YASKAWA MOTIONPACK-110 Owner's manual

I DESCRIPT,IVE INFORMATION

MOTIONPACK-110

YASKAWA MOTION CONTROLLER FOR FA/FMS

FOR UP TO 3-AXIS DRIVE

YASKAWA

CONTENTS

1. INTRODUCTION2

2. SYSTEM 6

2.1 GENERAL 6

2.2 SYSTEM CONFIGURATION AND SPECIFICATIONS 7

2.3 FUNCTIONS AND OPERATION OF MODULES 11

2.3.1 Operation of Motion Modules 11

2.3.2 Operation of Axis Modules 12

2.3.3 Operation of Micro PC Modules 14

2.3.4 Operation of CRT Control Station 15

2.4 GENERAL SPECIFICATIONS OF MODULES 15

3. FUNCTIONS 22

3.1 TYPES OF OPERATION MODES 22

3.1.1 Editing Mode (EDIT) 22

3.1.2 Memory Operation Mode (MEM) 23

3.1.3 Jogging Mode (JOG) 23

3.1.4 Step Operation Mode (STEP) 23

3.1.5 Rapid Traverse Motion Mode (RAPID) 23

3.1.6 Manual Feed Mode (HANDLE) 24

3.1.7 DNC Operation Mode (DNC) 24

3.1.8 MDI Operation Mode (MDI) 24

3.2 MANUAL RETURN TO REFERENCE POINT 24

3.3 FEEDRATE 26

3.3.1 Rapid Traverse Rate 26

3.3.2 Interpolation Feedrate Setting (F-FUNCTION) 27

3.4 FEEDRATE ACCELERATION/DECELERATION 29

3.4.1 Acceleration/Deceleration During Rapid Traverse and Jogging 29

3.4.2 Acceleration/Deceleration During Interpolation Feed 30

3.5 MEMORY OPERATION 30

3.5.1 Program Designation and Starting 30

3.5.2 Temporary Stop 31

3.5.3 Single-Block Operation 31

3.5.4 Machine Lock Operation 3I

3.5.5 Axis Omission 32

3.5.6 Optional Block Skip Function 32

3.5.7 Manual Interruption of Automatic Operation 32

3.5.8 Block Preread 32

3.6 DNC OPERATION 33

3.7 UNRESTRICTED LENGTH POSITIONING 33

3.8 POSITION CANCEL 33

3.9 POSITION MEMORY 34

3.10 MECHANICAL HANDLE 34

3.11 SPINDLE CONTROL FUNCTION

3.11.1 Normal Rotation, •Reverse Rotation, and Stop of Spindle 35

3,11.2 Spindle Gear Change 35

3.12 MDI OPERATION 36

3.12.1 Program Input in MDI Mode 36

3.12.2 Operation in MDI Mode 36

3.13 ADDRESS SEARCH FUNCTION 36

3.14 PARAMETER/PROGRAM PROTECT FUNCTION 37

3.15 ALARM CODE ouTPUT FUNCTION 38

4.PROGRAMMING 40

4.i INPUT FORMAT 40

4.1.1 Format List 40

Input

4.1.2 Address Characters 41

4.1.3 Decimal Point Programming 42

4.1.4 Decimal Point Movement 42

4.1.5 Program Number 44

4.1.6 Sequence Number 44

4.1.7 Optional Block Skip 44

4.2 G FUNCTION 45

4.2.1 List of G Codes 45

D 4.2.2 Positioning (G00) 47

4:2.3Error-Detect-Off Positioning (G06) 47

4.2.4 Linear Interpolation (G01) 48

4.2.5 Circular Interpolation (G02, G03) 48

4.2.6 Dwell (G04) 51

4.2.7 Offset Value Input (G10) 51

4.2.8 Plane Designation (G17, G18, G19) 53

4..2.9 Automatic Return-to-Reference Point (G28) 53

D 4.2.10 Skip Function (G31) 54

4.2.11 Position Offset in Z-Axis (G43, G44, G49) 55

4.2.12 Position Offset in X- and Y-Axes (G45 to G48) 57

4.2.13 Return-to-Machine Coordinate System (G53) 61

4.2.14 Notch Signal Commands A (G68, G69) 62

4.2.15 Notch signal Commands B (G66, G67) 63

4.2.16 Combined Operation Commands (G80 to G99) 65

4.2.17 Absolute/Incremental Command Designation (G90, G91) 74

4.2.18 Programming of Absolute Zero Point (G92) 75

4.3 EXTERNAL OFFSET COMMAND (INDIRECT SPECIFICATION) 76

4.4 SIGNAL OUTPUT COMMANDS 77

4.4.1 T-Functi0n 77

4.4.2 M-Function 78

D 4.4.3 M-Codes for Stop (MOO, M02, M30) 79

4.4.4 M-Codes for Internal Processing (M90 to M99) 80

4.4.5 Subprogram (M98, M99) 80

4.5 S FUNCTION 81

CONTENTS 'Cont'd)-

5. PARAMETERS 84

5.1 DESCRIPTION OF PARAMETERS 84

5.2 VARIETIES OF PARAMETERS 84

5.3 SYSTEM SPECIFICATION PARAMETERS 86

5.3.1 Setting Axis for Use (#1000) 86

5.3.2 Function Selection (#1001, #1002, #1003, #1005, #1006, #1009) 87

5.3.3 MF, SF, TF Signal Delay Time Setting (#1100) 90

5.4 SPECIAL PARAMETERS 90

5.4.1 Position Command Unit Setting (#1557, #1558, #1757, #1758, #1957, #1958) 90

5.5 MACHINE SPECIFICATION PARAMETERS 94

5.5.1 Max. Feedrate Setting at Manual Feed (#1101) 94

5.5.2 Interpolation Max. Feedrate Setting (#1102) 94

5.5.3 Jogging Feedrate Setting (#1104 to #1118) 94

5.5.4 Rapid Traverse Feedrate Setting (#1500, #1700, #1900) 95

5.5.5 Step Feed Displacement Distance Setting (#1122, #1123, #1124) 96

5.5.6 Software Limit Switch Function

(#1402, #1602, #1802, #1550, #1551, #1750, #1950, #1751, #1951) 96

5.5.7 Backlash Compensation Value Setting (#1405, #1605, #1805) 97

5.5.8 Pitch Error Compensation

(#1552, #1752, #1952, #1553, #1753, #1953, #1410 to #1473, #1610 to #1673, #1810 to #1873 97

5.5.9 Combined Operation Command (G83) Setting Data (#1202) 99

5.6 SERVO-RELATED PARAMETERS 99

5.6.1 Acceleration/Deceleration Constant

(#1407, #1607, #1807, #1501 to #1503, #1701 to #1703, #1901 to #1903) 99

5.6.2 Interpolation Feedrate Bias (#1475, #1675, #1875) 101

5.6.3 Feedrate Command Voltage Setting (#1408, #1608, #1808) 102

5.6.4 Position Loop Gain (#1474, #1674, #1874) 102

5.6.5 Servo Error Range (#1555, #1755, #1955) 103

5.6.6 Position Setting Range (#1406, #1606, #1806) 103

5.6.7 Drift Offset (#1401, #1601, #1801) 103

5.7 RETURN -TO-REFERENCE POINT 104

5.7.1 Direction of Return-to-Reference Point (#1403, #1603, #1803) 104

5.7.2 Return-to-Reference-Point Approach Feedrate Setting (#1504, #1704,#1904) 105

5.7.3 Return-to-Reference-Point Creep Feedrate Setting (#1505, #1705, #1905) 105

5.7.4 Return-to-Reference-Point Approach Distance (#1556, #1756, #1956) 105

5.7.5 Reference Point Area (#1125) 105

5.8 SPINDLE PARAMETER SETTING 106

5.8.1 Spindle Mode Setting (#2004) 106

5.8.2 Maximum Rotation Speed on Each Gear (#2150, #2151, #2152 106

5.9 NO-USING PARAMETER SETTING 106

6. I/0 ALLOCATIONS108

6.1 I/O SIGNAL TYPES AND ALLOCATION AREA 108

6.2 I/O SIGNAL FORMAT 112

6.3 CAUTIONS ON ALLOCATION 112

6.4 I/O SIGNAL DETERMINATION (PREPARATION FOR ALLOCATION 113

6.5 ALLOCATION METHOD 114

6.5.1 Allocation Operation (Use of Personal Computer) 115

6.5.2Explanation of Allocation Commands 115

,6.6 STANDARD ALLOCATION I17 " 7'

6.7 I/OALLOCATION ADDRESS LIST 122

7. OPERATION OF CRTCONTROL STATION128

7.1 CHARACTER DISPLAY AND KEYS 128

7.1.1 CRT Character Display 128

7.1.2 Function Keys 129

7.1.3 Address Keys 129

7.1.4 Data Keys 130

7.1.5 Next Key 130

7.1.6 Page Keys 131

7.1.7 Cursor Keys 131

7.1.8 Edit Keys 131

7.1.9 Memory Data Keys 132

7.1.10 Reset Key 132

7.2 DISPLAY AND WRITING OPERATION "' 133

7.2.1 General Display f33

7.2.2 Command Data Display 135

7.2.3 Display of Current Position Values 135

7.2.4 Display of Alarm Codes 737

7.2.5 Displaying State of I/0 Signals 738

7.2.6 Display of Registered Program Number 139

7.3 DISPLAYING AND WRITING PARAMETERS 739

7.4 DISPLAYING AND WRITING OFFSET DATA I4!

7.5 EDITING PROGRAMS 143

7.5.1 Program Register and Call 743

7.5.2 Insertion of Programs ]44

7.5.3 Altering Programs 144

7.5.4 Program Erase 745

7.5.5 Search Functions 145

8.PERSONAL COMPUTER 148

8.1 INTERFACE W_TI-t Motionpack-ll0 148

8.2 OPERATINGMETHOD WHEN USING PC-8201 IS1

8.3 DATA INPUT/OUTPUT BETWEEN CRT CONTROL STATION

AND PERSONAL COMPUTER 155

8.3.1 Input of Program from Personal Computer 756

8.3.2 Output of Program to Personal Computer I56

8.3.3 Collation of Program with File in Personal Computer 157

8.3.4 Input of Parameters from Personal Computer I57

8.3.5 Output of Parameters to Personal Computer 758

8.3.6 Input of Offset Data from Personal Computer 758

8.3.7 Output of Offset Data to Personal Computer 759

.CONTENTS.(Cont'd)

8.4 DIRECT TRANSMISSION BETWEEN MOTION MODULE

AND PERSONAL COMPUTER 160

8.4.1 Interface between Motion Module and Personal Computer 160

8.4.2 Commands 160

8.5 CREATING PROGRAMS 161

8.5.1 Input of Programs from CRT Control Station 161

8.5.2 Input of Programs from Personal Computer 161

8.5.3 Examples of Programs 161

9. INTERFACE BETWEENEQUIPMENT164

9.1 ITEMS RELATED TO POWER SUPPLY 165

9.1.1 Power-on Sequence 165

9.1.2 Control Power Units 165

9.2 INPUT/OUTPUT AT MACHINE SIDE 168

9.2.1 Rules for Input/Output Signals 168

9.2.2 Detail of Input Signals 171

9.2.3 Detail of Output Signals 181

9.3 CONNECTION BETWEEN MOTION MODULE AND CRT CONTROL STATION

AND PERSONAL COMPUTER 185

9.3.1 Connection between CRT Control Station and Motion Module 185

9.3.2 Connection between Personal Computer and Motion Module 186

9.3.3 Connection between DNC Personal Computer and Motion Module 188

9.4 CONNECTION BETWEEN MOTION MODULE AND AXIS MODULES 189

9.5 CONNECTION BETWEEN AXIS MODULES AND Servopack, TG AND PG 190

9.5.1 Connection between Axis Modules and Servopack 190

9.5.2 Connection between Axis Modules and TG and PG 191

9.6 CONNECTION BETWEEN AXIS MODULES AND SPINDLE DRIVES 193

9.7 CONNECTION BETWEEN MICRO PC MODULE

AND MOTION MODULE/PERSONAL COMPUTER 194

9.7.1 Connection between Micro PC Module and Motion Module .194

9.7.2 Connection between Micro PC Module and Personal Computer 195

9.8 CONNECTION BETWEEN MANUAL PULSE GENERATOR AND MOTION MODULE 196

9.9 CONNECTOR TERMINAL NUMBER AND SIGNAL NAMES 197

9.9.1 Motion Module, Type JEFMC-C02 [] 197

9.9.2 Axis Module, Type JEFMC-B011 199

9.9.3 CRT Control Station, Type JEFMC-H011 199

9.9.4 Micro PC Module, Type JEFMC-Bll0 200

9.10 SIGNAL CABLES 202

9.10.1 List of Cables 202

9.10.2 Cable Specifications 203

9.10.3 ConnectOr204

9.11 WIRING PRECAUTIONS 205

9.11.1 Prevention of Interference between Wires 205

9.11.2 Insertion of Surge Suppressors into Coils 206

9.11.3 Use of Insulating Transformers and Line Filters 206

9.11.4 Grounding Method 206

9.11.5 Power Supply of 5 VDC 207

10. SETTINGS AND INDICATIONS FOR MODULES 210

10.1 MOTION MODULE SYSTEM SETTING 210

10.2 INDICATIONS FOR MOTION MODULES 210

10.2.1 Indications of Input Signal Monitor 210

10.2.2 Status Indications 211

10.3 AXIS MODULE ADDRESSING (AXIS SETTING) 212

10.4 INDICATIONS FOR AXIS MODULES 213

10.5 MICRO PC MODULE ADDRESSING 213

10.6 INDICATIONS FOR MICRO PC MODULES 214

10.6.1 Indications of Input Signal Monitor 214

10.6.2 Status Indications 216

11.TEST RUN218

11.1 TEST RUN METHOD 218

11.1.1 Wiring Check 218

11.1.2 Power-on Check 218

11.1.3 Voltage Check 219

11.1.4 Input Signal Check 219

11.1.5 Input/Output Diagnosis Number List 220

11.1.6 Setting Parameters 225

11.1.7 Manual operation and Confirmation of Moving Direction 227

11.1.8 Confirmation of Stroke Limit 228

11.1.9 Confirmation of Return-to-Reference Point Operation 229

11.1.10 Confirmation of Memory Operation 230

11.2 ADJUSTMENT METHOD 231

11.2.1 Adjustment of Reference Point 231

11.2.2 Adjustment of Position Loop Gain (value of Kp) 232

12. APPLICATIONS234

12.1 SELECTION OF SERVOMOTOR AND Servopack 234

12.1.1 Confirmation of Machine Specifications 234

12.1.2 Selection of Servomotors 234

12.1.3 Examination of Servo Performances 236

12.1.4 Selection of Detector 237

12.1.5 Selection of Servomotor Type and ServopackType 238

12.2 APPLICATION CIRCUITS 239

APPENDIX-1 LIST OF ALARM CODES 250

APPENDIX-2 LIST OF SERVOMOTORS 255

APPENDIX-3 LIST OF Servopack UNITS 258

APPENDIX:-4 LIST OF Motionpack-110 261

VII

INDEX

Subject ..... Section No. .Page

. . . • . ..

A Absolute/Incremental Command Designation (G90, G91) ..................... 4.2.17 ............... 74

Acceleration/Deceleration Constant

(#1407, #1607, #1807, #1501to#1503, #1701to#1703, #1901 to #1903) ...... 5.6.1 •.............. 99

Acceleration/Deceleration During Interpolation Feed ........................... 3.4.2 ............... 30

Acceleration/Deceleration During Rapid Traverse and Jogging ............ 3.4.1 ............... 29

Address Characters .......................................... :................................ 4.1.2 ......... :..... 42

AddressKeys 7.1.3 129

ADDRESS SEARCH FUNCTION ...................................................... 3.13 ............... 36

ADJUSTMENT METHOD .................................................................. 11.2 ............... 231

Adjustment of Position Loop Gain (value of Kp) 11.2.2 ............... 232

Adjustment of Reference Point 11.2.1 ............... 231

ALARM CODE OUTPUT FUNCTION ................................................ 3.15 ............... 38

ALLOCATION METHOD .... _............................................................. 6.5 ............... 114

Allocation Operation (Use of Personal Computer) .............................. 6.5.1 ............... 115

Altering Programs ........................................................................... 7.5.3 ............... 144

APPLICATION CIRCUITS ...................................... ......................... 12.2 ............... 239

APPLICATIONS .............................................................................. 12 .................. 234

Automatic Return-to-Reference Point (G28) ....................................... 4.2.9 ............... 53

AXIS MODULE ADDRESSING (AXIS SETTING) .............................. 10.3 ............... 212

Axis Module, Type JEFMC-B011 ......................................................... 9.9.2 ............... 199 /

Axis Omission .................................................................................... 3.5.5 ............... 32

B Backlash Compensation Value Setting (#1405, #1605, #1805) .................. 5.5.7 ............... 97

Block Preread .......................................... 3.5.8 ............... 32

C Cable Specifications ........................................................................... 9.10.2 ............... 203

CAUTIONS ON ALLOCATION .......... _.............................................. 6.3 ............... 112

CHARACTER DISPLAY AND KEYS ................................................ 7.1 ............... 128

Circular Interpolation (G02, G03) 4.2.5 ............... 48

Collation of Program with File in Personal Computer ........................ 8.3.3 ............... 157

Combined Operation Command (G83) Setting Data (#1202) .............. .... 5.5.9 ............... 99

Combined Operation Commands (G80 to G99) .................................... 4.2.16 ............... 65

Command Data Display ..................................................................... 7.2.2 ............... 135

Commands ....................................................................................... 8.4.2 ............... 160

Confirmation of Machine Specifications ............................................. 12.1.1 ............... 234

Confirmation of Memory Operation ................................................... 11.1.10 ............... 230

Confirmation of Return-to-Reference Point Operation ........................ 11.1.9 ............... 229

Confirmation of Stroke Limit ............................................................ 11.1.8 ............... 228

Connection between Axis Modules and Servopack ................................. 9.5.1 ............... 190

CONNECTION BETWEEN AXIS MODULES AND

Servopack, TG AND PG ....................................................................... 9.5 .................. 190

CONNECTION BETWEEN AXIS MODULES AND

SPINDLE DRIVES ........................................................................... 9.6 .................. 193

Connection between Axis Modules and TG and PG .............................. 9.5.2 ............... 191

Connection between CRT Control Station and Motion Module ............... 9.3.1 ............... 185

VIK

7: = " "

,Subject ' Section No.' " Page

Connection between DNCPersonal Computer and Motion Module _....... " 9.3.3': .......... '":_188

CONNECTION BETWEEN MANUAL PULSE GENERATOR AND .....

MOTION MODULE ........................................................................ ".... 9.8 " 196

Connection between Micro PCModule and Motion Module ......... :-.. .... 9.7.1"194

CONNECTION BETWEEN MICRO PC MODULE AND .....

MOTION MODULE/PERSONAL COMPUTER ................................. _"" 9. 7 -'"': ...... "'194

Connection between Micro PC Module and Personal Computer ............ 9.7.2 ............... 195

CONNECTION BETWEEN MOTION MODULE AND "

AXIS MODULES .............................................................................. 9.4 ................ 189

CONNECTION BETWEEN MOTION MODULE AND

CRT CONTROL STATION AND PERSONAL COMPUTER ................ 9. 3 , ":.......... :'" 185

Connection between Personal Computer and Motion Module ............... 9. 3. 2 ............... 186

Connector .......................................................................................... 9. 1O.3 ............... 204

CONNECTOR TERMINAL NUMBER AND SIGNAL NAMES ............ 9.9 ........... :"" 197

Control Power Units ........................................................................... 9. 1.2 .......... •..... 165

CRT Character Display ..................................................................... 7. 1.1 --': ....... --'- 128

CREATING PROGRAMS 8.5 "'".............161

CRT Control Station, Type JEFMC-H011 ............................................. 9. 9.3 ............... 199

Cursor Keys ........... ......................................................................... 7. I, 7 ..... ":"'."."" 131

D DATA INPUT/OUTPUT BETWEEN CRT CONTROL STATION

AND PERSONAL COMPUTER ....................... .............. :.................. 8.3 ............... 155

Data Keys ....................................................................................... 7. 1.4 ...... ""_":" 130

Decimal Point Movement .................................................................. 4.1.4 ............... 42

Decimal Point Programming ............................................................ 4. 1.3 ............... 42

DESCRIPTION OF PARAMETERS ................................................... 5. 1 ............... 84

Detail of Input Signals .................................................................. ...... 9.2.2 ............... 171

Detail of Output Signals ..................................................................... 9.2.3 .... "- ......... 181

DIRECT TRANSMISSION BETWEEN MOTION MODULE•

AND PERSONAL COMPUTER ......................................................... 8. 4 ............... 160

Direction of Return-to-Reference Point ' (#1403, #1603, #1803) ............... 5.7. 1 ............... 104

DISPLAY AND WRITING OPERATION ..................................... _.... 7.2 ............... 133

DisPlay of Alarm Codes ........................... _......................................... 7. 2.4 ............... 137

Display of Current Position Values .................................................... 7.2.3 ............... 135

Display of Registered Program Number ............................................. 7.2.6 ............... 139

DISPLAYING AND WRITINGOFFSET DATA ................................. 7. 4 ............... 141

DISPLAYING AND WRITING PARAMETERS .................. ............... 7.3 ...... ......... .139

Displaying State of I/O Signals ......................................................... 7.2.5 ............... 138

DNC OPERATION ........................................................................... 3.6 ............... 33

DNC Operation Mode (DNC) ............................................................ 3. 1.7 ............... 24

Drift Offset (#1401, #1601, #1801) ...................................................... 5. 6. 7 ............... 103

Dwell (G04) ...................................... •................................................ 4.2. 6 ............... 51

E Edit Keys .......................................................................................... 7.1.8 ............... 131

EditingMode(EDIT) 3.1.1 ............... 22

EDITING PROGRAMS ..................................................................... 7.5 ...... ......... 143

INDEX (Cont'd)

Subject Section No.Page

Error-Detect-Off Positioning(G06)................................................... 4.2.3 ............... 47

Examination of Servo Performances ................................................... 12.1.3 ................ 236

Examples of Programs ........................................................................ 8.5.3 ............... 161

Explanation of Allocation Commands ................................................ 6.5.2 ............. --115

ExternalDimensionsinmm ............................................................... 9.10.3.1 ............ 204

EXTERNAL OFFSET COMMAND (INDIRECT SPECIFICATION) ...... 4.3 ............... 76

FFEEDRATE ....................................................................................... 3.3 ............... 26

FEEDRATE ACCELERATION/DECELERATION .............................. 3.4 ............... 29

Feedrate Command Voltage Setting (#1408, #1608, #1808) ..................... 5.6.3 ............... 102

For DC Servomotor 12V Transistor Output PG 9.5.2.2 ............... 192

For DC Servomotor 5V Line Driver Output PG .................................... 9.5.2.1 ............... 191

For Setting Parameters on the CRT Control Station .............................. 11.1.6.1 ............ 225

For Setting Parameters on the Personal Computer .............................. 11.1.6.2 ............ 226

Function Keys .................................................................................... 7.1.2 ............... 129

Function Selection (#1001, #1002, #1003, #1005, #1006, #1009) ............... 5.3.2 ............... 87

FUNCTIONS ......................................................... -........................ ..... 3 .................. 22

FUNCTIONS AND OPERATION OF MODULES ................................. 2.3 ............... 11

GG FUNCTION .................................................................................... 4.2 ............... 45

GENERAL .......................................................................................... 2.1 ............... 6

General Display ......................................... ,....................................... 7.2.1 ............... 133

GENERAL SPECIFICATIONS OF MODULES .................................... 2.4 ............... 15

Grounding Method ........................................................................... 9.11.4 ............... 206

II/O ALLOCATION ADDRESS LIST ................................................... 6.7 ............... 122

I/O ALLOCATIONS ........................................................................ 6 .................. 106

I/O SIGNAL DETERMINATION

(PREPARATION FOR ALLOCATION) ............................................. 6.4 ............... 113

I/O SIGNAL FORMAT ..................................................................... 6.2 ............... 112

I/O SIGNAL TYPES AND ALLOCATION AREA ................................. 6.1 ............... 108

INDICATIONS FOR AXIS MODULES ................................................ 10.4 ............... 213

INDICATIONS FOR MICRO PC MODULES ....................................... 10.6 ............... 214

INDICATIONS FOR MOTION MODULES .......................................... 10.2 ............... 210

Indications of Input Signal Monitor 10.2.1 ............... 210

Indications of Input Signal Monitor ...................................................... 10.6.1 ............... 214

INPUT FORMAT .............................................................................. 4.1 ............... 40

Input Format List .............................................................................. 4.1.1 ............... 40

Input of Offset Data from Personal Computer ....................................... 8.3.6 ............... 158

Input of Parameters from Personal Computer ....................................... 8.3.4 ............... 157

Input of Program from Personal Computer .......................................... 8.3.1 ............... 156

Input of Programs from CRT Control Station ............ ........................... 8.5.1 ............... 161

Input of Programs from Personal Computer ....................................... 8.5.2 ............... 161

Input Signal Check .............................................................................. 11.1.4 ............... 219

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