PMC Function Library

(PMC axis control)

Table of contents

1 Overview ······························································································· 6

2 Applicable PMC models··········································································· 6

3 PMC Function Library for PMC Axis Control··············································· 7

3.1 List of function blocks for PMC axis control······································································8
3.1.1 List of Function blocks of basic PMC axis control functions ·········································· 8
3.1.2 List of Function blocks of peripheral equipment control ··············································10
3.2 Definition of symbols for external variables ···································································· 12
3.2.1 Error signal of axis control operation ·······································································12
3.2.2 Reset signal for axis control command······································································12
3.3 CNC parameters··········································································································· 13
3.4 Signals for PMC axis control function ············································································ 13
3.4.1 Signals handled by function blocks for PMC axis control ·············································13
3.4.2 Signals for PMC axis control function handled by ladder program ································14
3.5 How to use PMC Function Library·················································································· 15

4 Function blocks of basic PMC axis control ···············································18

4.1 Axis control command·································································································· 18
4.1.1 Function block name ·····························································································18
4.1.2 Function··············································································································18
4.1.3 Format ················································································································19
4.1.4 Parameters ··········································································································20
4.1.5 External variables ································································································21
4.1.6 Creating function blocks for other groups ·································································21
4.1.7 Example ··············································································································22
4.2 Rapid traverse ············································································································· 23
4.2.1 Function block name ·····························································································23
4.2.2 Function··············································································································23
4.2.3 Format ················································································································23
4.2.4 Parameters ··········································································································24
4.2.5 Related CNC parameters ·······················································································25
4.2.6 Related signals ·····································································································25
4.2.7 Example ··············································································································26
4.3 Cutting feed – feed per minute······················································································· 27
4.3.1 Function block name ·····························································································27
4.3.2 Function··············································································································27
4.3.3 Format ················································································································27
4.3.4 Parameters ··········································································································28
4.3.5 Related CNC parameters ·······················································································29
4.3.6 Related signals ·····································································································29
4.3.7 Example ··············································································································30
4.4 Cutting feed – feed per revolution ·················································································· 31
4.4.1 Function block name ·····························································································31
4.4.2 Function··············································································································31
4.4.3 Format ················································································································31
1
 4.4.4 Parameters ··········································································································32
4.4.5 Related CNC parameters ·······················································································33
4.4.6 Related signals ·····································································································33
4.4.7 Example ··············································································································34
4.5 Skip – feed per minute ·································································································· 35
4.5.1 Function block name ·····························································································35
4.5.2 Function··············································································································35
4.5.3 Format ················································································································35
4.5.4 Parameters ··········································································································36
4.5.5 Related CNC parameters ·······················································································37
4.5.6 Related signals ·····································································································37
4.5.7 Example ··············································································································38
4.6 Dwell ·························································································································· 39
4.6.1 Function block name ·····························································································39
4.6.2 Function··············································································································39
4.6.3 Format ················································································································39
4.6.4 Parameters ··········································································································40
4.6.5 Related CNC parameters ·······················································································40
4.6.6 Example ··············································································································41
4.7 Reference position return ····························································································· 42
4.7.1 Function block name ·····························································································42
4.7.2 Function··············································································································42
4.7.3 Format ················································································································42
4.7.4 Parameters ··········································································································43
4.7.5 Related CNC parameters ·······················································································44
4.7.6 Example ··············································································································45
4.8 Continuous feed ·········································································································· 46
4.8.1 Function block name ·····························································································46
4.8.2 Function··············································································································46
4.8.3 Format ················································································································46
4.8.4 Parameters ··········································································································47
4.8.5 Related CNC parameters ·······················································································48
4.8.6 Related signals ·····································································································48
4.8.7 Example ··············································································································49
4.9 First to fourth reference position return ·········································································· 50
4.9.1 Function block name ·····························································································50
4.9.2 Function··············································································································50
4.9.3 Format ················································································································51
4.9.4 Parameters ··········································································································52
4.9.5 Related CNC parameters ·······················································································53
4.9.6 Related signals ·····································································································53
4.9.7 Example ··············································································································54
4.10 External pulse synchronization – position coder ····························································· 55
4.10.1 Function block name ·····························································································55
4.10.2 Function··············································································································55
4.10.3 Format ················································································································56
4.10.4 Parameters ··········································································································57
4.10.5 Related CNC parameters ·······················································································58
4.10.6 Related signals ·····································································································58
4.10.7 Example ··············································································································59
4.11 External pulse synchronization – manual handle ····························································· 60
4.11.1 Function block name ·····························································································60
4.11.2 Function··············································································································60
4.11.3 Format ················································································································60
4.11.4 Parameters ··········································································································61
4.11.5 Related CNC parameters ·······················································································61
4.11.6 Related signals ·····································································································62
4.11.7 Example ··············································································································62
4.12 Speed command ·········································································································· 63
4.12.1 Function block name ·····························································································63
4.12.2 Function··············································································································63
4.12.3 Format ················································································································63
4.12.4 Parameters ··········································································································64
4.12.5 Related CNC parameters ·······················································································65

2
 4.12.6 Example ··············································································································66
4.13 Torque control ············································································································· 67
4.13.1 Function block name ·····························································································67
4.13.2 Function··············································································································67
4.13.3 Format ················································································································67
4.13.4 Parameters ··········································································································68
4.13.5 Related CNC parameters ·······················································································69
4.13.6 Related signals ·····································································································69
4.13.7 Example ··············································································································70
4.14 Auxiliary function········································································································· 71
4.14.1 Function block name ·····························································································71
4.14.2 Function··············································································································71
4.14.3 Format ················································································································71
4.14.4 Parameters ··········································································································72
4.14.5 Related CNC parameters ·······················································································72
4.14.6 Related signals ·····································································································73
4.14.7 Example ··············································································································73
4.15 Machine coordinate system selection············································································· 74
4.15.1 Function block name ·····························································································74
4.15.2 Function··············································································································74
4.15.3 Format ················································································································74
4.15.4 Parameters ··········································································································75
4.15.5 Related CNC parameters ·······················································································76
4.15.6 Example ··············································································································76
4.16 Cutting feed – sec/block specification ············································································ 77
4.16.1 Function block name ·····························································································77
4.16.2 Function··············································································································77
4.16.3 Format ················································································································77
4.16.4 Parameters ··········································································································78
4.16.5 Related CNC parameters ·······················································································79
4.16.6 Related signals ·····································································································79
4.16.7 Example ··············································································································80
4.17 Reset PMC axis control································································································· 81
4.17.1 Function block name ·····························································································81
4.17.2 Function··············································································································81
4.17.3 Format ················································································································81
4.17.4 Parameters ··········································································································81
4.17.5 External variables ································································································82
4.17.6 Example ··············································································································82

5 Function blocks of peripheral equipment control·······································83

5.1 Jog operation ·············································································································· 83
5.1.1 Function block name ·····························································································83
5.1.2 Function··············································································································83
5.1.3 Format ················································································································83
5.1.4 Parameters ··········································································································84
5.1.5 Signals used inside function block ···········································································85
5.1.6 Related CNC parameters ·······················································································85
5.1.7 Related signals ·····································································································85
5.1.8 Example ··············································································································86
5.2 ATC/Turret control – Automatic operation ······································································· 87
5.2.1 Function block name ·····························································································87
5.2.2 Function··············································································································87
5.2.3 Format ················································································································88
5.2.4 Parameters ··········································································································89
5.2.5 Error information ·································································································90
5.2.6 Signals used inside function block ···········································································90
5.2.7 Related CNC parameters ·······················································································91
5.2.8 Related signals ·····································································································91
5.2.9 Example ··············································································································92
5.3 ATC/Turret control – 1-pitch rotation··············································································· 94
5.3.1 Function block name ·····························································································94
5.3.2 Function··············································································································94
5.3.3 Format ················································································································95

3
 5.3.4 Parameters ··········································································································96
5.3.5 Error information ·································································································97
5.3.6 Signals used inside function block ···········································································97
5.3.7 Related CNC parameters ·······················································································98
5.3.8 Related signals ·····································································································98
5.3.9 Example ··············································································································99
5.4 Point positioning (linear axis)······················································································ 100
5.4.1 Function block name ··························································································· 100
5.4.2 Function············································································································ 100
5.4.3 Format ·············································································································· 101
5.4.4 Parameters ········································································································ 102
5.4.5 Error information ······························································································· 103
5.4.6 Signals used inside function block ········································································· 103
5.4.7 Related CNC parameters ····················································································· 104
5.4.8 Related signals ··································································································· 104
5.4.9 Example ············································································································ 105
5.5 Point positioning (rotary axis) ····················································································· 106
5.5.1 Function block name ··························································································· 106
5.5.2 Function············································································································ 106
5.5.3 Format ·············································································································· 107
5.5.4 Parameters ········································································································ 108
5.5.5 Error information ······························································································· 109
5.5.6 Signals used inside function block ········································································· 109
5.5.7 Related CNC parameters ····················································································· 110
5.5.8 Related signals ··································································································· 110
5.5.9 Example ············································································································ 111
5.6 Reference position return – reference position number ···················································113
5.6.1 Function block name ··························································································· 113
5.6.2 Function············································································································ 113
5.6.3 Format ·············································································································· 113
5.6.4 Parameters ········································································································ 114
5.6.5 Error information ······························································································· 115
5.6.6 Signals used inside function block ········································································· 115
5.6.7 Related CNC parameters ····················································································· 116
5.6.8 Related signals ··································································································· 116
5.6.9 Example ············································································································ 117
5.7 Reference position return – reference position setting ····················································118
5.7.1 Function block name ··························································································· 118
5.7.2 Function············································································································ 118
5.7.3 Format ·············································································································· 118
5.7.4 Parameters ········································································································ 119
5.7.5 Signals used inside function block ········································································· 119
5.7.6 Related CNC parameters ····················································································· 120
5.7.7 Related signals ··································································································· 120
5.7.8 Example ············································································································ 121
5.8 Positioning – absolute specification (linear axis) ··························································· 122
5.8.1 Function block name ··························································································· 122
5.8.2 Function············································································································ 122
5.8.3 Format ·············································································································· 122
5.8.4 Parameters ········································································································ 123
5.8.5 Error information ······························································································· 124
5.8.6 Signals used inside function block ········································································· 124
5.8.7 Related CNC parameters ····················································································· 125
5.8.8 Related signals ··································································································· 125
5.8.9 Example ············································································································ 126
5.9 Positioning – absolute specification (rotary axis)··························································· 127
5.9.1 Function block name ··························································································· 127
5.9.2 Function············································································································ 127
5.9.3 Format ·············································································································· 128
5.9.4 Parameters ········································································································ 129
5.9.5 Error information ······························································································· 130
5.9.6 Signals used inside function block ········································································· 130
5.9.7 Related CNC parameters ····················································································· 131
5.9.8 Related signals ··································································································· 131
5.9.9 Example ············································································································ 132

4
5.10 Positioning – incremental specification ········································································ 133
5.10.1 Function block name ··························································································· 133
5.10.2 Function············································································································ 133
5.10.3 Format ·············································································································· 133
5.10.4 Parameters ········································································································ 134
5.10.5 Signals used inside function block ········································································· 134
5.10.6 Related CNC parameters ····················································································· 135
5.10.7 Related signals ··································································································· 135
5.10.8 Example ············································································································ 136
5.11 Speed control ············································································································ 137
5.11.1 Function block name ··························································································· 137
5.11.2 Function············································································································ 137
5.11.3 Format ·············································································································· 138
5.11.4 Parameters ········································································································ 139
5.11.5 Error information ······························································································· 140
5.11.6 Signals used inside function block ········································································· 140
5.11.7 Related CNC parameters ····················································································· 141
5.11.8 Related signals ··································································································· 142
5.11.9 Example ············································································································ 143
5.12 Positioning (skip) – absolute specification (linear axis) ·················································· 144
5.12.1 Function block name ··························································································· 144
5.12.2 Function············································································································ 144
5.12.3 Format ·············································································································· 145
5.12.4 Parameters ········································································································ 146
5.12.5 Error information ······························································································· 147
5.12.6 Signals used inside function block ········································································· 147
5.12.7 Related CNC parameters ····················································································· 148
5.12.8 Related signals ··································································································· 148
5.12.9 Example ············································································································ 149
5.13 Positioning (skip) – absolute specification (rotary axis) ·················································· 150
5.13.1 Function block name ··························································································· 150
5.13.2 Function············································································································ 150
5.13.3 Format ·············································································································· 151
5.13.4 Parameters ········································································································ 152
5.13.5 Error information ······························································································· 153
5.13.6 Signals used inside function block ········································································· 153
5.13.7 Related CNC parameters ····················································································· 154
5.13.8 Related signals ··································································································· 154
5.13.9 Example ············································································································ 155
5.14 Positioning (skip) – incremental specification ······························································· 157
5.14.1 Function block name ··························································································· 157
5.14.2 Function············································································································ 157
5.14.3 Format ·············································································································· 157
5.14.4 Parameters ········································································································ 158
5.14.5 Signals used inside function block ········································································· 158
5.14.6 Related CNC parameters ····················································································· 159
5.14.7 Related signals ··································································································· 159
5.14.8 Example ············································································································ 160
5.15 Data setting by teaching ····························································································· 161
5.15.1 Function block name ··························································································· 161
5.15.2 Function············································································································ 161
5.15.3 Format ·············································································································· 162
5.15.4 Parameters ········································································································ 163
5.15.5 Error information ······························································································· 164
5.15.6 Signals used inside function block ········································································· 164
5.15.7 Related CNC parameters ····················································································· 165
5.15.8 Related signals ··································································································· 165
5.15.9 Example ············································································································ 165

5
1 Overview
This document describes the specifications of PMC Function Library for PMC axis control, and how to integrate
its functions.
PMC axis control is a function that controls any axis, which is independent from control of CNC, using PMC
signals. A PMC axis can move independently from other axes under control of CNC, and can be used for
controlling peripheral devices such as turrets, palettes, and index tables. Sample programs using functional
instruction AXCTL are provided to help your programming to control PMC axis.
This library provides function blocks that can be integrated to your ladder program by FANUC LADDER-III.

2 Applicable PMC models

This library can be used for the PMC models listed below:

Applicable PMC models

Series 30i/31i/32i -MODEL B PMC

Series 35i -MODEL B PMC
Series 30i/31i/32i -MODEL A PMC
Series 32i -MODEL A PMC/L
Series 0i -MODEL F PMC
Series 0i -MODEL D PMC
Series 0i -MODEL D PMC/L
Series 0i Mate-MODEL D PMC/L
Power Motion i -MODEL A PMC

6
3 PMC Function Library for PMC Axis Control
PMC Function Library is a function block library which provides sample programs for PMC axis control.

Library name : PMC_AXIS_CONTROL.FLL

This library contains function blocks of basic PMC axis control functions for each PMC axis control command,
and ones of peripheral equipment control, using each group from 1 to 4.

PMC_AXIS_CONTROL.FLL

Basic Basic PMC axis control functions

Group_01 Function block for group 1

Group_02 Function block for group 2

Group_03 Function block for group 3

Group_04 Function block for group 4

Peripheral Equipment Control Peripheral equipment control functions

Group_01 Function block for group 1

Group_02 Function block for group 2

Group_03 Function block for group 3

Group_04 Function block for group 4

Note
1 The option “Function Block function” is required to use function block function.
2 The option “Axis control by PMC” is required to use PMC axis control function.
3 For more details, please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of
your CNC model.

7
3.1 List of function blocks for PMC axis control
PMC_AXIS_CONTROL.FLL contains two types of function block:
- Function blocks of basic PMC axis control functions for each PMC axis control command
- Function blocks of peripheral equipment control

3.1.1 List of Function blocks of basic PMC axis control functions

The function blocks of basic PMC axis control functions for each PMC axis control command are listed below:

Table 3.1.1 List of function blocks

Size of
No. Function block name Description
instance
PFL0_PMC_AXCTL_01
PFL0_PMC_AXCTL_02 Executes PMC axis control by functional instruction
1 20 byte
PFL0_PMC_AXCTL_03 AXCTL (SUB 53) with specified control command.
PFL0_PMC_AXCTL_04
PFL0_RAPID_TRAVERSE_01
PFL0_RAPID_TRAVERSE_02 Executes rapid traverse (axis control command: 00H)
2 34 byte
PFL0_RAPID_TRAVERSE_03 (the same action as “G00” of CNC)
PFL0_RAPID_TRAVERSE_04
PFL0_CUTTING_FEED_PER_MIN_01
Executes cutting feed - feed per minute (axis control
PFL0_CUTTING_FEED_PER_MIN_02
3 34 byte command: 01H)
PFL0_CUTTING_FEED_PER_MIN_03
(the same action as “G94 G01” of CNC)
PFL0_CUTTING_FEED_PER_MIN_04
PFL0_CUTTING_FEED_PER_REV_01
Executes cutting feed - feed per revolution (axis control
PFL0_CUTTING_FEED_PER_REV_02
4 34 byte command: 02H)
PFL0_CUTTING_FEED_PER_REV_03
(the same action as “G95 G01” of CNC)
PFL0_CUTTING_FEED_PER_REV_04
PFL0_SKIP_BY_FEED_PER_MIN_01
Executes skip - feed per minute (axis control command:
PFL0_SKIP_BY_FEED_PER_MIN_02
5 34 byte 03H)
PFL0_SKIP_BY_FEED_PER_MIN_03
(the same action as “G31 G01” of CNC)
PFL0_SKIP_BY_FEED_PER_MIN_04
PFL0_DWELL_01
PFL0_DWELL_02 Executes dwell (axis control command: 04H)
6 30 byte
PFL0_DWELL_03 (the same action as “G04” of CNC)
PFL0_DWELL_04
PFL0_REF_POS_RETURN_01
PFL0_REF_POS_RETURN_02 Executes reference position return (axis control
7 26 byte
PFL0_REF_POS_RETURN_03 command: 05H)
PFL0_REF_POS_RETURN_04
PFL0_CONTINUOUS_FEED_01 Executes continuous feed in one direction (axis control
PFL0_CONTINUOUS_FEED_02 command: 06H)
8 30 byte
PFL0_CONTINUOUS_FEED_03 (the same action as continuous feed in JOG mode of
PFL0_CONTINUOUS_FEED_04 CNC)
PFL0_1ST_REF_POS_RETURN_01 Executes the first reference position return via
PFL0_1ST_REF_POS_RETURN_02 intermediate position (axis control command: 07H)
9 26 byte
PFL0_1ST_REF_POS_RETURN_03 (the same action as “G28” of CNC, which execute
PFL0_1ST_REF_POS_RETURN_04 reference position return from intermediate position)
PFL0_2ND_REF_POS_RETURN_01 Executes the second reference position return via
PFL0_2ND_REF_POS_RETURN_02 intermediate position (axis control command: 08H)
10 26 byte
PFL0_2ND_REF_POS_RETURN_03 (the same action as “G28 P2” of CNC, which execute
PFL0_2ND_REF_POS_RETURN_04 reference position return from intermediate position)
PFL0_3RD_REF_POS_RETURN_01 Executes the third reference position return via
PFL0_3RD_REF_POS_RETURN_02 intermediate position (axis control command: 09H)
11 26 byte
PFL0_3RD_REF_POS_RETURN_03 (the same action as “G28 P3” of CNC, which execute
PFL0_3RD_REF_POS_RETURN_04 reference position return from intermediate position)

8
 Size of
No. Function block name Description
instance
PFL0_4TH_REF_POS_RETURN_01 Executes the fourth reference position return via
PFL0_4TH_REF_POS_RETURN_02 intermediate position (axis control command: 0AH)
12 26 byte
PFL0_4TH_REF_POS_RETURN_03 (the same action as “G28 P4” of CNC, which execute
PFL0_4TH_REF_POS_RETURN_04 reference position return from intermediate position)
PFL0_EXT_PLS_SYNC_POS_CODER_01
PFL0_EXT_PLS_SYNC_POS_CODER_02 Executes synchronous operation with position coder
13 32 byte
PFL0_EXT_PLS_SYNC_POS_CODER_03 (axis control command: 0BH)
PFL0_EXT_PLS_SYNC_POS_CODER_04
PFL0_EXT_PLS_SYNC_1ST_HNDL_01
PFL0_EXT_PLS_SYNC_1ST_HNDL_02 Executes synchronous operation with the first manual
14 26 byte
PFL0_EXT_PLS_SYNC_1ST_HNDL_03 handle (axis control command: 0DH)
PFL0_EXT_PLS_SYNC_1ST_HNDL_04
PFL0_EXT_PLS_SYNC_2ND_HNDL_01
PFL0_EXT_PLS_SYNC_2ND_HNDL_02 Executes synchronous operation with the second
15 26 byte
PFL0_EXT_PLS_SYNC_2ND_HNDL_03 manual handle (axis control command: 0EH)
PFL0_EXT_PLS_SYNC_2ND_HNDL_04
PFL0_EXT_PLS_SYNC_3RD_HNDL_01
PFL0_EXT_PLS_SYNC_3RD_HNDL_02 Executes synchronous operation with the third manual
16 26 byte
PFL0_EXT_PLS_SYNC_3RD_HNDL_03 handle (axis control command: 0FH)
PFL0_EXT_PLS_SYNC_3RD_HNDL_04
PFL0_SPEED_COMMAND_01
PFL0_SPEED_COMMAND_02 Executes continuous feed of rotary axis by speed
17 26 byte
PFL0_SPEED_COMMAND_03 command (axis control command: 10H)
PFL0_SPEED_COMMAND_04
PFL0_TORQUE_CONTROL_01
PFL0_TORQUE_CONTROL_02 Executes continuous feed by torque control (axis control
18 34 byte
PFL0_TORQUE_CONTROL_03 command: 11H)
PFL0_TORQUE_CONTROL_04
PFL0_AUXILIARY_FUNCTION1_01
PFL0_AUXILIARY_FUNCTION1_02 Executes the same action as auxiliary function (M code
19 28 byte
PFL0_AUXILIARY_FUNCTION1_03 function) of CNC (axis control command: 12H)
PFL0_AUXILIARY_FUNCTION1_04
PFL0_AUXILIARY_FUNCTION2_01
PFL0_AUXILIARY_FUNCTION2_02 Executes the same action as auxiliary function (M code
20 28 byte
PFL0_AUXILIARY_FUNCTION2_03 function) of CNC (axis control command: 14H)
PFL0_AUXILIARY_FUNCTION2_04
PFL0_AUXILIARY_FUNCTION3_01
PFL0_AUXILIARY_FUNCTION3_02 Executes the same action as auxiliary function (M code
21 28 byte
PFL0_AUXILIARY_FUNCTION3_03 function) of CNC (axis control command: 15H)
PFL0_AUXILIARY_FUNCTION3_04
PFL0_MACHINE_POS_SELECT_01 Executes rapid traverse to specified absolute position in
PFL0_MACHINE_POS_SELECT_02 the machine coordinate system (axis control command:
22 34 byte
PFL0_MACHINE_POS_SELECT_03 20H)
PFL0_MACHINE_POS_SELECT_04 (the same action as “G53” of CNC)
PFL0_CUTTING_FEED_SEC_BLK_01
PFL0_CUTTING_FEED_SEC_BLK_02 Executes cutting feed for specified period of time (axis
23 34 byte
PFL0_CUTTING_FEED_SEC_BLK_03 control command: 21H)
PFL0_CUTTING_FEED_SEC_BLK_04
PFL0_PMC_AXCTL_RESET_01
PFL0_PMC_AXCTL_RESET_02 Resets PMC axis control command in action or
24 2 byte
PFL0_PMC_AXCTL_RESET_03 suspended in buffer
PFL0_PMC_AXCTL_RESET_04

9
 Note
1 Function blocks for PMC axis control are provided as samples for each of the group 1 to 4. Their names have a
number 01-04 at the tail, which indicates the group they use.
2 Function blocks of No.2 to 24 uses the function block of No.1 inside them to perform PMC axis control.
3 Size of instance is the data size in byte that each instance of the function block occupies.
4 The option “Manual handle feed 1-unit” is required to use the first manual handle device.
5 The option “Manual handle feed 2/3-units” is required to use the second or the third manual handle device.

3.1.2 List of Function blocks of peripheral equipment control

The function blocks of peripheral equipment control are listed below:

Table 3.1.2 List of function blocks

Size of
No. Function block name Description
instance
PFL1_JOG_OPERATION_01
Jog operation
PFL1_JOG_OPERATION_02
1 37 byte Move axis in positive or negative direction at the
PFL1_JOG_OPERATION_03
specified speed.
PFL1_JOG_OPERATION_04
PFL1_ATC_TURRET_CNTL_AUTO_01 ATC/Turret control – Automatic operation
PFL1_ATC_TURRET_CNTL_AUTO_02 Move axis to the position of the specified
2 125 byte
PFL1_ATC_TURRET_CNTL_AUTO_03 turret/magazine number in the specified direction;
PFL1_ATC_TURRET_CNTL_AUTO_04 shorter, positive, negative.
PFL1_ATC_TURRET_CNTL_PITCH_01 ATC/Turret control – 1-pitch rotation
PFL1_ATC_TURRET_CNTL_PITCH_02 Move axis to the next position from the current
3 131 byte
PFL1_ATC_TURRET_CNTL_PITCH_03 turret/magazine number in the positive or negative
PFL1_ATC_TURRET_CNTL_PITCH_04 direction.
PFL1_POINT_POSITIONING_LA_01
Point positioning (linear axis)
PFL1_POINT_POSITIONING_LA_02
4 99 byte Move to the absolute position of the specified point
PFL1_POINT_POSITIONING_LA_03
number in the point data table.
PFL1_POINT_POSITIONING_LA_04
PFL1_POINT_POSITIONING_RA_01
Point positioning (rotary axis)
PFL1_POINT_POSITIONING_RA_02
5 107 byte Move to the absolute position of the specified point
PFL1_POINT_POSITIONING_RA_03
number in the point data table.
PFL1_POINT_POSITIONING_RA_04
PFL1_REF_POS_RETURN_POS_NUM_01
Reference position return – reference position number
PFL1_REF_POS_RETURN_POS_NUM_02
6 33 byte Perform reference position return to the reference
PFL1_REF_POS_RETURN_POS_NUM_03
position of the specified number; 1 to 4.
PFL1_REF_POS_RETURN_POS_NUM_04
PFL1_REF_POS_RETURN_SET_01
PFL1_REF_POS_RETURN_SET_02 Reference position return – reference position setting
7 31 byte
PFL1_REF_POS_RETURN_SET_03 Perform reference position return.
PFL1_REF_POS_RETURN_SET_04
PFL1_POSITIONING_ABS_LA_01
PFL1_POSITIONING_ABS_LA_02 Positioning – absolute specification (linear axis)
8 85 byte
PFL1_POSITIONING_ABS_LA_03 Move axis to the specified absolute position.
PFL1_POSITIONING_ABS_LA_04
PFL1_POSITIONING_ABS_RA_01
PFL1_POSITIONING_ABS_RA_02 Positioning – absolute specification (rotary axis)
9 93 byte
PFL1_POSITIONING_ABS_RA_03 Move axis to the specified absolute position.
PFL1_POSITIONING_ABS_RA_04
PFL1_POSITIONING_INC_01
PFL1_POSITIONING_INC_02 Positioning – incremental specification
10 43 byte
PFL1_POSITIONING_INC_03 Move axis for the specified distance.
PFL1_POSITIONING_INC_04
PFL1_SPEED_CONTROL_01 Speed control
PFL1_SPEED_CONTROL_02 Perform continuous feed of rotary axis at the specified
11 57 byte
PFL1_SPEED_CONTROL_03 speed. This command can also change the speed of
PFL1_SPEED_CONTROL_04 moving axis, or can stop it.

10
 Size of
No. Function block name Description
instance
PFL1_POSITIONING_SKIP_ABS_LA_01 Positioning (Skip) – absolute specification (linear axis)
PFL1_POSITIONING_SKIP_ABS_LA_02 Move axis to the specified absolute position. If the skip
12 85 byte
PFL1_POSITIONING_SKIP_ABS_LA_03 signal is detected while the axis moves, the axis stops
PFL1_POSITIONING_SKIP_ABS_LA_04 immediately.
PFL1_POSITIONING_SKIP_ABS_RA_01 Positioning (Skip) – absolute specification (rotary axis)
PFL1_POSITIONING_SKIP_ABS_RA_02 Move axis to the specified absolute position. If the skip
13 93 byte
PFL1_POSITIONING_SKIP_ABS_RA_03 signal is detected while the axis moves, the axis stops
PFL1_POSITIONING_SKIP_ABS_RA_04 immediately.
PFL1_POSITIONING_SKIP_INC_01 Positioning (Skip) – incremental specification
PFL1_POSITIONING_SKIP_INC_02 Move axis for the specified distance. If the skip signal is
14 43 byte
PFL1_POSITIONING_SKIP_INC_03 detected while the axis moves, the axis stops
PFL1_POSITIONING_SKIP_INC_04 immediately.
PFL1_DATA_SETTING_BY_TEACH_01
Data setting by teaching
PFL1_DATA_SETTING_BY_TEACH_02
15 93 byte Set the current absolute position as the position of the
PFL1_DATA_SETTING_BY_TEACH_03
specified point in the point data table.
PFL1_DATA_SETTING_BY_TEACH_04

Note
1 Function blocks for PMC axis control are provided as samples for each of the group 1 to 4. Their names have a
number 01-04 at the tail, which indicates the group they use.
2 Size of instance is the data size in byte that each instance of each the function block occupies.

11
3.2 Definition of symbols for external variables
The function blocks for PMC axis control in the library PMC_AXIS_CONTROL.FLL uses the following
signals as external variables. You have to define these global symbols before you use these function blocks.
- Error signal of axis control operation
- Reset signal for axis control command

3.2.1 Error signal of axis control operation

Each function blocks internally refers to the signal of the following address to check the error information of the
functional instruction AXCTL (SUB 53):
7 6 5 4 3 2 1 0
R9000
Z0
Error information of AXCTL instruction

The following global symbol needs to be defined to the error information address above:

Symbol name of type Address

error information Memory type A, B Memory type C, D
ERR_AXIS_GRP_NO BOOL R9000.0 Z0.0

3.2.2 Reset signal for axis control command

The function blocks to reset PMC axis control, such as PFL0_PMC_AXCTL_RESET_01, enables the PMC axis
control in action or suspended in buffer to be reset and cleared
The following reset signals, which these function blocks refer, shall assigned to some actual address. You have
to define the following global symbols as the reset signal of the group you use.

Symbol name for type Address Note

reset signal
GRP_AXCTL_RST_01 for group 1
GRP_AXCTL_RST_02 for group 2
BOOL any address
GRP_AXCTL_RST_03 for group 3
GRP_AXCTL_RST_04 for group 4

These signals are usually assigned to the address of R area, or you can use automatic address assignment
function to assign their addresses.

12
3.3 CNC parameters
The function blocks in this library uses PMC axis control function, which requires the following CNC parameter
to be properly set before you use the function blocks.
For the CNC parameters related to each function block, please refer to the following detailed explanations of
each function.

Table 3.3 (a) Related CNC parameters

CNC parameter Value Description
No.8010 Group Choose the DI/DO group of PMC axis control for each axis.
number Valid range of the group number is 1 to 40.

Note
1 For details of CNC parameter related to PMC axis control, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Setting 1 to CNC parameter EAC (No.3137#7) enables PMC axis status display screen, on which you can check
the status of PMC axis control function.

3.4 Signals for PMC axis control function

3.4.1 Signals handled by function blocks for PMC axis control

The function blocks for PMC axis control use functional instruction AXCTL (SUB 53), which uses the
following signals related to PMC axis control function.
Therefore, the function blocks for PMC axis control will not work properly if these signals have been disturbed.
Please do not write these signals from your ladder program.

Table 3.4.1 (a) Signals related to PMC Function Library for PMC axis control
Signal name Symbol Address (group 1) Description
Axis control command signal EC0g～EC6g G143.0 – G143.6 A part of axis control block data signals.

Axis control feedrate signal EIF0g～EIF15g G144 – G145 A part of axis control block data signals.

Axis control data signal EID0g～EID31g G146 – G149 A part of axis control block data signals.

Axis control command read EBUFg G142.7 Signal to direct CNC to read a command
signal data block of PMC axis control.
Axis control command read EBSYg F130.7 Signal to notify that CNC has read a
completion signals command data block of PMC axis control
and has stored it into the input buffer.
Reset signal ECLRg G142.6 Signal to reset PMC axis control
command.

Note
Table above describes the address for group 1 only. For the addresses of other groups, please refer to
“CONNECTION MANUAL (FUNCTION)” of your CNC.

13
3.4.2 Signals for PMC axis control function handled by ladder program
The signals related to PMC axis control, other than introduced in “3.4.1 Signals handled by function blocks for
PMC axis control”, shall be handled by ladder program.
The following table lists the main signals that shall be handled by ladder program. There are some more
signals related to PMC axis control, which may be controlled by ladder program if necessary.

Table 3.4.2 (b) Main PMC axis control signals controlled by ladder program
Signal name Symbol Address (group 1) Description
Controlled axis selection EAX1～EAX8 G136.0～G136.7 Signal to enable PMC axis control
signals (Note 1)
Axis control temporary stop ESTPg G142.5 Signal to stop the axis temporarily before
signal completion of a block. (Note 2)
Block stop signal ESBKg G142.3 Signal to stop command processing after
completion of current command. (Note 2)
Block stop disable signal EMSBKg G143.7 Signal to disable ESKBg signal. (Note 2)

Servo-off signal ESOFg G142.4 Signal to switch to servo-off state.

(Note 2)
Buffering disable signal EMBUFg G142.2 Signal to disable buffering of commands.
(Note 2)
Control axis selection status *EAXSL F129.7 Signal to notify if PMC axis control is
signal active. (Note 3)
Feedrate override signals *EFOV0g～ G151 Signals of cutting override. (Note 2)
*EFOV7g
Override cancellation signal EOVCg G150.5 Signal to disable override. (Note 2)

Rapid traverse override signals EROV1, EROV2 G150.0, G150.1 Signals of rapid traverse override.
(Note 3)
Dry run signal EDRN G150.7 Signal to apply dry run. (Note 3)

Manual rapid traverse ERT G150.6 Signal to select dry run or rapid traverse.
selection signal (Note 3)
Skip signal ESKIP X4.6 Signal to apply skip. (Note 3)

Note
1 Only the signals of first axis to eighth axis are described.
2 Only the signal of group 1 is described.
3 Only the signal of first path is described.
4 For the details of each signal, or for related signals that are not listed in the table above, please refer to the
chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

14
3.5 How to use PMC Function Library
PMC Function Library for PMC axis control is provided as a function block library.
This library is contained in the installation CD of FANUC LADDER-III, with the name
“PMC_AXIS_CONTROL.FLL”. You can copy the file to your hard disk drive or network drive to use it.
The function blocks in this library can be integrated to your ladder program by the following steps:
1) Open your ladder program, or create a new program, into which the function block will be integrated.
2) Set “PMC_AXIS_CONTROL.FLL” as a function block library to be referred by the ladder program.
3) After function blocks are displayed in the program list, drag & drop a function block you use.
4) Connect proper signals and circuits to the input and output of the function block.

1) Open or create a ladder program to use the function blocks

- On FANUC LADDER-III, open a ladder program that support function block.
2) Set “PMC_AXIS_CONTROL.FLL” as a function block library.
- Select “Option” in the “Tool” menu.

15
 - Press “Detail” button in “Function Block” tab, and enter the path of the PMC Function Library file
“PMC_AXIS_CONTROL.FLL”.

3) Drag & drop a function block in the program list onto the ladder edit window.
- After the registered library is displayed under “Function Block Library” in the program list, drag & drop the
function block you use at the proper place.

16
4) Connect proper signals and circuits to the input and output of the function block.
- Connect proper signals to the input and output parameters to complete as a ladder circuit.

PF1_JOG_OPERATION_01_1

PF1_JOG_OPERATION_01
R0100.0 R0000.0
POS_DIR W1
R0100.1 R0000.1
NEG_DIR AXIS_STATUS
R0000.2
R0102 FEEDRATE ERROR

Input section Output section

Figure 3.5 (a) Sample FB

17
4 Function blocks of basic PMC axis control
This chapter describes the usage of the function blocks of basic PMC axis control functions provided by PMC
Function Library for PMC axis control (PMC_AXIS_CONTROL.FLL).

4.1 Axis control command

4.1.1 Function block name

PFL0_PMC_AXCTL_01 ·············· Axis control command (group 1)
PFL0_PMC_AXCTL_02 ·············· Axis control command (group 2)
PFL0_PMC_AXCTL_03 ·············· Axis control command (group 3)
PFL0_PMC_AXCTL_04 ·············· Axis control command (group 4)

4.1.2 Function
This function block executes the specified axis control command of PMC axis control function by functional
instruction AXCTL (SUB 53). Control command, command data 1, and command data 2 are required as input
parameters.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
Control command, command data 1, and command data 2 will be passed to functional instruction AXCTL
(SUB 53). For the detail of these parameters, please refer to the section “4.11.5 AXCTL (Axis Control by
PMC: SUB 53)” in the chapter “4. LADDER LANGUAGE” in “PMC PROGRAMMING MANUAL” of the PMC on
your CNC.

18
4.1.3 Format
Graphical format of PFL0_PMC_AXCTL_01 is shown below:

Figure 4.1.3 (a) PFL0_PMC_AXCTL_01 (group 1)

19
4.1.4 Parameters
Details of the parameters of this function block are as shown below:

Table 4.1.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT Input parameter BOOL - Activation
0: Do not execute PMC axis control.
1: Execute PMC axis control. (Note 1)
CNTL_CMND Input parameter BYTE 1 Axis control command
Specify axis control command to execute.
(Note 2)
CMND_DATA1 Input parameter WORD 1 Command data 1
Specify command data 1 for axis control.
Meaning of this data differs depending on the
axis command; feedrate for example. (Note 2)
CMND_DATA2 Input parameter DWORD 1 Command data 2
Specify command data 2 for axis control.
Meaning of this data differs depending on the
axis command; total distance for example.
(Note 2)
W1 Output parameter BOOL - Completion signal
Indicates completion of the process. (Note 1, 3,
4)
0: Normally W1=0.
1: Turns on at completion of transmission of the
PMC axis command to NC, in case of
buffering disable signal (EMBUFg) = 0.
Turns on at completion of the activity of the
PMC axis command, in case of buffering
disable signal (EMBUFg) = 1.
Also turns on at error.
ERR Output parameter BOOL - Error signal
Indicates error status at execution of functional
instruction AXCTL (SUB 53). (Note 1)
This signal corresponds to the external variable
ERR_AXIS_GRP_NO.
0: Axis control command finishes successfully.
1: Axis control command finishes with an error.

Note
1 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1
and ERR are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
If RESET parameter of the function block for resetting PMC axis control is turned on (RESET=1), the function
block of the same group does not work even if ACT=1.
2 For the detail of “Control command”, “Command data 1”, and “Command data 2” parameters, please refer to the
section “4.11.5 AXCTL (Axis Control by PMC: SUB 53)” in the chapter “4. LADDER LANGUAGE” in “PMC
PROGRAMMING MANUAL” of the PMC on your CNC.
3 Resetting axis control will change the output W1=1 to W1=0.
4 For the details of buffering disable signal (EMBUFg), please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.

20
4.1.5 External variables
This function block uses the following external variables:

Table 4.1.5 (a) List of external variables

Symbol Data type Count Description
ERR_AXIS_GRP_NO BOOL - Error signal of functional instruction AXCTL (SUB 53)
For referring error information of functional instruction AXCTL.
GRP_AXCTL_RST_01 BOOL - Reset signal for PMC axis control command
GRP_AXCTL_RST_02 Signals to reset control command of the corresponding group.
GRP_AXCTL_RST_03 (Note 1)
GRP_AXCTL_RST_04

Note
1 The symbols for group 1 to 4 are listed above. Please define the symbols you will actually use.

4.1.6 Creating function blocks for other groups

This function block uses functional instruction AXCTL (SUB 53) internally. The group number of the PMC
axis is set to the first parameter of the functional instruction AXCTL.
To create function blocks for group 5 to 40 those are not provided by this library, the first parameter of
functional instruction AXCTL inside must be changed to the number that indicates the PMC axis group. Refer
to table 4.1.6 (a) for the actual value for the first parameter.

Table 4.1.6 (a) Values and groups

Group number Value
1 1
2 2
3 3
4 4
5 1001
6 1002
7 1003
8 1004

37 9001
38 9002
39 9003
40 9004

Values increase by 1000 for every 4 groups.

e.g.)
Set “1004” for group 8.
Set “7002” for group 30.

21
4.1.7 Example
The following example is to perform rapid traverse of the first axis (A-axis) of the first path controlled by group
1, at speed 500 mm/min for distance 200 mm.

Function block to use: PFL0_PMC_AXCTL_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Axis control command (CNTL_CMND): 16#0 command code for rapid traverse; 00H
- Command data 1 (CMND_DATA1): 16#1F4 (500) rapid traverse feedrate; 500 mm/min
- Command data 2 (CMND_DATA2): 16#30D4 (200000) distance; 200 mm (unit: metric IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERR): R0000.3

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
2. Apply the following configuration to enable rapid traverse speed of input parameter:
a) Turn on CNC parameter RPD (No.8002#0).
3. Turn on ACT (R0000.0) (ACT=1) to start rapid traverse of first axis (A-axis).
4. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters; Axis control command, Command data 1,
and Command data 2.
3 The values of input parameters, CNTL_CMND, CMND_DATA1, and CMND_DATA2, are shown in hexadecimal.

22
4.2 Rapid traverse

4.2.1 Function block name

PFL0_RAPID_TRAVERSE_01 ······ Rapid traverse (group 1)
PFL0_RAPID_TRAVERSE_02 ······ Rapid traverse (group 2)
PFL0_RAPID_TRAVERSE_03 ······ Rapid traverse (group 3)
PFL0_RAPID_TRAVERSE_04 ······ Rapid traverse (group 4)

4.2.2 Function
This function block executes rapid traverse of the specified PMC axis at the feedrate and total moving distance
specified by input parameters. This function block has the same functionality of “G00” of CNC.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

4.2.3 Format
Graphical format of PFL0_RAPID_TRAVERSE_01 is shown below:

Figure 4.2.3 (a) PFL0_RAPID_TRAVERSE_01 (group 1)

23
4.2.4 Parameters
Details of the parameters of this function block are as shown below:

Table 4.2.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT Input parameter BOOL - Activation
0: Do not execute rapid traverse.
1: Execute rapid traverse. (Note 1)
FEEDRATE Input parameter UINT 1 Rapid traverse feedrate
Specify the rapid traverse feedrate. Valid
range is 1 to 65535.
This parameter is enabled by setting “1” to CNC
parameter RPD (No.8002#0). (Note 2)
TOTAL_MOV_DIST Input parameter DINT 1 Total moving distance
Specify the incremental travel amount in the
input system unit of the axis. Valid range
depends on the unit of data. (Note 2)
W1 Output parameter BOOL - Completion signal
Indicates completion of the process. (Note 1, 3,
4)
0: Normally W1=0.
1: Turns on at completion of transmission of the
PMC axis command to NC, in case of
buffering disable signal (EMBUFg) = 0.
Turns on at completion of the activity of the
PMC axis command, in case of buffering
disable signal (EMBUFg) = 1.
Also turns on at error.
ERR Output parameter BOOL - Error signal
Indicates error status at execution of functional
instruction AXCTL (SUB 53). (Note 1)
This signal corresponds to the external variable
ERR_AXIS_GRP_NO.
0: Axis control command finishes successfully.
1: Axis control command finishes with an error.

Note
1 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1 and
ERR are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
If RESET parameter of the function block for resetting PMC axis control is turned on (RESET=1), the function block
of the same group does not work even if ACT=1.
2 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
3 Resetting axis control will change the output W1=1 to W1=0.
4 For the details of buffering disable signal (EMBUFg), please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.

24
4.2.5 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 4.2.5 (a) List of related CNC parameters

CNC parameter Description
DIAx (No.1006#3) Selects radius/diameter specification of the move command for each axis.
JOV (No.1402#1) Disables jog override.
No.1420 Rapid traverse rate for each axis.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
RDE (No.8001#3) Enables dry run for rapid traverse in PMC axis control.
RPD (No.8002#0) Selects source of rapid traverse feedrate in PMC axis control.
CDI (No.8005#1) Selects how to specify the amount of travel and the feedrate of PMC axis when PMC axes are
programmed by diameter.
R10 (No.8005#2) Selects the unit of rapid traverse feedrate of PMC axis when CNC parameter RPD (No.8002#0) is
“1”.

Note
For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

4.2.6 Related signals

The signals related to this function block are listed below:

Table 4.2.6 (a) List of related signals

Symbol Address Signal name
RT G019.7 Rapid traverse selection signal
DRN G046.7 Dry run signal
ERT G150.6 Rapid traverse selection signal (PMC axis control)
EDRN G150.7 Dry run signal (PMC axis control)

Note
For details of the signals, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

25
4.2.7 Example
The following example is to perform rapid traverse of the first axis (A-axis) of the first path controlled by group
1, at speed 500 mm/min for distance 200 mm.

Function block to use: PFL0_RAPID_TRAVERSE_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Feedrate (FEEDRATE): 500 rapid traverse feedrate; 500 mm/min
- Total moving distance (TOTAL_MOV_DIST): 200000 distance; 200 mm (unit: metric IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERR): R0000.3

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
2. Apply the following configuration to enable rapid traverse speed of input parameter:
a) Turn on CNC parameter RPD (No.8002#0).
3. Turn on ACT (R0000.0) (ACT=1) to start rapid traverse of first axis (A-axis).
4. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters; Rapid traverse feedrate and Total moving
distance.

26
4.3 Cutting feed – feed per minute

4.3.1 Function block name

PFL0_CUTTING_FEED_PER_MIN_01 ····· Cutting feed - feed per minute (group 1)
PFL0_CUTTING_FEED_PER_MIN_02 ····· Cutting feed - feed per minute (group 2)
PFL0_CUTTING_FEED_PER_MIN_03 ····· Cutting feed - feed per minute (group 3)
PFL0_CUTTING_FEED_PER_MIN_04 ····· Cutting feed - feed per minute (group 4)

4.3.2 Function
This function block executes cutting feed (feed per minute) of the specified PMC axis at the feedrate and total
moving distance specified by input parameters. This function block has the same functionality of “G94 G01” of
CNC.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

4.3.3 Format
Graphical format of PFL0_CUTTING_FEED_PER_MIN_01 is shown below:

Figure 4.3.3 (a) PFL0_CUTTING_FEED_PER_MIN_01 (group 1)

27
4.3.4 Parameters
Details of the parameters of this function block are as shown below:

Table 4.3.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT Input parameter BOOL - Activation
0: Do not execute cutting feed – feed per
minute.
1: Execute cutting feed – feed per minute.
(Note 1)
FEEDRATE Input parameter UINT 1 Cutting feedrate
Specify the cutting feedrate. Valid range is 1
to 65535. (Note 2)
TOTAL_MOV_DIST Input parameter DINT 1 Total moving distance
Specify the incremental travel amount in the
input system unit of the axis. Valid range
depends on the unit of data. (Note 2)
W1 Output parameter BOOL - Completion signal
Indicates completion of the process. (Note 1, 3,
4)
0: Normally W1=0.
1: Turns on at completion of transmission of the
PMC axis command to NC, in case of
buffering disable signal (EMBUFg) = 0.
Turns on at completion of the activity of the
PMC axis command, in case of buffering
disable signal (EMBUFg) = 1.
Also turns on at error.
ERR Output parameter BOOL - Error signal
Indicates error status at execution of functional
instruction AXCTL (SUB 53). (Note 1)
This signal corresponds to the external variable
ERR_AXIS_GRP_NO.
0: Axis control command finishes successfully.
1: Axis control command finishes with an error.

Note
1 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1 and
ERR are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
If RESET parameter of the function block for resetting PMC axis control is turned on (RESET=1), the function block
of the same group does not work even if ACT=1.
2 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
3 Resetting axis control will change the output W1=1 to W1=0.
4 For the details of buffering disable signal (EMBUFg), please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.

28
4.3.5 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 4.3.5 (a) List of related CNC parameters

CNC parameter Description
DIAx (No.1006#3) Selects radius/diameter specification of the move command for each axis.
JOV (No.1402#1) Disables jog override.
OVE (No.8001#2) Selects signals related to dry run and override in PMC axis control.
F10 (No.8002#3) Selects the least increment of feedrate of cutting feed – feed per minute at PMC axis control.
PF1 (No.8002#4)
Selects the unit of feedrate of cutting feed – feed per minute at PMC axis control.
PF2 (No.8002#5)
CDI (No.8005#1) Selects how to specify the amount of travel and the feedrate of PMC axis when PMC axes are
programmed by diameter.
EFD (No.8006#4) Selects the specification unit of feedrate of cutting feed – feed per minute at PMC axis control.

Note
For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

4.3.6 Related signals

The signals related to this function block are listed below:

Table 4.3.6 (a) List of related signals

Symbol Address Signal name
RT G019.7 Rapid traverse selection signal
DRN G046.7 Dry run signal
ERT G150.6 Rapid traverse selection signal (PMC axis control)
EDRN G150.7 Dry run signal (PMC axis control)

Note
For details of the signals, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

29
4.3.7 Example
The following example is to perform cutting feed of the first axis (A-axis) of the first path controlled by group 1,
at speed 100 mm/min for distance 100 mm.

Function block to use: PFL0_CUTTING_FEED_PER_MIN_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Feedrate (FEEDRATE): 100 cutting feed feedrate; 100 mm/min
- Total moving distance (TOTAL_MOV_DIST): 100000 distance; 100 mm (unit: metric IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERR): R0000.3

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
2. Turn on ACT (R0000.0) (ACT=1) to start cutting feed – feed per minute of first axis (A-axis).
3. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters; Cutting feedrate and Total moving
distance.

30
4.4 Cutting feed – feed per revolution

4.4.1 Function block name

PFL0_CUTTING_FEED_PER_REV_01 ····· Cutting feed - feed per revolution (group 1)
PFL0_CUTTING_FEED_PER_REV_02 ····· Cutting feed - feed per revolution (group 2)
PFL0_CUTTING_FEED_PER_REV_03 ····· Cutting feed - feed per revolution (group 3)
PFL0_CUTTING_FEED_PER_REV_04 ····· Cutting feed - feed per revolution (group 4)

4.4.2 Function
This function block executes cutting feed (feed per revolution) of the specified PMC axis at the feedrate and
total moving distance specified by input parameters. This function block has the same functionality of “G95
G01” of CNC.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

4.4.3 Format
Graphical format of PFL0_CUTTING_FEED_PER_REV_01 is shown below:

Figure 4.4.3 (a) PFL0_CUTTING_FEED_PER_REV_01 (group 1)

31
4.4.4 Parameters
Details of the parameters of this function block are as shown below:

Table 4.4.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT Input parameter BOOL - Activation
0: Do not execute cutting feed – feed per
revolution.
1: Execute cutting feed – feed per revolution.
(Note 1)
FEEDRATE Input parameter UINT 1 Feedrate per revolution
Specify the feedrate per revolution. Valid
range is 1 to 65535. (Note 2)
TOTAL_MOV_DIST Input parameter DINT 1 Total moving distance
Specify the incremental travel amount in the
input system unit of the axis. Valid range
depends on the unit of data. (Note 2)
W1 Output parameter BOOL - Completion signal
Indicates completion of the process. (Note 1, 3,
4)
0: Normally W1=0.
1: Turns on at completion of transmission of the
PMC axis command to NC, in case of
buffering disable signal (EMBUFg) = 0.
Turns on at completion of the activity of the
PMC axis command, in case of buffering
disable signal (EMBUFg) = 1.
Also turns on at error.
ERR Output parameter BOOL - Error signal
Indicates error status at execution of functional
instruction AXCTL (SUB 53). (Note 1)
This signal corresponds to the external variable
ERR_AXIS_GRP_NO.
0: Axis control command finishes successfully.
1: Axis control command finishes with an error.

Note
1 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1 and
ERR are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
If RESET parameter of the function block for resetting PMC axis control is turned on (RESET=1), the function block
of the same group does not work even if ACT=1.
2 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
3 Resetting axis control will change the output W1=1 to W1=0.
4 For the details of buffering disable signal (EMBUFg), please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.

32
4.4.5 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 4.4.5 (a) List of related CNC parameters

CNC parameter Description
DIAx (No.1006#3) Selects radius/diameter specification of the move command for each axis.
JOV (No.1402#1) Disables jog override.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
FR1 (No.8002#6)
Selects the unit of feedrate of cutting feed – feed per revolution at PMC axis control.
FR2 (No.8002#7)
CDI (No.8005#1) Selects how to specify the amount of travel and the feedrate of PMC axis when PMC axes are
programmed by diameter.
DRR (No.8005#3) Enables dry run function for cutting feed per revolution in PMC axis control.
No.8022 Upper limit feedrate of feed per revolution in PMC axis control.

Note
For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

4.4.6 Related signals

The signals related to this function block are listed below:

Table 4.4.6 (a) List of related signals

Symbol Address Signal name
RT G019.7 Rapid traverse selection signal
DRN G046.7 Dry run signal
ERT G150.6 Rapid traverse selection signal (PMC axis control)
EDRN G150.7 Dry run signal (PMC axis control)

Note
For details of the signals, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

33
4.4.7 Example
The following example is to perform cutting feed of the first axis (A-axis) of the first path controlled by group 1,
at speed 1 mm/rev for distance 100 mm.

Function block to use: PFL0_CUTTING_FEED_PER_REV_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Feedrate (FEEDRATE): 100000 cutting feed feedrate per revolution; 1 mm/rev
- Total moving distance (TOTAL_MOV_DIST): 100000 distance; 100 mm (unit: metric IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERR): R0000.3

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
2. Turn on ACT (R0000.0) (ACT=1) to start cutting feed – feed per revolution of first axis (A-axis).
3. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters; Feedrate per revolution and Total moving
distance.

34
4.5 Skip – feed per minute

4.5.1 Function block name

PFL0_SKIP_BY_FEED_PER_MIN_01 ······ Skip - feed per minute (group 1)
PFL0_SKIP_BY_FEED_PER_MIN_02 ······ Skip - feed per minute (group 2)
PFL0_SKIP_BY_FEED_PER_MIN_03 ······ Skip - feed per minute (group 3)
PFL0_SKIP_BY_FEED_PER_MIN_04 ······ Skip - feed per minute (group 4)

4.5.2 Function
This function block executes skip function (feed per minute) of the specified PMC axis at the feedrate and total
moving distance specified by input parameters. This function block has the same functionality of “G31 G01” of
CNC.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
1 High-speed skip is not available.
2 Skip signals are available for PMC axes assigned to path 1 to 3.

4.5.3 Format
Graphical format of PFL0_SKIP_BY_FEED_PER_MIN_01 is shown below:

Figure 4.5.3 (a) PFL0_SKIP_BY_FEED_PER_MIN_01 (group 1)

35
4.5.4 Parameters
Details of the parameters of this function block are as shown below:

Table 4.5.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT Input parameter BOOL - Activation
0: Do not execute skip – feed per minute.
1: Execute skip – feed per minute. (Note 1)
FEEDRATE Input parameter UINT 1 Cutting feedrate
Specify the cutting feedrate. Valid range is 1
to 65535. (Note 2)
TOTAL_MOV_DIST Input parameter DINT 1 Total moving distance
Specify the incremental travel amount in the
input system unit of the axis. Valid range
depends on the unit of data. (Note 2)
W1 Output parameter BOOL - Completion signal
Indicates completion of the process. (Note 1, 3,
4)
0: Normally W1=0.
1: Turns on at completion of transmission of the
PMC axis command to NC, in case of
buffering disable signal (EMBUFg) = 0.
Turns on at completion of the activity of the
PMC axis command, in case of buffering
disable signal (EMBUFg) = 1.
Also turns on at error.
ERR Output parameter BOOL - Error signal
Indicates error status at execution of functional
instruction AXCTL (SUB 53). (Note 1)
This signal corresponds to the external variable
ERR_AXIS_GRP_NO.
0: Axis control command finishes successfully.
1: Axis control command finishes with an error.

Note
1 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1 and
ERR are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
If RESET parameter of the function block for resetting PMC axis control is turned on (RESET=1), the function block
of the same group does not work even if ACT=1.
2 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
3 Resetting axis control will change the output W1=1 to W1=0.
4 For the details of buffering disable signal (EMBUFg), please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.

36
4.5.5 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 4.5.5 (a) List of related CNC parameters

CNC parameter Description
No.981 Path number that each axis belong to.
SKE (No.8001#7) Selects skip signal in PMC axis control.

Note
For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

4.5.6 Related signals

The signals related to this function block are listed below:

Table 4.5.6 (a) List of related signals

Symbol Address Signal name
ESKIP X004.6 Skip signal for path 1 (PMC axis control)
ESKIP#2 X013.6 Skip signal for path 2 (PMC axis control)
ESKIP#3 X011.6 Skip signal for path 3 (PMC axis control)
SKIP X004.7 Skip signal for path 1
SKIP#2 X013.7 Skip signal for path 2
SKIP#3 X011.7 Skip signal for path 3

Note
For details of the signals, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

37
4.5.7 Example
The following example is to perform skip function of the first axis (A-axis) of the first path controlled by group
1, at speed 100 mm/min for distance 100 mm.

Function block to use: PFL0_SKIP_BY_PER_MIN_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Feedrate (FEEDRATE): 100 cutting feed feedrate; 100 mm/min
- Total moving distance (TOTAL_MOV_DIST): 100000 distance; 100 mm (unit: metric IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERR): R0000.3

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
2. Apply the following configuration to use skip signal (PMC axis control):
a) Set “1” to CNC parameter SKE (No.8001#7).
3. Turn on ACT (R0000.0) (ACT=1) to start skip – feed per minute of first axis (A-axis). And skip is
performed when the skip signal (X004.6) turns on.
4. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters; Feedrate and Total moving distance.

38
4.6 Dwell

4.6.1 Function block name

PFL0_DWELL_01 ······························· Dwell (group 1)
PFL0_DWELL_02 ······························· Dwell (group 2)
PFL0_DWELL_03 ······························· Dwell (group 3)
PFL0_DWELL_04 ······························· Dwell (group 4)

4.6.2 Function
This function block executes dwell for the period of the dwell time specified by input parameters. This function
block has the same functionality of “G04” of CNC.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

4.6.3 Format
Graphical format of PFL0_DWELL_01 is shown below:

Figure 4.6.3 (a) PFL0_DWELL_01 (group 1)

39
4.6.4 Parameters
Details of the parameters of this function block are as shown below:

Table 4.6.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT Input parameter BOOL - Activation
0: Do not execute dwell.
1: Execute dwell. (Note 1)
DWELL_TIME Input parameter UDINT 1 Dwell time
Specify the dwell time. Valid range is 1 to
9999999. (Note 2)
W1 Output parameter BOOL - Completion signal
Indicates completion of the process. (Note 1,
3, 4)
0: Normally W1=0.
1: Turns on at completion of transmission of
the PMC axis command to NC, in case of
buffering disable signal (EMBUFg) = 0.
Turns on at completion of the activity of the
PMC axis command, in case of buffering
disable signal (EMBUFg) = 1.
Also turns on at error.
ERR Output parameter BOOL - Error signal
Indicates error status at execution of functional
instruction AXCTL (SUB 53). (Note 1)
This signal corresponds to the external
variable ERR_AXIS_GRP_NO.
0: Axis control command finishes successfully.
1: Axis control command finishes with an error.

Note
1 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1 and
ERR are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
If RESET parameter of the function block for resetting PMC axis control is turned on (RESET=1), the function block
of the same group does not work even if ACT=1.
2 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
3 Resetting axis control will change the output W1=1 to W1=0.
4 For the details of buffering disable signal (EMBUFg), please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.

4.6.5 Related CNC parameters

Details of the CNC parameters related to this function block are as shown below:

Table 4.6.5 (a) List of related CNC parameters

CNC parameter Description
DIAx (No.1006#3) Selects radius/diameter specification of the move command for each axis.
DWE (No.8002#1) Selects the unit of dwell time in PMC axis control at increment system IS-C.
CDI (No.8005#1) Selects how to specify the amount of travel and the feedrate of PMC axis when PMC axes are
programmed by diameter.

Note
For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

40
4.6.6 Example
The following example is to perform dwell of the first axis (A-axis) of the first path controlled by group 1, for
dwell time of 5 seconds.

Function block to use: PFL0_DWELL_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Dwell time (DWELL_TIME): 5000 dwell time; 5 seconds (unit: IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERR): R0000.3

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
2. Turn on ACT (R0000.0) (ACT=1) to start dwell of 5 seconds in first axis (A-axis).
3. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameter Dwell time.

41
4.7 Reference position return

4.7.1 Function block name

PFL0_REF_POS_RETURN_01 ················ Reference position return (group 1)
PFL0_REF_POS_RETURN_02 ················ Reference position return (group 2)
PFL0_REF_POS_RETURN_03 ················ Reference position return (group 3)
PFL0_REF_POS_RETURN_04 ················ Reference position return (group 4)

4.7.2 Function
This function block executes reference position return of the specified PMC axis. This function block
performs rapid traverse in the direction to return reference point specified by CNC parameter ZMIx
(No.1006#5), then performs the same action as manual reference position return of CNC.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
For more details, please refer to the section “(6) Reference position return” in chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.

4.7.3 Format
Graphical format of PFL0_REF_POS_RETURN_01 is shown below:

Figure 4.7.3 (a) PFL0_REF_POS_RETURN_01 (group 1)

42
4.7.4 Parameters
Details of the parameters of this function block are as shown below:

Table 4.7.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT Input parameter BOOL - Activation
0: Do not execute reference point return.
1: Execute reference point return. (Note 1)
FEEDRATE Input parameter UINT 1 Feedrate
Specify the cutting feedrate. Valid range is 1
to 65535. (Note 2)
W1 Output parameter BOOL - Completion signal
Indicates completion of the process. (Note 1, 3,
4)
0: Normally W1=0.
1: Turns on at completion of transmission of the
PMC axis command to NC, in case of
buffering disable signal (EMBUFg) = 0.
Turns on at completion of the activity of the
PMC axis command, in case of buffering
disable signal (EMBUFg) = 1.
Also turns on at error.
ERR Output parameter BOOL - Error signal
Indicates error status at execution of functional
instruction AXCTL (SUB 53). (Note 1)
This signal corresponds to the external variable
ERR_AXIS_GRP_NO.
0: Axis control command finishes successfully.
1: Axis control command finishes with an error.

Note
1 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1 and
ERR are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
If RESET parameter of the function block for resetting PMC axis control is turned on (RESET=1), the function block
of the same group does not work even if ACT=1.
2 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
3 Resetting axis control will change the output W1=1 to W1=0.
4 For the details of buffering disable signal (EMBUFg), please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.

43
4.7.5 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 4.7.5 (a) List of related CNC parameters

CNC parameter Description
DLZx (No.1005#1) Enables function to set reference position without dogs.
ZMIx (No.1006#5) Selects the direction of manual reference position return.
No.1420 Rapid traverse rate for each axis.
No.1424 Manual rapid traverse rate for each axis.
No.1836 Servo error amount where reference position return is possible.
RPD (No.8002#0) Selects source of rapid traverse feedrate in PMC axis control.
R10 (No.8005#2) Selects the unit of rapid traverse feedrate of PMC axis when CNC parameter RPD (No.8002#0) is
“1”.

Note
For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

44
4.7.6 Example
The following example is to perform reference position return without dogs at the first axis (A-axis) of the first
path controlled by group 1, at speed 500 mm/min.

Function block to use: PFL0_REF_POS_RETURN_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Feedrate (FEEDRATE): 500 rapid traverse feedrate; 500 mm/min (unit: metric IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERR): R0000.3

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
2. Apply the following configuration to enable rapid traverse speed of input parameter:
a) Turn on CNC parameter RPD (No.8002#0).
3. Apply the following configuration to enable function to set reference position without dogs:
a) Turn on CNC parameter DLZx (No.1005#1).
4. Turn on ACT (R0000.0) (ACT=1) to start reference position return of first axis (A-axis).
5. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameter Feedrate.

45
4.8 Continuous feed

4.8.1 Function block name

PFL0_CONTINUOUS_FEED_01 ············· Continuous feed (group 1)
PFL0_CONTINUOUS_FEED_02 ············· Continuous feed (group 2)
PFL0_CONTINUOUS_FEED_03 ············· Continuous feed (group 3)
PFL0_CONTINUOUS_FEED_04 ············· Continuous feed (group 4)

4.8.2 Function
This function block executes continuous feed of the specified PMC axis in one direction at the feedrate and
direction specified by input parameters. This function block has the same functionality of continuous feed in
JOG mode of CNC.
The PMC axis will move until reset. Use the function block for reset to stop the PMC axis.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

4.8.3 Format
Graphical format of PFL0_CONTINUOUS_FEED_01 is shown below:

Figure 4.8.3 (a) PFL0_CONTINUOUS_FEED_01 (group 1)

46
4.8.4 Parameters
Details of the parameters of this function block are as shown below:

Table 4.8.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT Input parameter BOOL - Activation
0: Do not execute continuous feed.
1: Execute continuous feed. (Note 1)
FEEDRATE Input parameter UINT 1 Continuous feedrate
Specify the continuous feedrate. You can also
change the speed of PMC axis performing
continuous feed already. Valid range is 1 to
65535. (Note 2)
FEED_DIRECTION Input parameter BOOL - Feed direction
Specify the direction of continuous feed.
0: Positive direction.
1: Negative direction.
W1 Output parameter BOOL - Completion signal
Indicates completion of the process. (Note 1, 3,
4)
0: Normally W1=0.
1: Turns on at completion of transmission of the
PMC axis command to NC.
Also turns on at error.
ERR Output parameter BOOL - Error signal
Indicates error status at execution of functional
instruction AXCTL (SUB 53). (Note 1)
This signal corresponds to the external variable
ERR_AXIS_GRP_NO.
0: Axis control command finishes successfully.
1: Axis control command finishes with an error.

Note
1 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1 and
ERR are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
If RESET parameter of the function block for resetting PMC axis control is turned on (RESET=1), the function block
of the same group does not work even if ACT=1.
2 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
3 Resetting axis control will change the output W1=1 to W1=0.
4 Use this function block with buffering disable signal (EMBUFg) turned off, because W1 will never turn on if the
signal is turned on. For the details of buffering disable signal (EMBUFg), please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

47
4.8.5 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 4.8.5 (a) List of related CNC parameters

CNC parameter Description
JOV (No.1402#1) Disables jog override.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
F10 (No.8002#3) Selects the least increment of feedrate of cutting feed – feed per minute at PMC axis control.
JFM (No.8004#2) Selects the unit of feedrate of continuous feed in PMC axis control.

Note
For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

4.8.6 Related signals

The signals related to this function block are listed below:

Table 4.8.6 (a) List of related signals

Symbol Address Signal name
RT G019.7 Rapid traverse selection signal
DRN G046.7 Dry run signal
ERT G150.6 Rapid traverse selection signal (PMC axis control)
EDRN G150.7 Dry run signal (PMC axis control)

Note
For details of the signals, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

48
4.8.7 Example
The following example is to perform continuous feed of the first axis (A-axis) of the first path controlled by
group 1, at speed 1000 mm/min in positive direction.

Function block to use: PFL0_CONTINUOUS_FEED_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Feedrate (FEEDRATE): 1000 cutting feed feedrate; 1000 mm/min (unit: metric IS-B)
- Feed direction (FEED_DIRECTION): R0000.2 positive direction; 0
- Completion signal (W1): R0000.3
- Error signal (ERR): R0000.4

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
2. Turn off buffering disable signal EMBUFg (G142.2). Use ladder program to operate this signal
directly.
3. Turn off FEED_DIRECTION (R0000.2) to make the axis move in positive direction.
4. Turn on ACT (R0000.0) (ACT=1) to start continuous feed of first axis (A-axis) in positive direction.
5. Turn off ACT (ACT=0) when W1 (R0000.3) turns on (W1=1).
6. To stop the axis, use function block PFL0_PMC_AXCTL_RESET_01 to reset PMC axis control of group 1.

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameter Continuous feedrate.

49
4.9 First to fourth reference position return

4.9.1 Function block name

PFL0_1ST_REF_POS_RETURN_01 ····· First reference position return (group 1)
PFL0_1ST_REF_POS_RETURN_02 ····· First reference position return (group 2)
PFL0_1ST_REF_POS_RETURN_03 ····· First reference position return (group 3)
PFL0_1ST_REF_POS_RETURN_04 ····· First reference position return (group 4)

PFL0_2ND_REF_POS_RETURN_01 ··· Second reference position return (group 1)

PFL0_2ND_REF_POS_RETURN_02 ··· Second reference position return (group 2)
PFL0_2ND_REF_POS_RETURN_03 ··· Second reference position return (group 3)
PFL0_2ND_REF_POS_RETURN_04 ··· Second reference position return (group 4)

PFL0_3RD_REF_POS_RETURN_01 ···· Third reference position return (group 1)

PFL0_3RD_REF_POS_RETURN_02 ···· Third reference position return (group 2)
PFL0_3RD_REF_POS_RETURN_03 ···· Third reference position return (group 3)
PFL0_3RD_REF_POS_RETURN_04 ···· Third reference position return (group 4)

PFL0_4TH_REF_POS_RETURN_01 ···· Fourth reference position return (group 1)

PFL0_4TH_REF_POS_RETURN_02 ···· Fourth reference position return (group 2)
PFL0_4TH_REF_POS_RETURN_03 ···· Fourth reference position return (group 3)
PFL0_4TH_REF_POS_RETURN_04 ···· Fourth reference position return (group 4)

4.9.2 Function
This function block executes first to fourth reference position return of the specified PMC axis at the feedrate
specified by input parameter. This function block performs the same reference position return as CNC
commands listed below, which are reference position return from intermediate position.

Reference position CNC command

First reference position G28
Second reference position G28 P2
Third reference position G28 P3
Fourth reference position G28 P4

PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
Each reference position is determined by CNC parameters listed below. For more details, please refer to the
section “(8) First reference position return” to “(11) Fourth reference position return” in chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

Reference position CNC parameter

First reference position No.1240
Second reference position No.1241
Third reference position No.1242
Fourth reference position No.1243

50
4.9.3 Format
Graphical format of PFL0_1ST_REF_POS_RETURN_01 is shown below:

Figure 4.9.3 (a) PFL0_1ST_REF_POS_RETURN_01 (group 1)

51
4.9.4 Parameters
Details of the parameters of this function block are as shown below:

Table 4.9.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT Input parameter BOOL - Activation
0: Do not execute first to fourth reference point
return.
1: Execute first to fourth reference point return.
(Note 1)
FEEDRATE Input parameter UINT 1 Feedrate
Specify the cutting feedrate. Valid range is 1
to 65535. (Note 2)
This parameter is effective only when CNC
parameter RPD (No.8002#0) is “1”. (Note 2)
W1 Output parameter BOOL - Completion signal
Indicates completion of the process. (Note 1, 3,
4)
0: Normally W1=0.
1: Turns on at completion of transmission of the
PMC axis command to NC, in case of
buffering disable signal (EMBUFg) = 0.
Turns on at completion of the activity of the
PMC axis command, in case of buffering
disable signal (EMBUFg) = 1.
Also turns on at error.
ERR Output parameter BOOL - Error signal
Indicates error status at execution of functional
instruction AXCTL (SUB 53). (Note 1)
This signal corresponds to the external variable
ERR_AXIS_GRP_NO.
0: Axis control command finishes successfully.
1: Axis control command finishes with an error.

Note
1 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1 and
ERR are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
If RESET parameter of the function block for resetting PMC axis control is turned on (RESET=1), the function block
of the same group does not work even if ACT=1.
2 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
3 Resetting axis control will change the output W1=1 to W1=0.
4 For the details of buffering disable signal (EMBUFg), please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.

52
4.9.5 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 4.9.5 (a) List of related CNC parameters

CNC parameter Description
DLZx (No.1005#1) Enables function to set reference position without dogs.
No.1240 First reference position in the machine coordinate system
No.1241 Second reference position in the machine coordinate system
No.1242 Third reference position in the machine coordinate system
No.1243 Fourth reference position in the machine coordinate system
JOV (No.1402#1) Disables jog override.
No.1420 Rapid traverse rate for each axis.
No.1424 Manual rapid traverse rate for each axis.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
RDE (No.8001#3) Enables dry run for rapid traverse in PMC axis control.
RPD (No.8002#0) Selects source of rapid traverse feedrate in PMC axis control.

Note
For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

4.9.6 Related signals

The signals related to this function block are listed below:

Table 4.9.6 (a) List of related signals

Symbol Address Signal name
RT G019.7 Rapid traverse selection signal
DRN G046.7 Dry run signal
ERT G150.6 Rapid traverse selection signal (PMC axis control)
EDRN G150.7 Dry run signal (PMC axis control)

Note
For details of the signals, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

53
4.9.7 Example
The following example is to perform first reference position return at the first axis (A-axis) of the first path
controlled by group 1, at speed 500 mm/min.

Function block to use: PFL0_1ST_REF_POS_RETURN_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Feedrate (FEEDRATE): 500 rapid traverse feedrate; 500 mm/min (unit: metric IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERR): R0000.3

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
2. Apply the following configuration to enable rapid traverse speed of input parameter:
a) Turn on CNC parameter RPD (No.8002#0).
3. Apply the following configuration to set the first reference position to “0”:
a) Set “0” to CNC parameter No.1240.
4. Turn on ACT (R0000.0) (ACT=1) to start first reference position return of first axis (A-axis).
5. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameter Feedrate.

54
4.10 External pulse synchronization – position coder

4.10.1 Function block name

PFL0_EXT_PLS_SYNC_POS_CODER_01 · External pulse synchronization – position coder (group 1)
PFL0_EXT_PLS_SYNC_POS_CODER_02 · External pulse synchronization – position coder (group 2)
PFL0_EXT_PLS_SYNC_POS_CODER_03 · External pulse synchronization – position coder (group 3)
PFL0_EXT_PLS_SYNC_POS_CODER_04 · External pulse synchronization – position coder (group 4)

4.10.2 Function
This function block executes synchronous operation of the specified PMC axis with position coder, at the pulse
weight specified by input parameter. Synchronous operation with serial spindle can be specified by
This function block performs rapid traverse in the direction to return reference point specified by CNC
parameter ZMIx (No.1006#5), then performs the same action as manual reference position return of CNC.

The specified PMC axis will move synchronizing with position coder at the specified pulse weight by input
parameter. The spindle can be selected by the spindle number specified by input parameter, of which position
coder the PMC axis synchronizes to.
Synchronization continues until reset. Use function block for reset to quit synchronization.

Position coder to synchronize can be selected by CNC parameters and input parameter as follows:

CNC parameter Input parameter

Position coder to synchronize
ESY (No.8007#3) EOS (No.8019#0) Spindle number
0 0/1 Not effective Position coder (not serial spindle)
1 0 Not effective Position coder of the first spindle in the first path
1 1 Effective Position coder of any spindle

PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
For more details, please refer to the section “(12) External pulse synchronization – position coder” in chapter
of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

55
4.10.3 Format
Graphical format of PFL0_EXT_PLS_SYNC_POS_CODER_01 is shown below:

Figure 4.10.3 (a) PFL0_EXT_PLS_SYNC_POS_CODER_01 (group 1)

56
4.10.4 Parameters
Details of the parameters of this function block are as shown below:

Table 4.10.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT Input parameter BOOL - Activation
0: Do not execute external pulse synchronization
– position coder.
1: Execute external pulse synchronization –
position coder. (Note 1)
PULSE_WEIGHT Input parameter INT 1 Pulse weight
Specify the pulse weight. Valid range depends
on the manual pulse magnification change signal
HNDMP (Gn088.3). (Note 2)
SPNDLE_NUMBER Input parameter USINT 1 Spindle number of serial spindle to be synchronized
Specify the spindle number, which number is
common to the system. To synchronize with the
position coder of a serial spindle, specify the
spindle number of the serial spindle.
Valid range is 1 to maximum of spindles. depends
Synchronization will not work at invalid spindle
number.
Specify “0” to this parameter if the axis is not
synchronized to the position coder of a serial
spindle. (Note 2)
W1 Output parameter BOOL - Completion signal
Indicates completion of the process. (Note 1, 3, 4)
0: Normally W1=0.
1: Turns on at completion of transmission of the
PMC axis command to NC.
Also turns on at error.
ERR Output parameter BOOL - Error signal
Indicates error status at execution of functional
instruction AXCTL (SUB 53). (Note 1)
This signal corresponds to the external variable
ERR_AXIS_GRP_NO.
0: Axis control command finishes successfully.
1: Axis control command finishes with an error.

Note
1 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1 and
ERR are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
If RESET parameter of the function block for resetting PMC axis control is turned on (RESET=1), the function block
of the same group does not work even if ACT=1.
2 For more details, please refer to the section “(12) External pulse synchronization – position coder” in chapter of
PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
3 Resetting axis control will change the output W1=1 to W1=0.
4 Use this function block with buffering disable signal (EMBUFg) turned off, because W1 will never turn on if the
signal is turned on. For the details of buffering disable signal (EMBUFg), please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

57
4.10.5 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 4.10.5 (a) List of related CNC parameters

CNC parameter Description
DIAx (No.1006#3) Selects radius/diameter specification of the move command for each axis.
No.1424 Manual rapid traverse rate for each axis.
CDI (No.8005#1) Selects how to specify the amount of travel and the feedrate of PMC axis when PMC axes are
programmed by diameter.
ESY (No.8007#3) Enables external pulse synchronization (serial spindle synchronization) in PMC axis control.
EOS (No.8019#0) Enables specifying the spindle to be synchronized for serial spindle synchronization in PMC axis
control.

Note
For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

4.10.6 Related signals

The signals related to this function block are listed below:

Table 4.10.6 (a) List of related signals

Symbol Address Signal name
HNDMP G88.3 Manual pulse magnification change signal

Note
Only address of first path is listed above. Please refer to the chapter of PMC axis control in “CONNECTION
MANUAL (FUNCTION)” of your CNC.

58
4.10.7 Example
The following example is to synchronize the first axis (A-axis) of the first path controlled by group 1, with
position coder of the second spindle by pulse weight of 2.5.

Function block to use: PFL0_EXT_PLS_SYNC_POS_CODER_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Pulse weight (PULSE_WEIGHT): R1000 address of pulse weight
- Spindle number (SPINDLE_NUMBER): 2 spindle number of serial spindle to be synchronized
- Completion signal (W1): R0000.2
- Error signal (ERR): R0000.3

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
2. Apply the following configuration to enable spindle number of input parameter (second spindle):
a) Set “1” to CNC parameter ESY (No.8007#3).
b) Set “1” to CNC parameter EOS (No.8019#0).
3. Apply the following configuration to enable spindle number of input parameter (second spindle):
a) Turn off manual pulse magnification change signal HNDMP (G88.3) to choose 1/256 for the unit of
pulse weight.
b) Set “1000” to R1000.
4. Turn on ACT (R0000.0) (ACT=1) to start synchronization of first axis (A-axis) with position coder of
the second spindle.
5. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).
6. To stop synchronization, use function block PFL0_PMC_AXCTL_RESET_01 to reset PMC axis control of
group 1.

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters: Pulse weight, Spindle number.

59
4.11 External pulse synchronization – manual handle

4.11.1 Function block name

PFL0_EXT_PLS_SYNC_1ST_HNDL_01 ···· External pulse synchronization – first manual handle (group 1)
PFL0_EXT_PLS_SYNC_1ST_HNDL_02 ···· External pulse synchronization – first manual handle (group 2)
PFL0_EXT_PLS_SYNC_1ST_HNDL_03 ···· External pulse synchronization – first manual handle (group 3)
PFL0_EXT_PLS_SYNC_1ST_HNDL_04 ···· External pulse synchronization – first manual handle (group 4)

PFL0_EXT_PLS_SYNC_2ND_HNDL_01 ··· External pulse synchronization – second manual handle (group 1)

PFL0_EXT_PLS_SYNC_2ND_HNDL_02 ··· External pulse synchronization – second manual handle (group 2)
PFL0_EXT_PLS_SYNC_2ND_HNDL_03 ··· External pulse synchronization – second manual handle (group 3)
PFL0_EXT_PLS_SYNC_2ND_HNDL_04 ··· External pulse synchronization – second manual handle (group 4)

PFL0_EXT_PLS_SYNC_3RD_HNDL_01 ··· External pulse synchronization – third manual handle (group 1)

PFL0_EXT_PLS_SYNC_3RD_HNDL_02 ··· External pulse synchronization – third manual handle (group 2)
PFL0_EXT_PLS_SYNC_3RD_HNDL_03 ··· External pulse synchronization – third manual handle (group 3)
PFL0_EXT_PLS_SYNC_3RD_HNDL_04 ··· External pulse synchronization – third manual handle (group 4)

4.11.2 Function
This function block executes synchronous operation of the specified PMC axis with the corresponding manual
handle, at the pulse weight specified by input parameter.
Synchronization continues until reset. Use function block for reset to quit synchronization.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

4.11.3 Format
Graphical format of PFL0_EXT_PLS_SYNC_1ST_HNDL_01 is shown below:

Figure 4.11.3 (a) PFL0_EXT_PLS_SYNC_1ST_HNDL_01 (group 1)

60
4.11.4 Parameters
Details of the parameters of this function block are as shown below:

Table 4.11.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT Input parameter BOOL - Activation
0: Do not execute external pulse synchronization –
manual handle.
1: Execute external pulse synchronization –
manual handle. (Note 1)
PULSE_WEIGHT Input parameter INT 1 Pulse weight
Specify the pulse weight. Valid range depends on
the manual pulse magnification change signal
HNDMP (Gn088.3). (Note 2)
W1 Output parameter BOOL - Completion signal
Indicates completion of the process. (Note 1, 3, 4)
0: Normally W1=0.
1: Turns on at completion of transmission of the
PMC axis command to NC.
Also turns on at error.
ERR Output parameter BOOL - Error signal
Indicates error status at execution of functional
instruction AXCTL (SUB 53). (Note 1)
This signal corresponds to the external variable
ERR_AXIS_GRP_NO.
0: Axis control command finishes successfully.
1: Axis control command finishes with an error.

Note
1 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1 and
ERR are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
If RESET parameter of the function block for resetting PMC axis control is turned on (RESET=1), the function block
of the same group does not work even if ACT=1.
2 For more details, please refer to the section “(13) External pulse synchronization - first manual handle” to “(15)
External pulse synchronization - third manual handle” in chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.
3 Resetting axis control will change the output W1=1 to W1=0.
4 Use this function block with buffering disable signal (EMBUFg) turned off, because W1 will never turn on if the
signal is turned on. For the details of buffering disable signal (EMBUFg), please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

4.11.5 Related CNC parameters

Details of the CNC parameters related to this function block are as shown below:

Table 4.11.5 (a) List of related CNC parameters

CNC parameter Description
DIAx (No.1006#3) Selects radius/diameter specification of the move command for each axis.
No.1424 Manual rapid traverse rate for each axis.
CDI (No.8005#1) Selects how to specify the amount of travel and the feedrate of PMC axis when PMC axes are
programmed by diameter.

Note
For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

61
4.11.6 Related signals
The signals related to this function block are listed below:

Table 4.11.6 (a) List of related signals

Symbol Address Signal name
HNDMP G88.3 Manual pulse magnification change signal

Note
Only address of first path is listed above. Please refer to the chapter of PMC axis control in “CONNECTION
MANUAL (FUNCTION)” of your CNC.

4.11.7 Example
The following example is to synchronize the first axis (A-axis) of the first path controlled by group 1, with the
first manual handle by pulse weight of 2.5.

Function block to use: PFL0_EXT_PLS_SYNC_1ST_HNDL_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Pulse weight (PULSE_WEIGHT): R1000 address of pulse weight
- Completion signal (W1): R0000.2
- Error signal (ERR): R0000.3

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
2. Apply the following configuration to enable spindle number of input parameter (second spindle):
a) Turn off manual pulse magnification change signal HNDMP (G88.3) to choose 1/256 for the unit of
pulse weight.
b) Set “1000” to R1000.
3. Turn on ACT (R0000.0) (ACT=1) to start synchronization of first axis (A-axis) with the first manual
handle.
4. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).
5. To stop synchronization, use function block PFL0_PMC_AXCTL_RESET_01 to reset PMC axis control of
group 1.

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameter Pulse weight.

62
4.12 Speed command

4.12.1 Function block name

PFL0_SPEED_COMMAND_01 ··············· Speed command (group 1)
PFL0_SPEED_COMMAND_02 ··············· Speed command (group 2)
PFL0_SPEED_COMMAND_03 ··············· Speed command (group 3)
PFL0_SPEED_COMMAND_04 ··············· Speed command (group 4)

4.12.2 Function
This function block executes continuous feed based on speed command in the specified PMC axis at the
feedrate specified by input parameter. The PMC axis to be commanded has to be a rotary axis. (Note 1)
The PMC axis will move until reset. Use the function block for reset to stop the PMC axis.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
1 For more details, please refer to the section “(16) Speed command” in chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.

4.12.3 Format
Graphical format of PFL0_SPEED_COMMAND_01 is shown below:

Figure 4.12.3 (a) PFL0_SPEED_COMMAND_01 (group 1)

63
4.12.4 Parameters
Details of the parameters of this function block are as shown below:

Table 4.12.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT Input parameter BOOL - Activation
0: Do not execute speed command.
1: Execute speed command. (Note 1)
FEEDRATE Input parameter INT 1 Continuous feedrate
Specify the speed of servo motor by binary
number. You can also change the speed of
PMC axis performing continuous feed already.
Specify negative number (2’s complement) to
move backward. Valid range is -32768 to
+32767, by unit min-1. (Note 2)
W1 Output parameter BOOL - Completion signal
Indicates completion of the process. (Note 1, 3,
4)
0: Normally W1=0.
1: Turns on at completion of transmission of the
PMC axis command to NC.
Also turns on at error.
ERR Output parameter BOOL - Error signal
Indicates error status at execution of functional
instruction AXCTL (SUB 53). (Note 1)
This signal corresponds to the external variable
ERR_AXIS_GRP_NO.
0: Axis control command finishes successfully.
1: Axis control command finishes with an error.

Note
1 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1 and
ERR are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
If RESET parameter of the function block for resetting PMC axis control is turned on (RESET=1), the function block
of the same group does not work even if ACT=1.
2 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
3 Resetting axis control will change the output W1=1 to W1=0.
4 Use this function block with buffering disable signal (EMBUFg) turned off, because W1 will never turn on if the
signal is turned on. For the details of buffering disable signal (EMBUFg), please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

64
4.12.5 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 4.12.5 (a) List of related CNC parameters

CNC parameter Description
ROTx (No.1006#0) Selects type of each axis; linear or rotary.
No.8028 Time constant for acceleration/deceleration calculation at speed command of PMC axis control.
No.8032 Feedrate for acceleration/deceleration calculation at speed command of PMC axis control.
EVP (No.8005#4) Selects control type of speed command in PMC axis control; velocity control and position control.
VCP (No.8007#2) Selects type of speed command in PMC axis control; FS15 type and FS16 type.
No.8040 Amount of shift per rotation of servo motor of least input increment when speed command in PMC
axis control is position control
PTC (No.12730#0) Extends linear acceleration/deceleration time constant of continuous feed operation by speed
command in PMC axis control.
No.12731 Second time constant of linear acceleration/deceleration in velocity command continuous feed in
PMC axis control
No.12732 Third time constant of linear acceleration/deceleration in velocity command continuous feed in PMC
axis control
No.12733 Fourth time constant of linear acceleration/deceleration in velocity command continuous feed in
PMC axis control
No.12734 Fifth time constant of linear acceleration/deceleration in velocity command continuous feed in PMC
axis control
No.12735 First feedrate to change time constant of continuous feed operation by speed command in PMC axis
control.
No.12736 Second feedrate to change time constant of continuous feed operation by speed command in PMC
axis control.
No.12737 Third feedrate to change time constant of continuous feed operation by speed command in PMC
axis control.
No.12738 Fourth feedrate to change time constant of continuous feed operation by speed command in PMC
axis control.

Note
For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

65
4.12.6 Example
The following example is to perform continuous feed of the first axis (A-axis) of the first path controlled by
group 1, at speed 1000 mm/min in positive direction.

Function block to use: PFL0_SPEED_COMMAND_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Feedrate (FEEDRATE): 1000 continuous feed speed; 1000 mm/min (positive direction)
- Completion signal (W1): R0000.2
- Error signal (ERR): R0000.3

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
2. Apply the following configuration to configure first axis (A-axis) as a rotary axis:
a) Set “1” to CNC parameter ROTx (No.1006#0) of first axis (A-axis).
3. Turn on ACT (R0000.0) (ACT=1) to start continuous feed of first axis (A-axis) in positive direction.
4. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).
5. To stop the axis, use function block PFL0_PMC_AXCTL_RESET_01 to reset PMC axis control of group 1.

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameter Continuous feedrate.

66
4.13 Torque control

4.13.1 Function block name

PFL0_TORQUE_CONTROL_01 ·············· Torque control (group 1)
PFL0_TORQUE_CONTROL_02 ·············· Torque control (group 2)
PFL0_TORQUE_CONTROL_03 ·············· Torque control (group 3)
PFL0_TORQUE_CONTROL_04 ·············· Torque control (group 4)

4.13.2 Function
This function block executes continuous feed by torque control at the maximum feedrate and torque data
specified by input parameters.
The PMC axis will move until reset. Use the function block for reset to stop the PMC axis.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

4.13.3 Format
Graphical format of PFL0_TORQUE_CONTROL_01 is shown below:

Figure 4.13.3 (a) PFL0_TORQUE_CONTROL_01 (group 1)

67
4.13.4 Parameters
Details of the parameters of this function block are as shown below:

Table 4.13.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT Input parameter BOOL - Activation
0: Do not execute torque control.
1: Execute torque control. (Note 1)
MAX_FEEDRATE Input parameter UINT 1 Maximum feedrate
Specify the maximum feedrate by unit of min-1 at
torque control. You can also change the speed
of PMC axis performing torque control already.
Valid range is 1 to 32767. (Note 2)
If there is no object to generate torque, or the
speed exceeds the maximum feedrate, alarm
(SV0422) will be raised.
TORQUE_DATA Input parameter DINT 1 Torque data
Specify the torque of torque control. You can
also change the torque of PMC axis performing
torque control already. Valid range is
-99999999 to +999999999 by unit of
0.00001Nm. (Note 2)
W1 Output parameter BOOL - Completion signal
Indicates completion of the process. (Note 1, 3,
4)
0: Normally W1=0.
1: Turns on at completion of transmission of the
PMC axis command to NC.
Also turns on at error.
ERR Output parameter BOOL - Error signal
Indicates error status at execution of functional
instruction AXCTL (SUB 53). (Note 1)
This signal corresponds to the external variable
ERR_AXIS_GRP_NO.
0: Axis control command finishes successfully.
1: Axis control command finishes with an error.

Note
1 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1 and
ERR are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
If RESET parameter of the function block for resetting PMC axis control is turned on (RESET=1), the function block
of the same group does not work even if ACT=1.
2 For an axis of linear motor, the units of Maximum feedrate and Torque data changes to the followings:
Maximum feedrate: cm/min
Torque data: 0.001N
For the details of each parameter, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.
3．Resetting axis control will change the output W1=1 to W1=0.
For the details of buffering disable signal (EMBUFg), please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.

68
4.13.5 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 4.13.5 (a) List of related CNC parameters

CNC parameter Description
TQF (No.1803#4) Enables follow-up operation at torque control of PMC axis control.
TRE (No.1805#1) Suppresses counter update when the NC parameter TQF (No.1803#4) is turned off, which means
no follow-up operation is done in torque control of PMC axis control.
No.1885 Maximum allowable value for total travel during torque control.
No.1886 Positional deviation when torque control is canceled.

Note
1 For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.
2 In addition to the CNC parameters above, you have to make proper configuration of other parameters related to
torque control function of servo function. For the details of these parameters, please refer to the section “(17)
Torque control” in chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

4.13.6 Related signals

The signals related to this function block are listed below:

Table 4.13.6 (a) List of related signals

Symbol Address Signal name
DTCHx G124 Controlled axes detach signals

Note
Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

69
4.13.7 Example
The following example is to perform torque control of the first axis (A-axis) of the first path controlled by group
1, by continuous feed at the maximum feedrate 3000 rev/min and torque data of 50 Nm in positive direction.

Function block to use: PFL0_TORQUE_CONTROL_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Maximum feedrate (MAX_FEEDRATE): 3000 maximum feedrate; 3000 rev/min
- Torque data (TORQUE_DATA): 5000000 torque data; 50 Nm (positive direction)
- Completion signal (W1): R0000.2
- Error signal (ERR): R0000.3

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
2. Apply the following configuration to enable follow-up operation at torque control:
a) Set “1” to CNC parameter TQF (No.1803#4).
3. Turn on ACT (R0000.0) (ACT=1) to start continuous feed of first axis (A-axis) in positive direction.
4. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).
5. To stop the axis, use function block PFL0_PMC_AXCTL_RESET_01 to reset PMC axis control of group 1.

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters; Maximum feedrate and Torque data.

70
4.14 Auxiliary function

4.14.1 Function block name

PFL0_AUXILIARY_FUNCTION1_01 ······· Auxiliary function 1 (group 1)
PFL0_AUXILIARY_FUNCTION1_02 ······· Auxiliary function 1 (group 2)
PFL0_AUXILIARY_FUNCTION1_03 ······· Auxiliary function 1 (group 3)
PFL0_AUXILIARY_FUNCTION1_04 ······· Auxiliary function 1 (group 4)

PFL0_AUXILIARY_FUNCTION2_01 ······· Auxiliary function 2 (group 1)

PFL0_AUXILIARY_FUNCTION2_02 ······· Auxiliary function 2 (group 2)
PFL0_AUXILIARY_FUNCTION2_03 ······· Auxiliary function 2 (group 3)
PFL0_AUXILIARY_FUNCTION2_04 ······· Auxiliary function 2 (group 4)

PFL0_AUXILIARY_FUNCTION3_01 ······· Auxiliary function 3 (group 1)

PFL0_AUXILIARY_FUNCTION3_02 ······· Auxiliary function 3 (group 2)
PFL0_AUXILIARY_FUNCTION3_03 ······· Auxiliary function 3 (group 3)
PFL0_AUXILIARY_FUNCTION3_04 ······· Auxiliary function 3 (group 4)

4.14.2 Function
This function block executes the same functionality of auxiliary function of CNC for the function code specified
by input parameter.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
1 The same auxiliary function cannot be commanded from more than one group at a time. Command different
auxiliary function from different group, or command them one by one
2 For the details of auxiliary function of CNC, please refer to the chapter of “AUXILIARY FUNCTION” in
“CONNECTION MANUAL (FUNCTION)” of your CNC.

4.14.3 Format
Graphical format of PFL0_AUXILIARY_FUNCTION1_01 is shown below:

Figure 4.14.3 (a) PFL0_AUXILIARY_FUNCTION1_01 (group 1)

71
4.14.4 Parameters
Details of the parameters of this function block are as shown below:

Table 4.14.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT Input parameter BOOL - Activation
0: Do not execute auxiliary function.
1: Execute auxiliary function. (Note 1)
AUX_FUNC_CODE Input parameter UINT 1 Auxiliary function code
Specify the auxiliary function code to be sent to
PMC. (Note 2)
W1 Output parameter BOOL - Completion signal
Indicates completion of the process. (Note 1, 3,
4)
0: Normally W1=0.
1: Turns on at completion of transmission of the
PMC axis command to NC, in case of
buffering disable signal (EMBUFg) = 0.
Turns on at completion of the auxiliary
function, in case of buffering disable signal
(EMBUFg) = 1.
Also turns on at error.
ERR Output parameter BOOL - Error signal
Indicates error status at execution of functional
instruction AXCTL (SUB 53). (Note 1)
This signal corresponds to the external variable
ERR_AXIS_GRP_NO.
0: Axis control command finishes successfully.
1: Axis control command finishes with an error.

Note
1 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1 and
ERR are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
If RESET parameter of the function block for resetting PMC axis control is turned on (RESET=1), the function block
of the same group does not work even if ACT=1.
2 Set auxiliary code of 1-byte or 2-byte binary data according to the CNC parameter AUX (No.8001#6)
Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
3 Resetting axis control will change the output W1=1 to W1=0.
For the details of buffering disable signal (EMBUFg), please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.

4.14.5 Related CNC parameters

Details of the CNC parameters related to this function block are as shown below:

Table 4.14.5 (a) List of related CNC parameters

CNC parameter Description
AUX (No.8001#6) Selects data size of auxiliary function code.

Note
For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

72
4.14.6 Related signals
The signals related to this function block are listed below:

Table 4.14.6 (a) List of related signals

Symbol Address Signal name
EFINg G142.0 Auxiliary function completion signal (PMC axis control)
EMFg F131.0 Auxiliary function strobe signal (PMC axis control)
EMF2g F131.2 Auxiliary function 2 strobe signal (PMC axis control)
EMF3g F131.3 Auxiliary function 3 strobe signal (PMC axis control)
EM11g – EM48g F132、F142 Auxiliary function code signals (PMC axis control)
EDENg F130.3 Auxiliary function executing signal (PMC axis control)

Note
For details of the signals, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

4.14.7 Example
The following example is to perform auxiliary function with auxiliary function code 06 at group 1 controlling
the first axis (A-axis) of the first path.

Function block to use: PFL0_AUXILIARY_FUNCTION_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Auxiliary function code (AUX_FUNC_CODE): 6 auxiliary function code; 6
- Completion signal (W1): R0000.2
- Error signal (ERR): R0000.3

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
2. Turn on ACT (R0000.0) (ACT=1) to command auxiliary function code 6 at group 1.
The procedure of ladder program to handle the following signals of group 1 is the same as the auxiliary
function of CNC:
– Auxiliary function strobe signal EMFg (F131.0)
– Auxiliary function code signals EM11g – EM28g (F132)
– Auxiliary function completion signal EFINg (G142.0)
3. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameter Auxiliary function code.

73
4.15 Machine coordinate system selection

4.15.1 Function block name

PFL0_MACHINE_POS_SELECT_01 ·············· Machine coordinate system selection (group 1)
PFL0_MACHINE_POS_SELECT_02 ·············· Machine coordinate system selection (group 2)
PFL0_MACHINE_POS_SELECT_03 ·············· Machine coordinate system selection (group 3)
PFL0_MACHINE_POS_SELECT_04 ·············· Machine coordinate system selection (group 4)

4.15.2 Function
This function block executes absolute rapid traverse of the specified PMC axis to the machine coordinate
position at the feedrate, specified by input parameters. This function block has the same functionality of
“G53” of CNC.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
For more details, please refer to the section “(21) Machine coordinate system selection” in chapter of PMC
axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

4.15.3 Format
Graphical format of PFL0_MACHINE_POS_SELECT_01 is shown below:

Figure 4.15.3 (a) PFL0_MACHINE_POS_SELECT_01 (group 1)

74
4.15.4 Parameters
Details of the parameters of this function block are as shown below:

Table 4.15.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT Input parameter BOOL - Activation
0: Do not execute machine coordinate system
selection.
1: Execute machine coordinate system selection.
(Note 1)
FEEDRATE Input parameter UINT 1 Rapid traverse feedrate
Specify the rapid traverse feedrate. Valid range
is 1 to 65535.
This parameter is enabled by setting “1” to CNC
parameter RPD (No.8002#0). (Note 2)
MACHNE_POS Input parameter DINT 1 Machine coordinate position
Specify the machine coordinate by the input unit
as an absolute value. Valid range depends on
unit of data. (Note 2)
W1 Output parameter BOOL - Completion signal
Indicates completion of the process. (Note 1, 3,
4)
0: Normally W1=0.
1: Turns on at completion of transmission of the
PMC axis command to NC, in case of
buffering disable signal (EMBUFg) = 0.
Turns on at completion of the activity of the
PMC axis command, in case of buffering
disable signal (EMBUFg) = 1.
Also turns on at error.
ERR Output parameter BOOL - Error signal
Indicates error status at execution of functional
instruction AXCTL (SUB 53). (Note 1)
This signal corresponds to the external variable
ERR_AXIS_GRP_NO.
0: Axis control command finishes successfully.
1: Axis control command finishes with an error.

Note
1 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1 and
ERR are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
If RESET parameter of the function block for resetting PMC axis control is turned on (RESET=1), the function block
of the same group does not work even if ACT=1.
2 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
3 Resetting axis control will change the output W1=1 to W1=0.
For the details of buffering disable signal (EMBUFg), please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.

75
4.15.5 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 4.15.5 (a) List of related CNC parameters

CNC parameter Description
ROTx (No.1006#0) Selects type of each axis; linear or rotary.
ROAx (No.1008#0) Enables roll-over of rotary axis.
RABx (No.1008#1) Selects the direction of rotation in absolute programming.
No.1260 Shift amount per rotation of rotary axis.

Note
For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

4.15.6 Example
The following example is to perform rapid traverse of the first axis (A-axis) of the first path controlled by group
1, at speed 200 mm/min to the position 1000 mm.

Function block to use: PFL0_MACHINE_POS_SELECT_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Feedrate (FEEDRATE): 200 rapid traverse feedrate; 200 mm/min
- Machine coordinate position (MACHINE_POS): 100000 machine coordinate position; 1000 mm (unit: metric IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERR): R0000.3

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
2. Apply the following configuration to enable rapid traverse speed of input parameter:
a) Turn on CNC parameter RPD (No.8002#0).
3. Turn on ACT (R0000.0) (ACT=1) to start rapid traverse of first axis (A-axis) to the specified machine
coordinate position.
4. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters; Rapid traverse feedrate and Machine
coordinate position.

76
4.16 Cutting feed – sec/block specification

4.16.1 Function block name

PFL0_CUTTING_FEED_SEC_BLK_01 ····· Cutting feed – sec/block specification (group 1)
PFL0_CUTTING_FEED_SEC_BLK_02 ····· Cutting feed – sec/block specification (group 2)
PFL0_CUTTING_FEED_SEC_BLK_03 ····· Cutting feed – sec/block specification (group 3)
PFL0_CUTTING_FEED_SEC_BLK_04 ····· Cutting feed – sec/block specification (group 4)

4.16.2 Function
This function block executes cutting feed of the specified PMC axis for a specified period of time at the feedrate
and total moving distance specified by input parameters. This function block has the same functionality of “G95
G01” of CNC. In sec/block specification, the time to finish the block is specified.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

4.16.3 Format
Graphical format of PFL0_CUTTING_FEED_SEC_BLK_01 is shown below:

Figure 4.16.3 (a) PFL0_CUTTING_FEED_SEC_BLK_01 (group 1)

77
4.16.4 Parameters
Details of the parameters of this function block are as shown below:

Table 4.16.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT Input parameter BOOL - Activation
0: Do not execute cutting feed – sec/block
specification.
1: Execute cutting feed – sec/block specification.
(Note 1)
FEED_TIME Input parameter UINT 1 Cutting feed time
Specify the period of time to finish the block.
Valid range is 1 to 327867 by unit 0.1 sec.
(Note 2)
TOTAL_MOV_DIST Input parameter DINT 1 Total moving distance
Specify the incremental travel amount in the
input system unit of the axis. Valid range
depends on the unit of data. (Note 2)
W1 Output parameter BOOL - Completion signal
Indicates completion of the process. (Note 1, 3,
4)
0: Normally W1=0.
1: Turns on at completion of transmission of the
PMC axis command to NC, in case of
buffering disable signal (EMBUFg) = 0.
Turns on at completion of the activity of the
PMC axis command, in case of buffering
disable signal (EMBUFg) = 1.
Also turns on at error.
ERR Output parameter BOOL - Error signal
Indicates error status at execution of functional
instruction AXCTL (SUB 53). (Note 1)
This signal corresponds to the external variable
ERR_AXIS_GRP_NO.
0: Axis control command finishes successfully.
1: Axis control command finishes with an error.

Note
1 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1 and
ERR are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
If RESET parameter of the function block for resetting PMC axis control is turned on (RESET=1), the function block
of the same group does not work even if ACT=1.
2 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
3 Resetting axis control will change the output W1=1 to W1=0.
For the details of buffering disable signal (EMBUFg), please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.

78
4.16.5 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 4.16.5 (a) List of related CNC parameters

CNC parameter Description
DIAx (No.1006#3) Selects radius/diameter specification of the move command for each axis.
JOV (No.1402#1) Disables jog override.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
F10 (No.8002#3) Selects the least increment of feedrate of cutting feed – feed per minute at PMC axis control.
PF1 (No.8002#4)
Selects the unit of feedrate of cutting feed – feed per minute at PMC axis control.
PF2 (No.8002#5)
CDI (No.8005#1) Selects how to specify the amount of travel and the feedrate of PMC axis when PMC axes are
programmed by diameter.
EFD (No.8006#4) Selects the specification unit of feedrate of cutting feed – feed per minute at PMC axis control.

Note
For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

4.16.6 Related signals

The signals related to this function block are listed below:

Table 4.16.6 (a) List of related signals

Symbol Address Signal name
RT G019.7 Rapid traverse selection signal
DRN G046.7 Dry run signal
ERT G150.6 Rapid traverse selection signal (PMC axis control)
EDRN G150.7 Dry run signal (PMC axis control)

Note
For details of the signals, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

79
4.16.7 Example
The following example is to perform cutting feed of the first axis (A-axis) of the first path controlled by group 1,
for 10 seconds to move distance 100 mm.

Function block to use: PFL0_CUTTING_FEED_SEC_BLK_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Cutting feed time (FEEDTIME): 100 cutting feed time; 10 sec
- Total moving distance (TOTAL_MOV_DIST): 100000 distance; 100 mm (unit: metric IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERR): R0000.3

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
2. Turn on ACT (R0000.0) (ACT=1) to start cutting feed of first axis (A-axis) for 10 seconds for 100 mm.
3. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters; Cutting feed time and Total moving
distance.

80
4.17 Reset PMC axis control

4.17.1 Function block name

PFL0_PMC_AXCTL_RESET_01 ··· Reset PMC axis control (group 1)
PFL0_PMC_AXCTL_RESET_02 ··· Reset PMC axis control (group 2)
PFL0_PMC_AXCTL_RESET_03 ··· Reset PMC axis control (group 3)
PFL0_PMC_AXCTL_RESET_04 ··· Reset PMC axis control (group 4)

4.17.2 Function
This function block resets the PMC axis control command that is currently working or is stored in command
buffer.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

4.17.3 Format
Graphical format of PFL0_PMC_AXCTL_RESET_01 is shown below:

Figure 4.17.3 (a) PFL0_PMC_AXCTL_RESET_01 (group 1)

4.17.4 Parameters
Details of the parameters of this function block are as shown below:

Table 4.17.4 (a) List of parameters

Symbol Parameter type Data type Count Description
RESET Input parameter BOOL - Reset signal
0: Do not reset PMC axis control command.
1: Reset PMC axis control command. (Note 1)

Note
1 Turn on input RESET to reset PMC axis control, and then the PMC control command of the group that is currently
executed or is stored in command buffer is reset. This also turns of W1 of the function blocks of the group.
2 When ACTs of a function blocks for PMC axis control, and RESET of this function block of the same group, turn on
at once, RESET of this function block defeats ACTs.

81
4.17.5 External variables
This function block uses the following external variables:

Table 4.17.5 (a) List of external variables

Symbol Data type Count Description
GRP_AXCTL_RST_01 BOOL - Reset signal for PMC axis control command
GRP_AXCTL_RST_02 Signals to reset control command of the corresponding group.
GRP_AXCTL_RST_03 (Note 1)
GRP_AXCTL_RST_04

Note
1 Different symbols are used for each group. Please define the symbols you will actually use.

4.17.6 Example
The following example is to reset the PMC axis control command of continuous feed of the first axis (A-axis) of
the first path controlled by group 1, at speed 1000 mm/min in positive direction.

Function block to use: PFL0_PMC_AXCTL_RESET_01 for group 1

Parameters:
- Reset signal (RESET): R0000.1

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
2. Turn on ACT (R0000.0) (ACT=1) to start continuous feed of first axis (A-axis).
3. When W1=1, turn off ACT (ACT=0).
4. Turn on RESET (R0000.1) while the axis performs continuous feed, to stop the PMC control command
of continuous feed of the axis.
5. Turn off RESET.

82
5 Function blocks of peripheral equipment control
This chapter describes the usage of the function blocks of peripheral equipment control functions provided by
PMC Function Library for PMC axis control (PMC_AXIS_CONTROL.FLL).

5.1 Jog operation

5.1.1 Function block name

PFL1_JOG_OPERATION_01 ········ Jog operation (group 1)
PFL1_JOG_OPERATION_02 ········ Jog operation (group 2)
PFL1_JOG_OPERATION_03 ········ Jog operation (group 3)
PFL1_JOG_OPERATION_04 ········ Jog operation (group 4)

5.1.2 Function
This function block performs jog operation at the feedrate specified by input parameters. While the input
parameter of positive direction is turned on, the axis moves continuously in positive direction, and also negative
direction.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
If both of input parameters of positive and negative direction are turned on, this function block does not work

5.1.3 Format
Graphical format of PFL1_JOG_OPERATION_01 is shown below:

Figure 5.1.3 (a) PFL1_JOG_OPERATION_01 (group 1)

83
5.1.4 Parameters
Details of the parameters of this function block are as shown below:

Table 5.1.4 (a) List of parameters

Symbol Parameter type Data type Count Description
POS_DIR input parameter BOOL - Positive direction (Note 2)
0: Do not move axis.
1: Move axis in positive direction.
NEG_DIR input parameter BOOL - Negative direction (Note 2)
0: Do not move axis.
1: Move axis in negative direction.
FEEDRATE input parameter UINT 1 Continuous feedrate
Specify the continuous feedrate. Valid range is
1 to 65535. (Note 3)
W1 output parameter BOOL - Completion signal
Indicates completion of the process. (Note 5, 6)
0: Normally W1=0.
1: Turns on for one cycle just after axis stops.
Also turns on at error.
AXIS_STATUS output parameter BOOL - Axis status
Indicates the status of the axis (Note 4)
0: Axis is not moving.
1: Axis is moving.
ERROR output parameter BOOL - Error signal
Indicates error status at execution.
0: Finished successfully.
1: Finished with an error.

Note
1 This function block turns off the buffering disable signal (EMBUFg) while it is working.
2 If both of POS_DIR and NEG_DIR are turned on, axis will not move either way.
3 This function block internally uses function block for continuous feed. For more details, please refer to the section
“(7) Continuous feed” in chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
4 AXIS_STATUS signal is generated from axis moving signal (EGENg) and in-position signal (EINPg). To issue the
next command after the axis stops, check if both of AXIS_STATUS and control axis selection status signal
(*EAXSL) are turned off.
5 W1 turns on just after the axis stops, and turns off one scan after.
6 Because reset is used to stop the axis, any other PMC axis control command of the same group will also be reset.

84
5.1.5 Signals used inside function block
This function block uses the following signals for PMC axis control function, modifying and referring:

Table 5.1.5 (a) Signals to modify

Symbol Address Signal name
EMBUFg G142.2 Buffering disable signal (PMC axis control)

Table 5.1.5 (b) Signals to refer

Symbol Address Signal name
EINPg F130.0 In-position signal (PMC axis control)
EGENg F130.4 Axis moving signal (PMC axis control)

Note
Only the signal of group 1 is described. For the details of each signal please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

5.1.6 Related CNC parameters

Details of the CNC parameters related to this function block are as shown below:

Table 5.1.6 (a) List of related CNC parameters

CNC parameter Description
No.981 Path number that each axis belong to.
JOV (1402#1) Disables jog override.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
F10 (8002#3) Selects the least increment of feedrate of cutting feed – feed per minute at PMC axis control.
JFM (8004#2) Selects the unit of feedrate of continuous feed in PMC axis control.
No.8010 DI/DO group of PMC axis control for each axis.

Note
For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

5.1.7 Related signals

The signals related to this function block are listed below:

Table 5.1.7 (a) List of related signals

Symbol Address Signal name
RT G019.7 Rapid traverse selection signal
DRN G046.7 Dry run signal
ERT G150.6 Rapid traverse selection signal (PMC axis control)
EDRN G150.7 Dry run signal (PMC axis control)
*EAXSL F129.7 Control axis selection status signal (PMC axis control)

Note
For the details of each signal, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

85
5.1.8 Example
The following example is to perform jog operation of the first axis (A-axis) of the first path controlled by group
1, at speed 500 mm/min in positive direction.

Function block to use: PFL1_JOG_OPERATION_01 for group 1

Parameters:
- Positive direction (POS_DIR): R0000.0
- Negative direction (NEG_DIR): R0000.1
- Continuous feedrate (FEEDRATE): 500 continuous feedrate; 500 mm/min (unit: metric IS-B)
- Completion signal (W1): R0000.2
- Axis status (AXIS_STATUS): R0000.3
- Error signal (ERR): R0000.4

1. Apply the following configuration to assign first axis (A-axis) to first path:
a) Set “1” to CNC parameter No.981 of first axis (A-axis).
2. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program.
3. Turn on POS_DIR (R0000.0) and off NEG_DIR (R0000.1) to start the first axis (A-axis) to move in
positive direction, and then AXIS_STATUS (R0000.3) turns on.
4. Turn off both of POS_DIR (R0000.0) and NEG_DIR (R0000.1) to stop the axis. AXIS_STATUS
(R0000.3) turns off, and W1 turns on for one cycle.

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameter Continuous feedrate.

86
5.2 ATC/Turret control – Automatic operation

5.2.1 Function block name

PFL1_ATC_TURRET_CNTL_AUTO_01 ······ ATC/Turret control – Automatic operation (group 1)
PFL1_ATC_TURRET_CNTL_AUTO_02 ······ ATC/Turret control – Automatic operation (group 2)
PFL1_ATC_TURRET_CNTL_AUTO_03 ······ ATC/Turret control – Automatic operation (group 3)
PFL1_ATC_TURRET_CNTL_AUTO_04 ······ ATC/Turret control – Automatic operation (group 4)

5.2.2 Function
This function block moves ATC/turret to the position, in the rotation direction (shortcut, positive, or negative),
at the feedrate, specified by input parameters. The position of turret/magazine begins with “1”.
Specify the amount of travel per ATC rotation and the number of turrets/magazines to the input parameters.
The axis must be a rotary axis, and the amount of travel per rotation should be the value of CNC parameter
No.1260 (shift amount per one rotation of a rotary axis).
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
1 The axis controlled by this function block should be setup as rotary axis type A by CNC parameter.
2 This function block reads the current position (absolute) of the axis internally. Specify the path and axis number of
the axis to the input parameters.
3 For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

87
5.2.3 Format
Graphical format of PFL1_ATC_TURRET_CNTL_AUTO_01 is shown below:

Figure 5.2.3 (a) PFL1_ATC_TURRET_CNTL_AUTO_01 (group 1)

88
5.2.4 Parameters
Details of the parameters of this function block are as shown below:

Table 5.2.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT input parameter BOOL - Activation
0: Do not execute ATC/turret control.
1: Execute ATC/turret control.
(Note 2)
NC_PATH input parameter USINT 1 CNC path number
Specify the CNC path number to which the axis
to control belongs. Valid range is 1 to the
maximum path number.
PMC_AXIS_NO input parameter USINT 1 PMC axis number
Specify the axis number of the axis to control by
PMC. Valid range is 1 to the maximum axis
number.
AMOUNT_OF_1_ROT input parameter DINT 1 Amount of travel per rotation
Specify the amount of travel per rotation of the
rotary axis. Set the value of CNC parameter
No.1260. (Note 3)
NUM_OF_T_M input parameter UINT 1 Number of turrets/magazines
Specify the number of turrets/magazines.
Valid range is 1 to 65535.
T_M_NUMBER input parameter UINT 1 Turret/magazine number
Specify the turret/magazine number to go to.
Turret/magazine number begins with “1”.
DIRECTION input parameter USINT 1 Rotation direction
Specify the direction of the axis rotation.
1: shortcut rotation
2: positive direction
3:negative direction
FEEDRATE input parameter UINT 1 Rapid traverse feedrate
Specify the rapid traverse feedrate. Valid
range is 1 to 65535. (Note 4)
W1 output parameter BOOL - Completion signal
Indicates completion of the process. (Note 2, 5)
0: Normally W1=0.
Also turns off at reset of PMC axis control.
1: Turns on at completion of the axis motion.
Also turns on at error (ERRR=1).
ERROR output parameter BOOL - Error signal
Indicates error status. (Note 2)
0: Finished successfully.
1: Finished with an error.
ERR_DETAIL output parameter INT 1 Error detail
Indicates detail information of the error at
ERROR=1.
For more details, please refer to “5.2.5 Error
information“.

89
 Note
1 This function block turns on the buffering disable signal (EMBUFg) while it is working.
2 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1,
ERROR, and ERR_DETAIL are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
3 For the details of CNC parameter No.1260, please refer to “CONNECTION MANUAL (FUNCTION)” of your CNC.
The input parameter AMOUNT_OF_1_ROT (amount of travel per rotation) should be “Value of CNC parameter
No1260”  10decimal point position. Valid range is as followings:

IS-A IS-B to IS-E

0 – 99999999 (8 digits) 0 – 999999999 (9 digits)

4 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
5 W1 is generated from in-position signal (EINPg). To check if the axis stops, check the axis moving signals (MV1 –
MV8) also if necessary.

5.2.5 Error information

Error detail information (ERR_DETAIL) of this function block notifies the cause of error as follows:

Table 5.2.5 (a) List of error codes

Error code Meaning
1 Group number error (CNC parameter error)
- DI/DO group number is not specified for PMC-controlled axis.
Check the value of CNC parameter No.8010.
2 Axis configuration error (CNC parameter error)
- The PMC-controlled axis is not a rotary axis (A type).
Check the value of CNC parameter No.1006.
11 CNC path number error (input parameter error)
- Specified CNC path number does not exist.
12 PMC axis number error (input parameter error)
- Specified axis number does not exist.
13 Number of turrets/magazines error (input parameter error)
- Specified number of turrets/magazines is out of valid range.
14 Turret/magazine number error (input parameter error)
- Specified turret/magazine number of destination is out of valid range.
15 Rotation direction error (input parameter error)
- Rotation direction out of range 1 to 3 is specified.
21 DI/DO group number error (PMC axis control function block error)
- DI/DO group number for PMC axis control function block is invalid.

5.2.6 Signals used inside function block

This function block uses the following signals for PMC axis control function, modifying and referring:

Table 5.2.6 (a) Signals to modify

Symbol Address Signal name
EMBUFg G142.2 Buffering disable signal (PMC axis control)

Table 5.2.6 (b) Signals to refer

Symbol Address Signal name
EINPg F130.0 In-position signal (PMC axis control)

Note
Only the signal of group 1 is described. For the details of each signal please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

90
5.2.7 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 5.2.7 (a) List of related CNC parameters

CNC parameter Description
No.981 Path number that each axis belong to.
ROTx (No.1006#0) Selects type of each axis; linear or rotary. (Note 1)
ROSx (No.1006#1) Selects type of rotary axis. (Note 1)
DIAx (No.1006#3) Selects radius/diameter specification of the move command for each axis.
ROAx (No.1008#0) Enables roll-over of rotary axis. (Note 1)
No.1013 Selects increment system of each axis.
No.1260 Shift amount per rotation of rotary axis.
JOV (1402#1) Disables jog override.
No.1420 Rapid traverse rate for each axis.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
RDE (No.8001#3) Enables dry run for rapid traverse in PMC axis control.
RPD (No.8002#0) Selects source of rapid traverse feedrate in PMC axis control.
NCI (No.8004#6) Selects if in-position check at deceleration is done or not for PMC axis control.
CDI (No.8005#1) Selects how to specify the amount of travel and the feedrate of PMC axis when PMC axes are
programmed by diameter.
R10 (No.8005#2) Selects the unit of rapid traverse feedrate of PMC axis when CNC parameter RPD (No.8002#0) is
“1”.
No.8010 DI/DO group of PMC axis control for each axis. (Note 2)

Note
1 To use this function block, the axis to be controlled has to be a rotary axis (A type), and the roll-over function has to
be enabled. An error will be issued if the axis is not rotary axis (A type).
2 This function block reads CNC parameter No.8010 to get DI/DO group number of the axis number specified by input
parameter. If the DI/DO group number does not match the group of the function block, input parameter error
occurs.
3 For details of each CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

5.2.8 Related signals

The signals related to this function block are listed below:

Table 5.2.8 (a) List of related signals

Symbol Address Signal name
RT G019.7 Rapid traverse selection signal
DRN G046.7 Dry run signal
ERT G150.6 Rapid traverse selection signal (PMC axis control)
EDRN G150.7 Dry run signal (PMC axis control)
MV1～MV8 F102 Axis moving signals

Note
For the details of each signal, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

91
5.2.9 Example
The following example is to move the first axis (A-axis) of the first path controlled by group 1, to the
turret/magazine #5 of ATC/turret of 10 turrets/magazines, whose amount of travel per rotation is 360.000, at the
feedrate 200 deg/min in direction of shortcut rotation.

Function block to use: PFL1_ATC_TURRET_CNTL_AUTO_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- CNC path number (NC_PATH): 1 path 1
- PMC axis number (PMC_AXIS_NO): 1 PMC axis to be controlled; first axis (A-axis)
- Amount of travel per rotation (AMOUNT_OF_1_ROT): 360000 amount of travel per rotation; 360.000 (unit: IS-B)
- Number of turrets/magazines (NUM_OF_T_M): 10 number of turret/magazines; 10
- Turret/magazine number (T_M_NUMBER): 5 target turret/magazine number; 5
- Rotation direction (DIRECTION): 1 shortcut rotation
- Rapid traverse feedrate (FEEDRATE): 200 rapid traverse feedrate; 200 deg/min (unit: IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERROR): R0000.3
- Error detail (ERR_DETAIL): R0004

1. Apply the following configuration to setup a rotary axis:

a) Set “1” to CNC parameter ROTx (No.1006#0), and “0” to ROSx (No.1006#1), to select rotary axis
(A type).
b) Set “1” to CNC parameter ROAx (No.1008#0) to enable roll-over function of the rotary axis.
2. Apply the following configuration to assign first axis (A-axis) to first path:
a) Set “1” to CNC parameter No.981 of first axis (A-axis).
3. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program. (Note 1)
4. Apply the following configuration to enable rapid traverse speed of input parameter:
a) Turn on CNC parameter RPD (No.8002#0).
5. Turn on ACT (R0000.0) to start moving to the turret/magazine #5 in the direction of shortcut rotation.
6. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

92
Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters such as Rapid traverse feedrate.

93
5.3 ATC/Turret control – 1-pitch rotation

5.3.1 Function block name

PFL1_ATC_TURRET_CNTL_PITCH_01 ······ ATC/Turret control – 1-pitch operation (group 1)
PFL1_ATC_TURRET_CNTL_PITCH_02 ······ ATC/Turret control – 1-pitch operation (group 2)
PFL1_ATC_TURRET_CNTL_PITCH_03 ······ ATC/Turret control – 1-pitch operation (group 3)
PFL1_ATC_TURRET_CNTL_PITCH _04 ····· ATC/Turret control – 1-pitch operation (group 4)

5.3.2 Function
This function block moves to the next ATC/turret, in the direction (positive or negative), at the feedrate,
specified by input parameters.
Specify the amount of travel per ATC rotation and the number of turrets/magazines to the input parameters.
The axis must be a rotary axis, and the amount of travel per rotation should be the value of CNC parameter
No.1260 (shift amount per one rotation of a rotary axis).
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
1 The axis controlled by this function block should be setup as rotary axis type A by CNC parameter.
2 This function block reads the current position (absolute) of the axis internally. Specify the path and axis number of
the axis to the input parameters.
3 For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

94
5.3.3 Format
Graphical format of PFL1_ATC_TURRET_CNTL_PITCH_01 is shown below:

Figure 5.3.3 (a) PFL1_ATC_TURRET_CNTL_PITCH_01 (group 1)

95
5.3.4 Parameters
Details of the parameters of this function block are as shown below:

Table 5.3.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT input parameter BOOL - Activation
0: Do not execute ATC/turret control.
1: Execute ATC/turret control.
(Note 2)
NC_PATH input parameter USINT 1 CNC path number
Specify the CNC path number to which the axis
to control belongs. Valid range is 1 to the
maximum path number.
PMC_AXIS_NO input parameter USINT 1 PMC axis number
Specify the axis number of the axis to control by
PMC. Valid range is 1 to the maximum axis
number.
AMOUNT_OF_1_ROT input parameter DINT 1 Amount of travel per rotation
Specify the amount of travel per rotation of the
rotary axis. Set the value of CNC parameter
No.1260. (Note 3)
NUM_OF_T_M input parameter UINT 1 Number of turrets/magazines
Specify the number of turrets/magazines. Valid
range is 1 to 65535.
DIRECTION input parameter BOOL - Rotation direction
Specify the direction of the axis rotation.
0: positive direction
1:negative direction
FEEDRATE input parameter UINT 1 Rapid traverse feedrate
Specify the rapid traverse feedrate. Valid
range is 1 to 65535. (Note 4)
W1 output parameter BOOL - Completion signal
Indicates completion of the process. (Note 2, 5)
0: Normally W1=0.
Also turns off at reset of PMC axis control.
1: Turns on at completion of the axis motion.
Also turns on at error (ERRR=1).
ERROR output parameter BOOL - Error signal
Indicates error status. (Note 2)
0: Finished successfully.
1: Finished with an error.
ERR_DETAIL output parameter INT 1 Error detail
Indicates detail information of the error at
ERROR=1.
For more details, please refer to “5.3.5 Error
information“.

96
 Note
1 This function block turns on the buffering disable signal (EMBUFg) while it is working.
2 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1,
ERROR, and ERR_DETAIL are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
3 For the details of CNC parameter No.1260, please refer to “CONNECTION MANUAL (FUNCTION)” of your CNC.
The input parameter AMOUNT_OF_1_ROT (amount of travel per rotation) should be “Value of CNC parameter
No1260”  10decimal point position. Valid range is as followings:

IS-A IS-B to IS-E

0 – 99999999 (8 digits) 0 – 999999999 (9 digits)

4 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
5 W1 is generated from in-position signal (EINPg). To check if the axis stops, check the axis moving signals (MV1 –
MV8) also if necessary.

5.3.5 Error information

Error detail information (ERR_DETAIL) of this function block notifies the cause of error as follows:

Table 5.3.5 (a) List of error codes

Error code Meaning
1 Group number error (CNC parameter error)
- DI/DO group number is not specified for PMC-controlled axis.
Check the value of CNC parameter No.8010.
2 Axis configuration error (CNC parameter error)
- The PMC-controlled axis is not a rotary axis (A type).
Check the value of CNC parameter No.1006.
11 CNC path number error (input parameter error)
- Specified CNC path number does not exist.
12 PMC axis number error (input parameter error)
- Specified axis number does not exist.
13 Number of turrets/magazines error (input parameter error)
- Specified number of turrets/magazines is out of valid range.
21 DI/DO group number error (PMC axis control function block error)
- DI/DO group number for PMC axis control function block is invalid.

5.3.6 Signals used inside function block

This function block uses the following signals for PMC axis control function, modifying and referring:

Table 5.3.6 (a) Signals to modify

Symbol Address Signal name
EMBUFg G142.2 Buffering disable signal (PMC axis control)

Table 5.3.6 (b) Signals to refer

Symbol Address Signal name
EINPg F130.0 In-position signal (PMC axis control)

Note
Only the signal of group 1 is described. For the details of each signal please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

97
5.3.7 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 5.3.7 (a) List of related CNC parameters

CNC parameter Description
No.981 Path number that each axis belong to.
ROTx (No.1006#0) Selects type of each axis; linear or rotary. (Note 1)
ROSx (No.1006#1) Selects type of rotary axis. (Note 1)
DIAx (No.1006#3) Selects radius/diameter specification of the move command for each axis.
ROAx (No.1008#0) Enables roll-over of rotary axis. (Note 1)
No.1013 Selects increment system of each axis.
No.1260 Shift amount per rotation of rotary axis.
JOV (1402#1) Disables jog override.
No.1420 Rapid traverse rate for each axis.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
RDE (No.8001#3) Enables dry run for rapid traverse in PMC axis control.
RPD (No.8002#0) Selects source of rapid traverse feedrate in PMC axis control.
NCI (No.8004#6) Selects if in-position check at deceleration is done or not for PMC axis control.
CDI (No.8005#1) Selects how to specify the amount of travel and the feedrate of PMC axis when PMC axes are
programmed by diameter.
R10 (No.8005#2) Selects the unit of rapid traverse feedrate of PMC axis when CNC parameter RPD (No.8002#0) is
“1”.
No.8010 DI/DO group of PMC axis control for each axis. (Note 2)

Note
1 To use this function block, the axis to be controlled has to be a rotary axis (A type), and the roll-over function has to
be enabled. An error will be issued if the axis is not rotary axis (A type).
2 This function block reads CNC parameter No.8010 to get DI/DO group number of the axis number specified by input
parameter. If the DI/DO group number does not match the group of the function block, input parameter error
occurs.
3 For details of each CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

5.3.8 Related signals

The signals related to this function block are listed below:

Table 5.3.8 (a) List of related signals

Symbol Address Signal name
RT G019.7 Rapid traverse selection signal
DRN G046.7 Dry run signal
ERT G150.6 Rapid traverse selection signal (PMC axis control)
EDRN G150.7 Dry run signal (PMC axis control)
MV1～MV8 F102 Axis moving signals

Note
For the details of each signal, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

98
5.3.9 Example
The following example is to move the first axis (A-axis) of the first path controlled by group 1, to the next
turret/magazine of ATC/turret of 10 turrets/magazines, whose amount of travel per rotation is 360.000, at the
feedrate 200 deg/min in positive direction.

Function block to use: PFL1_ATC_TURRET_CNTL_PITCH_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- CNC path number (NC_PATH): 1 path 1
- PMC axis number (PMC_AXIS_NO): 1 PMC axis to be controlled; first axis (A-axis)
- Amount of travel per rotation (AMOUNT_OF_1_ROT): 360000 amount of travel per rotation; 360.000 (unit: IS-B)
- Number of turrets/magazines (NUM_OF_T_M): 10 number of turret/magazines; 10
- Rotation direction (DIRECTION): R0000.1 0: positive direction
- Rapid traverse feedrate (FEEDRATE): 200 rapid traverse feedrate; 200 deg/min (unit: IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERROR): R0000.3
- Error detail (ERR_DETAIL): R0004

1. Apply the following configuration to setup a rotary axis:

a) Set “1” to CNC parameter ROTx (No.1006#0), and “0” to ROSx (No.1006#1), to select rotary axis
(A type).
b) Set “1” to CNC parameter ROAx (No.1008#0) to enable roll-over function of the rotary axis.
2. Apply the following configuration to assign first axis (A-axis) to first path:
a) Set “1” to CNC parameter No.981 of first axis (A-axis).
3. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program. (Note 1)
4. Apply the following configuration to enable rapid traverse speed of input parameter:
a) Turn on CNC parameter RPD (No.8002#0).
5. Turn on ACT (R0000.0) to start moving to the next turret/magazine in the positive direction.
6. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters such as Rapid traverse feedrate.

99
5.4 Point positioning (linear axis)

5.4.1 Function block name

PFL1_POINT_POSITIONING_LA_01 ·········· Point positioning (linear axis) (group 1)
PFL1_POINT_POSITIONING_LA_02 ·········· Point positioning (linear axis) (group 2)
PFL1_POINT_POSITIONING_LA_03 ·········· Point positioning (linear axis) (group 3)
PFL1_POINT_POSITIONING_LA_04 ·········· Point positioning (linear axis) (group 4)

5.4.2 Function
Prepare a point data table in PMC address (D-address typically) in which the set of coordinates (absolute) are
registered. This function block moves the axis to the coordinate (absolute) of the specified point number,
which points the target position in the point data table, and at the feedrate, specified by the input parameters.
Also specify the top address of the prepared point data table and the total of points in the table to each input
parameter.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
1 This function block is designed for a linear axis.
2 This function block reads the current position (absolute) of the axis internally. Specify the path and axis number of
the axis to the input parameters.
3 For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

100
5.4.3 Format
Graphical format of PFL1_POINT_POSITIONING_LA_01 is shown below:

Figure 5.4.3 (a) PFL1_POINT_POSITIONING_LA_01 (group 1)

101
5.4.4 Parameters
Details of the parameters of this function block are as shown below:

Table 5.4.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT input parameter BOOL - Activation
0: Do not execute point positioning.
1: Execute point positioning. (Note 2)
NC_PATH input parameter USINT 1 CNC path number
Specify the CNC path number to which the axis
to control belongs. Valid range is 1 to the
maximum path number.
PMC_AXIS_NO input parameter USINT 1 PMC axis number
Specify the axis number of the axis to control by
PMC. Valid range is 1 to the maximum axis
number.
POINT_NUMBER input parameter UINT 1 Point number
Specify the point number which points the target
coordinate (absolute) in the point data table.
Valid range is 1 to total points.
FEEDRATE input parameter UINT 1 Rapid traverse feedrate
Specify the rapid traverse feedrate. Valid
range is 1 to 65535. (Note 4)
TOTAL_POINT input parameter UINT 1 Total points
Specify the total points of the point data table.
Valid range is 1 to 16384. (Note 3)
POINT_HEAD input/output DINT 1 Top address of point data table
parameter Specify the top address of the point data table
containing the set of coordinates (absolute).
Typically, point data table is located in PMC
address such as D-address.
W1 output parameter BOOL - Completion signal
Indicates completion of the process. (Note 2, 5)
0: Normally W1=0.
Also turns off at reset of PMC axis control.
1: Turns on at completion of the axis motion.
Also turns on at error (ERRR=1).
ERROR output parameter BOOL - Error signal
Indicates error status. (Note 2)
0: Finished successfully.
1: Finished with an error.
ERR_DETAIL output parameter INT 1 Error detail
Indicates detail information of the error at
ERROR=1.
For more details, please refer to “5.4.5 Error
information “.

Note
1 This function block turns on the buffering disable signal (EMBUFg) while it is working.
2 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1,
ERROR, and ERR_DETAIL are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
3 Valid range is 1 to 16384; however, the size of table cannot exceed the end of the address area.
4 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
5 W1 is generated from in-position signal (EINPg). To check if the axis stops, check the axis moving signals (MV1 –
MV8) also if necessary.

102
5.4.5 Error information
Error detail information (ERR_DETAIL) of this function block notifies the cause of error as follows:

Table 5.4.5 (a) List of error codes

Error code Meaning
1 Group number error (CNC parameter error)
- DI/DO group number is not specified for PMC-controlled axis.
Check the value of CNC parameter No.8010.
11 CNC path number error (input parameter error)
- Specified CNC path number does not exist.
12 PMC axis number error (input parameter error)
- Specified axis number does not exist.
16 Total points error (input parameter error)
- Specified total points is out of valid range.
17 Point number error (input parameter error)
- Specified point number is out of valid range.
21 DI/DO group number error (PMC axis control function block error)
- DI/DO group number for PMC axis control function block is invalid.

5.4.6 Signals used inside function block

This function block uses the following signals for PMC axis control function, modifying and referring:

Table 5.4.6 (a) Signals to modify

Symbol Address Signal name
EMBUFg G142.2 Buffering disable signal (PMC axis control)

Table 5.4.6 (b) Signals to refer

Symbol Address Signal name
EINPg F130.0 In-position signal (PMC axis control)

Note
Only the signal of group 1 is described. For the details of each signal please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

103
5.4.7 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 5.4.7 (a) List of related CNC parameters

CNC parameter Description
No.981 Path number that each axis belong to.
DIAx (No.1006#3) Selects radius/diameter specification of the move command for each axis.
JOV (No.1402#1) Disables jog override.
No.1420 Rapid traverse rate for each axis.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
RDE (No.8001#3) Enables dry run for rapid traverse in PMC axis control.
RPD (No.8002#0) Selects source of rapid traverse feedrate in PMC axis control.
NCI (No.8004#6) Selects if in-position check at deceleration is done or not for PMC axis control.
CDI (No.8005#1) Selects how to specify the amount of travel and the feedrate of PMC axis when PMC axes are
programmed by diameter.
R10 (No.8005#2) Selects the unit of rapid traverse feedrate of PMC axis when CNC parameter RPD (No.8002#0) is
“1”.
No.8010 DI/DO group of PMC axis control for each axis. (Note 1)

Note
1 This function block reads CNC parameter No.8010 to get DI/DO group number of the axis number specified by input
parameter. If the DI/DO group number does not match the group of the function block, input parameter error
occurs.
2 For details of each CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

5.4.8 Related signals

The signals related to this function block are listed below:

Table 5.4.8 (a) List of related signals

Symbol Address Signal name
RT G019.7 Rapid traverse selection signal
DRN G046.7 Dry run signal
ERT G150.6 Rapid traverse selection signal (PMC axis control)
EDRN G150.7 Dry run signal (PMC axis control)
MV1～MV8 F102 Axis moving signals

Note
For the details of each signal, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

104
5.4.9 Example
The following example is to execute rapid traverse of the first axis (A-axis) of the first path controlled by group
1, to the coordinate (absolute) that point number 5 points in the point data table of D0100 – D0147 which
contains 12 points total, at the feedrate 400 mm/min.

Function block to use: PFL1_POINT_POSITIONING_LA_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- CNC path number (NC_PATH): 1 path 1
- PMC axis number (PMC_AXIS_NO): 1 PMC axis to be controlled; first axis (A-axis)
- Point number (POINT_NUMBER): 5 point number of destination; 5
- Rapid traverse feedrate (FEEDRATE): 400 rapid traverse feedrate; 400 mm/min (unit: metric, IS-B)
- Total points (TOTAL_POINT): 12 total of points in the point data table; 12
- Top address of point data table (POINT_HEAD): D0100
- Completion signal (W1): R0000.2
- Error signal (ERROR): R0000.3
- Error detail (ERR_DETAIL): R0004

1. Prepare a point data table of 12 points at D0100 – D0147, containing coordinates (absolute) of each
point. (4 bytes  12)
2. Apply the following configuration to assign first axis (A-axis) to first path:
a) Set “1” to CNC parameter No.981 of first axis (A-axis).
3. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program. (Note 1)
4. Apply the following configuration to enable rapid traverse speed of input parameter:
a) Turn on CNC parameter RPD (No.8002#0).
5. Turn on ACT (R0000.0) to start moving first axis (A-axis) to the coordinate stored as point #5 at
D0116.
6. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters such as Rapid traverse feedrate.

105
5.5 Point positioning (rotary axis)

5.5.1 Function block name

PFL1_POINT_POSITIONING_RA_01 ·········· Point positioning (rotary axis) (group 1)
PFL1_POINT_POSITIONING_RA_02 ·········· Point positioning (rotary axis) (group 2)
PFL1_POINT_POSITIONING_RA_03 ·········· Point positioning (rotary axis) (group 3)
PFL1_POINT_POSITIONING_RA_04 ·········· Point positioning (rotary axis) (group 4)

5.5.2 Function
Prepare a point data table in PMC address (D-address typically) in which the set of coordinates (absolute) are
registered. This function block moves the axis to the coordinate (absolute) of the specified point number, which
points the target position in the point data table, in the rotation direction (shortcut, positive, or negative), and at
the feedrate, specified by the input parameters.
Also specify the top address of the prepared point data table and the total of points in the table to each input
parameter. The axis must be a rotary axis, and the amount of travel per rotation should be equal to the value of
CNC parameter No.1260 (shift amount per one rotation of a rotary axis).
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
1 The axis controlled by this function block should be setup as rotary axis type A by CNC parameter.
2 This function block reads the current position (absolute) of the axis internally. Specify the path and axis number of
the axis to the input parameters.
3 For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

106
5.5.3 Format
Graphical format of PFL1_POINT_POSITIONING_RA_01 is shown below:

Figure 5.5.3 (a) PFL1_POINT_POSITIONING_RA_01 (group 1)

107
5.5.4 Parameters
Details of the parameters of this function block are as shown below:

Table 5.5.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT input parameter BOOL - Activation
0: Do not execute point positioning.
1: Execute point positioning. (Note 2)
NC_PATH input parameter USINT 1 CNC path number
Specify the CNC path number to which the axis
to control belongs. Valid range is 1 to the
maximum path number.
PMC_AXIS_NO input parameter USINT 1 PMC axis number
Specify the axis number of the axis to control by
PMC. Valid range is 1 to the maximum axis
number.
AMOUNT_OF_1_ROT input parameter DINT 1 Amount of travel per rotation
Specify the amount of travel per rotation of the
rotary axis. Set the value of CNC parameter
No.1260. (Note 3)
POINT_NUMBER input parameter UINT 1 Point number
Specify the point number which points the target
coordinate (absolute) in the point data table.
Valid range is 1 to total points.
DIRECTION input parameter USINT 1 Rotation direction
Specify the direction of the axis rotation.
1: shortcut rotation
2: positive direction
3: negative direction
FEEDRATE input parameter UINT 1 Rapid traverse feedrate
Specify the rapid traverse feedrate. Valid
range is 1 to 65535. (Note 5)
TOTAL_POINT input parameter UINT 1 Total points
Specify the total points of the point data table.
Valid range is 1 to 16384. (Note 4)
POINT_HEAD input/output DINT 1 Top address of point data table
parameter Specify the top address of the point data table
containing the set of coordinates (absolute).
Typically, point data table is located in PMC
address such as D-address.
W1 output parameter BOOL - Completion signal
Indicates completion of the process. (Note 2, 6)
0: Normally W1=0.
Also turns off at reset of PMC axis control.
1: Turns on at completion of the axis motion.
Also turns on at error (ERRR=1).
ERROR output parameter BOOL - Error signal
Indicates error status. (Note 2)
0: Finished successfully.
1: Finished with an error.
ERR_DETAIL output parameter INT 1 Error detail
Indicates detail information of the error at
ERROR=1.
For more details, please refer to “5.4.5 Error
information “.

108
 Note
1 This function block turns on the buffering disable signal (EMBUFg) while it is working.
2 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1,
ERROR, and ERR_DETAIL are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
3 For the details of CNC parameter No.1260, please refer to “CONNECTION MANUAL (FUNCTION)” of your CNC.
The input parameter AMOUNT_OF_1_ROT (amount of travel per rotation) should be “Value of CNC parameter
No1260”  10decimal point position. Valid range is as followings:

IS-A IS-B to IS-E

0 – 99999999 (8 digits) 0 – 999999999 (9 digits)

4 Valid range is 1 to 16384; however, the size of table cannot exceed the end of the address area.
5 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
6 W1 is generated from in-position signal (EINPg). To check if the axis stops, check the axis moving signals (MV1 –
MV8) also if necessary.

5.5.5 Error information

Error detail information (ERR_DETAIL) of this function block notifies the cause of error as follows:

Table 5.5.5 (a) List of error codes

Error code Meaning
1 Group number error (CNC parameter error)
- DI/DO group number is not specified for PMC-controlled axis.
Check the value of CNC parameter No.8010.
2 Axis configuration error (CNC parameter error)
- The PMC-controlled axis is not a rotary axis (A type).
Check the value of CNC parameter No.1006.
11 CNC path number error (input parameter error)
- Specified CNC path number does not exist.
12 PMC axis number error (input parameter error)
- Specified axis number does not exist.
15 Rotation direction error (input parameter error)
- Rotation direction out of range 1 to 3 is specified.
16 Total points error (input parameter error)
- Specified total points is out of valid range.
17 Point number error (input parameter error)
- Specified point number is out of valid range.
21 DI/DO group number error (PMC axis control function block error)
- DI/DO group number for PMC axis control function block is invalid.

5.5.6 Signals used inside function block

This function block uses the following signals for PMC axis control function, modifying and referring:

Table 5.5.6 (a) Signals to modify

Symbol Address Signal name
EMBUFg G142.2 Buffering disable signal (PMC axis control)

Table 5.5.6 (b) Signals to refer

Symbol Address Signal name
EINPg F130.0 In-position signal (PMC axis control)

Note
Only the signal of group 1 is described. For the details of each signal please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

109
5.5.7 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 5.5.7 (a) List of related CNC parameters

CNC parameter Description
No.981 Path number that each axis belong to.
ROTx (No.1006#0) Selects type of each axis; linear or rotary. (Note 1)
ROSx (No.1006#1) Selects type of rotary axis. (Note 1)
DIAx (No.1006#3) Selects radius/diameter specification of the move command for each axis.
ROAx (No.1008#0) Enables roll-over of rotary axis. (Note 1)
No.1013 Selects increment system of each axis.
No.1260 Shift amount per rotation of rotary axis.
JOV (No.1402#1) Disables jog override.
No.1420 Rapid traverse rate for each axis.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
RDE (No.8001#3) Enables dry run for rapid traverse in PMC axis control.
RPD (No.8002#0) Selects source of rapid traverse feedrate in PMC axis control.
NCI (No.8004#6) Selects if in-position check at deceleration is done or not for PMC axis control.
CDI (No.8005#1) Selects how to specify the amount of travel and the feedrate of PMC axis when PMC axes are
programmed by diameter.
R10 (No.8005#2) Selects the unit of rapid traverse feedrate of PMC axis when CNC parameter RPD (No.8002#0) is
“1”.
No.8010 DI/DO group of PMC axis control for each axis. (Note 2)

Note
1 To use this function block, the axis to be controlled has to be a rotary axis (A type), and the roll-over function has to
be enabled. An error will be issued if the axis is not rotary axis (A type).
Please use the fanction block of “Point positioning (linear axis)” when using the rotary axis (B type).
2 This function block reads CNC parameter No.8010 to get DI/DO group number of the axis number specified by input
parameter. If the DI/DO group number does not match the group of the function block, input parameter error
occurs.
3 For details of each CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

5.5.8 Related signals

The signals related to this function block are listed below:

Table 5.5.8 (a) List of related signals

Symbol Address Signal name
RT G019.7 Rapid traverse selection signal
DRN G046.7 Dry run signal
ERT G150.6 Rapid traverse selection signal (PMC axis control)
EDRN G150.7 Dry run signal (PMC axis control)
MV1～MV8 F102 Axis moving signals

Note
For the details of each signal, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

110
5.5.9 Example
The following example is to execute rapid traverse of the first axis (A-axis) of the first path controlled by group
1, to the coordinate (absolute) that point number 5 points in the point data table of D0100 – D0147 which
contains 12 points total, whose amount of travel per rotation is 360.000, at the feedrate 400 deg/min in direction
of shortcut rotation.

Function block to use: PFL1_POINT_POSITIONING_RA_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- CNC path number (NC_PATH): 1 path 1
- PMC axis number (PMC_AXIS_NO): 1 PMC axis to be controlled; first axis (A-axis)
- Amount of travel per rotation (AMOUNT_OF_1_ROT): 360000 amount of travel per rotation; 360.000 (unit: IS-B)
- Point number (POINT_NUMBER): 5 point number of destination; 5
- Rotation direction (DIRECTION): 1 shortcut rotation
- Rapid traverse feedrate (FEEDRATE): 400 rapid traverse feedrate; 400 deg/min (unit: metric, IS-B)
- Total points (TOTAL_POINT): 12 total of points in the point data table; 12
- Top address of point data table (POINT_HEAD): D0100
- Completion signal (W1): R0000.2
- Error signal (ERROR): R0000.3
- Error detail (ERR_DETAIL): R0004

1. Prepare a point data table of 12 points at D0100 – D0147, containing coordinates (absolute) of each
point. (4 bytes  12)
2. Apply the following configuration to setup a rotary axis:
a) Set “1” to CNC parameter ROTx (No.1006#0), and “0” to ROSx (No.1006#1), to select rotary axis
(A type).
b) Set “1” to CNC parameter ROAx (No.1008#0) to enable roll-over function of the rotary axis.
3. Apply the following configuration to assign first axis (A-axis) to first path:
a) Set “1” to CNC parameter No.981 of first axis (A-axis).
4. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program. (Note 1)
5. Apply the following configuration to enable rapid traverse speed of input parameter:
a) Turn on CNC parameter RPD (No.8002#0).

111
 6. Turn on ACT (R0000.0) to start moving first axis (A-axis) to the coordinate stored as point #5 at D0116
in the direction of shortcut rotation.
7. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters such as Rapid traverse feedrate.

112
5.6 Reference position return – reference position number

5.6.1 Function block name

PFL1_REF_POS_RETURN_NUM_01 ······· Reference position return – reference position number (group 1)
PFL1_REF_POS_RETURN_NUM_02 ······· Reference position return – reference position number (group 2)
PFL1_REF_POS_RETURN_NUM_03 ······· Reference position return – reference position number (group 3)
PFL1_REF_POS_RETURN_NUM_04 ······· Reference position return – reference position number (group 4)

5.6.2 Function
This function block executes reference position return of the specified PMC axis to the position of the specified
reference position number (1 – 4).
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
For more details, please refer to the section “(6) Reference position return” in chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.

5.6.3 Format
Graphical format of PFL1_REF_POS_RETURN_NUM_01 is shown below:

Figure 5.6.3 (a) PFL1_REF_POS_RETURN_NUM_01 (group 1)

113
5.6.4 Parameters
Details of the parameters of this function block are as shown below:

Table 5.6.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT input parameter BOOL - Activation
0: Do not execute reference position return.
1: Execute reference position return. (Note 2)
REF_POS_NO input parameter USINT 1 Reference position number
Specify reference position number. Valid range
is 1 to 4, which correspond the reference
position of first to fourth.
FEEDRATE input parameter UINT 1 Rapid traverse feedrate
Specify the rapid traverse feedrate. Valid range
is 1 to 65535. (Note 3)
W1 output parameter BOOL - Completion signal
Indicates completion of the process. (Note 2, 4)
0: Normally W1=0.
Also turns off at reset of PMC axis control.
1: Turns on at completion of the axis motion.
Also turns on at error (ERRR=1).
ERROR output parameter BOOL - Error signal
Indicates error status. (Note 2)
0: Finished successfully.
1: Finished with an error.
ERR_DETAIL output parameter INT 1 Error detail
Indicates detail information of the error at
ERROR=1.
For more details, please refer to “5.6.5 Error
information “.

Note
1 This function block turns on the buffering disable signal (EMBUFg) while it is working.
2 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1,
ERROR, and ERR_DETAIL are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
3 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
4 W1 is generated from in-position signal (EINPg). To check if the axis stops, check the following signals also if
necessary.
- First reference position return end signals (ZP1 – ZP8)
- Second reference position return end signals (ZP21 – ZP28)
- Third reference position return end signals (ZP31 – ZP38)
- Fourth reference position return end signals (ZP41 – ZP48)

114
5.6.5 Error information
Error detail information (ERR_DETAIL) of this function block notifies the cause of error as follows:

Table 5.6.5 (a) List of error codes

Error code Meaning
18 Reference position number error (PMC axis control function block error)
- Reference position number is out of range (1 – 4).
21 DI/DO group number error (PMC axis control function block error)
- DI/DO group number for PMC axis control function block is invalid.

5.6.6 Signals used inside function block

This function block uses the following signals for PMC axis control function, modifying and referring:

Table 5.6.6 (a) Signals to modify

Symbol Address Signal name
EMBUFg G142.2 Buffering disable signal (PMC axis control)

Table 5.6.6 (b) Signals to refer

Symbol Address Signal name
EINPg F130.0 In-position signal (PMC axis control)

Note
Only the signal of group 1 is described. For the details of each signal please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

115
5.6.7 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 5.6.7 (a) List of related CNC parameters

CNC parameter Description
No.981 Path number that each axis belong to.
DLZx (No.1005#1) Enables function to set reference position without dogs.
No.1013 Selects increment system of each axis.
No.1240 First reference position in the machine coordinate system
No.1241 Second reference position in the machine coordinate system
No.1242 Third reference position in the machine coordinate system
No.1243 Fourth reference position in the machine coordinate system
JOV (No.1402#1) Disables jog override.
No.1420 Rapid traverse rate for each axis.
No.1424 Manual rapid traverse rate for each axis.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
RDE (No.8001#3) Enables dry run for rapid traverse in PMC axis control.
RPD (No.8002#0) Selects source of rapid traverse feedrate in PMC axis control.
NCI (No.8004#6) Selects if in-position check at deceleration is done or not for PMC axis control.
No.8010 DI/DO group of PMC axis control for each axis. (Note 2)

Note
1 This function block reads CNC parameter No.8010 to get DI/DO group number of the axis number specified by input
parameter. If the DI/DO group number does not match the group of the function block, input parameter error
occurs.
2 For details of each CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

5.6.8 Related signals

The signals related to this function block are listed below:

Table 5.6.8 (a) List of related signals

Symbol Address Signal name
RT G019.7 Rapid traverse selection signal
DRN G046.7 Dry run signal
ERT G150.6 Rapid traverse selection signal (PMC axis control)
EDRN G150.7 Dry run signal (PMC axis control)
ZP1～ZP8 F94 First reference position return end signals
ZP21～ZP28 F96 Second reference position return end signals
ZP31～ZP38 F98 Third reference position return end signals
ZP41～ZP48 F100 Fourth reference position return end signals

Note
For the details of each signal, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

116
5.6.9 Example
The following example is to execute first reference position return of the first axis (A-axis) of the first path
controlled by group 1, at the feedrate 500 mm/min.

Function block to use: PFL1_REF_POS_RETURN_NUM_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Reference position number (REF_POS_NO): 1 reference position number; 1
- Rapid traverse feedrate (FEEDRATE): 500 rapid traverse feedrate; 500 mm/min (unit: metric, IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERROR): R0000.3
- Error detail (ERR_DETAIL): R0004

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program. (Note 1)
2. Apply the following configuration to enable rapid traverse speed of input parameter:
a) Turn on CNC parameter RPD (No.8002#0).
3. Apply the following configuration to set the first reference position to “0”:
a) Set “0” to CNC parameter No.1240.
4. Turn on ACT (R0000.0) to perform first reference position return of first axis (A-axis).
5. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters such as Rapid traverse feedrate.

117
5.7 Reference position return – reference position setting

5.7.1 Function block name

PFL1_REF_POS_RETURN_SET_01 ········· Reference position return – reference position setting (group 1)
PFL1_REF_POS_RETURN_SET_02 ········· Reference position return – reference position setting (group 2)
PFL1_REF_POS_RETURN_SET_03 ········· Reference position return – reference position setting (group 3)
PFL1_REF_POS_RETURN_SET_04 ········· Reference position return – reference position setting (group 4)

5.7.2 Function
This function block executes reference position setting of the specified PMC axis, performing the same action of
manual reference position return of CNC, after rapid traverse to the direction of manual reference position
return specified by CNC parameter ZMIx (No.1006#5).
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
For more details, please refer to the section “(6) Reference position return” in chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.

5.7.3 Format
Graphical format of PFL1_REF_POS_RETURN_SET_01 is shown below:

Figure 5.7.3 (a) PFL1_REF_POS_RETURN_SET_01 (group 1)

118
5.7.4 Parameters
Details of the parameters of this function block are as shown below:

Table 5.7.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT input parameter BOOL - Activation
0: Do not execute reference position return.
1: Execute reference position return. (Note 2)
FEEDRATE input parameter UINT 1 Rapid traverse feedrate
Specify the rapid traverse feedrate. Valid range
is 1 to 65535. (Note 3)
W1 output parameter BOOL - Completion signal
Indicates completion of the process. (Note 2, 4)
0: Normally W1=0.
Also turns off at reset of PMC axis control.
1: Turns on at completion of the axis motion.
Also turns on at error (ERRR=1).
ERROR output parameter BOOL - Error signal
Indicates error status. (Note 1)
0: Finished successfully.
1: Finished with DI/DO group number error.

Note
1 This function block turns on the buffering disable signal (EMBUFg) while it is working.
2 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1,
ERROR, and ERR_DETAIL are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
3 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
4 W1 is generated from in-position signal (EINPg). To check if the axis stops, check the reference position return
end signals (ZP1 – ZP8) also if necessary.

5.7.5 Signals used inside function block

This function block uses the following signals for PMC axis control function, modifying and referring:

Table 5.7.5 (a) Signals to modify

Symbol Address Signal name
EMBUFg G142.2 Buffering disable signal (PMC axis control)

Table 5.7.5 (b) Signals to refer

Symbol Address Signal name
EINPg F130.0 In-position signal (PMC axis control)

Note
Only the signal of group 1 is described. For the details of each signal please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

119
5.7.6 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 5.7.6 (a) List of related CNC parameters

CNC parameter Description
No.981 Path number that each axis belong to.
DLZx (No.1005#1) Enables function to set reference position without dogs.
ZMIx (No.1006#5) Selects the direction of manual reference position return.
No.1240 First reference position in the machine coordinate system
No.1420 Rapid traverse rate for each axis.
No.1424 Manual rapid traverse rate for each axis.
No.1836 Servo error amount to enable reference position return.
RPD (No.8002#0) Selects source of rapid traverse feedrate in PMC axis control.
NCI (8004#6) Selects if in-position check at deceleration is done or not for PMC axis control.
R10 (No.8005#2) Selects the unit of rapid traverse feedrate of PMC axis when CNC parameter RPD (No.8002#0) is
“1”.
No.8010 DI/DO group of PMC axis control for each axis.

Note
1 This function block reads CNC parameter No.8010 to get DI/DO group number of the axis number specified by input
parameter. If the DI/DO group number does not match the group of the function block, input parameter error
occurs.
2 For details of each CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

5.7.7 Related signals

The signals related to this function block are listed below:

Table 5.7.7 (a) List of related signals

Symbol Address Signal name
RT G019.7 Rapid traverse selection signal
DRN G046.7 Dry run signal
ERT G150.6 Rapid traverse selection signal (PMC axis control)
EDRN G150.7 Dry run signal (PMC axis control)
ZP1～ZP8 F94 First reference position return end signals

Note
For the details of each signal, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

120
5.7.8 Example
The following example is to execute reference position setting without dogs of the first axis (A-axis) of the first
path controlled by group 1, at the feedrate 500 mm/min.

Function block to use: PFL1_REF_POS_RETURN_SET_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Rapid traverse feedrate (FEEDRATE): 500 rapid traverse feedrate; 500 mm/min (unit: metric, IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERROR): R0000.3

1. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program. (Note 1)
2. Apply the following configuration to enable rapid traverse speed of input parameter:
a) Turn on CNC parameter RPD (No.8002#0).
3. Apply the following configuration to enable the function for setting reference position without dogs:
a) Set “1” to CNC parameter DLZx (No.1005#1).
4. Turn on ACT (R0000.0) to perform reference position setting of first axis (A-axis).
5. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameter Rapid traverse feedrate.

121
5.8 Positioning – absolute specification (linear axis)

5.8.1 Function block name

PFL1_POSITIONING_ABS_LA_01 ············· Positioning – absolute specification (linear axis) (group 1)
PFL1_POSITIONING_ABS_LA_02 ············· Positioning – absolute specification (linear axis) (group 2)
PFL1_POSITIONING_ABS_LA_03 ············· Positioning – absolute specification (linear axis) (group 3)
PFL1_POSITIONING_ABS_LA_04 ············· Positioning – absolute specification (linear axis) (group 4)

5.8.2 Function
This function block executes rapid traverse of the axis to the coordinate (absolute) at the feedrate, specified by
the input parameters.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
This function block is designed for a linear axis.

5.8.3 Format
Graphical format of PFL1_ POSITIONING_ABS_LA_01 is shown below:

Figure 5.8.3 (a) PFL1_POSITIONING_ABS_LA_01 (group 1)

122
5.8.4 Parameters
Details of the parameters of this function block are as shown below:

Table 5.8.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT input parameter BOOL - Activation
0: Do not execute positioning.
1: Execute positioning. (Note 2)
NC_PATH input parameter USINT 1 CNC path number
Specify the CNC path number to which the axis
to control belongs. Valid range is 1 to the
maximum path number.
PMC_AXIS_NO input parameter USINT 1 PMC axis number
Specify the axis number of the axis to control by
PMC. Valid range is 1 to the maximum axis
number.
FEEDRATE input parameter UINT 1 Rapid traverse feedrate
Specify the rapid traverse feedrate. Valid range
is 1 to 65535. (Note 4)
COORDINATES input parameter DINT 1 Coordinate of destination
Specify the coordinate (absolute) of destination.
(Note 3)
W1 output parameter BOOL - Completion signal
Indicates completion of the process. (Note 2, 5)
0: Normally W1=0.
Also turns off at reset of PMC axis control.
1: Turns on at completion of the axis motion.
Also turns on at error (ERRR=1).
ERROR output parameter BOOL - Error signal
Indicates error status. (Note 2)
0: Finished successfully.
1: Finished with an error.
ERR_DETAIL output parameter INT 1 Error detail
Indicates detail information of the error at
ERROR=1.
For more details, please refer to “5.8.5 Error
information “.

Note
1 This function block turns on the buffering disable signal (EMBUFg) while it is working.
2 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1,
ERROR, and ERR_DETAIL are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
3 The unit of data is the least input increment of the axis. For more details, please refer to “Standard parameter
setting tables (A)” in “CONNECTION MANUAL (FUNCTION)” of your CNC.
4 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
5 W1 is generated from in-position signal (EINPg). To check if the axis stops, check the axis moving signals (MV1 –
MV8) also if necessary.

123
5.8.5 Error information
Error detail information (ERR_DETAIL) of this function block notifies the cause of error as follows:

Table 5.8.5 (a) List of error codes

Error code Meaning
1 Group number error (CNC parameter error)
- DI/DO group number is not specified for PMC-controlled axis.
Check the value of CNC parameter No.8010.
11 CNC path number error (input parameter error)
- Specified CNC path number does not exist.
12 PMC axis number error (input parameter error)
- Specified axis number does not exist.
21 DI/DO group number error (PMC axis control function block error)
- DI/DO group number for PMC axis control function block is invalid.

5.8.6 Signals used inside function block

This function block uses the following signals for PMC axis control function, modifying and referring:

Table 5.8.6 (a) Signals to modify

Symbol Address Signal name
EMBUFg G142.2 Buffering disable signal (PMC axis control)

Table 5.8.6 (b) Signals to refer

Symbol Address Signal name
EINPg F130.0 In-position signal (PMC axis control)

Note
Only the signal of group 1 is described. For the details of each signal please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

124
5.8.7 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 5.8.7 (a) List of related CNC parameters

CNC parameter Description
No.981 Path number that each axis belong to.
DIAx (No.1006#3) Selects radius/diameter specification of the move command for each axis.
JOV (No.1402#1) Disables jog override.
No.1420 Rapid traverse rate for each axis.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
RDE (No.8001#3) Enables dry run for rapid traverse in PMC axis control.
RPD (No.8002#0) Selects source of rapid traverse feedrate in PMC axis control.
NCI (No.8004#6) Selects if in-position check at deceleration is done or not for PMC axis control.
CDI (No.8005#1) Selects how to specify the amount of travel and the feedrate of PMC axis when PMC axes are
programmed by diameter.
R10 (No.8005#2) Selects the unit of rapid traverse feedrate of PMC axis when CNC parameter RPD (No.8002#0) is
“1”.
No.8010 DI/DO group of PMC axis control for each axis. (Note 1)

Note
1 This function block reads CNC parameter No.8010 to get DI/DO group number of the axis number specified by input
parameter. If the DI/DO group number does not match the group of the function block, input parameter error
occurs.
2 For details of each CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

5.8.8 Related signals

The signals related to this function block are listed below:

Table 5.8.8 (a) List of related signals

Symbol Address Signal name
RT G019.7 Rapid traverse selection signal
DRN G046.7 Dry run signal
ERT G150.6 Rapid traverse selection signal (PMC axis control)
EDRN G150.7 Dry run signal (PMC axis control)
MV1～MV8 F102 Axis moving signals

Note
For the details of each signal, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

125
5.8.9 Example
The following example is to move the first axis (A-axis) of the first path controlled by group 1, to the absolute
coordinate 500 mm at the feedrate 400 mm/min.

Function block to use: PFL1_POSITIONING_ABS_LA_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- CNC path number (NC_PATH): 1 path 1
- PMC axis number (PMC_AXIS_NO): 1 PMC axis to be controlled; first axis (A-axis)
- Rapid traverse feedrate (FEEDRATE): 400 rapid traverse feedrate; 400 mm/min (unit: metric, IS-B)
- Destination coordinate (COORDINATES): 500000 absolute coordinate; 500.000 mm (unit: metric, IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERROR): R0000.3
- Error detail (ERR_DETAIL): R0004

1. Apply the following configuration to assign first axis (A-axis) to first path:
a) Set “1” to CNC parameter No.981 of first axis (A-axis).
2. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program. (Note 1)
3. Apply the following configuration to enable rapid traverse speed of input parameter:
a) Turn on CNC parameter RPD (No.8002#0).
4. Turn on ACT (R0000.0) to start moving first axis (A-axis) to the absolute coordinate 500 mm.
5. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters such as Rapid traverse feedrate.

126
5.9 Positioning – absolute specification (rotary axis)

5.9.1 Function block name

PFL1_POSITIONING_ABS_RA_01 ············· Positioning – absolute specification (rotary axis) (group 1)
PFL1_POSITIONING_ABS_RA_02 ············· Positioning – absolute specification (rotary axis) (group 2)
PFL1_POSITIONING_ABS_RA_03 ············· Positioning – absolute specification (rotary axis) (group 3)
PFL1_POSITIONING_ABS_RA_04 ············· Positioning – absolute specification (rotary axis) (group 4)

5.9.2 Function
This function block executes rapid traverse of the axis to the coordinate (absolute), in the rotation direction
(shortcut, positive, or negative), at the feedrate, specified by the input parameters.
The axis must be a rotary axis, and the amount of travel per rotation should be equal to the value of CNC
parameter No.1260 (shift amount per one rotation of a rotary axis).
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
1 The axis controlled by this function block should be setup as rotary axis type A by CNC parameter.
2 This function block reads the current position (absolute) of the axis internally. Specify the path and axis number of
the axis to the input parameters.
3 Do not specify the value that exceeds the amount of travel per rotation to the coordinate (absolute).
4 For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

127
5.9.3 Format
Graphical format of PFL1_ POSITIONING_ABS_RA_01 is shown below:

Figure 5.9.3 (a) PFL1_POSITIONING_ABS_RA_01 (group 1)

128
5.9.4 Parameters
Details of the parameters of this function block are as shown below:

Table 5.9.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT input parameter BOOL - Activation
0: Do not execute positioning.
1: Execute positioning. (Note 2)
NC_PATH input parameter USINT 1 CNC path number
Specify the CNC path number to which the axis
to control belongs. Valid range is 1 to the
maximum path number.
PMC_AXIS_NO input parameter USINT 1 PMC axis number
Specify the axis number of the axis to control by
PMC. Valid range is 1 to the maximum axis
number.
AMOUNT_OF_1_ROT input parameter DINT 1 Amount of travel per rotation
Specify the amount of travel per rotation of the
rotary axis. Set the value of CNC parameter
No.1260. (Note 3)
DIRECTION input parameter USINT 1 Rotation direction
Specify the direction of the axis rotation.
1: shortcut rotation
2: positive direction
3: negative direction
FEEDRATE input parameter UINT 1 Rapid traverse feedrate
Specify the rapid traverse feedrate. Valid range
is 1 to 65535. (Note 5)
COORDINATES input parameter DINT 1 Coordinate of destination
Specify the coordinate (absolute) of destination.
(Note 4)
W1 output parameter BOOL - Completion signal
Indicates completion of the process. (Note 2, 6)
0: Normally W1=0.
Also turns off at reset of PMC axis control.
1: Turns on at completion of the axis motion.
Also turns on at error (ERRR=1).
ERROR output parameter BOOL - Error signal
Indicates error status. (Note 2)
0: Finished successfully.
1: Finished with an error.
ERR_DETAIL output parameter INT 1 Error detail
Indicates detail information of the error at
ERROR=1.
For more details, please refer to “5.8.5 Error
information “.

129
 Note
1 This function block turns on the buffering disable signal (EMBUFg) while it is working.
2 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1,
ERROR, and ERR_DETAIL are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
3 For the details of CNC parameter No.1260, please refer to “CONNECTION MANUAL (FUNCTION)” of your CNC.
The input parameter AMOUNT_OF_1_ROT (amount of travel per rotation) should be “Value of CNC parameter
No1260”  10decimal point position. Valid range is as followings:

IS-A IS-B to IS-E

0 – 99999999 (8 digits) 0 – 999999999 (9 digits)

4 The unit of data is the least input increment of the axis. For more details, please refer to “Standard parameter
setting tables (A)” in “CONNECTION MANUAL (FUNCTION)” of your CNC.
5 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
6 W1 is generated from in-position signal (EINPg). To check if the axis stops, check the axis moving signals (MV1 –
MV8) also if necessary.

5.9.5 Error information

Error detail information (ERR_DETAIL) of this function block notifies the cause of error as follows:

Table 5.9.5 (a) List of error codes

Error code Meaning
1 Group number error (CNC parameter error)
- DI/DO group number is not specified for PMC-controlled axis.
Check the value of CNC parameter No.8010.
2 Axis configuration error (CNC parameter error)
- The PMC-controlled axis is not a rotary axis (A type).
Check the value of CNC parameter No.1006.
11 CNC path number error (input parameter error)
- Specified CNC path number does not exist.
12 PMC axis number error (input parameter error)
- Specified axis number does not exist.
15 Rotation direction error (input parameter error)
- Rotation direction out of range 1 to 3 is specified.
21 DI/DO group number error (PMC axis control function block error)
- DI/DO group number for PMC axis control function block is invalid.

5.9.6 Signals used inside function block

This function block uses the following signals for PMC axis control function, modifying and referring:

Table 5.9.6 (a) Signals to modify

Symbol Address Signal name
EMBUFg G142.2 Buffering disable signal (PMC axis control)

Table 5.9.6 (b) Signals to refer

Symbol Address Signal name
EINPg F130.0 In-position signal (PMC axis control)

Note
Only the signal of group 1 is described. For the details of each signal please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

130
5.9.7 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 5.9.7 (a) List of related CNC parameters

CNC parameter Description
No.981 Path number that each axis belong to.
ROTx (No.1006#0) Selects type of each axis; linear or rotary. (Note 1)
ROSx (No.1006#1) Selects type of rotary axis. (Note 1)
DIAx (No.1006#3) Selects radius/diameter specification of the move command for each axis.
ROAx (No.1008#0) Enables roll-over of rotary axis. (Note 1)
No.1013 Selects increment system of each axis.
No.1260 Shift amount per rotation of rotary axis.
JOV (No.1402#1) Disables jog override.
No.1420 Rapid traverse rate for each axis.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
RDE (No.8001#3) Enables dry run for rapid traverse in PMC axis control.
RPD (No.8002#0) Selects source of rapid traverse feedrate in PMC axis control.
NCI (No.8004#6) Selects if in-position check at deceleration is done or not for PMC axis control.
CDI (No.8005#1) Selects how to specify the amount of travel and the feedrate of PMC axis when PMC axes are
programmed by diameter.
R10 (No.8005#2) Selects the unit of rapid traverse feedrate of PMC axis when CNC parameter RPD (No.8002#0) is
“1”.
No.8010 DI/DO group of PMC axis control for each axis. (Note 1)

Note
1 To use this function block, the axis to be controlled has to be a rotary axis (A type), and the roll-over function has to
be enabled. An error will be issued if the axis is not rotary axis (A type).
Please use the fanction block of “Point positioning (linear axis)” when using the rotary axis (B type).
2 This function block reads CNC parameter No.8010 to get DI/DO group number of the axis number specified by input
parameter. If the DI/DO group number does not match the group of the function block, input parameter error
occurs.
3 For details of each CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

5.9.8 Related signals

The signals related to this function block are listed below:

Table 5.9.8 (a) List of related signals

Symbol Address Signal name
RT G019.7 Rapid traverse selection signal
DRN G046.7 Dry run signal
ERT G150.6 Rapid traverse selection signal (PMC axis control)
EDRN G150.7 Dry run signal (PMC axis control)
MV1～MV8 F102 Axis moving signals

Note
For the details of each signal, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

131
5.9.9 Example
The following example is to move the first axis (A-axis) of the first path controlled by group 1, to the absolute
coordinate 50.000, whose amount of travel per rotation is 360.000, at the feedrate 400 deg/min in direction of
shortcut rotation.

Function block to use: PFL1_POSITIONING_ABS_RA_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- CNC path number (NC_PATH): 1 path 1
- PMC axis number (PMC_AXIS_NO): 1 PMC axis to be controlled; first axis (A-axis)
- Amount of travel per rotation (AMOUNT_OF_1_ROT): 360000 amount of travel per rotation; 360.000 (unit: IS-B)
- Rotation direction (DIRECTION): 1 shortcut rotation
- Rapid traverse feedrate (FEEDRATE): 400 rapid traverse feedrate; 400 deg/min (unit: metric, IS-B)
- Destination coordinate (COORDINATES): 50000 absolute coordinate; 50.000 (unit: metric, IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERROR): R0000.3
- Error detail (ERR_DETAIL): R0004

1. Apply the following configuration to setup a rotary axis:

a) Set “1” to CNC parameter ROTx (No.1006#0), and “0” to ROSx (No.1006#1), to select rotary axis
(A type).
b) Set “1” to CNC parameter ROAx (No.1008#0) to enable roll-over function of the rotary axis.
2. Apply the following configuration to assign first axis (A-axis) to first path:
a) Set “1” to CNC parameter No.981 of first axis (A-axis).
3. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program. (Note 1)
4. Apply the following configuration to enable rapid traverse speed of input parameter:
a) Turn on CNC parameter RPD (No.8002#0).
5. Turn on ACT (R0000.0) to start moving first axis (A-axis) to the absolute coordinate 50.
6. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters such as Rapid traverse feedrate.

132
5.10 Positioning – incremental specification

5.10.1 Function block name

PFL1_POSITIONING_INC_01 ··················· Positioning – incremental specification (group 1)
PFL1_POSITIONING_INC_02 ··················· Positioning – incremental specification (group 2)
PFL1_POSITIONING_INC_03 ··················· Positioning – incremental specification (group 3)
PFL1_POSITIONING_INC_04 ··················· Positioning – incremental specification (group 4)

5.10.2 Function
This function block executes rapid traverse of the axis for the distance at the feedrate, specified by the input
parameters.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

5.10.3 Format
Graphical format of PFL1_POSITIONING_INC_01 is shown below:

Figure 5.10.3 (a) PFL1_POSITIONING_INC_01 (group 1)

133
5.10.4 Parameters
Details of the parameters of this function block are as shown below:

Table 5.10.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT input parameter BOOL - Activation
0: Do not execute positioning.
1: Execute positioning. (Note 2)
FEEDRATE input parameter UINT 1 Rapid traverse feedrate
Specify the rapid traverse feedrate. Valid
range is 1 to 65535. (Note 4)
MOV_DIST input parameter DINT 1 Moving distance
Specify the moving distance (incremental) of
the axis. (Note 3)
W1 output parameter BOOL - Completion signal
Indicates completion of the process. (Note 2,
5)
0: Normally W1=0.
Also turns off at reset of PMC axis control.
1: Turns on at completion of the axis motion.
Also turns on at error (ERRR=1).
ERROR output parameter BOOL - Error signal
Indicates error status. (Note 2)
0: Finished successfully.
1: Finished with an error.

Note
1 This function block turns on the buffering disable signal (EMBUFg) while it is working.
2 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1,
ERROR, and ERR_DETAIL are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
3 The unit of data is the least input increment of the axis. For more details, please refer to “Standard parameter
setting tables (A)” in “CONNECTION MANUAL (FUNCTION)” of your CNC.
4 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
5 W1 is generated from in-position signal (EINPg). To check if the axis stops, check the axis moving signals (MV1 –
MV8) also if necessary.

5.10.5 Signals used inside function block

This function block uses the following signals for PMC axis control function, modifying and referring:

Table 5.10.5 (a) Signals to modify

Symbol Address Signal name
EMBUFg G142.2 Buffering disable signal (PMC axis control)

Table 5.10.5 (b) Signals to refer

Symbol Address Signal name
EINPg F130.0 In-position signal (PMC axis control)

Note
Only the signal of group 1 is described. For the details of each signal please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

134
5.10.6 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 5.10.6 (a) List of related CNC parameters

CNC parameter Description
No.981 Path number that each axis belong to.
DIAx (No.1006#3) Selects radius/diameter specification of the move command for each axis.
No.1013 Selects increment system of each axis.
JOV (No.1402#1) Disables jog override.
No.1420 Rapid traverse rate for each axis.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
RDE (No.8001#3) Enables dry run for rapid traverse in PMC axis control.
RPD (No.8002#0) Selects source of rapid traverse feedrate in PMC axis control.
NCI (No.8004#6) Selects if in-position check at deceleration is done or not for PMC axis control.
CDI (No.8005#1) Selects how to specify the amount of travel and the feedrate of PMC axis when PMC axes are
programmed by diameter.
R10 (No.8005#2) Selects the unit of rapid traverse feedrate of PMC axis when CNC parameter RPD (No.8002#0) is
“1”.
No.8010 DI/DO group of PMC axis control for each axis. (Note 1)

Note
For details of each CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

5.10.7 Related signals

The signals related to this function block are listed below:

Table 5.10.7 (a) List of related signals

Symbol Address Signal name
RT G019.7 Rapid traverse selection signal
DRN G046.7 Dry run signal
ERT G150.6 Rapid traverse selection signal (PMC axis control)
EDRN G150.7 Dry run signal (PMC axis control)
MV1～MV8 F102 Axis moving signals

Note
For the details of each signal, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

135
5.10.8 Example
The following example is to move the first axis (A-axis) of the first path controlled by group 1, for the distance
of 500 mm at the feedrate 400 mm/min.

Function block to use: PFL1_POSITIONING_INC_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Rapid traverse feedrate (FEEDRATE): 400 rapid traverse feedrate; 400 mm/min (unit: metric, IS-B)
- Moving distance (MOV_DIST): 500000 moving distance; 500.000 mm (unit: metric, IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERROR): R0000.3

1. Apply the following configuration to assign first axis (A-axis) to first path:
a) Set “1” to CNC parameter No.981 of first axis (A-axis).
2. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program. (Note 1)
3. Apply the following configuration to enable rapid traverse speed of input parameter:
a) Turn on CNC parameter RPD (No.8002#0).
4. Turn on ACT (R0000.0) to start moving first axis (A-axis) for the distance 500 mm.
5. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters such as Rapid traverse feedrate.

136
5.11 Speed control

5.11.1 Function block name

PFL1_SPEED_CONTROL_01 ···················· Speed control (group 1)
PFL1_SPEED_CONTROL_02 ···················· Speed control (group 2)
PFL1_SPEED_CONTROL_03 ···················· Speed control (group 3)
PFL1_SPEED_CONTROL_04 ···················· Speed control (group 4)

5.11.2 Function
This function block executes continuous feed of the axis by speed control at the continuous feedrate specified
by the input parameters. It can also change the continuous feedrate by turning on ACT with new continuous
feedrate in input parameter while the axis is moving.
Turn on input parameter STOP to stop the axis. The PMC axis to be controlled must be a rotary axis.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
1 This function block uses the speed command (10H) of the PMC axis control function, and supports both of speed
control and position control selected by CNC parameter. For more details, please refer to the chapter of PMC
axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
2 This function block uses a function block to reset PMC axis control command to stop the axis. Turning on the input
parameter STOP will reset the command in action and ones suspended in buffer of the same group.

137
5.11.3 Format
Graphical format of PFL1_SPEED_CONTROL_01 is shown below:

Figure 5.11.3 (a) PFL1_SPEED_CONTROL_01 (group 1)

138
5.11.4 Parameters
Details of the parameters of this function block are as shown below:

Table 5.11.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT input parameter BOOL - Activation
0: Do not execute speed control.
1: Execute speed control. (Note 2, 3)
STOP input parameter BOOL - Stop axis
0: Do not stop the axis
1: Stop the axis (Note 2)
NC_PATH input parameter USINT 1 CNC path number
Specify the CNC path number to which the axis
to control belongs. Valid range is 1 to the
maximum path number.
PMC_AXIS_NO input parameter USINT 1 PMC axis number
Specify the axis number of the axis to control by
PMC. Valid range is 1 to the maximum axis
number.
FEEDRATE input parameter INT 1 Continuous feedrate
Specify the rotation speed of the servo motor in
binary value.
Specify positive value for rotation in positive
direction. And negative (2’s complement) value
for negative.
Valid range is -32768 to +32767, by unit rev/min.
(Note 3)
W1 output parameter BOOL - Completion signal
Indicates completion of the process. (Note 2, 4)
0: Normally W1=0.
Also turns off at reset of PMC axis control.
1: Turns on at completion of the axis motion.
Also turns on at error (ERRR=1).
ERROR output parameter BOOL - Error signal
Indicates error status. (Note 2)
0: Finished successfully.
1: Finished with an error.
ERR_DETAIL output parameter INT 1 Error detail
Indicates detail information of the error at
ERROR=1.
For more details, please refer to “5.11.5 Error
information “.

Note
1 This function block turns off the buffering disable signal (EMBUFg) while it is working.
2 From the status ACT=0 and STOP=0, turn on ACT to start execution, and turn on STOP to stop it. Turn off STOP
after the axis stops. If both of ACT and STOP turn on, STOP is effective.
While ACT=1 or STOP=1, the outputs of W1, ERROR, and ERR_DETAIL are sustained. Please turn off ACT and
STOP (ACT=0, STOP=0) when W1 turns on (W1=1).
3 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
4 W1 is generated from axis moving signal (EGENg). To check if the axis stops, check the control axis selection
status signal (*EAXSL) also if necessary.

139
5.11.5 Error information
Error detail information (ERR_DETAIL) of this function block notifies the cause of error as follows:

Table 5.11.5 (a) List of error codes

Error code Meaning
1 Group number error (CNC parameter error)
- DI/DO group number is not specified for PMC-controlled axis.
Check the value of CNC parameter No.8010.
2 Axis configuration error (CNC parameter error)
- The PMC-controlled axis is not a rotary axis.
Check the value of CNC parameter No.1006.
11 CNC path number error (input parameter error)
- Specified CNC path number does not exist.
12 PMC axis number error (input parameter error)
- Specified axis number does not exist.
21 DI/DO group number error (PMC axis control function block error)
- DI/DO group number for PMC axis control function block is invalid.

5.11.6 Signals used inside function block

This function block uses the following signals for PMC axis control function, modifying and referring:

Table 5.11.6 (a) Signals to modify

Symbol Address Signal name
EMBUFg G142.2 Buffering disable signal (PMC axis control)

Table 5.11.6 (b) Signals to refer

Symbol Address Signal name
EGENg F130.4 Axis moving signal (PMC axis control)

Note
Only the signal of group 1 is described. For the details of each signal please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

140
5.11.7 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 5.11.7 (a) List of related CNC parameters

CNC parameter Description
981 Path number that each axis belong to.
ROTx (No.1006#0) Selects type of each axis; linear or rotary. (Note 1)
EVP (No.8005#4) Selects control type of speed command in PMC axis control; velocity control and position control.
(Note 3)
VCP (8007#2) Selects type of speed command in PMC axis control; FS15 type and FS16 type. (Note 3)
No.8010 DI/DO group of PMC axis control for each axis. (Note 2)
No.8028 Time for acceleration/deceleration calculation at speed control of PMC axis control.
No.8040 Amount of shift per rotation of servo motor of least input increment when speed command in PMC
axis control is position control
PTC (No.12730) Extends linear acceleration/deceleration time constant of continuous feed operation by speed
command in PMC axis control.
No.12731 Second time constant of linear acceleration/deceleration in velocity command continuous feed in
PMC axis control
No.12732 Third time constant of linear acceleration/deceleration in velocity command continuous feed in PMC
axis control
No.12733 Fourth time constant of linear acceleration/deceleration in velocity command continuous feed in
PMC axis control
No.12734 Fifth time constant of linear acceleration/deceleration in velocity command continuous feed in PMC
axis control
No.12735 First feedrate to change time constant of continuous feed operation by speed command in PMC axis
control.
No.12736 Second feedrate to change time constant of continuous feed operation by speed command in PMC
axis control.
No.12737 Third feedrate to change time constant of continuous feed operation by speed command in PMC
axis control.
No.12738 Fourth feedrate to change time constant of continuous feed operation by speed command in PMC
axis control.

Note
1 The PMC axis that this function block controls must be a rotary axis ROTx(No.1006#5)=1, or CNC parameter error
is raised.
2 This function block reads CNC parameter No.8010 to get DI/DO group number of the axis number specified by input
parameter. If the DI/DO group number does not match the group of the function block, input parameter error
occurs.
3 The coordinate will not be updated when FS16i specification and speed control are selected (VCP(No.8007#2)=1,
EVP(No.8005#4)=0).
Reference position setting will be required after execution because the position will be lost and reference position
establishment signal (XRFx<F120>) turns off.
4 For details of each CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

141
5.11.8 Related signals
The signals related to this function block are listed below:

Table 5.11.8 (a) List of related signals

Symbol Address Signal name
*EAXSL F129.7 Control axis selection status signal (PMC axis control)
EINPg F130.0 In-position signal (PMC axis control)

Note
For the details of each signal please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

142
5.11.9 Example
The following example is to perform continuous feed of the first axis (A-axis) of the first path controlled by
group 1, at speed 1000 rev/min in positive direction.

Function block to use: PFL1_SPEED_CONTROL_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Stop command (STOP): R0000.1
- CNC path number (NC_PATH): 1 path 1
- PMC axis number (PMC_AXIS_NO): 1 PMC axis to be controlled; first axis (A-axis)
- Continuous feedrate (FEEDRATE): 1000 continuous feedrate; 1000 rev/min
- Completion signal (W1): R0000.2
- Error signal (ERROR): R0000.3
- Error detail (ERR_DETAIL): R0004

1. Apply the following configuration to assign first axis (A-axis) to first path:
a) Set “1” to CNC parameter No.981 of first axis (A-axis).
2. Apply the following configuration to setup first axis (A-axis) as a rotary axis:
a) Set “1” to CNC parameter ROTx (No.1006#0), and “0” to ROSx (No.1006#1), to select rotary axis
(A type).
3. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program. (Note 1)
4. Turn on ACT (R0000.0) and turn off STOP (R0000.1) to start moving the first axis (A-axis) at feedrate
1000 rev/min in positive direction.
5. Turn off ACT (R0000.0) and turn on STOP (R0000.1) to stop the axis.
6. When the first axis (A-axis) stops, turn off STOP (R0000.1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters such as Continuous feedrate.

143
5.12 Positioning (skip) – absolute specification (linear axis)

5.12.1 Function block name

PFL1_POSITIONING_SKIP_ABS_LA_01 ··· Positioning (skip) – absolute specification (linear axis) (group 1)
PFL1_POSITIONING_SKIP_ABS_LA_02 ··· Positioning (skip) – absolute specification (linear axis) (group 2)
PFL1_POSITIONING_SKIP_ABS_LA_03 ··· Positioning (skip) – absolute specification (linear axis) (group 3)
PFL1_POSITIONING_SKIP_ABS_LA_04 ··· Positioning (skip) – absolute specification (linear axis) (group 4)

5.12.2 Function
This function block executes the skip function (feed per minute) of the axis to the coordinate (absolute) at the
cutting feedrate, specified by the input parameters.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
1 This function block is designed for a linear axis.
2 High-speed skip is not available.
3 Skip signals are available for PMC axes assigned to path 1 to 3.
4 This function block reads the current position (absolute) of the axis internally. Specify the path and axis number of
the axis to the input parameters.
5 For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

144
5.12.3 Format
Graphical format of PFL1_POSITIONING_SKIP_ABS_LA_01 is shown below:

Figure 5.12.3 (a) PFL1_POSITIONING_SKIP_ABS_LA_01 (group 1)

145
5.12.4 Parameters
Details of the parameters of this function block are as shown below:

Table 5.12.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT input parameter BOOL - Activation
0: Do not execute positioning (skip).
1: Execute positioning (skip). (Note 2)
NC_PATH input parameter USINT 1 CNC path number
Specify the CNC path number to which the
axis to control belongs. Valid range is 1 to
the maximum path number.
PMC_AXIS_NO input parameter USINT 1 PMC axis number
Specify the axis number of the axis to control
by PMC. Valid range is 1 to the maximum
axis number.
FEEDRATE input parameter UINT 1 Cutting feedrate
Specify the cutting feedrate. Valid range is 1
to 65535. (Note 4)
COORDINATES input parameter DINT 1 Coordinate of destination
Specify the coordinate (absolute) of
destination. (Note 3)
W1 output parameter BOOL - Completion signal
Indicates completion of the process. (Note 2,
5)
0: Normally W1=0.
Also turns off at reset of PMC axis control.
1: Turns on at completion of the axis motion.
Also turns on at error (ERRR=1).
ERROR output parameter BOOL - Error signal
Indicates error status. (Note 2)
0: Finished successfully.
1: Finished with an error.
ERR_DETAIL output parameter INT 1 Error detail
Indicates detail information of the error at
ERROR=1.
For more details, please refer to “5.12.5 Error
information“.

Note
1 This function block turns on the buffering disable signal (EMBUFg) while it is working.
2 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1,
ERROR, and ERR_DETAIL are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
3 The unit of data is the least input increment of the axis. For more details, please refer to “Standard parameter
setting tables (A)” in “CONNECTION MANUAL (FUNCTION)” of your CNC.
4 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
5 W1 is generated from in-position signal (EINPg). To check if the axis stops, check the axis moving signals (MV1 –
MV8) also if necessary.

146
5.12.5 Error information
Error detail information (ERR_DETAIL) of this function block notifies the cause of error as follows:

Table 5.12.5 (a) List of error codes

Error code Meaning
1 Group number error (CNC parameter error)
- DI/DO group number is not specified for PMC-controlled axis.
Check the value of CNC parameter No.8010.
11 CNC path number error (input parameter error)
- Specified CNC path number does not exist.
12 PMC axis number error (input parameter error)
- Specified axis number does not exist.
21 DI/DO group number error (PMC axis control function block error)
- DI/DO group number for PMC axis control function block is invalid.

5.12.6 Signals used inside function block

This function block uses the following signals for PMC axis control function, modifying and referring:

Table 5.12.6 (a) Signals to modify

Symbol Address Signal name
EMBUFg G142.2 Buffering disable signal (PMC axis control)

Table 5.12.6 (b) Signals to refer

Symbol Address Signal name
EINPg F130.0 In-position signal (PMC axis control)

Note
Only the signal of group 1 is described. For the details of each signal please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

147
5.12.7 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 5.12.7 (a) List of related CNC parameters

CNC parameter Description
No.981 Path number that each axis belong to.
DIAx (No.1006#3) Selects radius/diameter specification of the move command for each axis.
JOV (No.1402#1) Disables jog override.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
SKE (No.8001#7) Selects skip signal in PMC axis control.
F10 (No.8002#3) Selects the least increment of feedrate of cutting feed – feed per minute at PMC axis control.
PF1 (No.8002#4)
Selects the unit of feedrate of cutting feed – feed per minute at PMC axis control.
PF2 (No.8002#5)
NCI (No.8004#6) Selects if in-position check at deceleration is done or not for PMC axis control.
CDI (No.8005#1) Selects how to specify the amount of travel and the feedrate of PMC axis when PMC axes are
programmed by diameter.
EFD (No.8006#4) Selects the specification unit of feedrate of cutting feed – feed per minute at PMC axis control.
No.8010 DI/DO group of PMC axis control for each axis.

Note
1 This function block reads CNC parameter No.8010 to get DI/DO group number of the axis number specified by input
parameter. If the DI/DO group number does not match the group of the function block, input parameter error
occurs.
2 For details of each CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

5.12.8 Related signals

The signals related to this function block are listed below:

Table 5.12.8 (a) List of related signals

Symbol Address Signal name
ESKIP X004.6 Skip signal for path 1 (PMC axis control)
ESKIP#2 X013.6 Skip signal for path 2 (PMC axis control)
ESKIP#3 X011.6 Skip signal for path 3 (PMC axis control)
SKIP X004.7 Skip signal for path 1
SKIP#2 X013.7 Skip signal for path 2
SKIP#3 X011.7 Skip signal for path 3
MV1～MV8 F102 Axis moving signals

Note
For details of the signals, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

148
5.12.9 Example
The following example is to perform skip function of the first axis (A-axis) of the first path controlled by group
1, while cutting feed at speed 400 mm/min to the absolute coordinate 500 mm.

Function block to use: PFL1_POSITIONING_SKIP_ABS_LA_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- CNC path number (NC_PATH): 1 path 1
- PMC axis number (PMC_AXIS_NO): 1 PMC axis to be controlled; first axis (A-axis)
- Cutting feedrate (FEEDRATE): 400 cutting feedrate; 400 mm/min (unit: metric, IS-B)
- Destination coordinate (COORDINATES): 500000 absolute coordinate; 500.000 mm (unit: metric, IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERROR): R0000.3
- Error detail (ERR_DETAIL): R0004

1. Apply the following configuration to control first axis (A-axis) of first path as PMC axis of group 1:
a) Set “1” to CNC parameter No.981 of first axis (A-axis).
b) Set “1” to CNC parameter No.8010 of first axis (A-axis).
c) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program. (Note 1)
2. Apply the following configuration to enable skip signal (PMC axis control):
a) Turn on CNC parameter SKE (No.8001#7).
3. Turn on ACT (R0000.0) to start cutting feed per minute of first axis (A-axis). While moving, turning
on skip signal (X004.6) will cause skip operation.
4. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters, such as Cutting feedrate and Total
moving distance.

149
5.13 Positioning (skip) – absolute specification (rotary axis)

5.13.1 Function block name

PFL1_POSITIONING_SKIP_ABS_RA_01 ··· Positioning (skip) – absolute specification (linear axis) (group 1)
PFL1_POSITIONING_SKIP_ABS_RA_02 ··· Positioning (skip) – absolute specification (linear axis) (group 2)
PFL1_POSITIONING_SKIP_ABS_RA_03 ··· Positioning (skip) – absolute specification (linear axis) (group 3)
PFL1_POSITIONING_SKIP_ABS_RA_04 ··· Positioning (skip) – absolute specification (linear axis) (group 4)

5.13.2 Function
This function block executes the skip function (feed per minute) of the axis to the coordinate (absolute), in the
rotation direction (shortcut, positive, or negative), at the cutting feedrate, specified by the input parameters.
The axis must be a rotary axis, and the amount of travel per rotation should be the value of CNC parameter
No.1260 (shift amount per one rotation of a rotary axis).
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
1 The axis controlled by this function block should be setup as rotary axis type A by CNC parameter.
2 High-speed skip is not available.
3 Skip signals are available for PMC axes assigned to path 1 to 3.
4 This function block reads the current position (absolute) of the axis internally. Specify the path and axis number of
the axis to the input parameters.
5 Do not specify the value that exceeds the amount of travel per rotation to the coordinate (absolute).
6 For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

150
5.13.3 Format
Graphical format of PFL1_POSITIONING_SKIP_ABS_RA_01 is shown below:

Figure 5.13.3 (a) PFL1_POSITIONING_SKIP_ABS_RA_01 (group 1)

151
5.13.4 Parameters
Details of the parameters of this function block are as shown below:

Table 5.13.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT input parameter BOOL - Activation
0: Do not execute positioning (skip).
1: Execute positioning (skip). (Note 2)
NC_PATH input parameter USINT 1 CNC path number
Specify the CNC path number to which the
axis to control belongs. Valid range is 1 to
the maximum path number.
PMC_AXIS_NO input parameter USINT 1 PMC axis number
Specify the axis number of the axis to control
by PMC. Valid range is 1 to the maximum
axis number.
AMOUNT_OF_1_ROT input parameter DINT 1 Amount of travel per rotation
Specify the amount of travel per rotation of the
rotary axis. Set the value of CNC parameter
No.1260. (Note 3)
DIRECTION input parameter USINT 1 Rotation direction
Specify the direction of the axis rotation.
1: shortcut rotation
2: positive direction
3: negative direction
FEEDRATE input parameter UINT 1 Cutting feedrate
Specify the cutting feedrate. Valid range is 1
to 65535. (Note 5)
COORDINATES input parameter DINT 1 Coordinate of destination
Specify the coordinate (absolute) of
destination. (Note 4)
W1 output parameter BOOL - Completion signal
Indicates completion of the process. (Note 2,
6)
0: Normally W1=0.
Also turns off at reset of PMC axis control.
1: Turns on at completion of the axis motion.
Also turns on at error (ERRR=1).
ERROR output parameter BOOL - Error signal
Indicates error status. (Note 2)
0: Finished successfully.
1: Finished with an error.
ERR_DETAIL output parameter INT 1 Error detail
Indicates detail information of the error at
ERROR=1.
For more details, please refer to “5.12.5 Error
information“.

152
 Note
1 This function block turns on the buffering disable signal (EMBUFg) while it is working.
2 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1,
ERROR, and ERR_DETAIL are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
3 For the details of CNC parameter No.1260, please refer to “CONNECTION MANUAL (FUNCTION)” of your CNC.
The input parameter AMOUNT_OF_1_ROT (amount of travel per rotation) should be “Value of CNC parameter
No1260”  10decimal point position. Valid range is as followings:

IS-A IS-B to IS-E

0 – 99999999 (8 digits) 0 – 999999999 (9 digits)

4 The unit of data is the least input increment of the axis. For more details, please refer to “Standard parameter
setting tables (A)” in “CONNECTION MANUAL (FUNCTION)” of your CNC.
5 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
6 W1 is generated from in-position signal (EINPg). To check if the axis stops, check the axis moving signals (MV1 –
MV8) also if necessary.

5.13.5 Error information

Error detail information (ERR_DETAIL) of this function block notifies the cause of error as follows:

Table 5.13.5 (a) List of error codes

Error code Meaning
1 Group number error (CNC parameter error)
- DI/DO group number is not specified for PMC-controlled axis.
Check the value of CNC parameter No.8010.
2 Axis configuration error (CNC parameter error)
- The PMC-controlled axis is not a rotary axis (A type).
Check the value of CNC parameter No.1006.
11 CNC path number error (input parameter error)
- Specified CNC path number does not exist.
12 PMC axis number error (input parameter error)
- Specified axis number does not exist.
15 Rotation direction error (input parameter error)
- Rotation direction out of range 1 to 3 is specified.
21 DI/DO group number error (PMC axis control function block error)
- DI/DO group number for PMC axis control function block is invalid.

5.13.6 Signals used inside function block

This function block uses the following signals for PMC axis control function, modifying and referring:

Table 5.13.6 (a) Signals to modify

Symbol Address Signal name
EMBUFg G142.2 Buffering disable signal (PMC axis control)

Table 5.13.6 (b) Signals to refer

Symbol Address Signal name
EINPg F130.0 In-position signal (PMC axis control)

Note
Only the signal of group 1 is described. For the details of each signal please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

153
5.13.7 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 5.13.7 (a) List of related CNC parameters

CNC parameter Description
No.981 Path number that each axis belong to.
ROTx (No.1006#0) Selects type of each axis; linear or rotary. (Note 1)
ROSx (No.1006#1) Selects type of rotary axis. (Note 1)
DIAx (No.1006#3) Selects radius/diameter specification of the move command for each axis.
ROAx (No.1008#0) Enables roll-over of rotary axis. (Note 1)
No.1013 Selects increment system of each axis.
No.1260 Shift amount per rotation of rotary axis.
JOV (No.1402#1) Disables jog override.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
SKE (No.8001#7) Selects skip signal in PMC axis control.
F10 (No.8002#3) Selects the least increment of feedrate of cutting feed – feed per minute at PMC axis control.
PF1 (No.8002#4)
Selects the unit of feedrate of cutting feed – feed per minute at PMC axis control.
PF2 (No.8002#5)
NCI (No.8004#6) Selects if in-position check at deceleration is done or not for PMC axis control.
CDI (No.8005#1) Selects how to specify the amount of travel and the feedrate of PMC axis when PMC axes are
programmed by diameter.
EFD (No.8006#4) Selects the specification unit of feedrate of cutting feed – feed per minute at PMC axis control.
No.8010 DI/DO group of PMC axis control for each axis.

Note
1 To use this function block, the axis to be controlled has to be a rotary axis (A type), and the roll-over function has to
be enabled. An error will be issued if the axis is not rotary axis (A type).
Please use the fanction block of “Point positioning (linear axis)” when using the rotary axis (B type).
2 This function block reads CNC parameter No.8010 to get DI/DO group number of the axis number specified by input
parameter. If the DI/DO group number does not match the group of the function block, input parameter error
occurs.
3 For details of each CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

5.13.8 Related signals

The signals related to this function block are listed below:

Table 5.13.8 (a) List of related signals

Symbol Address Signal name
ESKIP X004.6 Skip signal for path 1 (PMC axis control)
ESKIP#2 X013.6 Skip signal for path 2 (PMC axis control)
ESKIP#3 X011.6 Skip signal for path 3 (PMC axis control)
SKIP X004.7 Skip signal for path 1
SKIP#2 X013.7 Skip signal for path 2
SKIP#3 X011.7 Skip signal for path 3
MV1～MV8 F102 Axis moving signals

Note
For details of the signals, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

154
5.13.9 Example
The following example is to perform the skip function of the first axis (A-axis) of the first path controlled by
group 1, whose amount of travel per rotation is 360.000, while cutting feed at speed 400 deg/min to the absolute
coordinate 50.000 in direction of shortcut rotation.

Function block to use: PFL1_POSITIONING_SKIP_ABS_RA_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- CNC path number (NC_PATH): 1 path 1
- PMC axis number (PMC_AXIS_NO): 1 PMC axis to be controlled; first axis (A-axis)
- Amount of travel per rotation (AMOUNT_OF_1_ROT): 360000 amount of travel per rotation; 360.000 (unit: IS-B)
- Rotation direction (DIRECTION): 1 shortcut rotation
- Cutting feedrate (FEEDRATE): 400 cutting feedrate; 400 deg/min (unit: metric, IS-B)
- Destination coordinate (COORDINATES): 50000 absolute coordinate; 50.000 (unit: metric, IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERROR): R0000.3
- Error detail (ERR_DETAIL): R0004

1. Apply the following configuration to setup a rotary axis:

a) Set “1” to CNC parameter ROTx (No.1006#0), and “0” to ROSx (No.1006#1), to select rotary axis
(A type).
b) Set “1” to CNC parameter ROAx (No.1008#0) to enable roll-over function of the rotary axis.
2. Apply the following configuration to control first axis (A-axis) to first path:
a) Set “1” to CNC parameter No.981 of first axis (A-axis).
3. Apply the following configuration to enable to control first axis (A-axis) as PMC axis of group 1:
a) Set “1” to CNC parameter No.8010 of first axis (A-axis).
b) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program. (Note 1)
4. Apply the following configuration to enable skip signal (PMC axis control):
a) Turn on CNC parameter SKE (No.8001#7).
5. Turn on ACT (R0000.0) to start cutting feed per minute of first axis (A-axis). While moving, turning
on skip signal (X004.6) will cause skip operation.
6. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

155
Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters, such as Cutting feedrate and Total
moving distance.

156
5.14 Positioning (skip) – incremental specification

5.14.1 Function block name

PFL1_POSITIONING_SKIP_INC_01 ··········· Positioning (skip) – incremental specification (group 1)
PFL1_POSITIONING_SKIP_INC_02 ··········· Positioning (skip) – incremental specification (group 2)
PFL1_POSITIONING_SKIP_INC_03 ··········· Positioning (skip) – incremental specification (group 3)
PFL1_POSITIONING_SKIP_INC_04 ··········· Positioning (skip) – incremental specification (group 4)

5.14.2 Function
This function block executes the skip function (feed per minute) of the axis for the distance at the cutting
feedrate, specified by the input parameters.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
1 This function block is designed for a linear axis.
2 High-speed skip is not available.
3 Skip signals are available for PMC axes assigned to path 1 to 3.
4 For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

5.14.3 Format
Graphical format of PFL1_POSITIONING_SKIP_INC_01 is shown below:

Figure 5.14.3 (a) PFL1_POSITIONING_SKIP_INC_01 (group 1)

157
5.14.4 Parameters
Details of the parameters of this function block are as shown below:

Table 5.14.4 (a) List of parameters

Symbol Parameter type Data type Count Description
ACT input parameter BOOL - Activation
0: Do not execute positioning (skip).
1: Execute positioning (skip). (Note 2)
FEEDRATE input parameter UINT 1 Cutting feedrate
Specify the cutting feedrate. Valid range is 1 to
65535. (Note 4)
MOV_DIST input parameter DINT 1 Moving distance
Specify the moving distance (incremental) of the
axis. (Note 3)
W1 output parameter BOOL - Completion signal
Indicates completion of the process. (Note 2, 5)
0: Normally W1=0.
Also turns off at reset of PMC axis control.
1: Turns on at completion of the axis motion.
Also turns on at error (ERRR=1).
ERROR output parameter BOOL - Error signal
Indicates error status. (Note 2)
0: Finished successfully.
1: Finished with an error.

Note
1 This function block turns on the buffering disable signal (EMBUFg) while it is working.
2 ACT should be turned on (ACT=1) only when the function block should work. While ACT=1, the outputs of W1,
ERROR, and ERR_DETAIL are sustained. Please turn off ACT (ACT=0) when W1 turns on (W1=1).
3 The unit of data is the least input increment of the axis. For more details, please refer to “Standard parameter
setting tables (A)” in “CONNECTION MANUAL (FUNCTION)” of your CNC.
4 Please refer to the chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
5 W1 is generated from in-position signal (EINPg). To check if the axis stops, check the axis moving signals (MV1 –
MV8) also if necessary.

5.14.5 Signals used inside function block

This function block uses the following signals for PMC axis control function, modifying and referring:

Table 5.14.5 (a) Signals to modify

Symbol Address Signal name
EMBUFg G142.2 Buffering disable signal (PMC axis control)

Table 5.14.5 (b) Signals to refer

Symbol Address Signal name
EINPg F130.0 In-position signal (PMC axis control)

Note
Only the signal of group 1 is described. For the details of each signal please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

158
5.14.6 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 5.14.6 (a) List of related CNC parameters

CNC parameter Description
No.981 Path number that each axis belong to.
DIAx (No.1006#3) Selects radius/diameter specification of the move command for each axis.
JOV (No.1402#1) Disables jog override.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
SKE (No.8001#7) Selects skip signal in PMC axis control.
F10 (No.8002#3) Selects the least increment of feedrate of cutting feed – feed per minute at PMC axis control.
PF1 (No.8002#4)
Selects the unit of feedrate of cutting feed – feed per minute at PMC axis control.
PF2 (No.8002#5)
NCI (No.8004#6) Selects if in-position check at deceleration is done or not for PMC axis control.
CDI (No.8005#1) Selects how to specify the amount of travel and the feedrate of PMC axis when PMC axes are
programmed by diameter.
EFD (No.8006#4) Selects the specification unit of feedrate of cutting feed – feed per minute at PMC axis control.
No.8010 DI/DO group of PMC axis control for each axis.

Note
1 This function block reads CNC parameter No.8010 to get DI/DO group number of the axis number specified by input
parameter. If the DI/DO group number does not match the group of the function block, input parameter error
occurs.
2 For details of each CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

5.14.7 Related signals

The signals related to this function block are listed below:

Table 5.14.7 (a) List of related signals

Symbol Address Signal name
ESKIP X004.6 Skip signal for path 1 (PMC axis control)
ESKIP#2 X013.6 Skip signal for path 2 (PMC axis control)
ESKIP#3 X011.6 Skip signal for path 3 (PMC axis control)
SKIP X004.7 Skip signal for path 1
SKIP#2 X013.7 Skip signal for path 2
SKIP#3 X011.7 Skip signal for path 3
MV1～MV8 F102 Axis moving signals

Note
For details of the signals, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

159
5.14.8 Example
The following example is to perform skip function of the first axis (A-axis) of the first path controlled by group
1, while cutting feed at speed 400 mm/min for the distance 500 mm.

Function block to use: PFL1_POSITIONING_SKIP_INC_01 for group 1

Parameters:
- Activation (ACT): R0000.0
- Cutting feedrate (FEEDRATE): 400 cutting feedrate; 400 mm/min (unit: metric, IS-B)
- Moving distance (MOV_DIST): 500000 distance 500.000 mm (unit: metric IS-B)
- Completion signal (W1): R0000.2
- Error signal (ERROR): R0000.3

1. Apply the following configuration to control first axis (A-axis) of first path as PMC axis of group 1:
a) Set “1” to CNC parameter No.981 of first axis (A-axis).
b) Set “1” to CNC parameter No.8010 of first axis (A-axis).
c) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program. (Note 1)
2. Apply the following configuration to enable skip signal (PMC axis control):
a) Turn on CNC parameter SKE (No.8001#7).
3. Turn on ACT (R0000.0) to start cutting feed per minute of first axis (A-axis). While moving, turning
on skip signal (X004.6) will cause skip operation.
4. Turn off ACT (ACT=0) when W1 (R0000.2) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters; Cutting feedrate and Moving distance.

160
5.15 Data setting by teaching

5.15.1 Function block name

PFL1_DATA_SETTING_BY_TEACH_01 ····· Data setting by teaching (group 1)
PFL1_DATA_SETTING_BY_TEACH_02 ····· Data setting by teaching (group 2)
PFL1_DATA_SETTING_BY_TEACH_03 ····· Data setting by teaching (group 3)
PFL1_DATA_SETTING_BY_TEACH_04 ····· Data setting by teaching (group 4)

5.15.2 Function
Prepare a point data table in PMC address (D-address typically) in which the set of coordinates (absolute) are
registered. This function block writes the current position (absolute coordinate) to the point data table where
the point number specified by the input parameter.
This function block can also perform jog operation of the axis at the feedrate, specified by the input parameters.
The axis moves continuously to positive direction while the input parameter for positive direction turns on, and
to negative direction while the negative one turns on.
PMC Function Library for PMC axis control provides function blocks for group 1 to 4. Choose the function
block for the group that you use.

Note
1 Typically, point data table is located in PMC address such as D-address.
2 Writing the current position (absolute coordinate) should be done while the axis stay still.
3 If both of input parameter for moving positive and negative direction turn on at once, jog operation does not work.

161
5.15.3 Format
Graphical format of PFL1_DATA_SETTING_BY_TEACH_01 is shown below:

Figure 5.15.3 (a) PFL1_DATA_SETTING_BY_TEACH_01 (group 1)

162
5.15.4 Parameters
Details of the parameters of this function block are as shown below:

Table 5.15.4 (a) List of parameters

Symbol Parameter type Data type Count Description
POS_DIR input parameter BOOL - Positive direction (Note 2, 3)
0: Do not move axis.
1: Move axis in positive direction.
NEG_DIR input parameter BOOL - Negative direction (Note 2, 3)
0: Do not move axis.
1: Move axis in negative direction.
SET input parameter BOOL - Data setting command (Note 2, 4)
0: Do not write current position (absolute
coordinate).
1: Write current position (absolute coordinate)
into point data table.
NC_PATH input parameter USINT 1 CNC path number
Specify the CNC path number to which the axis
to control belongs. Valid range is 1 to the
maximum path number.
PMC_AXIS_NO input parameter USINT 1 PMC axis number
Specify the axis number of the axis to control by
PMC. Valid range is 1 to the maximum axis
number.
POINT_NUMBER input parameter UINT 1 Point number
Specify the point number which points the
coordinate data in the point data table to be
written to. Valid range is 1 to total points.
FEEDRATE input parameter UINT 1 Rapid traverse feedrate
Specify the rapid traverse feedrate. Valid
range is 1 to 65535. (Note 5)
TOTAL_POINT input parameter UINT 1 Total points
Specify the total points of the point data table.
Valid range is 1 to 16384. (Note 6)
POINT_HEAD input/output DINT 1 Top address of point data table
parameter Specify the top address of the point data table
whose coordinate data will be modified.
Typically, point data table is located in PMC
address such as D-address.
W1 output parameter BOOL - Completion signal
Indicates completion of the process. (Note 4)
0: Normally W1=0.
1: Turns on at completion of writing motion.
Also turns on at error.
AXIS_STATUS output parameter BOOL - Axis status
Indicates the status of the axis (Note 4)
0: Axis is not moving.
1: Axis is moving.
ERROR output parameter BOOL - Error signal
Indicates error status at execution.
0: Finished successfully.
1: Finished with an error.
ERR_DETAIL output parameter INT 1 Error detail
Indicates detail information of the error at
ERROR=1.
For more details, please refer to “5.15.5 Error
information“.

163
 Note
1 This function block turns off the buffering disable signal (EMBUFg) while it is working.
2 POS_DIR, NEG_DIR, and SET parameters should be “0” normally, and turn on only one of them at a time which
should be executed. If both of POS_DIR and NEG_DIR are turned on, axis will not move either way. While the
axis is moving (AXIS_STATUS=1), SET will not work. Turn on SET after stopping the axis.
3 This function block uses a function block to reset PMC axis control command to stop the axis. When this function
block stops the axis, the command in action and ones suspended in buffer of the same group will be also reset.
4 While SET=1, the outputs of W1, ERROR, and ERR_DETAIL are sustained. Please turn off SET (SET=0) when
W1 turns on (W1=1).
5 This function block internally uses function block for continuous feed. For more details, please refer to the section
“(7) Continuous feed” in chapter of PMC axis control in “CONNECTION MANUAL (FUNCTION)” of your CNC.
6 Valid range is 1 to 16384; however, the size of table cannot exceed the end of the address area.
7 AXIS_STATUS signal is generated from axis moving signal (EGENg) and in-position signal (EINPg). To issue the
next command after the axis stops, check if both of AXIS_STATUS and control axis selection status signal
(*EAXSL) are turned off.

5.15.5 Error information

Error detail information (ERR_DETAIL) of this function block notifies the cause of error as follows:

Table 5.15.5 (a) List of error codes

Error code Meaning
1 Group number error (CNC parameter error)
- DI/DO group number is not specified for PMC-controlled axis.
Check the value of CNC parameter No.8010.
11 CNC path number error (input parameter error)
- Specified CNC path number does not exist.
12 PMC axis number error (input parameter error)
- Specified axis number does not exist.
16 Total points error (input parameter error)
- Specified total points is out of valid range.
17 Point number error (input parameter error)
- Specified point number is out of valid range.
21 DI/DO group number error (PMC axis control function block error)
- DI/DO group number for PMC axis control function block is invalid.

5.15.6 Signals used inside function block

This function block uses the following signals for PMC axis control function, modifying and referring:

Table 5.15.6 (a) Signals to modify

Symbol Address Signal name
EMBUFg G142.2 Buffering disable signal (PMC axis control)

Table 5.15.6 (b) Signals to refer

Symbol Address Signal name
EINPg F130.0 In-position signal (PMC axis control)
EGENg F130.4 Axis moving signal (PMC axis control)

Note
Only the signal of group 1 is described. For the details of each signal please refer to the chapter of PMC axis
control in “CONNECTION MANUAL (FUNCTION)” of your CNC.

164
5.15.7 Related CNC parameters
Details of the CNC parameters related to this function block are as shown below:

Table 5.15.7 (a) List of related CNC parameters

CNC parameter Description
No.981 Path number that each axis belong to.
JOV (1402#1) Disables jog override.
OVE (No.8001#2) Select signals related to dry run and override in PMC axis control.
F10 (8002#3) Selects the least increment of feedrate of cutting feed – feed per minute at PMC axis control.
JFM (8004#2) Selects the unit of feedrate of continuous feed in PMC axis control.
No.8010 DI/DO group of PMC axis control for each axis.

Note
For details of the CNC parameters, please refer to the “PARAMETER MANUAL” of your CNC.

5.15.8 Related signals

The signals related to this function block are listed below:

Table 5.15.8 (a) List of related signals

Symbol Address Signal name
RT G019.7 Rapid traverse selection signal
DRN G046.7 Dry run signal
ERT G150.6 Rapid traverse selection signal (PMC axis control)
EDRN G150.7 Dry run signal (PMC axis control)
*EAXSL F129.7 Control axis selection status signal (PMC axis control)

Note
For the details of each signal, please refer to the chapter of PMC axis control in “CONNECTION MANUAL
(FUNCTION)” of your CNC.

5.15.9 Example
The following example is to perform jog operation of the first axis (A-axis) of the first path controlled by group
1, to the destination at speed 500 mm/min in positive direction, and after stopping the axis, then to write current
absolute position into the point data table at the position of point #6.

Function block to use: PFL1_DATA_SETTING_BY_TEACH_01 for group 1

Parameters:
- Positive direction (POS_DIR): R0000.0
- Negative direction (NEG_DIR): R0000.1
- Data setting command (SET): R0000.2
- CNC path number (NC_PATH): 1 path 1
- PMC axis number (PMC_AXIS_NO): 1 PMC axis to be controlled; first axis (A-axis)
- Point number (POINT_NUMBER): 6 point number of data to be written; 6
- Rapid traverse feedrate (FEEDRATE): 500 rapid traverse feedrate; 500 mm/min (unit: metric, IS-B)
- Total points (TOTAL_POINT): 12 total of points in the point data table; 12
- Top address of point data table (POINT_HEAD): D0100
- Completion signal (W1): R0000.3
- Axis status (AXIS_STATUS): R0000.4
- Error signal (ERR): R0000.5
- Error detail (ERR_DETAIL): R0006

165
 1. Prepare a point data table of 12 points at D0100 – D0147, containing coordinates (absolute) of each
point. (4 bytes  12)
2. Apply the following configuration to control first axis (A-axis) of first path as PMC axis of group 1:
a) Set “1” to CNC parameter No.981 of first axis (A-axis).
b) Set “1” to CNC parameter No.8010 of first axis (A-axis).
c) Turn on control axis selection signal EAX1 (G136.0) to enable PMC axis control of first axis.
Control axis selection signal can be directly processed by ladder program. (Note 1)
3. Apply the following configuration to enable rapid traverse speed of input parameter:
a) Turn on CNC parameter RPD (No.8002#0).
4. Turn on POS_DIR (R0000.0) and off NEG_DIR (R0000.1) to start the first axis (A-axis) to move in
positive direction, and then AXIS_STATUS (R0000.4) turns on.
5. When the axis reaches the destination, turn off POS_DIR (R0000.0) to stop the axis. And then
AXIS_STATUS (R0000.4) turns off.
6. Turn on SET (R0000.2) to write the current position (absolute coordinate) into the point data table at
the pint #6 (D0220).
7. Turn off SET (SET=0) when W1 (R0000.3) turns on (W1=1).

Note
1 For details of the CNC parameters and the signals, please refer to the chapter of PMC axis control in
“CONNECTION MANUAL (FUNCTION)” of your CNC.
2 Constant number or an address can be specified to the parameters, such as Rapid traverse feedrate.

166