fanuc 0i- B Operation Manual

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Page 1

GE Fanuc Automation

Computer Numerical Control Products

Series 0i-Model B Series 0i-Mate Model B

Connection Manual (Function)

GFZ-63833EN-1/02 August 28, 2002

Volume 1 of 2

Page 2

Warnings, Cautions, and Notes as Used in this Publication

Warning notices are used in this publication to emphasize that hazardous voltages, currents, temperatures, or other conditions that could cause personal injury exist in this equipment or may be associated with its use.

In situations where inattention could cause either personal injury or damage to equipment, a Warning notice is used.

Caution notices are used where equipment might be damaged if care is not taken.

GFL-001

Warning

Caution

Note

Notes merely call attention to information that is especially significant to understanding and operating the equipment.

This document is based on information available at the time of its publication. While efforts have been made to be accurate, the information contained herein does not purport to cover all details or variations in hardware or software, nor to provide for every possible contingency in connection with installation, operation, or maintenance. Features may be described herein which are not present in all hardware and software systems. GE Fanuc Automation assumes no obligation of notice to holders of this document with respect to changes subsequently made.

GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or usefulness of the information contained herein. No warranties of merchantability or fitness for purpose shall apply.

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Ȧ No part of this manual may be reproduced in any form. Ȧ All specifications and designs are subject to change without notice.

In this manual we have tried as much as possible to describe all the various matters. However , we cannot describe all the matters which must not be done, or which cannot be done, because there are so many possibilities. Therefore, matters which are not especially described as possible in this manual should be regarded as ”impossible”.

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B–63833EN–1/02

DEFINITION OF WARNING, CAUTION, AND NOTE

This manual includes safety precautions for protecting the user and preventing damage to the machine. Precautions are classified into W arning and Caution according to their bearing on safety. Also, supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly before attempting to use the machine.

WARNING

Applied when there is a danger of the user being injured or when there is a danger of both the user being injured and the equipment being damaged if the approved procedure is not observed.

CAUTION

Applied when there is a danger of the equipment being damaged, if the approved procedure is not observed.

NOTE

The Note is used to indicate supplementary information other than Warning and Caution.

` Read this manual carefully, and store it in a safe place.

s–1

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B–63833EN–1/02

PREFACE

This manual describes all the NC functions required to enable machine tool builders to design their CNC machine tools. The following items are explained for each function.

1. General

Describes feature of the function. Refer to Operator’s manual as requied.

2. Signals

Describes names, functions, output conditions and addresses of the signals required to realize a function.

3. Parameters

Describes parameters related with a function.

4. Alarms and messages

Lists the alarms and messages related with a function in a table.

5. Reference item

List the related items of the related manuals in a table.

A list of addresses of all signals and a list of signals are described in the appendix of this manual. Refer to it as required.

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PREFACE

B–63833EN–1/02

Applicable models

Signal description

The models covered by this manual, and their abbreviations are :

Model name Abbreviation

FANUC Series 0i–TB 0i–TB

Series 0i–B 0i

FANUC Series 0i–MB 0i–MB FANUC Series 0i Mate–TB 0i Mate–TB

Series 0i Mate–B 0i Mate

FANUC Series 0i Mate–MB 0i Mate–MB

NOTE

Some functions described in this manual may not be applied to some products. For details, refer to the DESCRIPTIONS manual (B–63832EN).

Relation of interface signals among the CNC, the PMC and the machine tool is shown below:

D Expression of signals

G000–

CNC PMC

F000–

X000–

Y000–

Machine tool

NOTE

For the signals, a single data number is assigned to 8 bits. Each bit has a different meaning.

One address accommodates eight signals.

Symbol (#0 to #7 indicates bit position)Address

#7 #6 #5 #4 #3 #2 #1 #0

OPF000 SA STL SPL RWD

In an item where both T series and M series are described, some signals are covered with shade ( ) in the signal address figure as shown below. This means either T series or M series does not have this signal. Upper part is for T series and lower part is for M series.

[Example 1]

Signal EXLM, ST is a common signal, STLK is for T series only and RLSOT and RVS are for M series only.

G007

EXLM

p–2

#2 ST

STLKRLSOT

RVS

T series M series

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B–63833EN–1/02

–128 to 127

In some parameters, signs are ig-

–32768 to 32767

–99999999 to

PREFACE

Parameter description

Parameters are classified by data type as follows :

Dta type Valid data range Remarks

Bit

0 or 1

Bit axis Byte Byte axis Word Word axis 2–word 2–word axis

–128 to 127 In some parameters, signs are ig- 0 to 255

–32768 to 32767 0 to 65535

–99999999 to 99999999

nored.

NOTE

1 For the bit type and bit axis type parameters, a single data

number is assigned to 8 bits. Each bit has a different meaning.

2 The axis type allows data to be set separately for each

control axis.

3 The valid data range for each data type indicates a general

range. The range varies according to the parameters. For the valid data range of a specific parameter, see the explanation of the parameter.

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PREFACE

D Notation of bit type and

bit axis type parameters

0000 SEQ INI ISO TVC

D Notation of parameters

other than bit type and bit axis type

1023 Servo axis number of a specific axis

B–63833EN–1/02

Data (#0 to #7 indicates bit position)Data No.

#7 #6 #5 #4 #3 #2 #1 #0

DataData No.

NOTE

In an item where both T series and M series are described, parameters having different meanings between the T series and M series and parameters that are valid only for the T or M series are indicated in two levels as shown below. Parameters left blank are unavaliable.

[Example 1]

5010

[Example 2]

3401

[Example 3]

1450

Parameter 5010 has different meanigs for the T series and M series.

T ool nose radius compensation . . .

Cutter compensation C . . .

T series M series

DPI is a parameter common to the M and T series, but GSB and GSC are parameters valid only for the T series.

GSC

GSB

DPI DPI

T series M series

The following parameter is provided only for the M series.

T series

F1 digit feed . . .

M series

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B–63833EN–1/02

PREFACE

Related manuals of

Series 0i–B/0i Mate–B

The following table lists the manuals related to Series 0i–B and 0i Mate–B. This manual is indicated by an asterisk(*).

Manual name

DESCRIPTIONS B–63832EN CONNECTION MANUAL (HARDWARE) B–63833EN CONNECTION MANUAL (FUNCTION) B–63833EN–1 * Series 0i–TB OPERATOR’S MANUAL B–63834EN Series 0i–MB OPERA T OR’S MANUAL B–63844EN Series 0i Mate–TB OPERATOR’S MANUAL B–63854EN Series 0i Mate–MB OPERA T OR’S MANUAL B–63864EN MAINTENANCE MANUAL B–63835EN P ARAMETER MANUAL B–63840EN Programming Macro Compiler/Macro Executor

PROGRAMMING MANUAL FANUC MACRO COMPILER

(For Personal Computer)PROGRAMMING MANUAL

Specification

number

B–61803E–1

B–66102E

PMC PMC Ladder Language PROGRAMMING MANUAL B–61863E PMC C Language PROGRAMMING MANUAL B–61863E–1 Network PROFIBUS–DP Board OPERA T OR’S MANUAL B–62924EN Ethernet Board/DA T A SERVER Board

OPERA T OR’S MANUAL FAST Ethernet Board/FAST DAT A SER VER

OPERA T OR’S MANUAL DeviceNet Board OPERA T OR’S MANUAL B–63404EN OPEN CNC FANUC OPEN CNC OPERATOR’S MANUAL

Basic Operation Package 1 (For Windows 95/NT) FANUC OPEN CNC OPERATOR’S MANUAL

(DNC Operation Management Package)

B–63354EN

B–63644EN

B–62994EN

B–63214EN

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PREFACE

B–63833EN–1/02

Related manuals of Servo Motor ai series

The following table lists the manuals related to Servo Motor ai series

Manual name

FANUC AC SER VO MOTOR ai series DESCRIPTIONS B–65262EN FANUC AC SER VO MOTOR ai series

P ARAMETER MANUAL FANUC AC SPINDLE MOT OR ai series

DESCRIPTIONS FANUC AC SPINDLE MOT OR ai series

P ARAMETER MANUAL FANUC SER VO AMPLIFIER ai series DESCRIPTIONS B–65282EN FANUC SER VO MOT OR ai series

MAINTENANCE MANUAL

Specification

number

B–65270EN

B–65272EN

B–65280EN

B–65285EN

Either of the following servo motors and the corresponding spindle can be connected to the CNC covered in this manual.

D FANUC SERVO MOTOR αi series This manual mainly assumes that the FANUC SER VO MOT OR αi series

of servo motor is used. For servo motor and spindle information, refer to the manuals for the servo motor and spindle that are actually connected.

Related manuals of Servo Motor b series

The following table lists the manuals related to Servo Motor b series

Manual name

FANUC SER VO MOT OR b series DESCRIPTIONS B–65232EN FANUC SER VO MOT OR b series

MAINTENANCE MANUAL FANUC SER VO MOT OR b series (I/O Link Option)

DESCRIPTIONS

Specification

number

B–65235EN

B–65245EN

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B–63833EN–1/02

Volume 1

DEFINITION OF WARNING, CAUTION, AND NOTE s–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PREFACE p–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. AXIS CONTROL 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 CONTROLLED AXES 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 SETTING EACH AXIS 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.1 Name of Axes 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2 Increment System 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.3 Specifying the Rotation Axis 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.4 Outputting the Movement State of an Axis 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.5 Mirror Image 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.6 Follow–up 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.7 Servo Off (Mechanical Handle) 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.8 Position Switch 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 ERROR COMPENSATION 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Stored Pitch Error Compensation 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Backlash Compensation 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 SETTINGS RELATED TO SERVO–CONTROLLED AXES 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.1 Parameters Related to Servo 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.2 Absolute Position Detection 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.3 FSSB Setting 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 SETTINGS RELATED WITH COORDINATE SYSTEMS 64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 Machine Coordinate System 64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.2 Workpiece Coordinate System/Addition of Workpiece Coordinate System Pair 66. . . . . . . . . . .

1.5.3 Rotary Axis Roll Over 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6 SIMPLE SYNCHRONOUS CONTROL 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7 ANGULAR AXIS CONTROL 90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. PREPARATIONS FOR OPERATION 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 EMERGENCY STOP 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 CNC READY SIGNAL 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 OVERTRAVEL CHECK 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.1 Overtravel Signal 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.2 Stored Stroke Check 1 102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.3 Stored Stroke Check 2, 3 109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.4 Chuck/Tailstock Barrier (T series) 117. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 ALARM SIGNAL 123. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 START LOCK/INTERLOCK 125. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 MODE SELECTION 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7 STATUS OUTPUT SIGNAL 139. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8 VRDY OFF ALARM IGNORE SIGNAL 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9 ABNORMAL LOAD DETECTION 143. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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TABLE OF CONTENTS

2.10 SERVO/SPINDLE MOTOR SPEED DETECTION 154. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B–63833EN–1/02

3. MANUAL OPERATION 159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 JOG FEED/INCREMENTAL FEED 160. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 MANUAL HANDLE FEED 168. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 MANUAL HANDLE INTERRUPTION 173. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4. REFERENCE POSITION ESTABLISHMENT 175. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 MANUAL REFERENCE POSITION RETURN 176. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 SETTING THE REFERENCE POSITION WITHOUT DOGS 188. . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 REFERENCE POSITION SHIFT 195. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 REFERENCE POSITION RETURN 198. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 2ND REFERENCE POSITION RETURN/3RD, 4TH REFERENCE POSITION RETURN 200. . . . .

4.6 BUTT–TYPE REFERENCE POSITION SETTING 203. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5. AUTOMATIC OPERATION 210. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 CYCLE START/FEED HOLD 211. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 RESET AND REWIND 216. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 TESTING A PROGRAM 221. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Machine Lock 221. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Dry Run 224. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.3 Single Block 227. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 MANUAL ABSOLUTE ON/OFF 230. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 OPTIONAL BLOCK SKIP/ADDITION OF OPTIONAL BLOCK SKIP 233. . . . . . . . . . . . . . . . . . . .

5.6 SEQUENCE NUMBER COMPARISON AND STOP 237. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7 PROGRAM RESTART 238. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8 EXACT STOP/EXACT STOP MODE/TAPPING MODE/CUTTING MODE (M SERIES) 241. . . . . .

5.9 DNC OPERATION 243. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10 MANUAL INTERVENTION AND RETURN 246. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.11 RETRACTION FOR RIGID TAPPING (M SERIES) 247. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6. INTERPOLATION FUNCTION 254. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 POSITIONING 255. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 LINEAR INTERPOLATION 257. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 CIRCULAR INTERPOLATION 260. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4 THREAD CUTTING 266. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.1 Thread Cutting 266. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.2 Thread Cutting Cycle Retract (T series) 273. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 SINGLE DIRECTION POSITIONING 275. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6 HELICAL INTERPOLATION 282. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7 POLAR COORDINATE INTERPOLATION 284. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.8 CYLINDRICAL INTERPOLATION 287. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.9 POLYGONAL TURNING (T SERIES) 290. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.9.1 Polygonal Turning 291. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.10 NORMAL DIRECTION CONTROL (M SERIES) 296. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.11 LINEAR INTERPOLATION (G28, G30, G53) 302. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

c–2

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B–63833EN–1/02

TABLE OF CONTENTS

7. FEEDRATE CONTROL/ACCELERATION AND DECELERATION CONTROL 304. . . . .

7.1 FEEDRATE CONTROL 305. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.1 Rapid Traverse Rate 305. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.2 Cutting Feedrate Clamp 308. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.3 Feed Per Minute 310. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.4 Feed Per Revolution/Manual Feed Per Revolution 313. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.5 F1-digit Feed (M series) 315. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.6 Override 318. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.6.1 Rapid traverse override 318. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.6.2 Feedrate override 321. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.6.3 Override cancel 323. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.7 Automatic Corner Override (M series) 324. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.8 External Deceleration 328. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.9 Feedrate Clamping by Arc Radius (M series) 330. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.10 Automatic Corner Deceleration 333. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.11 Advanced Preview Control 341. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.12 AI Advanced Control (M Series) 352. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 ACCELERATION/DECELERATION CONTROL 381. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1 Automatic Acceleration/Deceleration 381. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1.1 Automatic acceleration/deceleration 381. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1.2 Rapid traverse block overlap 385. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.2 Rapid Traverse Bell–shaped Acceleration/Deceleration 387. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.3 Linear Acceleration/Deceleration after Cutting Feed Interpolation 390. . . . . . . . . . . . . . . . . . . .

7.2.4 Corner Control 393. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.4.1 In–position check 393. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.4.2 In–position check independently of feed/rapid traverse 395. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.4.3 Error detect (T series) 397. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.5 Feed Forward in Rapid Traverse 399. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8. AUXILIARY FUNCTION 400. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 MISCELLANEOUS FUNCTION/2ND AUXILIARY FUNCTION 401. . . . . . . . . . . . . . . . . . . . . . . . .

8.2 AUXILIARY FUNCTION LOCK 413. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3 MULTIPLE M COMMANDS IN A SINGLE BLOCK 415. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4 HIGH–SPEED M/S/T/B INTERFACE 419. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9. SPINDLE SPEED FUNCTION 423. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1 SPINDLE SPEED FUNCTION (S CODE OUTPUT) 424. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2 SPINDLE SERIAL OUTPUT/SPINDLE ANALOG OUTPUT 425. . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3 SPINDLE SPEED CONTROL 433. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4 CONSTANT SURFACE SPEED CONTROL 462. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.5 SPINDLE SPEED FLUCTUATION DETECTION 468. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.6 ACTUAL SPINDLE SPEED OUTPUT (T SERIES) 473. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.7 SPINDLE POSITIONING (T SERIES) 474. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.8 Cs CONTOUR CONTROL 495. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.9 MULTI–SPINDLE CONTROL 511. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10 RIGID TAPPING 525. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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9.10.1 General 525. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.2 Connection Among Spindle, Spindle Motor, and Position Coder 527. . . . . . . . . . . . . . . . . . . . . .

9.10.3 Rigid Tapping Specification 532. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.4 Display Data on the Diagnosis Screen 533. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.5 Command Format 537. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.6 Signal 541. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.6.1 Signals for the rigid tapping function 541. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.6.2 Signals related to S code output 542. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.6.3 Signals related to gear switching 543. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.6.4 Signals related to second spindle rigid tapping 545. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.6.5 Signal addresses 547. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.6.6 Notes on interface with the PMC 547. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.7 Timing Charts for Rigid Tapping Specification 550. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.7.1 When M29 is specified before G84 (G74) 551. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.7.2 M29 and G84 (G74) are specified in the same block 555. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.7.3 Specifying G84 (G74) for rigid tapping by parameters 559. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.7.4 Timing to cancel rigid tapping mode 563. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.8 Parameter 565. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.9 Alarm and Message 588. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.10 Notes 589. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.11 SPINDLE SYNCHRONOUS CONTROL 594. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.12 SPINDLE ORIENTATION 598. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.13 SPINDLE OUTPUT SWITCHING 601. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B–63833EN–1/02

Volume 2

10. TOOL FUNCTIONS 603. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1 TOOL FUNCTION 604. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2 TOOL COMPENSATION VALUE/T OOL COMPENSATION NUMBER/

TOOL COMPENSATION MEMORY 607. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.1 Tool Compensation Value/Tool Compensation Number/Tool Compensation Memory 607. . . . . .

10.3 TOOL LIFE MANAGEMENT 614. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.3.1 Tool life management 614. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.3.2 Tool Life Arrival Notice Signal (M Series) 623. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4 CUTTER COMPENSATION 624. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4.1 Cutter Compensation C (M Series) 624. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4.2 Tool Nose Radius Compensation (T Series) 629. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11. PROGRAM COMMAND 633. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.1 DECIMAL POINT PROGRAMMING/

POCKET CALCULATOR TYPE DECIMAL POINT PROGRAMMING 634. . . . . . . . . . . . . . . . . . . .

11.2 G CODE SYSTEM (T SERIES) 636. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.3 PROGRAM CONFIGURATION 642. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.4 INCH/METRIC CONVERSION 645. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.5 CUSTOM MACRO 649. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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11.5.1 Custom Macro 649. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.5.2 Interruption Type Custom Macro 659. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.6 CANNED CYCLE (M SERIES)/CANNED CYCLE FOR DRILLING (T SERIES) 663. . . . . . . . . . .

11.7 EXTERNAL MOTION FUNCTION (M SERIES) 674. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.8 CANNED CYCLE (T SERIES)/MULTIPLE REPETITIVE CANNED CYCLE (T SERIES) 676. . . .

11.9 INDEX TABLE INDEXING FUNCTION (M SERIES) 684. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.10 SCALING (M SERIES) 693. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.11 COORDINATE SYSTEM ROTATION 697. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.12 MACRO COMPILER/ EXECUTER 700. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.13 SMALL HOLE PECK DRILLING CYCLE (M SERIES) 701. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TABLE OF CONTENTS

12. DISPLAY/SET/EDIT 708. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1 DISPLAY/SET 709. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.1 Clock Function 709. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.2 Displaying Operation History 710. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.3 Help Function 715. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.4 Displaying Alarm History 716. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.5 Servo Tuning Screen 717. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.6 Spindle Setting and Tuning Screen 717. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.7 Waveform Diagnosis Display 718. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.8 Self–diagnosis 720. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.9 Display of Hardware and Software Configuration 721. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.10 Position Display Neglect 722. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.11 Run Hour and Parts Count Display 723. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.12 Graphic Display/Dynamic Graphic Display 729. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.13 Displaying Operating Monitor 735. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.14 Software Operator ’s Panel 737. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.15 Multi–language Display 747. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.16 Remote Diagnosis 748. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.17 External Operator Message Logging and Display 750. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.18 Erase Screen Display/Automatic Erase Screen Display 751. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.19 Touch Panel 754. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.20 Periodic Maintenance Screen 758. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.21 Actual Speed Display 767. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1.22 Other Functions 768. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2 EDIT 769. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2.1 Part Program Storage Length 769. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2.2 No. of Registered Programs 770. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2.3 Memory Protection Key 770. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2.4 Password Function 772. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2.5 Background Editing 774. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2.6 Playback 775. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2.7 Conversational Programming with Graphic Function 776. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13. INPUT/OUTPUT OF DATA 777. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.1 READER/PUNCHER INTERFACE 778. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2 DNC2 INTERFACE 789. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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13.3 EXTERNAL I/O DEVICE CONTROL 790. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.4 EXTERNAL PROGRAM INPUT 797. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.5 DATA INPUT/OUTPUT FUNCTIONS BASED ON THE I/O Link 802. . . . . . . . . . . . . . . . . . . . . . . .

B–63833EN–1/02

14. MEASUREMENT 827. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.1 TOOL LENGTH MEASUREMENT (M SERIES) 828. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.2 AUTOMATIC TOOL LENGTH MEASUREMENT (M SERIES)/

AUTOMATIC TOOL OFFSET (T SERIES) 829. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.3 SKIP FUNCTION 836. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.3.1 Skip Function 836. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.3.2 High–speed Skip Signal 839. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.3.3 Multi–step Skip 842. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.3.4 Torque Limit Skip 847. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.4 ENTERING COMPENSATION VALUES 850. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.4.1 Input of Offset Value Measured A (T series) 850. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.4.2 Input of Tool Offset Value Measured B (T series) 852. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.4.3 Input of Measured Workpiece Origin Offsets 871. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15. PMC CONTROL FUNCTION 872. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.1 PMC AXIS CONTROL 873. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.1.1 PMC Axis Control 873. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.1.2 PMC Axis Control Expansion 920. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.2 EXTERNAL DATA INPUT 925. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.3 EXTERNAL WORKPIECE NUMBER SEARCH 937. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.3.1 External Workpiece Number Search 937. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.3.2 Expanded External Workpiece Number Search 940. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.4 SPINDLE OUTPUT CONTROL BY THE PMC 942. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.5 EXTERNAL KEY INPUT 949. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.6 DIRECT OPERATION BY PMC OR OPEN CNC 955. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.6.1 DNC Operation by the PMC or OPEN CNC (PC with HSSB Connection) 955. . . . . . . . . . . . . . .

16. INTERFACE WITH THE POWER MATE CNC 956. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16.1 FANUC SERVO MOTOR b SERIES I/O LINK OPTION

MANUAL HANDLE INTERFACE (PERIPHERAL DEVICE CONTROL) 957. . . . . . . . . . . . . . . . . .

17. PCMCIA ETHERNET FUNCTION 961. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.1 PCMCIA ETHERNET 962. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.2 SETTING THE PCMCIA ETHERNET FUNCTION 963. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.2.1 Ethernet Parameter Setting Screen 963. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.2.2 Communication Parameter Input Method 966. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.3 PCMCIA ETHERNET ERROR MESSAGE SCREEN 968. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.4 PCMCIA ETHERNET MAINTENANCE SCREEN 970. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.5 TROUBLESHOOTING 975. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.5.1 Check Items Related to Connection 975. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.5.2 Checking the Setting of Each Parameter 975. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.5.3 Checking Communication 976. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

c–6

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17.6 ERROR MESSAGES 979. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.6.1 EMB_ETH MASTER CTRL LOG Screen 979. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.6.2 EMB_ETH FOCAS1/ETHER LOG Screen 980. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.7 GLOSSARY FOR ETHERNET 981. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TABLE OF CONTENTS

APPENDIX

A. INTERFACE BETWEEN CNC AND PMC 985. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 LIST OF ADDRESSES 986. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.1 Series 0i/0i Mate Address List 986. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 SIGNAL SUMMARY 1014. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.1 Signal Summary (In Order of Functions) 1014. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.2 List of Signals (In Order of Symbols) 1030. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.3 List of Signals (In Order of Addresses) 1045. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

c–7

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1. AXIS CONTROL

AXIS CONTROL

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1. AXIS CONTROL

1.1

CONTROLLED AXES

General

B–63833EN–1/02

Series 0i–B

Series 0i Mate–B

Item M series T series

Controlled path 1 path 1 path Controlled axes 4 axes 2 axes Simultaneously

controlled axes Axis control by PMC Max. simultaneous 4

Cs contouring control 1 axis 1 axis

Item M series T series

Controlled path 1 path 1 path Controlled axes 3 axes 2 axes Simultaneously

controlled axes Axis control by PMC – – Cs contouring control – –

Max. 4 axes Max. 4 axes

Max. simultaneous 4

axes (Not available on

Cs axis)

Max. 3 axes Max. 2 axes

axes (Not available on

Cs axis)

Parameter

1010 Number of CNC–controlled axes

NOTE

After setting this parameter, turn the power of f then on again so that the setting will take effect.

[Data type] Byte

[Valid data range] 1, 2, 3, ..., the number of controlled axes

Set the maximum number of axes that can be controlled by the CNC.

[Example] Suppose that the first axis is the X axis, and the second and subsequent

axes are the Y, Z, and A axes in that order, and that they are controlled as follows:

X, Y, and Z axes: Controlled by the CNC and PMC A axis: Controlled by the PMC (cannot be controlled directly by the CNC)

Then set this parameter to 3 (total 3: X, Y, and Z)

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B–63833EN–1/02

Alarm and message

1. AXIS CONTROL

Number Message Description

Reference item

Series 0i–B

Series 0i Mate–B

015

TOO MANY AXES COMMANDED

OPERATOR’S MANUAL (M series) (B–63844EN)

OPERATOR’S MANUAL (T series) (B–63834EN)

OPERATOR’S MANUAL (M series) (B–63864EN)

OPERATOR’S MANUAL (T series) (B–63854EN)

The number of the commanded axes

(M series)

(T series)

exceeded that of simultaneously controlled axes. Correct the program.

An attempt was made to move the machine along the axes, but the number of the axes exceeded the specified number of axes controlled simultaneously. Alternatively, in a block where the skip function activated by the torque–limit reached signal (G31 P99/P98) was specified, either moving the machine along an axis was not specified, or moving the machine along multiple axes was specified. Specify movement only along one axis.

II.2.1 Controlled Axes

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1. AXIS CONTROL

1.2

SETTING EACH AXIS

1.2.1

Name of Axes

B–63833EN–1/02

General

Parameter

Each axis that is controlled by the CNC (including those controlled by the PMC) must be named. Select and set names from among X, Y, Z, A, B, C, U, V, and W (with parameter 1020). The names of the basic axes, however, are fixed (X, Y, and Z for the M series and X and Z for the T series). The names of additional axes can be selected, as desired, from the names other than those for the basic axes. The same name cannot be assigned to more than one axis.

1020 Name of the axis used for programming for each axis

[Data type] Byte axis

Set the name of the program axis for each control axis, with one of the values listed in the following table:

Axis

name

Setting Axis

name

X 88 U 85 A 65 E 69 Y 89 V 86 B 66 Z 90 W 87 C 67

Setting Axis

name

Setting Axis

Setting

name

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B–63833EN–1/02

1. AXIS CONTROL

NOTE

1 With the T series, when G code system A is used, neither

U, V , nor W can be used as an axis name. Only when G code system B or C is used, U, V, and W can be used as axis names.

2 The same axis name cannot be assigned to more then one

axis.

3 When the secondary auxilliary function (option) is provided,

the address used by the secondary auxilliary function (address B with the T series or, with the M series, the address specified in parameter No.3460) cannot be used as an axis name.

4 With the T series, when address C or A is used for direct

drawing dimension programming (when the CCR parameter (bit 4 of parameter No.3405) is set to 1), addresses C or A cannot be used as an axis name.

5 Only with the T series, address E can be used as an axis

name. Address E cannot be used with the M series. When address E is used as an axis name, note the following: – When G code system A is used, address E is always

assigned to an absolute command.

– When an equal–lead threading command (G32) is

issued in the FS10/11 tape format. Use address F to specify the thread lead.

Reference item

Series 0i–B

Series 0i Mate–B

OPERATOR’S MANUAL (M series) (B–63844EN)

OPERATOR’S MANUAL (T series) (B–63834EN)

OPERATOR’S MANUAL (M series) (B–63864EN)

OPERATOR’S MANUAL (T series) (B–63854EN)

II.2.2 NAMES OF AXES

Page 25

1. AXIS CONTROL

machine

1.2.2

Increment System

B–63833EN–1/02

General

The increment system consists of the least input increment (for input ) and least command increment (for output). The least input increment is the least increment for programming the travel distance. The least command increment is the least increment for moving the tool on the machine. Both increments are represented in mm, inches, or degrees. The increment system is classified as either IS–B or IS–C (Tables 1.2.2(a) and 1.2.2 (b)). Select IS–B or IS–C using bit 1 (ISC) of parameter 1004.

Table 1.2.2 (a) Increment system IS–B

Least input increment Least command increment

Metric mm 0.001mm(Diameter) 0.0005mm system machine

Inch mm 0.001mm(Diameter) 0.00005inch system machine

input

inch 0.0001inch(Diameter) 0.0005mm input

input

inch 0.0001inch(Diameter) 0.00005inch input

0.001mm(Radius) 0.001mm

0.001deg 0.001deg

0.0001inch(Radius) 0.001mm

0.001deg 0.001deg

0.001mm(Radius) 0.0001inch

0.001deg 0.001deg

0.0001inch(Radius) 0.0001inch

0.001deg 0.001deg

Table 1.2.2 (b) Increment system IS–C

Least input increment Least command increment

Metric mm 0.0001mm(Diameter) 0.00005mm system machine

Inch mm 0.0001mm(Diameter) 0.000005inch system machine

input

inch 0.00001inch(Diameter) 0.00005mm input

input

inch 0.00001inch(Diameter) 0.000005inch input

0.0001mm(Radius) 0.0001mm

0.0001deg 0.0001deg

0.00001inch(Radius) 0.0001mm

0.0001deg 0.0001deg

0.0001mm(Radius) 0.00001inch

0.0001deg 0.0001deg

0.00001inch(Radius) 0.00001inch

0.0001deg 0.0001deg

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B–63833EN–1/02

Parameter

1. AXIS CONTROL

NOTE

Diameter programming is used only for T series. Diameter programming or radius programming is determined by parameter DIAx (No. 1006#3) for each axis. Also, parameter IPR (No. 1004#7) can make the least input increment of IS–B and IS–C ten times the least command increment on each axis.

#7 #6 #5 #4 #3 #2 #1 #0

0000 INI

The following parameter can be set at “Setting screen”.

[Data type] Bit

INI Unit of input

0 : In mm 1 : In inches

#7 #6 #5 #4 #3 #2 #1 #0

1001 INM

NOTE

When this parameter is set, the power must be turned off before operation is continued.

[Data type] Bit

INM Least command increment on the linear axis

0 : In mm (metric system machine) 1 : In inches (inch system machine)

#7 #6 #5 #4 #3 #2 #1 #0

IPR1004 IPR

ISC ISC ISA

NOTE

After setting this parameter, turn the power of f then on again so that the setting will take effect.

[Data type] Bit

ISA, ISC The least input increment and least command increment are set.

ISC ISA Least input increment and

least command increment

0 0 0.001mm, 0.001deg, or 0.0001inch IS-B

0 1 0.01mm, 0.01deg, or 0.001inch IS-A

1 0 0.0001mm, 0.0001deg, or 0.00001inch IS-C

Symbol

Page 27

1. AXIS CONTROL

B–63833EN–1/02

NOTE

IS–A is not available.

IPR Whether the least input increment for each axis is set to a value 10 times as

large as the least command increment is specified, in increment systems of IS–B and IS–C, mm input.

0 : The least input increment is not set to a value 10 times as large as the

least command increment.

1 : The least input increment is set to a value 10 times as large as the least

command increment.

If IPR is set to 1, the least input increment is set as follows:

Input increment Least input increment

IS-B 0.01 mm, 0.01 deg, or 0.0001 inch

IS-C 0.001 mm, 0.001 deg, or 0.00001 inch

NOTE

For IS–A, the least input increment cannot be set to a value 10 times as large as the least command increment. When inch of input is specified, the least input increment does not become 10 times as large as the least command increment.

Reference item

#7 #6 #5 #4 #3 #2 #1 #0

1006 DIAx

NOTE

When this parameter is changed, turn off the power before continuing operation.

[Data type] Bit axis

DIAx Either a diameter or radius is set to be used for specifying the amount of

travel on each axis. 0 : Radius

1 : Diameter

OPERATOR’S MANUAL (M series) (B–63844EN)

Series 0i–B

OPERATOR’S MANUAL (T series) (B–63834EN)

OPERATOR’S MANUAL (M series) (B–63864EN)

Series 0i Mate–B

OPERATOR’S MANUAL (T series) (B–63854EN)

II.2.3 Increment System

Page 28

B–63833EN–1/02

1.2.3

Specifying the Rotation Axis

1. AXIS CONTROL

General

Parameter

Bit 0 (ROTx) of parameter 1006 can be used to set each axis to a linear axis or rotation axis. Bit 1 (ROSx) of parameter 1006 can be used to select the rotation axis type, A or B, for each axis. See the explanation of the parameters for details of types A and B. When the roll over function is used, the values displayed for absolute coordinates are rounded by the shift amount per rotation, as set in parameter No. 1260. This can prevent coordinates for the rotation axis from overflowing. Displayed values for relative coordinates are also rounded by the angle corresponding to one rotation when bit 2 (RRLx) of parameter No. 1008 is set to 1. The roll–over function is enabled by setting bit 0 (ROAx) of parameter 1008 to 1. For an absolute command, the coordinates after the tool has moved are values rounded by the angle corresponding to one rotation set in parameter No. 1260. The tool moves in the direction in which the final coordinates are closest when bit 1 of parameter No. 1008 is set to 0. For an incremental command, the tool moves the angle specified in the command.

#7 #6 #5 #4 #3 #2 #1 #0

1006 ROSx ROTx

NOTE

After setting this parameter, turn the power of f then on again so that the setting will take effect.

[Data type] Bit axis

ROTx, ROSx Setting linear or rotation axis.

ROSx ROTx Meaning

0 0 Linear axis

(1) Inch/metric conversion is done. (2) All coordinate values are linear axis type.

(Not rounded in 0 to 360°)

(3) Stored pitch error compensation is linear axis type

(Refer to parameter No. 3624)

0 1 Rotation axis (A type)

(1) Inch/metric conversion is not done. (2) Machine coordinate values are rounded in 0 to 360_. Ab-

solute coordinate values and relative coordinate values are rounded or not rounded by parameter No. 1008#0 and #2.

(3) Stored pitch error compensation is the rotation type. (Re-

fer to parameter No. 3624)

(4) Automatic reference position return (G28, G30) is done in

the reference position return direction and the move amount does not exceed one rotation.

Page 29

1. AXIS CONTROL

B–63833EN–1/02

ROSx MeaningROTx

1 0 Setting is invalid (unused) 1 1 Rotation axis (B type)

(1) Inch/metric conversion is not done. (2) Machine coordinate values, absolute coordinate values

and relative coordinate values are linear axis type. (Is not rounded in 0 to 360_)

(3) Stored pitch error compensation is linear axis type (Refer

to parameter No. 3624)

(4) The rotation axis roll over function and index table index-

ing function (M series) cannot be used.

#7 #6 #5 #4 #3 #2 #1 #0

1008 RRLx RABx ROAx

NOTE

After setting this parameter, turn the power of f then on again so that the setting will take effect.

[Data type] Bit axis

ROAx The roll–over function of a rotation axis is

0 : Invalid 1 : Valid

NOTE

ROAx specifies the function only for a rotation axis (for which ROTx, #0 of parameter No. 1006, is set to 1)

RABx In the absolute commands, the axis rotates in the direction

0 : In which the distance to the target is shorter. 1 : Specified by the sign of command value.

NOTE

RABx is valid only when ROAx is 1.

RRLx Relative coordinates are

0 : Not rounded by the amount of the shift per one rotation 1 : Rounded by the amount of the shift per one rotation

NOTE

1 RRLx is valid only when ROAx is 1. 2 Assign the amount of the shift per one rotation in parameter

No. 1260.

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B–63833EN–1/02

1. AXIS CONTROL

1260 Amount of a shift per one rotation of a rotation axis

NOTE

1 After setting the parameter, turn off the power once and turn

it on again to operate the machine.

2 This parameter is valid only when ROAx = 1.

[Data type] Two–word axis

[Valid data range] 1000 to 9999999

Note

Reference item

[Unit of data]

Series 0i–B

Increment system Unit of data Standard value Unit

IS–A 0.01 36000 IS–B 0.001 360000 IS–C 0.0001 3600000

deg

Set the amount of a shift per one rotation of a rotation axis.

NOTE

Rotary axis roll–over function cannot be used together with the indexing function of the index table.

OPERATOR’S MANUAL (M series) (B–63844EN)

OPERATOR’S MANUAL (T series) (B–63834EN)

II.20.2 Rotary Axis Roll–over

II.18.2 Rotary Axis Roll–over

Page 31

1. AXIS CONTROL

1.2.4

Outputting the Movement State of an Axis

B–63833EN–1/02

General

Signal

Axis moving signals MV1 – MV4 <F102>

[Classification] Output signal

[Output condition] The signals turn to “1” in the following cases:

The movement state of each axis can be output to the PMC.

[Function] These signals indicate that a control axis is moving.

The signals are provided for each control axis, and the number in the signal name corresponds to the control axis number.

MV 1

1 ..... The 1st axis is moving.

2 ..... The 2nd axis is moving.

3 ..... The 3rd axis is moving.

:: ::

. The corresponding axis has started moving. . In manual handle feed mode, the handle feed axis of the corresponding

axis has been selected. The signals turn to “0” in the following case: . When the move command for the corresponding axis has been

distributed (when bit 6 (MVX) of parameter 3003 is 0) . When deceleration for the corresponding axis has been completed and

the axis is set to the in–position condition. If in–position check is not

performed, when the deceleration for the corresponding axis is

completed. (When bit 6 (MVX) of parameter 3003 is 1)

Setting 1 in bit 7 (MVG) of parameter 3003 prevents these signals from being output during drawing in dynamic graphics mode (drawing without movement of the machine) in the T system.

Page 32

B–63833EN–1/02

Axis moving direction signals MVD1 – MVD4 <F106>

[Classification] Output signal

[Function] These signals indicate the movement direction of control axis.

[Output condition] “1” indicates the corresponding axes are moving in the minus direction,

1. AXIS CONTROL

They are provided for each control axis, and the number in the signal name corresponds to the control axis number.

MVD 1

1 ..... The moving direction of the 1st axis is minus.

2 ..... The moving direction of the 2nd axis is minus.

3 ..... The moving direction of the 3rd axis is minus.

:: ::

and “0” indicates they are moving in the plus direction.

CAUTION

These signals maintain their condition during a stop, indicating the direction of the axes’ movement before stopping.

Signal address

F102 MV4 MV3 MV2 MV1

F106 MVD4 MVD3 MVD2 MVD1

Parameter

D Setting the output format

of the axis moving signal

[Data type] Bit

MVX The axis moving signal is set to 0 when:

MVG While drawing using the dynamic graphics function (with no machine

#7 #6 #5 #4 #3 #2 #1 #0

#7 #6

MVG3003 MVX

MVX

#5 #4 #3 #2 #1 #0

0 : Distribution for the axis is completed. (The signal is set to 0 in

deceleration.)

1 : Deceleration of the axis is terminated, and the current position is in the

in–position. When the deceleration–time in–position check is suppressed by setting bit 5 (NCI) of parameter No. 1601, the signal is set to 0 at the end of deceleration.

movement), the axis moving signal is: 0: Output

1: Not output

Page 33

1. AXIS CONTROL

Caution

1.2.5

Mirror Image

B–63833EN–1/02

CAUTION

Axis moving signals and axis moving direction signals are output in both automatic and manual operations.

General

Mirror image can be applied to each axis, either by signals or by parameters (setting input is acceptable). All movement directions are reversed during automatic operation along axes to which a mirror image is applied.

When MI1 signal turned to “1” at point A

Mirror image (Example for T series)

B’

However, the following directions are not reversed: – Direction of manual operation and direction of movement, from the

intermediate position to the reference position during automatic

reference position return (for the M and T series) – Approach direction for single direction positioning (G60) and shift

direction for boring cycles (G76 and G87) (for M series only)

Signal

Mirror image signal MI1 – MI4 <G106>

[Classification] Input signal

Mirror image check signals indicate whether mirror image is applied to each axis. System variable #3007 contains the same information (refer to the operator’s manual).

[Function] Apply mirror image to the specified axes.

[Operation] Apply mirror image to those axes for which the signals are 1.

These signals are provided for the controlled axes on a one–to–one basis. A number appended to a signal represents the controlled axis number.

Page 34

B–63833EN–1/02

Mirror image check signal MMI1 – MMI4<F108>

1. AXIS CONTROL

MI 1

1 ..... Applies mirror image to the 1st axis.

2 ..... Applies mirror image to the 2nd axis.

3 ..... Applies mirror image to the 3rd axis.

:: ::

The mirror image signal can be turned to “1” in the following cases: a) During offset cancel; b) When the CNC is in the automatic operation stop state and not in the

feed hold state.

[Classification] Output signal

[Function] These signals indicate the mirror image condition of each axis. The mirror

image is set by taking the logical sum of the signal from the MDI panel and the input signal of the machine tool, then relaying the information to the machine tool. These signals are provided for every control axis; the numeral in the signal name indicates the relevant control axis number.

MMI 1

1 ..... Mirror image is applied to the 1st axis

2 ..... Mirror image is applied to the 2nd axis

3 ..... Mirror image is applied to the 3rd axis

:: ::

[Output condition] These signals turn to “1” when:

· Mirror image signal MIn of the corresponding axis is “1”; or

· Mirror image of the corresponding axis is turned on by setting data

from the MDI panel. These signals turn to “0” when:

· Mirror image signal (MIn) of the corresponding axis is “0” and the

setting of the mirror image in the control unit is turned off.

Signal address

#7 #6 #5 #4 #3 #2 #1 #0

G106 MI4 MI3 MI2 MI1

#7 #6 #5 #4 #3 #2 #1 #0

F108 MMI4 MMI3 MMI2 MMI1

Page 35

1. AXIS CONTROL

Parameter

Warning

B–63833EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0

0012 MIRx

The following parameter can be set at “Setting screen.”

[Data type] Bit axis

MIRx Mirror image for each axis

0 : Mirror image is off. 1 : Mirror image is on.

WARNING

1 When programmable mirror image (M series) and ordinary

mirror image are specified at the same time, programmable mirror image is applied first.

2 No programmable mirror image (M series) affects mirror

image check signals MMI1 to MMI4 <F108>.

Caution

Reference item

CAUTION

Series 0i–B

Series 0i Mate–B

Even when the mirror image is applied, commands which do not actuate mirror image (such as automatic reference position return and manual operation) do not affect mirror image check signals MMI1 to MMI4 <F108>.

OPERATOR’S MANUAL (M series) (B–63844EN)

OPERATOR’S MANUAL (T series) (B–63834EN)

OPERATOR’S MANUAL (M series) (B–63864EN)

OPERATOR’S MANUAL (T series) (B–63854EN)

III.4.8 Mirror Image

III.4.7 Mirror Image

III.4.8 Mirror Image

III.4.7 Mirror Image

Page 36

B–63833EN–1/02

1.2.6

Follow–up

1. AXIS CONTROL

General

D When follow–up is not

performed for the axes for which the servo is turned off

D When follow–up is

performed for the axes for which the servo is turned off

When position control is disabled for the controlled axes (when the servo is off, during emergency stop, or during a servo alarm), if the machine is moved, a positional error occurs. Follow–up is a function for changing the current position of the CNC and reseting the error counter to zero. Assuming a command corresponding to the error has been specified. You can select whether to perform follow–up for axes when the servo is turned off. Follow–up is always performed during emergency stop or a servo alarm.

When signal *FLWU is 1 or bit 0 (FUPx) of parameter 1819 is 1, follow–up is not performed. The error is added to the error counter as a servo error. In this case, the machine moves to compensate for the error when the servo off signal changes to 0. In general, follow–up is not used if the machine is mechanically clamped when position control is disabled for the controlled axes.

When *FLWU is “0”, the follow-up function is engaged. The present position of the CNC is changed to reset the error counter to zero. The machine tool remains in a deviated position, but since the present position of the CNC changes correspondingly, the machine moves to the correct position when the absolute command is next applied. In general, follow–up should be used when motors are driven by mechanical handles.

Signal

Follow–up signal *FLWU <G007#5>

[Classification] Input signal

Signal address

[Function] Select whether to perform follow–up when the servo is turned off for those

axes for which bit 0 (FUPx) of parameter 1819 is 0.

[Operation] 0: Performs follow–up.

1: Does not perform follow–up.

#7 #6 #5 #4 #3 #2 #1 #0

G007 *FLWU

Page 37

1. AXIS CONTROL

Parameter

B–63833EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0

1819 FUPx

[Data type] Bit axis

FUPx To perform follow–up when the servo is off for each axis.

0 : The follow–up signal, *FLWU, determines whether follow–up is

performed or not. When *FLWU is 0, follow–up is performed. When *FLWU is 1, follow–up is not performed.

1 : Follow–up is not performed.

CAUTION

When the index table indexing function (M series) is used, be sure to set FUPx of the 4th axis to 1.

Reference item

CONNECTION MANUAL (This manual)

1.2.7 Servo Off (Mechanical handle)

Page 38

B–63833EN–1/02

1.2.7

Servo Off (Mechanical Handle)

1. AXIS CONTROL

General

Signal

Servo off signal SVF1 – SVF4 <G126>

[Classification] Input signal

[Function] Select whether to place each axis in the servo off state.

Place the controlled axes in the servo off state, stop the current to the servo motor, which disables position control. However, the position detection feature functions continuously, so the current position is not lost. These signals are used to prevent the servo motors from overloading when the tools on the axes are mechanically clamped under certain machining conditions on the machine, or to move the machine by driving the motors by mechanical handles.

These signals are provided for the controlled axes on a single axis basis. A number appended to a signal represents a controlled axis number.

SVF 1

Signal address

1 ..... Servo off for the first axis

2 ..... Servo off for the second axis

3 ..... Servo off for the third axis

[Operation] These signals put the axes for which the signals are 1 in the servo off state

(the current to the servo motor is stopped). This disables position control. However, the position detection feature continues to function, so the current position is not lost.

#7 #6 #5 #4 #3 #2 #1 #0

G126 SVF4 SVF3 SVF2 SVF1

Page 39

1. AXIS CONTROL

Caution

B–63833EN–1/02

CAUTION

1 In general, interlock is applied to an axis while the servo off

signal for that axis is 1.

2 When one of these signals turns to “1”, the servo motor is

turned off. The mechanical clamp is done by using the auxiliary function. Set the timing for the auxiliary function, mechanical clamp and servo off signals as shown in the diagram below. The clamp command auxiliary function should be executed only after the distribution end signal (DEN) turned to “1”.

Reference item

CONNECTION MANUAL (This manual)

Machine clamp

SVF1, ...

FIN

Clamp command

Servo off state

1.2.6 Follow–up

Unclamp command

Page 40

B–63833EN–1/02

1.2.8

Position Switch

1. AXIS CONTROL

General

Signal

Position switch signal PSW01 – PSW16 <F070#0 – F071#7>

[Classification] Output signal

[Function] Indicates that the machine coordinates along the controlled axes specified

[Output condition] These signals are 1 in the following case:

Position switch signals can be output to the PMC while the machine coordinates along a controlled axes are within a specified ranges.

by parameters (6910 to 6925) are within the ranges specified by parameters (6930 to 6945 and 6950 to 6965). Up to 16 position switch signals can be output. (Using 11 or more position switches requires setting the EPS parameter (bit 1 of No. 6901.)

· When the machine coordinates along the controlled axes are within the

specified ranges.

Signal address

These signals are 0 in the following case:

· When the machine coordinates along the controlled axes are not within

the specified ranges.

#7 #6 #5 #4 #3 #2 #1 #0

PSW08F070 PSW07 PSW06 PSW05 PSW04 PSW03 PSW02 PSW01

PSW16F071 PSW15 PSW14 PSW13 PSW12 PSW11 PSW10 PSW09

Page 41

1. AXIS CONTROL

Parameter

D Increasing the number of

position switch signals

B–63833EN–1/02

6901

[Data type] Bit

IGP During follow–up for the absolute position detector, position switch

EPS The number of position switches is:

PCM Position switch signals are output:

PSF In AI advanced preview control or advanced preview control mode,

#6 #5 #4 #3

PSF

PCM#1EPS

IGP

signals are: 0 : Output 1 : Not output

0 : Up to 10. 1 : Up to 16.

0 : Without considering acceleration/deceleration and servo delay. 1 : With considering acceleration/deceleration and servo delay.

position switches are: 0 : Not used. 1 : Used.

To use the position switches in any of the following modes, set this parameter: AI advanced preview control mode or advanced preview control mode

NOTE

The position switch signals are output considering acceleration/deceleration after interpolation and servo delay. Acceleration/deceleration after interpolation and servo delay are considered even for position switch signal output in a mode other than the AI advanced preview control and advanced preview control modes. When this parameter is set to 1, however, signals are output from the position switches at different times from the specified ones.

Page 42

B–63833EN–1/02

D Setting the

correspondence between the position switch signals and the controlled axes

1. AXIS CONTROL

6910 Axis corresponding to the first position switch

6911 Axis corresponding to the second position switch

6912 Axis corresponding to the third position switch

6913 Axis corresponding to the fourth position switch

6914 Axis corresponding to the fifth position switch

6915 Axis corresponding to the sixth position switch

6916 Axis corresponding to the seventh position switch

6917 Axis corresponding to the eighth position switch

6918 Axis corresponding to the ninth position switch

6919 Axis corresponding to the tenth position switch

6920 Axis corresponding to the eleventh position switch

6921 Axis corresponding to the twelveth position switch

6922 Axis corresponding to the thirteenth position switch

6923 Axis corresponding to the fourteenth position switch

6924 Axis corresponding to the fifteenth position switch

6925 Axis corresponding to the sixteenth position switch

[Data type] Byte

[Valid data range] 0 to Number of controlled axes

These parameters sequentially specify the numbers of the controlled axes corresponding to the 1st through 16th position switch functions. The corresponding position switch signal is output to the PMC when the machine coordinate of the corresponding axis is within the range set in parameters.

NOTE

1 Set 0 for the number corresponding to a position switch

which is not to be used.

2 Parameter Nos. 6920 to 6925 are valid only when bit 1

(EPS) of parameter No. 6901 is 1.

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1. AXIS CONTROL

D Setting the machine

coordinate ranges for which the position switch signals are output

D Maximum operation

range

6930 Maximum operation range of the first position switch 6931 Maximum operation range of the second position switch 6932 Maximum operation range of the third position switch 6933 Maximum operation range of the fourth position switch 6934 Maximum operation range of the fifth position switch 6935 Maximum operation range of the sixth position switch 6936 Maximum operation range of the seventh position switch 6937 Maximum operation range of the eighth position switch 6938 Maximum operation range of the ninth position switch 6939 Maximum operation range of the tenth position switch

B–63833EN–1/02

6940 Maximum operation range of the eleventh position switch

6941 Maximum operation range of the twelveth position switch

6942 Maximum operation range of the thirteenth position switch

6943 Maximum operation range of the fourteenth position switch

6944 Maximum operation range of the fifteenth position switch

6945 Maximum operation range of the sixteenth position switch

[Data type] 2–word

[Unit of data]

Increment system IS–A IS–B IS–C Unit

Metric machine 0.01 0.001 0.0001 mm Inch machine 0.001 0.0001 0.00001 inch Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] –99999999 to 99999999

These parameters sequentially set the maximum operation ranges of the 1st through 16th position switches.

NOTE

Parameter Nos. 6940 to 6945 are valid only when bit 1 (EPS) of parameter No. 6901 is 1.

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B–63833EN–1/02

D Minimum operation

range

1. AXIS CONTROL

6950 Minimum operation range of the first position switch 6951 Minimum operation range of the second position switch 6952 Minimum operation range of the third position switch 6953 Minimum operation range of the fourth position switch 6954 Minimum operation range of the fifth position switch 6955 Minimum operation range of the sixth position switch 6956 Minimum operation range of the seventh position switch 6957 Minimum operation range of the eighth position switch 6958 Minimum operation range of the ninth position switch 6959 Minimum operation range of the tenth position switch 6960 Minimum operation range of the eleventh position switch

6961 Minimum operation range of the twelveth position switch

6962 Minimum operation range of the thirteenth position switch

6963 Minimum operation range of the fourteenth position switch

6964 Minimum operation range of the fifteenth position switch

6965 Minimum operation range of the sixteenth position switch

[Data type] 2–word

[Unit of data]

Increment system IS–A IS–B IS–C Unit

Metric machine 0.01 0.001 0.0001 mm Inch machine 0.001 0.0001 0.00001 inch Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] –99999999 to 99999999

These parameters sequentially set the minimum operation ranges of the 1st through 16th position switches.

NOTE

Parameter Nos. 6960 to 6965 are valid only when bit 1 (EPS) of parameter No. 6901 is 1.

Page 45

1. AXIS CONTROL

1.3

ERROR COMPENSATION

1.3.1

Stored Pitch Error Compensation

B–63833EN–1/02

General

If pitch error compensation data is specified, pitch errors of each axis can be compensated in detection units per axis. Pitch error compensation data is set for each compensation position at the intervals specified for each axis. The origin of compensation is the reference position to which the tool is returned. Pitch error compensation data can be set with external devices such as the Handy File (see Operator’s manual). Compensation data can also be set directly with the MDI panel. The following parameters must be set for pitch error compensation. Set the pitch error compensation value for each pitch error compensation position number set by these parameters. In the following example, 33 is set for the pitch error compensation number at the reference position.

Pitch error compensation value (absolute value)

Compensation number for the compensation position having the largest value (No. 3622)

Compensation number for the reference position (No. 3620)

333231

34 35 36 37

Reference position

Compensation number for the compensation position having the smallest value (No. 3621)

Compensation position number

Compensation value to be set

–3+1+1+1+2–1 –3

–1

–2

Compensation magnification parameter (No. 3623)

Compensation interval parameter (No. 3624)

34 35 36 3731 32 33

· Pitch error compensation position at the reference position (for each

axis): Parameter 3620

· Pitch error compensation position having the smallest value (for each

axis): Parameter 3621

· Pitch error compensation position having the largest value (for each

axis): Parameter 3622

· Pitch error compensation magnification (for each axis): Parameter

3623

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B–63833EN–1/02

1. AXIS CONTROL

· Interval of the pitch error compensation positions (for each axis):

Parameter 3624

Procedure for displaying and setting the pitch error compensation data

PITCH

Continuous menu key

1 Set the following parameters:

⋅ Pitch error compensation position at the reference position (for

each axis): Parameter 3620

⋅ Pitch error compensation position having the smallest value (for

each axis): Parameter 3621

⋅ Pitch error compensation position having the largest value (for

each axis): Parameter 3622

⋅ Pitch error compensation magnification (for each axis):

Parameter 3623

⋅ Interval of the pitch error compensation positions (for each

axis): Parameter 3624

SYSTEM

2 Press function key

3 Press the continuous menu key

[PITCH].

key

, then press chapter selection soft

The following screen is displayed:

PIT–ERROR SETTING O0000 N00000

NO. DATA 0000 0

0001 0 0002 0 0003 0

(X)

0004 0 0005 0 0006 0

0007 0 0008 0 0009 0

> _

MEM **** *** *** 16:05:59

[ NO.SRH ][ ON:1 ][ OFF:0 ][ +INPUT ][ –INPUT ]

NO. DATA 0010 0

0011 0 0012 0 0013 0 0014 0 0015 0 0016 0

0017 0 0018 0 0019 0

NO. DATA 0020 0

0021 0 0022 0 0023 0 0024 0 0025 0 0026 0

0027 0 0028 0 0029 0

4 Move the cursor to the compensation position number to be set in

either of the following ways:

⋅ Enter the compensation position number and press the

[NO.SRH] soft key.

⋅ Move the cursor to the compensation position number using the

page keys, and

and

PAGE

, and cursor keys, , , ,

PAGE

5 Enter a value with numeric keys and press the [INPUT] soft key.

Page 47

1. AXIS CONTROL

Explanations

B–63833EN–1/02

D Specifying the

compensation position

D Compensation position

number

D Interval of compensation

positions

To assign the compensation positions for each axis, specify the positive direction or the negative direction relative to the compensation position No. of the reference position. If the machine stroke exceeds the specified range on either the positive direction or the negative direction, the pitch error compensation does not apply beyond the range.

1024 compensation positions from No. 0 to 1023 are available on the pitch error setting screen. Assign arbitrary positions for each axis using parameters. The number of the compensation position at the reference position (parameter 3620), number of the compensation position having the smallest value (parameter 3621), and number of the compensation position having the largest value (parameter 3622) must be set for each axis. The name of each axis is displayed before the smallest compensation position number on the pitch error setting screen.

The pitch error compensation positions are equally spaced to parameter No. 3624. Set the space between two adjacent positions for each axis.

The minimum interval between pitch error compensation positions is limited and obtained from the following equation:

Minimum interval of pitch error compensation positions = maximum feedrate (rapid traverse rate)/3750

Unit:

· Minimum interval of pitch error compensation positions: mm, inches,

deg.

· Maximum feed rate: mm/min, inch/min, deg/min

Examples

D For linear axis

⋅ Machine stroke: –400 mm to +800 mm ⋅ Interval between the pitch error compensation positions: 50 mm ⋅ No. of the compensation position of the reference position: 40

If the above is specified, the No. of the farthest compensation position in the negative direction is as follows:

No. of the compensation position of the reference position – (Machine

stroke on the negative side/Interval between the compensation

positions) + 1

= 40 – 400/50 + 1= 33 No. of the farthest compensation position in the positive direction is as

follows:

No. of the compensation position of the reference position + (Machine

stroke on the positive side/Interval between the compensation

positions)

= 40 + 800/50= 56

Page 48

B–63833EN–1/02

1. AXIS CONTROL

The correspondence between the machine coordinate and the compensation position No. is as follows:

–400 –350 –100 –50

50 100 750 800

Machine coordinate (mm)

Compensation position number.

33 39 40 41 42 56

Compensation values are output at the positions indicated by .

Therefore, set the parameters as follows:

Parameter Setting value

3620 : Compensation number for the reference position

3621 : Smallest compensation position number

3622 : Largest compensation position number

3623 : Compensation magnification

3624 : Interval between pitch error compensation positions

40 33 56

50000

The compensation amount is output at the compensation position No. corresponding to each section between the coordinates. The following is an example of the compensation amounts.

Compensation value

33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 –2 –1 –1+20 +10 +1+2+10 –1 –1 –2 0 +1 +2

Pitch error compensation value (absolute value)

+4 +3 +2

–100

100 200 300 400

–1 –2 –3 –4

33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49

–400

–300 –200

Reference position

(mm)

Page 49

1. AXIS CONTROL

B–63833EN–1/02

D For rotary axis

⋅Amount of movement per rotation: 360° ⋅ Interval between pitch error compensation positions: 45° ⋅ No. of the compensation position of the reference position: 60

If the above is specified, the No. of the farthest compensation position in the negative direction for the rotating axis is always equal to the compensation position No. of the reference position. The No. of the farthest compensation position in the positive direction is as follows:

No. of the compensation position of the reference position + (Move

amount per rotation/Interval between the compensation positions)

= 60 + 360/45= 68 The correspondence between the machine coordinate and the

compensation position No. is as follows:

(+)

(61)

0.0

(68)

(60)

315.0

(67)

270.0

Reference position

45.0

(62)

90.0

(63)

(65)(64)

135.0

180.0

Compensation values are output at the positions indicated by .

(66)

225.0

Therefore, set the parameters as follows:

Parameter Setting value

3620 : Compensation number for the reference position 60 3621 : Smallest compensation position number 60 3622 : Largest compensation position number 68 3623 : Compensation magnification 1 3624 : Interval between pitch error compensation positions 45000 3625 : Movement value per rotation 360000

If the sum of the compensation values for positions 61 to 68 is not 0, pitch error compensation values are accumulated for each rotation, causing positional deviation. The same value must be set for compensation positions 60 and 68.

Page 50

B–63833EN–1/02

Parameter

3620

The following is an example of compensation amounts.

Compensation value

61 62 63 64 65 66 67

Number of the pitch error compensation position for the reference position

60 61 62 63 64 65 66 67 68 +1 –2+1+3–1 –1 –3+2+1

+4 +3

(60)

45 90 135 180225 270 315

for each axis

–1 –2 –3 –4

Pitch error compensation value (absolute value)

Reference position

61 62 63 64 65 66 67

45 90 135 180225 270 315

1. AXIS CONTROL

68 (60)

61 62

45 90

(deg)

NOTE

After setting this parameter, turn the power of f then on again so that the setting will take effect.

[Data type] Word axis

[Unit of data] Number

[Valid data range] 0 to 1023

Set the number of the pitch error compensation position for the reference position for each axis.

3621

Number of the pitch error compensation position at extreme negative

NOTE

After setting this parameter, turn the power of f then on again so that the setting will take effect.

[Data type] Word axis

position for each axis

[Unit of data] Number

[Valid data range] 0 to 1023

Set the number of the pitch error compensation position at the extreme negative position for each axis.

Page 51

1. AXIS CONTROL

B–63833EN–1/02

3622

Number of the pitch error compensation position at extreme positive

position for each axis

NOTE

After setting this parameter, turn the power of f then on again so that the setting will take effect.

[Data type] Word axis

[Unit of data] Number

[Valid data range] 0 to 1023

Set the number of the pitch error compensation position at the extreme positive position for each axis.

NOTE

This value must be larger than the value of parameter (No.

3620).

3623 Magnification for pitch error compensation for each axis

NOTE

After setting this parameter, turn the power of f then on again so that the setting will take effect.

[Data type] Byte axis

[Unit of data] 1

[Valid data range] 0 to 100

Set the magnification for pitch error compensation for each axis. If the magnification is set to 1, the magnification is the same as the

detection unit.

3624 Interval between pitch error compensation positions for each axis

NOTE

After setting this parameter, turn the power of f then on again so that the setting will take effect.

[Data type] Two–word axis

[Unit of data]

Increment system IS–A IS–B IS–C Unit

Metric machine 0.01 0.001 0.0001 mm

Inch machine 0.001 0.0001 0.00001 inch

Rotation axis 0.01 0.001 0.0001 deg

Page 52

B–63833EN–1/02

1. AXIS CONTROL

[Valid data range] 0 to 99999999

The pitch error compensation positions are equally spaced to parameter No. 3624. Set the space between two adjacent positions for each axis.

The minimum interval between pitch error compensation positions is limited and obtained from the following equation:

Minimum interval of pitch error compensation positions = maximum feedrate (rapid traverse rate)/7500

Unit:

· Minimum interval of pitch error compensation positions: mm, inches,

deg.

· Maximum feed rate: mm/min, inch/min, deg/min

[Example] When the maximum rapid traverse rate is 15000 mm/min, the minimum

interval between pitch error compensation positions is 4 mm.

3625 Travel distance per revolution in pitch error compensation of rotation axis type

NOTE

When this parameter has been set, the power must be turned off before operation is continued.

[Data type] 2–word axis

[Valid data range] 0 to 99999999

If the pitch error compensation of rotation axis type is performed (bit 1 (ROSx) of parameter No. 1006 is set to 0 and bit 0 (ROTx) of parameter No. 1006 is set to 1), set the travel distance per revolution. The travel distance per revolution does not have to be 360 degrees, and a cycle of pitch error compensation of rotation axis type can be set.

However, the travel distance per revolution, compensation interval, and number of compensation points must satisfy the following condition:

(Travel distance per revolution) = (Compensation interval) x (Number of compensation points)

The compensation at each compensation point must be set so that the total compensation per revolution equals 0.

NOTE

If 0 is set, the travel distance per revolution becomes 360 degrees.

Page 53

1. AXIS CONTROL

Warning

B–63833EN–1/02

WARNING

1 Compensation value range

Compensation values can be set within the range from –7 x compensation magnification (detection unit) to +7 x compensation magnification (detection unit). The compensation magnification can be set for each axis within the range from 0 to 100 in parameter 3623.

2 Pitch error compensation of the rotary axis

For the rotating axis, the interval between the pitch error compensation positions shall be set to one per integer of the amount of movement (normally 360°) per rotation. The sum of all pitch error compensation amounts per rotation must be made to 0. Also, set the same compensation value to a position and the same position with one rotation.

3 Conditions where pitch error compensation is not

performed

Note that the pitch error is not compensated in the following cases:

· When the machine is not returned to the reference position after turning on the power. This excludes the case where an absolute position detector is employed.

· If the interval between the pitch error compensation positions is 0.

· If the compensation position Nos. on the positive or negative direction do not fall within the range of 0 to

1023.

· If the compensation position Nos. do not conform to the following relationship: Negative side x Reference position < Positive side

Page 54

B–63833EN–1/02

Reference item

1. AXIS CONTROL

Series 0i–B

Series 0i Mate–B

OPERATOR’S MANUAL (M series) (B–63844EN)

OPERATOR’S MANUAL (T series) (B–63834EN)

OPERATOR’S MANUAL (M series) (B–63864EN)

III.8.6.3

III.8.6.4

III.11.5.2

III.8.6.3

III.8.6.4

III.11.5.2

III.8.6.3

III.8.6.4

III.11.5.2

III.8.6.3

Inputting pitch error compensation data

Outputting pitch error compensation data

Displaying and setting pitch error compensation data

Inputting pitch error compensation data

Outputting pitch error compensation data

Displaying and setting pitch error compensation data

Inputting pitch error compensation data

Outputting pitch error compensation data

Displaying and setting pitch error compensation data

Inputting pitch error compensation data

OPERATOR’S MANUAL (T series) (B–63854EN)

III.8.6.4

III.11.5.2

Outputting pitch error compensation data

Displaying and setting pitch error compensation data

Page 55

1. AXIS CONTROL

1.3.2

Backlash Compensation

General

B–63833EN–1/02

D Backlash compensation

Function for compensating for lost motion on the machine. Set a compensation value in parameter No. 1851, in detection units from 0 to "9999 pulses for each axis.

D Backlash compensation

for each rapid traverse and cutting feed

More precise machining can be performed by changing the backlash compensating value depending on the feedrate, the rapid traverse or the cutting feed.

Let the measured backlash at cutting feed be A and the measured backlash at rapid traverse be B. The backlash compensating value is shown below depending on the change of feedrate (cutting feed or rapid traverse) and the change of the direction of movement.

Change of feedrate

Change of direction of movement

Same direction Opposite direction

Cutting feed to cutting feed

0 "α

"A "B "(B+α)

Rapid traverse to rapid traverse

Rapid traverse to cutting feed

@ a = (A–B)/2 @ The positive or negative direction for compensating values is the

direction of movement.

Stopped during cutting feed Stopped during rapid traverse

Cutting feed to rapid traverse

" (*α) " (B+α)

αα

⇒⇒

a : Overrun

@ Assign the measured backlash at cutting feed (A) in parameter No.

1851 and that at rapid traverse (B) in parameter No. 1852.

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Parameter

1. AXIS CONTROL

#7 #6 #5 #4 #3 #2 #1 #0

1800 RBK

[Data type] Bit

RBK Backlash compensation applied separately for cutting feed and rapid

traverse 0 : Not performed

1 : Performed

1851 Backlash compensating value for each axis

[Data type] Word axis

[Unit of data] Detection unit

[Valid data range] –9999 to +9999

Set the backlash compensating value for each axis. When RBK is 1, set the backlash compensating value for cutting feed.

Caution

When the machine moves in the opposite direction from to the reference position return direction after the power is turned on, the first backlash compensation is performed.

1852 Backlash compensating value used for rapid traverse for each axis

[Data type] Word axis

[Unit of data] Detection unit

[Valid data range] –9999 to +9999

Set the backlash compensating value used in rapid traverse for each axis. This parameter is valid when RBK is set to 1.

CAUTION

The backlash compensation for rapid traverse and cutting feed is not performed until the first reference position return is completed after the power is turned on. Under this state, the normal backlash compensation is performed according to the value specified in parameter No. 1851 irrespective of a rapid traverse or a cutting feed.

Note

NOTE

When backlash compensation is applied separately for cutting feed and rapid traverse, jog feed is regarded as cutting feed.

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1.4

SETTINGS RELATED TO SERVO– CONTROLLED AXES

1.4.1

Parameters Related to Servo

General

The servo interface of the Series 16 features the following:

S Digitally controlled AC servo motor S Motor feedback with serial pulse coders

(1)Absolute pulse coder with a resolution of 1,000,000 pulses/rev (2)Absolute pulse coder with a resolution of 65,536 pulses/rev (3)Incremental pulse coder with a resolution of 10,000 pulses/rev

S Scale feedback with A/B/Z signal interface

Explanation of terms frequently used in CNC

Least command increment

The minimum unit of a command to be given from CNC to the machine tool

Detection unit

The minimum unit which can detect the machine tool position

Command multiplier (CMR)

A constant to enable the weight of CNC command pulses to meet the weight of pulses from the detector

Detection multiplier (DMR)

A constant to enable the weight of CNC command pulses to meet the weight of pulses from the detector

CAUTION

The relations among the least command increment, detection unit, CMR, and DMR are as specified below. Least command increment = CMR detection unit

Detection unit =

The flexible feed gear function in the digital servo defines constant DMR using two parameters (Nos. 2084 and 2085) n and m (DMR = n/m).

Move amount per revolution of motor

DMR number of pulses of detector per revolution

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Parameter

1. AXIS CONTROL

#7 #6 #5 #4 #3 #2 #1 #0

1800 CVR

[Data type] Bit

CVR When velocity control ready signal VRDY is set ON before position

control ready signal PRDY comes ON 0 : A servo alarm is generated.

1 : A servo alarm is not generated.

#7 #6 #5 #4 #3 #2 #1 #0

1815 APCx APZx OPTx

NOTE

When this parameter has been set, the power must be turned off before operation is continued.

[Data type] Bit axis

OPTx Position detector

0 : A separate pulse coder is not used. 1 : A separate pulse coder is used.

APZx Machine position and position on absolute position detector when the

absolute position detector is used 0 : Not corresponding

1 : Corresponding

WARNING

When an absolute position detector is used, after primary adjustment is performed or after the absolute position detector is replaced, this parameter must be set to 0, power must be turned off and on, then manual reference position return must be performed. This completes the positional correspondence between the machine position and the position on the absolute position detector, and sets this parameter to 1 automatically.

APCx Position detector

0 : Other than absolute position detector 1 : Absolute position detector (absolute pulse coder)

#7 #6 #5 #4 #3 #2 #1 #0

1816 DM3x DM2x DM1x

NOTE

When this parameter has been set, the power must be turned off before operation is continued.

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[Data type] Bit axis

DM1x to DM3x Setting of detection multiplier

Set value

DM3x DM2x DM1x

0 0 0 0 1 1 1 1

0 0 1 1 0 0 1 1

0 1 0 1 0 1 0 1

NOTE

When the flexible feed gear is used, do not use these parameters. Set the numerator and denominator of DMR to an appropriate values in parameters 2084 and 2085 respectively.

1820 Command multiplier for each axis (CMR)

Detection multiplier

1/2

3/2

5/2

7/2

NOTE

When this parameter has been set, the power must be turned off before operation is continued.

[Data type] Byte axis

Set a command multiplier indicating the ratio of the least command increment to the detection unit for each axis.

Least command increment = detection unit x command multiplier Relationship between the increment system and the least command

increment

Increment system IS–A IS–B IS–C Unit

Metric machine 0.01 0.001 0.0001 mm

Inch machine 0.001 0.0001 0.00001 inch

Rotation axis 0.01 0.001 0.0001 deg

The value set in the parameter is obtained as follows: (1)When command multiplier is 1/2 to 1/27

Least command increment

Set value = + 100

(Command multiplier)

Valid data range: 102 to 127

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1. AXIS CONTROL

(2)When command multiplier is 1 to 48

Set value = 2 command multiplier Valid data range: 2 to 96

NOTE

When command multiplier is 1 to 48, the set value must be determined so that an integer can be set for command multiplier.

1821 Reference counter size for each axis

[Data type] Two–word axis

[Valid data range] 0 to 99999999

Set the size of the reference counter.

NOTE

When this parameter has been set, the power must be turned off before operation is continued.

1825 Servo loop gain for each axis

[Data type] Word axis

[Unit of data] 0.01 s

–1

[Valid data range] 1 to 9999

Set the loop gain for position control for each axis. When the machine performs linear and circular interpolation (cutting), the

same value must be set for all axes. When the machine requires positioning only, the values set for the axes may differ from one another. As the loop gain increases, the response by position control is improved. A too large loop gain, however, makes the servo system unstable.

The relationship between the positioning deviation (the number of pulses counted by the error counter) and the feedrate is expressed as follows:

Positioning deviation =

Unit : Positioning deviation: mm, inches, or deg

Feedrate: mm/min, inches/min, or deg/min Loop gain: s

1828 Positioning deviation limit for each axis in movement

–1

feedrate

(loop gain)

[Data type] Two–word axis

[Unit of data] Detection unit

[Valid data range] 0 to 99999999

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[Valid data range] 0 to 32767

B–63833EN–1/02

Set the positioning deviation limit in movement for each axis. If the positioning deviation exceeds the positioning deviation limit during

movement, a servo alarm is generated, and operation is stopped immediately (as in emergency stop). Generally, set the positioning deviation for rapid traverse plus some margin in this parameter.

1829 Positioning deviation limit for each axis in the stopped state

[Data type] Word axis

[Unit of data] Detection unit

Set the positioning deviation limit in the stopped state for each axis. If, in the stopped state and the positioning deviation exceeds the

positioning deviation limit set for stopped state, a servo alarm is generated, and operation is stopped immediately (as in emergency stop).

1850 Grid shift for each axis

[Data type] Two–word axis

[Unit of data] Detection unit

[Valid data range] –99999999 to +99999999

A grid shift is set for each axis. T o shift the reference position, the grid can be shifted by the amount set in

this parameter. Up to the maximum value counted by the reference counter can be specified as the grid shift.

NOTE

When this parameter has been set, the power must be turned off before operation is continued.

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1.4.2

Absolute Position Detection

1. AXIS CONTROL

General

Signal

Absolute position detector battery voltage low alarm signal PBATL <F172#7>

[Classification] Output signal

[Function] Notifies that the life of the absolute position detector battery, which is

[Operation] The signal becomes 1 when:

Even when the power to the CNC is turned off, a battery–powered pulse coder stores the current position. No reference position return is required when the power to the CNC is restored.

used to keep the machine position even when the CNC power is off, is about to expire. Generally, this signal is used to turn on a lamp for calling the operator’s attention.

· The battery voltage for the absolute position detector becomes lower than or equal to the rating. The battery need be replaced in the immediate future.

Absolute position detector battery voltage zero alarm signal PBATZ <F172#6>

[Classification] Output signal

[Function] Notifies that the life of the absolute position detector battery, which is

[Operation] The signal becomes 1 when:

The signal becomes 0 when:

· The battery voltage for the absolute position detector is higher than or equal to the rating.

used to keep the machine position even when the CNC power is off, has expired.

· The battery voltage for the absolute position detector becomes 0 V. The battery need be replaced before the CNC power is turned off.

The signal becomes 0 when:

· The battery voltage for the absolute position detector is higher than or equal to 0 V.

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1. AXIS CONTROL

Signal address

Parameter

PBATLF172

#7 #6 #5 #4 #3 #2 #1 #0

1815 APCx

PBATZ

#5 #4 #3 #2 #1 #0

NOTE

When this parameter has been set, the power must be turned off before operation is continued.

[Data type] Bit axis

APCx Position detector

0: Other than absolute position detector 1: Absolute position detector (absolute pulse coder)

B–63833EN–1/02

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1.4.3

FSSB Setting

1. AXIS CONTROL

Overview

Connecting the CNC control section to servo amplifiers via a high–speed serial bus (F ANUC Serial Servo Bus, or FSSB), which uses only one fiber optics cable, can significantly reduce the amount of cabling in machine tool electrical sections.

In a system using the FSSB, it is necessary to set up the following parameters to specify its axes. (The other parameters should be specified as usual.)

D Parameter No. 1023 D Parameter No. 1905 D Parameter Nos. 1910 to 1919 D Parameter Nos. 1936 and 1937

These parameters can be specified using the following methods:

1. Manual setting 1 Parameters are defaulted according to the setting of parameter No.

1023. There is no need to specify parameter Nos. 1905, 1910 to 1919, 1936 and 1937. No automatic setting is used. Note that some functions are unusable.

2. Automatic setting Axis settings are calculated automatically according to the interrelationships between axes and amplifiers entered on the FSSB setting screen. Parameter Nos. 1023, 1905, 1910 to 1919, 1936, and 1937 are specified automatically according to the results of the calculation.

3. Manual setting 2 Parameter Nos. 1023, 1905, 1910 to 1919, 1936, and 1937 are specified according to manually entered values. The user must be totally familiar with the meaning of each parameter before entering any values.

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Slave

Manual setting 1

In an FSSB–based system, a fiber optics cable is used to connect the CNC to servo amplifiers and separate detector interface units. These amplifiers and separate detector interface units are called slaves. The two–axis amplifier consists of two slaves, and the three–axis amplifier consists of three slaves. The slaves are numbered 1, 2, ..., 10 (slave number) sequentially, with that nearest to the CNC starting at number 1.

CNC

Controlled axis number

Program axis name (No. 1020)

1X 2Y 3Z 4A

Single–axis amplifier

Two–axis amplifier

Single–axis amplifier

M1: First separate detector interface unit

Slave No.

1 2 3

4 5

The manual setting 1 is valid when the following parameter have the following values:

Bit 0 of parameter No. 1902 = 1 Bit 1 of parameter No. 1902 = 0 Parameter Nos. 1910 to 1919 = all 0s

By manual setting 1, the value set for parameter No. 1023 when the power is switched on is regarded as a slave number. Specifically, an axis for which parameter No. 1023 is set to 1 is connected to the amplifier nearest to the CNC, while an axis for which parameter No. 1023 is set to 2 is the second one from the CNC.

CNC

Controlled axis number

Program axis name (No. 1020)

1X1 2Y3 3Z4 4A2

Servo axis number (No. 1023)

Two–axis amplifier

Single–axis amplifier

X A Y Z

By manual setting 1, some of the following functions and values cannot be used, as described below. They should be used with automatic setting or manual setting 2.

D No separate detector interface unit can be used; hence, no separate

position detectors can be used.

D No number can be skipped in parameter No. 1023; for example,

number 3 cannot be used for any axis unless number 2 is used.

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1. AXIS CONTROL

D The following servo functions cannot be used:

- High–speed current loop

- High–speed interface axis

Automatic setting

Automatic setting can be used on the FSSB setting screen, if the following parameter is set as follows:

Bit 0 of parameter No. 1902 = 0

On the FSSB setting screen, automatic setting should be enabled by means of the following procedure:

1. On the amplifier setting screen, specify the axis number of a controlled axis to be connected to each amplifier.

2. Press the [SETING] soft key. (If a warning message is displayed, restart from step 1.)

3. On the axis setting screen, specify information about each axis, such as a separate detector interface unit connector No.

4. Press the [SETING] soft key. (If a warning message is displayed, repeat the procedure, starting from step 3.)

In this way , parameter Nos. 1023, 1905, 1910 to 1919, 1936, and 1937 are set according to the results of automatic calculation. In addition, bit 1 of parameter No. 1902 is set to 1 to indicate that each parameter has been set up. Switching the power off then back on again causes axis setting to be performed according to these parameter settings.

For details of the FSSB setting screen, see the FSSB data display and setting procedure, described below.

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Manual setting 2

If the following parameter is set, manual setting 2 can be used for each parameter axis setting.

Bit 0 of parameter No. 1902 = 1

To perform manual setting 2, set parameter Nos. 1023, 1905, 1910 to 1919, 1936, and 1937. Refer to the Parameter Manual for the definition of each parameter .

Example of axis configuration and manual setting 2 (Refer to the corresponding description for the meaning of each parameter.)

CNC

Controlled axis number

Program axis name (No. 1020)

1X 2Y 3Z 4A

Separate detector interface unit connector

No. 1 in the first module

No. 2 in the second module

No. 1 in the second module

(Not used)

Single–axis amplifier

Two–axis amplifier

Single–axis amplifier

Axis

X A Y

M1/M2: First/second separate detector interface unit

No. 1902#0

FMD

No. 1910 1911 1912 1913 1914 1915 1916 1917 1918 1919

0 1 2 16 3 48 40 40 40 40

No. 1023 1905#0

FSL

1905#6

PM1

1905#7

PM2

1936 1937

X 1 0 1 0 0 0 Y 3 0 0 1 0 1 Z 4 1 0 1 0 0 A 2 1 0 0 0 0

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FSSB display and setting procedure

1. AXIS CONTROL

D Display

The FSSB setting screen displays FSSB–based amplifier and axis information. This information can also be specified by the operator.

SYSTEM

1. Press the

2. To display [FSSB], press the

function key.

next menu page key several times.

3. Pressing the [FSSB] soft key causes the [AMPLIFIER SETTING] screen (or the previously selected FSSB setting screen) to appear , with the following soft keys displayed.

[ AMP ][ AXIS ][ MAINTE ][ ][ (OPRT) ]

The FSSB setting screens include: [AMPLIFIER SETTING], [AXIS SETTING], and [AMPLIFIER MAINTENANCE]

Pressing the [AMP] soft key causes the [AMPLIFIER SETTING] screen to appear. Pressing the [AXIS] soft key causes the [AXIS SETTING] screen to appear. Pressing the [MAINTE] soft key causes the [AMPLIFIER MAINTENANCE] screen to appear.

(1)Amplifier setting screen

The amplifier setting screen consists of two sections: the first section displays information about the amplifiers, while the second section displays information about the separate detector interface units.

AMPLIFIER SETTING O1000 N00001 NO. AMP SERIES UNIT CUR. AXIS NAME

1 A1–L α SVM–HV 40AL 1 X 2 A2–L α SVM 12A 2 Y 3 A2–M α SVM 40A 3 Z 5 A3–L β SVM 20A 4 A

NO. EXTRA TYPE PCB ID

4 M1 A 0000 DETECTOR(4AXES)

6 M2 B 12AB >_ MDI **** *** *** 13:11:56 [ AMP ][ AXIS ][ MAINTE ][ ][ (OPRT) ]

The amplifier setting screen consists of the following items: D NO. slave number. .

The numbers of up to ten slaves (up to six amplifiers and up to two separate detector interface units) connected via the FSSB are displayed sequentially, with the one nearest the CNC being number

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D AMP amplifier type. . . .

The amplifier type display consists of the letter A, which stands for “amplifier”, a number that indicates the placing of the amplifier, as counted from that nearest to the CNC, and a letter such as L (first axis) or M (second axis) indicating the placing of the axis in the amplifier.

D AXIS controlled axis number. . . .

The axis number of each controlled axis specified in parameters (Nos. 1920 to 1929) is displayed. If a number specified in these parameters falls outside the range of 1 and the maximum number of controlled axes, 0 is displayed.

D NAME controlled axis name. . .

The axis name assigned to a parameter (No. 1020) corresponding to a particular controlled axis number is displayed. If the controlled axis number is 0, – is displayed.

D The following items are displayed as amplifier information:

S UNIT servo amplifier unit type. . . . .

S SERIES servo amplifier series. . .

S CUR. maximum rating current. . . . .

D The following items are displayed as separate detector interface

unit information: S EXTRA

This consists of the letter M, which stands for “separate detector interface unit”, and a number indicating the placing of the separate detector interface unit, as counted from that nearest to the CNC.

S TYPE

This is a letter indicating the type of the separate detector interface unit.

S PCB ID

This consists of four digits indicating the separate detector interface unit ID (hexadecimal). The separate detector interface unit ID is followed by DETECTOR (8AXES) when 8–axes separate detector interface unit or DETECTOR (4AXES) when 4–axes separate detector interface unit.

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1. AXIS CONTROL

(2)Axis setting screen

The axis setting screen displays the information shown below:

AXIS SETTING O1000 N00001

AXIS NAME AMP M1 M2 1–DSP CS TNDM

1XA1–L 0 0 001 2YA2–L10 100 3ZA2–M00 010 4AA3–L00 002

>_ MDI **** *** *** 13:11:56 [ AMP ][ AXIS ][ MAINTE ][ ][ (OPRT) ]

The axis setting screen displays the following items:

D AXIS controlled axis number. . . .

This item is the placing of the NC controlled axis.

D NAME controlled axis name. . .

D AMP type of the amplifier connected to each axis. . . .

D M1 connector number for separate detector interface unit. . . . . .

1 This item is the number of the connector for separate detector interface unit 1, specified in parameter No. 1931.

D M2 connector number for separate detector interface unit. . . . . .

2 This item is the number of the connector for separate detector interface unit 2, specified in parameter No. 1932.

D 1–DSP

This item is the value specified in bit 0 (parameter 1DSP) of parameter No. 1904. It is 1 for an axis (such as a learning control axis, high–speed current loop axis, or high–speed interface axis) that exclusively uses a DSP, which is usually shared by two axes.

D CS Cs contour controlled axis. . . . .

This item is the value specified in parameter No. 1933. It is 1 for the Cs contour controlled axis.

D TNDM (M series only)

This item is the number specified in parameter No. 1934. This item is not used in Series 0i and Series 0i Mate.

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(3)Amplifier maintenance screen

The amplifier maintenance screen displays maintenance information for servo amplifiers. This screen consists of the following two pages,

PAGE

either of which can be selected by pressing the

AMPLIFIER MAINTENANCE O1000 N00001

AXIS NAME AMP SERIES UNIT AXES CUR.

1XA1–L α SVM–HV 2 40AL 2YA1–M α SVM 2 12A 3ZA2–L β SVM 1 40A 4AA3–L α SVM 2 20A 5BA3–M α SVM 2 40A 6CA4–L α SVU 1 240A

>_ MDI **** *** *** 13:11:56 [ AMP ][ AXIS ][ MAINTE ][ ][ ]

PAGE

key.

AMPLIFIER MAINTENANCE O1000 N00001

AXIS NAME EDITION TEST MEINTE–NO.

1 X 01A 010123 01 2 Y 01A 010123 01 3 Z 01A 010123 01 4 A 02B 010123 01 5 B 02B 010123 01 6 C 02B 010123 01

>_ MDI **** *** *** 13:11:56 [ AMP ][ AXIS ][ MAINTE ][ ][ ]

The amplifier maintenance screen displays the following items:

D AXIS controlled axis number. . . . . . . . .

D NAME controlled axis name. . . . . . . .

D AMP type of amplifier connected to each axis. . . . . . . . .

D SERIES servo amplifier series of an amplifier. . . . . . .

connected to each axis

D UNIT unit type of a servo amplifier connected to each. . . . . . . . .

axis

D AXES maximum number of axes controlled by an. . . . . . . . .

amplifier connected to each axis

D CUR. maximum rating current for amplifiers. . . . . . . . .

connected to each axis

D EDITION unit version number of an amplifier connected. . . . . .

to each axis

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1. AXIS CONTROL

D TEST date of test performed on an amplifier. . . . . . . . .

connected to each axis Example) 010123 = January 23, 2001

D MEINTE–No. engineering change number for an amplifier. .

connected to each axis

D Setting

On an FSSB setting screen (other than the amplifier maintenance screen), pressing the [(OPRT)] soft key displays the following soft keys:

[ SETING ][ ][ CANCEL ][ ][ INPUT ]

T o enter data, place the machine in MDI mode or the emergency stop state, position the cursor to the point where a desired item is to be input, then

enter the desired data and press the [INPUT] soft key (or the

INPUT key on

the MDI panel). When the [SETING] key is pressed after data has been entered, a warning

message is displayed if the entered data contains an error. When the data is valid, the corresponding parameter is set up.

To restore the previous value of a parameter if, for example, an entered value is incorrect, press the [CANCEL] soft key.

When the power is switched on, values are read from the parameters and displayed on the screen.

CAUTION

1 For the parameters to be specified on the FSSB setting

screen, do not attempt to enter values on the parameter screen using the MDI or a G10 command. Use only the FSSB screen to enter values for these parameters.

2 If pressing the [SETING] key results in a warning message

being displayed, retry data entry, or press the [CANCEL] key to clear the warning message. Note that pressing the reset key does not clear the warning message.

(1)Amplifier setting screen

AMPLIFIER SETING O1000 N00001 NO. AMP SERIES UNIT CUR. AXIS NAME

1A1–L α SVM–HV 40AL 1 X 2A2–L α SVM 12A 2 Y 3A2–M α SVM 40A 3 Z 5A3–L β SVM 20A 4 A

NO. EXTRA TYPE PCB ID

4 M1 A 0000 DETECTOR(4AXES)

6 M2 B 12AB >_ MDI **** *** *** 13:11:56 [ AMP ][ AXIS ][ MAINTE ][ ][ (OPRT) ]

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The amplifier setting screen displays the following items: D AXIS controlled axis number. . .

For this item, enter a value of between 1 and the maximum number of controlled axes. If a number that falls outside this range is entered, the warning message FORMAT ERROR appears. If the entered controlled axis number is duplicate or 0, the warning message DA TA IS OUT OF RANGE appears when the [SETING] soft key is pressed to assert the entered value. In this case, no value can be entered for the parameter.

(2)Axis setting screen

AXIS SETTING O1000 N00001

AXIS NAME AMP M1 M2 1–DSP CS TNDM

1XA1–L 0 0001

2YA2–L10100

3ZA2–M00010

4AA3–L00002

>_ MDI **** *** *** 13:11:56 [ SETING ][ ][ CANCEL ][ ][ INPUT ]

On the axis setting screen, the following items can be specified: D M1 connector number for separate detector interface unit 1. . .

For an axis that uses separate detector interface unit 1, enter a connector number using a number in the range of between 1 and the maximum number of axes for separate detector interface unit 1. When separate detector interface unit 1 need not be used, enter 0. If a number that falls outside the valid range is entered, the message FORMAT ERROR is displayed.

D M2 connector number for separate detector interface unit 2. . .

For an axis that uses separate detector interface unit 2, enter a connector number using a number in the range of between 1 and the maximum number of axes for separate detector interface unit 2. When separate detector interface unit 2 need not be used, enter 0. If a number that falls outside the valid range is entered, the message FORMAT ERROR is displayed.

D 1–DSP

Enter 1 for the following axes, each of which exclusively uses a DSP, which is usually shared by two axes. If a number other than 0 or 1 is entered, the message FORMAT ERROR is displayed.

S High–speed current loop axis S High–speed interface axis

D CS Cs contour controlled axis. .

Enter 1 for the Cs contour controlled axis. If a number other than 0 or 1 is entered, the message FORMAT ERROR is displayed.

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Parameter

1902

1. AXIS CONTROL

D TNDM

This item is not used in Series 0i and Series 0i Mate.

When the [SETING] soft key is pressed on the axis setting screen after data entry , the message DA T A IS OUT OF RANGE is displayed if any of the following conditions is satisfied.

D Both M1 and M2 are nonzero for an axis. D Any two of the 1–DSP, CS, and TNDM are nonzero for an axis. D A duplicate value is specified for M1. D A duplicate value is specified for M2. D A duplicate value is specified for CS. D A duplicate value is specified for TNDM. D An invalid master/slave axis pair is specified for TNDM.

#6 #5 #4 #3 #2 #1

ASE

FMD

[Data type] Bit

FMD Specifies the FSSB setting mode.

0 : Automatic setting mode.

(If the interrelationships between axes and amplifiers are specified on the FSSB setting screen, parameter Nos. 1023, 1905, 1910 to 1919, 1936, and 1937 are set automatically.)

1 : Manual setting 2 mode.

(Parameter Nos. 1023, 1905, 1910 to 1919, 1936, and 1937 must be set manually.)

ASE Indicates whether automatic setting is complete, if bit 0 of parameter No.

1902 is 0 (automatic setting mode). 0 : Incomplete.

1 : Complete. (This bit automatically becomes 1 upon the completion of automatic

setting.)

1904

#6 #5 #4 #3 #2 #1 #0

[Data type] Bit axis

DSP 0 : Two axes share a DSP. (Ordinary axis)

1 : One axis occupies a DSP. (Learning control axis, and so on) Usually, the user should not attempt to manipulate this bit, because it is

set using the FSSB setting screen. It need not be used in FSSB manual setting 2 mode.

DSP

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PM21905

PM1

#5 #4 #3 #2 #1 #0

FSL

[Data type] Bit axis

FSL Specifies whether to use a fast or slow interface between a servo amplifier

and the servo software. 0 : Fast type

1 : Slow type There are two types of servo data transfer interfaces: fast and slow types.

They are selected as described below.

D Both types are usable for single–axis amplifiers. D For two–axis amplifiers, do not use fast type interfaces for both axes

simultaneously. Slow types can be used simultaneously for both axes.

D For three–axis amplifiers, the same rules as those for two–axis

amplifiers apply for the first and second axes, while the same rules as those for single–axis amplifiers apply for the third axis.

D For those axes for which an odd number is set for parameter No. 1023,

the fast type must be used, except for the high–speed current loop and high–speed interface axes, for which the slow type can also be used.

D For those axes for which an even number is set for parameter No.

1023, only the slow type is usable; this bit must be set to 1.

CNC

Controlled axis number

Program axis name (No. 1020)

1X1F 2Y3F 3Z4S 4A2S

Servo axis number (No. 1023)

Interface type (fast/slow)

Two–axis amplifier

Single–axis amplifier

One–axis amplifier

X (Fast) A (Slow) Y (Fast)

Z (Slow)

PM1 Specifies whether the first separate detector unit is to be used.

0 : Not used. 1 : Used.

PM2 Specifies whether the second separate detector unit is to be used.

0 : Not used. 1 : Used.

If automatic setting is set as the FSSB setting mode (bit 0 of parameter No. 1902 = 0), this parameter is set automatically when data is entered using the FSSB setting screen. For manual setting 2 (bit 0 of parameter No. 1902 = 1), the user must set this parameter. When using a separate detector interface unit, a connection number must be specified separately (parameter Nos. 1936 and 1937).

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1. AXIS CONTROL

1910 Address conversion table value for slave 1 (ATR)

1911 Address conversion table value for slave 2 (ATR)

1912 Address conversion table value for slave 3 (ATR)

1913 Address conversion table value for slave 4 (ATR)

1914 Address conversion table value for slave 5 (ATR)

1915 Address conversion table value for slave 6 (ATR)

1916 Address conversion table value for slave 7 (ATR)

1917 Address conversion table value for slave 8 (ATR)

1918 Address conversion table value for slave 9 (ATR)

1919 Address conversion table value for slave 10 (ATR)

[Data type] Byte

[Valid data range] 0 to 7, 16, 40, and 48

An address conversion table value must be specified for each of slaves 1 to 10. The term “slave” refers to any of the servo amplifiers and separate detector interface units connected to the CNC. Each slave is assigned a number of between 1 and 10 sequentially, with the one nearest to the CNC assigned number 1. A two–axis amplifier is regarded as being two slaves, while a three–axis amplifier is regarded as being three slaves. Each of these parameters is set depending on whether the slave is an amplifier or separate detector interface unit, as follows:

f When the slave is an amplifier:

The parameter is set to the “value in parameter No. 1023 for an axis to which the amplifier is assigned,” minus 1.

f When the slave is a separate detector interface unit:

The parameter is set to 16 for the first separate detector interface unit (that nearest to the CNC) or to 48 for the second separate detector interface unit (that farthest from the CNC).

f When there is no slave:

The parameter is set to 40.

If automatic setting is set as the FSSB setting mode (bit 0 of parameter No. 1902 = 0), this parameter is set automatically when data is entered on the FSSB setting screen. For manual setting 2 (bit 0 of parameter No. 1902 = 1), the parameter must be set manually.

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1. AXIS CONTROL

f Example of axis configuration and parameter setting

CNC

Controlled axis number

Program axis name (No. 1020)

Servo axis number (No. 1023)

1X1 2Y3 3Z4 4A2

Single–axis amplifier

Two–axis amplifier

Single–axis amplifier

Slave number

ATR

No.1910

to 1919

10 21 32

416 53 648 740

B–63833EN–1/02

Axis

X A Y

(M1)

(M2)

(None)

CNC

Controlled axis number

Program axis name (No. 1020)

Servo axis number (No. 1023)

1X1 2Y3 3Z4 4A2

Single–axis amplifier

Two–axis amplifier

Single–axis amplifier

840

940 10 40

Slave number

ATR

No.1910

to 1919

10 22 33

416 51 648 740

840

(None) (None)

(None)

Axis

X Y Z

(M1)

(M2) (None) (None)

940

10 40

M1/M2: First/second separate detector interface unit

(None) (None)

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1. AXIS CONTROL

1920 Controlled axis number for slave 1 (FSSB setting screen only)

1921 Controlled axis number for slave 2 (FSSB setting screen only)

1922 Controlled axis number for slave 3 (FSSB setting screen only)

1923 Controlled axis number for slave 4 (FSSB setting screen only)

1924 Controlled axis number for slave 5 (FSSB setting screen only)

1925 Controlled axis number for slave 6 (FSSB setting screen only)

1926 Controlled axis number for slave 7 (FSSB setting screen only)

1927 Controlled axis number for slave 8 (FSSB setting screen only)

1928 Controlled axis number for slave 9 (FSSB setting screen only)

1929 Controlled axis number for slave 10 (FSSB setting screen only)

[Data type] Byte

[Valid data range] 0 to 8

Each of these parameters is set using a controlled axis number for a slave numbered 1 to 10. This parameter is set automatically when data is entered using the FSSB setting screen; do not specify it manually. For manual setting 2, the parameter need not be set.

1931

1932

Connector number for first separate detector interface unit

(FSSB setting screen only)

Connector number for second separate detector interface unit

(FSSB setting screen only)

[Data type] Byte axis

[Valid data range] 0 to the number of connectors in each separate detector interface unit

T o use a separate detector interface unit, the user must specify a connector number for the separate detector interface unit on each axis. This parameter is set automatically when data is entered using the FSSB setting screen; do not specify it manually. For manual setting 2, the parameter need not be set.

1933 Cs contour controlled axis (FSSB setting screen only)

[Data type] Byte axis

[Valid data range] 0 and 1

To use Cs contour control, this parameter must be set to 1 for the corresponding axis. This parameter is set automatically when data is entered using the FSSB setting screen; do not specify it manually. For manual setting 2, the parameter need not be set.

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1. AXIS CONTROL

[Valid data range] 0 to 7

B–63833EN–1/02

1936 Connector number for first separate detector interface unit

1937 Connector number for second separate detector interface unit

[Data type] Byte axis

To use a separate detector interface unit, this parameter must be set to “connection number for the separate detector interface unit,” minus 1; that is, 0 for connector number 1, 1 for connector number 2, and so on. It is also necessary to set up bits 6 and 7 of parameter No. 1905. For an axis that does not use a separate detector interface unit, 0 is specified for the parameter. Any connector can be used for any axis, however the connectors in a single separate detector interface unit should be used in ascending order of connector number. For instance, connector 4 of a separate detector interface unit cannot be used without using connector 3 of the same separate detector interface unit.

Example)

Connector

Controlled

axis

X 1 Not used 0 0 0,1 Y Not used 2 0 1 1,0 Z Not used 1 0 0 1,0 A Not used Not used 0 0 0,0

number for

first sepa-

rate detector

interface

unit

Connector

number for

second sep-

arate detec-

tor interface

unit

No.1936 No.1937

No.1905

(#7, #6)

If the FSSB setting mode is automatic setting (bit 0 of parameter No. 1902 = 0), this parameter is set automatically when data is entered using the FSSB setting screen. For manual setting 2 (bit 0 of parameter No. 1902 = 1), the user must set this parameter.

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Alarm and message

D Servo alarms

1. AXIS CONTROL

Number Message Description

456 ILLEGAL CURRENT

LOOP

457 ILLEGAL HI HRV (250US) Use of high–speed HRV is specified al-

458 CURRENT LOOP

ERROR

459 HI HRV SETTING

ERROR

The current control cycle settings (parameter No. 2004, bit 0 of parameter No. 2003, and bit 0 of parameter No.

2013) are incorrect. Possible problems are as follows. – For the two axes whose servo axis

numbers (settings of parameter No.

1023) are an odd number followed by an even number (a pair of axes 1 and 2, for example), a different current control cycle is set for each of the axes.

– The requirements for slaves need-

ed for the set current control cycle, including the number, type, and connection method of them, are not satisfied.

though the current control cycle is 200 µs.

The current control cycle setting does not match the actual current control cycle.

For the two axes whose servo axis numbers (settings of parameter No. 1023) are an odd number followed by an even number (a pair of axes 1 and 2, for example), the SVM for one of the axes sup ports high–speed HRV control but the SVM for the other does not. Refer to the SVM specification.

460 n AXIS : FSSB DISCON-

NECT

461 n AXIS : ILLEGAL AMP

INTERFACE

462 n AXIS : SEND CNC

DA TA FAILED

463 n AXIS : SEND SLAVE

DA TA FAILED

465 n AXIS : READ ID DATA

FAILED

FSSB communication was interrupted. The most likely causes are:

1. The FSSB communication cable is disconnected or has a broken conductor.

2. The amplifier power supply was turned off.

3. A low–voltage alarm condition oc- curred in the amplifier.

The fast type interface was assigned to both axes of a two–axis amplifier.

The slave could not receive data correctly because of an FSSB communication error.

The servo section failed to receive data correctly because of an FSSB communication error.

An attempt to read the initial ID information for the amplifier failed when the power was switched on.

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1. AXIS CONTROL

B–63833EN–1/02

Number DescriptionMessage

D P/S alarms

466 n AXIS : MOTOR/AMP

COMBINATION

467 n AXIS : ILLEGAL SET-

TING OF AXIS

468 HI HRV SETTING

ERROR(AMP)

Number Message Description

5134 FSSB : OPEN READY

TIME OUT 5135 FSSB : ERROR MODE The FSSB entered an error mode. 5136 FSSB : NUMBER OF

AMPS IS SMALL

The maximum current rating for the amplifier does not match that for the motor.

The servo function for the following has not been enabled when an axis occupying a single DSP is specified on the axis setting screen.

1. High–speed current loop (bit 0 of parameter No. 2004 = 1)

2. High–speed interface axis (bit 4 of parameter No. 2005 = 1)

Use of high–speed HRV is specified for a controlled axis of an amplifier which does not support high–speed HRV.

The FSSB did not become ready to open during initialization.

The number of amplifiers recognized by the FSSB is insufficient, compared with the number of controlled axes.

5137 FSSB : CONFIGURATION

ERROR

5138 FSSB : AXIS SETTING

NOT COMPLETE

5139 FSSB : ERROR The initialization of the servo was not

5197 FSSB : OPEN TIME OUT The FSSB did not open when the CNC

The FSSB detected a configuration error. The address conversion table value (A TR) setting (parameter Nos. 1910 to 1919 and 1970 to 1979) for a slave axis does not match the type of a slave axis actually connected to the FSSB.

Axis setting has not been performed in automatic setting mode. Perform axis setting using the FSSB setting screen.

completed normally. Probable cases are a defect of optical cable or a mistake of the connection between the amplifier and other modules.

had allowed the FSSB to open.

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1. AXIS CONTROL

Number DescriptionMessage

5198 FSSB : ID DATA NOT

READ

5311 FSSB: ILLEGAL CON-

NECTION

The initial ID information for the amplifier cannot be read because of a failure in the temporary assignment.

A connection related to FSSB is illegal. This alarm is issued when either of the following is found: 1 Two axes having adjacent servo

axis numbers (parameter No. 1023), odd number and even number, are assigned to amplifiers to which different FSSB systems are connected.

2 The system does not satisfy the re-

quirements for performing HRV control, and use of two pulse modules connected to different FSSB systems having different FSSB current control cycles is specified.

Page 83

1. AXIS CONTROL

1.5

SETTINGS RELATED WITH COORDINA TE SYSTEMS

1.5.1

Machine Coordinate System

B–63833EN–1/02

General

High–speed G53 function

Machine coordinate system is a coordinate system set with a zero point proper to the machine system. A coordinate system in which the reference position becomes the parameter-preset (No. 1240) coordinate value when manual reference position return is performed, is set. With G53 command, the machine coordinate system is selected and the axis can be moved at rapid traverse to the position expressed by the machine coordinates.

This function enables the inter–rapid traverse block overlap function between machine coordinate system select command (G53) and positioning (rapid traverse) command (G00) blocks and allows the next rapid traverse command (G00) to be executed at the end of the machine coordinate system select command (G53) without decelerating to a stop. This way, high–speed positioning becomes possible even when the machine coordinate system select command (G53) is used. Specifying P1 in the G53 bock enables the high–speed G53 function.

G53 IP_ P1;

G53: Machine coordinate system select command G code

(00 group) IP_: End–point dimension word P1: Enable high–speed G53 function

Parameter

1240

Coordinate value of the reference position on each axis in the machine

NOTE

After setting this parameter, turn the power of f then on again so that the setting will take effect.

[Data type] Two–word axis

[Unit of data]

Increment system IS–A IS–B IS–C Unit

Metric machine 0.01 0.001 0.0001 mm

Inch machine 0.001 0.0001 0.00001 inch

Rotation axis 0.01 0.001 0.0001 deg

coordinate system

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1. AXIS CONTROL

[Valid data range] –99999999 to 99999999

Set the coordinate values of the reference positions in the machine coordinate system.

1722 Rapid traverse deceleration rate at inter–rapid traverse block overlap

[Data type] Byte axis

[Unit of data] %

[Valid data range] 0 to 100

If a high–speed G53 command (G53 P1) block is followed by a rapid traverse block, the latter block (rapid traverse) is executed after the feedrate specified for each axis in the G53 P1 block has decreased to the deceleration rate specified in this parameter.

NOTE

1 Enabling the high–speed G53 function does not require

setting the RTO parameter (bit 4 of parameter No. 1601) for enabling inter–rapid traverse block overlap to 1.

2 If the RTO parameter (bit 4 of parameter No. 1601) is set to

1, a value specified in parameter No. 1722 is used also for ordinary inter–rapid traverse block overlap.

Warning

Reference item

WARNING

Series 0i–B

Series 0i Mate–B

Since the machine coordinate system must be set before the G53 command is specified, at least one manual reference position return or automatic reference position return by the G28 command must be performed after the power is turned on. This is not necessary when an absolute–position detector is attached.

OPERATOR’S MANUAL (M series) (B–63844EN)

OPERATOR’S MANUAL (T series) (B–63834EN)

OPERATOR’S MANUAL (M series) (B–63864EN)

OPERATOR’S MANUAL (T series) (B–63854EN)

II.7.1

MACHINE COORDINA TE SYSTEM

Page 85

1. AXIS CONTROL

1.5.2

Workpiece Coordinate System/Addition of Workpiece Coordinate System Pair

B–63833EN–1/02

General

Setting a workpiece coordinate system

A coordinate system used for machining a workpiece is referred to as a workpiece coordinate system. A workpiece coordinate system is to be set with the CNC beforehand (setting a workpiece coordinate system). A machining program sets a workpiece coordinate system (selecting a workpiece coordinate system). A set workpiece coordinate system can be changed by shifting its origin (changing a workpiece coordinate system).

A workpiece coordinate system can be set using one of four methods: (1)Method using G92 (G50 for G code system A)

A workpiece coordinate system is set by specifying a value after G92 (G50) in the program.

(2)Method of using G54 to G59

Six workpiece coordinate systems are set in advance, using the MDI panel, and the workpiece coordinate system to be used is selected using program commands G54 to G59.

(3)Method of specifying the workpiece coordinate system counter

If the WKINC parameter (bit 4 of parameter No. 3108) has been set, pressing an axis address and the [INP.C.] soft key on the workpiece coordinate system screen in succession causes the relative coordinate value of the specified axis to be set as workpiece coordinate system data at the cursor position.

Selecting a workpiece coordinate system

The user can choose from set workpiece coordinate systems as described below.

(1)Selecting a workpiece coordinate system set by G92 (G50)

Once a workpiece coordinate system is selected, absolute commands work with the workpiece coordinate system.

(2) Choosing from six workpiece coordinate systems set using the

MDI panel

By specifying a G code from G54 to G59, one of the workpiece coordinate systems 1 to 6 can be selected.

G54 Workpiece coordinate system 1 G55 Workpiece coordinate system 2 G56 Workpiece coordinate system 3 G57 Workpiece coordinate system 4 G58 Workpiece coordinate system 5 G59 Workpiece coordinate system 6

Workpiece coordinate system 1 to 6 are established after reference position return after the power is turned on. When the power is turned on, G54 coordinate system is selected as default.

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1. AXIS CONTROL

Changing workpiece coordinate system

The six workpiece coordinate systems specified with G54 to G59 can be changed by changing an external workpiece zero point offset value or workpiece zero point offset value. Three methods are available to change an external workpiece zero point offset value or workpiece zero point offset value. (1) Inputting from the MDI panel (2) Programming by G10 or G92 (G50) (3) Using external data input (refer to 15.2)

Workpiece coordinate system 1 (G54)

ZOFS1

Machine zero

EXOFS : External workpiece zero point offset value ZOFS1∼ZOFS6 : Workpiece zero point of fset value

Workpiece coordinate system 2 (G55)

EXOFS

ZOFS2

Workpiece coordinate system 3 (G56)

ZOFS3

ZOFS4

ZOFS5

ZOFS6

Workpiece coordinate system 4 (G57)

Workpiece coordinate system 5 (G58)

Workpiece coordinate system 6 (G59)

Changing an external workpiece zero point offset value or workpiece zero point offset value

Workpiece coordinate system shift (T series)

When the coordinate system actually set by the G92 (G50) command deviates from the programmed workpiece coordinate, the set coordinate system can be shifted. Set the desired shift amount in the workpiece coordinate system shift memory.

O’

Shift

X–Z: Coordinate system in programming x–z: Current set coordinate system with shift

amount 0 (coordinate system to be modified by shifting)

Set the shift amount from O’ to O in the workpiece coordinate system shift memory .

Workpiece Coordinate System shift

Page 87

1. AXIS CONTROL

B–63833EN–1/02

Addition of workpiece coordinate system pair (M series)

Parameter

1201 AWK

[Data type] Bit

Besides the six workpiece coordinate systems (standard workpiece coordinate systems) selectable with G54 to G59, 48 additional workpiece coordinate systems (additional workpiece coordinate systems) can be used.

#7 #6 #5 #4 #3 #2 #1 #0

AWK Action taken after the workpiece zero point offset value is changed

0 : The absolute coordinate value is changed when the first automatic

operation is performed.

1 : The absolute coordinate value is changed immediately.(If automatic

operation is not in the start–up sequence)

NOTE

In either case, the change becomes effective when the next block is buffered.

#7 #6 #5 #4 #3 #2 #1 #0

1202 G50 EWS EWD

[Data type] Bit

EWD The shift direction of the workpiece coordinate system is:

0 : The direction specified by the external workpiece zero point offset

value

1 : In the opposite direction to that specified by the external workpiece

zero point offset value

XXX

EWD=0

EXOFS

EXOFS : External workpiece zero point offset value

EWD=1

–EXOFS

(Shifted workpiece

coordinate system)

(Original workpiece

coordinate system)

EWS Shift value of the workpiece coordinate system and external workpiece

zero point offset value are 0 : Stored in the separate memory areas.

1 : Stored in the same memory area, that is, the shift and the offset values

are the same.

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1. AXIS CONTROL

G50 When the CNC has commands G54 to G59 specifying workpiece

coordinate systems (optional function), if the G50 command for setting a coordinate system (or the G92 command in G command system B or C) is specified,

0 : The G50 (or G92) command is executed without an alarm. 1 : P/S alarm No. 010 is issued and the G50 (or G92) command is not

executed.

1220 External workpiece zero point of fset value

[Data type] Two–word axis

[Unit of data]

Input increment IS–A IS–B IS–C Unit

Linear axis (input in mm) 0.01 0.001 0.0001 mm

Linear axis (input in inches) 0.001 0.0001 0.00001 inch

Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] –99999999 to 99999999

This is one of the parameters that give the position of workpiece coordinate system (G54 to G59). It gives an of fset of the workpiece zero point common to all workpiece coordinate systems. In general, the offset varies depending on the workpiece coordinate systems. The parameter value can also be set from the PMC by using the external data input function.

1221 Workpiece zero point offset value in workpiece coordinate system1 (G54)

1222 Workpiece zero point offset value in workpiece coordinate system2 (G55)

1223 Workpiece zero point offset value in workpiece coordinate system3 (G56)

1224 Workpiece zero point offset value in workpiece coordinate system4 (G57)

1225 Workpiece zero point offset value in workpiece coordinate system5 (G58)

1226 Workpiece zero point offset value in workpiece coordinate system6 (G59)

[Data type] Two–word axis

[Unit of data]

Input increment IS–A IS–B IS–C Unit

Linear axis (input in mm) 0.01 0.001 0.0001 mm

Linear axis (input in inches) 0.001 0.0001 0.00001 inch

Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] –99999999 to 99999999

The workpiece zero point of fset values in workpiece coordinate systems 1 to 6 (G54 to G59) are set.

Page 89

1. AXIS CONTROL

Origin of machine coordinate system

B–63833EN–1/02

Workpiece coordinate system 1 (G54)

Workpiece coordinate system 2 (G55)

Workpiece zero point offset

Reference item

3108

[Data type] Bit

WCI On the workpiece coordinate system screen, a counter input is:

Series 0i–B

Series 0i Mate–B

#6 #5 #4

0 : Disabled. 1 : Enabled.

OPERATOR’S MANUAL (M series) (B–63844EN)

OPERATOR’S MANUAL (T series) (B–63834EN)

OPERATOR’S MANUAL (M series) (B–63864EN)

OPERATOR’S MANUAL (T series) (B–63854EN)

WCI

#3 #2 #1 #0

II.7.2

WORK PIECE COORDINA TE SYSTEM

Page 90

B–63833EN–1/02

1.5.3

Rotary Axis Roll Over

1. AXIS CONTROL

General

Parameter

The roll–over function prevents coordinates for the rotation axis from overflowing. The roll–over function is enabled by setting bit 0 (ROAx) of parameter 1008 to 1.

For an incremental command, the tool moves the angle specified in the command. For an absolute command, the coordinates after the tool has moved are values rounded by the angle corresponding to one rotation set in parameter No. 1260. The tool moves in the direction in which the final coordinates are closest when bit 1 (RABx) of parameter No. 1008 is set to 0. Displayed values for relative coordinates are also rounded by the angle corresponding to one rotation when bit 2 (RRLx) of parameter No. 1008 is set to 1.

#7 #6 #5 #4 #3 #2 #1 #0

1006 ROSx ROTx

NOTE

After setting this parameter, turn the power of f then on again so that the setting will take effect.

[Data type] Bit axis

ROTx, ROSx Setting linear or rotation axis

ROSx ROTx Description

0 0

0 1

1 0 1 1

Linear axis (1) Inch/metric conversion is done. (2) All coordinate values are linear axis type.

(Not rounded in 0 to 360_)

(3) Stored pitch error compensation is linear axis type (Refer to pa-

rameter No. 3624)

Rotation axis (A Type) (1) Inch/metric conversion is not done. (2) Machine coordinate values are rounded in 0 to 360_. Absolute

coordinate values and relative coordinate values are rounded or not rounded by parameter No. 1008 #0 and #2.

(3) Stored pitch error compensation is the rotation type. (Refer to pa-

rameter No. 3624)

(4) Automatic reference position return (G28, G30) is done in the ref-

erence position return direction and the move amount does not exceed one rotation.

Setting is invalid (unused)

Rotation axis (B type) (1) Inch/metric conversion is not done. (2) Machine coordinate values, absolute coordinate values and rela-

tive coordinate values are linear axis type. (Is not rounded in 0 to 360_)

(3) Stored pitch error compensation is linear axis type (Refer to pa-

rameter No. 3624)

(4) The rotation axis roll over function and index table indexing func-

tion (M series) cannot be used.

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1. AXIS CONTROL

B–63833EN–1/02

#7 #6 #5 #4 #3 #2 #1 #0

1008 RRLx RABx ROAx

NOTE

After setting this parameter, turn the power of f then on again so that the setting will take effect.

[Data type] Bit axis

ROAx The roll–over function of a rotation axis is

0 : Invalid 1 : Valid

NOTE

ROAx specifies the function only for a rotation axis (for which ROTx, #0 of parameter No. 1006, is set to 1)

RABx In the absolute commands, the axis rotates in the direction

0 : In which the distance to the target is shorter. 1 : Specified by the sign of command value.

NOTE

RABx is valid only when ROAx is 1.

RRLx Relative coordinates are

0 : Not rounded by the amount of the shift per one rotation 1 : Rounded by the amount of the shift per one rotation

NOTE

1 RRLx is valid only when ROAx is 1. 2 Assign the amount of the shift per one rotation in parameter

No. 1260.

1260 Move amount per rotation of rotary axis

NOTE

When this parameter is changed, turn off the power before continuing operation.

[Data type] Two–word axis

[Unit of data]

Increment system IS–A IS–B IS–C Unit

Unit of data 0.01 0.001 0.0001 deg

Standard setting

value

36000 360000 3600000

[Valid data range] 1000 to 99999999

Set move amount per rotation of rotation axis.

Page 92

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Note

Reference item

1. AXIS CONTROL

NOTE

This function cannot be used together with the indexing function of the index table (M series).

Series 0i–B

OPERATOR’S MANUAL (M series) (B–63844EN)

OPERATOR’S MANUAL (T series) (B–63834EN)

II.20.2 ROTARY AXIS ROLL–OVER

II.18.2 ROTARY AXIS ROLL–OVER

Page 93

1. AXIS CONTROL

1.6

SIMPLE SYNCHRONOUS CONTROL

B–63833EN–1/02

General

D Simple synchronous

control for the M series and T series

D Synchronization error

check based on positional deviation (M series)

A movement along an axis can be executed simply by executing a move command specified for that axis or by synchronizing the movement with another axis. Either of these two types can be selected by means of a signal sent from the machine.

In synchronous operation, that axis for which move commands can be specified is called the master axis, while an axis along which the tool moves in sync with the master axis is called a slave axis.

The M series and T series support different simple synchronization control functions. One of the greatest differences is that:

<T series> The function can synchronize only automatic operations. It cannot synchronize manual operations. Only one master/slave axis pair can be used.

<M series> The function can synchronize both automatic and manual operations. A maximum of two pairs can be synchronized.

The following functions are provided only for the M series:

D Synchronization error check function D Synchronization compensation function

Any difference between the servo positional deviation of the master axis and that of the slave axis is monitored constantly . A P/S alarm condition (No. 213) is detected if a limit set in parameter No. 8313 (if only one master/slave axis pair is in sync) or 8323 (if two master/slave axis pair is in sync) is exceeded.

D Synchronization error

check based on machine coordinates (M series)

The function monitors the difference between the machine coordinates on the master and slave axes. If the function detects a difference greater than or equal to a preset value, it stops the machine. This function constantly monitors the difference. Even if the synchronization control signal is erroneously set to 0, thus disabling synchronization control, the function can issue an alarm, stop the machine, and thus prevent damage.

If the detected difference is greater than or equal to the maximum error set in parameter 8314, servo alarm 407 is output.

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B–63833EN–1/02

1. AXIS CONTROL

WARNING

1 Before using the synchronization error check function, set

identical values for the reference positions of the master and slave axes.

2 To clear the alarm, first increase the maximum

synchronization error set in parameter 8314, then press the reset key. Next, perform handle operations or other manual operations so that the machine coordinates agree. Then, restore the original value in parameter 8314.

3 If an alarm is detected during a synchronous operation, set

the signals indicating that a synchronous operation is in progress (G138, G140) to off, then follow the procedure for clearing an alarm.

NOTE

If the synchronization error check function is not used, set parameter 8314 to 0.

D Synchronization

compensation function (M series)

If the synchronization between the positions of the master and slave axes is lost when the system power is turned off, the function compensates for the difference between them. After performing a follow–up at power on, the function sends compensation pulses to the slave axis to adjust its position such that it agrees with that of the master axis. This function is enabled only when the slave axis of synchronization control supports the absolute–position detection function.

This function, however, cannot be used for rotation axes.

WARNING

1 The synchronization compensation function is enabled

after reference position returns have been performed. The function is not executed if the parameter is set before reference position returns are performed.

2 The synchronization compensation function is not executed

when the servo alarm is eliminated.

CAUTION

The synchronization deviation is processed as a position error on the slave axis while at rest. The position error is displayed as diagnostic data 300, in the same units as used to detect the error. If the error exceeds the value set in parameter 8315 (if only one master/slave axis pair is in sync) or 8325 (if two master/slave axis pair is in sync), servo alarm 410 is triggered. The alarm can be cleared by pressing the reset key. As the position error for the slave axis remains even after the alarm is cleared, however, the positions must be adjusted.

Page 95

1. AXIS CONTROL

B–63833EN–1/02

NOTE

1 To use the synchronization compensation function, set the

SOF bit, bit 7 of parameter 8301 (if only one master/slave axis pair is in sync) or SOFx bit, bit 7 of parameter 8303 (if two master/slave axis pair is in sync), to 1.

2 The synchronization compensation function is also enabled

when emergency stop is canceled.

D Automatic setting of grid

positioning (M series)

[Operating procedure] This procedure can be applied only when one master/slave axis pair is in

To use simple synchronous control, it is necessary to perform reference position return for the master and slave axes. This function causes the CNC to automatically perform reference position return (grid position) for both the master and slave axes in simple synchronization.

sync, and when bit 0 (ATE) of parameter No. 8302 is set to 1. If two master/slave axis pair is in sync, it is necessary to use parameters ATEx (bit 0 of parameter No. 8303) and ATSx (bit 1 of parameter No. 8303).

1 Set bit 1 (ATS) of parameter No. 8302 to 1. 2 Power off/on. 3 Enter REF mode (or JOG mode for reference position setting without

dogs), and move along the axis toward the reference position.

4 Motion along the master and slave axes stops automatically, and the

grid deviation is set in parameter No. 8316. At the same time, bit 1 (ATS) of parameter No. 8302 becomes 0, and a power–off request alarm (No. 000) occurs.

5 Switch the power off then back on. 6 Perform ordinary reference position return.

NOTE

Parameter setting When parameter ATS (bit 1 of parameter No. 8302) or A TSx (bit 1 of parameter No. 8303) is set, parameter APZ (bit 4 of parameter No. 1815) for the master and slave axes and parameter No. 8316 become 0. If the operator specifies parameter No. 8316 (MDI, G10L50), parameter ATE (bit 0 of parameter No. 8302) becomes 0.

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1. AXIS CONTROL

D Torque difference alarm

detection (M series)

Position gain

Master axis position command

Slave axis position command

Position gain

If the master and slave axes operate independently while simple synchronous control is applied, the machine may be damaged. To prevent this, the torque command difference between the axes is monitored. If the difference is found to be abnormal, an alarm can be issued.

[System configuration]

Master axis

Velocity control

torque command

T orque command

difference

Slave axis torque command

Master axis position feedback

The absolute value is compared with the threshold value.

Alarm detection

Slave axis position feedback

[How to use] Determine the threshold parameter using the following procedure. 1 Set up the following parameters:

Parameter No. 2031 = 0 : Disable torque difference alarm detection. Parameter Nos. 21 15 and 2151: Display the absolute value of a torque

difference between axes in synchronization on the diagnosis screen. Set the same value for the two axes in simplified synchronization. Setting

Parameter No. 2115 = 0 Parameter No. 2151 = 178

2 Cause the diagnosis screen to appear, using the <SYSTEM> function

key → the [DGNOS] soft key. The diagnosis screen No. 353 displays the absolute value of a torque difference between the two axes in synchronization.

3 Read a maximum of the absolute values of torque differences during

a normal operation. Set the threshold parameter with the maximum absolute value with some margin allowed. If it is difficult to read the absolute values of torque differences on the diagnosis screen, observe the absolute values of torque differences with an oscilloscope, using the following method:

4 Set parameter Nos. 2115 and 2151 with:

Setting

Parameter No. 2115 = 4 Parameter No. 2151 = 178

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1. AXIS CONTROL

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5 Connect a check board to observe torque differences.

If an analog check board is used, set the rotary switch of the check board to 1, and observe signals on CH7. If the oscilloscope is a combined analog/digital model, set the DATA digit for CH1 to 5, and observe signals on CH1.

6 Convert the observed value, using the formula 1 V = 410 (specified

threshold value). Read the maximum value during ordinary operation, and allow an appropriate margin.

[Timing chart]

SA<F000#6> 1

Alarm detection Enabled

Disabled

Signal

Signals to select the slave axis for simple synchronous control SYNC1 to SYNC4 <G138>

[Classification] Input signal

Value in parameter No. 8317 (if only one master/slave axis pair is in sync) or 8327 (if two master/slave axis pair is in sync), or 512 ms (if neither parameter is set).

If the servo preparation completed signal SA <F000#6> is 0, torque difference alarm detection is not performed.

The simple synchronous control functions are described separately for the T series and M series in the following explanations.

[Function] synchronous control is performed for memory or MDI operation.

The signal is provided for each controlled axis. The number at the end of the signal name represents the number of the controlled axis.

SYNC 1

1. ... The first axis becomes the slave axis for synchronous control.

2. ... The second axis becomes the slave axis for synchronous control.

3. ... The third axis becomes the slave axis for synchronous control.

: :

[Operation] When the signal is set to 1, the control unit operates as described below:

– During memory or MDI operation, the control unit supplies the move

command, specified for the master axis, to both the master and slave axes of synchronous control.

The master axis is specified with a parameter.

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<M series> Signals for selecting the

manual feed axis for simple synchronous control SYNCJ1 to SYNCJ4 <G140>

[Classification] Input signal

[Function] synchronous control is performed in jog, handle, or incremental feed

SYNCJ 1

1. AXIS CONTROL

mode. The signal is provided for each controlled axis. The number at the end of the signal name represents the number of the controlled axis.

1. ... The first axis becomes the slave axis for synchronous control.

2. ... The second axis becomes the slave axis for synchronous control.

3. ... The third axis becomes the slave axis for synchronous control.

: :

Signal address T series

M series

[Operation] When the signal is set to 1, the control unit operates as described below:

– In jog, handle, or incremental feed mode, the control unit supplies the

move command, specified for the master axis, to both the master and slave axes of synchronous control.

The master axis is specified with a parameter.

#7 #6 #5 #4 #3 #2 #1 #0

G138 SYNC4 SYNC3 SYNC2 SYNC1

#7 #6 #5 #4 #3 #2 #1 #0

G138 SYNC4 SYNC3 SYNC2 SYNC1

G140 SYNCJ4 SYNCJ3 SYNCJ2 SYNCJ1

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1. AXIS CONTROL

Parameter

T series

[Valid data range] 1, 2, 3, ..., the number of controlled axes

B–63833EN–1/02

1010 Number of CNC–controlled axes

NOTE

When this parameter is set, the power must be turned off before operation is continued.

[Data type] Byte

Set the maximum number of axes that can be controlled by the CNC.

[Example] Suppose that the first axis is the X axis, and the second and subsequent axes are the Y, Z, and A axes in that order, and that they are controlled as follows:

X and Y axes: Controlled by the CNC Z axis: Controlled by the CNC and PMC

A axis: Controlled by the PMC Then set this parameter to 3 (total 3: first to third axes)

NOTE

When using simplified synchronization control, specify slave axes as well as the master axis.

1015

#6 #5

SVS

#4 #3 #2 #1 #0

[Data type] Bit

SVS When the servo along an axis is turned of f, simple synchronous control is:

0 : Released. 1 : Not released.

8311 Axis number of master axis in synchronous control

[Data type] Byte axis

[Valid data range] 0 to 3

Select a master axis for simple synchronous control. Set a master axis number for the axis used as a slave axis. If the value of this parameter is 0, the first axis is the master axis. In this case, when the synchronous control select signal G138 is set to 1, operation starts with the 1st axis being the master axis.

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1. AXIS CONTROL

Units digit in the parameter for the first axis

→ Set the axis number for the master axis when the first axis is used

as a slave axis.

Tens digit in the parameter for the first axis

→ Set the axis number for the master axis when the second axis is used

as a slave axis.

Units digit in the parameter for the second axis

→ Set the axis number for the master axis when the third axis is used

as a slave axis.

Tens digit in the parameter for the second axis

→ Set the axis number for the master axis when the fourth axis is used

as a slave axis.

Number Tens digit Units digit

First

Second

Second axis

Fourth axis

First axis

Third axis

NOTE

The axis number settings are: 0 for the first axis, 1 for the second axis, 2 for the third axis, and so on.

Example) T o set the 3rd axis as the master axis and the 4th axis to the slave axis, set as follows:

No. 8311 1st axis 00 2nd axis 20 3rd axis 00 4th axis 00

8312 Enabling/disabling mirror image in synchronous control

[Data type] Byte axis

[Valid data range] –127 to +128

This parameter sets the mirror image function. When 100 or a greater value is set with this parameter, the mirror image function is applied to synchronous control. Set this parameter to the slave axis.

Example: To establish reversed synchronization when using the third axis as the master axis and the fourth axis as the slave axis, set parameter No. 8312 as follows:

Parameter No. 8312 (first axis) = 0 Parameter No. 8312 (second axis) = 0 Parameter No. 8312 (third axis) = 0 Parameter No. 8312 (fourth axis) = 100

fanuc 0i- B Operation Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

DEFINITION OF WARNING, CAUTION, AND NOTE

WARNING

CAUTION

NOTE

PREFACE

Table of Contents

Volume 1

Volume 2

1. AXIS CONTROL

CONTROLLED AXES

SETTING EACH AXIS

1.2.1

1.2.2

1.2.3

1.2.4

1.2.5

1.2.6

1.2.7

1.2.8

ERROR COMPENSATION

1.3.1

1.3.2

SETTINGS RELATED TO SERVO– CONTROLLED AXES

1.4.1

1.4.2

1.4.3

SETTINGS RELATED WITH COORDINA TE SYSTEMS

1.5.1

1.5.2

1.5.3

SIMPLE SYNCHRONOUS CONTROL