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2.13 PROGRAM
SUPPORT FUNCTIONS
(Cont'd)
The No. 1 and
two
prohibited
areas
of No. 2
to
No.
5 can
be overlapped.
Motion
in
prohibited
area
Each
prohibited
area
is valid after once returning
to
reference point
by
G28 or
return
to
manual reference point is
accomplished.
Error handling
If the axis
is in
a
prohibited area when the stored stroke limit is turned
on,
an
error
occurs
immediately.
If this
error
occurs, turn
off the prohibited area
of No.
2
to
No.
5 by setting
parameters.
then rewrite data or move the axis
out
of
the prohibited area by manual
operation.
If
an
axis
enters
into
a
prohibited
area causing an alarm,
retraction is possible
only
in
the reverse direction of
entry.
Stored
stroke
limit A
Stored stroke limit
A is checked both
on
linear and
rotary
axes.
For
rotary
axes,
a
parameter
is
provided
to
determine
whether
to
check the
limit.
Normally, the
limit check is
not
performed.
Table 2.13.19 Servo axis
parameters
1.
2.
3.
4.
5.
Axis
name
X
Y
Z
Parameter
pmtil.131
D6
pm6<>32
D6
ptn603U D6
Axis
name
5
4
Parameter
pni6033
D6
pm6034
Dtj
DSÿOiLinear
axis
l:Rotary axis
Table
2.13.20 Stored stroke
limit
on/off
parameters for rotary
servo axes
Z
Y
X
Axis name
pm6032
D2
pmti0H4
D1
pm
6004 DO
Parameter
5
Axis
name
4
pm6004
D3
pm
6004 D4
Parameter
Each bit determines:
0:
To
check the
limit.
1:
Not
to
check
the limit.
6.
Stored
stroke limits
cannot
be checked when the machine is locked.
7.
Limit
check with axis
omitted
by
G22
For the axes omitted in command G22.
parameter
values are used for limit check.
8. Fig.2. 14.41 shows
definitions of
whether
a boundary
is
to
be
included
in the prohibited
area:
U
A
77%
Boundary value
Included/not
included
Prohibited
area
Upper limit
Included
tlKitside
prohibited
Outside prohibited area
area
Lower limit
Not included
Lower limit
Not
included
Inside
prohibited
area
llpper
limit
Included
Inside
prohibited area
Fig. 2.13.41 Definition of
whether
boundary
is included
in prohibited
areas
-
234
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