96-0012 rev G
19
June 2003
OM
PERATOR’S ANUAL
Automatic
Automatic
Pallet Changer
Pallet Changer
4.2 M CODES
Only one M code may be programmed per block of a program. The following M codes are specifically used to
program the APC:
M14 Move APC table to pallet 1 load position
M15 Move APC table to pallet 2 load position
Using M14 and M15 on the Quad APC requires a P-code. M14 sends the receiver to pallet unload positions,
M15 sends the receiver to the pallet load positions, based on the pallet number specified by the P code and
settings 122-128 and 146-153.
M17 Unclamp APC pallet and Open APC door (maintenance use only)
M18 Clamp APC pallet and close APC door (maintenance use only)
M36 Flash “Pallet Ready” Light
For the dual pallet APC, M36 is placed before M50 in the G-code program to check that the next pallet is ready
to load. When the pallet ready button on the operator’s panel is pushed, the pallet change proceeds. On the
Quad APC, M36 requires a P-code to specify which pallet should be checked for readiness. If other pallets are
scheduled at a higher priority, the operator will be prompted to unschedule them.
M46 Jump If Pallet Loaded
This M code causes control to be transferred to the line number specified by the P code if the pallet specified
by the Q code is currently loaded.
Example: M46Qn Pnn Jump to line nn in the current program if pallet n is loaded, otherwise go to the
next block.
M48 Check Validity of Current Program
This M code generates alarm 909 if the current program is not listed in the Pallet Schedule Table. It generates
alarm 910 if the pallet that is currently loaded is not listed in the Pallet Schedule Table for the current program.
M49 Set Status of Pallet
This M code sets that status of the pallet specified by the P code to the value specified by the Q code. The
possible Q codes are 0-Unscheduled 1-Scheduled 2-Loaded 3-Completed 4 through 29 are user definable. The
pallet status is for display purposes only. The control does not depend upon it being any particular value, but if
it is 0, 1 2 or 3, the control will update it as appropriate.
Example: M49Pnn Qmm Sets the status of pallet nn to a value of mm.
Without a P-code, this command sets the status of the currently loaded pallet.
M50 Perform Pallet Change
Using an M50 on the dual pallet APC cycles the pallet changer to the next pallet. M50 can have a P-code
which specifies a pallet, or no P-code which cycles the pallets. On the Quad APC, an M50 with no P-code will
load the next scheduled pallet. If none are scheduled, the message NONE SCHEDULED will be displayed and
program execution will pause until one is scheduled or RESET is pressed. M50 P0 will unload a pallet from the
receiver without loading another. M50 with a P-code loads the specified pallet. M50 gets scheduling information
from the Pallet Schedule Table
M50 P0 Perform pallet change
M50 P1 Load Pallet 1
M50 P2 Load Pallet 2
M90 Perform Pallet Unload Only
CAUTION! When commanding M Codes, always command M17 to open the door
before commanding M14 or M15 to position the table to a pallet load/
unload position. With a pallet present on the receiver the pallet drive
leg will interfere with door movement.
PROGRAMMING
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