Fagor CNC 8060elite M User manual

Ref: 2010

8060

8065

Quercus

Installation manual.

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MACHINE SAFETY

It is up to the machine manufacturer to make sure that the safety of the machine

is enabled in order to prevent personal injury and damage to the CNC or to the

products connected to it. On start-up and while validating CNC parameters, it

checks the status of the following safety elements. If any of them is disabled, the

CNC shows the following warning message.

• Feedback alarm for analog axes.

• Software limits for analog and sercos linear axes.

• Following error monitoring for analog and sercos axes (except the spindle)

both at the CNC and at the drives.

• Tendency test on analog axes.

FAGOR AUTOMATION shall not be held responsible for any personal injuries or

physical damage caused or suffered by the CNC resulting from any of the safety

elements being disabled.

DUAL-USE PRODUCTS

Products manufactured by FAGOR AUTOMATION since April 1st 2014 will

include "-MDU" in their identification if they are included on the list of dual-use

products according to regulation UE 428/2009 and require an export license

depending on destination.

TRANSLATION OF THE ORIGINAL MANUAL

This manual is a translation of the original manual. This manual, as well as the

documents derived from it, have been drafted in Spanish. In the event of any

contradictions between the document in Spanish and its translations, the wording

in the Spanish version shall prevail. The original manual will be labeled with the

text "ORIGINAL MANUAL".

HARDWARE EXPANSIONS

FAGOR AUTOMATION shall not be held responsible for any personal injuries or

physical damage caused or suffered by the CNC resulting from any hardware

manipulation by personnel unauthorized by Fagor Automation.

If the CNC hardware is modified by personnel unauthorized by Fagor

Automation, it will no longer be under warranty.

COMPUTER VIRUSES

FAGOR AUTOMATION guarantees that the software installed contains no

computer viruses. It is up to the user to keep the unit virus free in order to

guarantee its proper operation. Computer viruses at the CNC may cause it to

malfunction.

FAGOR AUTOMATION shall not be held responsible for any personal injuries or

physical damage caused or suffered by the CNC due a computer virus in the

system.

If a computer virus is found in the system, the unit will no longer be under warranty.

transcribed, stored in a backup device or translated into another language

without Fagor Automation’s consent. Unauthorized copying or distributing of this

software is prohibited.

The information described in this manual may be subject to changes due to

technical modifications. Fagor Automation reserves the right to change the

contents of this manual without prior notice.

All the trade marks appearing in the manual belong to the corresponding owners.

The use of these marks by third parties for their own purpose could violate the

rights of the owners.

It is possible that CNC can execute more functions than those described in its

associated documentation; however, Fagor Automation does not guarantee the

validity of those applications. Therefore, except under the express permission

from Fagor Automation, any CNC application that is not described in the

documentation must be considered as "impossible". In any case, Fagor

Automation shall not be held responsible for any personal injuries or physical

damage caused or suffered by the CNC if it is used in any way other than as

explained in the related documentation.

The content of this manual and its validity for the product described here has been

verified. Even so, involuntary errors are possible, hence no absolute match is

guaranteed. However, the contents of this document are regularly checked and

updated implementing the necessary corrections in a later edition. We appreciate

your suggestions for improvement.

The examples described in this manual are for learning purposes. Before using

them in industrial applications, they must be properly adapted making sure that

the safety regulations are fully met.

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CNC 8065

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INDEX

About this manual........................................................................................................................11

About the product

Quercus CNC 8060. ................................................................................................................... 13

About the product

Quercus CNC 8065. ................................................................................................................... 19

Declaration of CE conformity and warranty conditions. .............................................................. 25

Safety conditions. ....................................................................................................................... 27

Returning conditions. .................................................................................................................. 31

CNC maintenance. ..................................................................................................................... 33

New features............................................................................................................................... 35

[1] SOFTWARE INSTALLATION.

CHAPTER 1 THE CNC SOFTWARE.

1.1 Introduction. .................................................................................................................. 39

1.1.1 Disk access modes and protection. ........................................................................... 40

1.1.2 Administrator mode. ................................................................................................... 41

1.1.3 Setup mode. ..............................................................................................................41

1.1.4 User mode. ................................................................................................................ 42

1.1.5 Restrictions for working in Setup mode and switching to User mode. ....................... 42

1.2 Changing the language of the help files......................................................................... 43

1.3 Updating the software version. ...................................................................................... 44

1.4 Requirements before and after CNC setup. .................................................................. 45

1.5 Installing third-party software. ........................................................................................ 46

1.6 Folder tree...................................................................................................................... 47

1.6.1 MTB (Machine Tool Builder) folder. ........................................................................... 48

1.6.2 USERS folder............................................................................................................. 49

[2] MACHINE PARAMETERS.

CHAPTER 2 CONNECTIONS AND MACHINE PARAMETERS.

2.1 Connection tree.............................................................................................................. 54

2.2 Machine parameter tree................................................................................................. 55

2.3 Parameters to verify before the startup.......................................................................... 57

2.4 Connections table. ......................................................................................................... 59

2.5 Connections; buses. ...................................................................................................... 60

2.5.1 Simulated bus configuration....................................................................................... 61

2.6 Connections; motors. ..................................................................................................... 62

2.6.1 Configure a motor. ..................................................................................................... 62

2.7 Connections; feedbacks................................................................................................. 72

2.7.1 Select the feedback type............................................................................................ 72

2.7.2 Counting resolution of a shaft. ................................................................................... 74

2.7.3 Configuring the SSI protocol. ..................................................................................... 75

2.7.4 Home search.............................................................................................................. 79

2.7.5 Feedback alarm. ........................................................................................................ 82

2.7.6 Gear ratio. .................................................................................................................. 83

2.7.7 Reversing the counting sign....................................................................................... 84

2.7.8 Backlash compensation. ............................................................................................ 84

2.7.9 Machine Reference point. .......................................................................................... 85

2.7.10 Compensating for the feedback signal....................................................................... 87

2.8 Connections; power supplies. ........................................................................................ 89

2.8.1 Set up a power supply................................................................................................ 89

2.9 Connections; analog drives............................................................................................ 92

2.9.1 Configuring an analog drive. ...................................................................................... 92

2.10 Connections; handwheels.............................................................................................. 93

2.10.1 Configuring a handwheel. .......................................................................................... 93

2.11 General machine parameters. ....................................................................................... 94

2.11.1 Channel configuration. ............................................................................................... 94

2.11.2 Configuring the axes of the system............................................................................ 95

2.11.3 Configuring the spindles of the system. ..................................................................... 96

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2.11.4 Time setting (system)................................................................................................. 97

2.11.5 CAN bus configuration. .............................................................................................. 98

2.11.6 Serial line configuration.............................................................................................. 98

2.11.7 Default conditions (sytem). ........................................................................................ 98

2.11.8 Arithmetic parameters................................................................................................ 99

2.11.9 Volumetric compensation tables. ............................................................................. 101

2.11.10 Execution times........................................................................................................ 102

2.11.11 Numbering the digital inputs (CAN bus)................................................................... 103

2.11.12 Numbering the digital outputs (CAN bus). ............................................................... 104

2.11.13 Numbering of analog inputs for temperature sensors PT100. ................................. 105

2.11.14 Probe setting............................................................................................................ 106

2.11.15 Shared PLC memory. .............................................................................................. 108

2.11.16 Management of local I/O.......................................................................................... 108

2.11.17 Synchronized switching. .......................................................................................... 109

2.11.18 PWM (Pulse-Width Modulation)............................................................................... 110

2.11.19 Backup of non-volatile data...................................................................................... 111

2.11.20 Tool offset and wear. ............................................................................................... 112

2.11.21 Spindle synchronization. .......................................................................................... 112

2.11.22 Define the number of jog panels and their relationship with the channels............... 113

2.11.23 Rename the axes and the spindles.......................................................................... 113

2.11.24 Zero offsets. ............................................................................................................. 114

2.12 General machine parameters. Execution channels. .................................................... 115

2.12.1 Channel configuration. ............................................................................................. 115

2.12.2 Configuring the axes of the channel. ....................................................................... 116

2.12.3 Configuring the spindles of the channel................................................................... 119

2.12.4 Configuration of the C axis....................................................................................... 120

2.12.5 Time setting (channel). ............................................................................................ 121

2.12.6 Configuration of the HSC mode (channel). .............................................................. 122

2.12.7 Virtual tool axis......................................................................................................... 126

2.12.8 Default conditions (channel). ................................................................................... 127

2.12.9 Arc center correction................................................................................................ 133

2.12.10 Behavior of the feedrate and the feedrate override. ................................................ 134

2.12.11 Override of the dynamics for HSC. .......................................................................... 135

2.12.12 Movement of the independent axes......................................................................... 135

2.12.13 Definition of the subroutines. ................................................................................... 136

2.12.14 Tabletop probe position. .......................................................................................... 138

2.12.15 Block search. ........................................................................................................... 140

2.12.16 Interruption subroutines. .......................................................................................... 140

2.12.17 Machining feedrate. ................................................................................................. 141

2.12.18 Rapid traverse for the automatic mode.................................................................... 142

2.12.19 Maximum acceleration and jerk on the tool path. .................................................... 143

2.12.20 Maximum frequency on the tool path....................................................................... 143

2.12.21 "Retrace" function. ................................................................................................... 144

2.12.22 Enable tool withdrawal (retraction) in threading....................................................... 145

2.12.23 Master spindle.........................................................................................................

. 145

2.13 Machine parameters for the axes and spindles. .......................................................... 146

2.13.1 Belonging to the channel. ........................................................................................ 146

2.13.2 Axis type. ................................................................................................................. 147

2.13.3 Hirth axis. ................................................................................................................. 147

2.13.4 Axis configuration for lathe type machines. ............................................................. 148

2.13.5 Synchronization of axes and spindles...................................................................... 149

2.13.6 Configuration of the rotary axes............................................................................... 150

2.13.7 Module configuration (rotary axes and spindle). ...................................................... 152

2.13.8 Configuration of the C axis....................................................................................... 152

2.13.9 Configuration of the spindle. .................................................................................... 153

2.13.10 Spindle override change while threading. ................................................................ 155

2.13.11 Runaway protection and tendency test.................................................................... 156

2.13.12 PLC Offset. .............................................................................................................. 157

2.13.13 Dwell for dead axes. ................................................................................................ 158

2.13.14 Radius / diameter..................................................................................................... 159

2.13.15 Home search............................................................................................................ 159

2.13.16 Configuration of the probing movement................................................................... 160

2.13.17 Repositioning of the axes in tool inspection............................................................. 161

2.13.18 Configuration of the independent axis. .................................................................... 161

2.13.19 Configure the maximum safety limit for the feedrate and for the speed. ................. 162

2.13.20 Sampling period of the position loop........................................................................ 163

2.13.21 JOG mode................................................................................................................ 164

2.13.22 Filters. ...................................................................................................................... 169

2.13.23 Work sets. ................................................................................................................ 170

2.14 Machine parameters; axis set...................................................................................... 172

2.14.1 Software axis limits. ................................................................................................. 172

2.14.2 Work zones. ............................................................................................................. 173

2.14.3 Loop setting. ............................................................................................................ 173

2.14.4 Backlash compensation with additional command pulse......................................... 174

2.14.5 Configuring feedbacks. ............................................................................................ 177

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2.14.6 Adjustment of rapid traverse G00 and maximum speed. ......................................... 178

2.14.7 Rapid traverse for the automatic mode. ................................................................... 179

2.14.8 Gain setting. ............................................................................................................. 180

2.14.9 Linear acceleration................................................................................................... 183

2.14.10 Trapezoidal and square sine acceleration. .............................................................. 185

2.14.11 Enable specific acceleration values for movements in G0....................................... 188

2.14.12 Linear acceleration (G0 movements). ...................................................................... 189

2.14.13 Trapezoidal and square sine acceleration (G0 movements).................................... 190

2.14.14 Home search............................................................................................................ 191

2.14.15 Configuration of the HSC mode. .............................................................................. 192

2.14.16 Home search............................................................................................................ 194

2.14.17 Following error. ........................................................................................................ 195

2.14.18 Axis in in-position zone. ........................................................................................... 197

2.14.19 Emergency stop. ...................................................................................................... 198

2.14.20 Axis lubrication. ........................................................................................................ 199

2.14.21 Module configuration (rotary axes and spindle). ...................................................... 200

2.14.22 Spindle speed. ......................................................................................................... 201

2.14.23 Identifying motors and feedbacks. ........................................................................... 202

2.14.24 Delay estimate at the drive....................................................................................... 203

2.14.25 Compensations tables.............................................................................................. 203

2.14.26 Torque saturation. .................................................................................................... 204

2.14.27 Runaway protection. ................................................................................................ 204

2.14.28 DRC parameter setting. ........................................................................................... 205

2.15 Machine parameters for JOG mode............................................................................. 210

2.15.1 Configure the jog keys. ............................................................................................ 210

2.15.2 Configure the user keys as jog keys. ....................................................................... 212

2.15.3 Behavior of the JOG keys. ....................................................................................... 213

2.15.4 Example of how to set the handwheels and jog keys. ............................................. 214

2.16 Machine parameters for the M function table............................................................... 217

2.16.1 M function table........................................................................................................ 217

2.17 Machine parameters for kinetics. ................................................................................. 220

2.17.1 Kinematics configuration. ......................................................................................... 221

2.17.2 Definition of the spindle kinetics (types 1 through 8)................................................ 226

2.17.3 Definition of the table kinetics (types 9 through 12). ................................................ 231

2.17.4 Definition of the kinematics of the spindle - table (types 13 through 16).................. 236

2.17.5 Definition of the spindle kinetics (types 17 through 24)............................................ 241

2.17.6 Definition of the C axis kinematics (Types 41 through 42)....................................... 246

2.17.7 Definition of the C axis kinematics (type 43). ........................................................... 248

2.17.8 Vectorial definition of spindle kinematics (type 50). ................................................. 249

2.17.9 Vectorial definition of table kinematics (type 51)...................................................... 255

2.17.10 Vectorial definition of spindle-table kinematics (type 52). ........................................ 261

2.17.11 Definition of the OEM kinematics (types 100 through 105)...................................... 271

2.17.12 Configuration of angular transformations. ................................................................ 272

2.17.13 Configuration of angular transformations (parameters). .......................................... 273

2.18 Machine parameters; frequency filters......................................................................... 275

2.19 Machine parameters; gantry axes................................................................................ 278

2.20 Machine parameters; tandem axes.............................................................................. 280

2.20.1 Configuring a tandem (spindle) axis......................................................................... 280

2.21 Machine parameters; compensations. ......................................................................... 283

2.22 Machine parameters for the magazine. ....................................................................... 286

2.22.1 Tool magazine configuration. ................................................................................... 286

2.22.2 Magazine data.......................................................................................................... 287

2.22.3 Tool magazine management.................................................................................... 288

2.23 Machine parameters for HMI (Interface). ..................................................................... 290

2.23.1 Main window dimensions and resolution.................................................................. 290

2.23.2 Interface setting........................................................................................................ 291

2.23.3 Setting the user key ([CUSTOM] key)...................................................................... 293

2.23.4 Configuring the change key ([NEXT] key)................................................................ 294

2.23.5 Setting the menu key ([Main-Menu] key). ................................................................ 296

2.23.6 Setting the escape key ([ESC] key). ........................................................................ 297

2.23.7 Simulated jog keyboard............................................................................................ 298

2.23.8 CNC shut down........................................................................................................ 298

2.23.9 Graphics configuration. ............................................................................................ 298

2.23.10 Validate and save machine parameters................................................................... 299

2.23.11 Maximum number of visible errors in the error window............................................ 299

2.23.12 Reserved parameters (exclusive use of Fagor). ...................................................... 299

2.24 OEM machine parameters. .......................................................................................... 300

2.24.1 Generic OEM parameters. ....................................................................................... 300

2.24.2 Cam editor................................................................................................................ 302

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[3] PLC.

CHAPTER 3 INTRODUCTION TO THE PLC.

3.1 PLC program. .............................................................................................................. 306

3.2 Modular structure of the PLC program. ....................................................................... 307

3.3 PLC program execution. .............................................................................................. 308

3.4 PLC resources. ............................................................................................................ 309

3.4.1 Numbering of the physical inputs and outputs. ........................................................ 312

3.5 Operation of a timer. .................................................................................................... 314

3.5.1 Monostable mode. TG1 input................................................................................... 316

3.5.2 Delayed activation mode. TG2 input........................................................................ 318

3.5.3 Delayed deactivation mode. TG3 input.................................................................... 320

3.5.4 Signal limiting mode. TG4 Input............................................................................... 322

3.6 Operation of a counter. ................................................................................................ 324

CHAPTER 4 PLC PROGRAMMING.

4.1 Directing instructions. .................................................................................................. 329

4.2 Consulting instructions................................................................................................. 333

4.2.1 Simple consulting instructions.................................................................................. 333

4.2.2 Flank detection instructions. .................................................................................... 334

4.2.3 Comparing instructions. ........................................................................................... 335

4.3 Operators and symbols................................................................................................ 336

4.4 Action instructions........................................................................................................ 337

4.4.1 Assignment binary instructions. ............................................................................... 338

4.4.2 Conditional binary instructions. ................................................................................ 339

4.4.3 Sequence breaking action instructions. ................................................................... 340

4.4.4 Arithmetic action instructions. .................................................................................. 341

4.4.5 Logic action instructions........................................................................................... 343

4.4.6 Specific action instructions....................................................................................... 345

4.4.7 Action instruction of the electronic cam. ................................................................. 348

4.4.8 Instructions for independent move: positioning. ...................................................... 350

4.4.9 Instructions for independent move: synchronization. .............................................. 352

4.4.10 Instructions for coordinate latching using a probe or digital input. ........................... 354

4.5 Considerations for some functions. ............................................................................. 358

4.5.1 Work zones. ............................................................................................................. 358

4.6 Summary programming commands............................................................................. 360

CHAPTER 5 CNC-PLC COMMUNICATION.

5.1 Auxiliary –M– functions................................................................................................ 364

5.1.1 Special considerations with the multi-spindle option and channels. ........................ 365

5.2 Auxiliary –H– functions. ............................................................................................... 366

5.2.1 Special considerations with the multi-spindle option and channels. ........................ 367

5.3 Auxiliary –S– function. ................................................................................................. 368

5.3.1 Special considerations with the multi-spindle option and channels. ........................ 369

5.4 Transferring auxiliary functions -M-, -H-, -S-................................................................ 370

5.4.1 Synchronized transfer. ............................................................................................. 371

5.4.2 Non-synchronized transfer....................................................................................... 372

5.5 Displaying PLC errors and messages. ........................................................................ 373

CHAPTER 6 LOGIC CNC INPUTS AND OUTPUTS.

6.1 General consulting signals........................................................................................... 376

6.2 Consulting signals for axes and spindles in closed loop (M19 or G63). ...................... 389

6.3 Consulting signals for the spindle in open loop (M3/M4). ............................................ 392

6.4 Consultation signals of the independent interpolator................................................... 394

6.5 Tool manager consulting signals. ................................................................................ 396

6.6 Keystroke consulting signals. ...................................................................................... 398

6.7 General modifiable signals. ......................................................................................... 402

6.8 Modifiable signals of the axes and spindles in closed loop (M19 or G63)................... 412

6.9 Modifiable spindle signals in open loop (M3/M4)......................................................... 417

6.10 Modifiable logic signals; laser. ..................................................................................... 421

6.11 Modifiable signals of the independent interpolator. ..................................................... 422

6.12 Tool manager modifiable signals. ................................................................................ 423

6.13 Keystroke modifiable signals. ...................................................................................... 426

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[4] CONCEPTS.

CHAPTER 7 GENERAL SETUP.

7.1 Configuring the channels. ............................................................................................ 433

7.1.1 Configuring the channels. ........................................................................................ 433

7.1.2 Variables. ................................................................................................................. 434

7.2 Configure the name and number of axes and spindles. .............................................. 435

7.2.1 Configure the number of axes and spindles of the system. ..................................... 436

7.2.2 Configure the number of axes and spindles of the channels. .................................. 437

7.3 Configuration examples. .............................................................................................. 438

7.3.1 Milling machine with 1 channel, 3 axes and 1 spindle. ............................................ 439

7.3.2 Milling machine with 1 channel, 5 axes (2 free) and 1 spindle................................. 440

7.3.3 Milling machine with 3 channels, 9 axes and 2 spindles.......................................... 441

7.3.4 Lathe with 1 channel, 3 axes and 1 spindle. Configuration of "plane" type axes. .... 443

7.3.5 Lathe with 1 channel, 3 axes and 1 spindle. Configuration of trihedron type axes. . 444

7.3.6 Lathe with 1 channel, 3 axes (1 free) and 1 spindle. Configuration of "plane" type axes.

445

7.3.7 Lathe with 2 channels, 4 axes and 2 spindles. Configuration of "plane" type axes. 446

7.3.8 Lathe with 3 channels, 6 axes and 2 spindles. Configuration of "plane" type axes. 447

7.4 Execution time estimate............................................................................................... 448

7.4.1 Defining the estimated execution time of some functions........................................ 448

7.4.2 Variables. ................................................................................................................. 449

7.5 Zero offsets. ................................................................................................................. 450

7.5.1 Configuring zero offsets. .......................................................................................... 450

7.5.2 Variables. ................................................................................................................. 450

CHAPTER 8 FEEDBACKS.

8.1 Axis feedback resolution. ............................................................................................. 451

8.2 Gear ratio. .................................................................................................................... 452

8.2.1 Feedback resolution of an axis and the gear ratio (examples). ............................... 453

8.3 Configuring the SSI protocol. ....................................................................................... 458

8.4 Configuring a Sensorless system. .............................................................................. 460

8.5 I0 signal........................................................................................................................ 462

8.6 Feedback alarm. .......................................................................................................... 464

8.7 Direction of the setpoint and positive feedback. .......................................................... 465

8.8 Encoder offset adjustment (circle adjustment)............................................................. 467

CHAPTER 9 HANDWHEELS.

9.1 Configuring the system handwheels. ........................................................................... 469

9.1.1 Configuring the handwheels (individual or general)................................................. 470

9.1.2 Configure a handwheel as "feed handwheel". ......................................................... 472

9.1.3 Variables. ................................................................................................................. 474

CHAPTER 10 CONFIGURING AN AXIS.

10.1 Configure an axis as rotary axis................................................................................... 475

10.1.1 Linearlike rotary axis. ............................................................................................... 475

10.1.2 Normal rotary axis.................................................................................................... 476

10.1.3 Unidirectional rotary axis.......................................................................................... 477

10.1.4 Positioning-only rotary axis. ..................................................................................... 478

10.2 Home search................................................................................................................ 479

10.2.1 Home search (axes and spindles)............................................................................ 481

10.2.2 Home search (gantry axes)...................................................................................... 484

10.3 Software limits of the axes. .......................................................................................... 486

10.3.1 How to set the software travel limits......................................................................... 488

10.3.2 Set the tolerance for an axis located at the software travel limits. ........................... 490

10.4 Park/unpark axes (from the PLC or CNC). .................................................................. 491

10.4.1 Parking/unparking axes from the PLC. .................................................................... 492

10.4.2 Parking/unparking axes from the CNC..................................................................... 494

10.5 Configuring the motor holding brake. .......................................................................... 496

CHAPTER 11 TANDEM AXIS (SPINDLE).

11.1 Configuring a tandem (spindle) axis. ........................................................................... 500

11.2 Considerations for the PLC routine.............................................................................. 504

11.3 Special considerations during a home search. ............................................................ 505

11.4 Effect of the preload..................................................................................................... 506

11.5 Tandem axis configuration. Block diagram. ................................................................. 508

11.6 Tandem adjustment procedure. ................................................................................... 510

11.7 Variables. ..................................................................................................................... 511

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CHAPTER 12 VOLUMETRIC COMPENSATION.

12.1 Medium or large volumetric compensation. ................................................................. 515

12.1.1 Setup. General; machine parameters. ..................................................................... 515

12.1.2 Setup. PLC. General modifiable signals. ................................................................. 515

12.1.3 Variables. ................................................................................................................. 516

12.2 Error messages (cause and solution). ......................................................................... 518

CHAPTER 13 CONFIGURING THE HSC MODE.

13.1 Influence of the type of acceleration and of the filters in HSC mode. .......................... 520

13.2 Configuration of the HSC mode................................................................................... 521

13.2.1 Setup. General; machine parameters. ..................................................................... 521

13.2.2 Setup. Machine parameters; axis set....................................................................... 522

13.3 Variables...................................................................................................................... 523

13.3.1 Analysis of the loop time (cycle time) at the CNC.................................................... 523

13.3.2 Analysis of the loop time (cycle time) in the channel. .............................................. 524

13.3.3 Variables associated with the feedrate on the tool path. ......................................... 524

13.3.4 Variables associated with feedrate limitation. .......................................................... 525

13.3.5 Variables associated with the block being executed................................................ 526

13.3.6 Variables associated with the coordinates in the loop. ............................................ 527

13.3.7 Variables associated with the velocity in the loop.................................................... 528

13.3.8 Variables associated with the velocity command and the feedback. ....................... 529

13.4 Procedure for analysis and adjustment of the HSC..................................................... 530

13.5 The loops and the variables. ....................................................................................... 533

CHAPTER 14 TOOL AND MAGAZINE MANAGEMENT.

14.1 Types of tool magazine................................................................................................ 537

14.2 Tool table, active tool table and tool magazine table................................................... 539

14.3 Communication between manager and PLC. .............................................................. 540

14.3.1 Manager --> PLC communication. ........................................................................... 541

14.3.2 PLC --> Manager communication. ........................................................................... 542

14.3.3 Manager Emergency................................................................................................ 544

14.3.4 Tool monitoring. ....................................................................................................... 545

14.4 Variables related to tool magazine management. ....................................................... 546

14.5 Tool loading and unloading from the magazines......................................................... 547

14.6 Magazine-less system. ................................................................................................ 548

14.6.1 Valid operations and marks activated by the PLC with each one of them. .............. 549

14.6.2 Detailed description of the operations of the magazine. .......................................... 550

14.6.3 Basic PLC programming. ......................................................................................... 550

14.7 Turret type magazine................................................................................................... 551

14.7.1 Valid operations and marks activated by the PLC with each one of them. .............. 552

14.7.2 Detailed description of the operations of the magazine. .......................................... 554

14.7.3 Communication between the PLC and the M06 subroutine..................................... 556

14.7.4 Program of the M06 subroutine. .............................................................................. 557

14.7.5 Basic PLC programming. ......................................................................................... 559

14.8 Synchronous magazine without changer arm.............................................................. 560

14.8.1 Valid operations and marks activated by the PLC with each one of them. .............. 561

14.8.2 Detailed description of the operations of the magazine. .......................................... 563

14.8.3 Communication between the PLC and the M06 subroutine..................................... 566

14.8.4 Program of the M06 subroutine. .............................................................................. 567

14.8.5 Basic PLC programming. ......................................................................................... 569

14.9 Synchronous magazine with changer arm and 1 claw ................................................ 570

14.9.1 Valid operations and marks activated by the PLC with each one of them. .............. 571

14.9.2 Detailed description of the operations of the magazine. .......................................... 573

14.9.3 Communication between the PLC and the M06 subroutine..................................... 576

14.9.4 Program of the M06 subroutine. .............................................................................. 577

14.9.5 Basic PLC programming. ......................................................................................... 580

14.10 Synchronous magazine with changer arm and 2 claws............................................... 582

14.10.1 Valid operations and marks activated by the PLC with each one of them. .............. 583

14.10.2 Detailed description of the operations of the magazine. .......................................... 585

14.10.3 Communication between the PLC and the M06 subroutine..................................... 588

14.10.4 Program of the M06 subroutine. .............................................................................. 589

14.10.5 Basic PLC programming. ......................................................................................... 592

14.11 Asynchronous magazine with changer arm................................................................. 594

14.11.1 Valid operations and marks activated by the PLC with each one of them. .............. 595

14.11.2 Detailed description of the operations of the magazine. .......................................... 597

14.11.3 Communication between the PLC and the M06 subroutine..................................... 601

14.11.4 Program of the M06 subroutine. .............................................................................. 602

14.11.5 Basic PLC programming. ......................................................................................... 605

Installation manual.

Quercus

CNC 8060

CNC 8065

ꞏ9ꞏ

REF: 2010

CHAPTER 15 KEYBOARD SIMULATION VIA THE PLC. KEY CODES.

15.1 Selecting the language and the keyboard distribution. ................................................ 607

15.2 Key codes. ................................................................................................................... 609

15.2.1 Keyboard shortcuts. CNC's own keys...................................................................... 610

15.3 Consulting the last key accepted by the CNC.............................................................. 611

15.4 Keyboard simulation via the PLC................................................................................. 611

15.5 Key codes depending on keyboard layout. .................................................................. 613

15.5.1 Scan codes. "Spanish (Spain)” keyboard layout...................................................... 613

15.5.2 Scan codes. Keyboard distribution "English (United States)". ................................. 614

15.6 Example. Keyboard simulation via the PLC................................................................. 615

CHAPTER 16 SUBROUTINES.

16.1 Run subroutines from RAM (extension *.fst)................................................................ 618

16.2 Subroutine associated with the start. ........................................................................... 619

16.2.1 Configure the subroutines. ....................................................................................... 619

16.3 Subroutine associated with 8055-MC and 8055-TC programs (subroutines 9998 and

9999)............................................................................................................................ 620

16.3.1 Configure the subroutines. ....................................................................................... 620

16.4 Subroutines associated with the tool calibration cycle. ............................................... 621

16.4.1 Configure the subroutines. ....................................................................................... 621

16.4.2 Example of a subroutine. ......................................................................................... 622

16.5 Subroutines associated with the part measuring cycle. .............................................. 623

16.5.1 Configure the subroutines. ....................................................................................... 623

16.5.2 Example of a subroutine. ......................................................................................... 624

16.6 Subroutine associated with the tool change (function T). ............................................ 625

16.6.1 Configure the subroutines. ....................................................................................... 625

16.7 Subroutine associated with the tool change (function M6). ......................................... 626

16.7.1 Configure the subroutines. ....................................................................................... 626

16.8 Subroutine associated with function G74..................................................................... 627

16.8.1 Configure the subroutines. ....................................................................................... 627

16.9 Subroutines associated with M functions..................................................................... 628

16.9.1 Configure the subroutines. ...................................................................................... 628

16.9.2 Variables. ................................................................................................................. 628

16.10 OEM subroutines associated with functions G180 to G189 / G380 to G399. .............. 629

16.10.1 Configure the subroutines. ....................................................................................... 629

16.10.2 Variables. ................................................................................................................. 629

16.11 Interruption subroutines. .............................................................................................. 630

16.11.1 Configure the subroutines. ....................................................................................... 630

16.11.2 Variables. ................................................................................................................. 630

16.12 User subroutines associated with functions G500 to G599. ........................................ 631

16.12.1 Configure the subroutines. ...................................................................................... 631

16.13 Assistance for subroutines........................................................................................... 632

16.13.1 Subroutine help files................................................................................................. 632

16.13.2 List of available subroutines..................................................................................... 634

CHAPTER 17 HARDWARE.

17.1 Management of several operator panels. .................................................................... 635

17.1.1 Identify the order of the jog operator panels on the CAN bus.................................. 635

17.1.2 Operation of the operator panels. ............................................................................ 636

17.1.3 Define the number of operator panels and their relationship with the channels. ..... 637

17.1.4 Disable the operator panels. .................................................................................... 638

17.1.5 Disable the keyboards.............................................................................................. 638

17.1.6 Configure the jog keys. ............................................................................................ 639

17.1.7 Configure the user keys as jog keys. ....................................................................... 640

17.1.8 Check the status of the keys.................................................................................... 641

17.1.9 Disable the keys....................................................................................................... 641

17.1.10 Manage the LED's (lamps) of the keys. ................................................................... 641

17.2 Assigning a help text to the graphic softkeys and to the CNC status icon................... 642

17.3 Hardware. Managing local digital I/Os. ........................................................................ 643

17.3.1 Configuring local digital outputs. .............................................................................. 643

17.3.2 Variables. ................................................................................................................. 644

17.4 Numbering the remote digital I/Os (CANopen bus). .................................................... 645

17.4.1 CustomizING the numbering of digital inputs and outputs. ...................................... 646

17.4.2 Variables. ................................................................................................................. 647

17.4.3 Example. Default numbering (according to the order of the remote groups). .......... 648

17.4.4 Example. Customizing the numbering (from a base index). .................................... 650

17.5 Configuring and numbering the PT100 inputs. ............................................................ 652

17.5.1 CNC variables. ......................................................................................................... 653

17.6 Configuring the CANopen bus. .................................................................................... 654

17.6.1 Variables. ................................................................................................................. 654

17.7 Configuring the serial line. ........................................................................................... 655

17.7.1 Variables. ................................................................................................................. 655

Installation manual.

Quercus

CNC 8060

CNC 8065

ꞏ10ꞏ

REF: 2010

CHAPTER 18 CALCULATION OF THE KINEMATICS DIMENSIONS.

18.1 Angular spindle. Calculation of the dimensions using a probe. ................................... 658

18.2 Angular spindle. Calculation of the dimensions using a dial indicator. ........................ 664

18.3 Rotary table. Calculation of the dimensions using a probe.......................................... 668

CHAPTER 19 ETHERCAT BUS.

19.1 EtherCAT Configurator. ............................................................................................... 674

19.1.1 Installing the EtherCAT configurator. ....................................................................... 674

19.1.2 Run the configurator. .............................................................................................. 675

19.1.3 Problems with the license. ....................................................................................... 676

19.2 Configuring a topology with remote I/Os...................................................................... 677

19.2.1 Configuring the EtherCAT bus. ................................................................................ 677

19.2.2 Online mode configuration. Scanning the bus typology........................................... 678

19.2.3 Offline mode configuration. Build the bus topology manually. ................................. 680

19.3 Configuring a topology with drives............................................................................... 681

19.3.1 Configuring the EtherCAT bus. ................................................................................ 681

19.3.2 Configuring the topology master. ............................................................................. 682

19.3.3 Configure the slaves (variables of the cyclic channel). ............................................ 683

19.3.4 Clock distribution...................................................................................................... 686

19.4 Export, save and copy the configuration file. ............................................................... 687

19.4.1 Export the configuration file. .................................................................................... 687

19.4.2 Copy the configuration file to the CNC..................................................................... 687

19.4.3 Save the project. ...................................................................................................... 688

19.5 Map the EtherCAT resources to the PLC resources. ................................................. 689

19.5.1 Install the program. .................................................................................................. 690

19.5.2 Interface description................................................................................................. 691

19.5.3 Open a configuration (default mapping)................................................................... 694

19.5.4 Change the numbering of the resources.................................................................. 695

19.5.5 Overlapped. ............................................................................................................. 697

19.5.6 Configure the Fagor analog inputs and outputs....................................................... 699

19.5.7 Configuring the resources of a EtherCAT drive. ...................................................... 700

19.5.8 Exporting the routing file. ......................................................................................... 702

19.5.9 Save the project. ...................................................................................................... 702

19.5.10 Copy the routing file to the CNC. ............................................................................. 702

19.6 Diagnosis in the CNC. ................................................................................................. 703

19.6.1 General information. ................................................................................................ 703

19.6.2 Error in the slaves. ................................................................................................... 704

CHAPTER 20 REMOTE OPENPCS.

Installation manual.

Quercus

CNC 8060

CNC 8065

ꞏ11ꞏ

REF: 2010

ABOUT THIS MANUAL.

Title. Installation manual.

Models. Quercus

CNC 8060

CNC 8065

Type of documentation. OEM manual. This manual describes the CNC setup; machine

parameters, PLC, etc.

Remarks.

Always use the manual reference associated with the software version

or a later manual reference. You can download the latest manual

reference from the download section on our website.

Limitations.

The availability of some of the features described in this manual are

dependent on the acquired software options. Moreover, the machine

manufacturer (OEM) customizes the CNC performance of each

machine using the machine parameters and the PLC. Because of this,

the manual may describe features that are not available for the CNC

or the machine. Consult the machine manufacturer for the available

features.

Electronic document. man_qc_60_65_inst.pdf. Manual available from the download

section of our website.

Language. English [EN]. Refer to our website, download area, the languages

available for each manual.

Date of publication. October, 2020

Manual reference Ref: 2010

Associated version. v1.16

Responsibility exemption. The information described in this manual may be subject to changes

due to technical modifications. Fagor Automation reserves the right to

change the contents of this manual without prior notice.

Trademarks. This manual may contain third-party trademarks or trade names,

however, they do not have them associated ® or ™ symbols. All the

trade marks appearing in the manual belong to the corresponding

owners. The use of these marks by third parties for their own purpose

could violate the rights of the owners.

Website / Email. http://www.fagorautomation.com

Email: [email protected]

Installation manual.

Quercus

CNC 8060

CNC 8065

ꞏ12ꞏ

REF: 2010

Installation manual.

Quercus

CNC 8060

CNC 8065

ꞏ13ꞏ

REF: 2010

BASIC CHARACTERISTICS.

(ꞏMꞏ MODEL)

ABOUT THE PRODUCT

QUERCUS CNC 8060.

CNC.

Basic characteristics.

8060 M FL 8060 M Power

Basic Basic Mold

Number of axes. 3 .. 4 3 .. 6 3 .. 6

Number of spindles. 1 1 .. 2 1 .. 2

Maximum number of axes and spindles. 5 7 7

Number of interpolated axes. 4 4 4

Number of tool magazines. 1 1 1

Number of execution channels. 1 1 1

Number of handwheels. 1 .. 3

CANopen remote modules. RIO5 / RIOW / RIOR

EtherCAT remote modules. RIOW-E / RIOR-E

Type of servo system. Analog / Digital Sercos III

Communications. Ethernet 10/100/1000 BaseT

Integrated PLC.

• PLC execution time.

• Digital inputs / Digital outputs.

• Marks / Registers.

• Timers / Counters.

•Symbols.

< 1ms/K

1024 / 1024

8192 / 1024

512 / 256

Unlimited

Block processing time. < 2.0 ms < 1.5 ms < 1.5 ms

Remote modules.

Basic characteristics.

RIOW RIO5 RIOR RIOW-E

Inline

RIOR-E

Type of bus. CANopen CANopen CANopen EtherCAT EtherCAT

Digital inputs per module. 8 24 / 48 48 8 48

Digital outputs per module. 8 16 / 32 32 8 32

Analog inputs per module. 44242

Analog outputs per module. 44424

Inputs for PT100 temperature sensors. 22242

Installation manual.

Quercus

CNC 8060

CNC 8065

ꞏ14ꞏ

REF: 2010

BASIC CHARACTERISTICS.

(ꞏTꞏ MODEL)

CNC.

Basic characteristics.

8060 T

FL Power

Number of axes. 3 .. 4 3 .. 6

Number of spindles. 1 .. 2 1 .. 3

Maximum number of axes and spindles. 5 7

Number of interpolated axes. 4 4

Number of tool magazines. 1 1 .. 2

Number of execution channels. 1 1 .. 2

Number of handwheels. 1 .. 3

CANopen remote modules. RIO5 / RIOW / RIOR

EtherCAT remote modules. RIOW-E / RIOR-E

Type of servo system. Analog / Digital Sercos III

Communications. Ethernet 10/100/1000 BaseT

Integrated PLC.

• PLC execution time.

• Digital inputs / Digital outputs.

• Marks / Registers.

• Timers / Counters.

• Symbols.

< 1ms/K

1024 / 1024

8192 / 1024

512 / 256

Unlimited

Block processing time. < 2.0 ms < 1.5 ms

Remote modules.

Basic characteristics.

RIOW RIO5 RIOR RIOW-E

Inline

RIOR-E

Type of bus. CANopen CANopen CANopen EtherCAT EtherCAT

Digital inputs per module. 8 24 / 48 48 8 48

Digital outputs per module. 8 16 / 32 32 8 32

Analog inputs per module. 4 4 2 4 2

Analog outputs per module. 4 4 4 2 4

Inputs for PT100 temperature sensors. 2 2 2 4 2

Installation manual.

Quercus

CNC 8060

CNC 8065

ꞏ15ꞏ

REF: 2010

SOFTWARE OPTIONS.

Some of the features described in this manual are dependent on the acquired software options. The active

software options for the CNC can be consulted in the diagnostics mode (accessible from the task window

by pressing [CTRL] [A]), under software options. Consult Fagor Automation regarding the software options

available for your model.

Software option Description.

SOFT 8060 ADDIT AXES Option to add axes to the default configuration.

SOFT 8060 ADDIT SPINDLES Option to add spindles to the default configuration.

SOFT 8060 ADDIT TOOL MAGAZ Option to add magazines to the default configuration.

SOFT 8060 ADDIT CHANNELS Option to add channels to the default configuration.

SOFT DIGITAL SERCOS Option for a Sercos digital bus.

SOFT THIRD PARTY DRIVES Option to use EtherCAT third party drives.

SOFT THIRD PARTY I/Os Option to use third party I/O modules.

SOFT OPEN SYSTEM Option for open systems. The CNC is a closed system that

offers all the features needed to machine parts.

Nevertheless, at times there are some customers who use

third-party applications to take measurements, perform

statistics or other tasks apart from machining a part.

This feature must be active when installing this type of

application, even if they are Office files. Once the

application has been installed, it is recommended to close

the CNC in order to prevent the operators from installing

other kinds of applications that could slow the system

down and affect the machining operations.

SOFT i4.0 CONNECTIVITY PACK Options for Industry 4.0 connectivity. This option provides

various data exchange standards (for example, OPC UA),

which allows the CNC (and therefore the machine tool) to

be integrated into a data acquisition network or into a MES

or SCADA system.

SOFT EDIT/SIMUL Option to enable edisimu mode (edition and simulation)

on the CNC, which can edit, modify and simulate part

programs.

SOFT TOOL RADIUS COMP Option to enable radius compensation. This

compensation programs the contour to be machined

based on part dimensions without taking into account the

dimensions of the tool that will be used later on. This

avoids having to calculate and define the tool paths based

on the tool radius.

Installation manual.

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CNC 8065

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REF: 2010

SOFT PROFILE EDITOR Option to enable the profile editor in edisimu mode and in

the cycle editor. This editor can graphically, and in a

guided way, define rectangular, circular profiles or any

profile made up of straight and circular sections an it can

also import dxf files. After defining the profile, the CNC

generates the required blocks and add them to the

program.

SOFT 60 HD GRAPHICS High definition solid 3D graphics for the execution and

simulation of part-programs and canned cycles of the

editor. During machining, the HD graphics display, in real

time, the tool removing the material from the part, allowing

the condition of the part to be seen at all times. These

graphics are required for the collision control (FCAS).

SOFT 60 IIP CONVERSATIONAL The IIP (Interactive Icon-based Pages) mode, or

conversational mode, works with the CNC in a graphical

and guided way based on predefined cycles.

There is no

need to work with part programs, have any previous

programming knowledge or be familiar with Fagor CNCs.

Working in conversational mode is easier than in ISO

mode, as it ensures proper data entry and minimizes the

number of operations to be defined.

SOFT 60 RTCP Option to enable dynamic RTCP (Rotating Tool Center

Point) required to machine with 4, 5 and 6 axis kinematics;

for example, angular and orthogonal spindles, tilting

tables, etc. The RTCP orientation of the tool may be

changed without modifying the position occupied by the

tool tip on the part.

SOFT 60 C AXIS Option to enable C-axis kinematics and associated

canned cycles. The machine parameters of each axis or

spindle indicate whether it can operate as a C axis or not.

For this reason, it is not necessary to add specific axes to

the configuration.

SOFT 60 TANDEM AXES Option to enable tandem axle control. A tandem axis

consists of two motors mechanically coupled to each

other forming a single transmission system (axis or

spindle). A tandem axis helps provide the necessary

torque to move an axis when a single motor is not capable

of supplying enough torque to do it.

When activating this feature, it should be kept in mind that

for each tandem axis of the machine, another axis must

be added to the entire configuration. For example, on a

large 3-axis lathe (X Z and tailstock), if the tailstock is a

tandem axis, the final purchase order for the machine

must indicate 4 axes.

SOFT 60 SYNCHRONISM Option to enable the synchronization of paired axes and

spindles, in speed or position, and through a given ratio.

SOFT 60 HSSA I MACHINING SYSTEM Option to enable the HSSA-I (High Speed Surface

Accuracy) algorithm for high speed machining (HSC).

This new HSSA algorithm allows for high speed

machining optimization, where higher cutting speeds,

smoother contours, a better surface finishing and greater

precision are achieved.

SOFT 60 HSSA II MACHINING SYSTEM Option to enable the HSSA-II (High Speed Surface

Accuracy) algorithm for high-speed machining (HSC),

which has the following advantages compared to the

HSSA-I algorithm.

• Advanced algorithm for point preprocessing in real

time.

• Extended curvature algorithm with dynamic

limitations. Improved acceleration and jerk control.

• Greater number of pre-processed points.

• Filters to smooth out the dynamic machine behavior.

Software option Description.

Installation manual.

Quercus

CNC 8060

CNC 8065

ꞏ17ꞏ

REF: 2010

SOFT 60 PROBE Option to enable functions G100, G103 and G104 (for

probe movements) and probe canned cycles (which help

to measure part surfaces and to calibrate tools). For the

laser model, it only activates the non-cycle function G100.

The CNC may have two probes; usually a tabletop probe

to calibrate tools and a measuring probe to measure the

part.

SOFT 60 CONV USER CYCLES Option to enable user conversational cycles. The user and

the OEM can add their own canned cycles (user cycles)

using the FGUIM application that comes installed on the

CNC. The application offers a guided way to define a new

component and its softkey menu without having to be

familiar with script languages. User cycles work in a

similar way as Fagor canned cycles.

SOFT 60 PROGTL3 Option to enable the ProGTL3 programming language

(ISO language extension), allowing profiles to be

programmed using a geometric language and without the

need to use an external CAD system. This language can

program lines and circles where the end point is defined

as the intersection of 2 other sections, pockets, ruled

surfaces, etc.

SOFT 60 PPTRANS Option to enable the program translator, which can

convert programs written in other languages to Fagor ISO

code.

SOFT PWM CONTROL Option to enable PWM (Pulse - Width Modulation) control

on laser machines. This feature is essential for cutting

very thick sheets, where the CNC must create a series of

PWM pulses to control laser power when drilling the initial

point.

This function is only available for Sercos bus control

systems and must also use one of the two fast digital

outputs available from the central unit.

SOFT GENERATE ISO CODE ISO generation converts canned cycles, calls to

subroutines, loops, etc. into their equivalent ISO code (G,

F, S, etc functions), so the user can modify it and adapt it

to his needs (eliminate unwanted movements, etc.). The

CNC generates the new ISO code while simulating the

program, either from the DISIMU mode or from the

conversational mode.

Software option Description.

Installation manual.

Quercus

CNC 8060

CNC 8065

ꞏ18ꞏ

REF: 2010

Installation manual.

Quercus

CNC 8060

CNC 8065

ꞏ19ꞏ

REF: 2010

BASIC CHARACTERISTICS.

(ꞏMꞏ MODEL)

ABOUT THE PRODUCT

QUERCUS CNC 8065.

CNC.

Basic characteristics.

8065 M 8065 M Power

Basic Pack 1 Pack M Basic Pack 1 Pack M

Number of axes. 3..6 5..8 3..6 5..10 8..10 8..10

Number of spindles. 1 1..2 1 1..3 1..3 1..3

Maximum number of axes and spindles. 7 10 7 13 13 13

Number of interpolated axes. 3..6 5..8 3..6 5..10 8..10 8..10

Number of tool magazines. 1 1 1 1..2 1..2 1..2

Number of execution channels. 1 1 1 1 1..2 1..2

Number of handwheels. 1..12

CANopen remote modules. RIO5 / RIOW / RIOR

EtherCAT remote modules. RIOW-E / RIOR-E

Type of servo system. Analog / Digital Sercos III

Communications. Ethernet 10/100/1000 BaseT

Integrated PLC.

• PLC execution time.

• Digital inputs / Digital outputs.

• Marks / Registers.

• Timers / Counters.

•Symbols.

< 1ms/K

1024 / 1024

8192 / 1024

512 / 256

Unlimited

Block processing time. < 1 ms

Remote modules.

Basic characteristics.

RIOW RIO5 RIOR RIOW-E

Inline

RIOR-E

Type of bus. CANopen CANopen CANopen EtherCAT EtherCAT

Digital inputs per module. 8 24 / 48 48 8 48

Digital outputs per module. 8 16 / 32 32 8 32

Analog inputs per module. 44242

Analog outputs per module. 44424

Inputs for PT100 temperature sensors. 22242

Customizing (on an open system only).

PC-based open system, fully customizable.

• INI configuration files.

• Tool for display configuration FGUIM.

• Visual Basic®, Visual C++®, etc.

• Internal databases in Microsoft® Access.

• OPC compatible interface

Installation manual.

Quercus

CNC 8060

CNC 8065

ꞏ20ꞏ

REF: 2010

BASIC CHARACTERISTICS.

(ꞏTꞏ MODEL)

CNC.

Basic characteristics.

8065 T 8065 T Power

Basic Pack 1 Basic Pack 1

Number of axes. 3..5 5..7 5..10 8..10

Number of spindles. 2 2 2..3 2..3

Maximum number of axes and spindles. 6 9 13 13

Number of interpolated axes. 3..5 5..7 5..10 8..10

Number of tool magazines. 1 1..2 1..2 1..2

Number of execution channels. 1 1..2 1..2 1..2

Number of interpolated axes. 3..5 5..7 5..10 8..10

Number of handwheels. 1 to 12

CANopen remote modules. RIO5 / RIOW / RIOR

EtherCAT remote modules. RIOW-E / RIOR-E

Type of servo system. Analog / Digital Sercos III

Communications. Ethernet 10/100/1000 BaseT

Integrated PLC.

PLC execution time.

Digital inputs / Digital outputs.

Marks / Registers.

Timers / Counters.

Symbols.

< 1ms/K

1024 / 1024

8192 / 1024

512 / 256

Unlimited

Block processing time. < 1 ms

Remote modules.

Basic characteristics.

RIOW RIO5 RIOR RIOW-E

Inline

RIOR-E

Type of bus. CANopen CANopen CANopen EtherCAT EtherCAT

Digital inputs per module. 8 24 / 48 48 8 48

Digital outputs per module. 8 16 / 32 32 8 32

Analog inputs per module. 4 4 2 4 2

Analog outputs per module. 4 4 4 2 4

Inputs for PT100 temperature sensors. 2 2 2 4 2

Customizing (on an open system only).

PC-based open system, fully customizable.

INI configuration files.

Tool for display configuration FGUIM.

Visual Basic®, Visual C++®, etc.

Internal databases in Microsoft® Access.

OPC compatible interface

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