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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 10

1. AXIS CONTROL

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1.2.11

Axis Total Travel Distance Display

Overview

Total travel distance of axis is calculated, the distance of each axis is displayed on the diagnosis screen. If

target distance is set, signal indicates that the travel distance exceeds the target.

Explanation

- Display of total travel distance

Total travel distance of axis is displayed on diagnosis data Nos. 365 and 366. When bit 3 (ETD) of

parameter No. 8906 is 1, this function is valid.

Diagnosis data No. 365 becomes 0 when total travel distance clear signal TDCx<Gn726> is set to "1"

from "0".

Diagnosis data No. 366 becomes 0 when it exceeds the upper limit.

When bit 3 (ETD) of parameter No. 8906 is 0, this function is executed as follows:

- Total travel distance is not calculated. However, the value calculated in the past is displayed.

- Diagnosis data No. 365 is not cleared by total travel distance clear signal TDCx<Gn726>.

Total travel distance clear signal
TDCx<Gn726> is set to "1" from "0"

Travel distance exceeds the upper
limit.

Diagnosis data No. 365

Becomes 0

Keeps the upper limit

Diagnosis data No. 366

Doesn’t become 0

Becomes 0

- Indication of target distance attainment

When total travel distance (diagnosis data No. 365) exceeds the target distance set in parameter No. 8852,

target distance attainment status signal TDAx<Fn730> becomes "1". Even if travel distance exceeds

target, the accumulation of diagnostic data(No.365) continues.

When bit 3 (ETD) of parameter No. 8906 is 1, this function is valid. If bit 3 (ETD) of parameter No. 8906

is 0 or the value set in parameter No.8852 is outside the data range, target distance attainment status

signal TDAx<Fn730> always becomes 0.

Timing chart

Upper limit

Parameter No.8852

Upper limit

Parameter No.8852

Total travel distance

clear signal

TDCx<Gn726>

Target distance

attainment status

signal TDAx<Fn730>

diagnosis data

No. 365

diagnosis data

No. 366

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1. AXIS CONTROL

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NOTE

1 Total travel distance is not calculated at the following command:

- Feedrate control of PMC axis control of when bit 2 (VCP) of parameter No. 8007

is 1 and bit 4 (EVP) of parameter No. 8005 is 0.

- Torque control of PMC axis control of when follow-up is not performed (bit 4

(TQF) of parameter No. 1803 is 0).

2 Total travel distance of axis to which servo is invalid (bit 4 (KSVx) of parameter

No. 11802) is not calculated.

3 In the axis during servo-off with follow-up (bit 0 (FUPx) of parameter No.1819 is 0

and follow-up signal *FLWU<Gn007.5> is “0”), the travel distance by the external

force is added to total travel distance.

Parameter

8906

ETD

[Input type] Parameter input

[Data type] Bit

NOTE

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

turned off before operation is continued.

#3 ETD

Axis total travel distance display is:

0: Invalid.

1: Valid.

8852

Target distance of each axis

[Input type] Parameter input

[Data type] 2-word axis

[Unit of data] m, 100 inch, 360 deg

[Valid data range] 1 to 999999999

When diagnosis data No. 365 exceeds the value set in this parameter, target distance

attainment status signal TDAx<Fn730> become "1".

NOTE

1 In case of rotation axis, unit of data is 360 degree. In case of linear

axis, unit of data is m or 100 inch according to the least command

increment.

2 If the value set in this parameter is outside the data range or bit 3

(ETD) of parameter No. 8906 is 0, target distance attainment status

signal TDAx<Fn730> always becomes 0.

3 This parameter is specified as radius specification. Diameter/radius

specification does not affect this parameter.

1. AXIS CONTROL

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Signal

Total travel distance clear signal TDC1 to TDC8<Gn726>

[Classification] Input signal

[Function] Total travel distance (diagnosis data No. 365) of the corresponding axis becomes 0.

[Operation] When these signals are set to "1" from "0", total travel distance (diagnosis data No. 365)

of the corresponding axis becomes 0.

NOTE

1 When bit 3 (ETD) of parameter No. 8906 is 1, these signals are

valid. If bit 3 (ETD) of parameter No. 8906 is 0, diagnosis data No.

365 doesn't become 0.

2 Set these signals to "0" after confirming either of the following

conditions:

- Target distance attainment status signal TDAx<Fn730> becomes

“0” from “1”

- Diagnosis data No. 365 becomes 0

- 128 msec or more have passed since these signals became “1”

Target distance attainment status signal TDA1 to TDA8<Fn730>

[Classification] Output signal

[Function] These signals indicate that the travel distance exceeds the target.

[Output cond.] These signals become “1” when:

Total travel distance (diagnosis data No. 365) exceeds the target distance set in

parameter No. 8852.

These signals become “0” when:

Total travel distance (diagnosis data No. 365) doesn’t exceed the target distance set

in parameter No. 8852.

NOTE

When bit 3 (ETD) of parameter No. 8906 is 1, these signals are

valid. If bit 3 (ETD) of parameter No. 8906 is 0 or the value set in

parameter No.8852 is outside the data range, these signals always

become 0.

Signal address

Gn726

TDC8

TDC7

TDC6

TDC5

TDC4

TDC3

TDC2

TDC1

Fn730

TDA8

TDA7

TDA6

TDA5

TDA4

TDA3

TDA2

TDA1

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1. AXIS CONTROL

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Diagnosis data

365

Total travel distance (clearable)

366

Total travel distance

[Data type] 2-word axis

[Unit of data] m, 100 inch, 360 deg

[Valid data range] 0 to 42949672 (When unit of data is m)

0 to 16909320 (When unit of data is 100 inch)

0 to 4294967295 (When unit of data is 360 deg)

Total travel distance of axis is displayed.

When total travel distance clear signal TDCx<Gn726> is set to "1" from "0", diagnosis

data No. 365 becomes 0. Diagnosis data No. 366 becomes 0 when it exceeds the upper

limit.

Total travel distance clear signal
TDCx<Gn726> is set to "1" from "0"

Travel distance exceeds the upper limit.

Diagnosis data
No. 365

Becomes 0

Keeps the upper limit

Diagnosis data
No. 366

Doesn’t become 0

Becomes 0

NOTE

1 In case of rotation axis, unit of data is 360 degree. In case of linear

axis, unit of data is m or 100 inch according to the least command

increment.

2 If bit 3 (ETD) of parameter No. 8906 is 1, total travel distance is

calculated.

3 If bit 3 (ETD) of parameter No. 8906 is 0, total travel distance is not

calculated. However, the value calculated in the past is displayed.

4 These diagnosis data are displayed as radius specification.

Diameter/radius specification does not affect these diagnosis data.

1.3

ERROR COMPENSATION

1.3.1

Stored Pitch Error Compensation

Overview

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 unit.

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 of Fig. 1.3.1 (a), 33 is set for the pitch error compensation number at the

reference position.

1. AXIS CONTROL

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Fig. 1.3.1 (a)

Pitch error compensation position at the reference position (for each axis): Parameter No.3620

Pitch error compensation position having the smallest value (for each axis): Parameter No.3621

Pitch error compensation position having the largest value (for each axis): Parameter No.3622

Pitch error compensation magnification (for each axis):

Parameter No.3623

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

Parameter No.3624

Explanation

- Specifying the compensation position

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.

- Compensation position number

1536 compensation positions from No. 0 to 1535 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 No.3620), number of the

compensation position having the smallest value (parameter No.3621), and number of the compensation

position having the largest value (parameter No.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.

- Interval of compensation positions

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

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1. AXIS CONTROL

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[Example]

When the maximum rapid traverse rate is 15000 mm/min, the minimum interval between pitch error

compensation positions is 2 mm.

Example

- 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

A fraction of the division of machine stroke on the negative/positive side by interval between the

compensation positions is raised up to an integer.

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

1.3.1(b):

-400 -350 -100

-50

100

750

800

Machine

coordinate

(mm)

Compensation

position

number

Compensation values are output at the positions indicated by .

Fig. 1.3.1 (b)

Therefore, set the parameters as Table 1.3.1 (a):

Table 1.3.1 (a)

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

50.0

The compensation amount is output at the compensation position No. corresponding to each section

between the coordinates.

The Fig. 1.3.1 (c) is an example of the compensation amounts.

1. AXIS CONTROL

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Fig. 1.3.1 (c)

- 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

In the above case, the number of the most distance compensation position on the - side is equal to the

number of the compensation position of the reference position + 1 = 60 + 1 = 61 for a rotary axis.

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 Fig. 1.3.1

(d):

0.0

45.0

90.0

135.0

180.0

225.0

270.0

315.0

(68)

(60)

(67)

(66)

(65)

(64)

(63)

(62)

(61)

(+)

Reference position

Compensation values are output at

the positions indicated by .

Fig. 1.3.1 (d)

Therefore, set the parameters as Table 1.3.1 (b):

Table 1.3.1 (b)

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

45.0

3625 : Movement value per rotation

360.0

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1. AXIS CONTROL

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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.

The Fig. 1.3.1 (e) is an example of compensation amounts.

60 61 62 63 64 65 66 67 68

+1 -2 +1 +3 -1 -1 -3 +2 +1

Number

Compensation

value

(deg)

61 62 63 64 65 66 67

(60)

-1
-2
-3
-4

Pitch error

compensation value

(absolute value)

45 90135180225270315

61 62 63 64 65 66 67

45 90135180225270315

61 62

45 90

(60)

Reference position

Fig. 1.3.1 (e)

Procedure for displaying and setting the pitch error compensation data

Procedure

1 Set the following parameters:

Number of the pitch error compensation point at the reference

position (for each axis)

: Parameter No. 3620

Number of the pitch error compensation point having the smallest

value (for each axis)

: Parameter No. 3621

Number of the pitch error compensation point having the largest

value (for each axis)

: Parameter No. 3622

Pitch error compensation magnification (for each axis)

: Parameter No. 3623

Interval of the pitch error compensation points (for each axis)

: Parameter No. 3624

Travel distance per revolution of pitch error compensation of the

rotary axis type (for each axis)

: Parameter No. 3625

When using bi-directional pitch error compensation (setting bit 0 (BDPx) of parameter No. 3605 to

1), specify the following parameters in addition to the pitch error compensation parameter.

Number of the pitch error compensation point at the negative end

(for travel in the positive direction, for each axis)

: Parameter No. 3621

Number of the pitch error compensation point at the positive end

(for travel in the positive direction, for each axis)

: Parameter No. 3622

Number of the pitch error compensation point at the negative end

(for travel in the negative direction, for each axis)

: Parameter No. 3626

Pitch error compensation in the reference position when moving to

the reference position from opposite to the reference position return

direction (for each axis)

: Parameter No. 3627

2 Press function key

3 When the display unit is 10.4-inch, press the continuous menu key

, then press chapter selection

soft key [PITCH ERROR]. The following screen is displayed:

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