YASKAWA MOTIONPACK-110 Owner's manual

I DESCRIPT,IVE INFORMATION
MOTIONPACK-110
YASKAWA MOTION CONTROLLER FOR FA/FMS
FOR UP TO 3-AXIS DRIVE
V
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
]I

3.11 SPINDLE CONTROL FUNCTION
34
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
IV

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
V

.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
VI

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
IX

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
X