TPC-Jr G Series Users’ Manual

Overview Program

Operation Extended Functions

Parameter Maintenance

６９５－０４２－１－０２ＣE

Apr, 2002

TSUDAKOMA Corp.

◆◆◆◆◆ CONTENTS ◆◆◆◆◆ I. OVERVIEW__________________________________________________ I-1

1. SYMBOLS REGARDING SAFETY _______________________________________I-2

2. OUTLINE OF THIS MANUAL ___________________________________________I-2

3. SAFETY INSTRUCTIONS ______________________________________________I-3

4. SPECIFICATIONS ____________________________________________________I-5

4-1. STANDARD SPECIFICATION LIST ___________________________________I-5 4-2. OPTIONS________________________________________________________I-9

5. CONFIGULATIONS AND EXTERNAL DIAGRAMS _________________________I-10

5-1. STANDARD CONFIGURATION OF THE TPC-JR________________________I-10 5-2. EXTERNAL DIAGRAMS OF CONTROL UNITS _________________________ I-11

II．PROGRAM ________________________________________________ II-1 1. PROGRAM CONFIGURATION _________________________________________ II-2

1-1. PROGRAM NUMBER (WORK NUMBER)______________________________ II-2 1-2. PROGRAM CODE________________________________________________ II-2 1-3. TPC-JR PROGRAM STORAGE STRUCTURE__________________________ II-3 1-4. MAIN PROGRAM AND SUBPROGRAMS______________________________ II-5 1-5. INCREMENTAL COMMANDS AND ABSOLUTE COMMANDS _____________ II-6 1-6. UNIT FOR ANGLE SETTING _______________________________________ II-7

2. G CODES __________________________________________________________ II-8

2-1. G0: DIRECT ANGULAR POSITION COMMAND _______________________ II-10 2-2. G1: DIRECT INDEXING POINT NUMBER COMMAND __________________ II-12 2-3. G2: ARC-INDEXING POINT NUMBER COMMAND _____________________ II-13 2-4. G3: LEAD CUTTING COMMAND ___________________________________ II-13 2-5. G4: ORIGIN RETURN COMMAND __________________________________ II-16 2-6. G5: SUBPROGRAM CALL COMMAND ______________________________ II-17 2-7. G6: SUBPROGRAM RETURN COMMAND ___________________________ II-17 2-8. G7: WORK COORDINATE END COMMAND __________________________ II-17 2-9. G8: WORK COORDINATE SET COMMAND __________________________ II-18 2-10. G9: DECLARATION COMMAND___________________________________ II-19

3. F CODES FOR FEED FUNCTIONS_____________________________________ II-22

3-1. FAST FEED (Ｆ0) ________________________________________________ II-22 3-2. CUTTING FEED ________________________________________________ II-22 3-3. UPPER LIMIT OF THE CUTTING FEEDRATE _________________________ II-22 3-4. SETTING A CUTTING FEEDRATE __________________________________ II-22

ⅰ

3-5. DWELL________________________________________________________ II-23

III．OPERATIONS _____________________________________________ III-1 1. CONTROL UNIT_____________________________________________________III-3

1-1. POWER SUPPLY ON/OFF _________________________________________III-3

2. DETAILS OF OPERATION PANEL______________________________________III-4

2-1. LCD SCREEN ___________________________________________________III-4 2-2. LED INDICATORS ________________________________________________III-6 2-3. OPERATION MODE DISPLAY AND SWITCHING _______________________III-6 2-4. PROGRAM EDITING KEYS ________________________________________III-6 2-4-1. KEYS USED FOR PROGRAM EDITING MAINLY IN THE

《PROG》 OR 《CHECK》 MODE. ___________________________________III-7 2-4-2. KEYS USED FOR OTHER THAN PROGRAM EDITING MAINLY IN THE

《SINGLE》 OR 《AUTO》 MODE ____________________________________III-8 2-5. OPERATION KEYS _______________________________________________III-9

3. OVERVIEW OF OPERATION MODES __________________________________III-10

3-1. AUTO MODE ___________________________________________________III-10 3-2. SINGLE MODE _________________________________________________III-10 3-3. PROG MODE___________________________________________________III-10 3-4. CHECK MODE__________________________________________________III-10 3-5. MDI MODE_____________________________________________________III-10 3-6. JOG MODE ____________________________________________________III-10

4. AUTO AND SINGLE MODES__________________________________________ III-11

4-1. OVERVIEW ____________________________________________________ III-11 4-2. START INPUT SIGNAL ___________________________________________III-12 4-3. START KEY ____________________________________________________III-12 4-4. REFERENCE POINT RETURN KEYS ______________________________III-12 4-5. STOP KEY _____________________________________________________III-12 4-6. MACHINE LOCKING _____________________________________________III-12 4-7. DISPLAY SWITCHING ___________________________________________III-13 4-8. DGN __________________________________________________________III-13

5. PROGRAM / CHECK MODES_________________________________________III-14

5-1. OVERVIEW ____________________________________________________III-14 5-2. ENTERING A PROGRAM _________________________________________III-15 5-2-1. PROCEDURE FOR ENTERING A PROGRAM ______________________III-15 5-2-2. ENTERING DATA FOR THE Θ FIELD ___________________________III-16 5-2-3. SCROLLING A PROGRAM______________________________________III-16 5-2-4. SAMPLE G CODE DISPLAY ____________________________________III-16

5-3. SETTING AND SELECTING A WORK NUMBER _______________________III-17

ⅱ

5-4. INSERTING A BLOCK ____________________________________________III-18 5-5. DELETING A BLOCK_____________________________________________III-18 5-6. DISPLAYING THE DIRECTORY ____________________________________III-19 5-7. COPYING A PROGRAM __________________________________________III-19 5-8. DELETING A PROGRAM _________________________________________III-19 5-9. DELETING ALL PROGRAMS IN EDIT RAM AND THE FILE ______________III-20 5-10. SETTING A FEEDRATE _________________________________________III-20 5-11. INPUT/OUTPUT & STORAGE OF PROGRAMS TO THE EXTERNAL

COMPONENTS. _______________________________________________III-21 5-12. SETTING PARAMETERS ________________________________________III-21 5-13. INPUTTING AND OUTPUTTING PARAMETER DATA TO AND FROM

THE EXTERNAL COMPONENTS __________________________________III-22 5-14. SELF-DIAGNOSIS______________________________________________III-22 5-15. ADJUSTING CONTRAST ON THE LCD DISPLAY _____________________III-24

6. MDI MODE ________________________________________________________III-25

6-1. OVERVIEW ____________________________________________________III-25 6-2. MDI MODE INDICATION __________________________________________III-25 6-3. MDI OPERATIONS ______________________________________________III-25

7. JOG MODE _______________________________________________________III-25

7-1. OVERVIEW ____________________________________________________III-25 7-2. CONTENTS ON THE SCREEN_____________________________________III-26 7-3. JOG OPERATING METHOD _______________________________________III-26 7-4. SETTING THE SECOND REFERENCE POINT ________________________III-26 7-5. CLEARING THE CURRENT POSITION INDICATION ___________________III-26

IV．EXTENDED FUNCTIONS ____________________________________ IV-1 1. OVERVIEW_________________________________________________________IV-3

2. EXTERNAL WORK NUMBER SET FUNCTION ____________________________IV-4

2-1. EXTERNAL WORK NUMBER SET FUNCTION _________________________IV-4 2-2. AUTO MODE SELECTION AT POWER ON ____________________________IV-5 2-3. AUTOMATIC CALLING OF A WORK NUMBER AND BLOCK NUMBER ______IV-5

3. EXTERNAL RETURN TO A REFERENCE POINT INPUT FUNCTION __________IV-6

4. EXTERNAL STOP INPUT FUNCTIONS __________________________________IV-7

4-1. STOP INPUT SIGNAL _____________________________________________IV-7 4-2. INTERLOCK INPUT SIGNAL _______________________________________IV-8

5. MACHINE ORIGINAL POSITION OUTPUT FUNCTIONS ____________________IV-9

6. MACHINE POSITION CONTROL FUNCTIONS ___________________________IV-10

ⅲ

ⅳ

6-1. SOFT LIMIT ____________________________________________________IV-10 6-2. OVERTRAVEL __________________________________________________IV-11

7. EXTERNAL STORAGE OF PROGRAMS ________________________________IV-12

7-1. OVERVIEW ____________________________________________________IV-12 7-2. PROCEDURE __________________________________________________IV-12 7-2-1. READING PROGRAMS ________________________________________IV-12 7-2-2. PROGRAM OUTPUT __________________________________________IV-13 7-2-3. INPUT AND OUTPUT OF PARAMETERS. _________________________IV-13

7-3. ALARM________________________________________________________IV-14 7-4. PARAMETERS _________________________________________________IV-15 7-5. PAPER TAPE I/O FORMAT ________________________________________IV-16 7-5-1. TAPE FORMAT_______________________________________________IV-16 7-5-2. INTERFACE _________________________________________________IV-18

7-6. PRINTING TPC-JR PROGRAM LISTS _______________________________IV-20 7-6-1. PROCEDURE________________________________________________IV-20 7-6-2. PARAMETERS _______________________________________________IV-20 7-6-3. SAMPLE LISTS ______________________________________________IV-20

8. REMOTE MODE + M ________________________________________________IV-21

8-1. GENERAL DESCRIPTION ________________________________________IV-21 8-2. PROCEDURE __________________________________________________IV-21 8-3. COMMAND METHOD ____________________________________________IV-21 8-3-1. SAMPLE MACHINING CENTER PROGRAM _______________________IV-22 8-3-2. NOTES _____________________________________________________IV-22

8-4. COMMAND FORMAT ____________________________________________IV-23 8-4-1. COMMAND ABBREVIATION ____________________________________IV-23 8-4-2. DATA DETAILS _______________________________________________IV-23 8-4-3. COMMAND DETAILS __________________________________________IV-24

8-5. PROCEDURE __________________________________________________IV-27 8-6. REMOTE MODE PARAMETER_____________________________________IV-28 8-7. ALARMS ______________________________________________________IV-29 8-8. CABLE CONNECTION ___________________________________________IV-29 8-8-1. CABLE CONNECTION_________________________________________IV-29 8-8-2. INTERLOCKING CABLE _______________________________________IV-30

8-9. NOTES________________________________________________________IV-30

V. PARAMETERS _____________________________________________ V-1 1. SETTING PARAMETERS _____________________________________________ V-2

1-1. PREPARATION FOR SETTING PARAMETERS_________________________ V-2 1-2. PARAMETER SETTING METHOD ___________________________________ V-2 1-3. COMPLETING PARAMETER SETTING _______________________________ V-3

2. PARAMETERS______________________________________________________ V-3

2-1. PARAMETER ASSIGNMENT _______________________________________ V-3 2-2. PARAMETERS __________________________________________________ V-4 2-3. DETAILS OF PARAMETERS________________________________________ V-6

《SYSTEM PARAMETERS 000～019》 __________________________________ V-7 《I/O PARAMETERS 020～039》 ______________________________________ V-10 《SERIAL CHANNEL PARAMETERS 040～059》 _________________________ V-13 《STANDARD SERVO PARAMETERS 110～149》 ________________________ V-16 《SPECIAL SERVO PARAMETERS 150～199》 __________________________ V-26

2-4. CONVERTING UNITS ____________________________________________ V-32 2-5. SETTING POSITION OF 1ST REFERENCE POINT ____________________ V-32

VI．MAINTENANCE____________________________________________VI-1 1. OUTLINE _________________________________________________________ VI-3

1-1. OUTLINE ______________________________________________________ VI-3 1-2. SAFETY REMARKS ON MAINTENANCE_____________________________ VI-3 1-3. CHECK AT OCCURRENCE OF A FAILURE ___________________________ VI-4

2. ROUTINE CHECK __________________________________________________ VI-4

3. ALARMS__________________________________________________________ VI-5

3-1. ALARM DISPLAY________________________________________________ VI-5 3-2. RESETTING AN ALARM __________________________________________ VI-5 3-3. ALARM OUTPUT SIGNALS _______________________________________ VI-5 3-4. ALARMS ______________________________________________________ VI-6 3-5. DETAILS OF ALARMS____________________________________________ VI-9 3-5-1. PROGRAM ALARMS __________________________________________ VI-9 3-5-2. SERIAL CHANNEL ALARM ____________________________________ VI-12 3-5-3. STROKE END ALARM ________________________________________ VI-12 3-5-4. SERVO ALARMS ____________________________________________ VI-13 3-5-5. OTHER ALARMS ____________________________________________ VI-17

4. SELF-DIAGNOSIS (DGN) ___________________________________________ VI-18

4-1. CHECKING INPUT & OUTPUT SIGNALS AND SERVO STATUS _________ VI-18 4-1-1. PROCEDURE_______________________________________________ VI-18 4-1-2. DETAILS ON INPUT & OUTPUT SIGNAL AND SERVO STATUS CHECK

ADDRESS LIST _____________________________________________ VI-18 4-2. OUTPUT SIGNAL CHECK________________________________________ VI-20 4-2-1. PROCEDURE_______________________________________________ VI-20 4-2-2. OUTPUT SIGNAL CHECK ADDRESSES _________________________ VI-20

4-3. STATUS INDICATED BY LAMPS __________________________________ VI-21

ⅴ

5. CABLE CONNECTION _____________________________________________ VI-22

5-1. CABLE LIST___________________________________________________ VI-22 5-2. ACCESSORY CABLES __________________________________________ VI-23 5-3. OPTIONAL CABLES ____________________________________________ VI-23 5-4. CONNECTOR PIN ASSIGNMENT _________________________________ VI-23 5-5. CONNECTING THE INTERLOCKING CABLE ________________________ VI-24 5-5-1. CONNECTING THE INTERLOCKING CABLE______________________ VI-24 5-5-2. INTERLOCKING SIGNAL TIMING _______________________________ VI-26 5-5-3. INPUT SIGNAL USED WITH THE EXTENDED FUNCTIONS __________ VI-27 5-5-4. OUTPUT SIGNALS USED WITH THE EXTENDED FUNCTIONS_______ VI-27 5-5-5. EXTERNAL WORK NUMBER SET FUNCTION_____________________ VI-29

5-6. INPUT SIGNAL EQUIVALENT CIRCUITS____________________________ VI-30 5-7. OUTPUT SIGNAL EQUIVALENT CIRCUITS__________________________ VI-31

6. CIRCUIT DIAGRAMS_______________________________________________ VI-32

6-1. WIRING IN THE TPC-JR CONTROL UNIT ___________________________ VI-32 6-2. TABLE FOR WIRING IN THE TPC-JR CONTROL UNIT ________________ VI-33 6-4. PART LAYOUT IN TPC-JR _______________________________________ VI-37 6-5. PART LIST OF TPC-JR __________________________________________ VI-37

7. ABSOLUTE ENCODER _____________________________________________ VI-38

7-1. ABSOLUTE ENCODER EXPLANATION_____________________________ VI-38 7-2. CHECK ______________________________________________________ VI-38 7-3. REPLACEMENT _______________________________________________ VI-38 7-4. SETUP OF THE ABSOLUTE ENCODER AND THE FIRST REFERENCE POINT____________________________________________ VI-39 7-4-1. SETUP OF THE ABSOLUTE ENCODER___________________________ VI-39 7-4-2. SETTING THE FIRST REFERENCE POINT ________________________ VI-40

8. MAINTENANCE ___________________________________________________ VI-41

8-1. OPENING & CLOSING THE TOP COVER OF THE TPC-JR _____________ VI-41 8-2. REPLACING THE MAIN BOARD ASSEMBLY ________________________ VI-42 8-3. REPLACING THE SERVO UNIT ___________________________________ VI-43

APPENDIX_____________________________________________ Appendix-1 ◆ OPERATION PANEL_________________________________________ APPENDIX-2 ◆ DISPLAY INDICATION EXAMPLE ______________________________ APPENDIX-2 ◆ TPC-JR OPERATION ________________________________________ APPENDIX-3 ◆ PROGRAM CODES _________________________________________ APPENDIX-5 ◆ PARAMETERS _____________________________________________ APPENDIX-7 ◆ ALARMS _________________________________________________ APPENDIX-10 ◆ DGN ADDRESSES _________________________________________ APPENDIX-12

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I-1

I. OVERVIEW

1. SYMBOLS REGARDING SAFETY _______________________________________ I-2

2. OUTLINE OF THIS MANUAL ___________________________________________ I-2

3. SAFETY INSTRUCTIONS ______________________________________________ I-3

4. SPECIFICATIONS ____________________________________________________ I-5 4-1. Standard Specification List _________________________________________________ I-5 4-2. Options ________________________________________________________________ I-9

5. CONFIGULATIONS AND EXTERNAL DIAGRAMS _________________________ I-10 5-1. Standard Configuration of the TPC-Jr ________________________________________ I-10 5-2. External Diagrams of Control Units __________________________________________ I-11

1. SYMBOLS REGARDING SAFETY This manual uses the symbols below safety. Be sure to follow the instructions with the symbols regarding safety because they describe important matters.

If you do not follow the instruction, you may face a danger and you may be killed or seriously injured.

If you do not follow the instruction, you may face a danger and you may get a slight injury.

This is a referential instruction for optimum performance of our products.

2. OUTLINE OF THIS MANUAL This manual consists of the chapters below for users of the TPC series. I. OVERVIEW

This chapter explains the specifications, the equipment construction, and the appearance. II. PROGRAMMING

The programming method for the TPC-Jr is explained. III. OPERATION

The operating method for each mode of the TPC-Jr is explained. IV. EXTENDED FUNCTIONS

The functions available with the optional component or by setting a parameter are explained. V. PARAMETER

The setting method and the description of parameters are explained. VI. MAINTENANCE

Information and the alarm descriptions required for maintenance are explained.

※ For a rotary table, please refer to the instruction manuals for the rotary table packed with the device.

General Remarks

・ This manual describes details as minute as possible. However, it can not explain about all the

specifications. Therefore, please consider any functions that are not explained in this manual as “IMPOSSIBLE” functions. Do NOT do anything specifically described in this manual.

・ Figures in this manual sometimes are drawn without safety parts like covers to show details of the device. However, when you operate this machine, attach all the covers and other parts and follow the instructions in this manual.

・ Figures in this manual is a typical sample of the machine. Your machine may be different from the figure in this manual.

・ This manual is subject to change because of machine improvements, specification change, and improvements of the manual.

！ WARNING

！ CAUTION

！ NOTE

Copyright (ｃ) 2001 TSUDAKOMA Corp. Machine Tool Dept.

All rights reserved. Any part or all the parts of this manual are not allowed to be copied or reproduced.

I-2

I-3

3. SAFETY INSTRUCTIONS

■ Use the TPC-Jr control unit in the installing environment in the range below:

1. Use only indoors. 2. Ambient temperature: 0～40°C 3. Relative humidity: 20～80% (Without dew) 4. Vibration: 0.3G or less Otherwise, malfunction may occur.

！ NOTE

■ Use the TPC-Jr control unit and the rotary table in the specified combination. Otherwise, a fire or malfunction occurs.

！ CAUTION

■ NEVER use the TPC-Jr control unit in a corrosive atmosphere or near inflammable gas, or flammable materials. Otherwise, a fire, an electrical shock, or malfunction occurs.

！ CAUTION

■ Use the TPC-Jr control unit and the rotary table in the specified combination. Otherwise, a fire or malfunction occurs.

！ CAUTION

■ Use the power supply voltage within the specified range. Otherwise, a fire or malfunction may occur.

！ CAUTION

■ Be sure to ground the grounding terminal (PE) of the TPC-Jr. Otherwise, malfunctions, an electrical shock or a fire may occur.

！ WARNING

■ Do NOT touch the movable parts of the rotary table during operation. Otherwise, you may get injured. ！ WARNING

■ The TPC-Jr has a sealed structure. Therefore, the case may be hot during operation. This is not abnormal.

！ NOTE

■ The power plug attached is for checking the functions. Please change the plug according to the installation conditions when installing the TPC-Jr.

！ NOTE

I-4

■ Do NOT touch inside the TPC-Jr controller. Do NOT open the cover while the power is being supplied. Otherwise, you may receive an electrical shock.

■ NEVER touch the inner terminals of the TPC-Jr controller

within five minutes after the power is turned off. Otherwise, you may receive an electrical shock.

■ Any maintenance should be done by a qualified electrician.

Otherwise, you may receive an electrical shock.

！ WARNING

■ Do NOT disassemble or modify the TPC-Jr control unit or the MDI unit. Otherwise, malfunction occurs.

！ CAUTION

I-5

4. SPECIFICATIONS

4-1. Standard Specification List

Item Standard specifications Number of controllable axis

1

Commands 1. Angle commands 0.001 degrees

2. Indexing point number commands 1) Direct indexing point number (on a circle of 360 degrees) 2) Arc indexing point number (on a required angle)

Types of commands 1. Combination of incremental and absolute values 2. Incremental values 3. Absolute values 4. Smaller absolute values

Maximum command values

When inputting an MDI program W 4 digits 0000～9999 (Work number) N 3 digits 000～999 (Block number) G 1 digit 0～9 (Work commands) F 1 digit 0～9 (Feedrate commands) R 3 digits 000～999 (Repetition counts and

arc indexing ) θ ±7 digits ±000.000°～±999.999°

Block formats W□□□□ N□□□ G□ F□ R□□□ θ±□□□．□□□° (Direct angular position commands, decimal) θ±□□□□□□div (Indexing commands)

Program size 1000 blocks Registered work number

100

Operation mode AUTO Begins automatic operation with an external signal. SINGLE Begins single operation. CHECK Checks the contents of programs. PROG Edits TPC-Jr programs MDI Begins single operation of a TPC-Jr program only once. JOG Begins the jog operation mode.

I-6

Item Specifications

Display Status indication line TPC status RDY/ALM Work number W□□□□ (displayed by key operation) Subprogram number S□□□□ (displayed by key operation) Program indication line: Program indication N, G, F, R,θ Current position/remaining amount POS/REM Control indication: Overtravel OT Machine lock OVR□□□%/MLK Return to reference point ZRN

Current position indication

Available in the AUTO, SINGLE, MDI, and JOG modes.

Remaining amount indication

Available in the AUTO, SINGLE, and MDI mode

Alarm indication Program syntax error, program memory capacity over Communication errors Soft limit alarms, overtravel alarms Servo alarms

Direct angular position command

Enables an angle for movement to be input directly.

Direct indexing point number command

Enables up to 999,999 equally spaced parts to be input on a 360-degree circle. If the indexing number generates fractions, it is equally divided to avoid gathering the error.

Arc-indexing point number command

Enables up to 999 equally spaced parts to be input directly on a given arc angle.

Repetition function Enables the number of repetitions for the specified movement to be commanded in the range from 1 to 999.

Lead cutting command

Allows operation in conjunction with an axis of the machining center in the open loop status.

Reference point return command

Allows return to the first, second, or third reference point.

Feedrate command Commands the fast feedrate or one of nine other feedrates. Subprogram function

A subprogram can be read from a main program. Subprograms can be called up to 999 times. Allows nesting at up to eight levels.

Work coordinate set function

Allows a work coordinate to be set at any point.

Dwell function Allows output of a positioning completion signal to be delayed after the rotary table has been positioned within the range from 0.01 s to 9.99 s.

Automatic Clamp ON/OFF function

Positions the rotary table by controlling the clamp function automatically, Clamping can be disabled by a program.

Indexing group control function

Allows indexing point numbers to be set over several blocks.

One-direction positioning

Allows positioning in one direction even when the rotation direction is opposite.

Completion signal control commands

Either positioning completion signal 1, 2 can be selected to output with a program.

I-7

Item Specifications

Backlash compensation

Backlash is compensated.

Auto setting function at power on

Mode selection AUTO/CHECK Work number setting Block number setting Return to the work number before the power was turned off.

Program edit function

Block insert Block delete Program copy Program clear Directory indication

JOG feed function JOG feed is possible with the +JOG and the –JOG keys. The feedrate can be selected between the programmed F0 ~ F9. Step feeding at the desirable angle is also possible.

Second reference point change function

The second reference point can be changed to any desired point with the JOG mode.

Input and output signal check function

Input and output signals and the servo status can be checked.

Overtravel function The rotating area of the rotary table can be restricted by limit switches. Note: An overtravel specification is required for the rotary table.

Soft limit function A soft limit from the first reference point can be set. Absolute encoder An absolute position detector is used for a motor detector. Returning to the

reference point when turning on the power is not required. External input signal

Start: Being connected to an M signal of the machining center, conducts continuous operation.

Stop: Connected to an emergency stop signal. Be sure to connect them with the contact signals.

[Signal voltage 24Vdc, 10mA] External output signal

Positioning completion 1: Given when positioning is completed. This is a relay contact signal. Use with a circuit of 24Vdc.

Alarm indication TPC-Jr program syntax error Program memory capacity overflow Soft limit Overtravel Servo motor Communication errors

I-8

Item Specifications

The following two models are available depending on the motor capacity.

Model Motor capacity Applicable rotary table class *note

TPC-Jr G2 400W Φ150 or less TPC-Jr G3 750W Φ200 or more

Model

Note) Applicable rotary table class differs depending on reducing ratio and specifications of the rotary table.

Single phase 200/220Vac±10%, 50/60Hz

Model Power supply capacity *note

Circuit breaker capacity

TPC-Jr G2 1.2KVA 8A TPC-Jr G3 2.2KVA 15A

Power supply and capacity

Note: The value applies to the rated output.

Environmental conditions

Usable only indoors. ＊There should be no cutting liquid splash, corrosive gas or exploding gas.Ambient temperature range: 0～40°C Relative humidity: 20～80％ (without dew) Vibration: 0.3G or less

External dimensions

Main body G2: Width 285 mm x height 128 mm x depth 260 mm

(Protrudes are not included.) G3: Width 285 mm x height 128 mm x depth 310 mm

(Protrudes are not included.) Weight G2: about 7.2 kg Weight: G3: about 8.1 kg (Each weight does not include cables.) Paint color Munsell 2.5Y8/1.5 (Cream)

Accessory cable Power cord (For CN1) ………………………… 5m 4P (with a ground wire) with plug※

※ The attached power plug is for checking the functions. Please change the plug position according to your installation conditions when installing the TPC-Jr. Be sure to ground before use.

Interlocking cable (14-core cable) (For CN2) to be connected with the M/C ……………… 5m Motor power cable (For CN3) between the TPC-Jr ~ the Rotary Table ………………………… 5m

I-9

4-2. Options

Item Specifications External input signal

Start Starts positioning.

Work number set

A work number can be called by an external component.

1) Selecting 16 kinds of work numbers with a parallel signal (4 bit)

2) Selecting 5 kinds of work numbers with the five M signals.

The signals can be assigned to any work number.

Return to

reference point

The rotary table can be returned to the first reference point by an external

component.

Stop An emergency stop signal can be received.

External output signal

Completion signal 1 This is a completion signal for positioning.

It is also issued when other operations like external work number set are

completed. [For standard setting]

Completion signal 2 When an operation like work number set or return to the reference point

is completed, this signal can be issued. The signal can also be issued

by a program.

It can also be used as a signal to show that AUTO mode is being

selected.

Positioning This signal is given during positioning.

It can also be used as a signal for the original position signal.

Alarm This signal is given when an alarm is detected.

Serial channel A program can be stored in an external component.

A parameter can be stored in an external component.

* A special cable for the RS-232C is required.

Remote mode The TPC-Jr can be directly controlled using a serial channel.

* An optional RS-232C cable is required.

Cable length The cables below are available in addition to the standard 5m-long cable.

(Except for RZ specifications)

Power cord (For CN1)

Interlocking cable (For CN2) [7m、10m、15m、20m]

Motor cable (For CN3)

Cable blade

specification

The standard motor cable for CN3 is covered with resin flexible tube.

However, a wire-blade flexible tube cover is available as an option.

(Except for RZ specifications)

I-10

5. CONFIGURATIONS AND EXTERNAL DIAGRAMS

5-1. Standard Configuration of the TPC-Jr

The standard configuration of the TPC-Jr is shown below:

The provided power plug is for checking the functions. Please change the plug position according to the installation conditions when installing the TPC-Jr.

Rotary Table

TPC-Jr control unit

Power cord(standard 5 m-long)with a 4P-plug*

Motor cable(standard 5 m-long)

Interlocking cable(standard 5m-long)with a 2m-long lead wire

RS232C connection cable(optional)

I/O components for general-purpose programPrepared by user

I-11

5-2. External Diagrams of Control Units

I-12

MEMO

II-1

II．PROGRAM

1. PROGRAM CONFIGURATION __________________________________________II-2 1-1. Program Number (Work Number) ____________________________________________ II-2 1-2. Program Code ___________________________________________________________ II-2 1-3. TPC-Jr Program Storage Structure ___________________________________________ II-3 1-4. Main Program and Subprograms ____________________________________________ II-5 1-5. Incremental Commands and Absolute Commands _______________________________ II-6 1-6. Unit for Angle Setting______________________________________________________ II-7

2. G codes ____________________________________________________________II-8 2-1. G0: Direct Angular Position Command _______________________________________ II-10 2-2. G1: Direct Indexing Point Number Command __________________________________ II-12 2-3. G2: Arc-indexing Point Number Command ____________________________________ II-13 2-4. G3: Lead Cutting Command _______________________________________________ II-13 2-5. G4: Origin Return Command_______________________________________________ II-16 2-6. G5: Subprogram Call Command ____________________________________________ II-17 2-7. G6: Subprogram Return Command__________________________________________ II-17 2-8. G7: Work Coordinate End Command ________________________________________ II-17 2-9. G8: Work Coordinate Set Command_________________________________________ II-18 2-10. G9: Declaration Command _______________________________________________ II-19

3. F CODES FOR FEED FUNCTIONS______________________________________II-22 3-1. Fast Feed (Ｆ0) _________________________________________________________ II-22 3-2. Cutting Feed ___________________________________________________________ II-22 3-3. Upper Limit of the Cutting Feedrate _________________________________________ II-22 3-4. Setting a Cutting Feedrate_________________________________________________ II-22 3-5. Dwell _________________________________________________________________ II-23

II-2

N 2ndF

1. PROGRAM CONFIGURATION

1-1. Program Number (Work Number)

TPC-Jr programs are managed and stored using program numbers starting with W followed by four digits. Up to 100 program numbers can be set with the range from W0000 to W9999 The work numbers are not always displayed. By pressing the + keys, the present work number (program number) being selected is displayed. Example for switching the program display to the work number display

The display automatically returns to the program display after about 1 second while it is in the AUTO or the SINGLE mode.

1-2. Program Code

TPC-Jr program codes are represented in the following program formats: Ｎ□□□ Ｇ□ F□ R□□□ θ±□□□．□□□° (A square (□) indicates a digit.)

1) N code

An N code commands a program block address. N codes from N000 to N999 can be entered. Usually, use N000 as the first N code and enter subsequent N codes one by one in ascending order for each block.

2) G code

A G code commands a specific operation of the TPC-Jr. G codes are roughly classified into G0 to G4 that command rotary table operations and G5 to G9 that command internal processing of the TPC-Jr.

3) F code

An F code commands a feedrate. Up to 10 feedrate can be commanded by F0 to F9. F0 is used for the fast feed positioning rate. F1 to F9 are used for cutting feedrates. For details, refer to “3. F CODES FOR FEED FUNCTION.”

4) R code

R codes provided as auxiliary codes of G codes command repetition counts, indexing point numbers, rotational speed, selection of items, etc. according to G codes.

ＲＤＹ Ｎ０００ Ｇ０ Ｆ０ R000

θ＋０９０．０００°

ＲＤＹ Ｗ００００

Program display Work number display

Switching with the + keys 2ndF N

II-3

Edit RAM File

G F R θ

224 pieces

5 blocks

▲ ▼

5) θ (theta) code

θ codes provided as auxiliary codes of G codes mainly command angles and indexing point numbers.

1-3. TPC-Jr Program Storage Structure

1) Program buffer structure

The program storage area in the TPC-Jr is roughly divided into the directory and the edit RAM. The directory contains program numbers while the edit RAM contains programs.

(1) The directory contains program numbers and edit RAM addresses of these programs. It can hold up top 100 entries.

(2) Edit RAM contains one-digit data in the G field, one-digit data in the F field, four-digit data in the R field, and eight-digit data in the θ field in the R field in the block format. Edit RAM contains up to 1000 blocks.

2) Program file structure

The program buffer described in item 1) above is configured in RAM. When the TPC-Jr is turned off, therefore, the contents of the program buffer are lost. To prevent this, the buffer needs to be filled in nonvolatile memory (EEPROM). The program buffer is automatically filed when the or key is pressed to switch from the 《PROG》 mode to the 《CHECK》or 《MDI》 mode. ＊When the program is changed in the 《PROG》 mode, the message “FILE” appears on line 4

on the display screen to notify that the program has been changed.

Directory Edit RAM

Program Edit RAM G F R θnumber addresses

W1000 ○○○○ 0 0 0000 +015.000 W2000 ×××× 0 0 0000 +020.000 W3000 △△△△

0 0 0000 +030.000 0 0 0000 +090.000100entries 1000 blocks

0 0 0000 +060.000 0 0 0000 +115.000 0 0 0000 +270.000

II-4

Programs in edit RAM are stored in the file in units of five blocks. The file has more blocks than edit RAM. When programs are often divided into non-seven blocks (such as 6 or 11 blocks), however, the error message “File Full” rarely appears.

3) Programming notes

To enter multiple programs, use different work numbers (program numbers) for them. If these programs are separated by block addresses (N codes) under the same work number, it is assumed that the block addresses between programs contain another program. This reduces the memory usage efficiency. a) Bad example

Ｗ1000 N000 G0 ･････ N001 G1 ･････

First program （29 blocks）

N028 G7 θ000

N029 to N049 are not used. In edit RAM, however, “0” is stored in each of these codes and they are processed, assuming that they contain a program. (21 blocks)

N050 G0 ･････ N051 G1 ･････

Second program （16 blocks）

N065 G7 θ050 〈The number of blocks use by the programs is 66.〉

b) Good example

Ｗ1000 Ｗ2000 N000 G0 ･････ N000 G0 ･････ N001 G1 ･････ N001 G1 ･････

First program Second program （29 blocks） （16 blocks）

N028 G7 θ000 N015 G7 θ000 〈The number of clocks used by the programs is 45.〉

Use different program numbers like b) above for these two programs. If there are programs after G7 (block end), delete them with the delete function.

II-5

1-4. Main Program and Subprograms

1) Main program

Programs are classified into the main program and subprograms. Usually, the TPC-Jr operates as commanded by the main program. When a subprogram calling command (G5) is coded in the main program, the TPC-Jr is controlled by the called subprogram. When a subprogram return command (G6) is encountered in a subprogram, the TPC-Jr returns to the main program and operates again as commanded by the main program.

Main program Subprogram

W1000 W2000N000　G0　 N000　G1N002　G0

N009　G6

N009　G5　R001　θ2000W3000N000　G2

N023　G5　R001　θ3000N015　G6

N035　G7　θ0000 The main program and subprogram can be edited in the same way in terms of program numbers (work numbers). During program editing, the user can use program numbers without any restrictions. ・ Subprogram: Called by a G5 command and returns control to the main program with a

G6 command. ・ Main program: Reaches the program end with a G7 command.

2) Subprogram

When the same positioning pattern is used repeatedly in a program, it should be coded as a subprogram, making the entire program simple.

Main program Subprogram Subprogram Subprogram

　G0 …… 　G0 …… 　G0 …… 　G0 ……

　G5 …… 　G5 …… 　G5 …… 　G5 ……

　G７ …… 　G6 …… 　G6 …… 　G6 ……

Nesting at one level Nesting at two levels Nesting at eight levels

II-6

1-5. Incremental Commands and Absolute Commands

1) Differences between incremental commands and absolute commands

There are two methods for commanding an amount by which the rotary table is moved: incremental commands and absolute commands. Incremental commands are used to program angles themselves for movement while the absolute commands are used to program a coordinate from the reference point. Only the direct angular position command (G0) can direct a coordinate as an absolute command. Direct indexing point number commands such as G1 and G2 and the lead cutting command (G3) function as incremental commands even if they are selected as absolute commands. The positioning shown below can be coded with incremental commands and absolute commands as follows: [incremental commands]

N000 G0 F0 R003 θ+030.000° ･･････ Moves 30° 3 times N001 G0 F0 R002 θ+045.000° ･･････ Moves 45° 2 times N002 G0 F0 R002 θ+090.000° ･･････ Moves 90° 2 times N003 G7 θ000 ･･････ Returns to

program end N000 [absolute commands]

N000 G0 F0 R000 θ+030.000° ･･････ Moves to the 30° N001 G0 F0 R000 θ+060.000° ･･････ Moves to the 60° N002 G0 F0 R000 θ+090.000° ･･････ Moves to the 90° N003 G0 F0 R000 θ+135.000° ･･････ Moves to the 135° N004 G0 F0 R000 θ+180.000° ･･････ Moves to the 180° N005 G0 F0 R000 θ+270.000° ･･････ Moves to the 270° N006 G0 F0 R000 θ+360.000° ･･････ Moves to the 360° N007 G7 θ000 ･･････ Returns to

program end N000

Switching between incremental commands and absolute commands can be performed by setting a parameter. 《Parameter 001: bit 0》 ＊ For standard specifications, both incremental commands and absolute commands are

used mixed. For details, please refer to “3) Use of both incremental commands and absolute commands)

2) Reference point for absolute commands

The reference point (0° point) for absolute commands is the point when return to the first, second, or third reference point is completed. When a work coordinate is set by a work coordinate set command (G8), the position obtained as the result of execution of G8 is the reference point (0° point). The positioning shown below can be coded with an absolute command to make a return to the second reference point and a work coordinate set command to set work coordinate, as shown below.

30°

30°

30°

45°

45° 90°

90°

II-7

① N000 G4 R000 ･････Returns to the first reference point ② N001 G0 F0 R000 θ+030.000° ･････Moves to the 30° position. ③ N002 G4 R001 ･････Returns to the second reference point.

(Setting at the 90° position is assumed.) ④ N003 G0 F0 R000 θ+030.000° ･････Moves to the 30° position.

(The reference point is the second reference point.) N004 G8 θ+270.00° ･････Sets a work coordinate.

(The reference point changes to the 270° position.) ⑤ N005 G0 F0 R000 θ+030.000°

･････Moves to the 30° position. (The reference point is the set work coordinate.) N007 G7 θ000 ･････Returns to program end N000.

3) Use of both incremental commands and absolute commands

For the standard specifications, both incremental commands and absolute commands can be used in a program. The R code is used to determine whether the command is an absolute or incremental command. When the R code is all 0s (000), the command functions as an absolute command. When the R code is a repetition count between 001 and 999, the command functions as an incremental command. 【Example】

N000 G0 F0 R003 θ+030.000° ･･････ Incremental command N001 G0 F0 R000 θ+135.000° ･･････ Absolute command N002 G0 F0 R000 θ+180.000° ･･････ Absolute command N003 G0 F0 R001 θ+090.000° ･･････ Incremental command N004 G0 F0 R000 θ+360.000° ･･････ Absolute command N005 G7 θ000 ･･････ Returns to Program end N000.

In this example, absolute and incremental commands are selectively used more frequently than necessity. In actual coding, pay attention so that these commands are correctly coded.

Only direct angular position commands (G0) are allowed for use of both incremental commands and absolute commands. Direct indexing point number commands such as G1 and G2 and the lead cutting command (G3) function as incremental commands.

1-6. Unit for Angle Setting

The unit of an angle to be set in a θ is in the decimal system in the form of □□□.□□□° using integral numbers and decimals.

①

30°

30°

30°

②

③Second

reference point （90°）

④

⑤

Set work

coordinate

(270°)

30°

30°

30°

45°

45° 90°

90°

II-8

ST

2. G codes

G codes command operations of the TPC-Jr. Ten G codes, G0 to G9, are available. They are roughly classified into two groups: G0 to G4 that command operations of the rotary table and G5 to G9 that command internal operations of the TPC-Jr. The following table indicates the functions of G0 to G4 and combination of G codes, R codes, and θ codes.

G code R code θ code

G0: Direct angular position command

Switching ABS/INC 000 : ABS command 001～999: INC commands Number of repetition

Angle commanded ±000.000°～±360.000°

ABS command ±000.001°～±999.999°

INC command G1: Direct indexing point number command

Number of repetition 001～999

Indexing point number on a circle (360°) ±000001～±999999div

G2: Arc-indexing point number command

Indexing point number and number of repetition 001～999

Split angle ±000.001°～±360.000°

G3: Lead cutting command

Number of rotary table revolutions 000～045 (360°×R)

Angle commanded ±000.000°～±360.000° (The total amount of movement is 360°×R +θ)

G4: Reference point return command

000: Return to the first reference point

001: Return to the second reference point

002: Return to the third reference point

Not required.

G0 to G4 can be executed by entering a start signal in the AUTO mode or pressing the key in the SINGLE mode.

II-9

ST

The following table indicates the functions of G5 to G9 and combination of G codes, R codes and θ codes.

G code R code θ code

G5: Subprogram call

command

Number of repetitions

000(001)～999

Subprogram number

000(001)～999

G6: Subprogram

return command

Not required Not required

G7: Program end

command

Not required Branch destination

000～999

G8: Declaration

command

Not required Reference coordinate

±000.000°～±360.000°

000: No operations Not required

001: Clamp OFF Not required

002: Clamp ON Not required

003: Dwell OFF Not required

004: Dwell ON Dwell time

001～999 (×10ms)

005: Indexing group control OFF Not required

006: Indexing group control ON Not required

007: One-directional positioning OFF Not required

008: One-directional positioning ON Not required

009: Completion signal control OFF Not required

010: Completion signal control ON Completion signal selection 0 1 1

FIN1 FIN2

011: Program display switch Not required

012: Current position display switch command

＋Current position reset command

Not required

G9: Declaration

command

013: Remaining angle display command Not required

� G5 to G9 are executed automatically after the operation of the previous block completes rather

than by the start signal or the key.

When G5 to G9 are place at the beginning of the program, they are executed automatically when

the 《AUTO》 or 《SINGLE》 mode is selected.

They wait in a block containing G0, G1, G2, G3, and/or G4.

Only up to consecutive 20 blocks can be executed for G5 to G9 to prevent the program from

entering an endless loop.

II-10

2-1. G0: Direct Angular Position Command

1) Incremental command

Set an angle by which the rotary table moves in the θ code. When a number of repetitions is set in the R code, the rotary table moves repeatedly by the angle set in the θ code for each movement.

The θ codes and R codes can be set in the following ranges: θ codes: ±000.001°～±999.999° R codes: 001 ～ 999

【Example】 �

N000 G0 F0 R003 θ+030.000° ･･････ Moves 30° 3 times N001 G0 F0 R001 θ+090.000° ･･････ Moves 90° once. N002 G0 F0 R006 θ+015.000° ･･････ Moves 15° six times N003 G0 F0 R002 θ+045.000° ･･････ Moves 45° twice. N004 G7 θ000 ･･････ Return to the program end N000.

2）Absolute commands

Set a coordinate measured from the reference position in the θ code. Since the number of repetitions in the R code has no effect, set “000” in the R code.

Theθcode can be specified in the range: ±000.000°～±360.000° 【Example】

N000 G0 F0 R000 θ+030.000° ･･････Moves to the 30° position. N001 G0 F0 R000 θ+060.000° ･･････Moves to the 60° position N002 G0 F0 R000 θ+090.000° ･･････Moves to the 90° position N003 G0 F0 R000 θ+180.000° ･･････Moves to the 190° position N004 G0 F0 R000 θ+195.000° ･･････Moves to the 195° position N005 G0 F0 R000 θ+210.000° ･･････Moves to the 210° position N006 G0 F0 R000 θ+225.000° ･･････Moves to the 225° position N007 G0 F0 R000 θ+240.000° ･･････Moves to the 240° position N008 G0 F0 R000 θ+255.000° ･･････Moves to the 255° position N009 G0 F0 R000 θ+270.000° ･･････Moves to the 270° position N010 G0 F0 R000 θ+315.000° ･･････Moves to the 315° position N011 G0 F0 R000 θ+360.000° ･･････Moves to the 360° position N012 G7 θ000 ･･････Return to the program end N000

30°

30°

30°

45°

45°

90° 15°

30°

60°

180°

90°

195° 210° 225°

240°

225° 270°

315°

360°

3) Reference point for absolute commands

The reference point (0° point) for absolute commands is the point when return to the first, second, or third reference point is completed. 【Example】

N000 G4 R000 ･････Return to the first reference point

N001 G0 F0 R000 θ+030.000° ･････Moves to the 0° position N002 G4 R001 ･････Return to the second reference point. N003 G0 F0 R000 θ+030.000° ･････Moves to the 30° position

When a work coordthe result of execuof G8.) The 0°,+360°, andcoordinate. These

To specify an angleuse G0 to position

30°

First reference point

＋36

＋360°

－360°

Second reference

II-11

N004 G7 θ000 ･････Return to the program end N000.

inate is set by a work coordinate set command (G8), the position obtained as tion of G8 is the reference point (0° point). (For more information, see the item

-360° positions specified in absolute commands are placed at the same commands are:

N000 G0 F0 R000 θ+360.000° ･････Moves to the +360° position (The rotary table rotates one turn in the normal direction.) N001 G0 F0 R000 θ+000.000° ･････0°= +360°(The rotary table does not rotate.) N002 G0 F0 R000 θ-360.000° ･････Moves to the -360° position. (The rotary table rotates one turn in the reverse direction.) N003 G0 F0 R000 θ+360.000° ･････Moves to the +360° position. (The rotary table rotates one turn in the normal direction.)

of 360° or more in a lead cutting command (G3) in the absolute mode and to the rotary table after it moves, code these commands as follows:

N000 G3 F0 R003 θ+180.000° ･･････Moves to the +180° position after

three turns. N001 G0 F0 R000 θ+000.000°

･･････ Moves to the 0° position. (The rotary table does not rotate three turns.)

30°

0°

II-12

2-2. G1: Direct Indexing Point Number Command

When 1 is set in the G code, the θ code changes to “θ＋000000ｄｉｖ.” Set the number of indexing points on a circle in the θ code. Set the number of repetitions in the R code.

The θ and R codes can be set in the following ranges: θ code: ±000000div ～ ±999999div R code: 001 ～ 999

In the case of θ code designations that are indivisible numbers such as 7 parts or 11 parts, conduct positioning by proportionally dividing these indivisible numbers so that they do not collect in one place. 【Example】

[Incremental commands] N000 G1 F0 R003 θ+000012 div ·····Divides 360° by 12 and performs positioning three times. N001 G0 F0 R001 θ+090.000°·········Moves to the 90° position once. N002 G1 F0 R006 θ+000024 div ·····Divides 360° by 24 and performs positioning six times. N003 G1 F0 R002 θ+000008 div ·····Divides 360° by 8 and performs positioning twice. N004 G7 θ000 ································Return to the program end N000. [Absolute commands] N000 G1 F0 R003 θ+000012 div ···Divides 360° by 12 and performs positioning three times. N001 G0 F0 R000 θ+180.000°·········Moves to the 90° position once. N002 G1 F0 R006 θ+000024 div ···Divides 360° by 24 and performs positioning six times. N003 G1 F0 R002 θ+000008 div ···Divides 360° by 8 and performs positioning twice. N004 G7 θ000 ··································Return to the program end N000.

【Note】 G1: Direct indexing point number (G1) commands in the absolute mode operate

in the incremental mode. When the number of indexing points in the R code exceeds the maximum number of repetitions (999), use indexing group control implemented by G9 R006. 【Example】 To equally divide the circle by 1234

① N000 G9 R006 ···········································Enables indexing group control ② N001 G1 F0 R500 θ+001234 div ···········Moves to a position equally space at an interval

obtained by dividing 360° by 1234 500 times. ③ N002 G1 F0 R734 θ+001234 div ············Moves to a position equally spaced at an interval

obtained by dividing 360° by 1234 734 times. ④ N003 G9 R005 ···········································Disables indexing group control.

① When 360° is divided by 1234, the number of repetition exceeds 999. So, indexing

group control is used. ② First, positioning at a position equally spaced at an interval obtained by dividing

360° by 1234 is performed 500 times. ③ Then, positioning is performed the remaining number of times (734), totaling 1234

times in steps ② and ③ ※ When indexing group control is commanded like this, proportional computation

continues even if G1 commands are specified over multiple blocks.

④ Be sure to code G9 R005 at the end of the program to disable indexing group control.

30°

30°

30°

45°

45°

90° 15°

II-13

2-3. G2: Arc-indexing Point Number Command

Enter the angle of an arc to be divided in the θ code. Enter in the R code the number of divisions to be made for the arc specified in theθ code as well as the number of repetitions.

Theθ and R codes can be set in the following ranges: θ code: ±000.000°～±360.000° R code: 001 ～ 999

When the angle of an arc to be divided and the number of repetitions specified in theθ code are indivisible, conduct positioning by proportionally dividing these indivisible numbers so that they do not collect in one place. 【Example】

[Incremental command] N000 G2 F0 R003 θ+090.000° ··· Divides 90° by 3 and performs positioning three times. N001 G0 F0 R001 θ+090.000° ··· Move to the 90° position once. N002 G2 F0 R006 θ+090.000° ··· Divides 90° by 6 and performs positioning six times. N003 G2 F0 R002 θ+090.000° ··· Divides 90° by 2 and performs positions twice. N004 G7 θ000 ·············· Returns to program end N000. [Absolute commands] N000 G2 F0 R003 θ+090.000° ··· Divides 90° by 3 and performs positioning three times. N001 G0 F0 R000 θ+180.000° ··· Moves to the 180° position once. N002 G2 F0 R006 θ+090.000° ··· Divides 90° by 6 and performs positioning six times. N003 G2 F0 R002 θ+090.000° ··· Divides 90° by 2 and performs positioning twice. N004 G7 θ000 ·············· Return to program end N000.

2-4. G3: Lead Cutting Command

1) Programming When lead cutting is performed, the rotary table sometimes must rotate at least one turn (360°). To set an amount of movement, therefore, enter the number of turns in the R code and the remaining angle after the specified turns in the θ code. The total amount is represented by the following formula: (R code × 360°)＋ θ code (°)

The θ and R codes can be set in the following ranges: θ code: ±000.000°～±360.000° R code: 000 ～ 045 (Number of rotary table revolutions)

The G3 command in the absolute mode is handled as an incremental command. 2) Lead cutting Since the TPC-Jr is an NC system that controls only one axis, only one axis such as the axis of the rotary table can be controlled at one time. This means that precise lead cutting is not possible. However, use of the G3 command apparently enables two axes (the axis of the rotary table and one axis of the machining center) to be rotated simultaneously. When performing this operation, be sure to start the rotary table and the machining center at the same time and match the feedrate (moving time) of the rotary table with that of the machining center.

30°

30°

30°

45°

45°

90° 15°

II-14

3) Operation timing of the TPC-Jr

Usually, the TPC-Jr performs positioning in the following sequence after it receives a start (M) signal: Unclamping → Motor rotation → Clamping → Output of positioning completion signal When G3 commands are used, the TPC-Jr operates as follows: <1> Receives a start (M) signal. <2> Unclamps the rotary table. <3> Outputs a positioning completion signal. <4> Runs the motor after M signal is turned off. (The rotary table starts to rotate.) <5> The machining center also operates after the M signal is turned off.

Start signal (M)

Unclamps the rotary table

Positioning completionoutput

TPC motor

M/C motor

A

B

Lead cutting is performed according to this timing chart. In the timing chart shown above, the letter A is the times, whose length is about 10 msec., beginning when the positioning completion signal (M) is turned off and ending when the TPC-Jr motor starts. The letter B is the time beginning when the M signal on the machining center side is turned off and ending when the machine center starts. The smaller the difference between A and B, the better the leading cutting.

4) Calculating the feedrate of the TPC-Jr

【Example】 Lead angle: A = 32. 142°

Lead : L = πD/tanA = 100 Feedrate for the X axis: Fx = 200.0[mm/min]

【Note】 When FANUC NC machine is used, errors of the X-axis feedrate is ±2%.

D=20

Lx = 220

(1) Calculating the TPC-Jr movement angle

792° is two turns (720°) plus 72°. Therefore, enter R002 in the R code and +072. 000° in the θ code.

(2) Calculating the TPC-Jr feedrate

Working time (time during which the TPC-Jr moves) is obtained by feedrate Fx on the X axis and movement amount Lx on the X-axis.

Therefore, the TPC-Jr should move over the movement angle of 792° obtained in item (1) above in 1. 1 minutes. When setting a TPC-Jr feedrate, use cmd/sec (command unit/second) that allows data to be entered down to the decimal point. 《Parameter 001: bit 2》: Change it to 1. ◇ Convert the value obtained in item (1) above to the one in the minimum command unit

as follows: （When the minimum command unit is 0.001° (decimal)）

cmd＝ angle × 1000

cmd＝ 792°× 1000 ＝ 792000

◇ Therefore, the TPC-Jr feedrate is:

Since the F c

◇ Sample progra

On the TPC- Feedrate

On the machNote that there is feedrate. Set the Strictly speaking, machining center

TPC-Jr movement angleθ ＝ 360° Lead (Ｌ)

× working length (Ｌｘ) on X axis

t ＝ 220 200

＝ 1.1 [min]

Work time (TPC-Jr moving time) ｔ＝ Amount of movement of X axis (Ｌｘ)

Feedrate of X axis (Ｆｘ)

θ ＝ 360° 100

× 220 ＝ 792°

Ｆθ＝Wor t

＝ 720000 [cmd/min] 792000 1.1

＝

F code ＝

Amount of movement cmd

king time (TPC-Jr moving time)

II-15

ode is set to cmd/sec.

m

Jr side: N000 G3 F2 R002 θ＋072. 000° (Use F2 as an example.) setting: Feedrate F2 F012000 cmd/sec ining center side M70； G01 X220 F200．； an error of about 2% between the calculated feedrate and the settable optimum feedrate while measuring it. the difference in characteristics between the TPC-Jr servomotor and the motor and other factors make it impossible to obtain a complete match.

720000 60

＝ 12000 [cmd/sec] (Round off fractions to an integral number.)

II-16

WZRN

MZRN

2-5. G4: Origin Return Command

The reference point return command can specify return to the first, second, or third reference point when combined with an R code. When the R code is 000: Return the first reference point When the R code is 001: Return to the second reference point When the R code is 002: Return to the third reference point When return to an reference point is in progress or is completed, “MZRN” is displayed on line 2 on the display screen, for return to the first reference point, “WZRN” for return to the second reference point, or “TZRN” for return to the third reference point. Return to the first reference point has the same effect as when the key switch is pressed. Return to the second reference point has the same effect as when the key switch is pressed. The point as the result of return to the first, second, or third reference point is the reference point for absolute commands.

1) Return to the first reference point

The servomotor uses an absolute encoder. Therefore, return to the first reference point is performed at high-speed like positioning.

2) Return to the second reference point

There are two ways to set the second reference point. It can be set by the coordinate in the parameter beforehand, or it can be set in the 《JOG》 mode. Usually, the second reference point is positioned to the coordinate set by the 《Parameter 128》. However, the second reference point set by the 《JOG》 overrides the second reference point set by the Parameter 128. To set the desirable position to the second reference point with the 《JOG》 mode, please refer to “III. OPERATION, 7. JOG MODE.” 【Note】The second reference point set to the desirable position with the 《JOG》 mode can be changed repeatedly. Use when the reference position is changed because of the workpiece shapes and chucking.

3) Return to the third reference point When a return to the third reference point is made, the reference point is set at the coordinate set in 《Parameter 129》.

4) Operation when soft limits are in effect When return to the first, second, or third reference point is commanded with the soft limits in effect (by which an operation range is set), a return to the reference point is mad in a direction in which the shorter way is selected so that interference with the soft limits does not occur.

II-17

2-6. G5: Subprogram Call Command

The subprogram call command calls a subprogram. Enter the program number (work number) in the θ code. To call the subprogram repeatedly, enter the number of repetitions in the R code. The θ and R codes can be set in the following ranges: θ code: 0000 ~ 9999 R code: 000 ~ 999 (When calling the subprogram only once, specify R000 or R001. ) It can also be possible to call another subprogram from the subprogram. The maximum allowable nesting level is 8. For more information, see 1-4 Main Program and Subprograms. The start (M) signal is not required to execute G5. After positioning is completed in the previous block, G5 is automatically executed. 【Example】

incremental commands W1000 (Main program) N000 G5 R002θ9000 ･･･ Calls subprogram W9000 twice. N001 G0 F0 R001θ+030.000° ･･･ Moves +30°. N002 G0 F0 R001θ+090.000° ･･･ Moves +90°. N003 G5 R002θ9000 ･･･ Calls subprogram W9000 twice. N004 G0 F0 R001θ+030.000° ･･･ Moves +30°. N005 G0 F0 R001θ+090.000° ･･･ Moves +90°. N006 G7 θ000 ･･･ Return to program end N000. W9000 (subprogram) N000 G2 F0 R010 θ+020.000° ･･･ Divides +20° by 10. N001 G0 F0 R001 θ+010.000° ･･･ Moves +10°. N002 G6 ･･･ Subprogram return.

2-7. G6: Subprogram Return Command

The G6 command must be placed at the end of a subprogram. When G6 is executed, control is returned to the main program The start (M) signal is not required to execute G6. After positioning is completed in the previous block, F6 is automatically executed.

2-8. G7: Work Coordinate End Command

The G7 command must be place at the end of the main program. In practice, consider that the G7 command is a jump command to return to the beginning of the program. Set a branch destination which is required to execute G7. After positioning is completed in the previous block, G7 is automatically executed. The start (M) signal is not required to execute G7. After positioning is completed in the previous block, G7 is automatically executed. By setting the parameter, the “FIN2” completion signal can also be issued at the same time when the completion signal “FIN1” is issued when G7 (program end) is executed.

《Parameter 023: bit 0》

10°

10°

10°

10°

90°

20°

20°

20°

20°

30°

30°

90° 10div 10div

10div 10div

II-18

2-9. G8: Work Coordinate Set Command

The G8 command can be used to change the reference point in the absolute mode. The G8 command functions in the same way as for return to the second or third reference point. G8, however, is not accompanied with movement of the rotary table. The G8 command also provides a useful method when the work reference is changed each time the work or tool is changed. Enter in the θ code an angle measured from the first reference point to the point to be set as the new reference point.

The θ code can be set in the following range: Code: ±000.000° ～ ±360.000°

In the following example, a subprogram is shared by absolute commands. 【Example】

Q1001 (Main program) N000 G5 R000 θ9001 ･････ Calls subprogram W9001. N001 G8 θ+090.000° ･････ Set the work coordinate at 90°. N002 G5 R000 θ9001 ･････ Calls subprogram W9001. N003 G8 θ+180.000° ･････ Set the work coordinate at 180°. N004 G5 R000 θ9001 ･････ Calls subprogram W9001. N005 G8 θ+270.000° ･････ Set the work coordinate at 270°. N006 G5 R000 θ9001 ･････ Calls subprogram W9001. N007 G8 θ+000.000° ･････ Set the work coordinate at 0°. N008 G7 θ000 ･････ Returns to program end N000. W9000 (Subprogram) N000 G0 F0 R000 θ+000.000° ･････ Moves to 0° position. N001 G0 F0 R000 θ+005.000° ･････ Moves to 5° position. N002 G0 F0 R000 θ+020.000° ･････ Moves to 20° position. N003 G0 F0 R000 θ+040.000° ･････ Moves to 40° position. N004 G6 ･････ Subprogram return

The reference point return (G4) command and the work coordinate set (G8) command have the following priorities:

① The reference point return command for return to the first reference point has the top priority because the first reference point is the reference point for all operations.

② The reference point return commands for return to the second and third reference points and the work coordinate set command have the same-level priority. For example, when a work coordinate is set after a return to the second reference point is made, the work coordinate is the new reference point. Conversely, when an reference point return command for return to the second reference point is executed after a work coordinate is se, the second reference point is the new reference point.

The start (M) signal is not required to execute G8. After positioning is completed in the previous block, G8 is automatically executed.

5°

5°

5°

5°

15°

15°

15°

15°

20°

20°

20°

20°

II-19

2-10. G9: Declaration Command

The declaration command enables or disables individual functions according to the setting of the R code.

1) G9 R000: No operation

This command does not have a special function. The program automatically steps.

2) G9 R001／R002: Clamp OFF and ON commands

When a G9 R001 command is executed in the 《AUTO》 or 《SINGLE》 mode, the clamp function of the rotary table is no longer enabled. The clamp unction also remains disabled when e operation mode is changed. The clamp function also remains disabled when the operation mode is changed. When power is turned on, the clamp function is initially enabled.

3) G9 R003／R004: Dwell OFF and ON commands

When a G9 R004 command is executed in the 《AUTO》 or 《SINGLE》 mode, output of the subsequent positioning completion signals is delayed by the time specified in the θ code. The specifiable dwell time is from 001 to 999 [×10msec]. Once a dwell ON command is executed, the dwell function remains enabled until a G9 R003 (dwell OFF) command is executed. When power is turned on, the dwell function is initially disabled.

4) G9 R005／R006: Indexing group control OFF and ON commands These commands can be used to code “G1” and “G2” indexing commands over multiple blocks or to output another completion signal during execution of an indexing command with a G9 R010 (completion signal control signal). Proportional computation for indexing continues from when a G9 R006 is executed in the 《AUTO》 or 《SINGLE》 mode to when indexing group control is disabled by a G9 R005. When power is tuned on, the indexing group control is initially disabled. 【Example】When too large a repetition count is specified in an indexing command （1）To equally divide 360° by 1234

N000 G9 R006 ········· Enables indexing group control N001 G1 F0 R500 θ+001234 div ········· Divides 360° by 1234 equally and performs positioning

500 times. N002 G1 F0 R734 θ+001234 div ········· Divides 360° by 1234 equally and performs positioning

734 times. N003 G9 R005 ········· Disables indexing group control.

（2）To equally divide 360° by 7 and output completion signal FIN2 at the end

N000 G9 R006 ········· Enables indexing group control. N001 G1 F0 R006 θ+000007 div ········· Equally divide 360° by 7 and performs positioning six

times. (The completion signal is FIN 1. ) N002 G9 F0 R010 θ 010 ········· Enables completion signal control (FIN2 is selected.) N003 G1 F0 R001 θ+000007 div ········ Equally divide 360° by 7 and performs positioning once.

(The completion signal is FIN 2. ) N004 G9 F0 R009 ········· Disables completion signal control. N005 G9 R005 ········· Disables indexing group control.

II-20

5) G9 R007／R008: One-directional positioning OFF and ON commands

When a G9 R008 is executed in the 《AUTO》, or 《SINGLE》 mode, the subsequent positioning is performed in the approach direction specified by a parameter. To disable one-directional positioning, execute a G9 R007 command. When power is turned on, one-directional positioning is initially disabled. To implement one-directional positioning, set an amount of overrun and an approach direction in 《Parameter 132》. An appropriate overrun amount is approximately 2°. 【Note】Return to the reference point is not handled as one-directional positioning by

G9R008 command. Set the one-directional positioning OFF or ON with 《Parameter 152: bit 3》

6) G9 R009／R010: Completion signal control OFF and ON commands

The FIN1 positioning completion signal is usually output. However, FIN2 can also be output. When a G9 R010 command is executed in the 《AUTO》 or 《SINGLE》 mode, the positioning completion signal specified in the θ is output as subsequent positioning completion code.

G9 R010 θ0□□ (Enter ‘0’ or ‘1’ in a square (□).) When ‘1’ is set, FIN 1 is output. When ‘1’ is set, FIN 2 is output.

To return to the original “FIN1” positioning completion signal, execute a G9 R009 command. When power is turned on, positioning completion signal control is initially disabled.

【Note】 A positioning completion signal can also be selected by a parameter when a G7

(program end) command is executed. 《Parameter 023: bit 0》

＋command

－command

Specify an amout of overrun and an approachdirection in parameter address N132.

II-21

2ndF

2ndF

2ndF G

F

R

7) G9 R011／R012／R013: Display change commands

These commands display the following contents on line 2 on the display screen in the 《AUTO》 or 《SINGLE》 mode:

G9 R012: Displays or resets the current position. G9 R013: Displays the remaining angle. G9 R011: Displays the contents of a program.

While the current position is displayed, “POS” is displayed at the beginning of line 2 on the display screen. While the remaining angle is displayed, “REM” is displayed instead. These display modes can also be changed by keys.

＋ The current position is displayed. ＋ The remaining angle is displayed. ＋ The contents of a program are

displayed.

◆◆◆ Notes on G9: declaration commands ◆◆◆

G9 R001: The clamp function is disabled. G9 R004: Dwell ON， G9 R006: Indexing group control ON，G9 R008: One-directional positioning ON G9 R010: Completion signal control ON

The commands above are disabled when: ①Their corresponding OFF commands are executed. ②The 《AUTO》 or 《SINGLE》 mode is changed to another mode. ③The program used for work number set is changed to another program.

Sample for display of current position

Sample for display of remaining angle

ＲＤＹ Ｎ０００ Ｇ０ Ｆ０ Ｒ０００

ＰＯＳ θ＋０９０．０００°

ＲＤＹ Ｎ０００ Ｇ０ Ｆ０ Ｒ０００

ＲＥＭ θ＋０９０．０００°

II-22

８2ndF

3. F CODES FOR FEED FUNCTIONS

3-1. Fast Feed (F0)

When an F0 code is specified together with a G0, G1, G2, or G3 command, positioning is performed at a fast feed mode. The feedrate is determined by the value set in the 《Parameter 122》.

3-2. Cutting Feed

When an F code from F1 to F9 is specified together with, G0, G1, G2, or G3, positioning is performed at the cutting feedrate. The feedrate for F1 to F9 can be set on a feed screen in the PROG mode.

3-3. Upper Limit of the Cutting Feedrate

The upper limit of the cutting feedrate is the value set on the Fmax feed screen in the 《PROG》 mode. When a value exceeding the limit set on the Fmax screen is set for the cutting feedrate (F2 to F9), the possible feedrate is up to the feedrate set on the Fmax screen. For F1, however, a value up to the fast feedrate can be set. When the override function is executed, the positioning speed is limited to the upper limit except for F1.

3-4. Setting a Cutting Feedrate

A cutting feedrate can be set on a feed screen in the 《PROG》 mode. To bring up a feed screen, press the and keys in the 《PROG》 mode. Usually, the unit of feedrate is mm/min with respect to the radius. It can be changed to the minimum command unit/min (cmd/min) with a parameter 《Parameter 001: bit 2》

1) Feed screen1 (to set a feedrate with respect to the radius)

① One of F1 to F9 and Fmax is displayed on the right of line 1 on the screen. F1 to F9 correspond to F1 to F9 in the program. Fmax indicates the maximum cutting feedrate.

② On line 2 on the screen, F□□□□□□mm/min と R□□□mm(a square (□) indicates a

digit) are displayed. Set a feedrate in this field.

When radius R (mm) and feedrate F (mm/min) on the circumference are set, the TPC-Jr automatically calculates the feedrate.

The specifiable ranges for F and R are: F: 1～999999mm/min R: 1～999mm

F

R mm

Feed screen 1

Ｆｅｅｄ ｒａｔｅ Ｆ１①

Ｆ０１２３４５ｍｍ／ｍｉｎ Ｒ１００ｍｍ

② ③

II-23

2) Feed screen 2 (cmd/sec) Usually, a feedrate is set with respect to a radius as described in item 1) above. When a G3 (lead cutting) command is used to specify a feedrate, however, an amount of movement per second (minimum command unit) must be set for more accurate calculation. To switch the screen to the feed screen 2, change the parameter 【Example】To set a feedrate of 12. 6° (12° 36′00″)/min

Decimal: 0.001° 12. 6° × 1000／ 60 = 210 [cmd/sec] For details about calculating the speed, please refer to 2-4. G3: Le

3-5. Dwell

After positioning is completed, output of a positioning completion sigset in a G9 R004 command. For more information, please refer to 2-10．G9: Declaration Comman

2

ＲＤＹ Ｆｅｅｄ ｒａｔｅ Ｆ１

Ｆ０１２３４５ｃｍｄ／ｓｅｃ

Feed screen

《Parameter 001: bit 2》

ad Cutting Command.

nal can be delayed by a time

d 3) Dwell.

II-24

MEMO

III-1

III.OPERATIONS

1. CONTROL UNIT_______________________________________________ III-3

1-1. Power Supply On/Off _____________________________________________________ III-3

2. Details of Operation Panel _____________________________________ III-4

2-1. LCD Screen ____________________________________________________________ III-4

2-2. LED Indicators __________________________________________________________ III-6

2-3. Operation Mode Display and Switching_______________________________________ III-6

2-4. Program Editing Keys ____________________________________________________ III-6

2-4-1. Keys used for program editing mainly in the 《PROG》 or 《CHECK》 mode. ______ III-7

2-4-2. Keys used for other than program editing mainly

in the 《SINGLE》 or 《AUTO》 mode _____________________________________ III-8

2-5. Operation Keys _________________________________________________________ III-9

3. OVERVIEW OF OPERATION MODES ____________________________ III-10

3-1. AUTO Mode ___________________________________________________________ III-10

3-2. SINGLE MODE ________________________________________________________ III-10

3-3. PROG Mode __________________________________________________________ III-10

3-4. CHECK Mode _________________________________________________________ III-10

3-5. MDI Mode ____________________________________________________________ III-10

3-6. JOG Mode ____________________________________________________________ III-10

4. AUTO AND SINGLE MODES____________________________________ III-11

4-1. Overview _____________________________________________________________ III-11

4-2. Start Input Signal [valid in the AUTO mode] ______________________ III-12

4-3. Start Key [Valid in the SINGLE mode] _____________________ III-12

4-4. Reference Point Return Keys [valid in the SINGLE mode] _____________________ III-12

4-5. Stop Key [valid in both the AUTO and SINGLE modes] _______ III-12

4-6. Machine Locking [valid in both AUTO and SINGLE modes] __________ III-12

4-7. Display Switching [valid in both AUTO and SINGLE modes ___________ III-13

4-8. DGN_________________________________________________________________ III-13

5. PROGRAM / CHECK MODES ___________________________________ III-14

5-1. Overview _____________________________________________________________ III-14

5-2. Entering a Program _____________________________________________________ III-15

5-2-1. Procedure for Entering a Program ______________________________________ III-15

III-2

5-2-2. Entering Data for the θ field (Entering decimal numbers and signs) ___________ III-16

5-2-3. Scrolling a Program__________________________________________________ III-16

5-2-4. Sample G code display _______________________________________________ III-16

5-3. Setting and Selecting a Work Number_______________________________________ III-17

5-4. Inserting a Block _______________________________________________________ III-18

5-5. Deleting a Block________________________________________________________ III-18

5-6. Displaying the Directory__________________________________________________ III-19

5-7. Copying a Program _____________________________________________________ III-19

5-8. Deleting a Program _____________________________________________________ III-19

5-9. Deleting All Programs in Edit RAM and the File________________________________ III-20

5-10. Setting a Feedrate _____________________________________________________ III-20

5-11. Input/Output & Storage of Programs to the external components._________________ III-21

5-12. Setting Parameters ____________________________________________________ III-21

5-13. Inputting and Outputting Parameter Data to and from the External Components _____ III-22

5-14. Self-diagnosis ________________________________________________________ III-22

5-15. Adjusting Contrast on the LCD Display _____________________________________ III-24

6. MDI Mode ___________________________________________________ III-25

6-1. Overview _____________________________________________________________ III-25

6-2. MDI Mode Indication ____________________________________________________ III-25

6-3. MDI Operations ________________________________________________________ III-25

7. JOG MODE__________________________________________________ III-25

7-1. Overview _____________________________________________________________ III-25

7-2. Contents on the screen __________________________________________________ III-26

7-3. JOG operating method __________________________________________________ III-26

7-4. Setting the Second Reference Point ________________________________________ III-26

7-5. Clearing the current position indication ______________________________________ III-26

III-3

1. CONTROL UNIT

1-1. Power Supply On/Off

1) Power on

① Turn on the breaker (to the “I” side) on the right side of the TPC-Jr.

② When no abnormality is found, “RDY (ready)” is shown on the LCD display.

2) Power off

① Confirm that the machine is stopped.

② Turn off the breaker (to the “O” side) on the right side of the TPC-Jr.

【Note】 Usually, use this breaker to turn on or off the power for the TPC-Jr.

However, if you use a transformer to adjust the voltage, use the primary side of

the transformer to turn on or off the power as much as possible.

※ The TPC-Jr has a sealed structure. Therefore, it may become hot during operation.

This is not abnormal.

※ The power plug attached is for checking the functions. Please change the plug

according to the installation condition when installing the TPC-Jr.

Be sure to ground it before use.

ST SP１

INS２

DEL３

DIR

４COPY

５CLR

６SCH

７USER

８FEED

９PRM

０

ＮW No

GPRG

FPOS

RREM

θDGN

CR

CALM

2nd F

+/-MLK

・

TPC -Jr2nd F STOPRUN

▼

▲

AUTO

SINGLE

CHECK

PROG

MDI

JOG

MODE

MZRN

WZRN

＋JOG

－JOG

I

O

LCD

Operation keys Program edit keys Operation modeindication LED/ Switch

Power breakerLED indication section

III-4

2. Details of Operation Panel

2-1. LCD Screen

On the LCD screen, the operation status of the TPC-Jr and information on the program are displayed.

The normal display is shown below:

On the following screen, all information items are displayed. The meaning of each information

item is explained below:

1) TPC-Jr status display RDY/ALM

The status of the TPC-Jr is displayed. Usually, RDY (ready) is displayed. When an alarm is

given, ALM is displayed.

2) Program display line

Part of a TPC-Jr program is displayed on two lines. ＊1

Operation Code “G,” Feedrate “F,” Auxiliary Code “R,” Angle Code “θ” are displayed. ＊2

＊1 The program is sometimes displayed on one line depending on G codes. ＊2 F codes, R codes, or θ codes are not required depending on G codes. They are not displayed.

Current position or remaining amount display ＰＯＳ／ＲＥＭ※

When the current position or the remaining amount is displayed in the θ field, “POS”

or ”REM” appears at the beginning of the line. (This is displayed only in the AUTO,

SINGLE, MDI, or JOG mode.)

3) Control display line

File alarm display FILE

This display is indicated when a program is overwritten with the program mode.

Overtravel display OT

This display indicates that overtravel is in process. When the TPC-Jr restores from the

overtravel status, the display disappears. (This is displayed only in the AUTO, SINGLE, MDI,

or JOG mode.)

This display is valid only when the overtravel limit switch is installed on the rotary table being

controlled.

ＲＤＹ Ｎ０００ Ｇ０ Ｆ０ Ｒ００５ θ＋０４５．０００°

ＲＤＹ Ｎ０００ Ｇ０ Ｆ０ Ｒ０００ ＦＩＬＥ ＰＯＳ θ＋０４５．０００°

① ②

③

III-5

2ndF N

Machine lock display MLK

This display appears when the machine lock operation is in progress. (This is displayed only in the AUTO, SINGLE, MDI, or JOG mode.)

Origin return display ＭＺＲＮ／ＷＺＲＮ／ＴＺＲＮ

This display appears when return to a reference point is in progress or after it has been

finished.

This display disappears when movement of even one pulse is commanded after return to

the reference point has been finished.

“MZRN” shows a return to the first reference point.

“WZRN” shows a return to the second reference point.

“TZRN” shows a return to the third reference point. (This is displayed only in the AUTO, SINGLE, MDI, or JOG mode.)

4) Work number display Ｗ□□□□

This display is not always displayed. When the + keys are pressed, the work

number (program number) currently selected is displayed.

Subprogram number display Ｓ□□□□

When a subprogram is called by a G5 command, the subprogram number is automatically displayed. (This is displayed only in the AUTO, SINGLE, MDI, or JOG mode.)

5) Alarm display

If an alarm is given, the alarm number and simple message are shown.

An asterisk (*) blinks at the left of the alarm number to draw the operator’s attention while an

alarm is being displayed.

A sample display is given below:

※Current position indication when the power is turned on.

The current position is indicated in a plus value when the power is turned off and on between the

absolute position of 0 ~ 180 degrees. When the power is turned off and on between the absolute

position of 180 ~ 360 degrees, the current position is indicated in a minus value.

For example,

When the power is turned on at +90 degrees, the value

‘+90’ is shown.

When the power is turned on at +270 degrees, the value

‘-90’ is shown.

When the power is turned on at -90 degrees, the value

‘-90’ is shown.

When the power is turned on at -270 degrees, the value

‘+90’ is shown.

When the multi-turn limit 《Parameter 119》 is set to “65535”, the

sign before the power is turned off is shown.

Alarm number Alarm message

＊ＡＬＭ１ ＰＳ Ｎ

180°

First reference point

The area shown

in minus value

when the power

is turned on.

The area shown

in plus value

when the power

is turned on.

III-6

SP

2ndF

▼▲

▼

▲

2ndF

2-2. LED Indicators

1) RUN [Indicators]

When positioning is in progress, this lamp is on.

When the TPC-Jr waits for the machine being controlled to be clamped or unclamped completely,

the lamp blinks.

2) STOP [indicates that stop or interlock is in progress.]

When an external stop signal is input, this lamp lights.

When an interlock signal is input, the lamp blinks.

(The interlock signal is exclusive of the stop signal.)

This lamp also lights when positioning is stopped by the key in the middle.

3) 2nd･F [indicates that the second functions are enabled.]

When the key is pressed, this lamp lights, indicating that the second functions whose

names are written at the lower right corners of individual key are enabled.

2-3. Operation Mode Display and Switching

The mode currently selected is indicated by LED lamps. Names for each mode are as below. For

details, refer to “3. OVERVIEW OF OPERATION MODES.”

《AUTO》 ： automatic mode

《SINGLE》 ： single mode

《CHECK》 ： check mode

《PROG》 ： program mode

《MDI》 ： MDI mode

《JOG》 ： jog mode

To change the mode, press the or mode switching key.

＊Each time the key is pressed, the mode changes as shown below.

《AUTO》 ← 《SINGLE》 ← 《CHECK》 ← 《PROG》 ← 《MDI》 ← 《JOG》

Similarly, each time the key is pressed, the mode changes as shown below.

《AUTO》 → 《SINGLE》 → 《CHECK》 → 《PROG》 → 《MDI》 → 《JOG》

2-4. Program Editing Keys

Program editing keys are used mainly for input or editing of programs. To enable second functions

implemented by keys, on which “INS,” “DEL,” or another name is written at the lower right corner,

press the key then a desired key such as “INS or “DEL.”

Use the “PRG,” “POS,” “REM,” “DGN,” “ALM,” and “MLK” blue keys for second function operations

during other than program editing. For more information, see individual operation methods.

III-7

９ ０

Ｎ

θ+/-

Ｎ

CR

2ndF

Ｎ G F R

θ

+/-

CR

Ｎ 2ndF

１ 2ndF

２ 2ndF

３ 2ndF

４ 2ndF

５ 2ndF

θ

・

・

2-4-1. Keys used for program editing mainly in the 《PROG》 or 《CHECK》 mode. Key Explanation

～ Numeric keys

＊Use these keys to enter numeric data for programs.

Program code keys

＊Use one of these keys to select a code when entering a program.

When the key is pressed, for example, the N field on the program

display line blinks.

Then, any data can be entered with numeric keys.

Decimal point key

＊Use this key to decimally set the data in the θ code when

entering a program. When the key then the key are pressed sequentially, the

decimal point is displayed and data can be entered decimally.

Sign key

＊ Use this key to set a sign in the θ code when entering a program.

First press the key. Then, the sign following changes like “－”

→ “＋” → “－” each time the key is pressed.

CR key

＊Press this key to store a program.

＋

Work number key (2nd･F + W･No.)

＊Use these keys to change a work number (program number).

After pressing the and keys, enter a new work number then

press the key.

Then, the program identified by the work number is called.

＋ Insert key (2nd･F + INS)

＊Use these keys to insert one block in a program.

＋ Delete key (2nd･F + DEL)

＊Use these keys to delete one block from a program.

＋

Directory key (2nd･F + DIR)

＊Use these keys to see the usage status of program memory. The

number for clocks used and the remaining free blocks in memory are

displayed for a work number.

＋ Copy key (2nd･F + COPY)

＊Use these keys to copy a program identified by a work number.

＋ Clear key. (2nd･F + CLR)

＊Use these keys to delete a program identified by a work number.

III-8

６ 2ndF

７ 2ndF

８ 2ndF

９ 2ndF

Ｆ 2ndF

R 2ndF

G 2ndF

θ 2ndF

2ndF +/-

2ndF +/-

C 2ndF

C

C

C

+/- 2ndF

Keys used to edit a program (continued)

Key Explanation

＋

Serial channel key (2nd･F + SCH) ＊Use these keys to input or output a program to or from the general-purpose paper tape puncher or reader over the serial channel.

＋ Parameter key (2nd･F + USER)

＊For future extension.

＋ Feed key (2nd･F + FEED)

＊Use these keys to set a feedrate from F1 to F9.

＋ Parameter key (2nd･F + PRM)

＊Use these keys to set a parameter.

Clear key ＊Use these keys to restore the TPC-Jr from a second operation such as a copy or clear operation. These keys can also be used to reset an alarm.

2-4-2. Keys used for other than program editing mainly in the 《SINGLE》 or 《AUTO》 mode

Key Explanation

＋

Current position display (2nd･F + POS)

＊ Use these keys to switch the display in the θ field on the

program/current position display line to the current position.

This switching can also be commanded by a <G9 R012>

command in a program.

＋

Remaining angle display key (2nd･F + REM)

＊Use these keys to switch the display in the θ field on the

program/current position display line to the remaining angle.

This switching can also be commanded by a <G9 R013> command

in a program.

＋

Program display key (2nd･F + PRG)

＊When these keys are pressed with the current position or remaining

angle displayed, the θ field returns to the program display mode.

＋

Diagnose (2nd･F + DGN)

＊Use these keys to monitor the status of external input/output

signals or the servo status.

To return to the previous display, press the key.

＋

Alarm key (2nd･F + ALM)

＊Use these keys to display the nature of an alarm on the control

display line. To delete this display, press the key. (Except when a

servo alarm is being given.)

＋

Machine lock key switch (2nd･F + MLK)

＊Use these keys to make the machine lock function effective.

By pressing the & keys, the machine lock becomes

effective.

To release the machine lock, press the & keys again.

III-9

W ZRN

ST

SP

M ZRN

ST

JOG －

JOG ＋

2-5. Operation Keys

The following operation keys can be used to command operations such as start and stop.

Key switch Explanation

Start key

＊Use this key to execute one block in a program.

The key is valid in the 《SINGLE》, or 《MDI》 mode.

Stop key

＊Use this key to stop positioning.

To resume positioning, press the key in the 《SINGLE》, or 《MDI》

mode. Then, the rotary table moves by the remaining angle.

First reference point return key

＊Use this key to return to the first reference point.

The key provides the same operation as the “G4 R000 command.

It is valid in the 《SINGLE》, or 《MDI》 mode.

The same operation as the “G4 R000” command.

Second reference point return key

＊Use this key to return to the second reference point.

The key provides the same operation as the “G4 R001” command.

It is valid in the 《SINGLE》, or 《MDI》 mode.

The same operation as the “G4 R001” command.

+JOG operation key

＊Use this key to proceed +JOG feeding. It is valid in the 《JOG》

mode.

When this key is pressed in the 《CHECK》 or 《PROGRAM》 mode, the

program display can be scrolled.

-JOG operation key

＊Use this key to proceed -JOG feeding. It is valid in the 《JOG》

mode.

When this key is pressed in the 《CHECK》 or 《PROGRAM》 mode, the

program display can be scrolled.

III-10

WZRN

M ZRN

▼ ▲

ST

JOG－

JOG＋

2ndF W ZRN

3. OVERVIEW OF OPERATION MODES

3-1. AUTO Mode

1) In the AUTO mode, a start input signal such as an M signal from the machining center is

received to conduct auto operation.

2) When plural M signals are prepared as an extended function, external reference point return,

and the external work number set function can be used.

3-2. SINGLE MODE

1) In the SINGLE mode, the contents of a program can be checked manually before automatic

operation starts.

When the key is pressed, positioning is performed once.

2) The and keys can be used for returning to the reference point.

3-3. PROG Mode

1) In the PROG mode, programs are input. Up to 1000 program blocks can be input.

Up to 100 work numbers (program numbers) can be registered.

2) The program entered in the PROG mode must always be filed. The program is filed when the

PROG mode is switched to the CHECK or MDI mode with the or key.

3) The filed program is memorized even the power is turned off

No backup power supply like a battery is required because a reliable special memory is used.

3-4. CHECK Mode

In the CHECK mode, programs are checked in the same way as in the PROG mode. The

contents of programs are not rewritten, enabling you to check programs safely.

3-5. MDI Mode

1) In the MDI mode, a program can be entered as in the PROG mode and manual operation is

allowed as in the SINGLE mode.

2) Use the MDI mode to run test programs or perform setup.

3) Up to 10 program blocks can be used. Usable G codes are restricted to G0 to G4 and G7.

Note） Once the power is turned off, the entered program is deleted.

3-6. JOG Mode

1) Jog feeding and step feeding are possible by using the and the keys.

The feedrate can be selected from the ten rates, F0 ~F9.

2) By pressing the + keys at the desired position, the position can be set to the second

reference point.

III-11

ST

W ZRN

MZRN

SP

4. AUTO AND SINGLE MODES

4-1. Overview

1) The AUTO or SINGLE mode is used for the program which is selected in advance in the PROG

mode.

Before selecting the AUTO or SINGLE mode, select a program to be run in he PROG or

CHECK mode.

2) When he AUTO or SINGLE mode is selected, the TPC-Jr waits for a start input signal to be

entered or for the start key to be pressed.

When the first block of a program contains commands such as G5 to G9 which are not involved

in movement, the program is automatically executed. (To implement automatic advance by G5

to G9, up to 20 consecutive blocks can be coded.)

The program advances until one of G0 to G4 which command movement is encountered. Then,

the program waits for a start input signal to be entered or for a similar event to occur.

3) The AUTO and SINGLE modes provide the same effect except that the AUTO mode is entered

by an external input signal while the SINGLE mode is entered when a key on the MDI unit is

pressed.

AUTO mode SINGLE mode

Start input (M signal, etc.) Start key

★External reference point return input (M signal, etc.) Return to a reference point

★Work number set (B signal, etc.) key switch

Common functions

Stop key

★Stop signal / Interlock signal input

Machine lock

Display switching (Current position/remaining angle)

★Machine reference point output

★Soft limit

★Overtravel

DGN

【Note 】 For the functions marked with “★,” Refer to “IV. EXTENDED FUNCTIONS.”

III-12

ST

W ZRN

M ZRN

SP

ST

2ndF +/-

2ndF +/-

▼▲

4-2. Start Input Signal [valid in the AUTO mode]

1) When receiving a start input signal, the TPC-Jr performs positioning once according to the

contents of a program block in the wait state.

2) Upon completion of positioning, the TPC-Jr advances to the next block. When the number of

repetitions, is specified in an indexing command or incremental command, the value of the R

field is decreased one by one. When it reaches 0, the TPC-Jr advances to the next block.

3) When positioning is completed, positioning completion signal 1 (FIN1) is output.

4-3. Start Key [Valid in the SINGLE mode]

1) When the key is pressed in the SINGLE mode, positioning is performed in the same way

as when a start input signal is entered in the AUTO mode.

2) Positioning completion signal 1 (FIN1) is also output as in the AUTO mode.

4-4. Reference Point Return Keys [valid in the SINGLE mode]

1) When the or key is pressed, the TPC-Jr starts return to a reference point.

2) While the TPC-Jr is returning to a reference point or after it has returned to it, “MZRN” or

“WZRN” is displayed on line 4 on the display screen.

3) “MZRN” means return to the first reference point, providing the same effect as the “G4 R000”

command. “WZRN” means return to the second reference point, providing the same effect as

the “G4 R001” command.

4) Upon completion of return to a reference point, positioning completion signal 1 (FIN1) is

output. ＊

＊The completion signal by a reference point return key can be assigned to FIN1 and FIN2 by

setting a parameter. 《Parameter 023: bit 4》

4-5. Stop Key [valid in both the AUTO and SINGLE modes]

1) When the key is pressed during positioning or return to a reference point, the rotary

table lowers its speed and finally stops.

2) When the rotary table, the stop lamp lights.

3) To restart the rotary table, enter a start input signal (M signal, etc.) again in the AUTO mode

or change the AUTO mode to the SINGLE mode then press the key, The rotary table

moves by the remaining angle.

4-6. Machine Locking [valid in both AUTO and SINGLE modes]

1) When the and keys are pressed, the machine lock function is enabled.

In this stares, “MLK” is displayed on line 2 on the MDI unit screen.

2) When the machine lock function is executed, the rotary table does not move but the current

position is displayed as if the rotary table were moving.

3) To disable the machine lock function, press the and keys again or change the

SINGLE or AUTO mode to another mode with the or key.

【Note 】 The feedrate during machine locking is not the actual speed. Machine is locked

immediately.

III-13

F 2ndF

2ndF G

Ｎ CR

C

ST

2ndF

C

R

θ

・

2ndF

2ndF

4-7. Display Switching [valid in both AUTO and SINGLE modes

1) The and keys can be used to switch the display on line 2 on the display to the

current position.

2) The and keys can be used to switch the display on line to the remaining angle.

3) To return to the original program display from the current position or remaining angle splay,

press the and keys.

4) The current position display can be reset by the key.

To change the display to the coordinate for the current position from the first reference point,

press the and keys.

※Current position indication when the power is turned on.

The current position is indicated in a plus value when the power is turned off and on between

the absolute position of 0 ~ 180 degrees. When the power is turned off and on between the

absolute position of 180 ~ 360 degrees, the current position is indicated in a minus value.

For example,

When the power is turned on at +90 degrees,

the value ‘+90’ is shown.

When the power is turned on at +270 degrees,

the value ‘-90’ is shown.

When the power is turned on at -90 degrees,

the value ‘-90’ is shown.

When the power is turned on at -270 degrees,

the value ‘+90’ is shown.

When the multi-turn limit 《Parameter 119》 is set to “65535”, the sign before the power is turned

off is shown.

4-8. DGN

1) The and keys can be used to the self-diagnosis screen.

2) In the AUTO or SINGLE mode, only the input signal is checked during self-diagnosis ---

output signals can not be forcibly set or reset.

3) Select the address of a block to be checked with the and numeric keys or the key.

4) To exit from the self-diagnosis screen, press the key.

5) The start input signal and the key are valid during self-diagnosis.

6) For more information, see “MAINTENANCE.”

180°

First reference point

The area shown

in minus value

when the power

is turned on.

The area shown

in plus value

when the power

is turned on.

III-14

▼▲

5. PROGRAM / CHECK MODES

5-1. Overview

In the program (PROG) mode, a program is entered or edited. In the CHECK mode, the program

entered in the PROG mode is checked.

1) Filing a program

The program entered in the PROG mode needs to be filed, this is automatically done when

the PROG mode is switched to another mode with the or key.

Please note if the power is turned off before this operation is completed, the program

is not filed and the entered program will be lost.

When the program is entered with the program

mode, “FILE” is displayed on line 2 on the display

screen to draw the operator’s attention.

It takes about six seconds to file 1000 blocks.

2) Program editing and RAM structure

RAM in which programs are entered and edited consists of a directory and edit RAM.

The directory contains memory address of programs.

Edit RAM contains programs.

For more information, see “II. PROGRAMMING.”

※The directory can contain up to 100 entries and edit RAM can contain up to 1000 blocks. If

usage of them is unbalanced as shown below, the available memory capacity is reduced.

a) When many work numbers are used for shot programs.

【Example】 One hundred work numbers are used and the length of each program is

several blocks:

→ Edit RAM contains only several hundreds of blocks but the directory is full.

As a result, the edit RAM can be contain no more programs.

Solution: Do not split programs into too small of segments. Use large

programs to some extent.

b) When less work numbers are used but individual programs are long:

【Example】 Ten programs are used, each of which consists of about 100 blocks:

→ The directory contains only 10 entries but edit RAM is full and cannot

contain more programs.

Solution：Code a program shared as a subprogram.

3) Program file structure

The program file stores programs contained in edit RAM in units of five blocks.

Its capacity is 1120 blocks (224 x 5 blocks), which is slightly larger than that of edit RAM.

When many programs are divided into non-seven blocks (such as six or eleven blocks), the

error message “File Full” rarely appears.

For more information, see “II. PROGRAMMING.”

ＲＤＹ Ｎ０００ Ｇ０ Ｆ０ Ｒ０００

ＦＩＬＥ θ＋０００．０００°

III-15

G

F R θ

CR

4) Programming notes

To enter multiple programs, use different program numbers (work numbers) for them.

If these programs are separated by N addresses under the same work number, it is assumed

that the blocks between programs contain another program. This reduces the memory usage

efficiency.

For more information, see “II. PROGRAMMING.”

5) Write-protected programs Programs can be write-protected by a parameter. 《Parameter 000: bit 7》

6) The following operations can be done in the PROG or CHECK mode.

Operation ２ｎｄ・F keyPROG mode

CHECK mode

Entering a program ○ △ (Checking is

possible) Setting/changing a work number Wno ○ ○ Inserting a block INS ○ × Deleting a block DEL ○ × Displaying the directory DIR ○ ○ Copying a program COPY ○ × Deleting a program CLR ○ × Deleting all programs in edit RAM and the file CLR ○ × Setting a feedrate FEED ○ △

(Checking is possible)

Transmitting a program to and from the external components.

SCH ○ ×

Setting a system parameter. PRM ○ △ (Checking is

possible) Adjusting contrast on the LCD screen. MLK × ○ Self-diagnosis DGN ○ ○

5-2. Entering a Program

5-2-1. Procedure for Entering a Program 1) On the screen on which no program is displayed,

address N000 is displayed but nothing is displayed

in the “G”,“F”,“R”,“θ” fields.

2) Press the key. The cursor appears in the G

field and a zero is displayed in each column.

3) Enter a G code with numeric keys. Press the , , and keys and enter data for

them in the same way.

4) When all data is entered, press the key. This block is stored and the next block (N0001)

is displayed.

5) Repeat Steps 2) to 4) above for each block to enter the entire program.

ＲＤＹ Ｎ０００ Ｇ Ｆ Ｒ

θ＋ °

ＲＤＹ Ｎ０００ Ｇ０ Ｆ０ Ｒ０００

θ＋０００．０００°

III-16

・

θ

+/-

+/-

１ ２

・

３ ４

CR

5-2-2. Entering Data for the θ field (Entering decimal numbers and signs)

To enter decimal numbers for the θ field, use the decimal key .

To change the sign, use the key. ※ The example below shows how to enter the data with the decimal system.

To enter “‐123.340°” ( indicates the position of the cursor. )

① Press the key to make the θ field 0.

The first digit of theθfield is a sign. (rotating direction.) ② Press the key to change the sign to “-.“ ③ Press the numeral keys , and to enter the

integral numbers. ④ Press the decimal point key and the decimal

point appears at the end of theθ field. ⑤ Press the numeral key , to enter the decimal

numbers. ⑥ Press the key to register the program.

＊ When the last digit of the decimal number is zero, it is

not necessary to enter a zero. It is automatically

entered.

5-2-3. Scrolling a Program

An N address can be scrolled in an ascending or descending order by pressing the ±jog keys.

5-2-4. Sample G code display

Some G codes do not have an F field or do not require an R field.

The samples are shown below:

θ＋００００００°

θ－００００００°

θ－００００１２°

θ－０００１２. °

θ－０００１２.３°

θ－００１２.３４°

θ－０１２.３４０°

III-17

2ndF Ｎ

CR

C

Ｇ０：Direct angular position command Ｇ１：Direct indexing point number command

G2：Arc-indexing point number command Ｇ３：Lead cutting command

Ｇ４：Origin return command Ｇ５：Subprogram return command

Ｇ６：Subprogram return command Ｇ７：Program end command

Ｇ８：Work coordinate setting command Ｇ９：R0004 declaration command (dwell ON)

Ｇ９：R010 declaration command Ｇ９：Another declaration command

(completion signal control ON)

5-3. Setting and Selecting a Work Number

1) Press the , and keys. The work number field is set at all 0s and the cursor appears.

2) Enter a work number with numeric keys then press the key. This completes work number

setting.

The program having the new work number at

address N000 is displayed.

Work numbers can be set in the range from

0000 to 9999. 3) To display the previous work number after the new work number is displayed in Item 2) above,

press the key.

ＲＤＹ Ｎ０００ Ｇ０ Ｆ０ Ｒ０００

θ＋０９０．０００°

ＲＤＹ Ｎ００１ Ｇ１ Ｆ０ Ｒ１２３

θ－０００１２３ｄｉｖ

ＲＤＹ Ｎ００２ Ｇ２ Ｆ０ Ｒ４５６

θ＋１２０．０００°

ＲＤＹ Ｎ００３ Ｇ０ Ｆ０ Ｒ０４５

θ－０９０．０００°

ＲＤＹ Ｎ００４ Ｇ４ Ｒ０００

ＲＤＹ Ｎ００５ Ｇ５ Ｒ００８

θ９０００

ＲＤＹ Ｎ００６ Ｇ６

ＲＤＹ Ｎ００７ Ｇ７ θ０００

ＲＤＹ Ｎ００８ Ｇ８

θ＋１２０．０００°

ＲＤＹ Ｎ００９ Ｇ９ Ｒ００４

θ１００

ＲＤＹ Ｎ０１０ Ｇ９ Ｒ０１０

θ０１１

ＲＤＹ Ｎ０１１ Ｇ９ Ｒ０００

ＲＤＹ Ｗ００００

III-18

2ndF １

CR

CR

2ndF ２

CR

C

C

5-4. Inserting a Block

1) Use this function to insert a block in a program.

2) Select an N address where a block is to be inserted,.

Then, press the and keys. The question

“Insert?” appears on line 2 on the screen.

3) Press . The new block is inserted in the N address.

Nothing is shown in the G, F, R, and θ fields.

4) Enter the program to be inserted and press the key.

※ To exit from the insertion screen in Item 2) above, press the key.

【Example】

【Note】 A block cannot be inserted in the branch destination specified in a G7

command.

When the N address of the branch destination is changed, modify the program

involved in G7.

5-5. Deleting a Block

1) Use this function to delete a block from a program.

2) Select an N address from which a block is to be

deleted, Then, press the and keys. The

question “Delete?” appears on line 2 on the screen.

3) To delete the block, press the key.

4) To exit from the deletion screen in Item 2) above, press the key.

【Note】 A block cannot be deleted from the branch destination specified in a G7

command.

When the N address of the branch destination is changed, modify the program

involved in G7.

Ｎ122 Ｇ0 Ｆ0 Ｒ0001

θ+045.000°

Ｎ123 Ｇ0 Ｆ0 Ｒ0001

θ+090.000°

Ｎ124 Ｇ0 Ｆ0 Ｒ0001

θ+180.000°

Ｎ122 Ｇ0 Ｆ0 Ｒ0001

θ+045.000°

Ｎ123 Ｇ0 Ｆ0 Ｒ0000

θ+000.000°

Ｎ124 Ｇ0 Ｆ0 Ｒ0001

θ+090.000°

Ｎ125 Ｇ0 Ｆ0 Ｒ0001

θ+180.000°

Insert the new

program to N123.

ＲＤＹ Ｎ１２３ Ｇ１ Ｆ０ Ｒ０１２

Ｉｎｓｅｒｔ ？

ＲＤＹ Ｎ１２３ Ｇ Ｆ Ｒ

ＦＩＬＥ θ＋ °

ＲＤＹ Ｎ１２３ Ｇ１ Ｆ０ Ｒ０１２

Ｄｅｌｅｔｅ ？

III-19

2ndF ３

2ndF ４

CR

CR

ST

C

C

2ndF ５

ST

C

CR

C

CR

5-6. Displaying the Directory

1) The work numbers of the programs stored and the

number of blocks in the programs can be displayed.

2) Press the and keys. The directory display

screen is displayed.

3) When there are too many work numbers to find on the

screen, press the key. The screen changes each

time the key is pressed.

4) The number of remaining blocks is given at the end of

the display.

【Note】 Work numbers are displayed not in ascending order but in the order in which

they were input

5-7. Copying a Program

1) The program having a particular work number can be

copied.

2) Press the and keys. The copy screen is displayed.

3) The cursor appears at the position indicated by ① in the figure on the right. Enter the work

number of the program to be copied then press the key.

The cursor moves to the position indicated by ②. Enter the work number of the destination

program, then, press the .

The question mark (?) appears at the position indicated by ③ for confirmation. When you are

sure, press the key to start the copy operation.

To go back to initial screen in Item 2) above, press the key.

To exit from the copy screen, press the key one more time.

While the program is being copied, an asterisk (*) and the cursor are displayed at the position

indicated by ③.

4) When the destination work number is already present, the error message 《Copy err 2》

appears.

5-8. Deleting a Program

1) The program having a particular work number can be

deleted.

2) Press the and keys. The clear screen is displayed.

3) The cursor appears at the position indicated by ① in the figure on the right. Enter the work

number of a program to be deleted then press the key.

The “W0000 Clear?” appears at the position indicated by ② for confirmation. When you are

sure, press the key to start deletion.

To go back to initial screen in Item 2) above, press the key.

To exit from the clear screen, press the key one more time.

While the program is being deleted, an asterisk (*) and the cursor are displayed at the position

where the “?” was indicated.

Ｗ００００ ： １２３ ｂｌoｃｋｓ

Ｗ０１００ ： ０５５ ｂｌoｃｋｓ

Ｍｅｍｏｒｙ ｒｅｍａｉｎ ｏｎ

７２６４ ｂｌoｃｋｓ

Ｐｒｏｇｒａｍ Ｃｏｐｙ ③

Ｗ００００ → Ｗ１０００

① ②

Ｐｒｏｇｒａｍ Ｃｌｅａｒ

Ｗ００００

①

III-20

2ndF ５

ST

C

Ｆ

R

CR

８ 2ndF

Ｎ CR

【Note】 This program delete function deletes only a program in edit RAM --- the

program in the file is not deleted.

To delete the program in the file, switch the PROG mode to another mode then

manipulate the file (see 5.1). If a program is deleted by mistake, turn power off

before file operation is performed. The program is not deleted from the file and

it can be read again.

5-9. Deleting All Programs in Edit RAM and the File

1) All programs in edit RAM and the file can be deleted at one time. 2) Press the and key on the program clear

screen in 5.8 above. The screen changes to the all

clear screen. 3) Press the key. Deletion of all programs in the

edit RAM and the file starts. “Execute appears on

Line 2 during deletion.

To go back to the program clear screen in 5.8, press the key.

【Note】 This All-program delete function deletes both the program in the edit RAM

and the program in the file. Because all the programs are deleted, be careful

when using this function.

5-10. Setting a Feedrate

1) Set an F code (F1 to F9) in a TPC-Jr program.

2) Press the and keys. The feedrate screen is displayed.

On the feedrate screen, a feedrate can be set by either of the following two methods

《Parameter 001: bit 2》:

specification of a radius (mm) and a rate on its circumference

(mm/min) and specification of a command unit per minute.

ａ） Specification of a radius and a rate on its circumference

Radius R: 1～999 [mm]

Rate F on circumference: 1～999999 [mm/min]

In the field indicated by ① in the figure at right,

F1 to F9 and Fmax are displayed. F1 to F9

correspond to F codes F1 to F9. Fmax indicates

the maximum rate of F2 to F9.

Select the item with the key and the numeric keys or with the key.

Enter a rate [mm/min] at the circumference into the F filed indicated by ②. After pressing

the key, enter the rate with the numeric keys.

Enter a radius [mm] in the R field indicated by ③. After pressing the key, enter the

radius with the numeric keys. After entering the data for each digit, press the key to

F mm/min

R mm

Ｐｒｏｇｒａｍ ａｌｌ ｃｌｅａｒ

Ｅｘｅｃｕｔｅ

Ｆｅｅｄ ｒａｔｅ Ｆ１①

Ｆ０１２３４５ｍｍ／ｍｉｎ Ｒ１００ｍｍ

② ③

Ｐｒｏｇｒａｍ ａｌｌ ｃｌｅａｒ

Ａｒｅ ｙｏｕ ｓｕｒｅ ？

III-21

C

2ndF ９

Ｎ ９ ９ ９ θ １

CR

Ｎ θ

CR

C

memorize the data. [valid only in the PROG mode]

To exit from the feedrate setting screen, press the key.

※By pressing the ±JOG key, the display for the F field of ① can be scrolled.

b） Specification of a command unit per second

A feedrate is usually represented by a radius and

the rate in 1) above. However, when setting the

feedrate for the G3 (lead cutting command), the

feedrate is entered by an amount of movement

per second (command unit/second) to attain an

accurate setting value. The command unit (cmd) changes depending on the minimum setting unit. For the TPC-Jr,

it is 0.001°.

【Example】 The feedrate for 12.6°/minute is:

① Setting unit: 0.001° 12.6°× 1000／ 60 = 210 [cmd/sec]

5-11. Input/Output & Storage of Programs to the external components.

Programs can be input and output using external components like a general paper tape reader

and a punching machine.

For details, refer to “IV EXTENDED FUNCTIONS 7. EXTERNAL STORAGE OF PROGRAMS.”

5-12. Setting Parameters

1) Set individual parameters of the TPC-Jr as follows:

2) To bring up the parameter setting screen, press the

and keys.

3) Line 2 on the screen indicates a parameter address from N000 to N199 and a parameter data

θ field.

4) The parameter data can be checked on this screen but new parameters cannot be set. To set

new parameters, use the following procedure [Only in the PROG mode]:

① Select the PROG mode and change the screen to the parameter setting screen.

② Press the , , ., , , and keys in that order.

③ Press the key.

④ The PROG mode lamp blinks, indicating that new parameters can be set.

Enter new parameters in the same procedure as when usually entering program. After

pressing the key, enter a parameter address with numeric keys. After pressing the

key, enter parameter data with numeric keys. To store the entered data, press the key for

each data.

To exit from the parameter setting screen, press the key.

※By pressing the ±JOG key, the display for the parameter address can be scrolled.

Ｆｅｅｄ ｒａｔｅ Ｆ１

Ｆ０１２３４５ｃｍｄ／ｓｅｃ

Ｐａｒａｍｅｔｅｒ

Ｎ０００ θ００００００００

III-22

2ndF θ

１ ２

Ｎ CR

C

Ｎ CR

０ １

ST

SP

θ

C

【Note 1】 Parameters are not checked. When a too large of a value is set in a servo

parameter at an address from N100 to N199, however, an error message “SV

Data” may be displayed.

【Note 2】 Some parameter data is substituted immediately when it is entered. However,

other parameter data is substituted after power is turned off once, then on

again.

5-13. Inputting and Outputting Parameter Data to and from the External Components

As with input/output of programs, parameter data can be input and output. For more information,

see “10. STORING PROGRAMS IN EXTERNAL MEMROY” in “IV. EXTENDED FUNCTONS.”

5-14. Self-diagnosis

1) Input signals can be checked in the same way as in

the SINGEL and AUTO modes. In addition, output

signals can be set and reset.

2) To bring up the self-diagnosis screen, press the and keys.

1. Input signals and the servo can be checked.

2. Compulsory ON/OFF of output signals are checked.

Select either mode with the or keys.

3) When check of an input signal is selected:

Select the address of an item to be checked with the

key and numeric keys or the key.

To return to the initial screen described in Item 2),

press the key.

4) When check of an output signal is selected:

Select the address of a signal to be output with the

key and numeric keys or the key.

Set the signal to be output in theθcode with the , , and keys.

Press the key. The bits of the specified output signal are turned on or off. At the same

time, an asterisk (*) blinks on line 2 on the screen.

When the key is pressed, the output signal returns to the original status and the asterisk

disappears.

To return to the initial screen described in Item 2), press the key.

ＤＧＮ １．Ｉｎｐｕｔ Ｃｈｅｃｋ ？

２．Ｏｕｔｐｕｔ Ｃｈｅｃｋ？

ＤＧＮ Ｉｎｐｕｔ Ｃｈｅｃｋ

Ｎ００ θ００００００００

ＤＧＮ Ｏｕｔｐｕｔ Ｃｈｅｃｋ

Ｎ００ θ００００００００

III-23

DGN input check items Contents

Address bit ７ bit 6 bit 5 Bit 4 bit 3 bit 2 bit 1 bit 0

Ｎ００ External input signal

－ (*Emergency stop)

Work number set

B1 Return to reference point

Stop Start －

Ｎ０１ Internal input signal

B８ B４ B２ Unclamp LS

Clamp LS Servo COIN

*Servo alarm

Servo ready

Ｎ０２ Internal input signal

Clamp SOL Overcurrent

External output overcurrent

－ － － － － －

Ｎ０３ External output signal

LED 2ndF Input power switch

Main circuits power

Clamp SOL

ALM LEVEL ＦＩＮ２ ＦＩＮ１

Ｎ０４ Control output signal

－ SV-REV SV-FWD － － SV-AUTO SV-PCON SV-ON

Ｎ０５ LED output JOG MDI PROGRAM CHECK SINGLE AUTO STOP RUN

Ｎ０６ － － － － － － － － －

Ｎ０７ － － － － － － － － －

Ｎ０８ － － － － － － － － －

Ｎ０９ － － － － － － － － －

Ｎ１０ Servo deviation counter

Ｎ１１ Commanded servo rate

Ｎ１２ Current servo rate

Ｎ１３ Commanded servo torque

Ｎ１４ Commanded servo pulse rate

Ｎ１５ Accumulated servo load

Ｎ１６ Regenerative servo load

Ｎ１７ Regenerative servo resistance consumption power

Ｎ１８ Identical servo inertia ratio

Ｎ１９ Positioning time

Ｎ２０ Servo alarm trace back Ｎｏ．０ ： ： ： ： ： Ｎ２９ Servo alarm trace back Ｎｏ．９ Ｎ３０ Servo motor type

Ｎ３１ Servo motor capacity

Ｎ３２ Servo encoder type

Ｎ３３ Servo special specifications

Ｎ３４ Servo software version

Ｎ３５ Servo encoder software version N36 Servo type N37 Servo rotating angle 1 N38 Servo rotating angle 2 N39 Servo input port monitor N40 Servo output monitor N41 Servo command pulse counter N42 Servo feedback pulse counter - - Ｎ４７ Servo type main boat software version

When a signal is on, the N00～N09 indicates “1” and when a signal is off, the N00～N09

indicates “0.”

＊The signals marked with an asterisk (*) show whether it is on or off by inversion.

III-24

2ndF +/-

CR

+/-

+/-

DGN output check items

Contents Address

bit ７ bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Ｎ００ External output signal

LED 2ndF Input power switch

Main circuit power

Clamp SOL

ALM LEVEL FIN2 FIN1

Ｎ０１ Control output signal

－ SV-REV SV-FWD － － SV-AUTO SV-PCON SV-ON

Ｎ０2 All the LEDs light up. The LCD is displayed.

When “1” is set to “N00” or “N01,” the current conditions of the output signals are indicated

inversely.

For “N02”, all the LED except for the [2nd・F] LED light up for about five seconds.

5-15. Adjusting Contrast on the LCD Display

1) The contrast on the LCD display varies according to

the temperature and angle at which the operator

views the screen. However, the contrast can be

adjusted with ease.

2) To bring up the contrast adjustment screen, press the

and the keys with the 《CHECK》 mode. The message for contrast adjustment

appears on line 2 of the screen.

3) To increase the value ①, press the key. The LCD display becomes brighter.

4) When the value ① reaches ’15,’ next pressing the key changes the value to “00.” The

display becomes darkest.

5) After the desired contrast is reached, press the key. This completes adjustment of

contrast.

Contrast can be adjusted at 16 levels from 00 to 15.

The contrast adjusting data is saved in the parameter area. It is also possible to adjust the

contrast by directly changing a parameter. 《Parameter 039》

ＲＤＹ Ｎ０００ Ｇ０ Ｆ０ Ｒ０００

Ｌｃｄ ｃｏｎｔｒａｓｔ ０８ ①

III-25

WZRN

MZRN

ST

SP

6. MDI Mode

6-1. Overview

1) In the MDI mode, programs can be entered as in the PROG mode and manual operation is

possible as in the SINGLE mode.

2) The MDI mode can be used to perform setup using programs.

3) The number of usable program blocks is 10. The usable G codes are only 《G0~G4》 and

《G7》.

Note） Once the power is turned off, the entered program is deleted.

6-2. MDI Mode Indication

1) The MDI mode indication is basically the same as the

usual program display. However, the number

following N on line 1 changes to a one-digit number.

The program capacity becomes 10 blocks. 《N0~N9》

6-3. MDI Operations

Operations in the MDI mode can be done in the same way as in the PROG and SINGLE mode.

Therefore, description of MDI operations is omitted.

1) Entering programs

Programs can be entered in the same way as in the PROG mode.

However, usable G codes are only 《G0~G4》 and 《G7》.

The second reaction operations, such as inserting, deleting are not supported.

While the program is being entered, the MDI mode LED blinks. When operation becomes

ready after entering the program, the MDI mode LED light remains on.

2) Manual start

As in the SINGLE mode, the following functions can be implemented:

Manual start of a program with the key.

Return to the reference point with the or the key.

Stop with the key

External stop and interlock input signals can be used.

3) Other functions

a) The display switching, and self-diagnosis are supported as in the SINGLE mode.

b) Machine locking is not supported.

7. JOG MODE

7-1. Overview

Continuous jog feeding and jog step feeding are possible with the ±JOG key.

ＲＤＹ Ｎ０ Ｇ０ Ｆ０ Ｒ０００

θ＋０９０．０００°

III-26

2ndF W ZRN

CR

C

JOG－

JOG＋

θ

F θ

JOG －

JOG＋

C

2ndF

・

7-2. Contents on the screen

① “JOG-1” on Line 1 on the screen indicates the

“JOG” feedrate. Any desirable feedrate can be

selected between 0 ~ 9 with the numeral keys.

“JOG-0” applies to the fast feedrate, and “JOG-1 ~ 9” to the indexing feedrate of F1 ~ F9

respectively. ②Moving angle of JOG step feeding. Line 2 on the screen indicates the

current position.

※The default for the feedrate and the step feeding angle can be set with a parameter.

《Parameter 012, 013》.

7-3. JOG operating method

1) Continuous JOG feeding

The Rotary Table moves in the “+” or “-“ direction while the or key is pressed.

2) JOG step feeding

Pressing the or key conducts the step feeding by the moving angle in ②.

To set the moving angle of the step feeding, enter the desired angle with the numeral keys after

pressing the key in the same way as entering a program. The setting range is 0.001 ~

9.999. 3) Changing the feedrate

Select the desired feedrate between 0 ~ 9 with the numeral keys.

The numeral keys are valid anytime except for during JOG feeding.

However, after changing the step feeding angle with the key, press the key before

pressing the numeral keys.

7-4. Setting the Second Reference Point

Any desirable position can be defined to the second reference point with the JOG mode.

Usually, the second reference point is positioned to the coordinate specified by 《Parameter 128》.

However, it is possible to define it with the JOG mode.

This function is convenient for a workpiece whose reference points are different for each processing

because the second reference point can be changed without changing the parameter.

How to set the second reference point

1) Move the rotary table to the desirable position with the JOG mode.

2) Press the and keys, and “WZRN Position set ?” is indicated on line 4.

3) To set the position to the second reference point, press the key.

Not to set the position to the second reference point, press the key in the procedure 2)

above and the indication on line 4 disappears.

※ The set reference point can be memorized in a parameter. 《Parameter 004: bit 5》

7-5. Clearing the current position indication

The current position indication during the JOG mode can be cleared with the key.

Returning to the absolute position from the first reference point can be done with the

and keys.

ＲＤＹ ＪＯＧ－１ θ１．０００Ｓｔｅｐ

ＰＯＳ θ＋０９０．０００°

IV-30

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.

IV-31

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.

IV-1

IV. EXTENDED FUNCTIONS

1. OVERVIEW_________________________________________________________ IV-3

2. EXTERNAL WORK NUMBER SET FUNCTION (AVAILABLE IN THE AUTO MODE)_________ IV-4

2-1. External Work Number Set Function _________________________________________ IV-4

2-2. AUTO Mode Selection at Power On _________________________________________ IV-5

2-3. Automatic Calling of a Work Number and Block Number _________________________ IV-5

3. EXTERNAL RETURN TO A REFERENCE POINT INPUT FUNCTION (AVAILABLE IN THE

AUTO MODE) ________________________________________________________ IV-6

4. EXTERNAL STOP INPUT FUNCTIONS ___________________________________ IV-7

4-1. Stop Input Signal ________________________________________________________ IV-7

4-2. Interlock Input signal _____________________________________________________ IV-8

5. MACHINE ORIGINAL POSITION OUTPUT FUNCTIONS _____________________ IV-9

6. MACHINE POSITION CONTROL FUNCTIONS ____________________________ IV-10

6-1. Soft Limit _____________________________________________________________ IV-10

6-2. Overtravel ____________________________________________________________ IV-11

7. EXTERNAL STORAGE OF PROGRAMS_________________________________ IV-12

7-1. Overview _____________________________________________________________ IV-12

7-2. Procedure ____________________________________________________________ IV-12

7-2-1. Reading programs ___________________________________________________________ IV-12

7-2-2. Program output______________________________________________________________ IV-13

7-2-3. Input and output of parameters. _________________________________________________ IV-13

7-3. Alarm ________________________________________________________________ IV-14

7-4. Parameters ___________________________________________________________ IV-15

7-5. Paper Tape I/O Format __________________________________________________ IV-16

7-5-1. Tape Format________________________________________________________________ IV-16

7-5-2. Interface ___________________________________________________________________ IV-18

7-6. Printing TPC-Jr Program Lists _____________________________________________ IV-20

7-6-1. Procedure__________________________________________________________________ IV-20

7-6-2. Parameters_________________________________________________________________ IV-20

7-6-3. Sample lists ________________________________________________________________ IV-20

8. REMOTE MODE + M_________________________________________________ IV-21

8-1. General Description _____________________________________________________ IV-21

8-2. Procedure ____________________________________________________________ IV-21

IV-2

8-3. Command Method ______________________________________________________ IV-21

8-3-1. Sample machining center program ______________________________________________ IV-22

8-3-2. Notes _____________________________________________________________________ IV-22

8-4. Command Format ______________________________________________________ IV-23

8-4-1. Command abbreviation _______________________________________________________ IV-23

8-4-2. Data details ________________________________________________________________ IV-23

8-4-3. Command details ____________________________________________________________ IV-24

8-5. Procedure ____________________________________________________________ IV-27

8-6. Remote Mode Parameter_________________________________________________ IV-28

8-7. Alarms _______________________________________________________________ IV-29

8-8. Cable Connection ______________________________________________________ IV-29

8-8-1. Cable connection ____________________________________________________________ IV-29

8-8-2. Interlocking cable ____________________________________________________________ IV-30

8-9. Notes ________________________________________________________________ IV-30

IV-3

1. OVERVIEW In addition to the functions described in [II. PROGRAM,] and [III. OPERATION,] various

TPC-Jr functions can be used by adding options and setting parameters.

1) External work number set function

External work numbers (program numbers) can be set from the external component.

2) External return to a reference point function

Return to a reference point is conducted by an external input signal.

3) External stop input signal

Stop input

Interlock input

4) Machine original position output function

When the predetermined range or position is reached during positioning, a signal can be

output.

5) Machine position control functions

Soft limit function

When positioning beyond the predetermined range is commanded, an alarm is

output.

Overtravel function (Only for rotary tables with overtravel specifications)

Limit switches can be installed on the machine to determine a positioning range.

6) External storage to retain programs

Programs and parameters can be stored by external components using a general-purpose

program input and output devices.

※The optional RS-232C connection cable is required.

7) Remote mode + M (optional)

A machining center can directly send commands using a general-purpose serial channel

(CN4).

※The optional RS-232C connection cable is required.

IV-4

2. External Work Number Set Function (Available in the AUTO mode)

2-1. External Work Number Set Function

1) General description

The M signal and the B signal provided as an NC auxiliary function can be used to directly call

or change a work number (program number) on the TPC-Jr. When a workpiece is changed,

the external work number set function still enables all programs to be managed at the

machining center without requiring operation at the TPC-Jr.

This function is roughly classified in the two kinds:

a) Selecting the maximum 16 kinds of work numbers by using the 4-bit parallel signal (B signal,

etc.).

b) Selecting the five kinds of work numbers by preparing the maximum five M signals.

Please select a method to be used with a parameter beforehand. 《Parameter 020 bit 2》

2) Operation

a) Operation by 4-bit parallel signal

Enter the desirable work number with the 4-bit parallel signal (B signal, etc.), and then, give

a strobe signal. The TPC-Jr calls the set work number.

b) Operation by plural M signals

Enter the desirable work number with the 4-bit parallel signal (B signal, etc.), and then, give

a strobe signal. The TPC-Jr calls the set work number.

The N address when the work number is called will be “000.”

Either completion signal “FIN1” or “FIN2” can be issued depending on the parameter.

《Parameter 023 bit 2》

3) Parameter to set the work number

Set the work number corresponding to each input signal to Parameter 060 ~ 075 beforehand.

a) The work number parameters corresponding to the 4-bit parallel signal (B signal, etc.) are as

follows:

Input signal

B1 B2 B4 B8 BF

Parameter address to set the desirable work number

Standard set value (Reference)

OFF OFF OFF OFF 060 0000

ON OFF OFF OFF 061 0100

OFF ON OFF OFF 062 0200

ON ON OFF OFF 063 0300

OFF OFF ON OFF 064 0400

ON OFF ON OFF 065 0500

OFF ON ON OFF 066 0600

ON ON ON OFF 067 0700

OFF OFF OFF ON 068 0800

ON OFF OFF ON 069 0900

OFF ON OFF ON 070 1000

ON ON OFF ON 071 1100

OFF OFF ON ON 072 1200

ON OFF ON ON 073 1300

OFF ON ON ON 074 1400

ON ON ON ON 075 1500

IV-5

b) The work number parameters corresponding to the plural M signals are as follows:

Input signal

BF B1 B2 B4 B8

Parameter address to set the desirable work number

Standard set value (Reference)

ON OFF OFF OFF OFF 060 0000

OFF ON OFF OFF OFF 061 0100

OFF OFF ON OFF OFF 062 0200

OFF OFF OFF ON OFF 063 0300

OFF OFF OFF OFF ON 064 0400

【 Note】 For the connections of each signal cable, refer to “VI. MAINTENANCE, 5-5.

Connection of Interlocking Cable.”

2-2. AUTO Mode Selection at Power On

1) General description

The TPC-Jr usually selects the 《CHECK》 mode when the power is turned on. However, the

《AUTO》 mode is selected by the following parameter:

2) Parameter

To have the auto mode selected when the power is turned on:

Parameter 000: bit 0 To make the auto mode selection at power on.

For details, refer to “V. PARAMETERS.”

2-3. Automatic Calling of a Work Number and Block Number

1) General description

A work number and block number set in advance can be called by the following parameters:

2) Parameter

The automatic calling of a work number and block number function is enabled by the following

parameters.

Parameter 000: bit3 To make the automatic calling of the last work number on.

Parameter 000: bit4 To make the automatic calling of the work number on.

Parameter 010: To select the work number to be called when the power is on.

Parameter 011: To select the block number to be called when the power is on.

For details, refer to “V. PARAMETERS.”

3) Notes

When the parameters are not set, 《W0000》 and 《N000》 are called.

IV-6

3. EXTERNAL RETURN TO A REFERENCE POINT INPUT FUNCTION (Available in the AUTO mode) 1) General description

Return to the first reference point can be commanded by an external input signal.

2) Operation

An M signal in addition to the start signal is prepared for the return to the reference point.

Either a pulse signal (The level width must be 10 msec or wider.) or a level signal can be

accepted.

When the return to the reference point signal is entered, the TPC-Jr begins to return to the first

reference point.

When return to the reference point is completed, a completion signal is given. Either

completion signal “FIN1, 2” can be selected.

3) Parameter

These functions are enabled by the following parameters:

Parameter 020: bit0 To make the external return to the reference point function on

and to select the description.

Parameter 023: bit4 To select the completion signal for the external return to the

reference point.

For details, refer to “V. PARAMETERS.”

IV-7

ST

C

4. EXTERNAL STOP INPUT FUNCTIONS Stop or interlocking can be commanded by an external input signal.

The stop/interlock signals use the same input signal.

Therefore, select the specifications to which the signal is applied with a parameter

beforehand.

4-1. Stop Input Signal

1) General description

An emergency stop signal is connected.

When receiving a stop input signal during positioning, the TPC-Jr immediately stops the rotary

table. When this happens, the STOP lamp lights.

Either a “b” contact signal for open command or an “a” contact signal for close signal can be

accepted as a stop input signal.

While a stop signal is being entered, the TPC-Jr does not start positioning for any start

command.

【Note】 The specification to keep the remaining amount during stop can be selected by setting a

parameter.

At this time, when the stop input signal is turned off and the start signal (M signal) is entered

again, the rotary table positions by the remaining amount. In the 《SINGLE》 or 《MDI》 mode,

positioning is done by pressing the key.

To reset the remaining amount, press the key.

2) Operation

3) Parameter

The external stop input function is enabled by the following parameters:

Parameter 021: bit0 To make the external stop input function on and to select the

description.

Parameter 021: bit5 To keep the remaining amount at the stop by the external stop signal.

For details, refer to “V. PARAMETERS.”

Positioning

Start

Stop

This start signal is ignored.

IV-8

4-2. Interlock Input signal

1) General description

When an interlock signal is received during positioning, the TPC-Jr immediately stops. The

STOP lamp blinks at this time.

Either a “b” contact signal for open command or an “a” contact signal for close command can

be accepted.

While the stop input signal is being entered, The TPC-Jr does not start positioning for any start

command.

When the interlock signal is turned off, positioning is resumed and the rotary table moves by

the remaining amount.

2) Operation

3) Parameter

The interlock input function is enabled by the following parameter:

Parameter 021: bit2 To make the external interlock input on, to select the description.

For details, refer to the “V. PARAMETER.”

Positioning

Start

Interlock

This start signal is ignored.

IV-9

5. MACHINE ORIGINAL POSITION OUTPUT FUNCTIONS 1) General description

When the predetermined range or position is reached during positioning, the machine original

position signal is given. The machine original position output signal is assigned to the

positioning output signal (LVL). 2) Operation

In the following example, the machine original position output range is set between <6090°>:

【Example 1】 When the rotary table passes through the machine original position:

【Example 2】 When the rotary table is positioned in the original position range:

3) Parameter

The machine original position output function is enabled by the following parameters:

Parameter 023: bit1 To make the machine original position output function on.

Parameter 034: Original position output range 1.

Parameter 035: Original position output range 2.

The output range is between the positions set by Parameter 034 and 035. The reference point is the first reference point (MSRN).

【Example 1】 Parameter N034=350° 【Example 2】 Parameter N034= 10°

N035= 10° N035=350°

＊ When Parameters N034 and N035 are set at the same value, the machine original output

range is a point.

Positioning

position

　　　　　　　　　　　　　　　　 ０° 60° 90° 110°

Machine originalposition output signal

＊When the rotary table is passing through the original position output range,the output signal is on only during passing

＊＊When the range is small and positioning is quickly done, the signal mightnot be given.

(FIN4)

Positioning

　　　position 80° 80°

　　　　　　　　　　　　　　　　 ０° 60° 90° 110°

Machine originalposition output signal

＊ While the rotary table is stopped, the output signal remains on.＊＊When positioning is resumed and the rotary table exists from the set range,

the output signal is turned off.

＊＊＊

(FIN4)

IV-10

C

C

6. MACHINE POSITION CONTROL FUNCTIONS

6-1. Soft Limit

1) General description

When positioning beyond the predetermined range is commanded by a parameter, an alarm is

output.

2) Operation

① During operation in the 《AUTO, SINGLE, MDI》 mode

One of the following alarm messages is given when an attempt is made to command

positioning beyond the soft limit range:

“＊ALM50 + SL” ： A soft limit is detected when the positive direction

movement is commanded.

“＊ALM51 - SL” ： A soft limit is detected when the negative direction

movement is commanded.

How to reset

Clear the alarm with the key.

Correct the program so that it does not enter the soft limit range.

② During operation in the 《JOG》 mode

When an attempt is made to feed the rotary table beyond the soft limit with the handle

feeding or the jog feeding, one of the following alarm messages is given and the rotary table

stops at the soft limit.

“＊ALM50 + SL” ： A soft limit is detected when the positive direction

movement is commanded.

“＊ALM51 - SL” ： A soft limit is detected when the negative direction

movement is commanded.

How to reset

Clear the alarm with the key.

Rotate the rotary table with the 《JOG》 mode in the opposite direction of the direction the

alarm was given direction to escape from the soft limit.

3) Parameter

The soft limit function is enabled by the following parameters.

Parameter 101: bit0 To make the soft limit function on.

Parameter 130: Soft limit position in the positive side

Parameter 131: Soft limit position in the negative side.

For details, refer to “V. PARAMETERS.”

IV-11

C

6-2. Overtravel

1) General description

The TPC-Jr detects an attempt to move beyond a stroke end with an overtravel limit switch

attached to the rotary table. When TPC-Jr detects such an attempt, it issues an alarm and

stops positioning.

＊ This function is available only when the rotary table is equipped with the overtravel limit

switches.

2) Operation

Usually, one overtravel limit switch is attached in each direction, positive and negative.

The alarm messages when overtravel is detected during operation in the 《AUTO, SINGLE,

MDI, JOG》 modes are as follows:

“ ＊ALM55 + OT 1 ” ：+over-travel 1 is detected.

“ ＊ALM56 - OT 1 ” ：-over-travel 1 is detected.

While the overtravel is being detected, Line 2 on the display screen indicates “OT” to draw

your attention.

3) Restoration from overtravel

Clear the alarm with the key.

Rotate the rotary table in the opposite direction of the alarm with the 《JOG》 mode to escape

from the overtravel area. When the overtravel limit switch is off, the alarm is cleared.

At the same time, the “ALM” lamp and the “OT” indication on the display screen disappear.

4) Parameter

The soft limit function is enabled by the following parameters:

Parameter 101: bit7 To make Overtravel on.

Parameter 150: bit1 To stop overtravel.

For details, refer to “V. PARAMETERS.”

5) Notes

The overtravel function can be used only when limit switches are attached to the inclined

rotary table.

IV-12

2ndF ６

１ ２

C

１ ２

C

ST

ST

CR

SP

SP

7. EXTERNAL STORAGE OF PROGRAMS

7-1. Overview

Programs and parameters can be entered or given using a general-purpose tape reader or

puncher. For connection, use optional RS232C cables.

If the “baud rate” of the 《Parameter 050》 is not set, programs or parameters can not be

entered or given. (A general-purpose tape reader/puncher shall be prepared by a user.)

7-2. Procedure

The following serial channel display screen appears when the and keys are

pressed.

“1. In” means reading from a general-purpose tape

reader/puncher.

“2. Out” means writing to a general-purpose tape

reader/puncher.

Select either one with the or keys.

To exit from the serial channel display screen, press the key.

7-2-1. Reading programs

1) When “1. In” is selected, the reading display

screen appears.

When “1. All” is selected, all the programs are read.

When “2. WNo” is selected, the specified work number is read.

Select either one with the or key.

To exit from the initial display screen press the key

2) When “1. All” is selected (All the programs are read.)

Line 2 indicates “All input?”

To start reading all the programs, press the key.

The “?” on line 2 changes to an asterisk “*” and blinks

while the programs are being read.

＊ To stop reading the programs, press the key.

3) When “2. WNo” is selected (The specified work number is read.)

Line 2 indicates “W0000.”

Enter the work number to be read with the numeric

keys.

When the key is pressed, “W□□□□ input” (a square □ is a digit.) is indicated.

When the key is pressed, the specified work number program begins to be read.

The “?” on line 2 changes to an asterisk “*” and blinks while the programs are being read.

＊ To stop reading the program, press the key. 4) Completion

Upon completion of reading, the screen returns to the program display screen.

Ｓｅｒｉａｌ ｃｈａｎｎｅｌ

１．Ｉｎ？ ２．Ｏｕｔ？

Ｓｅｒｉａｌ Ｉｎｐｕｔ

１．Ａｌｌ？ ２．ＷＮｏ？

Ｓｅｒｉａｌ Ｉｎｐｕｔ

Ａｌｌ ｉｎｐｕｔ ？

Ｓｅｒｉａｌ Ｉｎｐｕｔ

Ｗ００００ ｉｎｐｕｔ ？

IV-13

１ ２

C

SP

ST

ST

CR

SP

2ndF ６

１ ２

C

▼▲

After reading completion, change the mode from the 《PROG》 mode to the 《CHECK》 or the

《MDI》 mode with the or key to save the program. If the same work number has been in the TPC-Jr when the program is read from the external

components, an alarm “ALM16 Copy err 2” is indicated.

At this time delete the unnecessary program.

7-2-2. Program output

1) When “1. Out” is selected, the output display screen appears.

When “1. All” is selected, all the programs in the

TPC-Jr are issued to the external components.

When “2. WNo” is selected, only the specified work

number is issued.

Select either one with the or key.

To exit from the initial display screen in 1), press the key. 2) When “1. All” is selected (All the programs are issued.)

Line 2 indicates “All output?”

To start issuing all the programs, press the key.

The “?” on line 2 changes to an asterisk “*” and blinks

while the programs are being issued.

＊ To stop issuing, press the key. 3) “2. WNo is selected (the specified work number is issued.)

Line 2 indicates “W0000.”

Enter the work number to read with the numeric keys.

When the key is pressed, “W □ □ □ □

output?” (A square □ means a digit) is displayed.

When the key is pressed, the specified work number program is issued.

The “?” on line 2 changes to an asterisk “*” and blinks while the programs are being issued.

＊ To stop issuing the program, press the key. 4) Completion

Upon completion of issuing, the screen returns to the program display screen.

7-2-3. Input and output of parameters. 1) Make the TPC-Jr parameter changeable status (the program lamp blinks) with the parameter

display screen. 2) Press the and keys to change the display

to the parameter serial channel display screen.

“1. In” means parameter input.

“2. Out” means parameter output.

Select either one with the or key.

To exit from the parameter display screen, press the key.

Ｓｅｒｉａｌ Ｏｕｔｐｕｔ

１．Ａｌｌ？ ２．ＷＮｏ？

Ｓｅｒｉａｌ Ｉｎｐｕｔ

Ａｌｌ ｏｕｔｐｕｔ ？

Ｓｅｒｉａｌ Ｉｎｐｕｔ

Ｗ００００ ｏｕｔｐｕｔ ？

Ｐａｒａｍｅｔｅｒ

１．Ｉｎ？ ２．Ｏｕｔ？

IV-14

ST

SP

SP

ST

3) When “1. In” is selected (Parameter input)

Line 2 indicates “Input?”

To start reading parameters or user’s parameters,

press the key.

The “?” on line 2 changes to an asterisk “*” and blinks while the programs are being read.

Upon completion of reading, the display returns to the parameter display screen.

＊ To stop reading the parameters, press the key.

【Note】 After reading the parameters, it is necessary to initialize the TPC-Jr with a new

parameter. Therefore, turn off the power and then, turn it on again.

4) When “2. Out” is selected (Parameter output)

Line 2 indicates “Output?”

To start output of parameters and user’s parameters,

press the key.

The “?” on line 2 changes to an asterisk “*” and blinks while the programs are being issued.

Upon completion of output, the display returns to the parameter display screen.

＊ To stop issuing the parameters, press the key.

7-3. Alarm

Alarms to be given for input/output of programs or parameters as follows:

Message Nature of alarm Countermeasure

ALM15 Copy err 1 A work number was specified

to write a program but the

specified program could not be

found.

Enter a correct work number.

ALM16 Copy err 2 A work number was specified

to read a program but the

specified work number is

present in the TPC-Jr.

Check that the program to be

read is correct, and delete the

program in the TPC-Jr.

ALM20 Format err The format of a program being

read is invalid.

Check the program/parameter

file is valid for the TPC-Jr.

ALM40 SCH Rx PE Receive parity error

ALM41 SCH Rx FE Receive framing error

ALM42 SCH Rx OR Overrun error at reception

ALM43 SCH Rx FULL The receive buffer is full.

Check that the serial channel

parameter matches to the

external input/output

components and solve the

problem.

Ｐａｒａｍｅｔｅｒ

Ｉｎｐｕｔ ？

Ｐａｒａｍｅｔｅｒ

Ｏｕｔｐｕｔ ？

IV-15

7-4. Parameters

The parameters regarding serial channels are shown below:

The TPC-Jr standard set value is “Character length: 7 bits / Parity EVN / Stop bit: 1bit.”

To change the set value, enter 1 into 《Parameter 040: bit2》 and change 《Parameter 043》. 1) Serial channel baud rate

Set the same baud rate as the paper tape reader/puncher to be used.

If this parameter is not set, input or output operation of programs or parameters is not possible.

The TPC-Jr standard set value is 4800 baud. 《Parameter 050》 2) Feed space output

When issuing programs or parameters, a feed space is issued at the first and the last part.

Select when using a paper tape. 《Parameter 040: bit5》 3) XON/XOFF control on

The soft XON/OFF control with a device control code is made effective. Use this function

according to the paper tape reader/puncher specifications.

《Parameter 040: bit 4》 4) RAM operation only. The file is not replaced.

The received program is stored only in the program edit RAM in the TPC-Jr. The file

(nonvolatile store) is not changed.

《Parameter 042: bit 0》 5) RAM is completely deleted and the new programs are registered when all the programs

are read.

All the contents of the program edit RAM stored in the TPC-Jr are deleted, and the received

programs are stored. It is also possible to use this function with a combination of the function

in 5) above.

《Parameter 042: bit1》 6) The feedrate data is also issued when all the programs are issued.

The feedrate data 《F1～F9, Fmax》 is issued immediately after program data.

Note that feedrate alone cannot be issued.

《Parameter 042: bit 2》 7) FANUC PPR specifications

The software XON/XOFF control in 4) above is not available for the FANUC PPR.

Therefore, the program/parameter output results in an alarm.

To avoid the alarm, insert a waiting time between each block when issuing programs and

parameters from the TPC-Jr.

《Parameter 040: bit 6》

Set about 300 msec waiting time.

《Parameter 051》

IV-16

7-5. Paper Tape I/O Format

The paper tape I/O format can be used by setting a parameter.

The I/O code is ISO code. The program format of the TPC-Jr G series is interchangeable with the programs made with

the TPC2, 3 and the TPC-Jr E series. However, the parameter or feedrate data is not

interchangeable.

For the TPC2 and 3, the interchangeable program is restricted to the data using the decimal

system in units of 0.001 for a command unit.

7-5-1. Tape Format

1) Program format

① Beginning of tape

Assign this code at the beginning of tape. Use the “%.”

② Reader

The reader field extends after the beginning of tape “%” and continues until the first “LF” is

encountered.

This field is ignored regardless of the program. This part is dispensable.

③ Beginning of a program

The data after the first “LF” after the beginning of tape (%) is handled as a program.

④ Work number field

Set a work number “W□□□□” (a square (□) is a digit) at the beginning of the program field.

A frame between two “LF”s must be 18 characters long. When a work number is set,

therefore, 13 “SP”s (spaces) must be added.

⑤ Program field

A program is input or output with N codes omitted.

One block in the TPC-Jr block format is handled as one frame. (18 characters) When F

and/or codes are omitted in G4 to G9, add “SP”s until one frame contains 18 characters.

The units of degrees, minutes, and seconds (° ' " ) in the code are omitted. Use the letter Q

instead of the letter .

⑥ Block delimiter

Delimit blocks with an “LF.”

% ＬＦ W1234Ｓ

ＰＳＰ

ＳＰ

ＳＰ

ＳＰ・・・・・・・Ｓ

Ｐ ＬＦ G0F0R0001Q＋180・・・・・・

・・ＬＦ G0F0R0001Q＋270000Ｓ

ＰＳＰ Ｌ

Ｆ G0F0R0001Q＋090・・・・・・ＳＰ

ＳＰ ＬＦ %

①

Beginning of tape

②

Reader (ignored)③

Beginning of a program

④

Work number⑥

Block delimiter

⑤

Program

⑥

Block delimiter

⑤

Program⑥

Block delimiter

⑤

Program⑥

Block delimiter

⑦

Tape end

IV-17

⑦ End of tape

Assign this code at the end of tape to indicate the end of the tape.

Use the “%” mark as this code.

2) When two or more programs are coded:

To input or output two or more programs, specify a work number “W□□□□” (a square (□) is

a digit.) in the next frame after the end of a program.

3) Feedrate data format

Feedrate data can be output after the program field by setting a parameter.

S0 to S9 can be output. S0 is the maximum cutting feedrate.

S1 to S9 indicate the feedrates of F1 to F9.

When a feedrate is set with a feedrate (F) and a radius (R), a 6-digit feedrate and a 3-digit

radius are output.

When a feedrate is set in the form of [cmd/sec], a 6-digit feedrate is output after F (a decimal

point is omitted). 3) Parameter format

Parameter addressed N000 to P199 can be input and output. The 8-digit data for the D field is a

parameter data.

% ＬＦ W1234 ＬＦ G0 ・・・・・・ Ｌ

Ｆ G70 ・・・・・・ ＬＦ W2345 Ｌ

Ｆ G0 ・・・・・・・

・ G1・・・・・・・ＬＦ W3456 Ｌ

Ｆ G0 ・・・・・・ ＬＦ G0 ・・・・・・ Ｌ

Ｆ G7 ・・・・・・ＬＦ %

Program W1234

Program W3456Program W2345

ＬＦ S0F12345R100 ＬＦ S1F54321R100 ＬＦ S2・・・・・・ Ｌ

Ｆ S9F54321R100 ＬＦ %

F1 dataFmax data F2 data F9 data･････

% ＬＦ P000D01000010 ＬＦ P001D01000010 ＬＦ ・・・・・・ P199D10000010 ＬＦ %

Parameter N000 Parameter N001 Parameter N199･･･････

IV-18

7-5-2. Interface

CN4 is used for the serial channel interface

1) Connector pin assignment

D-sub 9-pin （Pin）

1 2 3 4 5

－ RxD TxD DTR SG

6 7 8 9

－ ― － －

2) Connection to the external I/O unit (for RS-232C specifications)

There are two kinds of optional connection cables, one is 9-pin – 25-pin and the other is 9-pin

– 9-pin. The 9-pin – 25-pin cable is designed so that it can be directly connected to the D-sub

25-pin socket on an external I/O unit to be connected.

The 9-pin “ 9-pin cable is designed so that it is connected to a personal computer, etc. When

fabricating these cables, refer to the above drawings.

Note that the total length of the cables does not exceed 5 m to conform to the RS-232C

interface standard. 【Note】 When the external I/O unit is unnecessary, remove the RS-232C cable. If they are

connected, noise will influence the operation and malfunctions may be caused.

2

3

5

RxD

TxD

SG

13

2

7

FG

RD

SD

SG

45

20

6

RS

CS

ER

DR

8 CD

D-Sub 9 pin

(Socket type)D-Sub 25 pin

(Pin type)

D-Sub 9 pin

(Socket type)D-Sub 9 pin

(Socket type)

TPC-Jr CN4 side TPC-Jr CN4 side

Connection cable (9-pin – 25-pin cable) Connection cable (9-pin – 9-pin cable)

FG

2

3

5

RxD

TxD

SG

2

3

5

FG

RD

SD

SG

78

4

6

RS

CS

ER

DR

1 CD

FG

IV-19

3) Transmission modes

The specifications of applicable transmission modes are as follows

Synchronous transmission

Start-stop transmission

Start bits 1 bit Data length 8 bits (Including the parity bit) Stop bits 2 bits Codes ISO code or EIA code

(Whether to enable or disable control code DC1~DC4 can be determined by a parameter.)

Transmission rate 50~9600 bps (The standard transmission rate is 4800bps.)

4) Control codes

XON/XOFF control is possible with a control code by setting a parameter.

DC1 Tape reader start (11H) DC2 Tape punch selection (12H) DC3 Tape reader stop (13H) DC4 Tape punch deselection (14H)

5) When the TPC-Jr sends data to an external I/O unit: (XON/XOFF control is enabled.)

6) When TPC-Jr receives data from an external I/O unit: (XON/XOFF control is enabled.)

7) Transmission time

Standard time of program transmission is calculated by the following equation:

Program transmission time (sec) ＝ Number of program blocks × 256／ baud rate

[When XON/XOFF control is enabled, the program transmission time is prolonged by the

transmission relay time.]

【Example】 When 1000 blocks are transferred at 4800 baud, the program transmission time is

approximately 54s.

Within 10 characters

DC3 DC1

TxD

RxD

On the TPC-Jr side

DC2 DC4

Within 10 characters

DC3 DC1

TxD

RxD

On the TPC-Jr side

DC3

(DC4)(DC2)

＊ It is not important whether DC2and DC4 are present

IV-20

7-6. Printing TPC-Jr Program Lists

TPC-Jr program lists can be printed on a commercially available printer.

For connection with the printer, use an RC-232C serial channel interface for CN4.

【Note】 The printer to be connected must have an RS-232C interface.

7-6-1. Procedure

The procedure for printing a list is the same as that for parameter output.

7-6-2. Parameters

To print a list on a printer, set “1” in 《parameter 040：bit1》.

The baud rate in 《Parameter 050》 must be the same as that set in the printer.

When 1 is set in 《Parameter 042: bit2》, the feedrate data is also given when all the programs

are issued.

7-6-3. Sample lists

1) Program list 2) Feedrate data list

3) Parameter data list

TPC-Jr PROGRAM LIST PAGE 1

PROGRAM NO. W0000

N000 GO F0 R004 A+090.000°

N001 G1 F0 R999 A+009999div

N002 G2 F0 R007 A-090.000°

N003 G3 F0 R010 A+000.000°

N004 G4 R000

N005 G5 R001 A1000

N006 G6

N007 G7 A000

N008 G8 A+000.000°

N009 G9 R000

TPC-Jr FEED DATA LIST

Fmax F05000mm/min R100mm

F1 F05000mm/min R100mm

F2 F02000mm/min R100mm

F3 F01000mm/min R100mm

F4 F00500mm/min R100mm

F5 F00200mm/min R100mm

F6 F00100mm/min R100mm

F7 F00050mm/min R100mm

F8 F00020mm/min R100mm

F9 F00010mm/min R100mm

TPC-Jr PARAMETER LIST PAGE 1

P000 D00000000 P001 D00000000 P002 D00000000 P003 D00000000

P004 D00000000 P005 D00000000 P006 D00000000 P007 D00000000

P008 D00000000 P009 D00000000 P010 D00000000 P011 D00000000

P012 D00000050 P013 D00000001 P014 D00000001 P015 D00000010

P016 D00000100 P017 D00000005 P018 D00000000 P019 D00000000

P020 D00000000 P021 D00000000 P022 D00000000 P023 D00000000

P024 D00000000 P025 D00000000 P026 D00000000 P027 D00000000

P028 D00000000 P028 D00000000 P029 D00000000 P030 D00000050

IV-21

8. REMOTE MODE + M

8-1. General Description

The TPC-Jr remote mode + M specification is to realize more flexible control using R-232C

serial communication.

The TPC-Jr can be directly controlled by the machining center. Therefore, the processing

programs that have been controlled separately by the machining center and the TPC-Jr can be

controlled by the machining center only.

8-2. Procedure

The commanded angle or other data is sent to the TPC-Jr using a RS-232C port on the

machining center for input and output of NC program. An M signal is used as a start signal as

usual. The diagram below shows the connection image.

Procedure

1) The angle data to move is sent using a DPRNT text to the TPC-Jr from the RS-232C port of

the machining center.

2) An M signal is sent to the TPC-Jr.

3) The TPC-Jr positions according to the angle data to move sent in 1) and sends a completion

signal to the machining center. 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. Necessary environment

An RS-232C connection cable is required. For details of a cable, refer to, “7. EXTERNAL

STORAGE OF PROGRAMS, 7-5-2. Interface.” It is also required that the NC of the machining center is provided with an RS-232C connector

and the custom macro B option (for the FANUC machine). For details, please consult a

machining center manufacturer.

8-3. Command Method

The machining center sends the angle data to move using a DPRINT text as an RS-232C

signal.

For positioning start of the TPC-Jr, an M signal is used as usual.

Ｍ／Ｃ

TPC-Jr RS-232C

M signal CN2 ←M signalFIN→

←command CN4

IV-22

8-3-1. Sample machining center program

POPEN； RS-232C port opens. G00 X100. Y200. M/C operates DPRNT[/MOVA90.]; +90 degrees absolute positioning command is sent to the TPC-Jr M70; TPC-Jr begins positioning G01 Z100. F200.; M/C operates DPRNT[/MOVA180.]; +180 degrees absolute positioning command is sent to the TPC-Jr M70; TPC-Jr begins positioning G01 Z100. F200.; M/C operates PCLOS; RS-232C port closes. M02; The program ends.

Explanation for the POPEN text, DPRNT text, and PCLOS text （For FANUC）

（For details, refer to the instruction manuals for each NC.） POPEN text

This is a command to make the RS-232C port effective. Command before the DRRNT text. DPRNT text

Letters described in [ ] are issued from the RS-232C port. Write the angle data to move the

TPC-Jr here. PCLOS text

This is the command to close the RS-232C port.

Use the POPEN text and the PCLOS text in a pair. It is not necessary to write a POPEN text

and a PCLOS text every time a DPRNT is used. Usually, it is efficient fully to write a POPEN

text at the top of the program and at the end of the program.

8-3-2. Notes

A DPRNT text buffer works even when an M code is contained in the text with some NC

specifications. Usually, the DPRNT text is not used in such a way, however, if commands

continue to be given for test purpose, enter axis operation or a dwell between the commands.

Bad sample

DPRNT[/MOVA90.]; M70; DPRNT[/MOVA180.]; M70;

Correction

DPRNT[/MOVA90.]; M70; G00 X100.; DPRNT[/MOVA180.]; M70;

Before this M70 is executed, DPRNT [/MOVA180.]; is read,

and /MOVA180. is sent at the same time the /MOVA90 is sent.

Enter other axis’s movement, and DPRNT[/MOVA180.]; is not read

before M70. A dwell data is also efficient.

IV-23

A new command sent while the TPC-Jr is in movement started by an M signal (during

positioning) is ignored.

※ ”M70” is used as an M signal to start the TPC-Jr in the sample.

Actually, make a program using an applicable M signal to be used for NC.

8-4. Command Format

The communication format sent by a DPRNT text to the TPC-Jr consists of a command filed

and a data field. DPRNT text sample

DPRNT[/MOVA+123.456];

The usable commands are shown below

Command Abbreviation Date field (note) Description

/MOVA /A or /B ±XXX.XXX Absolute positioning command

/MOVI /I or /N ±XXX.XXX Incremental positioning command

/DIV /D ±XXXXXX 360 degrees indexing command

/MZRN /Z (Not provided) Return to the first reference point command

/WZRN /W (Not provided) Return to the second reference point command

/TZRN /T (Not provided) Return to the third reference point command

/SET /S ±XXX.XXX Absolute coordinate setting command

/FEED /F 0～9 or XXXXXX. Feedrate command

8-4-1. Command abbreviation

Usually, the command field is expressed in 3 ~ 4 letters like “/MOVA,” however, only one-letter

commands can be used. Select either method with a parameter. 《Parameter 041: bit2》

Be sure to enter ‘/’ preceding the command letters.

Sample) /MOVA+90. → /A+90. or /B+90. is also accepted.

8-4-2. Data details

1) Angle data /MOVA±XXX.XXX (/MOVI or /SET is the same.)

The data field can be abbreviated as follows. However, the decimal point is indispensable.

+360.000 → +360.

-12.800 → -12.8

+0.150 → +.15

When the sign is ‘+,’ it can be omitted.

+1.5 → 1.5

Command field

Data field

IV-24

2) Indexing point number data /DIV±XXXXXX

Command in up to 6 digits.

The sign “+” can also be omitted as for the angle data. The decimal point is not necessary.

3) Feedrate data /FEEDX or /FEEDXXXXXX.

There are two methods to command the feedrate, one-digit mode that commands the feedrate

in one digit and multi-digit mode using six digits.

When the one-digit mode is selected, the feedrate stored in the TPC-Jr is used.

To command a desirable feedrate, select the multi mode. At this time, use numeric data

consisting of 2 ~ 6 digits. The unit for the feedrate is [deg/min].

The two modes are distinguished by the digits number for the data field. To clarify the

command more, enter a decimal point to the data end.

8-4-3. Command details

1) MOV command

This is a positioning command.

The “/MOVA” command is an absolute command and the “/MOVI” command is an

incremental command. Sample NC program

POPEN; DPRNT[/MOVA+90.]; M70; ………………………① G00 X100.; ………………（M/C operates.） DPRNT[/MOVI+45.]; M70; ………………………② G00 X200.; ………………（M/C operates.） M70; ………………………③ G00 X300.; ………………（M/C operates.） DPRNT[/MOVA+270.]; M70; ………………………④ G00 X400.; ………………（M/C operates） M70; ………………………⑤ PCLOS;

When the MOV command is commanded beforehand, the same positioning can be repeated

by an M signal. [②, ③ above] However, when the absolute command is used, the rotary table

is positioned to the same point [④, ⑤ above]

0°

②

270°

①

③

90°

180°

④ ⑤

IV-25

2) DIV command

This is a command to divide a circle. Enter the indexing point number for 360 degrees into the

data field. The indexing point number should be 2~6 digits. Sample NC program

POPEN;

DPRNT[/DIV+4];

M70; ………………………①

G00 X100.; ………………（M/C operates.）

M70; ………………………②

G00 X200.; ………………（M/C operates.）

M70; ………………………③

G00 X300.; ………………（M/C operates.）

M70; ………………………④

PCLOS; When the commanded indexing point number generates a fraction (such as 7 equal divisions

or 11 equal divisions), positioning is conducted not to gather the fraction in one area. If another

command like “MOV” is entered during indexing positioning, the calculation for equal division

is cleared.

3) ZRN command

This is a command to return to a reference point.

“/MZRN” means the first reference point, “/WZRN” means the second, and “/TZRN” means

the third. These ZRN commands do not require a data field.

To begin returning to the reference point, an M signal is required as the MOV command is

required. Sample NC program

POPEN;

DPRNT[/MZRN];

M70; ………………………Return to the first reference point is started.

PCLOS; （The second and the third reference points are determined in the TPC-Jr parameter mode. For

details, refer to “V. PARAMETERS.”）

4) SET command

This is a command to change the standard point of the absolute coordinate ( 0 degree point).

Enter the angle from the first reference point. For this command, an M signal is not required. Sample NC program

POPEN;

DPRNT[/SET+270.]; ……①

DPRNT[/MOVA+90.];

M70; ………………………②

PCLOS;

0°

②

270°

①

③

90°

180°

④

0°

90°

180°

②

SET＋２７０ ①

IV-26

5) FEED command

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.];

DPRNT[/FEED1000.];

IV-27

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

ＲＤＹ Ｒｅｍｏｔｅ Ｎｏ Ｃｍｄ

Ｆ０

ＲＤＹ ＭＯＶＡ ＋１８０．０００°

Ｆ０

ＲＤＹ ＭＯＶＡ ＋１８０．０００°

Ｆ１２３４． ｄｅｇ／ｍｉｎ

ＲＤＹ ＭＯＶＡ ＋１８０．０００°

Ｆ２

IV-28

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.

IV-29

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.

IV-30

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-1

V. PARAMETERS

1. SETTING PARAMETERS _____________________________________________ V-2 1-1. Preparation for Setting Parameters ___________________________________________V-2 1-2. Parameter Setting Method__________________________________________________V-2 1-3. Completing Parameter Setting ______________________________________________V-3

2. PARAMETERS ______________________________________________________ V-3 2-1. Parameter Assignment ____________________________________________________V-3 2-2. Parameters _____________________________________________________________V-4 2-3. Details of Parameters _____________________________________________________V-6

《SYSTEM PARAMETERS 000～019》 __________________________________________V-7 《I/O PARAMETERS 020～039》 ______________________________________________V-10 《SERIAL CHANNEL PARAMETERS 040～059》 _________________________________V-13 《STANDARD SERVO PARAMETERS 110～149》 ________________________________V-16 《SPECIAL SERVO PARAMETERS 150～199》 __________________________________V-26

2-4. Converting Units ________________________________________________________V-32 2-5. Setting Position of 1st Reference Point _______________________________________V-32

V-2

▼▲

2ndF 9

Ｎ 9 9 9 θ 1

CR

Ｎ

θ

CR

CR

1. SETTING PARAMETERS When using the TPC-Jr Controller together with the Rotary Table, it is necessary to set parameters so that the optimum performance and functions of the combined equipment is obtained.

1-1. Preparation for Setting Parameters

To prevent parameters from being modified by mistake, follow the procedure described below before setting parameters.

1) Mode selection

Press or key to select the 《PROG》 (program) mode. Then press and . The display screen changes to show the parameter.

The 1st line shows the parameter mode is currently selected. The N field of the 2nd line shows a parameter

address, and the θ field of the 2nd line shows parameter data.

It is possible to confirm parameters under this condition. When the key is pressed to enter a parameter, however, an alarm message of “＊ALM1 PS N” is given and parameters cannot be entered. Then, the following operations are required in order to prepare for a parameter to be entered.

2) Preparing for parameters to be entered

① Select the 《PROG》 mode and shift to the parameter display screen.

② Press the keys sequentially.

③ Press the key.

④ The program mode lamp blinks, and the screen is ready for parameter entry.

1-2. Parameter Setting Method

Enter parameters in the same manner as when entering a program. ① Press the key. Then, select a parameter address with numeric keys.

② Press the key. Then, enter parameter data with numeric keys.

③ Press the key to store the entered data.

Ｐａｒａｍｅｔｅｒ

Ｎ０００ θ００００００００

C

1-3. Completing Parameter Setting

Upon completion of parameter setting, turn off the power of the TPC-Jr or press the key to exit from the parameter screen. There are two types of parameters: online parameters that can be changed without having to turn the power off and offline parameters that can be changed only after the power is turned off once. Those online and offline parameters are respectively specified with the marks of “ON” and “OFF” in the detailed description of parameters.

2. PARAMETERS

2-1. Parameter Assignment

The TPC-Jr parameters are assigned as shown below.

Item Parameter Address Parameter Type

000～009 Bit type System

010～019 Data type 020～029 Bit type

I/O 030～039 Data type 040～049 Bit type

Serial channel 050～059 Data type

060～075

Work number set 060～075 Data type

100～109 Bit type Standard

110～149 Data type 150～159 Bit type

Servo parameters

Special 160～199 Data type

1) Bit-type parameters

Data of Some pamultiple

【Note】

2) Data-ty

Set deci

【Note 1

【Note 2

0 to ram

bits

Be

pe p

mal

】 PvS

】 B

ｂ7

9 arete

.

sure

ara

data

aramalueV De su

Ｄ

ｂ6

e sers a

to

met

in

et is ata”re t

ｂ5

t fore s

set

ers

data

er dset mao se

Ａ

ｂ4

r eaet in

0 in

-typ

atain sy bt 0

Ｔ

ｂ3

ch b a s

a b

e pa

areomee givin a

ｂ2

it ofimp

it fo

ram

no seen.

bit

Ａ

ｂ1

V-3

b0 to b7. le bit unit. The other parameters are set in a combination of

r which usage is not specified clearly.

eters.

t subject to any special data checking. When a large rvo parameters, however, an error message of “ALM36 for which usage is not specified clearly.

ｂ0

V-4

2-2. Parameters

Parameter address

Parameter Change Standard value

Factory-set value

000 System parameter function selection 1 ON 00000000 001 System parameter function selection 2 OFF 00000000 002 System parameter function selection 3 OFF 00000000 003 Reserved - 00000000 004 System parameter function selection 5 ON 00000000 005 Reserved - 00000000 010 Work number called at power ON ON 0 011 Block number called at power ON. ON 0 012 Default feeding speed by jog operation ON 1 013 Default feeding amount by jog step operation ON 1 020 Selection of extended functions OFF 00000000 021 Selection of stop/interlock input functions OFF 00000000 022 Selection of a/b contacts for external output signal OFF 00000000 023 Selection of external output signal ON 00000000 030 Pulse width for output signal 1 (FIN1) ON 50 031 Pulse width for output signal 2 (FIN2) ON 50 034 Original position signal output range 1 ON 0 035 Original position signal output range 2 ON 0 036 Reserved - 0 037 Reserved - 0 038 Delayed time for reading B signal input ON 0 039 Contrast data ON 8 040 Selection of serial channel code ON 00000000 041 Selection of serial channel remote mode OFF 00000000 042 Selection of serial channel control ON 00000000 043 Selection of serial channel operation ON 00000000 050 Serial channel baud rate ON 4800 051 Waiting time for using FANUC PPR ON 0 052 Reserved - 0 060 Work number for B signal data 0 ON 0 061 Work number for B signal data 1 ON 100 062 Work number for B signal data 2 ON 200 063 Work number for B signal data 3 ON 300 064 Work number for B signal data 4 ON 400 065 Work number for B signal data 5 ON 500 066 Work number for B signal data 6 ON 600 067 Work number for B signal data 7 ON 700 068 Work number for B signal data 8 ON 800 069 Work number for B signal data 9 ON 900 070 Work number for B signal data 10 ON 1000 071 Work number for B signal data 11 ON 1100 072 Work number for B signal data 12 ON 1200 073 Work number for B signal data 13 ON 1300 074 Work number for B signal data 14 ON 1400 075 Work number for B signal data 15 ON 1500

V-5

Parameter

address Parameter Change Standard

value Factory-set

value

100 Servo specification selection 1 OFF 00000010 101 Servo specification selection 2 OFF 00000000 102 Servo specification selection 3 OFF 00000000 103 Servo specification selection 4 OFF 00000002 104 Servo specification selection 5 OFF 00000110 105 Reserved - 00000000 106 Reserved - 00000000 110 Position loop gain ON 60 111 Speed loop gain ON 60 112 Speed loop integral time constant ON 1000 113 Load inertia ratio ON 0 114 Speed bias ON 0 115 Speed bias summing width ON 7 116 Total reduction ratio OFF 60 117 Numerator of electronic gear ratio OFF 1500 118 Denominator of electronic gear ratio OFF 16384 119 Multi-turn limit OFF 59 120 Positioning completion range ON 10 121 Over-flow level for positioning deviation

counter ON 40

122 Maximum motor feedrate ON 3000 123 Acceleration/deceleration time ON 200 124 Reserved - 0 125 Reserved - 0 126 Reserved - 0 127 Backlash compensation amount ON 0 128 2nd reference point ON 0 129 3rd reference point ON 0 130 Soft limit in the positive direction ON 0 131 Soft limit in the negative direction ON 0 132 Over-travelling amount during

one-directional positioning ON -2000

133 Waiting time for clamping ON 200 134 Waiting time for unclamping ON 100 135 P operation timing ON 1000 136 P operation torque level ON 70 137 Clamping/unclamping completion time-out ON 20 138 Reserved - 0 139 Reserved - 0 150 Servo specification selection 6 OFF 00000000 151 Servo specification selection 7 OFF 00000004 152 Servo specification selection 8 OFF 00000000

V-6

Parameter

address Parameter Change Standard

value Factory-set

value

160 2nd position loop gain ON 40 161 2nd speed loop gain ON 40 162 2nd speed loop integral time constant ON 2000 163 Feed forward gain ON 0 164 Feed forward filter time constant ON 0 165 Mode switch operation level:

Torque command ON 200

166 Mode switch operation level: Speed command

ON 3000

167 Mode switch operation level: Acceleration

ON 0

168 Mode switch operation level: Deviation pulse

ON 0

169 Speed feedback compensation ON 100 170 Torque command filter ON 100 171 Torque limit in forward operation ON 800 172 Torque limit in reverse operation ON 800 173 Emergency stop torque ON 800 174 Operation retaining time at instantaneous

power failure ON 20

175 Regenerative resistance capacity OFF 0 176 Notch filter switch ON 0 177 Notch filter frequency ON 2000 178 Reserved - 0 179 Reserved - 0 200 Offset amount for an absolute encoder

（ABSRN) OFF (auto-set)

201 Offset amount for an absolute encoder（ABSPS)

OFF (auto-set)

2-3. Details of Parameters

For a parameter displayed in a solid field , set a value with a decimal number.

For a parameter displayed in a segmented field , set a value of 0 to 9 for each bit of b0 to b7.

Be sure to set 0 for a parameter for which usage is not specified clearly. Parameters marked with (ON) designate online parameters. Parameters marked with (OFF) designate offline parameters. The value of each parameter remains unchanged until the power is turned off. The value in brackets is a related parameter address.

（ON）

（OFF）

《SYSTEM PARAMETERS 000～019》

AUT 0: CHECK mode is se 1: AUTO mode is sele WME 0: Work number call a 1: Work number call a WNS 0: The specified work 1: The specified work BNS 0: The specified block 1: The specified block NOW 0: Work number is au 1: Work number is noPWP 0: Programs are write 1: Programs are not w

ABS: Command type selectio 0: Mixture of absolute ty 1: Incremental 2: Absolute 3: Short-cut absolute CPS: Feedrate setting

0: Specify radius （Rmm 1: Specify command un

7 6 5 4 3

P

0 0 0 PWP NOW BNS WNS WM

Parameter address

7 6 5 4

0 0 1

V-7

lected at power ON. cted at power ON.

t power OFF is disabled. t power OFF is enabled.

number (W) is not called at power ON. number (W) is called at power ON. [

number (N) is not called at power ON. number (N) is called at power ON [

tomatically displayed. t automatically displayed. -protected. rite-protected.

Standard setting:00000000

n pe and incremental type

) and speed （Fmm/min). it/second （cmd/min).

Standard setting: 00000000

2 1 0 bit No.

arameter R

E AUT

3 2 1 0 bit No.

CPS ABS

elated parameters

010]

011]

（OFF）

（ON）

NCL 0: The clamp function is 1: The clamp function is NLSC 0: The LS signal is chec 1: The LS signal is chec 2: The LS signal is

unclamping. NLSU 0: The LS signal is chec 1: The LS signal is not c PCN: P operation change whe

0: Auto-switching 1: Sw2: No switching 3: Se

JPC Gain while stopping in jo 0: Nothing 1: Fo CLR 0: Exciting the clamp so 1: Exciting the clamp so

NAG 0: When executing G9R00

automatically. 1: When executing G9R00

automatically. AZS 0: When executing G9R00

automatically set. 1: When executing G9R00

automatically set. WPM 0: When setting the 2nd re

the 2nd・F + WZRN key 1: When setting the 2nd re

the 2nd・F + WZRN keyMLK 0: Machine lock operation 1: Machine lock operation

PParameter address

7 6 5 4 3

0 0 2 CLR JPC PC

7 6 5 4 3

0 0 4 MLK WPM AZS NA

V-8

enabled. disabled.

ked when clamping/unclamping. ked only when clamping. not checked either when clamping or

ked when unclamping. hecked when unclamping.

n clamping itching is possible at any time. rvo-OFF is possible at any time.

g mode operation llow PCN.

lenoid valve when ON-clamping lenoid valve when OFF-clamping

Standard setting:00000000

00, programming goes forward

00, programming does not go forward

00, the 2nd reference point is not

00, the 2nd reference point is

ference point in jog mode operation by s, parameter 128 is not rewritten. ference point in jog mode operation by s, parameter 128 is rewritten. is possible. is not possible.

Standard setting: 00000000

arameter R

2 1 0 bit No.

N NLSC NCL

[1Leop

2 1 0 bit No.

G

elated parameters

35］[136］ vel setting when P eration/gain is switched.

（ON）

（ON）

（ON）

（ON）

WNO Work number called at pSetting range: 0～99

BNO Block number called at pSetting range: 0～99

JSPD Default feedrate of jog oSet the feedrate for thSet the feedrate in theSetting range: 1～9

JSTP Default value of feedingSet the feeding amou

Set the feeding amouThe actual set value isSetting range: 1～99

P

0 1 0 W N

Parameter address

0 1 1 B N

0 1 2 J S P

0 1 3 J S T

V-9

ower ON. [099

Standard setting: 0

ower ON. [09

Standard setting: 0

peration. e jog mode. range of F1 ~ F9.

Standard setting: 1

amount in jog step feeding. nt for jog mode.

nt in the range of 0 ~ 9.999°. the feeding amount x 1000. 99

Standard setting: 1

arameter R

O

O

D

P

elated parameters

00] 00]

V-10

（OFF）

（OFF）

《I/O PARAMETERS 020～039》

EZRN: External zero return function

0: OFF 1: ON EWNS: External work number setting function [ 0: OFF 1: ON Binary mode [ 2: ON M mode [

Standard setting: 00000000

STP External stopping function 0:OFF 1:ON（To enter b-contact.) 2:ON（To enter a-contact.) IL External interlocking function 0:OFF 1:ON（To enter b-contact.) 2:ON（To enter a-contact.) SPER: Remainder when external stopping function is performed.

0:Not to be preserved. 1:To be preserved. EXTP: External input signal power supply switching

0:Internal power supply 1:External power supply Standard setting: 00000000

7 6 5 4 3 2 1 0 bit No.

Parameter Related parameters

0 2 0 EWNS EZRN

Parameter address

7 6 5 4 3 2 1 0 bit No.

0 2 1 EXTP SPER IL STP

FfEF

TeTs

or details of each unction, refer to “IV XTENDED

038]

060] ~ [075] 060] ~ [075]

UNCTIONS”.

he STP and the IL are xclusive mutually. hey can not be on at the ame time.

（OFF）

（ON）

Selecting external output signa

0: a-contact (Normally o1: b-contact (Normally c

FIN1 Positioning completion oFIN2 Positioning completion oLVL Output to indicate that pALM Alarm output

G7O Completion output signa 0: No output 1: FI ORGO : The original position ou 0: OFF 1: ON（FIN4 ou WSO Completion output signa 0: FIN1 output 1: FI EZO Completion output signa 0: FIN1 output 1: FI G3O Completion output form 0: Output only before po 1: Output only after posi 2: Output either before o G3LV LVL output form to indica

（lead cutting command) 0: Output 1: No output ATO FIN2 output is used as a 0: Used. 1: Not used.

7 6 5 4 3

P

0 2 2 AL

Parameter address

7 6 5 4 3

0 2 3 ATO G3LV G3O EZO

V-11

l contact pen contact) losed contact) utput signal 1 utput signal 2 ositioning is in progress.

Standard setting: 00000000

l for G7（program end) N1 output 2: FIN2 output

tput signal tput)

l for external work number set N1 output 2: FIN2 output

l for external zero returning N1 output 2: FIN2 output

for G3（lead cutting command) sitioning begins. tioning is completed. r after positioning

te that positioning for G3 is in progress.

AUTO mode selecting signal.

Standard setting: 00000000

2 1 0 bit No.

arameter R

M LVL FIN2 FIN1

2 1 0 bit No.

WSO ORGO G7O

WhtheWJno Thpobysig

If is poou

elated parameters

a normally closed contact selected when TPC-Jr

wer supply is OFF, the tput is off.

en the ATO is used, FIN2 output for G70, O. RSO, or EZO can

t be selected.

e machine original sition output is made the LVL fixed output nal.

（ON）

（ON）

（ON）

（ON）

（ON）

（ON）

OPS Pulse width for positioniOPS1: Positioning coOPS2: Positioning co

Setting range: 10～9

ORG1, ORG2: Setting the rang【Example 1】 ORG1=350° ORG2＝10°

Set coordinate position baseSet the value by a commandassigned to ORG1 and ORG

Setting range: 0～36

BDLY Delayed reading time fowhen the external work Setting range: 0～500

CONT A contrast value for the The smaller the value isThe bigger the value is,

Setting range: 0～15

PParameter address

0 3 0 O P S

0 3 4 O R G

0 3 1 O P S

0 3 5 O R G

0 3 8 B D L

0 3 9 C O N

V-12

ng completion output signal mpletion output signal （FIN1) mpletion output signal （FIN2) 999 [msec]

Standard setting: 50

e of the original position signal output. 【Example 2】

ORG1= 10° ORG2＝350°

d on the 1st reference point. unit. When the same value is 2, a point is set rather than a range. 0000 [command unit]

Standard setting: 0

r entering B signal in unit of [msec] number set function is in use. [0[msec]

Standard setting: 0

display screen , the darker the display becomes. the brighter the display becomes.

Standard setting: 8

arameter R

1

1

Foto unCo

FoorouEXSe

2

2

Y

T

ForeSe

elated parameters

r details about an angle a value in a command it, refer to “Section 2.4 nverting Units”.

r details about machine iginal position signal tput, refer to “IV TENDED FUNCTIONS, ction 5”.

20]

r contrast adjustment,

fer to “III OPERATIONS, ction 5-15”.

V-13

（ON）

（OFF）

《SERIAL CHANNEL PARAMETERS 040～059》

PRN Listing function

0: OFF 1: ON OTR Changing serial channel transfer parameter [043] 0: OFF 1: ON XON Serial channel XON/XOFF control function 0: OFF 1: ON FSP When output is on paper tape, feed spaces are output at

the beginning and end. 0: No feed spaces. 1: Add feed spaces. PPR FANUC PPR special specification [051] 0: OFF 1: For PPR CTLZ Ctrl-Z code is output at the end of the serial data. 0: No Ctrl-Z code. 1: Add Ctrl-Z code.

Standard setting: 00000000

For remote mode operation selection. 【Note】 Set the parameters only for remote mode specifications.

Normally, this setting is not necessary. REM Remote mode specification

0: OFF 1: ON +M +M specification

0: OFF 1: ON ELL Command abbreviation function

0: OFF 1: ON FXD Fixed data entering function

0: OFF 1: ON RED Data handling after operation

0: Not clear 1: Clear Standard setting: 00000000

7 6 5 4 3 2 1 0 bit No.

Parameter Related parameters

0 4 0 CTLZ PPR FSP XON OTR PRN

Parameter address

7 6 5 4 3 2 1 0 bit No.

0 4 1 RED FXD ELL ＋M REM

For details of remote mode, refer to “IV EXTENDED FUNCTIONS Section 8 Remote Mode + M”.

（ON）

（ON）

（ON）

（ON）

For serial channel control selecNOF Program file

0: The file is rewritten1: The file is only for R

ACL Program entered from th

0: The contents of edi （Normal operation)1: The contents of edi

FED Feedrate data when “All

0: The feedrate data is1: The feedrate data is

For serial channel transfer. 【Note】 Normally, there is no

To set this parameter to on

CAR Serial channel characte10: 7bit 11: 8bit

PEN Serial channel parity

00: No parity 10: Odd n STP Serial channel stop bit le

01: 1bit 10: 1.5bit 1

BPS Serial channel baud rateSetting range: 9～96

ＳＦＸ Waiting time for using thSetting range: 0～99

7 6 5 4 3

P

0 4 2

Parameter address

7 6 5 4 3

0 4 3 STP PEN

0 5 0 B P

0 5 1 Ｓ Ｆ

V-14

tion.

.（Normal operation) AM operation, and is not rewritten.

e serial channel t RAM are not deleted. t RAM are completely deleted.

output” program is selected. not output. also output simultaneously.

Standard setting: 00000000

[0need to set these parameters. , set ‘1’ to “PRM040: OTR.”

r length

umber parity 11: Even number parity

ngth 1: 2bit

Standard setting: 00000000

00 [bps]

Standard setting: 4800

e FANUC PPR. 99 [msec]

Standard setting: 0

2 1 0 bit No.

arameter R

FED ACL NOF

2 1 0 bit No.

CAR

S

Ｘ

elated parameters

40]

（ON）

（ON）

WS0 ～ WS15

The work number cvalue when the exterSetting range: 0～9For the standard set

Parameter address

0 6 0 W S

0 7 5 W S

V-15

orresponding to the B signal input nal work number set function is used. 999 value, refer to “2-2. Parameters.”

Parameter

0

15

Related parameters

（OFF）

（OFF）

（OFF）

《STANDARD SERVO PARAMETERS 110～149》

CCW 0: The motor turns for (+

1: The motor turns for (- CTL Control system

Be sure to enter 1 for t

SL 0:Soft limit function is di

1:Soft limit function is en 【 Note 】 To use the soft li

multi-return limit value to OT 0: Over-travelling functio

1: Over-travelling functio

ENC Motor encoder specifica

0: Absolute encoder 1: Incremental encoder

7 6 5 4 3

P

1 0 0

Parameter address

7 6 5 4 3

1 0 1 OT

7 6 5 4 3

1 0 2

V-16

Pn

) direction in response to a (+) command. ) direction in response to a (+) command.

his parameter.

Standard setting: 00000010

sabled. [1abled. [1

mit function, set the PRM119: MTL 65535.

n is disabled. n is enabled.

Standard setting: 00000000

Pn

tion

Standard setting: 00000000

2 1 0 bit No.

arameter R

CTL CCW

2 1 0 bit No.

SL

2 1 0 bit No.

ENC

000

elated parameters

30][131] 19]

002

（OFF）

（OFF）

ATUN：Servo gain auto-tuning

0：Auto-tuning is perform1：Auto-tuning is normall2：Auto-tuning is not per

CLPP: Servo amplifier error cou

0: H level 1: First transition edge 2: L level 3: Last transition edge

CLCN: Servo deviation counter

0: An error pulse is clea1: An error pulse is n

turned off. Follow the standard setting to u

7 6 5 4 3

P

1 0 3

Parameter address

7 6 5 4 3

1 0 4

V-17

Pn

ed only at an initial operation. y performed. formed.

Standard setting: 00000002

Pn

nter clearing signal

clearing operation red when the servo amplifier is turned off. ot cleared when the servo amplifier is

se CLPP and CLCN normally.

Standard setting: 00000110

2 1 0 bit No.

arameter R

ATUN

2 1 0 bit No.

CLCN CLPP

110

elated parameters

200

（ON）

（ON）

（ON）

KP Servo position loop gainThis parameter is to dloop. Normally, when response is obtained.condition of the RotarSetting range: 1～20

KV Servo speed loop gain. This parameter is to dNormally, when a largis obtained. However,unreasonably large vaSetting range: 1～20

TI Servo speed loop integrThis parameter relateNormally, when a smais obtained. However,unreasonably small vaSetting range: 15～5

PParameter address

1 1 0 K P

1 1 1 K V

1 1 2 T I

V-18

Pn

. etermine the response of a position a bigger value is entered, a better However, properties and load y Table may give a limit to the response. 0 [sec‐1]

Standard setting: 60

Pn

etermine the response of a speed loop. er value is entered, a better response when the parameter is set at an lue, vibration may occur. 00[Hz]

Standard setting: 60

Pn

al time constant s to a speed loop. ller value is entered, a better response when the parameter is set at an lue, vibration may occur. 1200[×0.01 ms]

Standard setting: 1000

arameter R

102

elated parameters

100

101

（

（

（

Pn103 1 1 3 I N

Parameter Related parametersParameter address

ON）

ON） IN Loaded inertia ratio

The motor shaft conversion inertia at the load side is set in proportion to the servo motor rotor inertia, according to the calculation as follows.

The table below shows servo motor rotor inertia.

Rotor Inertia MODEL TPC-Jr-＊ [kg･m2 x 10-4] [gf･cm･s2] G2 0.331 0.338 G3 2.10 2.14

Setting range: 0～10000[％] Standard setting: 0

Pn107

BIS Speed bias setting Setting range: 0～450 [rpm]

Standard setting: 0

Pn108

Loaded inertia ratio＝ ×100[%] Motor shaft conversion inertia

Rotor inertia

1 1 4 B I S

1 1 5 B S A

V-19

ON） BSA Speed bias summing width

Setting range: 0～250 [command unit] Standard setting: 7

※Speed bias

A bias given to a speed command inside the servo makes it possible to reduce a stationary time for the positioning control. When the bias is set at an unreasonably high value, vibration may occur.

（OFF）

（

（

（

Pn107

TRDR Total reduction ratio [119] For setting total reduction ratio of the Rotary Table. Set the parameter in accordance with the total reduction ratio of the Rotary Table in use. Setting range: 36～360

Standard setting: 60

Pn203

1 1 6 T R D R

1 1 7 R A T A

Parameter Related parametersParameter address

OFF）

RATA Numerator of the electronic gear ratio [001]

Pn202 1 1 8 R A T B

OFF）

RATB Denominator of the electronic gear ratio [001] The value of RATA and RATB changes subject to the reduction ratio of the Rotary Table and a command unit, as listed in the table below.

Reduction ratio RATＡ RATB

360 250 16384240 375 16384180 500 16384120 750 16384

90 1000 1638472 1250 1638460 1500 1638445 2000 1638436 2500 16384

The value shown in the columns which correspond to the reduction ratio 120 and decimal 0.001°in the above table is for the standard setting.

Pn205

1 1 9 M T L

V-20

OFF） MTL Multi-turn limit [116] This parameter is set when driving an infinite shaft as is the case of the Rotary Table. It makes an absolute encoder return to “0”, when the Rotary Table turns 360°. Set the value which equals to the total reduction ratio (TRDR) minus 1. [101] Models that use the soft limit or the overtravel function like those with a tilting-axis, etc. do not use the multi-turn limit. For these cases, set 65535. The mode will be the straight axis mode.

Setting range: 0～65535 Standard setting: 59

Tr

his value is for the total

eduction ratio of 60.

（ON）

（ON）

（ON）

COIN In-position width of the sWhen the current postarget position ±COIparameter), servo posSetting range: 1～25

OVRLV: Overflow detection levOnce the servo pvalue, an alarm mThe parameter is

Reduction ratio

OVR

360 240 180 120

90 72 60 45 36

MXSPD: Maximum motor feedrThis is the speed wheshaft revolution. Thetypes of the TPC-Jr.

Setting range: 1～3

1 2 0 C O I

PParameter address

1 2 1 O V R

1 2 2 M X S

OVRLV＝ RATA60×

V-21

Pn

ervo position deviation counter. ition is set within the range of the N (the value specified by this itioning is regarded completed. 0 [command unit]

Standard setting: 10

Pn

el of the servo position deviation counter [1osition deviation counter exceeds this [1essage of “ALM92 SV OF” is given. in units of x256 command unit.

LV

1015203040404080

100

Standard setting: 40

ate n positioning (F0). It is set by the motor

setting range may vary depending on

000[rpm] Standard setting: 2000

N

arameter R

L V

P D

×3 ×4×MXSPD KP×256

DTscDslRv

MXThthe Hova1/7MXreMX

500

505

elated parameters

10][117] 22]

SPD = 3000 e calculated value when KP = 60.

wever, note that the lue for the reduction ratio 2 is calculated with SPD = 2500, and the

duction ratio 1/60 is with SPD = 2000.

epending on the Rotary able to be applied, the tandard set value hanges. epending on the pecifications or the

oading conditions of the otary Table, the maximum alue may not be reached.

V-22

（ON）

（ON）

（ON）

LINT Linear acceleration/deceleration time

The linear acceleration/deceleration time is set. If this value is small, the acceleration and deceleration constant will be large. Setting range: 1～30000 x 0.1 [rpm/ms]

Standard setting: 200

BRPLS Backlash compensation amount

The compensation amount is set in a command unit. Setting range: 0～1000 [command unit]

Standard setting: 0

WZRN The position of the 2nd reference point TZRN The position of the 3rd reference point

Respectively for the positions of the 2nd and 3rd reference points. Set their coordinate positions assuming that the 1st reference point is regarded as “0”. Set the value by a command unit. Setting range: ±0～±360000 [command unit]

Standard setting: ＋0

1 2 3 L I N T

Parameter Related parametersParameter address

1 2 7 B R P L S

1 2 8 W Z R N

1 2 9 T Z R N

For converting an angle to a command unit, refer to “Section 2.4 converting Units”.

Pn30D Motor rotation acceleration per 1 msec. The standard set value is 20 rpm/1 ms = 3000 rpm/150 ms x 10

（ON）

（ON）

PSL Soft limit in the positive NSL Soft limit in the negative

Set their coordinate preference point is regaSet the value by a comSetting range: ±0～

MOV1 Over-travelling amount dSet the value by a comWhen the prefixed valin the positive directioin the negative directioUsually, set about 2°. Setting range: ±0～±

1 3 0 P S

PParameter address

1 3 1 N S

1 3 2 M O V

(+) command

(-) com

MOV1

When MOV1 is minus.

V-23

direction [1 direction ositions assuming that the 1st rded as “0”. mand unit.

±360000 [command unit] Standard setting: ＋0

uring one-directional positioning. mand unit.

ue code is minus(-), positioning is n. When it is plus(+), positioning is n.

50000 [command unit] Standard setting: -2000

L

arameter R

L

1

mand

(+) command

(-) command

MOV1

When MOV1 is plus.

Fttco

Foto to con

elated parameters

01]

r converting an angle a command unit, refer “Section 2.4 verting Units”.

or converting an angle o a command unit, refer o “Section 2.4

nverting Units”.

（ON）

（ON）

（ON）

（ON）

CMPWT: Waiting time for clampThe delayed time aftepositioning until the clSet a value of 200[mstype, and 50[ms] for thSetting range: 0～10

UCMWT: Waiting time for unclaThe delayed time afteRotary Table until the Set a value of 100[mstype, and 250[ms] for Setting range: 0～10

PCWT: P operation timing The delayed time afteRotary Table until the is automatically execusampling time to monSetting range: 0～10

PLVL P operation torque levelAfter the completion ois monitored at every than prefixed, P operaSet the value in proporegarded as 100%. Setting range: 0～10

1 3 3 C M P

P

1 3 4 U C M

1 3 5 P C W

1 3 6 P L V

Parameter address

V-24

ing r the completion of the servo amping output for the Rotary Table. ] for the Rotary Table of air clamping at of hydraulic clamping type.

000 [ms] Standard setting: 200

mping r the completion of unclamping the start of the servo motor. ] for the Rotary Table of air clamping that of hydraulic clamping type. 000 [ms]

Standard setting: 100

[0r the completion of clamping the start of P operation. When P operation ted, this parameter is served for itor the torque. 000 [ms]

Standard setting: 1000

[0f clamping the Rotary Table, torque PCWT timing. When torque is higher tion starts automatically. rtion to the rated torque which is

0[％] Standard setting: 70

W T

arameter

W T

ThdeRo

TdRo

T

L

R

elated parameters

is value may vary pending on the type of tary Tables.

tary Tables.

02]

his value may vary epending on the type of

02]

V-25

（ON）

ＣＬＴＩＭ Clamping/unclamping completion time-out The monitoring time to check the completion of clamping or unclamping the Rotary Table. When a completion signal for clamping/unclamping is not returned, an alarm message of “ALM18 CL time out” is given. When the value is set as “0”, time-out checking is not executed. Setting range: 0～60[s]

Standard setting: 20

1 3 7 Ｃ Ｌ Ｔ Ｉ Ｍ

Parameter Related parametersParameter address

（OFF）

（OFF）

（OFF）

《SPECIAL SERVO PARAMETERS 150～199》

AODB The method of stopping

0: Dynamic braking 1: Free operation after a2: Free operation

OTDB The method of stopping

0: Follow AODB. 1: Torque stopping 2: Free operation after to

MSW Mode switch

0: Torque level 2: Acceleration level 4: OFF

SLOP Speed loop control

0: PI control

CZR Returning direction to th0: Follow the coordinate1: Take shorter ways to

PIZ Returning direction to th

0: Normal operation 1: One-directional positi

（This operation is conto enable one-directio

ZPR Returning to the 1st refe

0: Returning operation is1: Returning operation is Only a completion sig

7 6 5 4 3

P

1 5 0

Ｐａｒａｍｅｔｅｒ address

7 6 5 4 3

1 5 1

7 6 5 4 31 5 2 ZPR PI

V-26

Pn

at Servo OFF/Servo Alarm

stop by dynamic braking

at Over-travelling

rque stopping

Standard setting: 00000000

Pn

1: Speed level [13: Deviation level [1

1: IP control

Standard setting: 00000004

e 1st, 2nd and 3rd reference points. positions. operate.

e 1st, 2nd and 3rd reference points.

oning operation ducted without executing G9R0008 nal positioning.)

rence point at the position of 0°. executed. not executed.

nal is output.

Standard setting: 00000000

2 1 0 bit No.

arameter R

OTDB AODB

2 1 0 bit No.

SLOP MSW

2 1 0 bit No.Z CZR

001

elated parameters

10B

65][166] 67][168]

（ON）

（ON）

（ON）

（ON）

（ON）

KP2 2nd servo position loop The position loop gain aSetting range: 1～200[

KV2 2nd servo speed loop gaThe speed loop gain at Setting range: 1～2000

TI2 2nd servo speed loop inThe speed loop integralSetting range: 15～512

※ Usually, the second loop gai

FFG Feed forward gain The feed forward compeThis parameter is used If it is set at an unreason

Setting range: 0～10

FFF Feed forward filter Set this parameter in over-shooting at acceoccur at feed forward Setting range: 0～64

PParameter address PParameter address

1 6 0 K P

1 6 1 K V

1 6 2 T I 2

1 6 3 F F G

1 6 4 F F

V-27

Pn

gain t stopping. sec‐1]

Standard setting: 40

Pn

in stopping. [Hz]

Standard setting: 40

Pn

tegral time constant time constant at stopping. 00[×0.01 ms]

Standard setting: 2000

n is not used.

Pn

nsation is given to the position control. to shorten positioning time. ably higher value, oscillation may occur. 0[％]

Standard setting: 0

Pn

order to avoid an unstable operation like leration or deceleration, which may operation. 00[×0.01ms]

Standard setting: 0

arameter Rarameter R

2

2

F

106

elated parameterselated parameters

104

105

109

10A

（ON）

（ON）

（ON）

（ON）

（ON）

（ON）

Mode switch operation level Set the mode switch detection lof MSW in the parameter 151 BWhen the value exceeds the deshifts from the PI operation to thMSWT: Torque command

Setting range: 0～800[MSWS: Speed command

Setting range: 0～3000MSWA: Acceleration

Setting range: 0～3000MSWE: Deviation pulse

Setting range: 0～1000

VFC Speed feedback compeWhen the speed feedposition loop gain andIf it is set at an unreasoccur. Setting range: 1～50

TCF Torque command filter tSet this time constantthe mechanical parts.If it is set at a higher vSetting range: 0～65

P

1 6 5 M S W

1 7 0 T C

1 6 6 M S W

1 6 7 M S W

1 6 8 M S W

1 6 9 V F

Parameter address

V-28

Pn

Pn

Pn

Pn

[1evel according to the contents it No. 0. tection level, the servo speed loop e P operation.

％] Standard setting: 200

[rpm] Standard setting: 3000

[×10r/min/s] Standard setting: 0

0[Pulse] Standard setting: 0

Pn

nsation back compensation is applied, the speed loop gain is apparently raised. onably smaller value, oscillation may

0[％] Setting range: 100

Pn

ime constant when twisting resonance occurs in alue, the resonance may disappear. 535[×0.01 ms]

Standard setting: 100

arameter R

T

F

S

A

E

C

10C

elated parameters

10D

10E

10F

51]

111

401

V-29

（ON）

（ON）

（OFF）

（ON）

Pn402 Pn403

TLMF Torque limit in forward rotation TLMR Torque limit in reverse rotation

Usually set the maximum value. Setting range: 1～800[％]

Standard setting: 800 Pn406

TLME: Emergency stop torque Emergency stop torque can be set. Enter “1” or “2” in OTDB of the parameter 150, and then the stop is executed at this prefixed torque. Usually set the maximum value. Setting range: 1～800[％]

Standard setting: 800 Pn509

PCFT Operation retaining time at instantaneous power failure At an instantaneous power failure of duration within this prefixed time, the servo main circuit retains its operations. However, if too big load is engaged, an alarm message of “ALM68 SV UV” is given. Further, in case of an instantaneous power failure lasting 1.5 cycles or more, the system checking function does not work under this prefixed value, and an alarm message of “Power down.” is given. Setting range: 20～100[ms]

Standard setting: 20 Pn600

RDBC: Regenerative resistance capacity Set the value when using a regenerative resistance which is externally installed. Set the value at “0”, because it is normal to use a built-in regenerative resistance. Setting range: 0～(Value depends on types of the TPC-Jr)[W]

Standard setting: 0

Parameter address Related parametersParameter address

1 7 1 T L M F

1 7 3 T L M E

1 7 4 P C F T

1 7 5 R D B C

1 7 2 T L M R

（ON）

（ON）

TLSW: Notch filter switch

NTFL Notch filter frequency Set the value when viWhen the value is setfrequency, the vibratioEnter “1” in “TLSW” oa notch filter is appliedSetting range: 50～2

PParameter address

1 7 6 T L S

1 7 7 N T F

V-30

Pn

Standard setting: 0

Pn

bration occurs in the mechanical parts. in accordance with the vibration n may be eliminated. f parameter 176 when . 000[Hz]

Standard setting: 2000

arameter R

W

L

408

409

elated parameters

（OFF）

（OFF）

The offset value of the 1st referThis value is automatically set wreference point. (Refer to ChapDo not change this value care ＡＢＳＲＮ Offset amount

Setting range ＡＢＳＰＳ Offset amount

Setting range

PParameter address PParameter address

2 0 0 Ａ Ｂ Ｓ Ｒ

2 0 1 Ａ Ｂ Ｓ Ｐ

V-31

ence point for an absolute encoder. hen operating the return to the 1st

ter 2-5.) lessly even though it can be rewritten.

for total number of the motor shaft rotation. : 0～MTL

for one motor shaft rotation : 0～65535

arameter Rarameter R

Ｎ

Ｓ

elated parameterselated parameters

V-32

92ndF

19Ｎ θ CR9 9

2ndF

CR

▼ ▲

▼▲

M ZRN

2-4. Converting Units

Moving amounts such as soft limits are set in parameters by command units. The method of converting command units is as described below.

ABC. DEF°→ ABC. DEF° x 1000 (Example) For the case of 12.34°

12.34 x 1000＝12340[command unit]

2-5. Setting Position of 1st Reference Point

An absolute encoder is applied to the motor detector of the TPC-Jr. The lithium battery is used as a backup power for the encoder. Follow the procedures as follows to set the position of the 1st reference point.

※ For an absolute encoder, refer to “VI MAINTENANCE, 7. Absolute Encoder”.

1) Turn on the power for the TPC-Jr. 2) Select the HANDLE mode with the or key. Fix the position of the 1st reference

point using a dial gauge. Be sure to fix the position in the positive direction. If the position is fixed in the negative direction, backlash compensation is executed to result in incorrect positioning.（Some special cases such as operating the Rotary Table with tilting axis are exceptional.)

3) Select the PROG mode with the or key.

4) Switch to the parameter setting screen with the + keys. Then, conduct the key

operations of sequentially to enable parameter change

5) Press the and keys, and then the

position of the 1st reference point is shown on the display screen.

6) Press the key to store the 1st reference point position.

7) Turn off the power for the TPC-Jr.

8) Turn on the power again to return to the 1st reference point, and check the position.

※ The 1st reference point position is stored in parameters 200 and 201.

Parameter 200 stores the offset amount of [0～±MTL] for the total number of motor shaft rotation which relates to the 1st reference point. Parameter 201 stores the offset amount of [0～65535] for one motor shaft rotation. Do not change the values carelessly although it is possible to change or rewrite them in parameter mode operation.

Ｐａｒａｍｅｔｅｒ

ＭＺＲＮ Ｐｏｓｉｔｉｏｎ ｓｅｔ ？

V-33

９2ndF

１９Ｎ θ CR９９

2ndF

CR

▼▲

Ｃ

５

※ If the absolute encoder alarm is given: When the motor is mounted for the first time, or the lithium battery is removed for maintenance, the servo encoder backup alarm “ALM75 SV ENC BU” is given. When the reduction ratio of a parameter and the multi-turn limit value is changed, “*ALM91 SV EC MTL” is displayed. If any of these alarms relating to the absolute encoder is given, reset the absolute encoder following the procedure below.

※ For the explanation of the absolute encoder, refer to “VI. MAINTENANCE, 7. Absolute Encoder.”

1) Turn on the power for the TPC-Jr. “ALM75 SV ENC BU” or another message is indicated.

2) Clear the alarm with the key.

3) Select the program mode with the or the key.

4) Switch the display to the parameter setting display with the + keys. Then, conduct

the key operations of sequentially, to enable the

parameter change.

5) Press the + keys, and the absolute encoder

reset is displayed.

6) Press the key to reset the absolute encoder.

7) Turn off the power for the TPC-Jr.

8) Turn on the power again to confirm that the alarm is not indicated.

9) Set the first reference point following the procedure in “2-5. Setting Position of 1st Reference

Point.” ※Current position indication when the power is turned on.

The current position is indicated in a plus value when the power is turned off and on between the absolute position of 0 ~ 180 degrees. When the power is turned off and on between the absolute position of 180 ~ 360 degrees, the current position is indicated in a minus value.

For example,

When the power is turned on at +90 degrees, the value ‘+90°’ is shown. When the power is turned on at +270 degrees, the value ‘-90°’ is shown. When the power is turned on at -90 degrees, the value ‘-90°’ is shown. When the power is turned on at -270 degrees, the value ‘+90°’ is shown

When the multi-turn limit 《Parameter 119》 is set to “65535”, the sign before the power is turned off is shown.

Ｐａｒａｍｅｔｅｒ

ＡＢＳ Ｅｎｃｏｄｅｒ ｒｅｓｅｔ ？

The area shown in minus value when the power is turned on.

. First reference

i

180°

The area shown in plus value when the power is turned on.

V-34

MEMO

VI-1

VI. MAINTENANCE

1. OUTLINE _________________________________________________________________ VI-3 1-1. Outline ________________________________________________________________ VI-3 1-2. Safety Remarks on Maintenance ___________________________________________ VI-3 1-3. Check at Occurrence of a Failure ___________________________________________ VI-4

2. ROUTINE CHECK __________________________________________________________ VI-4

3. ALARMS _________________________________________________________________ VI-5 3-1. Alarm Display __________________________________________________________ VI-5 3-2. Resetting an Alarm ______________________________________________________ VI-5 3-3. Alarm Output Signals_____________________________________________________ VI-5 3-4. Alarms ________________________________________________________________ VI-6 3-5. Details of Alarms ________________________________________________________ VI-9

3-5-1. Program alarms _____________________________________________________ VI-9 3-5-2. Serial Channel Alarm ________________________________________________ VI-12 3-5-3. Stroke End Alarm ___________________________________________________ VI-12 3-5-4. Servo Alarms ______________________________________________________ VI-13 3-5-5. Other Alarms_______________________________________________________ VI-17

4. SELF-DIAGNOSIS (DGN) ___________________________________________________ VI-18 4-1. Checking Input & Output Signals and Servo Status ____________________________ VI-18

4-1-1. Procedure_________________________________________________________ VI-18 4-1-2. Details on Input & Output Signal and Servo Status Check Address List__________ VI-18

4-2. Output Signal Check ____________________________________________________ VI-20 4-2-1. Procedure_________________________________________________________ VI-20 4-2-2. Output signal check addresses ________________________________________ VI-20

4-3. Status Indicated by Lamps _______________________________________________ VI-21

5. CABLE CONNECTION _____________________________________________________ VI-22 5-1. Cable List ____________________________________________________________ VI-22 5-2. Accessory Cables ______________________________________________________ VI-23 5-3. Optional Cables________________________________________________________ VI-23 5-4. Connector Pin Assignment _______________________________________________ VI-23 5-5. Connecting the Interlocking Cable__________________________________________ VI-24

5-5-1. Connecting the interlocking cable_______________________________________ VI-24 5-5-2. Interlocking signal timing _____________________________________________ VI-26

VI-2

5-5-3. Input signal used with the extended functions _____________________________ VI-27 5-5-4. Output signals used with the extended functions ___________________________ VI-27 5-5-5. External work number set function ______________________________________ VI-29

5-6. Input Signal Equivalent Circuits____________________________________________ VI-30 5-7. Output Signal Equivalent Circuits __________________________________________ VI-31

6. CIRCUIT DIAGRAMS ______________________________________________________ VI-32 6-1. Wiring in the TPC-Jr Control Unit __________________________________________ VI-32 6-2. Table for Wiring in the TPC-Jr Control Unit ___________________________________ VI-33 6-4. Part Layout in TPC-Jr ___________________________________________________ VI-37 6-5. Part List of TPC-Jr______________________________________________________ VI-37

7. ABSOLUTE ENCODER_____________________________________________________ VI-38 7-1. Absolute Encoder Explanation_____________________________________________ VI-38 7-2. Check _______________________________________________________________ VI-38 7-3. Replacement __________________________________________________________ VI-38 7-4. Setup of the Absolute Encoder and the First Reference Point ____________________ VI-39

7-4-1. Setup of the absolute encoder _________________________________________ VI-39 7-4-2. Setting the first reference point_________________________________________ VI-40

8. MAINTENANCE___________________________________________________________ VI-41 8-1. Opening & Closing the Top Cover of the TPC-Jr _______________________________ VI-41 8-2. Replacing the Main Board Assembly________________________________________ VI-42 8-3. Replacing the Servo Unit_________________________________________________ VI-43

VI-3

1. OUTLINE

1-1. Outline

This chapter explains about the standard check items, the descriptions of the alarms, self-diagnosis (DGN), and the cable connections for the TPC-Jr.

1-2. Safety Remarks on Maintenance

■ Only a technician who has the expertise or a fixer should inspect and maintain this device.

■ Before opening the upper cover for the TPC-Jr control unit, turn off the breaker on the switchboard, turn off the power for the TPC-Jr, and remove the power connector to prevent an operator from receiving an electrical shock.

■ Never touch inside the TPC-Jr controller.

Do NOT open the cover while the power is being supplied. ■ If it is necessary to maintain the device with the power

supplied, do NOT touch any parts that do not require adjustment.

■ NEVER touch the internal terminals of the TPC-Jr controller

within 5 minutes after the power is turned off. Otherwise, you may receive an electrical chock.

■ Never touch the movable section of the rotary table while it is under maintenance or adjustment. Otherwise, you will get injured because of unexpected movement of the rotary table.

■ Do NOT disassemble or modify the TPC-Jr controller. Malfunctions may be caused.

！ WARNING

！ CAUTION

！ WARNING

！ WARNING

！ WARNING

VI-4

1-3. Check at Occurrence of a Failure

If a failure occurs, check the following items before contacting Tsudakoma so that quick action can be taken: If you notice any abnormality like odor or smoke, immediately turn off the breaker on the switchboard that supplies the power to the TPC-Jr and turn off the power of the TPC-Jr. 1) Symptom

① Alarm number ② Operation mode ③ Frequency of failure occurrence ④ Does the failure occur at a certain position of the rotary table? ⑤ Amount of displacement ⑥ Value of the current position display ⑦ Ambient environment (hot, cold, dusty, scattered cutting lubricant, etc.)

2) Contents of the program and parameters 3) Type and the machine number of the TPC-Jr (indicated on the nameplate on the rear of the TPC-Jr)

Type and the machine number of the rotary table 4) Power supply voltage

Check the single phase 200/220 Vac±10% with a tester. Check also that a ground wire is connected correctly.

2. ROUTINE CHECK

The TPC-Jr is designed in such a way that adjustment is minimized. To use the TPC-Jr under the best conditions for a long time, however, check the following items: ◆ Does the fan rotate properly? (Check everyday.)

The fan is in the controller. When the power is turned on, the fan makes noise. Check the sound.

◆ Is the TPC-Jr controller clean? (Check periodically.)

The TPC-Jr controller is drip-proof but not completely drip-proof. When oil or cutting liquid splashes on it, wipe it up with a cloth as soon as possible. Do not lay the controller directly on the floor. Place it on a base that does not vibrate. It should be placed in a place where dust, machining oil, or cutting liquid does not directly splash on it.

◆ Is an abnormal sound heard when the rotary table rotates? (Check daily.)

When starting the machine for the first time of the day, do test running at low-speeds with the jog mode. Check that no abnormal noise is heard during test running. (Also see the instruction manual for the rotary table.)

※ The TPC-Jr controller has a sealed structure. Therefore, the case may be hot during

operation. This is not abnormal. ※ The power plug attached is for checking the functions. Please replace the plug

according to the installation condition when installing the TPC-Jr. Be sure to ground before use.

3. ALARMS

3-1. Alarm Display

When an alarm condition is detected, an alarm number and a brief message are displayed on line 1 on the display screen. At the same, “RDY” (ready) on line 1 changes to “ALM” (alarm) and the ALM lamp on the control unit blinks.

Alarm display

While

3-2. Resetting an

To reset an aIf “ALM” on li

① In addit② A servo③ An over

to a no④ An over

To display an

3-3. Alarm Outpu

In addition toEither a/b con

Alarm number Alarm message

＊ＡＬＭ１ ＰＳ Ｎ

VI-5

C

C2ndF

an alarm is being displayed, an asterisk (*) blinks.

Alarm

larm, press the key. ne 1 does not disappear, possible causes are as follows: ion to the alarm displayed, there is another alarm condition. alarm occurred, which can be reset only by turning off the power supply. heat alarm occurred, which cannot be reset until the inside of the control unit cools rmal temperature. travel alarm occurred, which requires that the rotary table be moved manually.

alarm message for these alarms, press the and keys.

t Signals

alarm display, an alarm signal is output at detection of an alarm condition. tact can be selected for an alarm output signal by a parameter.

《Parameter 022: bit 3》

VI-6

3-4. Alarms

1) Program alarms Alarm number Alarm message Explanation

ALM１ PS N Program syntax error. The N code is invalid. ALM２ PS G Program syntax error. The G code is invalid. ALM３ PS F Program syntax error. The F code is invalid. ALM４ PS R Program syntax error. The R code is invalid. ALM５ PSθ Program syntax error. Theθcode is invalid. ALM６ Nest error An attempt was made to call subprograms nested at nine levels or

more. Alternatively, there is no destination to which a subprogram returns.

ALM７ No sub prg There is no subprogram to be called. ALM８ Loop over An attempt was made to execute 20 blocks or more using G5 to

G9. ALM９ W No error An attempt was made to set a work number jump, or block number,

but there is no work or block number to be called. ALM１０ No program A program is not entered for the specified work number ALM１１ Buff full Program edit RAM is full. ALM１２ File full The program file area is full. ALM１３ Dir full The program directory is full. ALM１５ Copy err 1 The work number (program) to be copied could not be found. ALM１６ Copy err 2 A work number (program) is already present at the copy

destination. ALM１８ CL time out Timeout occurs in clamping/Unclamping confirmation completion ALM１９ W protected Programs are write-protected.

2) Serial channel alarms Alarm number Message Explanation

ALM２０ Format err The program entered over the general serial channel is in an invalid format.

ALM３０ SV Rx PE Parity error during reception at the servo channel ALM３１ SV RX FE Framing error during reception at the servo channel ALM３２ SV Rx OR Overrun error during reception at the servo channel ALM３３ SV Rx FULL The buffer is full during reception at the servo channel. ALM３４ SV Tx/Rx Reception error on the servo side ALM３５ SV Address Address error on the servo side ALM３６ SV Data Data error on the servo side ALM３７ SV Retry Re-sending error on the servo side ALM４０ SCH Rx PE Parity error during reception at the general-purpose serial channel ALM４１ SCH Rx FE Framing error during reception at the general-purpose channel ALM４２ SCH Rx OR Overrun error during reception at the general-purpose channel ALM４３ SCH Rx FULL The buffer is full during reception at the general-purpose channel. ALM４６ SCH CMD Err Command error during reception in the remote mode ALM４７ SCH DATA Err Data error during reception in the remote mode ALM４８ SCH No Cmd No command is found in the remote mode.

VI-7

3) Stroke end alarm Alarm number Message Explanation

ALM５０ + SL The soft limit in the positive direction was detected. ALM５１ - SL The soft limit in the negative direction was detected. ALM５５ + OT 1 + overtravel 1 is detected. ALM５６ - OT 1 - overtravel 1 is detected.

4) Servo alarm

Alarm number Message Explanation

Alarm trace back

ALM６０ SV PRM 1 A servo parameter breakage was detected. 0002ALM６１ SV MAIN PWR A servo main circuit detection error was detected. 0003ALM６２ SV PRM 2 A servo parameter setting error was detected. 0004ALM６３ SV COMB A servo combination error was detected. 0005ALM６４ SV OC A servo overcurrent was detected. 0010ALM６５ SV RWG A servo regeneration error was detected. 0030ALM６６ SV RWG OL A servo regeneration overload was detected. 0032ALM６７ SV OV A servo overvoltage was detected. 0040ALM６８ SV UV A servo undervoltage was detected. 0041ALM６９ SV OS A servo overspeed was detected. 0051ALM７０ SV OL 1 A servo overload was detected. (Instant maximum load) 0071ALM７１ SV OL 2 A servo overload was detected. (Continuous maximum

load) 0072

ALM７２ SV DB A servo DB overload was detected. 0073ALM７３ SV RC OL A servo rush resistance overload was detected. 0074ALM７４ SV OH A servo heat sink overheat was detected. 007AALM７５ SV ENC BU A servo encoder backup alarm 0081ALM７６ SV ENC CHSM A servo encoder sum check alarm 0082ALM７７ SV ENC BATT A servo encoder battery alarm 0083ALM７８ SV ENC ABS A servo encoder absolute alarm 0084ALM７９ SV ENC OS Servo encoder over speed was detected. 0085ALM８０ SV ENC OH A servo encoder overheat was detected. 0086ALM８１ SV S A/D A/D error in the serve speed command was detected. 00B1ALM８２ SV T A/D A/D error in the servo torque command was detected. 00B2ALM８３ SV SYS Err A servo system error was detected. 00BFALM８４ SV RELS A servo runaway was detected. 00C1ALM８５ SV CL A,B A disconnection was detected in the servo encoder Phase

A or Phase B. 00C6

ALM８６ SV CL C A disconnection was detected in the servo encoder Phase C.

00C7

ALM８７ SV ENC CLR A servo encoder clearing error or a multi-return limit setting error was detected.

00C8

ALM８８ SV ENC COM A servo encoder communication error was detected. 00C9ALM８９ SV ENC PRM A servo encoder parameter error was detected. 00CA

VI-8

Servo alarms (continued)

Alarm number Message Explanation

Alarm trace back

ALM９０ SV ENC ECBK Servo encoder echo back error 00CBALM９１ SV EC MTL Servo encoder multi-turn limit value did not match. 00CCALM９２ SV OF Servo position deviation was too large. 00D0ALM９３ SV FASE A servo power line had an open phase. 00F1ALM９４ SV OL Servo overload warning 0091ALM９５ SV RWG WRG Servo regeneration overload warning 0092ALM９７ SV ABS GET Absolute encoder position detection error － ALM９８ SV No't RDY A servo is not ready. － ALM９９ SV Err Servo alarms are not checked. －

※Alarm trace back numbers are in the range of DGN020~029. It is indicated when the servo alarm trace back is monitored.

5) Other alarms Alarm number Message Explanation

ALM100 Out Port OC Short circuit of external output signal ALM101 Clamp OC Short circuit of clamp output signal ALM Power down Instant power failure was detected.

VI-9

3-5. Details of Alarms 3-5-1. Program alarms

1) ALM1 PS N: Invalid N code This alarm is displayed when an attempt is made to set a parameter address undefined by a parameter or a user parameter, or when an attempt is made to set a parameter when the parameter entering is not allowed.

2) ALM2 PSG: Invalid G code This alarm is displayed when an attempt is made to set nonnumeric data as a G code or execute a nonnumeric G code.

3) ALM3 PS F: Invalid F code This alarm is displayed when an attempt is made to set nonnumeric data as a F code or execute a nonnumeric F code.

4) ALM4 PS R: Invalid R code This alarm is displayed: ① when an attempt is made to set nonnumeric data as an R code or execute a nonnumeric R

code. ② When an invalid data is entered or executed as an R code according to the command

method as shown below: ・when an incremental method is being selected as a command method, zero is entered as an R

code. ・ when an absolute method is being selected as a command method, other than zero is entered as

an R code. ③ When an attempt is made to set a rotating number requiring a movement amount

exceeding the maximum movement amount as a G3 lead cutting command or execute it. For the maximum movement amount to be commanded with a G3 code, refer to “II. PROGRAMMING, 2-4. G3: Lead Cutting Command.”

5) ALM5 PS θ ： invalid θ code ① This alarm is displayed when an attempt is made to set nonnumeric data as an θ code or

execute a nonnumeric θ code. ② When an invalid data is entered or executed as an θ code according to the command

method as shown below: ・ when an incremental method is being selected as a command method, zero is entered as a θ

code. ・ when an absolute method is being selected as a command method, data larger than 360° is

entered as a θ code. 6) ALM6 Nest Error

This alarm is displayed when an attempt is made to nest subprogram calls (G5) at nine levels or more. Alternatively, this alarm occurs when a subprogram is not called but an attempt is made to execute a subprogram return (G6).

Main program Subprogram Subprogram Subprograms

G0 …… G0 …… G0 ……

G5 …… G5 …… G5 ……

G7 …… G6 …… G6 ……

Nesting level 1 Nesting level 2 3 4 5 6 7 8 9 An alarm is given here.

7) ALM7 No sub prg This alarm is displayed when a subprogram call (G5) is executed but the subprogram to be called can not be found.

8) ALM8 Loop over This alarm is displayed when an attempt is made to automatically execute instructions, G5 to G9, 20 blocks or more. 【Example】 N000 G9 R0000

N001 G7 θ0000

9) ALM9 W No. error This alarm is displayed when the work nnumber jump or a work number.

10) ALM10 No program This alarm is displayed when the progra

11) ALM11 Buff full This alarm is displayed when program eThe maximum block number for the proConfirm the work numbers and the bloc

12) ALM12 File full This alarm is displayed when the prograA file capacity is slightly larger than the of programs using 8 or 15 blocks that gedetails, refer to “II. PROGRAMMING.”

13) ALM13 Dir full This alarm is displayed when the progra(The maximum number of program dire

14) ALM15 Copy err 1 This alarm is displayed when a programAlternatively, it is displayed when a speccomponent through a serial channel can

15) ALM16 Copy err 2 This alarm is displayed when a programAlternatively, it is displayed when an attcomponent through a serial channel

N000 and N001 prevent an infinite loop fromoccurring.

VI-10

umber to be called is not found when setting a work

m is not yet entered in the specified work number.

dit RAM is full. gram edit RAM is 1000. k numbers in use with the directory screen.

m file area is full. program edit RAM. However, if a work number consists nerate many fractions of blocks, this alarm occurs. For

m directory is full. ctory that stores work numbers is 100.)

(work number) to be copied can not be found. ified work number to be output to an external not be found.

(work number) already exists in a copy destination. empt is made to read a program from an external

VI-11

１ ０

ST

θ

CR

2ndF

SP

２

θ

16) ALM18 CL time out This alarm is displayed when clamping or unclamping does not complete within the specified waiting time. Set the time with 《Parameter 137》. The standard setting is twenty seconds. While waiting for completion of clamping or unclamping, the RUN lamp blinks., If the ALM18 CL time out alarm is displayed, or the RUN lamp blinks for a long time, the clamp unit may have a problem. Check that the air pressure for clamping is normal and that actuating oil is in the air hydraulic unit when the air hydraulic clamping specifications are provided. ※ The air-hydraulic unit sometimes requires bleeding before setup. At this time, bleed it

following the procedure below: 【Reference】 How to release air from the air-hydraulic unit

When the air-hydraulic unit (air and hydraulic pressure converter) is used for clamping of the rotary table, air releasing is sometimes required when setting it. To release air, loosen the air-discharging plug for the air hydraulic unit provided with the rotary table and repeat clamp output on/off alternatively. (Also refer to the instruction manual for the rotary table.)

Operate the TPC-Jr as follows: (Clamp output on/off operation) ① Select the CHECK mode.

② Display the DGN screen with the and keys.

③ Select “Output check” with the key.

③ Select the “N01” with the key.

④ Enter “00000010” into the θ field with the , , and keys.

⑤ Press the and keys alternatively. The lamp output is turned on and off

repeatedly. 17) ALM19 W protected

This alarm is displayed when an attempt is made to change a program under write-protection setting. Write-protection is set with 《Parameter 000: bit 7》.

VI-12

C

3-5-2. Serial Channel Alarm 1) ALM20 Format err

This alarm is displayed when a program or a parameter read through a general-purpose serial channel (CN4) is in an invalid format for the TPC-Jr.

2) ALM30~37 SV Rx PE, FE, OR, FULL, Tx/Rx, Address, Data, Retry These alarms are a communication error regarding the servo unit. Usually, these alarms do not occur. “ALM36 SV Data” is sometimes displayed when an attempt is made to set data exceeding the setting range into Parameter 100 ~ 190.

3) ALM40~42 SCH Rx PE, FE, OR These alarms are displayed when the transmission parameter or the baud rate does not match with an external component which a program or a parameter is read from through a general-purpose channel (CN4). Match the transmission parameter and the baud rate with the external components before use. Set the parameter for them with 《Parameter 040, 043, 050》.

4) ALM43 SCH Rx FULL This alarm is displayed when a program reception buffer temporarily overflows because of delayed TPC-Jr processing during reading a program or a parameter through a general-purpose serial channel (CN4). Use a software flow control (XON/XOFF), or lower baud rate Set the software flow control with 《Parameter 040: bit 4》, and set the baud rate with 《Parameter 050》.

5) ALM46~48 SCH CMD Err, DATA Err, No Cmd These alarms are displayed when the remote mode specification is used. For details, refer to “IV. EXTENDED FUNCTIONS 8. REMOTE MODE + M.”

3-5-3. Stroke End Alarm 1) ALM50 + SL, ALM51- SL

These alarms are displayed when positioning commanded leads to detection of a soft limit. Positioning is not done while the program is in operation. Set the range of the soft limit with 《Parameter 130, 131》.

2) ALM55 + OT 1, ALM56 – OT 1 These alarms are displayed when the overtravel limit switch functions during positioning. The rotary table stops. The overtravel alarm is effective only when a (tilting-axis) rotary table is provided with the limit switch for overtravel. ※How to reset overtravel alarms Clear the alarm with the key. Turn the rotary table in the reverse direction with the jog mode to escape from the overtravel area.

VI-13

C

3-5-4. Servo Alarms When a servo alarm condition occurs, current in the main servo circuit is cut off as soon as possible, stopping the operation. The servo alarms can not be reset with the key. Turn off the power once and then, turn it on again. The most frequent servo alarm results from loose connection of connectors. Check that the cannon plugs are securely connected to the rotary table and the TPC-Jr. It is also efficient for preventing a servo alarm to remove the cannon plug once and blow air across it. A workpiece which is too large or interference by a jig to the machine may cause a servo alarm. Remove the workpiece, jig or a rotary joint and check that the rotary table alone operates. 1) ALM60 SV PRM 1 Servo parameter breakage

This alarm is sometimes displayed when the power is turned on after the power is turned off while a servo parameter 《Parameter 100~190》 is being written. Enter the parameter again, and turn the power off once, and then, turn it on again.

2) ALM61 SV MAIN PWR Servo main circuit error detection This alarm is displayed when an error is detected in the servo main circuits. Replacing the servo unit is required.

3) ALM62 SV PRM 2 Servo parameter setting error This alarm is sometimes displayed when the power is turned on after data out of the setting range is entered to a servo parameter 《Parameter 100~190》. Enter a correct parameter, turn off the power and then, turn it on again.

4) ALM63 SV COMB Servo combination error This alarm is displayed when the capacity of the servo unit does not match the capacity of the combined servo motor. Check the motor capacity to be combined with the TPC-Jr and use the correct combination. Alternatively, this alarm is displayed when the encoder of the servo motor is defective.

5) ALM64 SV OC Servo overcurrent This alarm is displayed when overcurrent flowing in the main servo circuit is detected. Check the cables for Phase U, V, and W of the servo motor for short circuits.

6) ALM65 SV RWG Servo regeneration error This alarm is displayed when an error is detected in the regeneration circuits of the servo unit. Most of this alarm occurs resulting from malfunction of the regeneration resistance because extremely high power voltage (242Vac or higher) is kept supplied. Check the power voltage. Alternatively, this alarm is sometimes displayed when the emergency stop button is repeatedly pressed in a short time, or when the circuits chatter while the emergency stop button is pressed. For this problem, turn off the power once and then, turn it again.

VI-14

7) ALM66 SV RWG OL Servo generation overload

This alarm is displayed when the regeneration circuits of the servo unit is overloaded. Take countermeasures to reduce frequency of positioning the rotary table, reduce the maximum revolution speed of the motor, or lengthen the acceleration & deceleration constant.

8) ALM67 SV OV Servo overvoltage This alarm is displayed when an extremely high DC voltage is detected in the main circuits of the servo unit. Check that the power voltage is within the range of 200/220 Vac±10% (242 Vac or lower) If extremely high power voltage is kept supplied to the servo unit, the servo unit will be broken.

9) ALM68 SV UV Servo undervoltage This alarm is displayed when an extremely low DC voltage of the main circuits of the servo unit is detected. Check that the power voltage is within the range of 200/220 Vac±10% (180 Vac or higher)

10) ALM69 SV OS This alarm is displayed when an incorrect data is set to the servo parameter 《Parameter 100~190》, and the motor rotates at an extremely abnormal speed. Enter a correct parameter, turn off the power, and then, turn it on again.

11) ALM70 SV OL 1 Servo overload (instant maximum overload) ALM71 SV OL 2 Servo overload (continuous maximum overload) These alarms are displayed when a servo overload is detected. “ALM70 SV OL 1” occurs when an instant maximum overload is detected. It occurs mainly during acceleration or deceleration. For a countermeasure, lengthen the acceleration & deceleration constant 《Parameter 123》, or reduce the maximum revolution speed of the motor《Parameter 122》. “ALM71 SV OL 2” occurs when the rotary table is operated exceeding a certain period of time with a load over the motor’s rated capacity. As a countermeasure, reduce the maximum revolution speed of the motor 《Parameter 122》. This alarm is also displayed when the rotary table is cool in the morning during a season with low temperatures. As a countermeasure, do test-running at low-speeds with the jog mode. If the rotary table can hardly move and this alarm is displayed, a part of the motor cables (U, V and W) may be disconnected. Check the connectors for looseness, and the cables for disconnection.

12) ALM 72 SV DB Servo DB (Dynamic brake) overload This alarm is displayed when servo DB overload is detected. This alarm occurs when a workpiece or a jig is large and its inertia exceeds the capacity of the servo DB force. Reduce the frequency of positioning the rotary table, reduce the maximum revolution speed of the motor, or lengthen the acceleration & deceleration constant.

VI-15

13) ALM73 SV RC OL Servo rush current limit overload This alarm is displayed when rush current of the servo main circuits is overloaded. This alarm occurs when repeating power on & off, or emergency stop. Turn off the power of the TPC-Jr, wait for a while, and turn the power on again.

14) ALM74 SV OH Servo heat sink overheat This alarm is displayed when the radiation heat sink of the servo unit overheats. (55℃ or higher) This alarm occurs when the rotary table is kept operating with a high load. Reduce the frequency of positioning the rotary table, reduce the maximum revolution speed of the motor, or lengthen the acceleration & deceleration constant. Check that the fan in the TPC-Jr is rotating.

15) ALM75 SV ENC BU Backup error in the servo absolute encoder This alarm is displayed when a battery backup error is detected in the absolute value encoder of the servo motor. This alarm occurs when a cannon plug to detect the motor is removed, or when the voltage of the lithium battery in the rotary table for backup lowers. Check the lithium battery voltage (3.6V) or tighten the cannon plug to detect the motor. This alarm also occurs when the power is turned on & off after the multi-turn limit parameter 《Parameter 119》 is changed. If this alarm occurs, re-setup of the absolute encoder and re-entry of return to the first origin are required. For details of the encoder setup, refer to “7. ABSOLUTE ENCODER”.

16) ALM76 SV ENC CHSM Check sum error in the absolute encoder This alarm is displayed when a check sum error occurs in the absolute encoder. If this alarm occurs, re-setup of the absolute encoder is required. If this alarm frequently occurs, replace the servo motor.

For details, refer to “7. ABSOLUTE ENCODER”.

17) ALM78 SV ENC ABS Servo absolute encoder alarm This is an alarm of the absolute encoder of the servo motor. This alarm is displayed when the absolute encoder mis-operates because of external noise. Reduce any influence by noise by checking whether grounding is done, cable route and length. If this alarm occurs when the power is turned on, replace the servo motor.

18) ALM79 SV ENC OS Overspeed in servo absolute encoder This alarm is displayed when the servo motor is rotating at 200 [r/min] or faster when the power is turned on.

19) ALM80 SV ENC OH Overheat in servo absolute encoder This alarm is displayed when the temperature of the servo motor rises and the temperature in the absolute encoder becomes high. Reduce the frequency of operation of the rotary table, reduce the maximum revolution speed of the motor, or consider the load conditions.

VI-16

20) ALM81 SV S A/D A/D converter error for servo speed command

ALM82 SV T A/D A/D converter error for servo torque command Usually, these alarms do not occur.

21) ALM84 SV RELS Servo runaway prevention detection This alarm is displayed when the wiring for the motor encoder or the motor power (Phase U, V, and W) is incorrect and the servo motor runs uncontrollably.

22) ALM85 SV CL A, B Disconnection detection on the servo closed loop side (Phase A, B) ALM86 SV CL C Disconnection detection on the servo closed loop side (Phase C)

These alarms are displayed when feedback is not made because of disconnection of the feedback signal cable (Phase A, B and C) for an optional closed loop specification (MP scale, rotary encoder specifications).

23) ALM87 SV ENC CLR Absolute encoder clearing error/Multi-return limit setting error ALM88 SV ENC COM Absolute encoder communication error ALM89 SV ENC PRM Absolute encoder parameter error ALM 90 SV ENC ECBK Absolute encoder echo back error These alarms are displayed when wiring for the motor encoder has a mistake. Check the wiring for the encoder. If no mistake is found, the servo unit or the servo motor has a problem.

24) ALM91 SV EC MTL Multi-return limit value error in the absolute encoder A multi-return limit setting error of the absolute encoder of the servo motor occurs. This alarm is also displayed when the power is turned off & on after the multi-return limit parameter 《Parameter 119》 is changed. If this alarm occurs, re-setup of the absolute encoder is required. For details about re-setup of

the encoder, refer to “7. ABSOLUTE ENCODER”

25) ALM92 SV OF Counter overflow in servo position deviation This alarm is displayed when the counter for servo position deviation overflows. Check that the data for deviation counter overflow level parameter 《Parameter 121》 is correct. A workpiece which is too large or interference by a jig to the machine may cause a servo alarm. Remove the workpiece, jig or a rotary joint and check that the rotary table alone operates. When the rotary encoder can normally rotate, reduce the frequency of positioning the rotary table, reduce the maximum revolution speed of the motor, or lengthen the acceleration & deceleration constant. This alarm is also displayed when the rotary table is cool in the morning during a season with low temperatures. For countermeasure, do test-running at low-speeds with the jog mode.

VI-17

C

26) ALM93 SV FASE Servo power line open phase This alarm is displayed when one of the servo main circuits power L1, L2, and L3 (R4, S4, T4) is not connected with the power source. Check that the power is correctly connected, and that the voltage between the phases is even. Alternatively, a solenoid switch (KA1) contact has a problem.

27) ALM97 SV ABS GET Position detection error of the absolute encoder This alarm is displayed when the position of the absolute encoder of the servo motor can not be detected. Turn the power off once, and then, turn it on again.

28) ALM98 SV No’t RDY This alarm is displayed when the servo unit has an alarm or it can not communicate with the servo unit when the power is turned on. Turn the power off once, and then, turn it on again.

29) ALM99 SV Err Servo not ready This alarm is displayed when the servo unit communication is disabled and the alarm description can not be confirmed when a servo alarm is detected.

3-5-5. Other Alarms

1) ALM100 Out Port OC Short circuit of external output signal ALM101 Clamp OC Short circuit of clamp output signal

This alarm is given when the protection circuit for the short circuit of the output signal

functions. The external output circuit and the clamp output circuit use the solid state system. The protection circuit is provided to protect these output circuits. Accordingly, if this alarm is given, the external circuit is shut off. This alarm can not be reset with the key. Turn off the power of the TPC-Jr and turn it on again. Use 100mA or lower current per external output signal circuit. For details, please refer to “5-7. Output Signal Equivalent Circuits.”

2) Power down Instant power failure detection This alarm is displayed when an instant power failure is detected. Turn off the power and turn it on again to reset the alarm.

VI-18

θ

１

θ

N

C

2ndF

2ndF

4. SELF-DIAGNOSIS (DGN)

The TPC-Jr allows external input & output signals and the servo status to be checked and external output signals to be controlled on or off easily.

4-1. Checking Input & Output Signals and Servo Status

Individual input & output signals and their status can be checked in any modes except for the jog mode.

4-1-1. Procedure

1) Press the and the keys in the PROG or CHECK mode. The self-diagnosis screen appears. Press the key to select “Input check.” The screen in 2) below appears.

2) Press the and the keys in the AUTO, SINGLE or the MDI mode. The screen at the right appears. The N field indicates a check address, and theθ field indicates the status of each signal. Select the address to be checked with the key and the numeric keys.

3) To return to the previous program display, press the key.

4-1-2. Details on Input & Output Signal and Servo Status Check Address List

The details on signals in response to check addresses for the input & output signals and the servo status.

DGN Input checklist

Contents Address bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Ｎ００ External input signal － (Emergency

stop) Work number set B1

Return to reference point

Stop Start －

Ｎ０１ Internal input signal B8 B4 B2 Unclamp LS Clamp LS Servo COIN *Servo alarm Servo ready

Ｎ０２ Internal input signal

Clamp SOL overcurrent

External output overcurrent

－ － － － － －

Ｎ０３ External output signal

LED 2ndF Input power supply change

Main circuit power supply

Clamp SOL ALM LEVEL FIN2 FIN1

Ｎ０４ Control output signal

－ SV-REV SV-FWD － － SV-AUTO SV-PCON SV-ON

Ｎ０５ LED output signal JOG MDI PROGRAM CHECK SINGLE AUTO STOP RUN

For N00 ~ N09, when a signal is on, “1” is displayed. When a signal is off, “0” is displayed. ＊For signals with an asterisk (*), the status is displayed in inverse.

ＤＧＮ １．Ｉｎｐｕｔ Ｃｈｅｃｋ ？

２．Ｏｕｔｐｕｔ Ｃｈｅｃｋ？

ＤＧＮ Ｉｎｐｕｔ Ｃｈｅｃｋ

Ｎ００ θ００００００００

VI-19

DGN Input check list (continued)）

Address Contents

Ｎ１０ Servo deviation counter Ｎ１１ Servo command speed Ｎ１２ Current servo speed Ｎ１３ Servo torque command Ｎ１４ Servo command pulse speed Ｎ１５ Servo accumulating load Ｎ１６ Servo regeneration load Ｎ１７ Servo regeneration resistance consumption power Ｎ１８ Servo identification inertia ratio Ｎ１９ Positioning time Ｎ２０ Servo alarm trace back No. 0 ： ： ： ： ： Ｎ２９ Servo alarm trace back No. 9 Ｎ３０ Servo motor type Ｎ３１ Servo motor capacity Ｎ３２ Servo encoder type Ｎ３３ Servo special specifications Ｎ３４ Servo software version Ｎ３５ Servo type Ｎ３７ Servo rotating angle 1 Ｎ３８ Servo rotating angle 2 Ｎ３９ Servo input port monitor Ｎ４０ Servo output port monitor Ｎ４１ Servo command pulse counter Ｎ４２ Servo feedback pulse counter Ｎ４７ Servo type main boat software version Ｎ４８ － Ｎ４９ －

The data indicated as Servo Alarm Traceback No. 0 ~ 9 is not an alarm number. The data in the column for the alarm traceback symbol of “3-4. Alarms 3) Servo alarms.” Servo alarm traceback No. 0 is the latest alarm. Data 0099 indicates that there is no alarm.

VI-20

Ｎ

CR

θ

１ ０

ST

C

SP

２

2ndF θ

4-2. Output Signal Check

Individual output signals can be turned on and off compulsorily. Output signal check is possible only in the CHECK mode.

4-2-1. Procedure

1) Press the and the keys in the PROG or CHECK mode, and the self-diagnosis display screen appears.

Press the key to select “Output check.”

2) Select a signal address to be output with the key and the numeric keys, or with the key

Set the signal to output to the θcode with the

key and the , keys Press the key and the specified output signal will be ON or OFF.

An asterisk “*” is indicated on line 2 and blinks. Press the key and the output signal return to the former condition and the asterisk “*” disappears. (“N003 All the LED light, LCD indication” automatically returns to the former condition five minutes later.)

Press the key to return to the initial display screen in 1).

4-2-2. Output signal check addresses

The details of signals according to output signal check addresses are described below.

DGN Output Check List Contents

Address bit７ bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Ｎ００ External output

LED 2ndF

Input power supply change

Main circuit power supply

Clamp SOL ALM LEVEL FIN2 FIN1

Ｎ０１ Control output － SV-REV SV-FWD － － SV-AUT

O SV-PCON SV-ON

Ｎ０２ All the LEDs are on, whole LCD display

“N00” and “N01” output signal status will be inverse when “1” is entered.

For “N02” status, all the LEDs except for [2nd•F] LED and the LCD screen light up for five seconds.

ＤＧＮ １．Ｉｎｐｕｔ Ｃｈｅｃｋ ？

２．Ｏｕｔｐｕｔ Ｃｈｅｃｋ？

ＤＧＮ Ｉｎｐｕｔ Ｃｈｅｃｋ

Ｎ００ θ００００００００

VI-21

SP

2ndF

4-3. Status Indicated by Lamps

The TPC-Jr has the three indication LEDs on the operation panel. With these LEDs, the operating conditions of the TPC-Jr can be observed. The names and the description of the LEDs are shown below.

LED lamp Status when the LED lamp is on. Status when the LED lamp is blinking.

RUN The rotary table is in operation The TPC-Jr is waiting for clamping or unclamping to be completed

STOP The TPC-Jr is stopped by a stop input signal or an emergency stop signal.

The TPC-Jr is interlocked by an interlock signal.

2nd•F There are second function keys. －

1) RUN [Positioning indication]

When positioning is in progress, the RUN lamp remains on. While the TPC-Jr is waiting for the confirmation of clamp or unclamp of the rotary table, the lamp is blinking.

2) STOP [Stop/Interlock indication]

The STOP lamp lights up when a stop external input signal is given. It blinks while the interlock input signal is being entered. (The stop and the interlock input signals are exclusive of each other.) When the positioning is interrupted with the key, this lamp also lights up.

【Note】 Set the on/off for the stop and interlock input signals with a parameter. 《Parameter 021: bit 0, 1》

3) 2nd•F [Second function on indication] The 2nd•F lamp lights up when the key is pressed. The second functions (The operations indicated on the lower right of each key.) are effective.

VI-22

5. CABLE CONNECTION

5-1. Cable List

Rotary table

TPC-Jr control unit

Power supply cable(Standard 5 m)with 4P plug

Motor cable(Standard 5 m)

Interlocking cable(Standard 5 m)with 2 m-long lead wire

RS232C connecting cable

(Optional)

General program I/O component

To be prepared by the user.

VI-23

5-2. Accessory Cables

Cable name CN No. Part number Remarks Motor cable CN３ ８７４１０３＊＊ Interlocking cable CN2 ８７４１２５＊＊ ※Code “＊” at the end of a part number means a cable length. See the table below

(Standard length: 5 m.) The first “＊” means the designed order.

Last figure of part number ＊A ： ３m ＊B ： ５ｍ ＊C ： ７ｍ ＊D ： １０ｍ ＊E ： １５ｍ

5-3. Optional Cables

Cable name CN No.

Part number Remarks

RS-232C connecting cable CN４ ８７４１２６＊＊ 9 pin－25 pin

RS-232C connecting cable CN４ ８７４１２７＊＊ 9 pin－9 pin

※Code “＊” at the end of a part number means a cable length. The first “＊” means the designed order.

Last figure of part number ＊A ： 1 m ＊B ： 2 ｍ ＊C ： 3 ｍ ＊D ： 5 ｍ

5-4. Connector Pin Assignment

1) Motor connector (CN3) MS3102A20-29S

Pin No.

Signal name Cable No. Remarks

A SV PG5V PG5V N SV PG0V PG0V

Servo encoder power supply

L SV +PS +PS M SV –PS -PS Servo feedback signal

B SV +BATT +BATT C SV –BATT -BATT Backup power supply

D FG FG Sealed earth F SV MOTER U U G SV MOTER V V H SV MOTER V W E SV MOTER E E

Servo motor power

J +OT LS AT23 OT optional K COM AT1 LS, SOL signal common P CLAMP LS AT4 Clamp LS R UNCLAMP LS AT5 Unclamp LS S -OT LS AT25 OT optional T CLAMP SOL AT2 Clamp SOL

2) General-purpose serial channel connector (CN4) D-sub 9 pin (Pin)

１ ２ ３ ４ ５ － RxD TxD DTR SG

６ ７ ８ ９ － ― － －

3) For the interlocking connector (CN2), refer to “5-5. Connecting the Interlocking Cable.”

VI-24

5-5. Connecting the Interlocking Cable

5-5-1. Connecting the interlocking cable To connect the TPC-Jr with the parent machine such as a machining center, use the interlocking cable which is a standard accessory. Make a hole of diameter 21 mm to attach the standard interlocking cable (Electric cable 2 m, with Y shape terminal) to the machining center side. 1) Interlocking cable diagram 1 2) Sample connection

The indispensable signal is one M signal and the completion signal for the M signal. When the emergency stop signal on the machining center can be used, connect the cable as the stop input signal cable. This sample shows when an M70 signal is used as an M signal. To use the stop signal on the TPC-Jr, parameter change is required. 《Parameter 021 bit 0》

【Note 1】 When receiving a completion signal through a relay cable, be sure to install a

diode to absorb any surges. Use a power supply of 24Vdc or less. 100Vac or 200Vac can not be used.

【Note 2】 Unused signals should be set to off, or insulate the cables by taping.

TPC-Jr sideD-sub 15 pin connector

M/C sideMYS connector

2m, with Y shape terminal

φ21(Hole)

Dimensions for installing theM/C side NYS connector

MXFIN

AT70

AT71

AT72

AT85

AT84

StartStopInput common

M completion signal

Output common

Electrical control box of the machining center

M70

VI-25

3) Sample connection 2 (When the extended functions are used) An independent M signal is required respectively to use the extended functions like the external return to the reference point or the external work number set functions. Change the parameter of the TPC-JR to enable each function.

《Parameter 021》

【Note 1】 When receiving a completion signal through a relay cable, be sure to install a

diode to absorb any surges. Use a power supply 24Vdc or less. 100Vac or 200Vac can not be used.

【Note 2】 Unused signals should be set to off, or insulate the cables by taping.

FIN1

AT76

AT71

AT75

AT91

AT72

StartReturn to the reference point

B1

Positioning completion 1

Output common

Electrical control box of the machining center

M70

AT70

AT93

AT73

AT85

AT82

AT84

AT88

AT89

B2

Stop

B8BF

IInput common

FIN2

LVL

ALM

Positioning completion 2

PositioningAlarm

M71

AT92 B4

！ CAUTION■ A qualified engineer or a fixer should conduct interlocking

work.

VI-26

4) Interlocking cable signal connection D-Sub 15 Pin

Pin No. Signal name Cable number Remarks

12 Input common AT70 3 Start AT71 2 Return to the reference point AT75 5 Stop AT72 4 BF AT73 11 B1 AT76 10 B2 AT91 9 B4 AT92 1 B8 AT93

Input signal

14 Output common AT84 6 Positioning completion 1 AT85 7 Positioning completion 2 AT82 13 Positioning AT88 15 Alarm AT89

Output signal

FG FG - Sealed earth

【Note】 For the usage and details of each signal, refer to “V. EXTENDED FUNCTIONS.”

5-5-2. Interlocking signal timing

＊1 A pulse signal (10 msec or longer) can be used as a start signal (M signal). However, use a signal that becomes off when an FIN signal is given to avoid false operation. The broken line in the figure above is a sample of a pulse signal.

＊2 The positioning completion signal is output as a pulse signal. A pulse width is determined by parameter. The standard width is 50 ms. However, the positioning completion signal is retained by itself until the start signal (M signal) is turned off. 《Parameter 030》

＊3 To input start signals consecutively, wait at least 50 ms after the positioning completion signal is turned off before inputting the next start signal. Or, shorten the pulse width of the completion signal on the TPC-Jr side. 《Parameter 030》

Start signal (M signal)

Positioning completion

During positioning

TPC motor

Rotary table unclamp

Rotary table clamp

＊1

＊2

＊3

＊4

VI-27

5-5-3. Input signal used with the extended functions

The explanations below applies to other than standard input signals. For details, refer to “IV. EXTENDED FUNCTIONS.”

1) Input signal for return to a reference point

Another M signal in addition to an M signal for start is prepared to return to a reference point. When a return to a reference point signal is received, the TPC-Jr begins to return to the first reference point. When the external return to the reference point movement is completed, a completion signal is given. The completion signal is selected from either “FIN1 , 2” with a parameter. 《Parameter 023: bit 4》 To use this function, a parameter should be set. 《Parameter 020: bit 0》

For details, refer to “IV. EXTENDED FUNCTIONS.”

2) Work number set input signal BF, B1, B2, B4, B8

Another M signal in addition to an M signal for start or a B signal is prepared for a work number set signal. Use this signal to select a TPC-Jr program from the machining center. When the work number jump is completed, a completion signal is given. The completion signal is selected from either “FIN1, 2” with a parameter. 《Parameter 023: bit 2》

To use this function, a parameter should be set. 《Parameter 030: bit 3》

For details, refer to “IV. EXTENDED FUNCTIONS.”

4) Stop input signal

Usually, an emergency stop signal is connected. When a stop signal is received, the rotary table is immediately stopped. While the stop input signal is being received, the stop lamp lights up.

This signal is also used as an interlocking signal. 《Parameter 21: bit 1》

For details, refer to “IV. EXTENDED FUNCTIONS.”

5-5-4. Output signals used with the extended functions

The explanations below apply to other than standard output signals. For details of each signal, refer to “IV. EXTENDED FUNCTIONS.”

1) Positioning completion 2 output signal

Positioning completion output signal 2 can be used when G7 (program end) is executed, return to a reference point by an external component, or work number set is completed. To assign each completion signal to each function, a parameter should be set.

《Parameter 023》

For details, refer to “IV. EXTENDED FUNCTIONS.”

2) During positioning signal

This signal is given during positioning and during the JOG mode. Use this signal as a interlock signal for the machining center. For the output timing during positioning, refer to “5-5-2. Interlocking signal timing.”

The positioning signal can also be used as an reference point output signal.

《Parameter 023: bit 1》

VI-28

3) Alarm output signal This signal is given when an alarm is detected.

※ Each output signal can select a contact output or b contact output

《Parameter 022》

VI-29

5-5-5. External work number set function 1) Up to 16 kinds of work numbers (program number) of the TPC-Jr can be called using a B signal

(4 bit), an auxiliary function of the NC. Connect the strobe signal of the B signal with the “BF input” of the TPC-Jr. The work number data can be read with the strobe signal and the work number of the TPC-Jr is read. When the work number is set, a “Positioning completion 1” signal is given. The ”Positioning completion” signal can be selected from 1 or 2 by setting a parameter.

《Parameter 023 bit 2》

※ The timing to read a B signal after receiving a strobe signal can be adjusted with Parameter 038.

The timing for a strobe

signal and the completion signal is the same as “5-5-2. Interlocking signal timing.”

2) It is also possible to prepare a maximum of five M signals instead of the B signal, and to call five work numbers related to the M signals respectively. When the work number is set, a “Positioning completion 1” signal is given. The ”Positioning completion” signal can be selected from 1 or 2 by setting a parameter.

《Parameter 023 bit 2》 ※ For details of the external work number set function, refer to “IV. EXTENDED FUNCTIONS, 2. External Work Number Set Function.”

B11～B48

Strobe

Reading

TimingParameter: 038 [ms]

FIN1

AT76

AT71

AT75

AT91

AT72

StartReturn to the reference pointB1　（M72）

Positioning completion 1

Output common

Electrical control box of the machining center

M70

AT70

AT93

AT73

AT85

AT82

AT84

AT88

AT89

B2　（M73）

Stop

B8　（M75）

BF　（M76）

Input common

FIN2

LVL

ALM

Positioning completion 2PositioningAlarm

M71

AT92B4　（M74）

VI-30

5-6. Input Signal Equivalent Circuits

Input circuit specifications Power voltage Circuit current Input filter DC24V About 10 mA About 10 ms

＊１ External 24Vdc power supply can be used by setting a parameter.

《Parameter 021: bit 7》 (The diagram above shows the switch positions when the internal power is selected with the standard setting.) Because the input is bi-directional, polarity is not a problem when the external power supply is used. (With the internal power supply, the common side is fixed to “-.“)

【Note】 Install a surge killer in the relay circuit of the machining center to prevent noise.

Input signalcommon

+24V

Detail of input circuit

COM

Start

Reset

Stop

B1

B2

B8

+5V

GND

2.2K

330

2.2K47K 10K

0.22μ

↓ Parameter 021: bit 7 = 0 Internal power

↑ Parameter 021: bit 7 = 1 External power＊1ParameterSW

＊1Parameter SW

VI-31

5-7. Output Signal Equivalent Circuits

The photo MOS relay is used for output. All the output signals are common, and the polarity does not matter. Usable photo MOS relay: OMRON G3VM-S5

※ The protection circuit against a short circuit is provided. If the total current of all the circuits exceeds about 450 mA, the protection circuit functions and the output is shut off. At this time, the alarm “ALM100 Out Port OC” is displayed.

※ For surge protection, 68V varistors are provided between each output and the common. 【Note 1】 Use the output photo MOS relay within the load of 24Vdc 100mA.

Never apply the voltage of a AC100, 200V system. The relay will break. 【Note 2】 Install a surge killer on the relay circuits on the machining center side to

reduce noise.

+24V

Positioning completion 1

Positioning completion 2

Alarm

Output common

Details of photo MOS relay

Output circuit voltage 24Vdc or less

Output circuit current 100mA or less

！ CAUTION

Never apply voltage of 100Vac or 200Vac system. The relay surely breaks.

VI-32

6. CIRCUIT DIAGRAMS

6-1. Wiring in the TPC-Jr Control Unit

LCD Board KEY Board

MAIN Board

Servo Unit

VI-33

6-2. Table for Wiring in the TPC-Jr Control Unit

1) Main board

Connector No. Signal name Cable No. Connected to Cable size J1-1 RxD RXD CN4-2 0.32 2 pairs shield J1-2 TxD TXD CN4-3 0.32 2 pairs shield J1-3 DTR DTR CN4-4 0.32 2 pairs shield J1-4 SG SG CN4-5 0.32 2 pairs shield J1-5 FG - FG -

Connector No. Signal name Cable No. Connected to Cable size J2-1 EMERGENCY EXTA J2-2 VSF 0.752 Red J2-2 EMERGENCY EXTB J2-1 VSF 0.752 Red

Connector No. Signal name Cable No. Connected to Cable size J3-1 EMERGENCY 2 EMGA J3-2 VSF 0.752 Red J3-2 EMERGENCY 2 EMGB J3-1 VSF 0.752 Red J3-3 SV POWER ON SVPA KA1-A2 VSF 0.752 Red J3-4 SV POWER ON SVPB KA1-A1 VSF 0.752 Red J3-5 FAN 24V FAN1+ (G2 Only) VSF 0.752 Red J3-6 FAN 0V FAN1- (G2 Only) VSF 0.752 Red

Connector No. Signal name Cable No. Connected to Cable size J4-1 AC２４V 24A TC1-24V KIV 0.82 Black J4-2 AC２４Ｖ 24B TC1‐0V KIV 0.82 Black J4-3 AC9V 9A TC1‐9V KIV 0.82 Black J4-4 AC9V 9B TC1-0V KIV 0.82 Black J4‐5 PE PE PE KIV1.252 Y/G

Connector No. Signal name Cable No. Connected to Cable size J5-1 B8 AT93 CN2-1 0.22 7 pairs shield J5-2 ZRN AT75 CN2-2 0.22 7 pairs shield J5-3 START AT71 CN2-3 0.22 7 pairs shield J5-4 BF AT73 CN2-4 0.22 7 pairs shield J5-5 STOP AT72 CN2-5 0.22 7 pairs shield J5-6 FIN1 AT85 CN2-6 0.22 7 pairs shield J5-7 FIN2 AT82 CN2-7 0.22 7 pairs shield J5-8 FG FG CN2-8 FG J5-9 B4 AT92 CN2-9 0.22 7 pairs shield J5-10 B2 AT91 CN2-10 0.22 7 pairs shield J5-11 B1 AT76 CN2-11 0.22 7 pairs shield J5-12 IN COM AT70 CN2-12 0.22 7 pairs shield J5-13 LEVEL AT88 CN2-13 0.22 7 pairs shield J5-14 OUT COM AT84 CN2-14 0.22 7 pairs shield J5-15 ALM AT89 CN2-15 0.22 7 pairs shield

VI-34

Connector No. Signal name Cable No. Connected to Cable size J6-1 +OT1 AT23 CN3-J 0.22 3 pairs shield J6-2 COM AT1 CN3-K 0.22 3 pairs shield J6-3 CLAMP LS AT4 CN3-P 0.22 3 pairs shield J6-4 UNCLAMP LS AT5 CN3-R 0.22 3 pairs shield J6-5 -OT1 AT25 CN3-S 0.22 3 pairs shield J6-6 CLAMP SOL+ AT2 CN3-T 0.22 3 pairs shield J6-7 EMERGENCY 3 EMGC J6-8 VSF 0.752 Red J6-8 EMERGENCY 3 EMGD J6-7 VSF 0.752 Red

Connector No. Signal name Cable No. Connected to Cable size J7-1 SV +R SV +R SV CN3-1 0.22 3 pairs shield J7-2 SV –R SV –R SV CN3-2 0.22 3 pairs shield J7-3 SV +T SV +T SV CN3-3 0.22 3 pairs shield J7-4 SV –T SV –T SV CN3-4 0.22 3 pairs shield J7-5 SG SG SV CN3-14 0.22 3 pairs shield

Connector No. Signal name Cable No. Connected to Cable size J8-1 SV COIN COIN SV CN1-25 0.22 7 pairs shield J8-2 SV 0V 0V SV CN1-26 0.22 7 pairs shield J8-3 SV RDY RDY SV CN1-29 0.22 7 pairs shield J8-4 SV 0V 0V SV CN1-30 0.22 7 pairs shield J8-5 SV ALM ALM SV CN1-31 0.22 7 pairs shield J8-6 SV 0V 0V SV CN1-32 0.22 7 pairs shield J8-7 SV SON SON SV CN1-40 0.22 7 pairs shield J8-8 SV PCON PCON SV CN1-41 0.22 7 pairs shield J8-9 SV POT POT SV CN1-42 0.22 7 pairs shield J8-10 SV NOT NOT SV CN1-43 0.22 7 pairs shield J8-11 SV FWD FWD SV CN1-44 0.22 7 pairs shield J8-12 SV REV REV SV CN1-45 0.22 7 pairs shield J8-13 SV AUTO AUTO SV CN1-46 0.22 7 pairs shield J8-14 SV 24V 24V SV CN1-47 0.22 7 pairs shield

VI-35

2) Servo unit

Connector No. Signal name Cable No. Connected to Cable size SV CN1-25 SV COIN COIN J8-1 0.22 7 pairs shield SV CN1-26 SV 0V 0V J8-2 0.22 7 pairs shield SV CN1-29 SV RDY RDY J8-3 0.22 7 pairs shield SV CN1-30 SV 0V 0V J8-4 0.22 7 pairs shield SV CN1-31 SV ALM ALM J8-5 0.22 7 pairs shield SV CN1-32 SV 0V 0V J8-6 0.22 7 pairs shield SV CN1-40 SV SON SON J8-7 0.22 7 pairs shield SV CN1-41 SV PCON PCON J8-8 0.22 7 pairs shield SV CN1-42 SV POT POT J8-9 0.22 7 pairs shield SV CN1-43 SV NOT NOT J8-10 0.22 7 pairs shield SV CN1-44 SV FWD FWD J8-11 0.22 7 pairs shield SV CN1-45 SV REV REV J8-12 0.22 7 pairs shield SV CN1-46 SV AUTO AUTO J8-13 0.22 7 pairs shield SV CN1-47 SV 24V 24V J8-14 0.22 7 pairs shield SV-FG FG - - FG

Connector No. Signal name Cable No. Connected to Cable size SV-CN2-1 SV PG5V PG5V CN3-A 0.22 3 pairs shield SV-CN2-2 SV PG0V PG0V CN3-N 0.22 3 pairs shield SV-CN2-3 SV +BATT +BATT CN3-L 0.22 3 pairs shield SV-CN2-4 SV –BATT –BATT CN3-M 0.22 3 pairs shield SV-CN2-5 SV +PS +PS CN3-B 0.22 3 pairs shield SV-CN2-6 SV –PS –PS CN3-C 0.22 3 pairs shield SV-FG FG - CN3-D FG

Connector No. Signal name Cable No. Connected to Cable size SV CN3-1 SV +R SV +R J7-1 0.22 3 pairs shield SV CN3-2 SV –R SV –R J7-2 0.22 3 pairs shield SV CN3-3 SV +T SV +T J7-3 0.22 3 pairs shield SV CN3-4 SV –T SV –T J7-4 0.22 3 pairs shield SV CN3-14 SG SG J7-5 0.22 3 pairs shield SV CN3-6 - - SV CN3-7 0.22 3 pairs shield SV CN3-7 - - SV CN3-6 0.22 3 pairs shield SV CN3-FG FG FG - FG

VI-36

3) Motor cable connector

Connector No. Signal name Cable No. Connected to Cable size CN3-A SV PG5V PG5V SV-CN2-1 0.22 3 pairs shield CN3-B SV +PS +PS SV-CN2-5 0.22 3 pairs shield CN3-C SV –PS –PS SV-CN2-6 0.22 3 pairs shield CN3-D FG - SV-FG - CN3-E SV MOTER E E SV-T-E KIV1.252 Y/G CN3-F SV MOTER U U SV-T-U KIV1.252 BLACK CN3-G SV MOTER V V SV-T-V KIV1.252 BLACK CN3-H SV MOTER W W SV-T-W KIV1.252 BLACK CN3-J +OT1 AT23 J6-1 0.22 3 pairs shield CN3-K COM AT1 J6-2 0.22 3 pairs shield CN3-L SV +BATT +BATT SV-CN2-3 0.22 3 pairs shield CN3-M SV –BATT –BATT SV-CN2-4 0.22 3 pairs shield CN3-N SV PG0V PG0V SV-CN2-2 0.22 3 pairs shield CN3-P CLAMP LS AT4 J6-3 0.22 3 pairs shield CN3-R UNCLAMP LS AT5 J6-4 0.22 3 pairs shield CN3-S -OT1 AT25 J6-5 0.22 3 pairs shield CN3-T CLAMP SOL+ AT2 J6-6 0.22 3 pairs shield

VI-37

6-4. Part Layout in TPC-Jr

6-5. Part List of TPC-Jr

1) Control unit No. Part name Model Manufacturer Quantity Application

NRLY2100F-10A IZUMI １ G2 QF1 Circuit breaker NRLY2100F-15A IZUMI １ G3

TC1 Transformer TL30X 210V/230V: 24V/9V 0.9A/0.9A 32VA

IMAI Electric １

LF-210 TOKIN １ G2 Z1 Line filter LF-215 TOKIN １ G3

KA1 Electromagnetic relay G7L-２A-TUB OMRON １

EV Fan TUDC24B4 JAPAN SERVO １ G2 Only

SGDM‐04ADA-Y115 Yasukawa Electric １ G2

AMP Servo unit SGDM‐08ADA-Y115 Yasukawa

Electric １ G3

CN1 Cable connector NYS-14-G DAIWA １ CN２ D-sub connector XM2A-1501 OMRON １ CN3 Cannon receptacle MS3102A20-29S AMPHONEL １ CN4 D-sub connector XM2D-0901 OMRON １ Main board R75185A Tsudakoma １ Key board R75186A Tsudakoma １

2) Servo motor

No. Part name Model Manufacturer Quantity Application

SGMPH-0４A1A-TF11 Yasukawa Electric １ G2 Servo motor SGMPH-08A1A-TF11 Yasukawa Electric １ G3

Lithium battery ER17500V/3.6V TOSHIBA 1

KA1

AMP TC1

Z1

QF1

MAIN BOARD

KEY BOARD

CN3CN2 CN4

FAN (G2 Only)

VI-38

7. ABSOLUTE ENCODER The motor detector of the TPC-Jr uses an absolute encoder that uses a lithium battery for backup. If this lithium battery for backup has a problem, “ALM７５ SV ENC BU” (ABS encoder backup error) is given when the power of the TPC-Jr is turned on. The battery is attached inside the motor cover of the rotary table. When the cannon plug for the motor detector is disconnected during maintenance or other purpose, the same alarm is given. At this time setup the absolute encoder following the procedure below:

7-1. Absolute Encoder Explanation

The absolute encoder for the motor detector of the TPC-Jr remembers the current position as backup using a lithium battery. This lithium battery is in the rotary table. Accordingly, even if the cable connecting the TPC-Jr and the rotary table is disconnected, the absolute encoder of the motor is backed up by the lithium battery inside the motor cover. The connection diagram for the encoder in the rotary table is shown below:

7-2. Check

As shown in the connection diagram above, the lithium battery is attached to the 《B》 pin and the 《C》 pins for the cannon plug of the motor cable. Remove the cannon plug on the rotary table side and measure the battery voltage using a tester. When it is 3.2V or more, it is normal. 【Note】 Be careful not to make a short circuit with the lead rod of the tester.

7-3. Replacement

1) Remove the motor cover of the rotary table. The lithium battery is attached inside this cover.

2) Remove the red and a black lead wires from the battery and remove the battery. 3) Connect the lead wires from the new lithium battery with solder.

Wind vinyl tape onto the connection to avoid making short circuits. 4) After replacing the lithium battery, setup of the absolute encoder and the first reference point

is required.

C

A

N

L

M

B

C

Motor cableFG

１

２

５

６

３

４

Motor encoder

Lithium battery

ＰＧ５Ｖ

ＰＧ０V

＋ＰＳ

－ＰＳ

＋ＢＡＴ

－ＢＡＴ

＋

－

VI-39

▼ ▲

９2ndF

１９ Ｎ θ CR９ ９

５ 2ndF

CR

▼ ▲

９2ndF

１９ Ｎ θ CR９ ９

CR

C

C

※ ER17500V/3.6V lithium battery by TOSHIBA is used. Lithium batteries of rating 3.6V by other manufacturer can also be used. Be careful of the life of the battery.

※ The life of the lithium battery being used is 10 years or more.

7-4. Setup of the Absolute Encoder and the First Reference Point

After replacing the lithium battery, setup of the absolute encoder and the first reference point is required. The procedure is shown below:

7-4-1. Setup of the absolute encoder

1) Turn on the TPC-Jr’s power. Either alarm below is given. ・ “ALM７５ SV ENC BU” (ABS encoder backup error):

Follow the procedure starting 6) below. ・ “ALM９１ SV EC MTL” (ABS encoder multi-turn limit value does not match):

Follow the procedure starting 2) below. 2) Reset the alarm with the key, and select the program mode with the or key. 3) Select the parameter setting display screen with the and keys, and press the

keys: , , , , , , to enable parameter change. 4) Re-enter Parameter 119: multi-turn limit value with the key. 5) Turn off the power and turn it on again. (“ALM９１ SV EC MTL” is indicated. Follow 6) below.） 6) Reset the alarm with the key, and select the program mode with the or key. 7) Select the parameter setting display screen with the and keys, and press the

keys: , , , , , , to enable parameter change. 8) Press the and keys to show the

absolute encoder reset display screen. 9) Press the key to reset the absolute encoder. 10) Turn off the power once and then, turn it on again to check that no alarm is given.

The setup is completed. After the setup of the absolute encoder, the first reference point is required to be set. For setting the first reference point, refer to “7-4-2. Setting the first reference point.”

【Note】 If no alarm is indicated, and you want only to reset the absolute encoder, follow the procedure above starting from 6).

Ｐａｒａｍｅｔｅｒ

ＡＢＳ Ｅｎｃｏｄｅｒ ｒｅｓｅｔ ？

VI-40

９2ndF

１９ Ｎ θ CR９ ９

2ndF

CR

▼▲

▼▲

M ZRN

7-4-2. Setting the first reference point

1) Turn on the TPC-Jr power. 2) Select the JOG mode with the or key, and determine the first reference point using

a dial gauge or other tool. Determine the first reference point in the positive area. If it is set in the negative area, backlash compensation is made and the positioning may be inaccurate. (Except for a special case like a tilting-axis rotary table.)

3) Select the PROG mode with the or key. 4) Select the parameter setting display screen with the and key, and press the

keys: ， ， ， ， ， ， to enable parameter change. 5) Press the and keys to display the first

reference point setting display screen. 6) Press the key to memorize the first reference point. 7) Turn off the TPC-Jr power. 8) Turn on the power again, and execute return to the first reference point to check the position.

Ｐａｒａｍｅｔｅｒ

ＭＺＲＮ Ｐｏｓｉｔｉｏｎ ｓｅｔ ？

VI-41

8. MAINTENANCE

8-1. Opening & Closing the Top Cover of the TPC-Jr

1) To prevent receiving an electrical shock, turn off the TPC-Jr power, and remove the power plug for the CN1.

2) Remove the three small set screws ① on the rear of the TPC-Jr. 3) Remove the two small set screws ② and the one small set screw ③ on the side of the

TPC-Jr. 4) Raise the whole cover to remove it. ※ To attach the cover, follow the procedure of removing in the reverse order.

■ Before opening the top cover of the TPC-Jr control unit, turn off

the breaker on the switchboard, turn off the TPC-Jr power, and remove the CN1 (power connector).

！ WARNING

①

①①

Position of the small set screws

for the control unit cover

②

②

③

VI-42

Main board assembly

Main board connector

8-2. Replacing the Main Board Assembly

If replacing the main board assembly is required because of a malfunction or other reasons, replace it following the procedure below: 1) Note all the parameters and programs. 2) Turn off the TPC-Jr’s power to prevent receiving an electrical shock, and remove the power

connector for the CN1. 3) Open the top cover referring to Section “9-1. Opening/Closing the TPC-Jr Top Cover.” 4) Remove all the connectors (J1~J9) from the main board. 5) Remove the six small screws ① and remove the main board assembly. 6) Attach the new main board assembly. 7) Connect the connectors removed in 4) above. 8) Attach the top cover referring to Section “9-1. Opening/Closing the TPC-Jr Top Cover.” 9) Attach the power connector for the CN1, and turn the power on. 10) Enter the parameters and programs noted in 1) above, turn off the power once, then turn it on

again. 11) Check each operation. Replacing the main board is completed. 【Note】 When making a note of the parameters, be sure to note the description of 《Parameter

200, 201》. These parameters are for the reference point offset for the absolute encoder.

！ CAUTION

①① ①

①① ①

Positions of small set screws for the main board assembly

■ Only an engineer or a fixer who has a special knowledge should replace the inner parts.

VI-43

CR

8-3. Replacing the Servo Unit

If replacing the servo unit is required because of a malfunction, follow the procedure below: 1) Turn off the TPC-Jr’s power to prevent receiving an electrical shock, and remove the CN1

power connector. 2) Open the top cover following the procedure in “9-1. Opening/Closing the Top Cover of the

TPC-Jr.” 3) Remove the connectors CN1~CN3 connected to the servo unit. 4) Remove the electrical cables from the servo unit terminal block.

The servo unit terminal block is a connector type. It can be removed easily. The grounding wire is secured with a small screw. Use a cross-headed tip screwdriver to remove it.

5) Remove the two small screws ① that fix the servo unit on the rear side of the TPC-Jr, and remove the servo unit.

6) Attach the new servo unit and assemble the parts in the reverse order of disassembling. 7) Turn on the power. 8) Re-enter Parameters 100~199 by pressing the key, and turn the power off once, then,

turn it on again. 9) Check each operation. Replacing the servo unit is complete. ※ An absolute encoder alarm may be given in the procedure 7) or 8) above. If the alarm is

given, after entering the parameter in the procedure 8), setup the absolute encoder again.

Servo unitDetail of connectors andterminal block

VI-44

■ An engineer or a fixer who has a special knowledge should replace the inner parts.

！ CAUTION

① ①

Positions of the small set screws for servo unit

Position of the fan for G2

Appendix-1

♦ APPENDIX

◆ OPERATION PANEL _______________________________________________ Appendix-2 ◆ DISPLAY INDICATION EXAMPLE _____________________________________ Appendix-2 ◆ TPC-Jr Operation__________________________________________________ Appendix-3 ◆ PROGRAM CODES ________________________________________________ Appendix-5 ◆ PARAMETERS ____________________________________________________ Appendix-7 ◆ ALARMS________________________________________________________ Appendix-10 ◆ DGN ADDRESSES ________________________________________________ Appendix-12

Appendix-2

◆ OPERATION PANEL

◆ DISPLAY INDICATION EXAMPLE

Program indication The program of the TPC-Jr is indicated in two lines.

TPC-Jr status / work number indication

TPC-Jr status indication RDY/ALM Work number indication W□□□□ Sub-program number indication S□□□□

Current position / remaining

amount indication POS/REM Control indication

Return to the reference point indication MZRN/WZRN/TZRN Over-travel indication OT Machine lock indication MLK File rewriting FILE

ST SP１

INS２

DEL３

DIR

４COPY

５CLR

６SCH

７USER

８FEED

９PRM

０

ＮW No

GPRG

FPOS

RREM

θDGN

CR

CALM

2nd F

+/-MLK

・

TPC -Jr2nd F STOPRUN

▼

▲

AUTO

SINGLE

CHECK

PROG

MDI

JOG

MODE

MZRN

WZRN

＋JOG

－JOG

I

O

LCD

Operation keys Program edit keys Operation modeindication LED / Switch

Power breakerLED indication section

ＲＤＹ Ｎ０００ Ｇ０ Ｆ０ Ｒ０００

θ＋０９０．０００°

ＲＤＹ Ｗ００００ Ｓ９０００

ＲＤＹ Ｎ０００ Ｇ０ Ｆ０ Ｒ０００

ＭＺＲＮ ＰＯＳ θ＋０９０．０００°

Appendix-3

WZRN

M ZRN

ST

SP ST C

2ndF

G

Ｎ2ndF

８

F

2ndF

R

θ

+/-

・

CR

2ndF +/-

Ｎ

JOG－

JOG＋

JOG－

JOG＋

θ

JOG－

JOG＋

◆ TPC-Jr Operation Only the initials are shown in the table below for some modes. A：AUTO S：SINGLE C：CHECK P：PROGRAM M：MDI H：JOG

※ Key operation Function Mode Operation

Return to the reference point

S/M : to the first reference point : to the second reference point （Parameter setting/manual setting are possible.）

Operation start S/M Program 1 begins operation with the key.

Operation stop A/S/M key: stop key: re-start key: cancel

Machine lock A/S ＋ keys: machine lock on/off

Jog feeding JOG While the or key is pressed, the rotary table moves in the direction of “;” or “-.“

Jog feedrate JOG Select the desired feedrate from 0 ~ 9 with the numeral keys.

Jog step feeding JOG A stroke on the or key conducts step feeding of the rotary table in the “+” or “-“ direction.

Jog step feeding amount

JOG After pressing the key, set the desirable angle with the numeral keys.

※ Program Edit operation Function Mode Operation

Second function － Pressing the key makes the right bottom functions in small letters effective.

Work number setting

C/P Enter 0000～9999 with the and keys, and execute with the key. (100 kinds)

Block number setting (N code)

C/P Press the key and then, enter a 3-digit number to set or call a block number.

G code setting PROG Press the key, then enter the G code with the numeric keys. For details of the G code, refer to “◆PROGRAM CODE.”

F code setting PROG Press the key, and then, enter the F code with the numeric keys.F0 means the fast feedrate, and F1~F9 mean cutting feedrate. To enter the feedrate for F1~F9, press the and keys.

R code setting PROG Press the key, and then, enter the R code with the numeric keys. To set the repeat number of the R code, use the G code. For detail, refer to “◆PROGRAM CODE.”

θ code setting PROG Press the key, and then enter the positioning angle. To enter the decimal point, press the key. By pressing the key, the sign can be changed.

Paragraph/ Save

PROG To start a new paragraph of the program, press the key. In the PROG mode, the program is saved by this operation.

Screen scroll C/P While the or key is pressed, the program display scrolls up or down.

Appendix-4

６2ndF

７

８

９

2ndF

2ndF

2ndF

３

CR

2ndF

４

ST CR

2ndF

CR

５

ST

CR

2ndF

１2ndF

CR

２2ndF

CR

※ Program Edit operation Function Mode Operation

1-block insertion PROG To insert one block, press the and keys. “Insert?” is

displayed. Then, press the key.

1-block deletion PROG To delete one block, press the and keys. “Delete?” is

displayed. Then, press the key.

Directory indication

C/P

To display the registered work numbers and the specification block numbers, press the and keys. The unused memory block number is shown at the end. (To see the next page, press the key.)

Program copy PROG

To copy the data in a unit of work number, press the and the keys. Enter the work number to be copied and press the key. Then, enter the work number of the copy destination and press the key to execute. To start copying, press the key.

Program deletion

PROG

To delete the data in a unit of work number, press the and the keys. Enter the work number to be deleted, then, press the key. To start deletion, press the key.

Serial channel PROG To store a program or a parameter in the external components, press the and the keys. The program I/O components shall be prepared by the customer.

Feedrate setting PROG To enter the F1~F9 feedrate, press the and keys. (In the CHECK mode, only confirmation is possible.)

Parameter setting

PROG To set various system parameters, press the and keys.

(In the CHECK mode, only confirmation is possible.)

User parameter setting

PROG To set the data for various pitch error compensation or spot compensation, press the and keys. (In the CHECK mode, only confirmation is possible.)

Appendix-5

2ndF

2ndF

2ndF

2ndF

2ndF

2ndF

2ndF

WZRN

G

F

R

C

・

θ

CR

+/-

CR

C

+/-

※ Other key operations

Function Mode Operation

Current position indication

A/S/M To display the current value, press the and keys. To clear the current value, press the key.

Remaining amount indication

A/S/M To display the remaining amount, press the and keys.

Coordinate indication

A/S/M To return to the display screen to the coordinate from the first reference point during the current position being indicated, press the and keys.

Program indication

A/S/M To return to the display screen to the program indication while the current position or the remaining amount is being indicated, press the and keys.

Second reference point setting

JOG

To set the second reference point, move to the desired position, press the and keys. “WZRN POS SET?” is indicated. Press the key to memorize the point as the second reference point.

Self-diagnosis A/S/C/P/M

To monitor each signal and the servo status, press the and keys. In the AUTO, SINGLE, or the MDI mode, only monitoring is possible. In the CHECK or PROG mode, output signals can be controlled on/off.

Display contrast adjustment

CHECK To adjust the contrast of the LCD, press the and keys. Adjust the contrast with the key and execute with the key.

Clear/reset To reset an alarm and each second function, or clear the current value, press the key.

◆ PROGRAM CODES

※ PROGRAM CODE

W code Work number (Program number)

Setting range：0000~9999 (Up to 100-work numbers can be registered.)

N code Block number Setting range：000~999

G code Operation executing command G0~G4: Operation command G5~G9: Auxiliary command

F code Feedrate selection command F0: Fast feedrate F1~F9: Cutting feedrate

R code Auxiliary command for the G code

θ code Movement amount command Commanded angle/indexing point number, etc.

Appendix-6

※ G0~G4: Operation command G code R code θ code

G0: Direct angular position command

Switching ABS/INC 000 : ABS command 001～999: INC commands Number of repetition

Angle commanded ±000.000°～±360.000°

ABS command ±000.001°～±999.999°

ABS command

G1: Direct indexing point number command

Number of repetition 001～999

Indexing point number on a circle (360°) ±000001～±999999div

G2: Arc-indexing point number command

Indexing point number and number of repetition 001～999

Split angle ±000.001°～±360.000°

G3: Lead cutting command

Number of rotary table revolutions 000～045 (360°×R)

Angle commanded ±000.000°～±360.000° (The total amount of movement is 360°×R +θ)

G4: Reference point return command

000: Return to the first reference point

001: Return to the second reference point

002: Return to the third reference point

Not required.

※ G5~G9: Auxiliary command

G code R code θ code

G5: Subprogram call command

Number of repetitions 000(001)～999

Subprogram number 000(001)～999

G6: Subprogram return command

Not required Not required

G7: Program end command

Not required Branch destination 000～999

G8: Declaration command

Not required Reference coordinate ±000.000°～±360.000°

000: No operations Not required

001: Clamp OFF Not required 002: Clamp ON Not required 003: Dwell OFF Not required 004: Dwell ON Dwell time

001～999 (×10ms) 005: Indexing group control OFF Not required 006: Indexing group control ON Not required 007: One-directional positioning OFF Not required 008: One-directional positioning ON Not required 009: Completion signal control OFF Not required 010: Completion signal control ON Completion signal selection

0 1 1 FIN1 FIN2

011: Program display switch Not required 012: Current position display switch command

＋Current position reset command Not required

G9: Declaration command

013: Remaining angle display command Not required

Appendix-7

◆ PARAMETERS

Parameter address

Parameter Change Standard value

Factory-set value

000 System parameter function selection 1 ON 00000000 001 System parameter function selection 2 OFF 00000000 002 System parameter function selection 3 OFF 00000000 003 Reserved - 00000000 004 System parameter function selection 5 ON 00000000 005 Reserved - 00000000 010 Work number called at power ON ON 0 011 Block number called at power ON. ON 0 012 Default feeding speed by jog operation ON 1 013 Default feeding amount by jog step

operation ON 1

020 Selection of extended functions OFF 00000000 021 Selection of stop/interlock input functions OFF 00000000 022 Selection of a/b contacts for external output signal OFF 00000000 023 Selection of external output signal ON 00000000 030 Pulse width for output signal 1 (FIN1) ON 50 031 Pulse width for output signal 2 (FIN2) ON 50 034 Original position signal output range 1 ON 0 035 Original position signal output range 2 ON 0 036 Reserved - 0 037 Reserved - 0 038 Delayed time for reading B signal input ON 0 039 Contrast data ON 8 040 Selection of serial channel code ON 00000000 041 Selection of serial channel remote mode OFF 00000000 042 Selection of serial channel control ON 00000000 043 Selection of serial channel operation ON 00000000 050 Serial channel baud rate ON 4800 051 Waiting time for using FANUC PPR ON 0 052 Reserved - 0 060 Work number for B signal data 0 ON 0 061 Work number for B signal data 1 ON 100 062 Work number for B signal data 2 ON 200 063 Work number for B signal data 3 ON 300 064 Work number for B signal data 4 ON 400 065 Work number for B signal data 5 ON 500 066 Work number for B signal data 6 ON 600 067 Work number for B signal data 7 ON 700 068 Work number for B signal data 8 ON 800 069 Work number for B signal data 9 ON 900 070 Work number for B signal data 10 ON 1000 071 Work number for B signal data 11 ON 1100 072 Work number for B signal data 12 ON 1200 073 Work number for B signal data 13 ON 1300 074 Work number for B signal data 14 ON 1400 075 Work number for B signal data 15 ON 1500

Appendix-8

Parameter

address Parameter Change Standard

value Factory-set

value

100 Servo specification selection 1 OFF 00000010 101 Servo specification selection 2 OFF 00000000 102 Servo specification selection 3 OFF 00000000 103 Servo specification selection 4 OFF 00000002 104 Servo specification selection 5 OFF 00000110 105 Reserved - 00000000 106 Reserved - 00000000 110 Position loop gain ON 60 111 Speed loop gain ON 60 112 Speed loop integral time constant ON 1000 113 Load inertia ratio ON 0 114 Speed bias ON 0 115 Speed bias summing width ON 7 116 Total reduction ratio OFF 60 117 Numerator of electronic gear ratio OFF 1500 118 Denominator of electronic gear ratio OFF 16384 119 Multi-turn limit OFF 59 120 Positioning completion range ON 10 121 Over-flow level for positioning deviation

counter ON 40

122 Maximum motor feedrate ON 3000 123 Acceleration/deceleration time ON 200 124 Reserved - 0 125 Reserved - 0 126 Reserved - 0 127 Backlash compensation amount ON 0 128 2nd reference point ON 0 129 3rd reference point ON 0 130 Soft limit in the positive direction ON 0 131 Soft limit in the negative direction ON 0 132 Over-travelling amount during

one-directional positioning ON -2000

133 Waiting time for clamping ON 200 134 Waiting time for unclamping ON 100 135 P operation timing ON 1000 136 P operation torque level ON 70 137 Clamping/unclamping completion time-out ON 20 138 Reserved - 0 139 Reserved - 0 150 Servo specification selection 6 OFF 00000000 151 Servo specification selection 7 OFF 00000004 152 Servo specification selection 8 OFF 00000000

Appendix-9

Parameter

address Parameter Change Standard

value Factory-set

value

160 2nd position loop gain ON 40 161 2nd speed loop gain ON 40 162 2nd speed loop integral time constant ON 2000 163 Feed forward gain ON 0 164 Feed forward filter time constant ON 0 165 Mode switch operation level:

Torque command ON 200

166 Mode switch operation level: Speed command

ON 3000

167 Mode switch operation level: Acceleration

ON 0

168 Mode switch operation level: Deviation pulse

ON 0

169 Speed feedback compensation ON 100 170 Torque command filter ON 100 171 Torque limit in forward operation ON 800 172 Torque limit in reverse operation ON 800 173 Emergency stop torque ON 800 174 Operation retaining time at instantaneous

power failure ON 20

175 Regenerative resistance capacity OFF 0 176 Notch filter switch ON 0 177 Notch filter frequency ON 2000 178 Reserved - 0 179 Reserved - 0 200 Offset amount for an absolute encoder

（ABSRN) OFF (auto-set)

201 Offset amount for an absolute encoder（ABSPS)

OFF (auto-set)

Appendix-10

◆ ALARMS

1) Program alarms Alarm number Alarm message Explanation

ALM１ PS N Program syntax error. The N code is invalid. ALM２ PS G Program syntax error. The G code is invalid. ALM３ PS F Program syntax error. The F code is invalid. ALM４ PS R Program syntax error. The R code is invalid. ALM５ PSθ Program syntax error. Theθcode is invalid. ALM６ Nest error An attempt was made to call subprograms nested at nine levels or

more. Alternatively, there is no destination to which a subprogram returns.

ALM７ No sub prg There is no subprogram to be called. ALM８ Loop over An attempt was made to execute 20 blocks or more using G5 to

G9. ALM９ W No error An attempt was made to set a work number jump, or block number,

but there is no work or block number to be called. ALM１０ No program A program is not entered for the specified work number ALM１１ Buff full Program edit RAM is full. ALM１２ File full The program file area is full. ALM１３ Dir full The program directory is full. ALM１５ Copy err 1 The work number (program) to be copied could not be found. ALM１６ Copy err 2 A work number (program) is already present at the copy

destination. ALM１８ CL time out Timeout occurs in clamping/Unclamping confirmation completion ALM１９ W protected Programs are write-protected.

2) Serial channel alarms Alarm number Message Explanation

ALM２０ Format err The program entered over the general serial channel is in an invalid format.

ALM３０ SV Rx PE Parity error during reception at the servo channel ALM３１ SV RX FE Framing error during reception at the servo channel ALM３２ SV Rx OR Overrun error during reception at the servo channel ALM３３ SV Rx FULL The buffer is full during reception at the servo channel. ALM３４ SV Tx/Rx Reception error on the servo side ALM３５ SV Address Address error on the servo side ALM３６ SV Data Data error on the servo side ALM３７ SV Retry Re-sending error on the servo side ALM４０ SCH Rx PE Parity error during reception at the general-purpose serial channel ALM４１ SCH Rx FE Framing error during reception at the general-purpose channel ALM４２ SCH Rx OR Overrun error during reception at the general-purpose channel ALM４３ SCH Rx FULL The buffer is full during reception at the general-purpose channel. ALM４６ SCH CMD Err Command error during reception in the remote mode ALM４７ SCH DATA Err Data error during reception in the remote mode ALM４８ SCH No Cmd No command is found in the remote mode.

Appendix-11

3) Stroke end alarm Alarm number Message Explanation

ALM５０ + SL The soft limit in the positive direction was detected. ALM５１ - SL The soft limit in the negative direction was detected. ALM５５ + OT 1 + overtravel 1 is detected. ALM５６ - OT 1 - overtravel 1 is detected.

4) Servo alarm

Alarm number Message Explanation

Alarm trace back

ALM６０ SV PRM 1 A servo parameter breakage was detected. 0002ALM６１ SV MAIN PWR A servo main circuit detection error was detected. 0003ALM６２ SV PRM 2 A servo parameter setting error was detected. 0004ALM６３ SV COMB A servo combination error was detected. 0005ALM６４ SV OC A servo overcurrent was detected. 0010ALM６５ SV RWG A servo regeneration error was detected. 0030ALM６６ SV RWG OL A servo regeneration overload was detected. 0032ALM６７ SV OV A servo overvoltage was detected. 0040ALM６８ SV UV A servo undervoltage was detected. 0041ALM６９ SV OS A servo overspeed was detected. 0051ALM７０ SV OL 1 A servo overload was detected. (Instant maximum load) 0071ALM７１ SV OL 2 A servo overload was detected. (Continuous maximum

load) 0072

ALM７２ SV DB A servo DB overload was detected. 0073ALM７３ SV RC OL A servo rush resistance overload was detected. 0074ALM７４ SV OH A servo heat sink overheat was detected. 007AALM７５ SV ENC BU A servo encoder backup alarm 0081ALM７６ SV ENC CHSM A servo encoder sum check alarm 0082ALM７７ SV ENC BATT A servo encoder battery alarm 0083ALM７８ SV ENC ABS A servo encoder absolute alarm 0084ALM７９ SV ENC OS Servo encoder over speed was detected. 0085ALM８０ SV ENC OH A servo encoder overheat was detected. 0086ALM８１ SV S A/D A/D error in the serve speed command was detected. 00B1ALM８２ SV T A/D A/D error in the servo torque command was detected. 00B2ALM８３ SV SYS Err A servo system error was detected. 00BFALM８４ SV RELS A servo runaway was detected. 00C1ALM８５ SV CL A,B A disconnection was detected in the servo encoder Phase

A or Phase B. 00C6

ALM８６ SV CL C A disconnection was detected in the servo encoder Phase C.

00C7

ALM８７ SV ENC CLR A servo encoder clearing error or a multi-return limit setting error was detected.

00C8

ALM８８ SV ENC COM A servo encoder communication error was detected. 00C9ALM８９ SV ENC PRM A servo encoder parameter error was detected. 00CA

Appendix-12

Servo alarms (continued)

Alarm number Message Explanation

Alarm trace back

ALM９０ SV ENC ECBK Servo encoder echo back error 00CBALM９１ SV EC MTL Servo encoder multi-turn limit value did not match. 00CCALM９２ SV OF Servo position deviation was too large. 00D0ALM９３ SV FASE A servo power line had an open phase. 00F1ALM９４ SV OL Servo overload warning 0091ALM９５ SV RWG WRG Servo regeneration overload warning 0092ALM９７ SV ABS GET Absolute encoder position detection error － ALM９８ SV No't RDY A servo is not ready. － ALM９９ SV Err Servo alarms are not checked. －

※Alarm trace back numbers are in the range of DGN020~029. It is indicated when the servo alarm trace back is monitored.

5) Other alarms Alarm number Message Explanation

ALM100 Out Port OC Short circuit of external output signal ALM101 Clamp OC Short circuit of clamp output signal ALM Power down Instant power failure was detected.

◆ DGN ADDRESSES

DGN Input checklist Contents Address

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Ｎ００ External input signal － (Emergency

stop) Work number set B1

Return to reference point

Stop Start －

Ｎ０１ Internal input signal B8 B4 B2 Unclamp LS Clamp LS Servo COIN *Servo alarm Servo ready

Ｎ０２ Internal input signal

Clamp SOL overcurrent

External output overcurrent

－ － － － － －

Ｎ０３ External output signal

LED 2ndF Input power supply change

Main circuit power supply

Clamp SOL ALM LEVEL FIN2 FIN1

Ｎ０４ Control output signal

－ SV-REV SV-FWD － － SV-AUTO SV-PCON SV-ON

Ｎ０５ LED output signal JOG MDI PROGRAM CHECK SINGLE AUTO STOP RUN

For N00 ~ N09, when a signal is on, “1” is displayed. When a signal is off, “0” is displayed. ＊For signals with an asterisk (*), the status is displayed in inverse.

Appendix-13

DGN Input check list (continued)）

Address Contents

Ｎ１０ Servo deviation counter Ｎ１１ Servo command speed Ｎ１２ Current servo speed Ｎ１３ Servo torque command Ｎ１４ Servo command pulse speed Ｎ１５ Servo accumulating load Ｎ１６ Servo regeneration load Ｎ１７ Servo regeneration resistance consumption power Ｎ１８ Servo identification inertia ratio Ｎ１９ Positioning time Ｎ２０ Servo alarm trace back No. 0 ： ： ： ： ： Ｎ２９ Servo alarm trace back No. 9 Ｎ３０ Servo motor type Ｎ３１ Servo motor capacity Ｎ３２ Servo encoder type Ｎ３３ Servo special specifications Ｎ３４ Servo software version Ｎ３５ Servo type Ｎ３７ Servo rotating angle 1 Ｎ３８ Servo rotating angle 2 Ｎ３９ Servo input port monitor Ｎ４０ Servo output port monitor Ｎ４１ Servo command pulse counter Ｎ４２ Servo feedback pulse counter Ｎ４７ Servo type main boat software version Ｎ４８ － Ｎ４９ －

The data indicated as Servo Alarm Traceback No. 0 ~ 9 is not an alarm number. The data in the column for the alarm traceback symbol of “3-4. Alarms 3) Servo alarms.” Servo alarm traceback No. 0 is the latest alarm. Data 0099 indicates that there is no alarm.

◆DGN OUTPUT CHECK LIST Contents

Address bit７ bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Ｎ００ External output

LED 2ndF

Input power supply change

Main circuit power supply

Clamp SOL ALM LEVEL FIN2 FIN1

Ｎ０１ Control output － SV-REV SV-FWD － － SV-AUT

O SV-PCON SV-ON

Ｎ０２ All the LEDs are on, whole LCD display (Excluding: 2nd･F LED)

“N00” and “N01” output signal status will be inverse when “1” is entered.

For “N02” status, all the LEDs except for [2nd•F] LED and the LCD screen light up for five seconds.

Appendix-14

MEMO

5-100 Awada, Nonoichi-shi, Ishikawa 921-8529 Japan

Phone: (076) 294-5111Fax: (076) 294-5157URL: http://www.tsudakoma.co.jpE-mail: ksales@tsudakoma.co.jp