This is a command for feedrate. There are two modes depending on the data field digit number.
① FEED 1-digit mode
Ten kinds of feedrate can be commanded by entering 0~9 into the first digit of the data field.
0 means a fast feedrate. 1~9 commands the feedrate predetermined by the TPC-Jr.
(Feedrate for the set value of 1~9 is determined in the PROGRAM mode. For details, refer to III. OPERATION, 5-10 Setting Feedrate.)
② FEED multi-mode
Any desirable feedrate can be commanded by entering a 6-digit number into the data field.
The unit for the feedrate is [deg/min].
The two modes are distinguished by the digit number entered into the data field. To clarify the command mode more with [deg/min], enter a decimal point to the last digit of the field.
If the feedrate exceeding the fast feedrate is commanded, actual feedrate is restricted to the fast feedrate.
The fast feedrate (F0) is automatically selected after the TPC-Jr’s power is turned on provided that no feedrate command is given. When the FEED command is given, the feedrate commanded by the FEED command does not change before the next FEED command is given.
For the FEED command, the relative order to an MOV command is not important provided that the FEED command is given before an M signal.
Sample NC program POPEN;
DPRNT[/MOVI+10.];
M70; ……… Moves by 10 degrees with F0 feedrate.
G00 X100.; ………（M/C operates.）
M70; ……… Moves by 10 degrees with F0 feedrate.
G00 X200.; ………（M/C operates.）
DPRNT[/FEED5];
M70; ……… Moves by 10 degrees with F5 feedrate.
G00 X300.; ………（M/C operates）
DPRNT[/MOVI+20.];
M70; ……… Moves by 20 degrees with F5 feedrate.
G00 X400.; ………（M/C operates.）
DPRNT[/FEED1000.];
DPRNT[/MOVA+30.];
M70; ……… Moves by 30 degrees with 1000 [deg/min].
PCLOS;
Notes
The FEED command can not be written in the same line of an MOV command or other commands in the same DPRNT text. Use a single DPRNT text.
Wrong） DPRNT[/MOVI+10. /FEED1000.];
Right） DPRNT[/MOVI+10.];
8-5. Procedure
Select the 《AUTO》 mode to use the remote mode +M specification.
When the power is turned on, the 《AUTO》 mode is automatically selected.
The display screen (initial indication) for the remote mode +M specification is shown at right.
Line 1 indicates “Remote” and the following “No Cmd” shows no command has been received.
Line 2 shows the feedrate. The default is “F0” fast feedrate.
1) When a command is received, the display becomes as in the figure at right.
This example shows that “/MOVA+180.000” was received.
2) When a “FEED” command is received, the feedrate description (data section) is indicated.
For a 1-digit mode, either F0 ~ F9 is indicated.
In the F multi-mode, the specified feedrate [deg/min]
is indicated as in Fxxxxxx. (x means a numeral.) When the power is turned on, F0 (fast feedrate) is selected.
3) The ZRN command disappears when the applicable movement is completed, However, the MOVA, MOVI, or DIV command does not disappear before the next command is given.
If the received command contains a mistake, the received text is indicated as much as possible.
4) Key operations for switching the current set value/remaining amount, etc. are possible as in the 《AUTO》, or 《SINGLE》 mode
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ＲＤＹ ＭＯＶＡ ＋１８０．０００°
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8-6. Remote Mode Parameter
The parameters relative to the remote mode + M specifications is as follows. For setting, refer to “V. PARAMETERS.”
Parameter 041:bit0 [REM] To use the remote mode, enter “1” into this parameter.
Parameter 041:bit1 [＋M] To use an M signal as a start signal for the remote mode, enter
“1” into this parameter. (Be sure to enter “1.”)
Parameter 041:bit2 [ELL] To use an abbreviated commands (See 8-4-1.), enter “1” into this parameter.
Parameter 041:bit3 [FXD] If the NC specifications do not allow use of a decimal number in the data, set this parameter to “1.”
Fixed data input example (The decimal data is eliminated.)
+360° → 360000
-12．8° → -12800 +0．15° → +150
Parameter 050 [BPS] This is for serial channel baud rate. Set the baud rate according to the baud rate of the NC. (Usually, it is used at about 4800bps.)
Parameter 043 This is for serial channel transmission parameter.
Set according to the NC specifications.
To make Parameter 043 effective, it is necessary to enter “1” into Parameter 040:bit2.
※ When the NC is a product of FANUC, this parameter (043) is not required to be changed, by using the parameter like below:
Sample setting of the NC on the machining center side. (For FANUC Series 16) The example below shows when the RS-232C port is used by the I/O channel 0.
For details, contact an NC manufacturer.
Parameter address 0000： ISO 1：Data input/output code = ISO Parameter address 0101： SB2 0：Stop bit = 1bit
Parameter address 0101： ASI 0：Data input code = ISO/EIA
(automatically distinguished)
Parameter address 0101： NFD 0：Feed space (Not for output)
Parameter address 0102： Specification number of the I/O component = 0（RS232-C）
Parameter address 0103： Baud rate = 4800
Notes
The letter code to be used for the TPC-Jr remote mode + M specifications is ISO (ASCII) code only. The EIA code can not be used.
C 8-7. Alarms
The alarms generated in the remote mode + M specifications are shows below:
If another alarm not described below occurs, refer to “VI. MAINTENANCE.”
To reset an alarm, press the key.
1) ALM40~42 SCH Rx PE, FE, OR
Each alarm means a parity error, framing error, or overrun error in the above order.
If the communication parameter does not match between the NC on the machining center and the communication parameter, these alarms are given.
Check the parameters for the baud rate and the transmission code.
If these alarms occur, though they do not occur usually, noise influence is suspected. In this case, reduce noise around the installed place. In addition, follow the countermeasure to lower the baud rate or shorten the length of the RS-232C cable being used for connection.
2) ALM43 SCH Rx Full AL45 CMD BF Full
These alarms are given when the receiving buffer full error occurs. They are given when the command and the data length are very long. Check that the program on the machining center side does not include unnecessary digits or wrong descriptions.
3) ALM46 SCH CMD Err
This alarm is given when a command error occurs. If the TPC-Jr receives a command that is not defined, check that the program on the machining center for mistakes.
4) ALM47 SCH DATA Err
This alarm is given when an data error occurs. Check that the data description of the program on the machining center side is correct.
5) ALM48 SCH NO Cmd
This alarm is given when an M signal is received though no command is given. Check the program on the machining center.
8-8. Cable Connection 8-8-1. Cable connection
To connect an M signal, use the TPC-Jr standard interlocking cable. For details of connection of the M signal, refer to “VI MAINTENANCE, 5. CABLE CONNECTION.”
An RS-232C connection cable is used for remote commands.
For details of the cables, refer to “7. EXTERNAL STORAGE OF PROGRAMS, 7-5-2.
Interface.”
【Note】 The length of the RS-232C cable is restricted to 5m or less only for the remote mode + M specifications.
8-8-2. Interlocking cable
For details of the connection of the interlocking cable, refer to “VI. MAINTENANCE, 5.
CONNECTION OF CABLES.”
The interlocking signals usable in the remote mode + M specifications are shown below:
Standard interlocking cable
Start (AT71) An M input signal to give a start to the TPC-Jr.
Stop (AT72） Usually, an emergency stop signal is connected.
Positioning completion 1 output (AT85) A completion signal against the M signal.
Signals available with the extended functions
The signals provided with the extended function can also be used in the remote mode + M specifications. However, not all the signals can be used. The usable signals are as follows:
Input signal
Start (AT71) An M input signal to give a start to the TPC-Jr.
Stop (AT72) Usually, an emergency stop signal is connected.
Output signal
Positioning completion 1 output signal (AT85)
A completion signal against the M signal Level (AT88) Indicates that the rotary table is in positioning.
Alarm (AT89) Given if an alarm occurs.
8-9. Notes
The RS-232C signal is different from an M signal. It is a small and fast signal. Therefore, if there is any noise around the machine, the remote mode may malfunction. Install a surge killer on the electric control box of the machining center to reduce noise.
The longest acceptable length of the RS-232C cable is 5 m.
If the above countermeasure against noise does not improve the environment and an alarm is given, using an RS-422, RS-485, or an optical communication cable that receives less influence of noise is recommended.
When using one of these cables, use a level converter in market to convert the RS-232C signal for them.
V. PARAMETERS
1. SETTING PARAMETERS _____________________________________________ V-2