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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 7

1. AXIS CONTROL

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NOTE

1 This function is a basic function.

2 This function is enabled to the axis address command (X,Y,Z, etc). It is invalid to

the I, J, K, R command of circular interpolation etc.

3 This function doesn't relate to the detection unit.

Explanation

- Normal (When bit 0 (HPC) of parameter No.10478 is set to 0)

Conventionally, the axis address command of program has been rounded off a digit that was one digit

smaller than the least incremental system.

When the command below least incremental system is described, it is became command of least

incremental system.

Example) In case that input unit is metric, and increment system is 1

m (IS-B)

Program command

X10.0004

X10.000

X10.0005

X10.001

X10.00043

X10.000

X10.00056

X10.001

- High precision program command(When bit 0 (HPC) of parameter No.10478

is set to 1)

In the program command to the axis address with decimal point, the value that is one digit smaller than

incremental system is enabled to command and analysis.

A digit that is 2 digits smaller than the least increment is system rounded off.

It is inputted the command in the unit to a digit that is 1 digit smaller than the least increment system.

This function is enabled for each program command of MEM / MDI / RMT mode.

Example) In case that input unit is metric, and increment system is 1

m (IS-B)

Program command

X10.0004

X10.0005

X10.00043

X10.0004

X10.00056

X10.0006

NOTE

When the bit 7 (IPR) of parameter No.1004 set to 1 (the least input increment is 10

times greater than the least command increment) and a number with no decimal

point is specified, this function is disabled. The axis command value below

incremental system is effective.

- Program example

Program command)

Conventionally command

High precision program command

(Z-axis : 3 digits after the decimal point)

(Z-axis : 4 digits after the decimal point)

G90 G01 ;

：

N10 X10.000 Z1.000 ;

N20 X10.002 Z1.000 ;

N20 X10.004 Z1.001 ;

：

G90 G01 ;

：

N10 X10.000 Z1.0000 ;

N20 X10.002 Z1.0005 ;

N30 X10.004 Z1.0010 ;

：

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1. AXIS CONTROL

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Program command path)

●

is program command point.

- Valid range of various kind data

The valid data range of the maximum stroke and the federate has been not changed by this function.

It is the same as incremental system.

- Command by macro variable

When the macro variable is used for the command value at the axis address where this function is valid, it

is analyzed as the command with a decimal point.

The number of decimals is enhanced by 1 digit.

Example) Input unit is metric, and increment system is B (1

In case #500=12.34543

The program command is interpreted as follows.

X[#500] -> X12.3454

- Coordinate screen, program check screen, FOCAS2 and system variables

that obtained coordinate value,

When this function is enabled, it is the value of incremental system as same conventional.

- Function that high precision program command is not applied

Functions

Note

Excluding the axis address command

Ex) I, J, K, Q, P, R of circular interpolation, etc…

Sync coefficient of Electronic gear box 2 pair
(G81.5)

Gear ration is same as so far

G10 command (Setting command of various
data)

same as so far

Dwell command (G04)

same as so far

Waiting function by specifying start point

The judgment position is coordinates of incremental system.

Auxiliary function output in moving axis (G50.9) It judge by coordinates of incremental system, and the auxiliary

function is output.

Stored Stroke Check 2
(G22 X_ Y_ Z_ I_ J_ K_)

As for Coordinate of plus direction (X,Y,Z) the high precision is
applied.
As for Coordinate of minus direction (I,J,K) the high precision is
not applied. (Data of incremental system)

Second auxiliary functions (B)

same as so far

Canned Grinding Cycle (for Grinding machine)
(G71 to G75, G77 to G79)

Address A, B command and Grinding range

is same so far

Z-axis

(mm)

1.0010

1.0005

1.0000

10.000 10.001 10.002 10.003 10.004

(mm)

X-axis

Conventionally

High precision program command

1. AXIS CONTROL

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Parameter

10478

HPC

[Input type] Parameter input

[Data type] Bit path

#0 HPC

High precision program command function is :

0: Disabled.

1: Enabled.

1.2.3

Specifying the Rotation Axis

Overview

Bit 0 (ROTx) of parameter No.1006 can be used to set each axis to a linear axis or rotary axis. Bit 1

(ROSx) of parameter No. 1006 can be used to select the rotary 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 rotary 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 No. 1008 to 1 (for the rotation axis).

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. For an incremental command, the tool moves the angle specified in the command.

NOTE

Rotary axis roll–over function cannot be used together with the indexing function

(M series) of the index table. To disable the indexing function (M series), set 1 in

bit 0 (ITI) of parameter No. 5501 or 0 in bit 3 (IXC) of parameter No. 8132.

Parameter

1006

ROSx

ROTx

[Input type] Parameter input

[Data type] Bit axis

NOTE

When at least one of these parameters is set, the power must be

turned off before operation is continued.

#0 ROTx

#1 ROSx

Setting linear or rotary axis.

ROSx ROTx

Meaning

Linear axis
(1) Inch/metric conversion is done.
(2) All 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)

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1. AXIS CONTROL

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ROSx ROTx

Meaning

Rotary axis (A type)
(1) Inch/metric conversion is not done.
(2) Machine coordinate values and relative coordinate values are rounded in 0

to 360

. Absolute coordinate values are rounded or not rounded by bits 0

(ROAx) and 2 (RRLx) of parameter No.1008.

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

Rotary 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) Cannot be used with the rotary axis roll-over function and the index table

indexing function (M series)

Except for the

above.

Setting is invalid (unused)

1008

RRLx

RABx

ROAx

[Input type] Parameter input

[Data type] Bit axis

NOTE

When at least one of these parameters is set, the power must be

turned off before operation is continued.

#0 ROAx

The rotary axis roll-over is

0: Invalid

1: Valid

NOTE

ROAx specifies the function only for a rotary axis (for which bit 0

(ROTx) of parameter No.1006, is set to 1)

#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.

#2 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.

1. AXIS CONTROL

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1260

The shift amount per one rotation of a rotary axis

NOTE

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

operation is continued.

[Input type] Parameter input

[Data type] Real axis

[Unit of data] Deg

[Min. unit of data] Depend on the increment system of the applied axis

[Valid data range] 0 or positive 9 digit of minimum unit of data (refer to the standard parameter setting table

(B))

(When the increment system is IS-B, 0.0 to +999999.999)

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

For the rotary axis used for cylindrical interpolation, set the standard value.

5501

ITI

[Input type] Parameter input

[Data type] Bit path

#0 ITI

The index table indexing function (M series) is:

0: Enabled.

1: Disabled.

NOTE

To enable the index table indexing function, set bit 3 (IXC) of

parameter No. 8132 to 1 in addition to this parameter. The index

table indexing function is enabled only when both ITI and IXC are

enabled.

For the rotary axis used for cylindrical interpolation, set the standard value.

8132

IXC

NOTE

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

operation is continued.

[Input type] Parameter input

[Data type] Bit

#3 IXC

Index table indexing function (M series) is:

0: Not Used.

1: Used.

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1. AXIS CONTROL

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NOTE

When enabling the index table indexing function, set bit 0 (ITI) of

parameter No. 5501 to 0 in addition to this parameter. The index

table indexing function is enabled only when both ITI and IXC are

enabled.

Note

NOTE

Rotary axis roll-over function cannot be used together with the indexing function of

(M series) the index table.

Reference item

Manual name

Item name

OPERATOR’S MANUAL (B-64694EN)

Rotary axis roll-over function

1.2.4

Controlled Axes Detach

Overview

These signals release the specified control axes from control by the CNC. When attachments are used

(such as a detachable rotary table), controlled axis detach signals or bit 7 (RMVx) of parameter No. 0012

are selected according to whether the attachments are mounted. When multiple rotary tables are used in

turn, the tables must use motors of the same model.

WARNING

For a vertical axis, in particular, it is necessary to prepare a sequence that starts

operating the mechanical brake before the control axis detach operation.

When this method is applied to a vertical axis, special care should be taken.

Signal

Controlled axis detach signals DTCH1 to DTCH8<Gn124>

[Classification] Input signal

[Function] These signals detach the control axes from control.

These signals are provided for each control axis; the affixed number of the signal name

shows the control axis number.

DTCHx

x : 1 ..... The 1st axis is detached.

2 ..... The 2nd axis is detached.

3 ..... The 3rd axis is detached.

: :

[Operation] When the signals are “1”, the control unit operates as follows:

<1> Position control is not executed at all. Servo motor excitation is cut.

<2> Servo alarm on the axis is ignored.

<3> Axis interlock signal is assumed to be zero on the detached axis.

<4> A command for automatic or manual operation for the axis does not cause an alarm,

but the operation is restrained because the axis interlock signal is “0”. In an

automatic operation, the execution may stop and hold at the block. Do not execute

any command for automatic or manual operation for the axis.

<5> Position display also displays the position of the detached axis.

Controlled axis detach status signals MDTCH1 to MDTCH8<Fn110>

[Classification] Output signal

1. AXIS CONTROL

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[Function] These signals notify the PMC that the corresponding axes have been released from

control.

These signals are provided for each control axis; the affixed number of the signal name

shows the control axis number.

MDTCHx

x : 1 ..... The 1st axis is detached.

2 ..... The 2nd axis is detached.

3 ..... The 3rd axis is detached.

: :

[Output cond.] These signals are “1” in the following case:

When the corresponding axes are released from control

These signals are “0” in the following case:

When the corresponding axes are under control

Signal address

Gn124

DTCH8

DTCH7

DTCH6

DTCH5

DTCH4

DTCH3

DTCH2

DTCH1

Fn110

MDTCH8

MDTCH7

MDTCH6

MDTCH5

MDTCH4

MDTCH3

MDTCH2

MDTCH1

Parameter

0012

RMVx

[Input type] Setting input

[Data type] Bit axis

#7 RMVx

Releasing the assignment of the control axis for each axis

0: Not released

1: Released

(Equivalent to the control axis detachment signals DTCH1, DTCH2, and so forth

<G0124>)

NOTE

1. RMVx is valid when bit 7 (RMBx) of parameter No. 1005 is set to 1.

2. Switch RMVx while the axis is stopping. When switching while the

axis is moving, the control axis is detached after the movement of

the axis is completed.

1005

RMBx

MCCx

[Input type] Parameter input

[Data type] Bit axis

#6 MCCx

If a multi-axis amplifier is used, and another axis of the same amplifier is placed in the

control axis detach state, the MCC signal of the servo amplifier is:

0: Turned off.

1: Not turned off.

NOTE

This parameter can be set for a control axis.

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1. AXIS CONTROL

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#7 RMBx

The control axis detachment signal for each axis and the setting input parameter (bit 7

(RMV) of parameter No. 0012) are:

0: Invalid

1: Valid

1818

APDx

[Input type] Parameter input

[Data type] Bit axis

#5 APDx

In the axis with absolute position detector (absolute pulse coder), when the axis is

released from state of control axis detach:

0: The parameter APZ (bit 4 of parameter No. 1815) is changed to 0 automatically and

the alarm DS0300 is generated.

1: The parameter APZ (bit 4 of parameter No. 1815) remains at 1. After the release of

control axis detach, the machine and workpiece coordinate systems are

automatically set by using an absolute position detector (absolute pulse coder).

WARNING

1 It is necessary to detach and attach control axis on the same axis

(and the same detector). Do not exchange the axis, etc.

2 Do not move an axis of rotary axis (A type) (machine coordinate

values are rounded in 0 to 360°.) by more than 180°during control

axis detach.

3 In case of using the control axis detach function during automatic

operation, change controlled axis detach signal DTCH1 to DTCH8

while FIN wait state by using an M code without buffering

(parameter No.3411 to No.3432).

4 If magnetic pole detection is used, magnetic pole detection is

needed when the control axis is reconnected after control axis

detach.

Note

NOTE

1 Controlled axis detach signals DTCH1 <G124.0>, DTCH2 <G124.1>, DTCH3

<G124.2>, 0 can be changed from “1” to “0” or from “0” to “1” when the power is

first turned on or when no movement is being executed along the corresponding

axis. If these signals are changed from “0” to “1” when the tool is moving along

the corresponding axis, the axis is released from control upon completion of the

movement.

2 For these signals to be enabled, bit 7 (RMBx) of parameter No. 1005 must be set,

indicating the axes are detachable. The signal is invalid for axis without setting.

3 Setting bit 7 (RMVx) of parameter No. 0012 from the MDI unit detaches the axes

in the same way as these signals.

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