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

1. AXIS CONTROL

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NOTE

4 Those axes that are released from control lose their reference positions.

Reference position return must, therefore, be performed for the axes prior to

executing move commands for the axes. Specifying a move command before

reference position return has been performed causes alarm PS0224 "ZERO

RETURN NOT FINISHED" to be output.

If an axis for which an absolute position detector is used (bit 5 (APCx) of

parameter No. 1815 is set to 1) is released from control, the correspondence

between the machine position and reference position is lost. Consequently, bit 4

(APZx) of parameter No. 1815 indicating that the correspondence is established

is set to 0, resulting in alarm DS0300 “APC ALARM: NEED REF RETURN”. After

an axis is released from control, perform reference position return to bring the

machine position into correspondence with the reference position. But these

operations can be omitted by setting bit 5 (APDx) of parameter No.1818 is set to

5 When the control axis detach function is used, however, servo software cannot

identify the type of detector in a case where the power to the CNC is turned on

with the detector detached from the controlled axis. And an alarm such as a

communication alarm may be issued. Such an alarm can be avoided by setting

bit 3 (COMSRC) of parameter No. 2017 to 1 “the detector on the semi-closed

side is αi/βi pulse coder at all times”.

Refer to "FANUC AC SERVO MOTOR αi/βi

series PARAMETER MANUAL (B-65270EN)" for details.

1.2.5

Outputting the Movement State of an Axis

Overview

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

Signal

Axis moving signals MV1 to MV8<Fn102>

[Classification] Output signal

[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.

MVx

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

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

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

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

The corresponding axis has started moving.

In manual handle feed mode, the handle feed axis of the corresponding axis has been

elected.

The signals turn to “0” in the following case:

The corresponding axis has stopped moving and enters the in-position status.

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Axis moving direction signals MVD1 to MVD8<Fn106>

[Classification] Output signal

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

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

to the control axis number.

MVDx

x : 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.

[Output cond.] “1” indicates the corresponding axes are moving in the minus direction, and “0” indicates

they are moving in the plus direction.

CAUTION

These signals maintain their condition during a stop. This signal

keeps "1" even if it stops after moving in the minus direction.

Signal address

Fn102

MV8

MV7

MV6

MV5

MV4

MV3

MV2

MV1

Fn106

MVD8

MVD7

MVD6

MVD5

MVD4

MVD3

MVD2

MVD1

Caution

CAUTION

Axis moving signals and axis moving direction signals are output in both

automatic and manual operations.

1.2.6

Mirror Image

Overview

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. Moreover, the absolute coordinate is updated to the same direction as a programmed path, and

the machine coordinate and the relative coordinate are updated to the opposite direction from a

programmed path.

When MI1 signal turned to "1" at point A

B’

Mirror image (Example for lathe system)

Fig. 1.2.6 (a)

Mirror image check signals MMI1 to MMI8 <Fn108> indicate whether mirror image is applied to each

axis. System variable #3007 contains the same information.

Wrong operation prevention function displays the axis status to the left of the axis name in the display of

the machine coordinates, absolute coordinates, relative coordinates, and remaining travel amounts.

Please refer to OPERATOR’S MANUAL (B-64694EN) for details.

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Explanation

Shifting workpiece coordinate system

When operation using mirror image is executed after the workpiece coordinate system is specified,

absolute coordinates are updated in the opposite direction with machine coordinates, the workpiece

coordinate system is shifted from the machine coordinate system.

This shifted amount can be cancelled by the following operation.

Manual reference position return

Workpiece coordinate system preset (G92.1, G50.3)

Each axis workpiece coordinate system preset signals WPRST1-WPRST8<Gn358>

Programmable mirror image (G50.1, G51.1)

When programmable mirror image (machining center system) and ordinary mirror image are specified at

the same time, programmable mirror image is applied first.

Retrace

Mirror image is enabled during reverse execution and forward reexecution of the retrace function.

Therefore, it is necessary during the reverse execution and the forward reexecution to make mirror image

in the same state as the forward execution.

Limitation

Manual operation and automatic reference position return

Even if mirror image is applied, the following directions are not reversed.

Direction of manual operation

Direction of movement, from the intermediate position to the reference position during automatic

reference position return (G28)

In these cases, the machine coordinate and the relative coordinate are updated to the same direction as a

movement, and the absolute coordinate is updated to the opposite direction from a movement.

Boring cycle (G76 and G87)

Even if mirror image is applied, shift direction for boring cycles (G76 and G87) is not reversed.

High precision oscillation function

Never attempt to apply mirror image about the oscillation axis.

Manual linear/circular interpolation

Manual operation of Manual linear/circular interpolation, never use mirror image.

Program restart, Quick program restart

The tool cannot be returned to a correct position when mirror image is used. However, P type return is

possible for a block that switched between ON and OFF most recently or a subsequent block. In this case,

mirror image signal status present when the program was interrupted must be maintained.

Manual intervention and return

When performing manual intervention and return, never use mirror image.

Tool retract and recover

When retracting the tool manually in the tool withdrawal mode, do not use mirror image.

Single direction positioning

Mirror image is not applied in parameter No.5440 set direction. Even in the mirror image mode, the

direction of single direction positioning remains unchanged.

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If positioning of linear interpolation type is used, and the state of mirror image when a single direction

positioning block is looked ahead differs from the state of mirror image when the execution of the block

is started, an alarm is issued. When switching mirror image in the middle of a program, disable looking

ahead by specifying a non-buffering M code. Then, switch mirror image when there is no look-ahead

block.

Arbitrary speed threading

Thread cannot be re-machined with mirror image applied.

General purpose retract

The retract direction is the movement direction of the machine regardless of whether mirror image is

valid or not. (A mirror image is not applied to the updating of absolute coordinates.)

AI contour control II

In the speed control with the cutting feed, the travel direction on the Z-axis is determined with the

appropriate NC command. Therefore, if mirror image is applied on the Z-axis, the direction on the Z-axis

cannot be determined. When using the speed control with the cutting load, do not use mirror image.

Signal

Mirror image signals MI1 to MI8<Gn106>

[Classification] Input signal

[Function] Select whether to apply a mirror image to each axis.

[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 name represents the controlled axis number.

MIx

x : 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:

(1) During offset cancel;

(2) When the CNC is in the automatic operation stop state and not in the feed hold state.

Mirror image check signals MMI1 to MMI8<Fn108>

[Classification] Output signal

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

The mirror image can be set with the CNC setting data in addition to the input signal from

the machine side (PMC).A mirror image is applied by the logical sum of both, and the

state is notified to the PMC.

These signals are provided for every control axis; the numeral in the signal name

indicates the relevant control axis number.

MMIx

x : 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 cond.] These signals turn to “1” when:

Mirror image signal MIx of the corresponding axis is 1; or

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

These signals turn to “0” when:

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Mirror image signal (MIx) of the corresponding axis is 0 and the setting of the

mirror image is turned off.

Signal address

Gn106

MI8

MI7

MI6

MI5

MI4

MI3

MI2

MI1

Fn108

MMI8

MMI7

MMI6

MMI5

MMI4

MMI3

MMI2

MMI1

Parameter

0012

MIRx

[Input type] Setting input

[Data type] Bit axis

#0 MIRx

Mirror image for each axis

0: Mirror image is off. (Normal)

1: Mirror image is on. (Mirror)

3129

MRE

[Input type] Parameter input

[Data type] Bit path

#2 MRE

When mirror image is used, relative coordinates are:

0: Updated with respect to the machine coordinates.

1: Updated with respect to the absolute coordinates.

Set this parameter to 1 when handling relative coordinates in the same way as for the

lathe system of the FS16

/18

/21

Caution

CAUTION

1 No programmable mirror image (machining center system) affects mirror image

check signals MMI1 to MMI8 <Fn108>.

2 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 MMI8

<Fn108>.

Reference item

Manual name

Item name

OPERATOR’S MANUAL(B-64694EN)

Mirror image
Operator error prevent functions

1.2.7

Follow-up

Overview

If the machine moves in the state in which position control on controlled axes is disabled (during

servo-off, emergency stop, or servo alarm), feedback pulses are accumulated in the error counter. The

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CNC reflects the machine movement corresponding to the error count in the current position managed by

the CNC. This operation is referred to as follow-up. When follow-up is performed, the current position

managed by the CNC does not shift from the actual machine position.

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.

Explanation

- When follow-up is not performed for the axes for which the servo is turned off

When a follow-up signal *FLWU <Gn007.5> is “1” or a bit 0 (FUPx) of parameter No.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 SVF1 to SVF8

<Gn126> 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 follow-up is performed for the axes for which the servo is turned off

When a bit 0 (FUPx) of parameter No.1819 is 0 and a follow-up signal *FLWU is “0”, the follow-up

function is performed.

That is, it is considered that there is a command corresponding to the movement of the machine, and

update the present position of the CNC so that the error counter to zero. In this case, even if the servo-off

signal is restored to "0", the position of the machine remains dislocated. However, since the present

position of the CNC is moving corresponding to the actual position of the machine, so, if it executes the

program with cycle start at the state, it moves to the correct position with the first absolute command. In

general, follow-up is used with a mechanical handle (a method of moving a motor by a mechanical handle

mechanism and moving a machine).

CAUTION

1 If, during automatic operation, a servo off signal is issued with the setting that

causes follow-up to be performed (a bit 0 (FUPx) of parameter No.1819 = 0 and a

follow-up signal *FLWU<Gn007.5> = “0”), even if the machine is moved with

external force or other means, the travel distance will not immediately reflected in

the program coordinate system. Until it is reflected, the machine path will be

shifted by the amount of movement due to the external force as in the Fig. 1.2.7

(a) .

Programmed machine path

Servo off

Servo on

Actual machine path

During servo off, movement due to external force

Fig. 1.2.7 (a)

The following method is available to reflect the amount of movement during servo

off in the program coordinate system. If not wishing to shift the path, be sure to

follow the procedure below to adjust the coordinates and execute an absolute

command.

- Exit from automatic operation with a reset, single block stop, or feed hold, and

then make a restart.

1. AXIS CONTROL

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CAUTION

2 If a servo off signal is issued with the setting that does not cause follow-up to be

performed (a bit 0 (FUPx) of parameter No.1819 = 1 or a follow-up signal

*FLWU<Gn007.5> = “1”), even if the machine is moved with external force or

other means, the machine will be retracted by the travel distance in the servo on

state and, therefore, the path will never shift in subsequent automatic operation.

The amount of movement due to the external force in the servo off state is

regarded as a servo positional deviation and is stored inside the CNC. Thus,

when a servo on signal is issued, axis moving occurs to cancel this servo

positional deviation. The machine moves at a speed in accordance with the servo

loop gain and if the amount is large, this may give the machine a shock.

Signal

Follow-up signal *FLWU<Gn007.5>

[Classification] Input signal

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

bit 0 (FUPx) of parameter No.1819 is 0.

[Operation] 0: Performs follow-up.

1: Does not perform follow-up.

Signal address

Gn007

*FLWU

Parameter

1819

FUPx

[Input type] Parameter input

[Data type] Bit axis

#0 FUPx

To perform follow-up when the servo is off is set 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.

NOTE

When using the index table indexing function, set FUPx to 1 for a

control axis subject to index table indexing.

Caution

CAUTION

Following operation is disabled for the axis in follow-up.

- Manual handle interruption

Reference item

Manual name

Item name

CONNECTION MANUAL (FUNCTION)

(

this manual

)

Servo off/mechanical handle feed

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1. AXIS CONTROL

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1.2.8

Servo off/Mechanical Handle Feed

Overview

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.

Please refer to “Follow-up” for details of follow-up in the servo off state.

Signal

Servo off signals SVF1 to SVF8<Gn126>

[Classification] Input signal

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

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

appended to a signal represents a controlled axis number.

SVFx

x : 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.

Signal address

Gn126

SVF8

SVF7

SVF6

SVF5

SVF4

SVF3

SVF2

SVF1

FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 8