5-105
5-5-3 Compound tool magazine dedicated mode setting
Boot up confirmation Cn030
Pn332.0 (acceleration/deceleration
conditions)
Pn313, (one-time smooth acceleration/
deceleration)
Pn322, Pn323, Pn333 (S-shaped
acceleration/deceleration)
Pn329, Pn330 (smoot h filt er)
Pn327 (tool change rotation speed 1)
Pn335 (tool change rotation speed 2)
Pn324 (tool magazine quantity)
Pn326 (tool disc molecular reduction ratio)
Pn306 (tool disc denominator reduction ratio)
Pn315.2 (tool tower tool magazine reset to
zero method selection)
Tool calibration reset to zero
mode
Signal trigger
(MDC2=ON)
Tool position display
signal (DO-P1~P6)
Positioning signal
output (DO-INP)
Reset to zero
completed
Forw ard/reve rsem an ual
sing le-ste p m od e
Automatic tool selection
shortest path t ool
selection mode
Rotate to next tool
Tool position displ ay
signal (DO-P1~P6)
Positioning signal
output (DO-INP)
Completed
MDC1=OFF
MDC2=OFF
MDC3=OFF
MDC4=OFF
Forward/reve rse manu al
con tinu ou s to ol po sition mode
Parameter setting
Pn331 (backlash compensation)
Pn334 (PTRG trigger delay)
Pn317~Pn321 (return to origin setting)
Cn010 (first stage CCW torque limitation)
Cn011 (first stage CW torque limitation)
Cn056 (second stage CCW torque limitation)
Cn057 (second stage CW torque limitation)
Cn058 (torque limitation switch time)
qn501~qn507 (rigidity setting)
Cn025 (load inertia ratio)
Completed
MDC1=OFF
MDC2=OFF
MDC3=ON
MDC4=OFF
MDC1=OFF
MDC2=OFF
MDC3=OFF
MDC4=OFF
Signal trigger
(MDC1=ON)
Tool position selection
(DI-POS1~POS6)
Positioning signal
output (DO-INP)
Completed
Mode switching (MDC1, MDC2, MDC3, MDC4)
Forward/r eve rsem anual
Man ual cont inuo us m od e
MDC1=OFF
MDC2=OFF
MDC3=OFF
MDC4=ON
MDC1=OFF
MDC2=OFF
MDC3=ON
MDC4=ON
Signal trigger
(MDC2=ON or
MDC1=ON )
Signal trigger
(MDC2=ON or
MDC1=ON )
Signal trigger
(MDC2=ON or
MDC1=ON )
Rotate N tool
positions
Signal trigger
(MDC2=OFF or
MDC1=OFF )
Rotate to next tool
Completed
Positioning signal
output (DO-INP)
Tool position display
signal (DO-P1~P6)
Rotate tool disc
Signal trigger
(MDC2=OFF or
MDC1=OFF )
Stop anywhere at the
moment of trigger
Tool position display
signal (DO-P1~P6)
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