Doosan NHM Series Manuel - Page 7
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NHM/NHP Series
2. Pallet Change (M60) Sequence Table
Start (M60 Command)
Y,Z-Axis 2nd Ref. Position Command
B-Axis Ref. Position Command
1
2
Y,Z-Axis 2
nd
Ref.
Position ?
Yes
B-Axis Ref.
Position ?
Yes
Man APC OP
Auto Mode ?
Yes
APC Initial
Position ?
Yes
Set-Up Switch On ?
Yes
Pallet Unclamp
Pallet Unclamp
O.K ?
Yes
APC ARM UP
APC Changer Up
O.K ?
Yes
Go To "A"
▶ Y,Z Axis return to 2nd Ref. Position
Program : G00 G91 G30 Y0.Z0. ;
▪
Y,Z Axis return to 2nd Ref. Position
Program : G00 G91 G30 Y0.Z0. ;
No
▶ B-Axis return to 2nd Ref. Position
Program : G00 G28 B0. ;
▪
B-Axis return to 2nd Ref. Position
Program : G00 G28 B0. ;
No
★ AL 2326 "APC OP Manual Mode" ON
Select "Auto" on Auto/Manual switch on APC OP .
No
Device. (X7.2, PMMD.M = 0, SA91)
★ AL 2068 "M61/M62 Command Illegal Pos." ON
Check : TMR55
No
★ AL 2325 "APC SET-UP SWITCH UNPUSH" ON
Press "Set-Up Switch" on APC OP Device.
No
Check : X7.1, SETU.M, SB92
▪
OUTPUT : Y5.5(PAUC.R) –YV62 Pallet UNClamp
▪
COMPLETE : X11.4(RPTCL..M) –SP61 Pallet Clamp
★ AL 2324 "PALLET OR TABLE CLAMP/UNCLAMP
ALARM" ON
No
Check : TMB29
▪
OUTPUT : Y5.6(PAUC.R) –YV71 APC ARM UP
▪
COMPLETE : X12.0(APUP.M) –SX71 APC ARM UP
★ AL 2336 "APC CHANGER UP/DOWN ALARM"
ON
No
Check : X12.0(APUP.M) –SX71 APC Up Check
X12.1(APDN.M) –SX72 APC Down Check
NHM/NHPAPCE2C
On
On
Off
On
On
On
Off
5