Atc Tool Change

FANUC INDIA FA & ROBOT
ATC operation
1
Different tool changers

1. Turret
2. Magazine and tool change mechanism
2
Turrets (Lathes)
1 2
8 3
7 4
6 5
Drill Tap centers
12/24
3
Tool Magazine and tool change
Magazine Tool change Arm
Spindle
4
Po No To No To No To No To No To No To No
1 st 2 nd 3 rd 4 th 5 th
change change change change change
Spi 0
1 1
2 2
3 3
4 4
5 5
6 6
7 7
5
PLC requirements for turret
• Counter
• Comparison
• Shorter path selection
6
PLC requirements for Magazine & tool change
• Counter
• Comparison
• Shorter path selection
• Searching the pocket number at which tool exists
• Writing the tool number into the pocket
7
Counter (CTR)
CN0
Up/Down Sub 5
Rst
R1.0
Count
1. Can work as preset counter

2. Can work as Ring counter
3. Can work as Up/Down counter
4. Total number of counters is 20 in SA1
5. Maximum count value in BCD form is 9999
8
Conditions
1. CN0 =0, Counter initial value is set to 0 and first count

input increments the counter to 1.
2. CN0=1, Counter initial value is set to 1 and the first count

input increments the counter to 2
3. Up/Down=0, Counter counts up with every count input
4. Up/Down=1, Counter counts down with every count input.
5. Rst pulse signal resets the counter value to initial value.
At the Maximum count value set, the counter rings back.

Example : If Maximum value is set to 24, after counting 24, the
counter with next count pulse reads as either 0 or 1 depending
on CN0=0 or 1.
When the counter value is equal to maximum value, the counter
out put coil R1.0 sets to 1
9
Stores the preset value of counter

Counter (CTRC)
CN0
Counter Counter
CTRC Preset Value
Up/Down
Value Register
Sub55 Address address
Rst
R1.1
Count
1. Can work as preset counter

2. Can work as Ring counter
Will store the
3. Can work as Up/Down counter
Count value
4. No limit for the number of counters
10
Rot instruction (Shorter direction selection)

RN0 Final destination of the turret or Magazine
Rotor Current Goal Calcu-
Index Position Position lating
Byt
-ing Address address result
address output
Rot
Dir address
Sub 6 R1.2
Pos
Inc
Act
Size of the turret or Magazine Data address to store result
Data table address which stores current position of turret/Magazine
11
RN0=0 The first position of turret or magazine is numbered

as 0
as 1
Byt=0 Total number of tools used is with in 2 digits (less than
99)
Byt=1 Total number of tools used is with in 4 digits (less than
9999)
DIR=0 Shorter path calculation is not required
DIR=1 Shorter path calculation is required
POS=1 INC=0
Calculates the absolute value of one position before the final
goal position
POS=0 INC=1
Calculates the increment value between the present position
and the final position
POS=1 INC=1
and one position before the final position
R1.2=0, Shorter direction is Forward
R1.2=1, Shorter direction is reverse
12
RotB instruction (Shorter direction selection)

RN0
RotB Rotating Current Target Arthe-
For- element Position Position metic
Sub mat indexed Address address result
26 position output
Spe- address address
Dir cifi- R1.3
cati-
on
Pos
Inc
Act
13
Format Specification: Specifies whether the data is in the form

1 byte or 2 byte or 4 byte
Rotating element indexed position address: Address in the data

table where the size of the turret or magazine is stored
Current position address: Address in the data table where the size
of the present position information of the turret or magazine
is stored
Target position address: Address in the data table where the

required tool number is stored
Address in the data table where the calculation results have to be

Stored
14

as 0
as 1
DIR=0 Shorter path calculation is not required

DIR=1 Shorter path calculation is required
POS=1 INC=0
Calculates the absolute value of one position before the final
goal position
POS=0 INC=1
and the final position
POS=1 INC=1
and one position before the final position
R1.3=0, Shorter direction is Forward

R1.3=1, Shorter direction is reverse
15
Comp (Comparison)
BYT
Input Input Compari-
Comp Data Value son
Format Value
Act Sub 15
R 1.4
Input data format: Specifies whether the input data is a constant

or is it available at an address in the data table
If 0 is entered, input value is a constant and if 1 is entered, then

Input value is available at an address
Comparison value: Specifies the address storing the comparison

Value
16
Byt=0 Total number for comparison is with in 2 digits (less than

99)
9999)
Comparison value address: Specifies the address storing the
comparison Value
R.14=0 if Input value is greater than comparison value

R1.4=1, if Input value is less than or equal to comparison value
17
CompB (Binary Comparison)

Comp Data Value son
Format adress Value
Act Sub 32 Address
Format Specification: Uses 4 individual digits to specify
If 0 is entered it specifies that the input data is a constant value

If 1 is entered it specifies that the input data is available at
a data table address
Enter 1, 2 or 4 to define the size of comparison data as 1 byte or

2 byte or 4 byte
18
Input value address : Specifies the address where input data

is present

comparison Value
The result of comparison is available at R9000.

R9000
R9000.0=1 if the two values are equal
R9000.1=1 Input data is less than comparison data
R9000.5=1 If data overflows
19
Coin (Coincidence)
BYT
Comp Data Value son
Format Value
Act Sub 16
R 1.4
Input data format: Specifies whether the input data is a constant

or is it available at an address in the data table
If 0 is entered, input value is a constant and if 1 is entered, then

Input value is available at an address
Comparison value: Specifies the address storing the comparison

Value
20

99)
9999)
comparison Value
R.14=1 if Input value is equal to comparison value
21
Dsch instruction (Data search instruction

BYT
Number Data Search Search
Of the Table Data Result
RST
Data of Heading address Output
The data address address
Dsch
table
ACT
Sub17 R2.0
Number of the data of the data table

Data table size required.
Data table heading address

Starting address of the data table
Search data address.

Address of the data where the data to be searched is stored
22
Search result output address

Address where the searched result has to be stored.

99)
9999)
If R2.0 =1 then the data searched is not present
23
DschB instruction (Data search instruction
Dsch Storage Data Search

address Table Data Output
RST
Sub17 Of Head address address
number address of
Of Data Search
ACT in data Result R2.1
table
Format Designation: Specifies data length. We use numbers 1, 2

or 4 to define 1 byte or 2 bytes or 4 bytes
Storage address of number of the data in data table

Address of data which stores Data table size required.
Data table head address

24
Search data address.

Output address of Search result

Address where the searched result has to be stored.
25
XMOV instruction (Data read & write)

BYT
Number Data Address Address
Of the Table Storing Storing
RS
Data of Heading The input Table
The data address Output Internal
XMOV
table data number
RST
Sub18 R2.3
ACT
Number of the data of the data table

Data table size required.
Data table heading address

Address storing the input output data.

Address of the data where the data to be read or written is
stored
26
Address storing table internal number

Address where the data address where the data has to be written
or read is stored

99)
9999)
RW=0 Data needs to be read from data table

RW=1 data needs to be written into the data table.
27
XMOVB instruction (Data read & write Binary)

RS
XMOVB Storage Data I/O
address Table Data Table
RST
Sub17 Of Head storage Number
number address address Storage
Of Data address
ACT in data R2.4
table
Format Designation: Specifies data length. We use numbers 1, 2

or 4 to define 1 byte or 2 bytes or 4 bytes
Storage address of number of the data in data table

Address of data which stores Data table size required.
Data table head address

28
I/O data storage address

Table number storage address

Address where the table internal number where data has to
Be written/read is stored.
29

Atc Tool Change

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Atc Tool Change

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FANUC INDIA FA & ROBOT

Different tool changers

Tool Magazine and tool change

Magazine Tool change Arm

PLC requirements for turret

• Shorter path selection

PLC requirements for Magazine & tool change

• Shorter path selection

• Searching the pocket number at which tool exists

• Writing the tool number into the pocket

1. Can work as preset counter

1. CN0 =0, Counter initial value is set to 0 and first count

2. CN0=1, Counter initial value is set to 1 and the first count

3. Up/Down=0, Counter counts up with every count input

4. Up/Down=1, Counter counts down with every count input.

5. Rst pulse signal resets the counter value to initial value.

At the Maximum count value set, the counter rings back.

Stores the preset value of counter

1. Can work as preset counter

Rot instruction (Shorter direction selection)

Size of the turret or Magazine Data address to store result

Data table address which stores current position of turret/Magazine

RN0=0 The first position of turret or magazine is numbered

RotB instruction (Shorter direction selection)

Format Specification: Specifies whether the data is in the form

Rotating element indexed position address: Address in the data

Target position address: Address in the data table where the

Address in the data table where the calculation results have to be

RN0=0 The first position of turret or magazine is numbered

DIR=0 Shorter path calculation is not required

R1.3=0, Shorter direction is Forward

Input data format: Specifies whether the input data is a constant

If 0 is entered, input value is a constant and if 1 is entered, then

Comparison value: Specifies the address storing the comparison

Byt=0 Total number for comparison is with in 2 digits (less than

R.14=0 if Input value is greater than comparison value

CompB (Binary Comparison)

Input Input Compari-

Format Specification: Uses 4 individual digits to specify

If 0 is entered it specifies that the input data is a constant value

Enter 1, 2 or 4 to define the size of comparison data as 1 byte or

Input value address : Specifies the address where input data

Comparison value address: Specifies the address storing the

The result of comparison is available at R9000.

R9000.0=1 if the two values are equal

R9000.1=1 Input data is less than comparison data

R9000.5=1 If data overflows

Input data format: Specifies whether the input data is a constant

If 0 is entered, input value is a constant and if 1 is entered, then

Comparison value: Specifies the address storing the comparison

Byt=0 Total number for comparison is with in 2 digits (less than

R.14=1 if Input value is equal to comparison value

Dsch instruction (Data search instruction

Number of the data of the data table

Data table heading address

Search data address.

Search result output address

Byt=0 Total number for comparison is with in 2 digits (less than

If R2.0 =1 then the data searched is not present

DschB instruction (Data search instruction

Dsch Storage Data Search

Format Designation: Specifies data length. We use numbers 1, 2

Storage address of number of the data in data table