atc tool change

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FANUC INDIA FA & ROBOT

ATC operation

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Different tool changers

1. Turret

2. Magazine and tool change mechanism

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Turrets (Lathes)

1

3

2

5

47

6

8

Drill Tap centers

12/24

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Tool Magazine and tool change

Spindle

Magazine Tool change Arm

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Po No To No To No 1 st change

To No 2 nd change

To No 3 rd change

To No 4 th change

To No 5 th change

Spi 0

1 1

2 2

3 3

4 4

5 5

6 6

7 7

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PLC requirements for turret

• Counter

• Comparison

• Shorter path selection

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PLC requirements for Magazine & tool change

• Counter

• Comparison

• Shorter path selection

• Searching the pocket number at which tool exists

• Writing the tool number into the pocket

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Counter (CTR)CN0

Up/Down

Rst

Count

Sub 5

1. Can work as preset counter2. Can work as Ring counter3. Can work as Up/Down counter4. Total number of counters is 20 in SA15. Maximum count value in BCD form is 9999

R1.0

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Conditions

1. CN0 =0, Counter initial value is set to 0 and first count input increments the counter to 1.

2. CN0=1, Counter initial value is set to 1 and the first count input increments the counter to 2

3. Up/Down=0, Counter counts up with every count input

4. Up/Down=1, Counter counts down with every count input.

5. Rst pulse signal resets the counter value to initial value.

At the Maximum count value set, the counter rings back. Example : If Maximum value is set to 24, after counting 24, the

counter with next count pulse reads as either 0 or 1 depending on CN0=0 or 1.

When the counter value is equal to maximum value, the counter out put coil R1.0 sets to 1

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Counter (CTRC)CN0

Up/Down

Rst

Count

1. Can work as preset counter2. Can work as Ring counter3. Can work as Up/Down counter4. No limit for the number of counters

R1.1

CTRC

Sub55

CounterPresetValue Address

CounterValueRegisteraddress

Stores the preset value of counter

Will store theCount value

11


Rot instruction (Shorter direction selection)

R1.2

Rot

Sub 6

RotorIndex-ingaddress

CurrentPositionAddress

Goal Positionaddress

Calcu-latingresultoutputaddress

Size of the turret or Magazine

Data table address which stores current position of turret/Magazine

Final destination of the turret or Magazine

Data address to store result

RN0

Byt

Dir

Pos

Inc

Act

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RN0=0 The first position of turret or magazine is numbered as 0RN0=1 The first position of turret or magazine is numbered as 1Byt=0 Total number of tools used is with in 2 digits (less than 99)Byt=1 Total number of tools used is with in 4 digits (less than 9999)DIR=0 Shorter path calculation is not requiredDIR=1 Shorter path calculation is requiredPOS=1 INC=0Calculates the absolute value of one position before the final goal positionPOS=0 INC=1Calculates the increment value between the present position and the final positionPOS=1 INC=1Calculates the increment value between the present position and one position before the final positionR1.2=0, Shorter direction is ForwardR1.2=1, Shorter direction is reverse

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RotB instruction (Shorter direction selection)

R1.3

RotB

Sub 26

Rotatingelementindexedpositionaddress

CurrentPositionAddress

TargetPositionaddress

Arthe-meticresultoutputaddress

RN0

Dir

Pos

Inc

Act

For-mat

Spe-cifi-cati-on

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Format Specification: Specifies whether the data is in the form 1 byte or 2 byte or 4 byte

Rotating element indexed position address: Address in the datatable where the size of the turret or magazine is stored

Current position address: Address in the data table where the sizeof the present position information of the turret or magazine is stored

Target position address: Address in the data table where the required tool number is stored

Address in the data table where the calculation results have to be Stored

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RN0=0 The first position of turret or magazine is numbered as 0RN0=1 The first position of turret or magazine is numbered as 1

DIR=0 Shorter path calculation is not requiredDIR=1 Shorter path calculation is required

POS=1 INC=0Calculates the absolute value of one position before the final goal positionPOS=0 INC=1Calculates the increment value between the present position and the final positionPOS=1 INC=1Calculates the increment value between the present position and one position before the final position

R1.3=0, Shorter direction is ForwardR1.3=1, Shorter direction is reverse

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Comp

Sub 15

InputDataFormat

InputValue

Compari-sonValue

R 1.4

BYT

Comp (Comparison)

Act

Input data format: Specifies whether the input data is a constantor is it available at an address in the data table

If 0 is entered, input value is a constant and if 1 is entered, thenInput value is available at an address

Comparison value: Specifies the address storing the comparison Value

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Byt=0 Total number for comparison is with in 2 digits (less than 99)Byt=1 Total number for comparison is with in 4 digits (less than 9999)

Comparison value address: Specifies the address storing the

comparison Value

R.14=0 if Input value is greater than comparison value

R1.4=1, if Input value is less than or equal to comparison value

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Comp

Sub 32

InputDataFormat

InputValueadress

Compari-sonValueAddress

CompB (Binary Comparison)

Act

Format Specification: Uses 4 individual digits to specify

If 0 is entered it specifies that the input data is a constant valueIf 1 is entered it specifies that the input data is available at a data table address

Enter 1, 2 or 4 to define the size of comparison data as 1 byte or 2 byte or 4 byte

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Input value address : Specifies the address where input data

is present


comparison Value

The result of comparison is available at R9000.

R9000

R9000.0=1 if the two values are equal

R9000.1=1 Input data is less than comparison data

R9000.5=1 If data overflows

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Comp

Sub 16

InputDataFormat

InputValue

Compari-sonValue

R 1.4

BYT

Coin (Coincidence)

Act

Input data format: Specifies whether the input data is a constantor is it available at an address in the data table

If 0 is entered, input value is a constant and if 1 is entered, thenInput value is available at an address

Comparison value: Specifies the address storing the comparison Value

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comparison Value

R.14=1 if Input value is equal to comparison value

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Dsch instruction (Data search instruction

R2.0

Dsch

Sub17

NumberOf theData ofThe datatable

Data TableHeadingaddress

SearchDataaddress

SearchResultOutputaddress

BYT

RST

ACT

Number of the data of the data tableData table size required.

Data table heading addressStarting address of the data table

Search data address.Address of the data where the data to be searched is stored

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Search result output addressAddress where the searched result has to be stored.


If R2.0 =1 then the data searched is not present

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DschB instruction (Data search instruction

R2.1

Dsch

Sub17

StorageaddressOf numberOf Datain datatable

Data TableHeadaddress

SearchDataaddress

Outputaddress ofSearchResult

RST

ACT

Format Designation: Specifies data length. We use numbers 1, 2 or 4 to define 1 byte or 2 bytes or 4 bytes

Storage address of number of the data in data tableAddress of data which stores Data table size required.

Data table head addressStarting address of the data table

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Search data address.Address of the data where the data to be searched is stored

Output address of Search resultAddress where the searched result has to be stored.


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XMOV instruction (Data read & write)

R2.3

XMOV

Sub18

NumberOf theData ofThe datatable

Data TableHeadingaddress

AddressStoringThe inputOutputdata

AddressStoringTable Internalnumber

BYT

RS

RST

Number of the data of the data tableData table size required.

Data table heading addressStarting address of the data table

Address storing the input output data.Address of the data where the data to be read or written is stored

ACT

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Address storing table internal numberAddress where the data address where the data has to be writtenor read is stored


RW=0 Data needs to be read from data tableRW=1 data needs to be written into the data table.


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XMOVB instruction (Data read & write Binary)

R2.4

XMOVB

Sub17

StorageaddressOf numberOf Datain datatable

Data TableHeadaddress

I/ODatastorageaddress

Table NumberStorageaddress

RST

ACT

Format Designation: Specifies data length. We use numbers 1, 2 or 4 to define 1 byte or 2 bytes or 4 bytes

Storage address of number of the data in data tableAddress of data which stores Data table size required.

Data table head addressStarting address of the data table

RS

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I/O data storage addressAddress of the data where the data to be searched is stored

Table number storage addressAddress where the table internal number where data has toBe written/read is stored.


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atc tool change