Use Of Atc And Rot Instructions - Mitsubishi Electric M800VW Series Programming Manual

M800V/M80V Series PLC Programming Manual (1/2)
9 Exclusive Instructions
9.1 ATC Exclusive Instruction

9.1.5 Use of ATC and ROT Instructions

The use order of the ATC and ROT instructions during the T command or tool change command is shown below:
T command Tool No. search
Pointer or ring
Tool No. logical search
counter value
Rotary body Turning direction
index
Number of
ROT K1
steps, etc.
The relationship between the tool number search instruction and rotary body indexing instruction when the tool table rotation
method or variable pointer method is used is explained below.
Tool table rotation method
R10700
5
0
:
6
1
: 7
2
:
8
3
: 9
:
10
4
:
1
5
: 2
6
:
3
R10709 4
7
Tool No.
Pointer
When indexing tool number 8 in the situation given in the previous page
 In the tool table rotation method, the tool number search instruction outputs 3.
 In the variable pointer method, the tool number search instruction outputs 7.
The tool number search instruction output result is used by the rotary body indexing instruction to find the rotation direction,
the number of steps, etc.
 In the tool table rotation system, rotation direction CW and number of steps 3 are found from the relationship between cur-
rent value 0 (pointer 0) and tool number search output result 3.
 In the variable pointer method, rotation direction CW and number of steps 3 are found from the relationship between cur-
rent value 4 (pointer 4) and tool number search output result 7, as in (a) above.
In the fixed pointer system, the pointer is fixed to 0 and the ring counter of 0 to n-1 ("n" is the number of magazines) separate
from the pointer is controlled. The counter value is used as the current position.
IB-1501667-B
ATC K1
ATC K2
Magazine
turn
Magazine stop
Tool change
command
Variable pointer method
R10700
Current
position
:
:
:
:
:
:
:
:
R10709
Matching place No.
Number of the matches
Fixed pointer method
Ring counter control
ROT K3
Variable pointer
method
Pointer forward run
/reverse run
ATC K5, K6
Tool table forward run
/reverse run
ATC K7, K8
Tool change
ATC K3
Arbitrary position tool change
ATC K4
1
0
2
1
3
2
4
2
Current
3
5
position
6
4
3
7
5
8
6
9
10
7
430
Error process
10
9
1
Target
8
position
7
6
4
5
Current
position