FANUC刀库换刀——详解.

加工中心机床圆盘式刀库发那科系统PMC勺编程技术安庆长谷川数控机床有限公司雷晓鹏北京发那科机电有限公司胡年自动换刀机构（ATC是数控机床易发生故障的地方。本文介绍PMC的编程思路和方法，供大家讨论。此程序自2004年始已在数百台加工中心运用。一、基本规则1刀具在D0000到D0032登录。D0000登录主轴刀具号，D0001至UD0032登录刀套内刀具号，在此假定刀库容量为32把刀。2、执行T码时,刀库中T码刀具旋转到换刀口位置，在刀库旋转过程中，程序自动加工运行不中断，称之为预选刀。3、M6执行换刀过程，执行前，Z轴必须回第一参考点，即G91G28Z0或M19G91G28Z0。4、允许的大径刀（如面铣刀）直径不容许超过普通刀具（以下简称：小径刀）最大直径的二倍，否则大径刀之间随机交换会撞刀。刀具重量不能超过刀库容许重量。大径刀刀具号设定规则：大径刀的相临两侧刀套内必须为空，空刀套的刀具号自动设定为99（也可设定其他数字，PMC识别为空刀）。D100内设定大径刀个数，小径刀刀具号必须大于大径刀个数乘2加1。初始设定主轴刀具号D0000必须是小径刀刀具号。5、大径刀具交换规则：小径刀可放进大径刀刀套内，大径刀不可放进小径刀刀套内。主轴小径刀与刀库小径刀交换，一次性换刀；主轴大径刀与刀库大径刀交换，一次性换刀；主轴小径刀与刀库大径刀交换，一次性换刀，小径刀放进大径刀刀杯套内；主轴大径刀与刀库小径刀交换，第一次将原大径刀刀套内的小径刀换到主轴上，第二次再进行小径刀之间的交换。以上交换规则PMC自动识别换刀。6、在刀库运行中发生停电等故障，具备中断点记忆和用按键操作恢复功能。有完善的电机保护和报警操作提示。7、以上自动刀具交换（ATC动作本文介绍的都用PMC完成，读者也可用宏程序和PMC结合编程实现。-9-PMC程序框图三、详细介绍刀库盘旋转部分PMC程序和说明1准备工作自动换刀部分反馈信号：R30.0=1主轴抓刀反馈；R30.仁1主轴松刀反馈，延迟0.2秒是消除信号反馈传感器安装误差,其它信号反馈延迟道理相同；R30.2=1刀杯上（水平位置）信号反馈；R30.3=1刀杯下（刀具垂直向下位置）信号反馈。R30.4=1抓刀机械手在原点位置；R30.5=1抓刀机械手在抓刀位置；K2.6=0德士换刀结构1型、K2.6=1德士换刀结构2型；N00393C2780N0Q394D2733F2789N00396H2795MOOOO-iD7R0030.40-抓刀机械手在原点位置ARM-HMFBXOQ09.1XQ0Q3r5XO0Q?.6MAG_TYPEN00004F17X0009.4X0009.EKO009.6K0002.6000DW4FUPSEMIDELOWEMAGTYPEROO30.5-CHARM-hlIDFB抓刀机械手在抓刀位置K2.6:德士换刀结构XOQ09.4X0009,5$K0002.6WWIIII1UPEMIDSELOWEMAGTYPEK0.5和K2.5设定常用刀库容量，刀杯计数器用CdN0025M1618KOOOO.SKOO02.SIS-TOOLS20-TOOLSN002B7M1621KOOOO.5KOO02.B-HF15-TOOLS20-TOOLSN00258O1524KOOOO.5KOO02.5111E-TOOLS20-TOOLSR003T.4Ch32_TOOLR0037.7_Ch24_TOOLR0037.6fl-20TOOLX0005.4X0005.5XO009.6Kft0O2LS10WIIfUPSEMIDLOWMAGTYPEKOQO：”N002S1D1635N002S3H丄45NOO259A1627N00260B1630NOO262F1S40X9.7是刀杯计数传感器，R32.1为整形计数脉冲。R0.4开机延迟0.5秒后等于1,如没有,在X9.7=1的故障情况下开机，有一个R32.1脉冲，C0(CTR)会自动加1或减1计数,而产生刀杯位置错误。K11.4和K11.5为刀库正反转保持信号。N002S4J16S0ACTRO032aOX00097SUB24TMHB0005COUN-DLyTOOLCOUNTDELAY0000000064N00265L165SN00266ROO320R00322R0032DROQQO,4IIINIDLYROO32,1-HD-COUN-PLTOOLCOUNTPULSERO032.2-0-322COUN-DLY16G1NOO267A在D100中设定要使用的大径刀具个数，D104二D100*2+1是最后一个空刀杯,大于D104的刀具号为小径刀具号，小于等于D104的刀具号为大径刀具号。如不用大径刀，设定D0100=0N00272ALG90NO0272E1G99R9091.1BYTAWSJONF0001.1RTIIRTROO52.7ACT-dFD100=0R5091.1BYTFOOO1.1RSTRSTR0052.7ACTD1OO=Gnnnn3L!J1-丄MULD0100BIG-T_NUM0002DQ102D100-2R004B.4QMULERRERRC5EUB19ADD000D0102DIOOS001D0104B*CUPMUNROOdfi丐ADDERRERR0以下是根据D100所设定的大径刀数量，自动将99送到大径刀杯相邻的空刀杯中去。刀具号99表示空刀杯，空刀杯号1、3、5。NQ0274I170BR9Q91,1SIUAW_ONR9091,1CNVIIAW_ONF0001,1RSTRSTR0CS2h7ACT-tFD10Q=0SUB31DCNVB0001D0100BIQ-T_NUMROOS0BIG-T(BIN)BCD-BINERRN00275A1717ROW7ACTjrSUB25DECB0021DI00=0BR0D5BBIQ-T(BIN)COOQOOOOOOlDRD05DBT=1-16U00278A1733CEN00279E1738FinnoET=13BT_13-16R0051.5ET=：14R0051,6BT=15R0051.7BT=16M002SOI1743NODSaiK1748R9091.IBYTIEGT1R21009gAWS_ONNUMER00527ACTD0001D10D=0R9091.1BYTLTQ11R920099AW_ONNUMEROOS2.7ACTD00D3D100=0-oi-ZSL1pIHa日N002B4A1771R9051.1BYT-xAW_OUR0050.3ACTBT=4ROOSJ.1IHBT_5-8R005i.2IHBT9-12R005J3EIIBT11-160099OUJ_JrNUMED0009-33-N0D294J1840N0D292E1329N00293H00295L1S4G2、T码到达准备A0.7和A1.2为换刀机械手和计数器报警；R55.4为T码等于0或99报警;R32.5是刀具表中没有此T码报警;R32.6是T码刀具在主轴上.延迟0.2秒给PMC判断时间，条件满足后T码完毕。N00296F0007.3AOOOO.7K0011.4akll井4T-TFA7_ATCNOTLCW-WDK0011.5AOOO.L.2R0055.4ROO32.5R0032.4TLCCW-JJDAl0_COUNT=0t99TIlO-TCODER00J2,IITCD=P0T-CD_ARRIVETCODEARRIVEN002975RO0324ACTSUB24TMRB0006T-CDARRIVE-uT-FINIGHD0000000200的情况下,T码放到在不是主轴大径刀同D82(BCD)并做一些判断，TT码小径刀交换(K10.6工1)码等于0或99时报警。E1867H00299I187N00300K1882H00301M1087BIN-BCD82R54.2=1，主轴小径刀同刀库大径刀交换的判断，此时将主轴小径刀号存到D106中，为以后主轴大径刀同T码小径刀交换做准备。N00302A1890R9091.1BYT4FAWS_ONR0032.4ACTIIT-CD_ARRIVEqilRI50001COMPD00B2T_(BCD)D0104B-CVP_MUNROOS400TCX3DE-EIG-TLN00303D1097R9091.1BYTAWS_OMR5091.1ACTAws_orrCTfR.1Cnnniou口*丄COMPDOOOOSP-TOOLD01-04B-CUP_MUNROOS4B1_o-_LN00304G1904R0054.1R00S4,0RQ0324R00S2.7IIIISP-BIG*TTCODE-BIT-CD_ARRD100=0LG-TLIVER00S4.20-P1EMALL-BIGN00305H1909R0054l2ACTIIPSMALL-BIGSUB81111MOVE1111DOODOSP-TOOLD0106STORES-TOOLK10.6=1是主轴大径刀同刀库小径刀交换，T码放到D108把原来放到大径刀杯的小径刀D106送到D82,进行第一次交换，换刀后，主轴刀具是小径刀（D0=D106。W003a6L1915MMQ0307A1323BCD110308E1933MOO309I1941R0054.0ROO54.1R0032.4ROO52.7-Hf-D100=0G-TLIVEK0010.E-iySPB-SMALLKQ010.CRtJOSS.6II*PB-MAE-_STP2RA032,4R0055.4R0049.0a-ERR09TlT-CDAERT=QS99IVEKO010.6ACTTlSPE-SMALLSUB8MOVE11111111DCHOeTORE_-TOOLDD062T_(BCD)R9Q91.1BYTIESUB16COIN0001AWS_ONR0052.7ACTDOOODDioo=agp-rooLD0106STORES-TOOLRQ0S4.50DO=D106BIN-BCILLN00310L148N0D311A1957SUB81111MOVE1111D010BT_TP2DOO02T(BCD)N00312E19S3R9091.1BYTAWSONR00S2.7ACTD1OO=Q廿Blfifl00iCOINDOOOOSP-TOOLD010BT_TP2ROOS44o-D0=D108第一次交换完毕后（R55.6=1），再开始主轴小径刀同T码D108小径刀进行第二次交换，此时把D108放到D82中，进行二次换刀。二次换刀结束后D0=D108T码在主轴上。KO010R0054,5R0029.5R00304ARMWMFB-HIIISP1B-SMAD0=D106KKEEPR0055.6R0054.4F0001s1B-SSTP2D0=D108RST3、刀库盘旋转刀杯号寻找：经过以上T码到达后的准备工作，在各种情况下寻找的刀具号都放在D82中，刀具D82的刀杯号在D86中。当D86的刀杯号等于换刀口位置计数器CO时（R32.7=1）,刀库盘旋转位置到达。R32.5是T码在刀具表中未找到报警。R32.6是刀具以在主轴上。R90?J.1UBYTAW_ONR0037.5|FOOOl1J|LRST16_TOOLIIRSTR00J7.5IIR0032.4IIACT16TOOLWOO313H1970E-STP：r-CD_AKRIVESUB17DCH0016DOOOlDOOS2T_(BCDJD0084GTEP-lR00&6r015-TNON003L4L19B3R909111BYTAWS_ONR0037.C|lFOO011RST20_TOOLIIRSTR0017.6IIR0032.4JIACT20TOOLT-CD_A1?RIVER0055.SB-STP2SDB170020DSCHDOOOlD0082T_(BCD)DOOS4STEP-1R0056.120-TNON00315A1996RSTR0037.7IIF0001.1HII24_TDOLIIRSTROOi7.7IIR0Q32.4IIACTR9051.1BYT24TOOLT-CD_ARRIVEB-SSTP2R0055.6cfTRI7nn94DSCHDOOOlDOO02T_(BCD)DOOS4STEP-1ROOSfi.20-24-TNON003ISE2009R90911BYTIKSUB170032AW_ONDSCHR0037.4IIFOO01.111RSTD0001II-32_TOOLIIRTR0037.4JLR0032.4IIACTDQ082II32TOOLT-CDARRT_(BCD)IVER0055.SD0094STEP-1IIB-S_STP2R0056.3N(J0317I2022LN00318A2027R&0E6.0IH16-T_NOR00E6120-TNOR0056.224-tNORO056.SRQDgi-1RYTJKSUB19nnoojlfAWS_ONADDF0001.1RET1|DOOB4RSTSTEP-lR0032.4ACTH0001T-CDARRIVEIIJDooesBSSTP2T-STEP32-T_NORO032_-NO-TCODETNOFOUNDR004S.1QADDERRERR10E2037N00320H2044RS0S1L1BYTAWS_OBR9091.1ACTAWSOMR5051.1BYT-Xf-AW_ONR9091.1ACTAWSONCTTR1001COIND0082Tfc(BCD)DOOOOSP-TOOLR0032飞TCODESPTLCODECTTRlGfl仃和TCOINDO086T-STEPC0002R0032JQTCODEONPOSITIONT-ON-POSN00321K2D51A0003-5AOOOOb7A7N00322L2059R00B3B3R0036.0GOOGS.4FO001.1HMAGREST*EMGNCMIDORER0*033-2MAGENABLEMAGROTATEENABLENOO323M2064R0032.4ROO55勺R0032,5R0032.6RD032JROO33,2-*IIT=0&99NO-TCODET_CD=PT-ON-POSMAG-EHABLER00330IIT-CD_ARRIVECUP-ROTACUPROTATIONR33.0是刀库旋转的条件，当寻找的刀具在主轴上（R32.6=1）或到达换刀位置（R32.7=1），刀库旋转停止（R33.0=0）。A0001.3AOOQ1.5AO001.7AO0O3.4A0003.5AOO04.0RO033.3:*0-L亡A13_ARM-Al5ROT-A20OFFKA29_CARRA32_lMIDMCMCSR0055石T1B-S_STP2R0033B0IICUP-ROTA刀库旋转分两种情况：a）K10.6=0和R55.6=0;不是主轴大径刀换小径刀。b）K10.6=1和R55.3=1;主轴大径刀换小径刀，第一次旋转到大径刀杯内的小径刀的位置换刀。R55.6=1和R55.2=1;第一次换刀后结束主轴已是小径刀，再旋转到T码小径刀具的位置。E213ftNOO33OH2L4SN00331K2152刀库就近旋转方向判断N00324A2073N00325G2086R00374RNO32_TOOLR0911BYTAWSONR00374DIR-HI32TOOLR9091.1PCSAW_OWR0037.4INC32_TOOLR00330R0037.4ACTCUP-ROTA32_TOOLR00377RNOII24TOOLR9091.1BYT*AWONR00377DIRTl24_TOOLR3091.1PO-dFAW_ONR0037.7INC24_TOOLR0033.0R0031,7ACTTlIICUP-ROTA24TOOLSUB60032ROTSUBgROTC0002D0O86T-STEPD0O880024C0002D0O86T-STEPD0O88RO038.3o32_CWRO0362-O24CW&fZC：M_R0037.6RNOA2099NOO327G2112SUB电002020_TOOLR9091.1BTAWSONR0037.6DIR20TOOLR9091.1POAWSONR0037.6INC20TOOLR0033.QR0037百ACTTlIICUP-ROTA2QTOOLR0037.&16TOOLRNOR9091.1BYTJFAWSONR0Q37.SDIR16TOOLR9091.1POROTC0002DOO06T-STEPD0088AWSONR9091.1R003,5TWCAWSON16TOOLR0033PQRO037.5ACTCUP-ROTA16TOOLCF1&百5015C0002nooseT-STEP0068AkJDvROTROOfl.1Q20CW4CCroo8.o-0-16CW&CCN0032aA2126R0038.0R0037=5R0033.1Q-0CW；=1CUP-CiCCCCW(CUPR0038,1R0037.6IIII20_CWiCC20TOOLWR0&3E.2R0037.7IIII24_CWiCC24_TOOLViR0037.4TlII22_CW32_TO0LW自动模式下，R32.7=1时，寻找的刀具到位，旋转停止。手动模式下，按一次键（X29.0或X29.1），刀库旋转一个刀杯位置停止。K11.4和K11.5是在旋转未到位的情况下信号保持。如果旋转未到位时发生停电等故障再重开机后，此信号保持并给予报警，同时指示灯（Y25.0或Y25.1）闪烁。按相应键（X29.0或X29.1）使刀库旋转到位（X9.7=1）,故障恢复。N00332A2163R0000.2R0055.0R0013.1R0032.7|_|-|K_AUTO_MODROT_RUNCTFCtCCT-ON-POER0030.2K0011.5YOOOO.3MAGCWRELAYR0D00.3R0033.2G0046.3J0029.0X002.1TlII1HJMODEMAG-ENABKEY1Y00CMAG-CW0.3LER0033.5jr12OM.5-DLY00003X00097TlMAG-CWTLCOUNOOB33E2133R0000.2R0055.0ROOJ3.1R0032.7TlIIIIAUTO_MODROT_RUNCUP-CiCCT-ON-POSER0030.2KOO11,4YOOOOr4Tl0-CUP-UPFBTLCW-HDMG-CCWMAGCCWRELAY11IIJIummodeMAG-ENABKEY11HDCWHDIllr:cH4.JR0000.3R0033.2G0046,3JI0029.0X0D29r1YOOOOr4R0D33.5TIHfMG-CCW120MS-DLY0000.4X000&.7TlJHF-MG-CCWTLCOUN00324I2203N00335K2210N00336M2216N00337A2222Y0000.3MAG-CW00004MG-CCWYOOOO3MAG-CWKQ0114TLCW-HD00004MGCCWX0009.7ACTStTL_COUK0011.5TLCCW-HDXO0Q97HFTLCOUK00114TLCW-HDKOOil5X00097-HIiHHTLCCW-HDTL_COU0000.3口TTH=Annn7TMRBUUUJ0000000130R0033”QCW&CCW120MSDE120MS-DLKOO1140TLCWKEEPTLCW-HDKOO115QTLCCWKEEPTLCCW-HDY0025,0MAGCWLEDMAG-CHYOOOO.3KOO11.4R091.-HFIIIIMAG-CWTLCW-HD0,5HZPLN00338C2228YOOOO4Tl-MG-CCWY002510MAGCCWLEDT_CC-LY0000a4IkK0011兮ii-R9091.6ISTMG-CCWTLCCW-HD05SIZPL刀杯上动作:手动模式下，自动模式下，刀杯下动作：按次键（X29.0或X29.1），刀杯上后刀库再旋转。有刀库旋转信号R33.0-1时刀杯上。自动模式下，M6换刀指令到达和换刀过程中（R29.5=1）刀杯下并保持。机床停电不用时，刀杯有可能停在中间位置，此时给一个开机脉冲（R0.1）使刀杯向上（R29.6）。如果已在上下位置，也顺便给一个脉冲（R29.6或R27.7）保持原来状态。NOQ339E2234X0D09.7AaOOCI.7R003D.0GQQOB.4YOCOO.3YDOOQ.4A0Q00d5ROQ33+7iiA7ATCNDTL-CLMFB*EMGNCMAG-CWENMAGCUPUPtDOWNENABLEABLER00141IFMS-READYN00341I2251000106-CUP-UPR0000B3X0029a0GO046-3RO033.7GOOOB4R0029-5T1HtJMODEABLEX0029.1TinHDCCROOM.2RQ033.0AUTOMODCUP-ROTAR0029百KPCUPUPY0D01.0R0030.2R0045.01|CUP-UPCUP-UPFEUEiDWER1?MOO343A2272M1III”|AUTCFEHLUPEN-EMCT-Ol!II-POEABLERO0002R00341Y0022.0R0D33.7GD003.4R0032r7Y0001.10-CUP-DWR0029.5RO0297IIKPCUPDWN00340G2244Y0001.1R003G.SR0045.0CUP-DWFBUP&DWERRX0008.6X0008JROOOO.1TDHFCUP叮PCUPDWCUP-DWROQ29r6KEEPCUPUPPLSKPCUPUPN00342Nxoooe.eXOOOB=7RO000.1MF30IICUPUPCUPDWINI-PLSR0029.7KPCUPDWKEEPCUPDOWNPLSX0008.6X0008.7CUP(HFCUPUP四、简要介绍M6指令到达机械手换刀部分和故障恢复的PMC程序1换刀前准备Z轴已回换刀点，如未完成，产生操作异警ZAXISNOHOME程序中断。需更正程序，在M6前加G91G28Z0。刀具在换刀位置，如未完成M06等待刀库盘旋转到位。在执行M06换刀步骤过程中，Z轴自动锁定。M06执行结束，Z轴锁定自动取消。M06到达R15.3=1，用R34.1=1去执行刀杯向下和主轴定位。IR0015.3IIR0032,IXR0032,7IR0Q3O,4IIA0003.1IFA0003POITY0022.0IFR0034.1nIIM6T_CD=SP-POSIIARM-HMFBA2S_NO-TREADY4iA24_HO_TFDHL-LVM6-READYN00344E22BS-M6CUPDOWNPQRINT当R34.2=1时，自动换刀前准备完毕N00346J230411IIKIIIIM6-READYR00i4.21匚ZP3（，ORA!【CUP-1DWFBARM14iIIFINA13_ARM-*EMGHCMCR00S4.1FOO94.2F0045.7R0030.3R0055.1A0001.5G0006.4ARM-STARTROO34.20ARMRUNSTARTARM-START2、换刀步骤采用步进式编程，分为六步：1）刀臂旋转,抓将要交换的两把刀具；K10.0=12）主轴松刀和吹气；K10.仁1，K10.0=03）刀臂旋转180度,两把刀具交换；K10.2=1，K10.仁04）主轴停止抓刀和吹气；K10.3=1，K10.2=05）数据交换；K10.4=1，K10.3=06）刀臂旋转，回初始位置.K10.5=1,K10.4=0;当K10.5=0时，换刀结束。RUNN00352G2352RO034STPlr601N00351E2347KOOIO.OKSTEP!KEEPSTEP1eo-KSTEP1K5TEP2KO010.0KOOIO1R0034.2KOOIO,OR0D30.0R003Q-5TlARM-IXIDFBARM-STARTTlIIKSTEP!TL-CLMFBR0034,3YCOOO.5R0034,d*0STPl,SO1ARM-MTSTP2JUNCLAMPSTEP2HUNCLAMPTOOLRO034-4RO03O11tiTP2.UNiCTL-UNCFBLAMPR0036.0ROO36.2RO03O.1K0010-1MAG_RESTORE_KSTEP2Tl4MAGPLSTL-UNCF&K0010OR00300TL-CLMFBRGQ34.4RO03Ob1TlSTP2.UNCTL-UNCFBLAMPN00353L2376R00B4.4STP2JWCLAMPKO010.10KSTEP2KEEPSTEP2.UNCLAMPUKOOIO.1KOO1D.2KSTEPSKSTEP3机械手驱动NOD361A2&49RQ034,2ROO34.3R0010.0R0030.5K0010.1R0035.TlTP1#60FTL-CLMFBARM-MIDFK_GTEP2EARH-STARTYOOOO.SARMMTMOTORRUMR001.0TlMAG_RESTOREROO34.R0030.1K0010.1KOOIOB3IISTP3.lfiOTL-UNCFBK_STEP2K_GTEP4ROO3S.5R0030.0K0010.4ROO3O.4Tl1STP6.HOMTL-CLMFBKSTEP5ARM-HMFB松刀驱动N00379H2614R0000.3R0030-4XOOOO.lA0001G0008.4Y0000.6TOOLUNCLAMPRO034.2KOO100KOOlO.lIIKSTEP1KSTEP2IIARM-START0000J-fl-SP-AIRUNCLAMPTOOLAIRKOO1D1KOOIO.2T11KSTEP2KSTEP3R0D36.0MAG_RETOREYOOOD.6KOOIO.,3R00362TlMAG_PLKOD10r0K0010,1IHK_TEP1K_TEP2KOO10丄K0010.2K_STEP2K_STEP3YOOOO-6KOOIO.3IITL-UMCKSTEP4R29.5=1是换刀过程中，用此信号进行Z轴自动锁定。N00377A2E00R41.3=1,M6换刀结束信号N00378G2607RCOLS.3IIK0010,&IFR0C5.EIkRDD33”IIR0030.4IIR0029.irR0035.7IIM6PB-SMA4rB-STP2IITCD=SPIIARMHMFB4rKKEEPuMAG-FI1JLLN003&r*m1a匚R0035.7IIR0052.IIR0014.2IKR0041.3nIIMAG-FINIITCD=SP/rARM-STARuFIN4-MTDR0033.0IKROOJ2,7IKR0030-3RD036-1TlIIMAG_RESTCUP-DWFB361ORER003.0MAG_RETORER003.2X0029.QMAG_PLSROOJt,1361五、刀库部分的电机保护PMC程序和说明A1.7是刀库盘旋转马达的过电流继电器（X1.1）保护动作。A3.5刀库盘旋转时，相邻刀杯在2.5秒内未到位（没有记数脉冲）出现此异警。出现此异警时同时切断旋转马达输出点（Y0.4=0&Y0.5=0）,既马达停止供电。N0036M3025XOOO1.1ROTMCA0001-7-0AISMAG-ROTMCOVERLOADA15_ROT-N00451A31490000.3R0032.1NAfifcACTMG-COWSUB247MRB0024OOOOOOISOOACI0035oA29CARRA29CARROUSELUNITERRORA0003.SF00-01-1TlA29CARRRSTA1.5是刀臂旋转马达的过电流继电器（X1.2）保护动作。A3.6是换刀过程中当换刀臂旋转时，任何一步刀臂动作在2秒内未到位时出现此异警。出现此异警时切断刀臂旋转马达输出点（Y0.6=0）,既马达停止供电。N00434X0001.2AOD01.5K3021AllATC-ARMMCOVERLOADA13ARH-MC_R00343ACTSUB24TMRE0025厂STP1,601R0034EII000002000TPiHiaoR0035-5-ILIISTP6*HOMEA0003.5IIIFOO01a1UfARMMCH004523159A30AKMRSTA30ARM.A30MAG-ARMMOTORUNITERRC通过以上保护，几年来数百台机床运行以来，刀库部分电机无一烧毁。其余部分保护，只要可找到反馈信号，都可以参照编写。