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Contents
Chapter 1 Outline........................................................................................ 1-1
Chapter 2 Programming Method................................................................. 2-1
1. Loader specifications .......................................................................................................... 2-1
2. Chuck nomenclature...........................................................................................................2-2
3. M codes .............................................................................................................................. 2-4
3-1. M codes used for the loader cycle.......................................................................... 2-4
3-2. M codes for local and subprograms........................................................................ 2-5
4. S codes............................................................................................................................... 2-9
5. G codes ............................................................................................................................ 2-10
6. H codes..............................................................................................................................2-11
7. H code variables ............................................................................................................... 2-16
7-1. Input and output variables .................................................................................... 2-16
7-2. Internal variables .................................................................................................. 2-16
8. Block delete ...................................................................................................................... 2-17
9. Operating the loader ......................................................................................................... 2-18
10. Teaching points............................................................................................................... 2-19
10-1. Teaching point details ......................................................................................... 2-19
10-2. Teaching point methods...................................................................................... 2-21
11. Work feed in and feed out ............................................................................................... 2-23
12. Passing the work (loading and unloading) ...................................................................... 2-24
13. Confirmation method for the loader not interfering with moving objects ......................... 2-25
14. Automatic loader interlock............................................................................................... 2-26
14-1. Zones ................................................................................................................. 2-26
14-2. Checking and setting the zone ........................................................................... 2-27
14-3. Setting the maximum travel distance of the loader............................................. 2-28
15. Creating the main program ............................................................................................. 2-29
15-1. MW series (single loader) / MS series / MD series............................................. 2-30
15-2. MW series (twin loader)...................................................................................... 2-37
16. Creating local programs.................................................................................................. 2-46
17. Creating subprograms .................................................................................................... 2-48
18. Program memory capacity.............................................................................................. 2-51
Chapter 3 Editing ........................................................................................ 3-1
1. Loader program input and output........................................................................................ 3-1
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1-1. Input using data input keys..................................................................................... 3-1
1-2. Input/output using RS232C interface (optional)...................................................... 3-2
1-3. Input/output method using memory card ................................................................ 3-3
1-4. Batch I/O function of loader programs.................................................................... 3-7
2. Program insert, modification, and deletion.......................................................................... 3-8
3. Copying programs with the same content to another program ..........................................3-11
Chapter 4 Test Run ..................................................................................... 4-1
1. Test run preparations .......................................................................................................... 4-1
2. Starting the test run............................................................................................................. 4-3
Chapter 5 Optional Functions ..................................................................... 5-1
1. Work location confirmation.................................................................................................. 5-1
1-1. Work location confirmation retry ............................................................................. 5-1
1-2. Work location NG loading stop ............................................................................... 5-3
2. In-process gauge NG loading stop ..................................................................................... 5-4
3. Post-process gauge............................................................................................................ 5-5
4. Quality check counter ......................................................................................................... 5-6
5. Mid-process start type loader cycle .................................................................................... 5-9
5-1. Work status........................................................................................................... 5-10
5-2. Cycle table and sequence jump.............................................................................5-11
Chapter 6 Information ................................................................................. 6-1
1. M code table ....................................................................................................................... 6-1
2. H code variable table .......................................................................................................... 6-8
3. Block delete table ............................................................................................................. 6-26
4. Loader program error table ............................................................................................... 6-27
Loader Programming Manual Chapter 1 Outline
1-1
Introduction
This manual describes how to operate and develop programs when using the loader specified
machine.
As explained in the next section, loader programming is described as machine independent
(common to all machines) and machine dependent programming. (When not expressed as
machine dependent, please consider the description as common.)
Items that are not indicated as feasible in this manual should be considered as not feasible.
Outline
This manual describes the following items in which the FANUC 31i-model A is mounted.
• MW Series (Single Loader: G)
• MW Series (Twin Loader: GT)
• MS Series
• MD Series
For MD20 and MD200 parts that are indicated as machine dependent, please refer to the
page devoted to the MW series (Single Loader: G).
Chapter 1 Outline
memo
Loader Programming Manual Chapter 1 Outline
1-2
– MEMO –
Loader Programming Manual Chapter 2 Programming Method
2-1
1. Loader specifications
Maximum loader speed
Model X-Axis Y-Axis Z-Axis α−Axis
MW120G (GT)
MD120G (GT) 160 m/min. 120 m/min. 35 m/min. 0.8 sec./180°
MS60G
MD60G 160 m/min. 120 m/min. 35 m/min. 0.8 sec./180°
MW200G (GT)
MD200G 150 m/min. 110 m/min. 50 m/min. 0.9 etc./180°
The figure refers to MW series (single loader).
Chapter 2 Programming Method
Z-axis
Y-axis
X-axis
Turn chuck
Main spindle chuck
Loader chuck
α-Axis
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