK P25 E LU z S Network mask GE D Possible values o Q Four numbers between 0 and 255 separated by dots al i Default value 0 0 0 0 the network is not activated O lt q IPGATWAY P26 Gateway IP address Possible
453. s made at the beginning of the block When working in round corner G5 the change does not take place until GO7 is programmed Example 1 G2 X10 Y10 110 JO G1 X20 G3 X30 Y20 10 J10 GI Y30 Set 1 Set 2 Set 1 Set 2 Example 2 G05 G2 X10 Y10 110 JO G1 X20 G3 X30 Y20 10 J10 G7 G1 Y30 Set 1 Set 1 Set 1 Set 2 The gains and accelerations may also be changed from the PLC To do that there is a general logic CNC input ACTGAIN2 M5013 Every time this input is activated the CNC selects the second set of gains and accelerations regardless of the active operating mode or function TRASTA P109 Not being used DIPLCOF P110 This parameter indicates whether the CNC takes into consideration or not the additive zero offset when displaying the coordinates of the axes on the screen and when accessing the POS X C and TPOS X C variables Value Meaning 0 When displaying the position of the axes referred to home it only takes into account the additive offset when displaying the coordinates referred to machine reference zero The coordinate returned by the POS X C and TPOS X C variables takes into account the additive zero offset 1 When displaying the position of the axes it ignores the additive offset The coordinate returned by the POS X C and TPOS X C variables ignores the additive zero offset 2 When displaying the position of the axes the CNC takes into account the additive of
454. s not been sent to us the warranty period ends 15 months from when the product left our warehouse This warranty covers all costs of material and labour involved in repairs at FAGOR carried out to correct malfunctions in the equipment FAGOR undertakes to repair or replace their products within the period from the moment manufacture begins until 8 years after the date on which it disappears from the catalog FAGOR has exclusive competence in deciding whether the repair enters within the term defined as the warranty period EXCLUDING CLAUSES Repairs will be carried out on our premises Therefore all expenses incurred as a result of trips made by technical personnel to carry out equipment repairs despite these being within the above mentioned period of warranty are not covered by the warranty Said warranty will be applied whenever the equipment has been installed in accordance with instructions has not be mistreated has not been damaged by accident or by negligence and has not been tampered with by personnel not authorized by FAGOR If once servicing or repairs have been made the cause of the malfunction cannot be attributed to said elements the customer is obliged to cover the expenses incurred in accordance with the tariffs in force Other warranties implicit or explicit are not covered and FAGOR AUTOMATION cannot be held responsible for other damages which may occur FAGOR CNC 8037 17 Warranty terms FAGOR CNC
455. s of both axes in the direction indicated by a m p REFDIREC P33 of the main axis These movements will be performed at the feedrate indicated by a m p REFEED1 P34 for the main axis until the home switch for this axis is hit It then moves back at REFEED2 until the home switch is released Once the switch has been released the CNC will wait until the marker pulse home of the slaved axis is found and then it will look for the marker pulse from the main axis This is done without changing the direction or the speed of the movement e On axes with distance coded feedback system The CNC starts moving both axes in the direction indicated by a m p REFDIREC P33 for the main axis at the feedrate indicated by a m p REFEED2 P35 of the main axis The CNC will wait until the marker pulse home of the slave axis is found and then it will look for the marker pulse from the main axis If the difference obtained between both reference positions is not the same as the one indicated by a m p REFVALUE P36 for both axes the CNC will correct the position of the slave axis This will end the home search operation When this search is carried out in the JOG mode the active zero offset will be cancelled and the CNC will display the position value indicated by a m p REFVALUE P36 for the main axis In all other cases the displayed position value will be referred to the zero offset or part zero active before the home search A If
456. s or between a number and a register content XOR Logic XOR operation between register contents or between a number and a register content RR 1 2 Clockwise register rotation D RR 1 2 Counterclockwise register rotation AND R1 559 R1 559 R1 559 o OR E XOR o E E Origin Number of repetitions Destination Q RR1 R1 559 R1 559 R1 559 a RR2 0 31 2 RL gt To RL2 E 5 D Specific action instructions ERA Group erase CNCRD CNCRD Variable R1 559 M1 5957 Reading of internal CNC variables CNCWR CNCWR R1 559 Variable M1 5957 Writing of internal CNC variables PAR PAR R1 559 M1 5957 Parity of a register ERA 1 512 1 512 0 1 512 1 512 M 1 5957 1 5957 T 1 256 1 256 Cc 1 256 1 256 R 1 559 1 559 FAGOR CNC 8037 SOFT V01 6x 456 SUMMARY OF PLC INPUTS AND OUTPUTS General logic inputs EMERGEN M5000 Stops the axes and the spindle Displays the error STOP M5001 Stops execution of the part program maintaining spindle rotation FEEDHOL M5002 Stops axis feed momentarily maintaining spindle rotation XFERINH M5003 Prevents the next block from being executed but finishes the one being executed CYSTART M5007 Starts program execution SBLOCK M5008 The CNC changes to single block execution mode MANRAPID M5009 Selects rapid travel for all the movements that are exec
457. s possible N Once the axes have been adjusted separately the ones being interpolated together should be further The more identical their following errors are the more round the programmed circles will turn out Si CONCEPTS Axis adjustment FAGOR 2 CNC 8037 SOFT V01 6x 223 CONCEPTS Axis adjustment FAGOR CNC 8037 SOFT V01 6x 224 6 5 4 Feed forward gain setting With the feed forward gain it is possible to reduce the following error without increasing the gain thus keeping the system stable It sets the percentage of velocity command due to the programmed feedrate the rest depends on the proportional and derivative AC forward gains This gain is only to be used when operating with acceleration deceleration control FEGAIN Programmed nad gt P a gt For example if a m p FFGAIN P25 has been set to 80 the axis velocity command will be 80 of it will depend on the programmed feedrate feed forward gain e 20 of it will depend on the axis following error proportional gain Setting the Feed Forward gain involves a critical adjustment of a m p MAXVOLT P37 1 Move the axis in GOO and at 10 2 Measure the actual analog command at the drive 3 Set parameter MAXVOLT P37 to a value 10 times the measured value For example If the measured command voltage was 0 945 V then set this parameter to 9 45 V in other words P37 9450 Next set a m p
458. s selected CUSTOM M5512 It indicates to the CNC which work mode is currently selected CUSTOM 0 M or T work mode CUSTOM 1 TC work mode FAGOR 2 When having 2 keyboards this variable may be used in the PLC in the following cases e To govern the keyboard switching board CNC 8037 e To know the source of the keys and inhibit the desired keys SOFT V01 6x 371 11 General logic outputs LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 372 INCYCLE M5515 The CNC sets this signal high while executing a block or moving an axis Once the execution of the program has been requested by the PLC to the CNC by means of the logic input CYSTART the latter will indicate that it is being executed by setting the INCYCLE signal high This signal is maintained high until the CNC finishes the part program or when this is stopped by means of the STOP key on the CONTROL PANEL or the general logic input STOP If the CNC is in the single block execution mode the INCYCLE signal is set low as soon as the block execution is concluded If the CNC is in JOG mode the INCYCLE signal is set low as soon as the position indicated has been reached If the CNC is in JOG mode and the axes are being jogged the INCYCLE signal goes high while any of the jog keys are pressed RAPID M5516 The CNC sets this signal high to tell the PLC that a rapid positioning GOO is being executed TAPPING M5517 The CNC sets thi
459. s set the travel limits for the axis positive and negative A m p LIMIT P5 and LIMIT P6 must have the right values FBACKAL P11 This parameter indicates whether the feedback alarm for this axis will be ON or OFF A m p FBACKAL P11 must be set to ON FBALTIME P12 This parameter indicates the maximum time that the axis may stay without properly responding to the CNC s command A m p FBALTIME P12 must be set with a proper value other than 0 MAXFLWE1 P21 This parameter indicates the maximum following error allowed when this axis moves The value of a m p MAXFLWE1 P21 must be slightly higher than the amount of following error lag in GO MAXFLWE2 P22 This parameter indicates the maximum following error allowed when this axis is stopped The value of MAXFLWE2 P22 must be snug i e the value must not be too large MAXCOUPE P45 This parameter indicates the maximum difference allowed between the following errors of the Gantry axes that electronically coupled A m p MAXCOUPE P45 must be set with a proper value other than 0 Only for Gantry or slaved axes FLIMIT P75 This parameter indicates the maximum safety limit the axis feedrate A m p FLIMIT P75 must be set with a proper value other than 0 ADIFEED P84 This parameter sets indicates the maximum feedrate allowed due to the additive handwheel A m p ADIFEED P84 must be set with a proper value other than 0 FRAPIDEN P85 Th
460. s signal high to tell the PLC that a tapping canned cycle is being executed G84 THREAD M5518 The CNC sets this signal high to tell the PLC that a threading block is being executed G33 PROBE M5519 The CNC sets this signal high to tell the PLC that a probing movement is being executed G75 G76 ZERO M5520 The CNC sets this signal high to tell the PLC that a machine reference search is being executed G74 RIGID M5521 This output is only available on the mill model The CNC set this signal high to indicate to the PLC that a RIGID TAPPING operation G84 is being performed RETRAEND M5522 The CNC sets this signal high to indicate to the PLC that while retracing is active all the possible blocks have been retraced For further information see general input RETRACE M5051 CSS M5523 This output is only available on the lathe model The CNC sets this signal high to tell the PLC that the constant cutting speed function is selected G96 SELECTO M5524 SELECTI M5525 SELECT2 M5526 SELECTS M5527 SELECT4 M5528 SELECT5 M5529 SELECT6 M5530 SELECT7 M5531 SELECTOR R564 The CNC uses these signals to indicate to the PLC the position selected at each keyboard switch SELECTOR It indicates the position currently selected SELECT It indicates the value applied by the CNC Usually the two values coincide except when a position has been selected which has been disabled with the KEYDIS4 in
461. s system e When read from the PLC they are always given in radius DPOS X C The CNC updates this variable when probing functions G75 and G76 When the digital probe communicates with the CNC via infrared beams there could be some delay milliseconds from the time the probe touches the part to the instant the CNC receives the probe signal Although the probe keeps moving until the CNC receives the probing signal the CNC takes into account the value assigned to general machine parameter PRODEL and provides the following information in the variables TPOS X C and DPOS X C TPOS X C Actual position of the probe when the CNC receives the probe signal DPOS X C Theoretical position of the probe when the probe touched the part FLWE X C It returns the following error of the selected axis DPLY X C It returns the position value coordinate shown on the screen for the selected axis Read and write variables DIST X C These variables may be used to read or modify the distance traveled by the selected axis This value is accumulative and is very useful when it is required to perform an operation which depends on the distance traveled by the axes their lubrication for example Accessing any of the DIST X C variables interrupts block preparation and the CNC waits for that command to be executed before resuming block preparation LIMPL X C LIMMI X C
462. s which can be executed from the PLC ii 419 13 1 3 Control of the PLC program from the CNC 423 132 ActioniGNGEXdi scart 425 PLC PROGRAMMING EXAMPLE 14 1 Definition of symbols MNEMONICS i 428 T42 FirstcyeleMOAUle criniera iii 430 WANS Main module a usati sa iii ae a aaa 431 FAGOR 2 CNC 8037 SOFT V01 6x FAGOR CNC 8037 SOFT V01 6x APPENDIX Installation manual Zz rac TIONnMDIOO0OA gt CNC technical characteristiCS ann aaa aa 441 Probe connection x Summary of internal CNC variables i 447 Summary of PLC COMMANGDS ie 453 Summary of PLC inputs and OUtputs i 457 2 digit BCD code output conversion table i 463 Key code zi Logic outputs Of key Status ices sccssiccccccccecassecavsstscdsaacerszevecnersserasecdscesasseeavisrseesaceesveerieoine 467 Key inhibiting CodeS 5 a3 se c ccs5 tcsccestevadscasthisizeessscasssscattsisenassttincsaashassiusitesessassasaceretesdace 469 Machine parameter setting chart ATI M functions setting chart ATT Leadscrew error compensation table 479 Cross comperisationitable gt a aria aaa 481 Maintenance 483 ABOUT THE PRODUCT BASIC CHARACTERISTICS Monitor 7 5 Color LCD Block processing time 7 ms Look ahead 75 blocks RAM memory 1 Mb Flash memory 128 MB PLC cy
463. sation and verifying it on the graph displayed at the CNC The following example shows a program that machines repetitive circles xo YO G5 G1 F1000 N10 G2 X0 YO 110 JO RPT N10 N10 N50 M30 After selecting this program in the Execution mode and starting it access the Diagnosis Adjustments Circle Geometry test mode and the CNC will display the following screen x F 01000 0000 Y 987 2 004 N Divizions 2 Escale 0 1 pm div Error Margin 50 BACKLASH BAKANOUT BARTINE god 60006 0000 CAP INS If the machine parameters are protected it will request the access password because the bottom right of the screen shows some of them When not knowing the password those values cannot be changed but it will be possible to access the screen and the circle geometry test The left side of the CNC screen shows the result of the test The data at the top right is refreshed by the CNC after the test is completed The data at the center right must be defined before running the test The bottom right side of the screen shows the parameters associated with the plane axes and the values to set them The graph on the left must be defined before running the test To do that define the data of the center right e Number of divisions to the left and to the right of the theoretical circle e Scale or value in microns of each division e Error margin or of circle radius occupied by the error margin divisions area Knowi
464. se variables may be read and written when executed inside an OEM program or subroutine In order to be able to modify these parameters via PLC an OEM subroutine containing the relevant variables must be executed using the CNCEX command For the CNC to assume the new values operate according to the indicators associated with the machine parameters Character Type of update Il It is necessary to press the keystroke sequence SHIFT RESET or turn the CNC off and back on RESET must be pressed The rest of the parameters those unmarked will be updated automatically only by changing them Read only variables MPGn Returns the value assigned to general machine parameter n CNCRD MPG 8 R100 M102 Loads register R100 with the value of general machine parameter INCHES P8 If mm R100 0 and if inch R100 1 MP X C n Returns the value assigned to the machine parameter n of the indicated axis X C CNCRD MPY 1 R100 M102 Assigns the value of Y axis machine parameter DFORMAT P1 to register R100 MPSn Returns the value assigned to the indicated machine parameter n of the main spindle MPLCn Returns the value assigned to the indicated machine parameter n of the PLC 12 4 Variables associated with work zones The values of the limits are given in the units set by g m p INCHES If INCHES 0 in ten thousandths of a millimeter 999999999 If INCHES 1 in hundred thousand
465. search will start on the axis that pressed the home switch first at the feedrate indicated by a m p REFEED2 P35 of the main axis Once the first axis has been homed its coordinate is initialized with a m p REFVALUE P36 and it starts homing the other axis Master and slave start moving together at a m p REFEED1 P34 of the main axis until detecting the home switch of the second axis It then starts homing the second axis at a m p REFEED2 p35 of the main axis and once detected it initializes its coordinate After this depending on the value of axis machine parameter DIFFCOMP P96 it will compensate for the difference between the master and slave axes or it will leave uncompensated If the master axis is the first one to press the home switch and its a m p REFSHIFT P47 is other than zero it does not start the second home search until executing the movement for the REFSHIFT P47 on the master axis Special cases e If when starting the home search either the master or the slave is pressing the home switch the axes will move until releasing the home switch and it then homes that axis first e If when starting the home search both the master and the slave are pressing the home switch it first homes the master axis e When commanding a simultaneous homing of the gantry axis and other axes it first moves all the axes having a home switch until all the home switches are pressed in the case of a gantry pair one of the h
466. sed Value Meaning 0 10 V analog output 1 2 digit BCD coded S output See 2 digit BCD code output conversion table on page 463 2 8 digit BCD coded S output Default value 0 DFORMAT P1 Indicates the display format for the spindle Value Meaning 0 In 4 digits 1 In 5 digits 2 In 4 3 format 3 In 5 3 format 4 It is not displayed Default value 0 MAXGEAR1 P2 MAXGEAR2 P3 MAXGEAR3 P4 MAXGEAR4 P5 They indicate the maximum spindle speed assigned to each gear When using an automatic gear change these values will be used to make the change MAXGEAR1 for gear 1 M41 MAXGEAR2 for gear 2 M42 MAXGEAR3 for gear 3 M43 MAXGEAR4 for gear 4 M44 Possible values Integers between 0 and 65535 rpm Default value For MAXGEAR1 For MAXGEAR2 For MAXGEAR3 For MAXGEARa4 P2 1000 rpm P3 2000 rpm P4 3000 rpm P5 4000 rpm annan When not using all 4 gears use the lower ones and set the unused ones to the same value as the highest one used AUTOGEAR P6 Indicates whether the gear change is generated automatically or not by the CNC activating the M functions M41 M42 M43 and M44 Value Meaning NO There is no automatic gear change YES There is automatic gear change Default value NO SI Spindle parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 159 MACHINE PARAMETERS Spindle parameters FAGOR CNC 8037 SOFT V01 6x
467. sed when having an electronic handwheel to jog the axes MPGCHG P80 Parameter MPGCHG P80 indicates the turning direction of the electronic handwheel If correct leave it as is Otherwise select YES is there was a NO before or vice versa Possible values NO YES MPGRES P81 Default value NO Parameter MPGRES P81 indicates the counting resolution of the electronic handwheel and depends on the display format selected for the corresponding a m p DFORMAT P1 Possible values 0 1 and 2 Default value 0 Format Resolution DFORMAT P1 MPGRES 0 MPGRES 1 MPGRES 2 5 3 mm 0 001 mm 0 010 mm 0 100 mm 4 4 0 0001 0 0010 0 0100 4 4mm 0 0001 mm 0 0010 mm 0 0100 mm 3 5 0 00001 0 00010 0 00100 6 2 mm 0 01 mm 0 10 mm 1 00 mm 5 3 0 001 0 010 0 100 MPGNPUL P82 Parameter MPGNPUL P82 indicates the number of pulses per turn of the electronic handwheel Possible values Integer numbers between 0 and 65535 Example Default value 0 means 25 Having a Fagor electronic handwheel 25 pulses per turn we would like to move 1 mm per handwheel turn 1 Setthe a m p for the feedback input of the electronic handwheel AXIS1 PO through AXIS7 P6 to a value of 12 Fagor 100P handwheel Also set g m p MPGAXIS P76 to indicate which axis has been assigned this handwheel 2 Set parameter MPGNPUL 25 or 0 meaning 25 pulses per turn of the Fagor handwheel Sl MACHINE
468. selecting the drive parameters at the CNC it will display the ones stored in each drive and if any is modified it is modified at the drive The CNC does not have parameters of the drive although their copies may be stored in the hard disk KeyCF When accessing the parameters of a drive the CNC shows a screen that looks like this Refer to the drive manual for further details on commands variables etc displayed on the screen AXIS X DRIVE PARAM pini 11 50 14 G General Parameters NODE 1 VALUE COMMENT SERCOS ID Vira VelocityPolarityParameters 43 200 r p m VelocityLimit 91 50 milisec VelocityIntegralTime 101 0 milisec KD_Velo 102 189 sea CurrentProportionalGain 106 LED wie CurrentIntegralTime 107 ACCESS BASIC VERSION v01 00 AXIS A100H1 FXM31 20F 10 000 CHANGE TO FLASH GROUP DRIVE PASSWORD MODIFY e In the GROUP window one must select the group of parameters or variables to be displayed To change the group press the Change Group softkey select the new group with the t keys and press ENTER e Inthe SET window one must select the set of parameters or variables to be displayed To select another set press the Change set softkey select the new set with the keys and press ENTER The NODE window shows the node number identifying that drive in the CAN conne
469. set n along Z axis NOSEAn RW RW Cutter angle of indicated tool NOSEWn R W RW Cutter width of indicated tool CUTAn R W RW Cutting angle of indicated tool Variables associated with zero offsets Variable CNC PLC DNC section 12 2 ORG X C R R Active zero offset on the selected axis The value of the additive offset indicated by the PLC is not included PORGF R R Abscissa coordinate value of polar origin PORGS R R Ordinate coordinate value of polar origin ORG X C n RW RW R Zero offset n value of the selected axis PLCOF X C RW RW R Value of the additive zero offset activated via PLC ADIOF X C R R R Value for the selected axis of the zero offset with additive handwheel Variables associated with machine parameters Variable CNC PLC DNC section 12 3 MPGn R R Value assigned to general machine parameter n MP X C n R R Value assigned to X C axis machine parameter n MPSn R R Value assigned to machine parameter n of the main spindle MPLCn R R Value assigned to machine parameter n of the PLC O Summary of internal CNC variables FAGOR 2 CNC 8037 SOFT V01 6x 447 Summary of internal CNC variables FAGOR CNC 8037 SOFT V01 6x 448 Variables associated with work zones Variable CNC PLC DNC section 12 4 FZONE R R W R Status of work zone 1 FZLO X C R R W R Work zone 1 Lower limit along the selected axis X C
470. set depending on the setting of g m p ADIMPG P176 Considerations e The movement with the additive handwheel on the master axis is also applied to the slave axis when using axes that are gantry slaved or synchronized by PLC e When testing the software limits during block preparation it checks the theoretical coordinate ignoring the additional movement of the additive handwheel e The mirror image by PLC is not applied to the additive handwheel movement Configuring the additive handwheel When enabling the additive handwheel the following must be borne in mind e If the DWELL parameter of an axis has been set and it is not previously in motion it activates the ENABLE mark of the axis and waits a time period indicated in DWELL to check whether its SERVOON has been activated or not e The acceleration applied to the additive handwheel movement is that of parameter ACCTIME of the axis e On Gantry axes the movement of the master axis using an additive handwheel is also applied to the slave axis e The mirror image by PLC is not applied to the additive handwheel movement e When testing the software limits during block preparation it checks the theoretical coordinate ignoring the additional movement of the additive handwheel The additive handwheel is configured by machine parameters and is activated and deactivated by PLC Activating and deactivating the additive handwheel The additive handwheel is activated and deactivat
471. shes to the corresponding shield pin All the analog inputs have the following characteristics Voltage range 10V Resolution 12 bits Input impedance 20 kQ Maximum cable length unshielded 75 mm Analog outputs Use shielded cables connecting their meshes to the corresponding shield pin All the analog outputs have the following characteristics Command voltage within range 10V Resolution 16 bits Minimum impedance of the connected device 10 kQ Maximum cable length unshielded 75 mm Inputs for the temperature sensor PT100 Use shielded cables connecting their meshes to the corresponding shield pin The electrical characteristics of the inputs are Type of sensor PT100 Temperature range Between 200 C 328 F and 850 C 1562 F Resolution 0 1 C Typical consumption of each input 2 mA Maximum cable length unshielded 75mm Electrical characteristics of the inputs and outputs oO REMOTE MODULES BUS CAN WITH CANOPEN PROTOCOL FAGOR 2 CNC 8037 SOFT V01 6x 3 6 Numbering of the digital inputs and outputs The following PLC machine parameters identify each of the 4 possible remote modules The following group of parameters must be defined for each one of them IOCANID Node address ICAN Number of digital inputs of the group OCAN Number of digital outputs of the group NUICAN Number of the first digital input of the grou
472. signal that is used for home search Value Meaning sign Positive flank leading edge change from OV to 5V sign Negative flank trailing edge change from 5V to OV Default value sign 5 REFDIREC P33 n Indicates the direction of the home search in this axis o W Value Meaning rr 5 sign Positive direction do A sign Negative direction x lt Default value sign zZ 3 g REFEED1 P34 Indicates the axis feedrate when searching home until it hits the home switch Possible values Between 0 0001 and 199999 9999 degrees min or mm min Between 0 00001 and 7874 01574 inches min Default value 1000 mm min REFEED2 P35 Indicates the axis feedrate when searching home after hitting the home switch until it finds the marker pulse lo Possible values Between 0 0001 and 99999 9999 degrees min or mm min Between 0 00001 inches min and 3937 00787 inches min Default value 100 mm min REFVALUE P36 Indicates the position value of the machine reference point physical location of the marker pulse with respect to machine reference zero Possible values Within 99999 9999 degrees or millimeters Within 3937 00787 inches Default value 0 The machine reference point is a point that the OEM sets on the machine to synchronize the system The CNC positions the axis at this point instead of moving it to the machine zero point FAGOR j P 9 P When the machine uses semi absolute scales with coded marker
473. signals for the currently selected spindle When any of the miscellaneous functions M41 M42 M43 or M44 is programmed the CNC will tell the PLC so it selects the desired gear even if it is already selected When working with automatic gear changer the CNC will check the currently selected gear GEAR1 GEAR4 and if it does not match the selected speed the CNC will let the PLC know using the relevant auxiliary function M41 M42 M43 or M44 to select it Once the PLC selects the proper gear it indicates it to the CNC by means of the logic input corresponding to the spindle GEARI GEAR4 The spindle gear change depends on the setting of functions M41 through M44 in the M function table The M41 M42 M43 or M44 function uses the AUXEND signal The CNC indicates to the PLC the selected gear M41 M42 M43 or M44 in one of the registers MBCD1 through MBCD7 andit activates the MSTROBE signal to let the PLC know that it must execute it When the PLC detects the activation of the MSTROBE signal it must deactivate the general logic input AUXEND to tell the CNC that the execution of the gear change has started Once executed this function the PLC will inform the CNC that the new gear has been selected by means of the logic input corresponding to the spindle GEAR1 GEAR4 The PLC then activates the logic input AUXEND to tell the CNC that the execution of the gear change has been completed MBCD 1 7
474. signed inputs 165 through 1112 and outputs O33 through O64 Node 2 is assigned inputs 1113 through 1136 and outputs 065 through O80 The inputs of the first remote module are numbered sequentially after the last input of the first module 164 1 165 The inputs of the second remote module are numbered sequentially after the last available input of the first remote module 1112 1 1113 Follow the same procedure for the outputs Case 2 We want the inputs and outputs to be sequential but starting with 1129 and 065 getting it ready for the I O expansion board Node 1 Node 2 IOCANID1 1 IOCANID2 2 ICAN1 48 ICAN2 24 OCAN1 32 OCAN2 16 NUICAN1 129 NUICAN2 0 NUOCAN1 65 NUOCAN2 0 FAGOR 2 Node 1 is assigned inputs 1129 through 1176 and outputs O65 through O96 Node 2 is assigned inputs 1177 through 1200 and outputs 097 through 0112 CNC 8037 The inputs of the first remote module are numbered sequentially after the value assigned to parameter NUICAN1 1129 The inputs of the second expansion module are numbered sequentially after the last available input of the first remote module 1176 1 1177 Follow the same procedure for the outputs SOFT V01 6x 187 PLC Parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 188 Case 3 We expect an I O and element expansion in node 1 up to 72 inputs and 48 outputs Node 1 Node 2 IOCANID1 1 IOCANID2 2 ICAN1 48 ICAN2 24 OCAN1 32 OCAN2 16 NUICAN1 129 NUICAN2 201 NUOCAN1 65 N
475. sion or combustion CNC technical characteristics FAGOR 2 CNC 8037 SOFT V01 6x 443 Installation manual CNC technical characteristics FAGOR CNC 8037 SOFT V01 6x 444 PROBE CONNECTION The CNC has two probe inputs of 5Vdc and 24Vdc at connector X3 Depending on the type of connection applied the g m p PRBPULSE P39 must be set indicating whether it operates with the leading edge or trailing edge of the signal which the probe provides Probe with normally open contact output Vec PINA Vec 24Vec 0 PINS 7 PIN3 Vec 5V TTI Active high with an up flank A Probe with normally closed contact output Vee Active high with an up flank ci Interface with output in open collector Connection to 5 V PIN3 Vec 5V SS PINS OV Active low with a down flank 4 ae Interface with output in open collector Connection to 24 V 24V 12K f PIN4 Vec 24V GF x PINS OV Active low with a down flank 4 r Interface with output in PUSH PULL Vec PIN3 V PIN4 V PINS OV Wy The active flank depends on the interface Probe connection FAGOR 2 CNC 8037 SOFT V01 6x 445 Installation m
476. stems FAGOR CNC 8037 SOFT V01 6x 201 CONCEPTS Axes and coordinate systems FAGOR CNC 8037 SOFT V01 6x 202 6 1 2 Gantry axes Gantry axes are any two axes that due to the way the machine is built must move together in synchronism For example bridge type mills Only the movements of one of those axes must be programmed and it is called the main or master axis The other axis is referred to as slave axis In order to operate this way it is necessary to have the a m p GANTRY P2 corresponding to both axes set as follows e Parameter GANTRY of the main axis set to 0 Parameter GANTRY of the slave axis must indicate which axis is its master or main axis Also a m p MAXCOUPE P45 of the slave axis must indicate the maximum allowed difference between the following errors of both axes Example of a bridge type milling machine with two Gantry axes X U Z W Machine parameters X axis GANTRY 0 Uaxis GANTRY 1 e Z axis GANTRY 0 dia Lor W axis GANTRY 3 i ESS Ly 6 1 3 Incline axis With the angular transformation of an incline axis it is possible to make movements along an axis that is not perpendicular to another On certain machines the axes are configured in a Cartesian way they are not perpendicular to each other A typical case is the X axis of a lathe that for sturdiness reasons is not perpendicular to the
477. supply si 3 o 19 OV External power supply 27 0 j i 20 24V External power supply 0 0 ol 21 02 2519 0 6 22 04 419 05 23 06 2310 221o l4 24 08 3 Ojo lt 1 12 02 25 a 20106 26 DAR 27 saa 28 29 12 30 14 31 16 32 18 33 110 34 112 35 114 36 116 37 Chassis Shield CNC CONFIGURATION CNC structure FAGOR 2 CNC 8037 SOFT V01 6x 33 CNC CONFIGURATION CNC structure FAGOR CNC 8037 SOFT V01 6x 34 Connector X3 For probe connection 9 pin normal density SUB D type female connector Pin Signal and function 000 00000 1 Chassis Shield 2 5 V Probe 1 5 V output for the probe 3 PRB1_5 Probe 1 5 V TTL input 4 PRB1_24 Probe 1 24 V DC input 5 GND Probe 1 Probe s 0 V input 6 5 V Probe 2 5 V output for the probe 7 PRB2_5 Probe 2 5 V TTL input 8 PRB2_24 Probe 2 24 V DC input 9 GND Probe 2 Probe s 0 V input Up to 2 probes may be connected There are 2 feedback inputs for each one 5V and 24V The appendix of this manual describes the recommended connection circuits All shields must only be connected to ground at the CNC end through pin 1 of the connector leaving the other end free The wires of the shielded cables cannot be unshielded for more than 75mm about 3 inches The 5V outputs are protected against short circuit Connector X4 For analog spindle connection 15 pin high density SUB D type female co
478. t 1 or deactivates bit 0 the advanced look ahead algorithm integrating Fagor filters Default value 1 TLOOK P161 Not being used MAINTASF P162 This parameter is associated with the TC work mode This parameter indicates whether on CNC power up the F S and Smax values are maintained or initialized to zero Value Meaning 0 They are initialized with the values of F 0 S 0 and Smax 0 1 F S Smax keep the values of the last machining operation Default value 0 If the parameter is set to 1 maintain the values the CNC acts as follows on power up e The CNC assumes the G94 G95 feedrate set by g m p IFEED but it restores the F in mm min G94 and the F in mm rev G95 programmed last e lt maintains the feedrate type G96 G97 used last but it restores the S in rev min G97 and the S in m min G96 programmed last CAXGAIN P163 Not being used TOOLMATY P164 When using a non random tool magazine e g a turret itindicates how many tools may be assigned to each turret position When defined with a 0 value in a non random magazine the tools must be placed in the tool magazine table in the pre established order P1 T1 P2 T2 P3 T3 etc Value Meaning 0 One tool per position P1 T1 P2 T2 etc 1 The tool can occupy any position Default value 0 SI MACHINE PARAMETERS General machine parameters FAGOR CNC 8037 SOFT V01 6x 119 5 MACHINE PARAMETERS General machi
479. t affect spindle positioning blocks M19 If the spindle positioning is in a block containing axis movement it aborts the movement of the axes but it completes the positioning of the spindle Considerations for the execution These marks do not affect block preparation When canceling the execution of a block the next movement is carried out up to the prepared target coordinates no preparation is done On the other hand only the programmed axes are involved in the next movement The rest of the axes are ignored even if there is a real difference in position because the previous block has been aborted Path 1 Path 2 The solid lines represent the programmed paths and the dashed lines the real paths after activating the BLOABORP mark FAGOR If a block is aborted and then the RETRACE function is activated the retraced path backwards GO will not be the same as the one traveled forward The two paths will not coincide either when aborting a block while the RETRACE function is active CNC 8037 SOFT V01 6x 369 11 6 General logic outputs CNCREADY M5500 The CNC activates and maintains this signal high if the autotest which the CNC makes when it is powered up has not detected any problem Should any hardware error be detected RAM over temperature etc this signal is set low Example CNCREADY AND rest of conditions O1 1 1 The emergency output O1 of the PLC must be normally high Should any problem
480. t and every time a counter is activated the PLC will assign this input a logic level of 1 If CEN 0 is selected the PLC stops the counter count ignoring the inputs CUP and CDW until this input allows it CEN 1 CEN Example 110 CEN 12 Input 110 controls the enable input of counter C12 Preset input CPR This input allows the counter to be preset with the desired value It is referred to by the letters CPR followed by the number of the counter which is required to reference and the value to be assigned to the counter count For example CPR 1 100 CPR 25 224 CPR 102 0 CPR 200 500 etc The value of the count can be indicated by means of a numerical value or by assigning to it the internal value of an R register CPR 20 100 Presets counter C20 with a value of 100 CPR 22 R200 Presets the C22 counter with the value of the register 200 when the instruction is executed The counter is preset with the indicated value with an up flank at the CPR input Status output C This output indicates the logic status of the counter It is referred to by the letter C followed by the counter number for example C1 C25 C102 etc The logic status of the counter will be C 1 when its count value is 0 and C 0 if otherwise Count value C This output indicates the value of the internal counter count It is referred to by the letter C followed by the cou
481. t be previously edited at the PLC message table The following example shows how to generate a message to remind the operator to home the axes after powering the machine up MANUAL OR MDI OR AUTOMAT AND NOT REFPOIN1 AND REFPOIN2 AND REFPOIN3 MSG5 The message MSG5 appears in the JOG MDI or Automatic modes and only when the axes of the machine have not been referenced homed The CNC logic outputs REFPOIN indicate that the axes have been homed Error treatment Error message treatment The PLC permits displaying the corresponding error message on the CNC screen by activating marks ERR1 through ERR128 as well as interrupting the CNC program execution stopping the axes andthe spindle The activation of any ofthese marks does not activate the external CNC Emergency output Because the PLC program is not interrupted by these marks it is advised to make it possible to change their status via accessible external inputs otherwise the CNC will keep receiving the same error at every PLC scan cycle thus preventing access to any PLC mode The text associated to the error message must be previously edited at the PLC error table The next example shows how to generate the X axis overtravel limit overrun error when one of the overtravel limit switches is pressed NOT I LIMTX1 OR NOT I LIMTX2 ERR10 Treatment of M S T functions The CNC activates the general logic output MSTROBE to tell the PLC t
482. t gear 9500 Input revolutions of the first gear 1 Input revolutions of the second gear 1 Input revolutions of the third gear 1 Input revolutions of the fourth gear 1 output revolutions of the first gear 1 output revolutions of the fourth gear 1 MAXVOLT2 P38 maximum velocity command for the second gear 9500 MAXVOLTS MAXVOLT4 P40 maximum velocity command for the fourth gear P39 maximum velocity command for the third gear 9500 9500 x 3500 rpm 4000 rpm 8312 Parameters involved in the calculation of the position feedback a m p a m p NPULSES P13 number of pulses per turn of the encoder 18000 SINMAGNI P65 Multiplying factor if the encoder is sinusoidal 200 Calculation of motor speed for the MAXVOLT of each range gear Motor speed MAXGEAR x INPREV OUTPREV Motor speed with MAXVOLT1 1000 x 4 1 4000 rpm Motor speed with MAXVOLT2 2000 x 2 1 4000 rpm Motor speed with MAXVOLT3 3000 x 4 3 4000 rpm Motor speed with MAXVOLT4 3500 x 1 1 3500 rpm 6 15 6 Spindle example external encoder with gear box Having a spindle with 4 gears The maximum rpm and the gear ratio for each gear are the following Gear 1 maximum speed 1000 rpm gear ratio 4 1 Gear 2 maximum speed 2000 rpm gear ratio 2 1 Gear 3 maximum speed 3000 rpm gear ratio 4 3 Gear 4 maximum speed 3500 rpm gear ratio 1 1 The encoder is an HOP model Vpp a
483. t in G53 via the shortest way Default value in all the bits 0 Bit 15 Rollover axis Movement in G53 via the shortest way This bit indicates how the movements in G53 are carried out for a positioning only rotary axis without travel limits AXISTYPE 3 or 4 ROLLOVER YES LIMIT 0 LIMIT 0 When set to 1 G53 movements are carried out along the shortest path When several presets have been made the axis may rotate several complete turns DRISET P91 It defines from which set of the drive will the following drive parameters be read e NP 121 Input rpm e NP 122 Output rpm This parameter is used to apply a different gear ratio to each axis when having two CAN axes only with AXD drives that share the same drive This allows controlling two completely different axes with the same motor Bit Meaning 0 7 Drive set from which drive parameters NP121 and NP 122 are read Default value 0 A m p DRISET P91 is only taken into account when two CAN axes share the same drive with switch parameters Otherwise it reads the data of set 0 ACCTIMET P92 PROGAINT P93 DERGAINT P94 FFGAINT P95 These parameters define the third set of gains and accelerations They must be set like the parameters that define the first set First set Second set Third set ACCTIME P18 ACCTIME2 P59 ACCTIMET P92 PROGAIN P23 PROGAIN2 P60 PROGAINT P93 DERGAIN P24 DERGAIN2 P61 DERGAINT P94 FFGAIN P2
484. t shield 75 mm Shielded cables should be used connecting the shield at each connector as shown here See chapter 1 CNC configuration It is recommended to adjust the servo drives so the maximum feedrate GOO is obtained at a velocity command of 9 5V Analog inputs and outputs J MACHINE AND POWER CONNECTION FAGOR 2 CNC 8037 SOFT V01 6x 75 Setup MACHINE AND POWER CONNECTION FAGOR CNC 8037 SOFT V01 6x 76 4 3 Setup Some general points to consider Inspect the whole electrical cabinet verifying the ground connections BEFORE powering it This ground connection must be done at a single machine point Main Ground Point and all other ground points must be connected to this point The power supply used for the digital inputs and outputs must be regulated and its zero volts must be connected to the main ground point Check the connection of the cables and connectors DO NOT connect or disconnect these cables to from the CNC when the CNC is on Without powering the electrical cabinet on check all the pins of the connectors for short circuits Precautions It is recommended to reduce the axis travel installing the limit switches closer to each other or detaching the motor from the axis until they are under control Verify that there is no power going from the servo drives to the motors Verify that the connectors for the digital inputs and outputs are disconnected Verify that
485. tabilities to be avoided during start up and braking There are three gain types for each axis They are adjusted by means of axis machine parameters and following the sequence indicated next Proportional gain It defines the velocity command corresponding to a feedrate resulting in 1 mm of following error It is defined with a m p PROGAIN P23 Feed forward gain It sets the percentage of velocity command due to the programmed feedrate To use it acc dec must be active ACCTIME P18 It is defined with a m p FFGAIN P25 Derivative gain or AC forward gain The derivative gain sets the percentage of velocity command applied depending on the fluctuations of following error The AC forward gain sets the percentage of velocity command proportional to the feedrate increments acceleration and deceleration stages To use it acc dec must be active ACCTIME P18 It is defined with a m p DERGAIN P24 and ACFGAIN P46 If ACFGAIN No it applies derivative gain If ACFGAIN Yes it applies AC forward gain 6 5 3 Proportional gain setting In a pure proportional position loop the velocity command of the CNC to control an axis is at all times proportional to the following error axis lag which is the difference between its theoretical and actual real position Velocity command Proportional Gain x Following Error a m p PROGRAIN P23 sets the value of the proportional gain Expressed in
486. tc for the Y axis LIMIT 3 LIMIT 3 DECEL3 etc for the Z axis Mnemonics using the axis name The mnemonics of the signals refer to the axis name Mnemonics with axis names offer the advantage that if an axis is eliminated the PLC program will still be consistent with the rest of the axes LIMIT 1 M5100 LIMIT 1 M5101 LIMIT 2 M5150 LIMIT 2 M5151 LIMIT 3 M5200 LIMIT 3 M5201 The PLC sets these signals at a high logic level in order to tell the CNC that the corresponding axis has overrun the end of its range of movement in the positive or negative direction indicated by the limit switch In this case the CNC stops axis feed and spindle rotation and displays the corresponding error on screen In manual JOG operating mode the axis which has overrun its range of travel can be moved in the correct direction in order to place it within the correct range of travel DECEL1 M5102 DECEL2 M5152 DECEL3 M5202 These signals are used by the CNC when machine reference search is made Ifthe PLC sets one of these signals high this indicates to the CNC that the machine reference search switch of the corresponding axis has been pressed When this signal is activated in the machine reference search mode the CNC decelerates the axis changing the rapid approach feedrate indicated by the a m p REFEED1 with the slow feedrate indicated by the a m p REFEED2 After decelerating it accepts the following reference signal from
487. te SI MACHINE PARAMETERS Parameters that may be modified from the oscilloscope OEM program or OEM subroutine FAGOR 2 CNC 8037 SOFT V01 6x Spindle machine parameters Parameter Number Update MAXGEAR1 P2 Beginning of the next block MAXGEAR2 P3 Beginning of the next block MAXGEAR3 P4 Beginning of the next block MAXGEAR4 P5 Beginning of the next block ACCTIME P18 Beginning of the next block 5 E INPOSW P19 Immediate PET PROGAIN P23 Immediate i le 5 DERGAIN P24 Immediate 83 FFGAIN P25 Immediate 3s REFDIREC P33 immediate E O REFVALUE P36 Immediate z z MAXVOLT1 P37 immediate S E gt MAXVOLT2 P38 Immediate 26 MAXVOLT3 P39 Immediate MAXVOLT4 P40 immediate OPLACETI P45 Immediate ACCTIME2 P47 Begimning ofthe nextbock gt gt 3 PROGAIN2 P48 Immediate E DERGAIN2 P49 Immediate g FFGAIN2 P50 immediate g SLIMIT P66 Immediate E JERKLIM P80 Beginning of the next block A modification in the MAXGEAR 1 4 parameters sets the square corner mode even if a round corner has been programmed FAGOR CNC 8037 SOFT V01 6x 90 5 2 General machine parameters AXIS1 PO AXIS2 P1 AXIS3 P2 AXIS4 P3 AXIS5 P4 AXIS6 P5 AXIS7 P6 AXIS8 P7 They permit associating axes handwheels spindles or live tools with each feedback input and analog output according to the following code Value
488. ted with the Z axis Value Meaning 0 Low passing filter 1 Anti resonance notch filter 2 FAGOR low passing filter Default value 0 When defining anti resonance filters parameters NORBWIDTH and SHARE must also be set SI Spindle parameters MACHINE PARAMETERS FAGOR 2 CNC 8037 SOFT V01 6x 171 MACHINE PARAMETERS Spindle parameters FAGOR CNC 8037 SOFT V01 6x 172 Low passing filter The low passing filter is used to limit the jerk by making the movements smoother although it has the drawback that it rounds the corners slightly 0 707 Ao 3dB i f FREQUEN Anti resonance filter notch filter The anti resonance notch filter must be used when the machine has a resonance frequency to be eliminated F A ae ae es rae 0 707 Ao 3dB Ka t wT FREQUEN CNC start up with Fagor filters active If on CNC start up Fagor filters are active on any of the axes and a m p SMOTIME P58 is other than 0 on the same axis the CNC displays the following error message e Parameter TYPE 2 is incompatible with general parameter SMOTIME After start up if the value of the indicated parameter is not changed the CNC will cancel that parameter automatically FREQUEN P69 The meaning of this parameter depends on the type of filter being applied On low passing and FAGOR filters it indicates the break point frequency o
489. tell the PLC the spindle speed corresponding to value 9999 If S output in 8 digit BCD is used the CNC will indicate the programmed spindle speed to the PLC by means of this register This value will be coded in BCD format 8 digits in thousandths of a revolution per minute S 12345 678 0001 0010 0011 0100 0101 0110 0111 1000 If no S has been programmed in the block the CNC will assign a value of FFFFFFFF to this register b gt CNC PLC COMMUNICATION Auxiliary M S T functions FAGOR 2 CNC 8037 SOFT V01 6x 337 Auxiliary M S T functions CNC PLC COMMUNICATION FAGOR CNC 8037 SOFT V01 6x 338 TBCD R558 The CNC tells the PLC by means of this 32 bit register the pocket number in the magazine where the selected tool is If the g m p RANDOMTC P25 has been set so it is not a random magazine the magazine pocket position coincides with the tool number This will be coded in BCD format 8 digits T 123 0000 0000 0000 0000 0000 0001 0010 0011 If no T has been programmed in the block the CNC will assign a value of F FFFFFFF to this register The T function will always be executed at the beginning of the block and the CNC will wait for the general logic input AUXEND to be activated to consider the execution completed T2BCD R559 This register is used when a special tool change has been made family code gt 200 or with machining centers with a non random tool magazine gener
490. than 0 once the home search has been carried out the reference mark of the feedback device has been detected the CNC moves the distance indicated by a m p REFSHIFT P47 This way the machine reference point will always be the same This movement is carried out at the feedrate indicated by a m p REFEED2 P35 Axis parameters STOPTIME P48 STOPMOVE P49 MACHINE PARAMETERS These parameters are used in conjunction with a m p STOPAOUT P50 with function G52 move to hardstop STOPTIME P48 The CNC considers that the hardstop has been run into when a certain time period elapses without the axis moving This time period is indicated in thousands of a second by parameter STOPTIME P48 Possible values Integers between 0 and 65535 ms Default value 0 STOPMOVE P49 The CNC considers the axis to be stopped when its movements do not exceed the value set by STOPMOVE P49 during the time period set by STOPTIME P48 Possible values Between 0 0001 and 99999 9999 millimeters Between 0 00001 and 3937 00787 inches Default value 0 STOPAOUT P50 This parameter is used with function G52 move to hardstop and it indicates the residual velocity command supplied by the CNC to exert pressure once contact has been detected Possible values It is given in D A converter units and it admits integer values between 0 and 32767 which corresponds to an analog command of 10V Default value 0 FAGOR
491. that the auxiliary function M03 is programmed in the block being executed DM04 M5543 The CNC sets this signal high to tell the PLC that the spindle is turning counter clockwise or that the auxiliary function M04 is programmed in the block being executed DMO5 M5542 The CNC sets this signal high to tell the PLC that the spindle is stopped or that the auxiliary function MO5 is programmed in the block being executed DMO6 M5541 The CNC sets this signal high to tell the PLC that the spindle is stopped or that the auxiliary function MO6 is programmed in the block being executed tool change DMO8 M5540 The CNC sets this signal high to tell the PLC that the coolant output is activated or that the auxiliary function M08 is programmed in the block being executed DM09 M5555 The CNC sets this signal high to tell the PLC that the coolant output is deactivated or that the auxiliary function MO9 is programmed in the block being executed DM19 M5554 The CNC sets this signal high to tell the PLC that it is working with spindle orientation or that the auxiliary function M19 is programmed in the block being executed DM30 M5553 The CNC sets this signal high to tell the PLC that the auxiliary function M30 program end is programmed in the block being executed DM41 M5552 The CNC sets this signal high to tell the PLC that the first spindle gear is selected or that the auxiliary function M41 is programmed in the block b
492. the CNC reads 123 5 mm as the coordinate value for this point the coordinate of the Machine Reference Point with respect to Machine Reference Zero will be REFVALUE 230 123 5 353 5 mm After assigning this new value press RESET so it is assumed by the CNC The axis must be homed again in order for it to assume its right reference values 6 oO o FE a S O S 20 Q S O c g D OC FAGOR 2 CNC 8037 SOFT V01 6x 235 CONCEPTS Reference systems FAGOR CNC 8037 SOFT V01 6x 236 Considerations If at the time when the home search is requested the axis is sitting on the home switch the axis will back up in the direction opposite to the one indicated by REFDIREC P33 until it is off the switch and then it will go on to search home If the axis is positioned beyond the software limits LIMIT P5 and LIMIT P6 it must be brought back into the work area within those limits and on the proper side for referencing home searching Care must be taken when placing the home switch and when setting feedrates REFEED1 P34 and REFEED2 P35 The home switch 1 will be installed so the marker pulse 2 will be found in the zone corresponding to feedrate REFEED2 P35 If there is no room for it reduce the value of REFEED1 P34 For example for rotary encoders whose consecutive marker pulses are very close to each other REFEEDI REFEED2 When the sel
493. the E STOP button is pressed Connection Verify that the A C power is correct With the CNC completely disconnected from the electrical cabinet power the electrical cabinet and verify that it responds properly Verify that there is proper voltage between the pins corresponding to external OV and 24V of the connectors for the digital inputs and outputs Apply 24V to each one of the terminals of the electrical cabinet being used that correspond to the digital outputs of the CNC and verify their correct performance Check that the electrical cabinet responds properly With the motors being decoupled from the axes verify that the system consisting of drive motor and tacho is operating properly Connect the A C power to the CNC If there is any problem the CNC will display the corresponding error Select the PLC monitoring mode at the CNC and activate the digital outputs 01 1 one by one to verify their proper operation With power turned off connect the I O and feedback connectors to the CNC Connect the CNC and the electrical cabinet to A C power and confirm the counting direction of each axis Introduction to machine parameters The machine parameters relate the CNC to the particular machine The values that the CNC assigns to each one of them by default are described in the relevant chapter See chapter 5 Machine parameters These values shown in the parameter tables may be modified manually from the CNC s keybo
494. the a m p REFDIREC P33 of the main axis has been set for a positive direction the a m p REFVALUE P36 of the slave axis must be set to a value lower than that assigned to the main axis Likewise if the a m p REFDIREC P33 of the main axis has been set for a negative direction the a m p REFVALUE P36 of the slaved axis must be set to a value greater than that assigned to the main axis They must never have the same value When encoders are used for feedback the difference between the values assigned to a m p REFVALUE P36 of both axes must be smaller than the pitch of the ballscrew Itis recommended that the distance between the marker pulses of both encoders be half the leadscrew pitch 6 oO o FE a S O S 20 Q S O c g D OC FAGOR 2 CNC 8037 SOFT V01 6x 233 CONCEPTS Reference systems FAGOR CNC 8037 SOFT V01 6x 234 Gantry axes Managing two home switches Managing two home switches is only possible if axis machine parameter IOTYPE P52 3 If both the master and the slave axes have a home switch a m p DECINPUT P31 of the master and slave are YES the home search will be carried out as follows The CNC starts the movements of both axes in the direction indicated by a m p REFDIREC P33 of the main axis This movement is carried out at the feedrate indicated by a m p REFEED1 P34 of the main axis The axes move until one of them presses its home switch Then the home
495. the cutter width assigned to the indicated tool n in the tool table CUTAn This variable allows reading or modifying the cutting angle assigned to the indicated tool n in the tool table 12 2 Variables associated with zero offsets These variables are associated with the zero offset table due to which the values that will be assigned to or read from these fields will comply with the formats established for this table The possible zero offsets in addition to the additive offset indicated by the PLC are G54 G55 G56 G57 G58 G59 and G159 The values are given in the units set by g m p INCHES If INCHES 0 in ten thousandths of a millimeter 999999999 If INCHES 1 in hundred thousandths of an inch 393700787 If rotary axis in ten thousandths of a degree 999999999 Although there are variables which refer to each axis the CNC only allows those referring to the axes selected at the CNC Thus if the CNC controls the X and Z axes it only allows the variables ORGX and ORGZ in the case of ORG X C Read only variables ORG X C Returns the value of the active zero offset in the selected axis The value of the additive offset indicated by the PLC or by the additive handwheel is not included in this value ADIOF X C It returns the value of the zero offset generated by the additive handwheel in the selected axis Read and write variables ORG X C n This variable allows the value of the selected axis to be read
496. the following block from starting but finishes the one it is executing When the signal returns to high logic level the CNC continues to execute the program Example XFERINH There is always permission to execute the next block CYSTART M5007 If the START key is pressed on the front panel of the CNC this is indicated to the PLC by means of the general logic output START If the PLC program considers that there is nothing to prevent the part program from being executed the CYSTART signal must be set at a high logic level thus beginning the execution of the program The CNC will indicate by means of the general logic output INCYCLE that the program is being executed As of that moment the CYSTART can return to low logic level Example START AND rest of conditions CYSTART When the cycle START key is pressed the CNC activates the general logic output START The PLC must check that the rest of the conditions hydraulic safety devices etc are met before setting the general input CYSTART high in order to start executing the program SBLOCK M5008 When the PLC sets this signal high tte CNC changes to the single block execution mode The treatment this signal receives is similar to that given to the single block softkey MANRAPID M5009 If the PLC sets this signal at a high logic level the CNC selects rapid feed for all the movements executed in JOG mode When the signal returns to a low logic level the movements e
497. the previous command was executed correctly M100 0 it reads the last key accepted by the CNC LASTKEY M102 AND NOT M101 AND CPS LASTKEY EQ KEYCODE If the previous command was executed correctly M101 0 and the CNC accepted the key sent to it LASTKEY KEYCODE RES M102 SET SENTOK the flag is turned off M102 0 and the key is considered to be sent out successfully SENTOK 1 NOT M101 But if the CNC did not accept the key sent to it it waits until it does M101 1 End of subroutine END End of the program Installation manual ZEernArPrFrtanrtron ww Pp APPENDIX CN Per Cae PR E RO cme 441 Ei bc 445 Summary of internal Rae 447 Summary of PLC Wii 453 Summary of PLC inputs and AMPIE 457 2 digit BCD code output conversion table 463 oa 465 Lea 467 WI 469 Machine parameter setting Chatila 471 Micia 477 Lederer 479 LIB elcccilidcilviivai 481 MIE ail 483 FAGOR CNC 8037 SOFT V01 6x 439 CNC TECHNICAL CHARACTERISTICS The machine manufacturer must comply with the EN 60204 1 IEC 204 1 standard in terms of protection against electrical shock due to faulty contacts with external power supply This unit MUST NOT be opened by unauthorized personnel To avoid overheating the internal circuitry do not block the ventilation grooves and install a ventilation system that removes the hot air from the enclosure General characteristi
498. ther Cartesian or polar coordinates These coordinates can also be defined via parametric programming using any global arithmetic parameters P100 thru P299 419 AXES CONTROLLED FROM THE PLC GO PLC execution channel FAGOR CNC 8037 SOFT V01 6x 420 When using parametric programming it is recommended to previously assign a value to the corresponding global parameter by means of the instruction CNCWR MOV 150 R1 Assigns the value of 150 to register R1 CNCWR R1 GUP200 M100 Assigns the value of R1 to parameter P200 P200 150 CNCEX G90 G1 U P200 M100 Requests the CNC to execute the command G90 G1 U150 The U axis will go to position 150 To govern axes managed by PLC use the following marks associated with Feed hold and Transfer Inhibit FEEDHOP M5004 Similar to the FEEDHOL signal FHOUTP M5504 Similar to the FHOUT signal XFERINP M5005 Similar to the XFERINH signal Feedrate of the axes The programming format for the axis feedrate F5 5 depends on the function G94 or G95 and on the work units selected for this execution channel If G94 in mm min or inches min e If G95 in mm rev or inches rev It must be borne in mind that this feedrate depends on the actual spindle rpm which is in the main execution channel If the moving axis is rotary the CNC interprets that the programmed feedrate is in degrees minute Modify the feedrate override The PLCCFR
499. ther end will be the last one of the remote module groups The switch position of the terminating elements must be 1 and that of the rest of the elements 0 The CNC does not have a switch and always has the terminating resistor activated Characteristics of the CAN cable Use a specific CAN cable The ends of all the wires and the shield must be protected by the corresponding pin Also use the pins to secure the cable to the connector Type Shield Twisted pairs 1 x 2 x 0 22 mm Flexibility Superflexible Minimum static bending radius of 50 mm and a dynamic radius of 95 mm Cover PUR Impedance Cat 5 1000 1200 CAN connector pinout 5 pin male Phoenix minicombicon connector 3 5 mm pitch ISO GND CANL SHIELD CAN H SHIELD FAGOR Signal Description ISO GND Ground 0 V CNC 8037 CANL Bus signal LOW SHIELD CAN shield CAN H Bus signal HIGH SHIELD CAN shield SOFT V01 6x The connector has two shield pins Both pins are equivalent the CAN shield may be connected to either one 48 Installation manual Interconnection of modules Itis connected in series The figure shows the CAN connection between the central unit and 2 drives CNC DRIVE MODULE 1 DRIVE MODULE 2 ISO GND CANL SHIELD ADDRESS 1 Line Term 0 C SHIELD D ADDRESS 2 Line Term 1 Cal CAN H SHIELD SHIELD ml CNC CONFIGURATIO
500. ths of an inch 393700787 If rotary axis in ten thousandths of a degree 999999999 The status of the work zones are defined according to the following code 0 Disabled 1 Enabled as no entry zone 2 Enabled as no exit zone Read and write variables FZONE It returns the status of work zone 1 FZLO X C Lower limit of zone 1 along the selected axis X C FZUP X C Upper limit of zone 1 along the selected axis X C The following example shows how it is possible to define as forbidden zone for the X axis the area between coordinates 0 and 100mm 1000000 tenths of microns lt condition gt MOV 0 RI CNCWR R1 FZLOX M1 MOV 1000000 R1 CNCWR R1 FZUPX M1 MOV 1 RI CNCWR R1 FZONE M1 SZONE Status of work zone 2 SZLO X C Lower limit of zone 2 along the selected axis X C SZUP X C Upper limit of zone 2 along the selected axis X C TZONE Status of work zone 3 TZLO X C Lower limit of zone 3 along the selected axis X C TZUP X C Upper limit of zone 3 along the selected axis X C FOZONE Status of work zone 4 FOZLO X C Lower limit of zone 4 along the selected axis X C h x Variables associated with work zones ACCESS TO INTERNAL CNC VARIABLES FAGOR 2 CNC 8037 SOFT V01 6x 389 ACCESS TO INTERNAL CNC VARIABLES N Variables associated with work zones FAGOR CNC 8037 SOFT V01 6x 390 FOZUP X C Upper limit of zone 4 along the se
501. time period before the axes reach position This time is set by g m p ANTIME P69 This reduces idle time thus increasing the number of punches per minute INTEREND M5538 INPOS M5539 The CNC uses these two signals to let the PLC know that the theoretical interpolation between axes has been completed INTEREND and that all the axes involved in the interpolation are in position INPOS The CNC sets the INTEREND signal high when the interpolation is ended being low while in execution When the CNC verifies that all the axes have been within the dead band in position zone INPOSW P19 for a time period indicated in the a m p INPOTIME P20 it will consider that all of them are in position and it will inform the PLC by setting the logic output INPOS high The logic output INTEREND can be used when it is required to activate mechanisms before the axes reach their position DMOO M5547 The CNC sets this signal high to tell the PLC that the auxiliary function MOO program stop is programmed in the block being executed DMO1 M5546 The CNC sets this signal high to tell the PLC that the auxiliary function M01 conditional stop is programmed in the block being executed DM02 M5545 The CNC sets this signal high to tell the PLC that the auxiliary function M02 program end is programmed in the block being executed DM03 M5544 The CNC sets this signal high to tell the PLC that the spindle is turning clockwise or
502. ting the execution TOOLINSP 1 To access the tool inspection mode first interrupt the execution and then press the T key RETRACE M5051 mn b The CNC takes into account this input when retracing is available g m p RETRACAC other than zero The retracing function may also be activated while function G51 look ahead is active If while executing a part program the PLC sets this signal high retracing is activated The CNC interrupts program execution and starts executing backwards what has been done so far When the PLC sets this signal back low retracing is canceled The CNC starts executing forward what was done backwards and it will go on to execute the part of the program that was not machined General logic inputs Retracing executes backwards the current block plus the last blocks that were already executed The retracing function ends in the following cases e When the previous 75 blocks are retraced e When retraced all the way to the beginning of the program LOGIC CNC INPUTS AND OUTPUTS e When retracing up to block G51 activating the look ahead function e When finding a block that contains an M function only if RETRACAC 1 e When finding a block that contains an S or a T function e When finding a high level language block In all cases the CNC activates the RETRAEND M5522 signal to let the PLC know that all possible blocks have been executed While the retracing function is active neither tool ins
503. tis also possible to associate a symbol to any number which can be given in decimal with or without a sign or hexadecimal format preceded with the sign 319 Directing instructions PLC PROGRAMMING FAGOR 2 CNC 8037 SOFT V01 6x 320 This option among other applications makes programming and later understanding of the PLC program much easier when trying to control the CNC by simulating its keyboard from the PLC program Example DEF HELP FFF2 Assigns the HELP symbol to the code for the HELP key MOV HELP R101 Assigns the code corresponding to the HELP key to register R101 CNCWR R101 KEY M101 Indicates to the CNC that the key whose code is stored in register R101 and corresponds to the HELP key The PLC allows up to 2000 symbol definitions which must always be programmed at the beginning of the program before any other instruction be this directing or executing A symbol will be made up with up to 8 characters and must not coincide with any of the words reserved for instructions nor be formed by the characters space equal open and close parentheses comma and semicolon Duplicate symbols cannot be defined but several symbols may be assigned to the same resource Example DEF EMRGOUT 01 DEF SALEMRG 01 The symbols associated to specialized marks and register M gt 2047 and R gt 500 are pre defined in the PLC and therefore it is not necessary to define them nevert
504. to tell the PLC to go ahead with their execution Should any of them need the AUXEND activated the CNC will wait for this signal to be activated before going on to executing the rest of the block Ifnone of them need the AUXEND signal activated the CNC will maintain the MSTROBE signal activated for a period of time set by the general machine parameter MINAENDW P30 This output stays active for the time indicated by g m p MINAENDW P30 2 The programmed axis move will be executed 3 It sends out to the PLC the 3 M functions programmed to be executed after the move It sets logic outputs MBCD1 61 MBCD2 62 MBCD3 63 and it activates the general logic output MSTROBE to tell the PLC to go ahead with their execution Should any of them need the AUXEND activated the CNC will wait for this signal to be activated before going on to executing the rest of the block Ifnone of them need the AUXEND signal activated the CNC will maintain the MSTROBE signal activated for a period of time set by the general machine parameter MINAENDW P30 This output stays active for the time indicated by g m p MINAENDW P30 Example 2 Execution of a motionless block containing 7 M functions 4 of which are executed before the axes move M51 M52 M53 M54 and 3 afterwards M61 M62 M63 1 It sends out to the PLC the 4 M functions programmed to be executed before the move It sets logic outputs MBCD1 51 MBCD2 52 MBCD3 53 MBCD4 54 and
505. to be read from the drives is received in other registers of the PLC The registers to be used and the data to be transmitted basically variable are defined by machine parameters of the PLC Use SRR700 P28 through SRR739 P67 parameters to transmit read only variables Use SWR800 P68 through SWR819 P87 parameters to transmit write variables The number of variables defined in this channel is limited depending on the number of axes the sampling period and the transmission speed A data overflow causes an error at the CNC Service channel slow channel Data to be transmitted in several position loops monitoring etc The service channel can only be accessed through a high level block of a part program a PLC channel or a user channel Cyclic channel Read only variables for the CNC PLC The plc m p SRR700 P28 through SRR739 P67 indicate which drive and whattype of information will be placed in CNC registers R700 through R739 P28 gt R700 P29 gt R701 P30 gt R702 P31 gt R703 etc These parameters are set in 1 5 format The units digit identifies the drive node supplying the data and the decimals indicate the identifier number see table below For example P32 1 00040 indicates that PLC register R704 contains the VelocityFeedback supplied by the drive located in bus node 1 To identify the units of the variables see the drive manual Read only registers R700 through R739 are updated at the beginning of the PLC
506. tocol the transmission speed at the bus is defined in each node All the nodes must work at the same speed The transmission speed depends on the total length of the cable Use the following approximate values Assigning other values may cause communication errors due to signal distortion Selector Speed Length of the CAN bus SPEED 1000 kHz Up to 20 meters C E1 mo SPEED 800 kHz From 20 to 40 meters Ej 1 E jO SPEED 500 kHz From 40 to 100 meters m 1 mo SPEED 500 kHz From 40 to 100 meters E 1 E O ADDRESS selector Address node of the element within the CAN bus Each one of the elements integrated into the CAN bus is identified by the 16 position rotary switch 0 15 Address also referred to as Node_Select The CNC must always occupy position 0 and the rest of the elements of the bus will occupy consecutive positions starting with 1 ERR LED Status indicator LED The LED is red Its meaning depends on the blinking frequency Type of blinking Meaning LED off The module works properly Blinking fast Module configuration stage Single blinking Warning Poor transmission Double blinking There is no communication with the cpu LED on Error Too many errors RUN LED Status indicator LED The LED is green Its meaning depends on the blinking frequency Type of blinking Meaning
507. tput revolutions of the second gear 3 output revolutions of the third gear 3 Calculation of motor speed for the MAXVOLT of each range gear Motor speed MAXGEAR x INPREV OUTPREV Motor speed with MAXVOLT1 1000 x 4 1 4000 rpm Motor speed with MAXVOLT2 2000 x 2 1 4000 rpm Motor speed with MAXVOLT3 3000 x 4 3 4000 rpm Motor speed with MAXVOLT4 3500 x 1 1 3500 rpm 6 16 Auto adjustment of axis machine parameter DERGAIN The auto adjustment of DERGAIN allows setting the axis machine parameters DERGAIN of the three sets so the following error of the axis is close to 0 e First set of gains and accelerations a m p DERGAIN P24 e Second set of gains and accelerations a m p DERGAIN2 P61 e Third set of gains and accelerations a m p DERGAINT P94 The CNC makes this adjustments automatically For that the CNC creates a part program that is executed by pressing the START key The movement limits of the program are taken from the current position JOG When doing the DERGAIN auto adjustment it saves a log file with the auto adjustment process in a part program While executing the program it will be possible to access the oscilloscope by keying in 71 to monitor the adjustment as it is carried out One must check that there is no position overshooting The value of the OPMODE variable when going into the DERGAIN auto adjustment will be 120 Going into the DERGAIN auto adjustment To auto adj
508. tputs a maximum velocity command of 9 5 V The maximum axis feedrate a m p MAXFEED P42 depends on the motor rpm as well as on the gear ratio and type of ballscrew being used Example for the X axis The maximum motor rpm is 3 000 and the ballscrew pitch is 5mm rev Thus Maximum rapid traverse feedrate G00 ballscrew rpm x ballscrew pitch MAXFEED P42 3 000 rpm x 5 mm rev 15000 mm min In order to adjust the drive a m p GOOFEED P38 should be set to the same value as a m p MAXFEED P42 Also asmall CNC program must be executed that will move the axis back and forth a short distance in order to verify that the amount of following error in both directions is the same One such program could be N10 G00 G90 X200 N20 X 200 RPT N10 N20 While the axis is moving back and forth measure the analog command provided by the CNC to the drive and adjust the feed potentiometer at the drive NOT AT THE CNC until reaching 9 5 V Si CONCEPTS Axis adjustment FAGOR 2 CNC 8037 SOFT V01 6x 221 CONCEPTS Axis adjustment FAGOR CNC 8037 SOFT V01 6x 222 6 5 2 Gain setting The various types of gains must be adjusted for each axis in order to optimize the system s performance for the programmed movements An oscilloscope is highly recommended to make this critical adjustment by monitoring the tacho signals The illustration below shows the optimum shape for this signal on the left and the ins
509. ts outputs NUOLO4 Numbering of the first output of the fourth expansion module with inputs outputs The CPU is always considered as the first I O module Note that this first module is not an expansion module In either case the first input number is always 11 and the first output number O1 and they cannot be set by parameters IMPORTANT The numbering of both the first local input and the first local output of any expansion module must be a multiple of 8 plus 1 1 8n If incoherent parameter settings are detected on power up an error message will be issued indicating A it Inside the expansion module the numbering of the rest of inputs outputs will be sequential from the first one on The inputs outputs of the expansion modules will be numbered differently depending on the values entered in parameters NUILOn and NUOLOn with n 1 2 3 4 Sl PLC Parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 189 PLC Parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 190 Expansion modules numbering examples It is a system made up of an axes board with 401 240 and two expansion modules with 641 320 available in each one of them The inputs outputs of the first module cannot be set by parameter therefore the inputs must be numbered from 11 on and the outputs from O1 on Case 1 We wish to number inputs and outputs by setting parameters NUILOn and NUOLOn to zero First
510. turns the number of the tool offset corresponding to the next tool which is selected but is awaiting the execution of MO6 to be active TMZPn Returns the position occupied in the tool magazine by the indicated tool n Read and write variables TLFDn This variable allows the tool offset number of the indicated tool n to be read or modified in the tool table TLFFn This variable allows the family code of the indicated tool n to be read or modified in the tool table TLFNn This variable allows the value assigned as the nominal life of the indicated tool n to be read or modified in the tool table TLFRn This variable allows the value corresponding to the real life of the indicated tool n to be read or modified in the tool table TMZTn This variable allows the contents of the indicated position n to be read or modified in the tool magazine table HTOR The HTOR variable indicates the tool radius being used by the CNC to do the calculations Being a variable that can be read and written by the CNC and read only from the PLC and DNC its value may be different from the one assigned in the table TOR nl A On power up after a T function after a RESET or after an M30 function it assumes the value of the table TOR Application example To machine a profile with a residual stock of 0 5 mm running 0 1mm passes with a tool whose radius is 10 mm Assign to the tool radius the value of 10 5 mm in the ta
511. ual calculation time from the system CPU The more time the CPU dedicates to the PLC the greater the sampling time will be g m p LOOPTIME P72 l Same as with sinewave feedback number of axes and the user channel active the PLC demands PLCMEM P27 Not being used SRR700 P28 SRR739 P67 Not being used SWR800 P68 SWR819 P87 Not being used IOCANSPE P88 When using CAN connection the transmission speed depends on the length of the cable or total CAN connection distance Value Meaning 0 1 Mbit s Up to 20 meters 1 800 kbit s From 20 to 40 meters 2 500 kbit s From 40 to 100 meters 3 250 kbit s From 100 to 500 meters 4 125 kbit s From 500 to 1000 meters Default value 2 500 kbit s Fagor modules that do not have a baudrate selector can only work at 500 Kbit s IOCAGEN P89 Not being used IOCANID1 P90 IOCANID2 P91 IOCANID3 P92 IOCANID4 P93 They are used to set the remote modules They indicate which remote module each plc m p ICAN OCAN NUICAN NUOCAN refer to Assign the CAN bus address that occupies the node the one indicated by the address selector switch ICAN1 P94 OCAN1 P95 ICAN2 P96 OCAN2 P97 ICAN3 P98 OCAN3 P99 ICAN4 P100 OCAN4 P101 They are used to set the remote modules They indicate the configuration of each remote module number of inputs ICAN and outputs OCAN Example for a remote module located in no
512. uaranteed However the contents of this document are regularly checked and updated implementing the necessary corrections in alater edition We appreciate your suggestions for improvement The examples described in this manual are for learning purposes Before using them in industrial applications they must be properly adapted making sure that the safety regulations are fully met This product uses the following source code subject to the terms of the GPL license The applications busybox V0 60 2 dosfstools V2 9 linux ftpd V0 17 ppp V2 4 0 utelnet V0 1 1 The librarygrx V2 4 4 The linux kernel V2 4 4 The linux boot ppcboot V1 1 3 If you would like to have a CD copy of this source code sent to you send 10 Euros to Fagor Automation for shipping and handling CHAPTER 1 CHAPTER 2 CHAPTER 3 CHAPTER 4 CHAPTER 5 CHAPTER 6 INDEX PAD OUTING DFOGUCE ccc ies cca cancsheceseshensech lt aseshsrenasteasssnsanesshsusecentenascnsatesbagcusspcaeededstusssasisescaaevuseasstisasch Declaration of conformity Version history Safety CONAditionS vcineniiraeica aan RL Warranty terms a Material returning terms Additional remarks Fagor documentation ian iii iii CNC CONFIGURATION 1 1 GN GSU CHU oz aaa ia 26 1 1 1 Connectors iis eil iaia laine 28 HEAT DISSIPATION 2 1 Heat dissipation by natural CONVECTION cece cence eee eee tees tee eeneeseeeeeeeseaeeeaneeel 52
513. uctions They may be used to check the status of PLC resources as well as the marks and registers for CNC PLC communication They are divided into e Simple consulting Instructions e Flank detection consulting Instructions e Comparison consulting Instructions All the consulting instructions allow the previous operand NOT which reverses the result of the preceding consultation Example NOT l1 This Consultation will return a 0 if input 11 is at 1 anda 1 when input 11 is at 0 Simple They test the status of the resources and they return their logic state 1 512 Inputs 1 512 Outputs 1 5957 Marks 1 512 Timers 1 256 Counters w o 4A Zz oOo 0 31 R 1 499 Register Bits Example 112 It will return a 1 if input 12 is active and a 0 if otherwise Flank detection They check whether the state of a resource has changed since the last time this consultation was made This consultation may be made on real or image values There are two types of instructions DFU It detects an up flank 0 to 1 change at the indicated resource It returns a 1 if it happened DFD It detects an down flank 0 to 1 change at the indicated resource It returns a 1 if it happened The programming format of the different combinations is DFU Up flank detection 11 512 DFD Down flank detection O 1 512 M 1 5957 The consulting instructions to detect the flanks of marks M4000 t
514. ue 0 CNC 8037 SOFT V01 6x 128 Blocks affected by the square corner effect If bit 0 of g m p MANTFCON P189 1 the CNC will not execute the following blocks in square corner mode e An F programmed alone in the block e Blocks consisting one or more of the following G functions GO G1 G2 G3 without programaming coordinates G5 G6 G10 G11 G12 G13 G32 G94 G95 when not changing from one to another G40 G41 G42 G43 G44 G70 G71 G90 G91 G92 Sxxx G96 G97 when not changing from one to another G151 G152 Special cases If Bit 0 of g m p MANTFCON P189 1 e When executing auxiliary M S T functions the CNC will do it in square corner mode e f a block contains coordinates that coincide with the position of the previous block the CNC will not execute it in square corner mode STARTDIS P190 When sending an infinite program from a PC to the CNC through Windnc to be executed there are the following choices 1 Once the program has been transmitted it is executed without pressing any key at the CNC 2 Once the program has been transmitted it is not executed until the START key is pressed at the CNC The new general machine parameter STARTDIS P190 determines whether the program may be executed or not without pressing START This parameter has 16 bits counted from right to left bit 1514131211109 8 7 6 5 4 3 210 LIS LECCA L ECCESSO
515. ugh bit 7 7 6 5 4 3 2 1 0 bit 0 Indicates whether the CNC must wait or not for the AUXEND signal M done to consider it executed and go on to the next program block FAGOR Value enna 0 The AUXEND signal is expected CNC 8037 1 The AUXEND signal is NOT expected bit 1 Indicates whether the M function is executed before or after the movement block where it is programmed SOFT V01 6x Value Meaning 0 It is executed before the move 1 It is executed after the move 192 bit 2 Indicates whether the M function interrupts the block preparation or not Value Meaning 0 It does NOT interrupt the block preparation 1 It interrupts the block preparation bit 3 Indicates whether the M function is executed or not after the associated subroutine is executed Value Meaning 0 It is executed after the associated subroutine 1 ONLY the associated subroutine is executed bit 4 When bit 2 has been set to 1 it indicates whether block preparation is to be interrupted until the execution of the M function begins or until it ends until the M done signal is received Value Meaning 0 It interrupts block preparation until the execution of the M function begins 1 It interrupts block preparation until the M done signal AUXEND is received bit 5 Not being used at this time bit 6 Not being used at this time bit 7 Not being used at this tim
516. ule Second expansion module NUILO1 65 NUILO2 201 NUOLO1 33 NUOLO2 113 The first expansion module assigned inputs 165 through 1112 and outputs 033 through O64 The second expansion module assigned inputs 1201through 1264 and outputs 0113 through 0144 The inputs of the first expansion module are numbered sequentially after the value assigned to parameter NUILO1 165 chosen at will with the restriction 8n 1 The inputs of the second expansion module are numbered sequentially after the value assigned to parameter NUILO2 1113 chosen at will with the restriction 8n 1 Follow the same procedure for the outputs Expansion modules and remote modules numbering examples Let s suppose a system made up of an axes board with 401 240 and two expansion modules with 641 320 available in each one of them and the following remote modules Remote module in node 1 with 48 inputs and 32 outputs Remote module in node 2 with 24 inputs and 16 outputs The inputs outputs of the first module axis board cannot be set by parameter therefore the inputs must be numbered from l1 on and the outputs from O1 on We wish the inputs and outputs to be sequential starting with the local ones then the expansion modules and then the remote modules First expansion module Second expansion module NUILO1 41 NUILO2 0 NUOLO1 25 NUOLO2 0 Remote module Node 1 Remote module Node 2 IOCANID1 1 IOCANID2 2 ICAN1 48 ICAN2 24 OCAN1 32 OCAN2 16 NUICAN1 169 NUI
517. ules PE must be taken into consideration The main module PRG will be processed cyclically See 8 2 PLC program execution on page 307 The periodic module is optional and it is executed every so often as indicated by the directing instruction defining the module It is used to process certain critical inputs and outputs which cannot be properly evaluated within the main module because the cycle scan time for the main module would be too long for these resources to be checked and reacted upon It does not modify the status of the PLC resources Therefore the main module will resume execution as if the periodic module had not been executed at all i FAGOR The periodic module is processed as follows 1 The PLC takes into account the current values as just before executing the PE module of the local physical inputs connectors of the central unit CNC 8037 2 Executes the periodic module 3 Itassigns the current values of the PLC s O resources to the local physical outputs connectors of the central unit 4 It ends the execution of the Periodic Module and resumes the execution of the main module RARA To work with remote physical inputs and outputs use the IREMRD and OREMWR instructions 317 Module structure PLC PROGRAMMING FAGOR 2 CNC 8037 SOFT V01 6x 318 9 1 Module structure The modules which make up the PLC program main module PRG periodic modules PE and first cycle module CY1
518. ure CNC CONFIGURATION FAGOR CNC 8037 SOFT V01 6x Work levels for sinusoidal signal only for axes Maximum frequency 500 kHz A and B signals Amplitude 0 6 1 2 Vpp Centered V1 V21 2 Vpp lt 6 5 Relationship VApp VBpp 0 8 1 25 Phase shift 90 10 Reference mark 10 Amplitude 0 2 0 85 V Width T 90 lt 10 lt T 180 Feedback input for the handwheels Power supply consumption of 5 V 1 A 250 MA per axis Work levels for differential square signal Maximum frequency Maximum gap between flanks Phase shift Vmax in common mode Vmax in differential mode Hysteresis Maximum differential input current Work levels for non differential square signal Maximum frequency Maximum gap between flanks Phase shift High threshold logic level 1 Vjy Low threshold logic level 0 Vi Vmax Hysteresis Maximum differential input current 400 kHz 460 ns 90 20 7V 6V 0 2 V 3 mA 400 kHz 460 ns 90 20 1 25 V lt VH lt 7 V 7 V lt V lt 1 V 7 V 0 25 V 3 mA Connectors and connection Power supply 3 prong male Phoenix connector 7 65 mm pitch Pin Signal and function 1 24V_ Power supply ve j 2 OV Power supply i 3 Chassis Shield a H Use an independent external power supply with the following specificatio
519. usoidal or differential double ended Indicates whether the feedback alarm for this axis will be ON or OFF Value Meaning OFF No feedback alarm desired it is canceled ON Feedback alarm is being used Default value ON FBALTIME P12 It indicates the maximum time that the axis may stay without properly responding to the CNC s command Depending on the command for an axis the CNC calculates the number of feedback pulses that it must receive for each sample period The axis will be considered that it is working fine when the number of pulses received is between 50 and 200 of the calculated number If at any time the number of feedback pulses received is out of this range the CNC will keep checking that axis until it detects that the number of pulses received has come back to normal But if more time elapses than the one indicated in this parameter without the axis coming back to normal the CNC will issue the relevant error message Possible values Integers between 0 and 65535 ms Default value 0 it is not checked AXISCHG P13 Indicates the counting direction If correct leave it as is but to change it select YES if it was set to NO and viceversa When changing this parameter also change a m p LOOPCHG P26 Possible values NO YES Default value NO BACKLASH P14 Indicates the amount of backlash Enter 0 when using linear encoders Possible values Within 99999 9999 degrees or millimete
520. ust the DERGAIN go into DIAGNOSIS ADJUSTEMENTS AUTOADJUSTMENT and follow these steps 1 Select axis and parameter set First select the axis whose DERGAIN is to be adjusted and the set of gain parameters Then confirm with the START softkey 2 Generating the adjustment program Once the axis and the parameter set have been selected the CNC generates the program that will be executed to auto adjust the DERGAIN Configure the oscilloscope and initiate the trace for the selected axis Then it remains waiting for the axis to position correctly and for confirmation 3 Program execution Once the position has been confirmed the CNC waits for the START key to be pressed Pressing START runs the auto adjustment program and the screen shows the execution status warnings For safety reasons the first movement is made slowly giving the user enough time to cancel the auto adjustment by pressing STOP if necessary and restarted by pressing RESET The value of the DERGAIN parameter for each axis and set is continuously updated on the auto adjustment screen When the execution is over it displays the confirmation request for the adjusted value Pressing RESET returns to the initial state ADVANCED N The auto adjustment of DERGAIN can only be done when a m p ACFGAIN P46 is YES or While executing the auto adjustment the CNC ignores the position of the feedrate override switch If the value of a m p ACFGAIN P46 is change
521. uted every t milliseconds o 2 a 2 Cc For example PE 100 is executed every 100 ms 3 g END e 2 Sd Indicates the end of the module If this is not defined the PLC understands that this module ends O in the last block of the program a 3 oO Example of programming using the directing instruction END Si n CY1 Beginning of module CY1 END End of module CY1 PRG Beginning of module PRG END End of module PRG PE 100 Beginning of module PE END End of module PE Example of programming without using the directing instruction END CY1 Beginning of module CY1 PRG Beginning of module PRG PE 100 Beginning of module PE End of modules CY1 PRG and PE Label Used to identify a program line and is only used when references or program jumps are made It is represented with the letter L followed by up to 4 digits 1 2000 no order needs to be followed and numbers may even be skipped If there are 2 or more labels with the same number in a single program the PLC will show the corresponding error when compiling it DEF Symbol definition Allows a symbol to be associated with any PLC variable it being possible to FAGOR reference this variable throughout the program by means of the variable name or by means of the associated symbol CNC 8037 Example DEF EMERG I1 Assigns the EMERG symbol to input 11 so any reference throughout the program to EMERG will be interpreted by the PLC as a reference to 11 SOFT V01 6x I
522. uted in JOG mode OVRCAN M5010 Selects feedrate override at 100 LATCHM M5011 The axes will move from the moment the corresponding JOG key is pressed until the STOP key is pressed ACTGAIN2 M5013 Indicates that the CNC assumes the 2nd set of gains RESETIN M5015 Initial machining conditions selected by machine parameter AUXEND M5016 Indicates that the execution of the M S and T functions has completed TIMERON M5017 Enables the timer TREJECT M5018 Rejection of tool in use PANELOFF M5019 Deactivation of keyboard PLCABORT M5022 Possibility to abort the PLC channel PLCREADY M5023 PLC without errors INT1 M5024 Executes the interruption subroutine indicated in g m p P35 INT2 M5025 Executes the interruption subroutine indicated in g m p P36 INT3 M5026 Executes the interruption subroutine indicated in g m p P37 INT4 M5027 Executes the interruption subroutine indicated in g m p P38 BLKSKIP1 M5028 The and 1 block skip condition is met BLKSKIP2 M5029 The 2 block skip condition is met BLKSKIP3 M5030 The 3 block skip condition is met M01STOP M5031 Stops execution of the part program when the auxiliary M01 function is executed TOOLINSP M5050 Tool inspection available in TC mode RETRACE M5051 It activates the Retrace function ACTLM2 M5052 Activates the second travel limits HNLINARC M5053 Type of path with Path Handwheel or Path jog MASTRHND M5054 It activates the Path Handwheel or Path jog mode EXRAPID M
523. utput revolutions of the third gear 3 Calculation of motor speed for the MAXVOLT of each range gear Motor speed MAXGEAR x INPREV OUTPREV Motor speed with MAXVOLT1 1000 x 4 1 4000 rpm Motor speed with MAXVOLT2 2000 x 2 1 4000 rpm Motor speed with MAXVOLT3 3000 x 4 3 4000 rpm Motor speed with MAXVOLT4 3500 x 1 1 3500 rpm 6 15 5 Spindle example external encoder without gear box Having a spindle with 4 gears The maximum rpm and the gear ratio for each gear are the following Gear 1 maximum speed 1000 rpm gear ratio 4 1 Gear 2 maximum speed 2000 rpm gear ratio 2 1 Gear 3 maximum speed 3000 rpm gear ratio 4 3 Gear 4 maximum speed 3500 rpm gear ratio 1 1 The encoder is an HOP model Vpp and provides 18 000 pulses per turn CAN spindle 1 External encoder connected to the CNC s m p DRIBUSLE P51 0 Parameters involved in the calculation of the velocity command s m p MAXGEAR1 P2 maximum rpm of the first gear 1000 s m p MAXGEAR 2 P3 maximum rpm of the second gear 2000 s m p MAXGEAR8 P4 maximum rpm of the third gear 3000 s m p MAXGEAR4 P5 maximum rpm of the fourth gear 3500 s m p INPREV1 P72 Input revolutions of the first gear 4 s m p INPREV2 P74 Input revolutions of the second gear 2 s m p INPREV3 P76 Input revolutions of the third gear 4 s m p INPREV4 P78 Input revolutions of the fourth gear 1
524. uts local remote is 512 WARNING The order of local I O modules corresponds with the numbering of their internal switch not with the physical position of the modules The values of the PLC machine parameters mentioned earlier should be multiple of 16 for best managing the inputs and outputs in time Sl PLC Parameters MACHINE PARAMETERS FAGOR 2 CNC 8037 SOFT V01 6x 191 5 9 Tables 5 9 1 Miscellaneous M function table The number of M functions in this table is determined by the g m p NMISCFUN P29 being possible to define up to 255 M functions It must borne in mind that functions MOO M01 M02 M03 M04 M05 M06 M8 M9 M19 M30 M41 M42 M43 M44 and M45 besides what is indicated in this table have specific meanings when 5 programming the CNC un M FUNCTION TABLE Subroutine Tables MACHINE PARAMETERS MODIFY Each miscellaneous function will be called by its M number Possible values Integer numbers between 0 and 9999 The table elements that are not defined will be displayed as M A subroutine can be associated with each M function and it will be indicated by the letter S Possible values Integer numbers between 0 and 9999 If 0 is assigned to this field it means that the M function has no subroutine associated with it The third field consists of 8 customizing bits called bit 0 thro
525. vements smoother although it has the drawback that it rounds the corners slightly 0 707 Ao 3dB i f FREQUEN Anti resonance filter notch filter The anti resonance notch filter must be used when the machine has a resonance frequency to be eliminated F YE EE P AN DE 0 707 Ao 3dB n mf fi fo FREQUEN CNC start up with Fagor filters active If on CNC start up Fagor filters are active on any of the axes and a m p SMOTIME P58 is other than 0 on the same axis the CNC displays the following error message e Parameter TYPE 2 is incompatible with general parameter SMOTIME After start up if the value of the indicated parameter is not changed the CNC will cancel that parameter automatically FREQUEN P72 The meaning of this parameter depends on the type of filter being applied On low passing and FAGOR filters it indicates the break point frequency or frequency where the amplitude drops 3 dB or it reaches 70 of the nominal amplitude 3dB 20 log A Ao gt A 0 707 Ao For the anti resonance notch filter it indicates the mid frequency or frequency at which the resonance reaches its maximum value Possible values Between 0 and 500 0 Hz Default value 30 Sl Axis parameters MACHINE PARAMETERS FAGOR CNC 8037 SOFT V01 6x 151 NORBWID P73 Standardized bandwidth This parameter is only taken into account
526. via DNC PLCFPR R R W R Feedrate selected via PLC PRGFPR R R R Feedrate selected by program Variables associated with function G94 PRGFIN R R R Feedrate selected by program in 1 min Variables associated with feedrate override FRO R R R Feedrate Override active at the CNC PRGFRO R W R R Override selected by program DNCFRO R R R W Override selected via DNC PLCFRO R R W R Override selected via PLC CNCFRO R R R Override selected from the front panel knob PLCCFR R R W R Override of the PLC execution channel Coordinate related variables Variable CNC PLC DNC section 12 6 PPOS X C R Programmed theoretical position value coordinate POS X C R R R Machine coordinates Real coordinates of the tool base TPOS X C R R R Machine coordinates Theoretical coordinates of the tool base APOS X C R R R Part coordinates Real coordinates of the tool base ATPOS X C R R R Part coordinates Theoretical coordinates of the tool base DPOS X C R R R Theoretical position of the probe when the probe touched the part FLWE X C R R R Following error of the indicated axis DIST X C R W RW R Distance traveled by the indicated axis LIMPL X C RW RW R Second upper travel limit LIMMI X C RW RW R Second lower travel limit DPLY X C R R R Coordinate of the selected axis displayed on the screen GPOS X C n p R Coordinate of the selected axis programmed in the n b
527. vidual handwheel It replaces the mechanical handwheels Up to 2 handwheels can be used one per axis It only CNC 8037 moves the axis it is associated with When using a Fagor 100P handwheel no other handwheels may be used and it must be connected as first handwheel See 6 3 Movement with an electronic handwheel on page 208 SOFT V01 6x 91 INCHES P8 It defines the measuring units assumed by the CNC for machine parameters tool tables and programming on power up and after executing M02 M30 EMERGENCY or RESET The code is Value Meaning 0 Millimeters G71 1 Inches G70 By default 0 5 IMOVE P9 E S Indicates which function GOO rapid traverse or G01 linear interpolation is assumed on power ie e up after executing M02 M30 EMERGENCY or RESET The code is O S Value Meaning re ek T 2 0 GOO rapid traverse fa ul S 1 G01 linear interpolation E 5 Default value 0 lt q 0 5 a ICORNER P10 Indicates which function G05 round corner or G07 square corner is assumed on power up after executing M02 M30 EMERGENCY or RESET The code is Value Meaning 0 G07 square corner 1 G05 round corner Default value 0 IPLANE P11 Indicates which function G17 XY plane or G18 ZX plane is assumed on power up after executing M02 M30 EMERGENCY or RESET The code is Value Meaning 0 G17 XY plane 1 G18 ZX plane Default value 0 for the M model Default value 1 for the T model
528. ving to move the axis all the way to the Machine Reference Zero home i A ZA 4 si TH XMR ZMR Tid gt My M 4 XM ZMW XMR La ZMR gt M Machine zero W Part zero R Machine reference point XMW YMW ZMW etc Coordinates of part zero XMR YMR ZMR etc Coordinates of machine reference point CONCEPTS Reference systems n FAGOR 2 CNC 8037 SOFT V01 6x 231 CONCEPTS Reference systems FAGOR 2 CNC 8037 SOFT V01 6x 232 6 6 1 Home search With this CNC home search may be performed in jog mode or by program Home search may be carried out on one axis at a time or on several axes at the same time When this search with or without distance coded lo is carried out in JOG mode the active zero offset will be cancelled and the CNC will display the position values indicated by a m p REFVALUE P36 In all other cases the active part zero will be maintained and the CNC will display the position values with respect to that part zero e On axes with no distance coded feedback system The CNC moves all selected axes that have a home switch in the direction indicated by a m p REFDIREC P33 This movement will be carried out at the feedrate established by a m p REFEED1 P34 until the home switch is hit Once all the axes have reached their respective home switches the machine reference search marker pulse
529. will stay memorized even if the CNC is turned off and back on repeatedly Even if the magazine error is memorized the machine can keep working CONCEPTS Tool magazine o gt n The CNC will only show this error message if the user requests a new tool while the error situation is unsolved PLC mark TMINEM active The magazine error only prevents a new tool change TOOL MAGAZINE IN ERROR STATE Before removing the error check that the position of the tools in the magazine and the active tool match the tool table e During the state error it is possible to execute any instruction in any mode Jog MDI or even execute a program Only the execution of any T or M6 will be disabled This management is only possible when a tool magazine has been defined Example of a PLC program to manage the emergencies at the tool magazine TMINEM Tool magazine manager in emergency state MSG100 Message to check magazine and execute M98 DFU TMINEM Tool magazine manager in emergency state RES SETTMEM Set the magazine manager in emergency state M_SUBM06 Indicates tool changing subroutine M06 in execution AND NOT TMINEM Tool magazine manager in emergency state AND NOT M_POWER Power on and CNC PLC OK OR M_MO6ERROR An error occurs when executing M06 OR RESETOUT CNC RESET SET SETTMEM Set the magazine manager in emergency state DFU SETTMEM Set the magazine manager in emergency state FAGOR 2 OR DFU TMINEM Tool mag
530. with the advanced look ahead algorithm or with Jerk control Plus ittakes into account the limitation set by a m p JERKLIM P67 in arcs formed by linear blocks when using the jerk control algorithm Default value 1 Bit 13 Use Fagor filters with look ahead Fagor filters always work with the advanced look ahead algorithm but they can also be used in the standard algorithms and with jerk control using this bit 13 in which case only those Fagor filters will be used O Value Fagor filters are not used with standard look ahead and with jerk control even if these filters have been activated by machine parameters for the axes 1 Value Fagor filters will be used in all movements In look ahead standard and with jerk control if the Fagor filters have been set by machine parameter the CNC will assume the values set in these parameters otherwise it will assume the default values of these filters Default value 0 Bit 14 Smoother machining 0 Value Deactivates smoother machining 1 Value Activates smoother machining This smoothing is especially noticeable when using the standard and advanced algorithms Activating this bit has the following effects lt activates a filter on the machining path lt does not limit the speed in very small blocks Default value 1 u We recommend the value of bits 12 and 14 to be the same Bit 15 Advanced look ahead algorithm integrating Fagor filters This bit activates bi
531. without XC or ZC in the subroutine this G16 will be executed with the call parameters XC ZC and without calling the subroutine After executing the associated subroutine the G16 will not be executed again The programmed value is given to this subroutine as call parameter in CALLP XC CALLP 800004 ZC CALLP 2000004 XCZ CALLP 10800004 ZCX CALLP 12000004 NEWLOOK P193 General machine parameter NEWLOOK P193 may be used to select the desired interface for the CNC l Value Meaning 0 Interface A Plus 1 Interface FL Power Default value 1 5 3 Axis parameters AXISTYPE PO It sets the type of axis and whether it is governed by the CNC or by the PLC Value Meaning 0 Normal linear axis a Rapid positioning linear axis G00 I Normal rotary axis Rapid positioning rotary axis GOO Rotary axis with Hirth toothing positioning in whole degrees Normal linear axis commanded from the PLC Rapid positioning linear axis G00 commanded from the PLC Axis parameters Normal rotary axis commanded from the PLC Rapid positioning rotary axis G00 commanded from the PLC o 0 N DOD a Aa WO N MACHINE PARAMETERS Rotary axis with Hirth toothing positioning in whole degrees commanded from the PLC Default value 0 By default rotary axes are Rollover and are displayed between 0 and 359 9999 If rollover is not desired set a m p ROLLOVER P55 NO The axis position will be displayed
532. work however remember the following e Both signals must be initialized low when powering up the PLC e For normal drive operation both signals must be set high e A down flank trailing edge of the DRENA signal drive enable turns off the power circuit of the drive and the motor loses its torque In this situation the motor is no longer governed and it will stop when its kinetic energy runs out Stop by friction A trailing edge of the SPENA signal speed enable switches the internal velocity reference to 0 rpm and brakes the motor while maintaining its torque Once the motor has stopped the drive s power circuit is turned off and the motor has no torque ELIMINA1 M5113 ELIMINA2 M5163 ELIMINA3 M5213 If the PLC sets one these signals high the CNC does not display the corresponding axis but keeps controlling it Same as when setting a m p DFORMAT P1 3 The ELIMINA mark can be activated and deactivated at any time and it also cancels the feedback alarms which the machine parameter does not do SMOTOF1 M5114 SMOTOF2 M5154 SMOTOF3 M5214 The SMOTIME P58 filter set for each axis with parameter P58 can be canceled from the PLC This SMOTIME filter will be activated or deactivated at the beginning of the block If one of these logic inputs is activated or deactivated while the CNC is overlapping blocks being executed in round corner it will be ignored until that operation is finished LIM1OFF M5115 LIM2OFF M5
533. would like to obtain a 2um resolution by using a squarewave encoder mounted on 5 mm pitch leadscrew Since the CNC applies a x4 multiplying factor to squarewave signals we would require an encoder that provides the following number of pulses lines per turn Nr of pulses ballscrew pitch multiplying factor x Resolution Nr pulses 5000 um 4 x 2 um 625 pulses turn Therefore INCHES 0 PITCH 5 0000 NPULSES 625 SINMAGNI 0 Allthough the CNC accepts a maximum squarewave frequency of 400 kHz when using Fagor squarewave rotary encoders their output frequency is limited to 200 kHz thus the maximum possible feedrate F will be Max Feed 200 000 pulses s 625 pulses turn x 5 mm turn Max feedrate 1600 mm s 96 m min Example 2 Resolution in mm with sinusoidal signal encoder We would like to obtain a 2um resolution by using a 250 line sinusoidal encoder mounted on 5 mm pitch ballscrew We must calculate the multiplying factor SINMAGNI to be applied by the CNC to the pulses provided by the encoder in order to obtain the desired resolution SINMAGNI ballscrew pitch Nr pulses x Resolution SINMAGNI 5000 um 250 x 2 um 10 Therefore INCHES 0 PITCH 5 0000 NPULSES 250 SINMAGNI 10 The feedback frequency of Fagor rotary encoders is limited to 200 KHz The CNC s maximum sinusoidal feedback input frequency is 250 KHz which means that the maximum feedrate for this axis will be Max Feed 200
534. ws the number of pulses of the 4th handwheel PLC programming example The machine has a button to activate and deactivate this feature feed handwheel and the feedrate control is carried out with the second handwheel CY1 R101 0 Resets the register containing the previous handwheel reading END PRG DFU 171 CPL M1000 Every time the button is pressed mark M1000 is inverted M1000 MSG1 If the feature is active a message is displayed NOT M1000 AND KEYDIS4 FF800000 KEYDIS4 JMP L101 If this feature is not active it enables all the positions of the feedrate override switch and resumes program execution DFU M2009 CNCRD HANPS R100 M1 SBS R101 R100 R102 MOV R100 R101 MLS R102 3 R103 OR KEYDIS4 7FFFFF KEYDIS4 If this feature is activated and an upflank occurs at the clock mark M2009 it reads in R100 the handwheel pulses HANPS calculates in R102 the number of pulses received since the last reading updates R101 for the next reading calculates in R103 the value of the right feedrate and inhibits all the positions of the feedrate override switch KEYDIS4 CPS R103 LT 0 SBS 0 R103 R103 CPS R103 GT 120 MOV 120 R103 It adjusts the value of R103 feedrate It ignores the handwheel turning direction sign and limits the value to 120 DFU M2009 CNCWR R103 PLCFRO M1 With the up flank at the clock mark M2009 set the calculated feedrate override PLCFRO R103 L101 END Di CONCEPTS Movem
535. xecuted in JOG mode are made at the previously selected feedrate The treatment which this signal receives is similar to that given to the rapid feedrate key on the control panel The EXRAPID M5057 signal is similar but for movements in execution mode OVRCAN M5010 If the PLC sets this signal at a high logic level the CNC selects 100 feedrate override irrespective of whether this is selected by the PLC DNC program or by the front panel switch While the OVERCAN signal is activated logic 1 the CNC will apply in each mode 100 of the feedrate corresponding to that mode mn b General logic inputs LOGIC CNC INPUTS AND OUTPUTS FAGOR 2 CNC 8037 SOFT V01 6x 349 11 General logic inputs LOGIC CNC INPUTS AND OUTPUTS FAGOR CNC 8037 SOFT V01 6x 350 LATCHM M5011 This allows the type of JOG key operation to be selected in JOG mode If the PLC sets this signal low the axes will only move while the corresponding JOG key is pressed Ifthe PLC sets this signal at a high logic level the axes will move from the moment the corresponding JOG key is pressed until the STOP key or other JOG key is pressed In this case the movement will be transferred to that indicated by the new key ACTGAIN2 M5013 The axes and the spindle can have 3 sets of gains and accelerations By default the first set is always assumed The one indicated by the a m p and s m p ACCTIME P18 PROGAIN P23 DE
536. xis from the PLC the analog output becomes free so it can be written from the CNC or from the PLC In the case of analog CAN I O See chapter 3 Remote modules bus CAN with CanOPEN protocol Other variables SELPRO When having two probe inputs it allows selecting the active input On power up it assumes the value of 1 thus selecting the first probe input To select the second probe input set it to a value of 2 Accessing this variable from the CNC interrupts block preparation ACCESS TO INTERNAL CNC VARIABLES DIAM In the lathe model it changes the programming mode for X axis coordinates between radius and diameter When changing the value of this variable the CNC assumes the new way to program the following blocks When the variable is set to 1 the programmed coordinates are assumed in diameter when is set to 0 the programmed coordinates are assumed in radius This variable affects the display of the real value of the X axis in the coordinate system of the part and the reading of variables PPOSX TPOSX and POSX On power up after executing an M02 or M30 and after an emergency or a reset the variable is initialized according to the value of the DFORMAT parameter of the X axis If this parameter has a value equal to or greater than 4 the variable takes a value of 1 otherwise it takes the value of 0 PRBMOD It indicates whether a probing error is to issued or not in the following cases even if general ma
537. y the PLC CNC 8037 SOFT V01 6x 262 Connection example and PLC program for the HBA 072914 handwheel ENABLING PUSH BUTTONS 24Vdc s GND CONCEPTS There are 2 ways to use the Enable Push Button 178 Just press one of the buttons 179 Both buttons must be pressed Fagor handwheels HBA HBE and LGB DI The example uses input 179 making it necessary to push both buttons in order to use the handwheel Definition of symbols mnemonics DEF HDWON M600 Handwheel jog DEF JOGON M601 JOG DEF XSEL M602 X axis selected DEF YSEL M603 Y axis selected DEF ZSEL M604 Z axis selected DEF 4SEL M605 4th axis selected DEF 5SEL M606 5th axis selected DEF 6SEL M607 6th axis selected DEF 7SEL M608 7th axis selected PRG REA If the handwheel enable 179 and the switch is at handwheel position x1 x10 or x100 179 AND 173 OR 174 HDWON 173 174 JOG 0 0 x1 0 1 x10 1 1 FAGOR x100 1 0 To move the axes in JOG proceed as follows CNC 8037 e enable handwheel 179 e turn the switch to the position NOT 173 AND NOT 174 e position the CNC panel selector in the JOG area not handwheel not incremental SELECTOR gt 7 179 AND NOT 173 AND NOT 174 AND CPS SELECTOR GE 8 JOGON SOFT V01 6x 263 CONCEPTS Fagor handwheels HBA HBE

CNC 8037 - Installation manual

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