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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 18

1. AXIS CONTROL

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- When

A1000S sensors which is separate pulsecoder is used as a separate detector.

- A scale without rotary data

For the following detectors, these are "a scale without rotary data".

The following detectors are not all of the detector which is "a scale without rotary data".

HEIDENHAIN

RCN223F / RCN727F

Magnescale

RU77

MITSUBISHI HEAVY INDUSTRIES

MPRZ Series

RENISHAW

RESOLUTE (rotary encoder)

NOTE

Please make sure to confirm the using detector to the detector manufacturers.

- Coordinate systems at power-on

(1) The machine and workpiece coordinate systems are automatically set. When bit 3 (PPD) of

parameter No. 3104 is set to 1, the relative position display is preset. When parameter PPD is set to 0,

it is also possible to preset relative coordinates with machine coordinates by setting bit 5 (PWR) of

parameter No. 11277 to 1.

(2) The amount of shift by coordinate system setting (G92 for the M series or G50 for the T series) or

local coordinate system setting (G52) is cleared.

- Setting the zero point of an absolute position detector

In the following cases, set the zero point of an absolute position detector (bring the counter value of the

absolute position detector into correspondence with the reference position):

•

Primary adjustment is performed (after the reference position is determined).

•

The reference position is changed.

•

An absolute position detector is replaced with another.

•

A servo motor is replaced with another.

•

Alarm DS0300 is issued.

•

The file memory is replaced with another.

•

Parameter data is cleared.

To set the zero point of an absolute position detector, the following two methods are available: One

method using manual reference position return and the other using MDI operation.

- Manual reference position return

Follow the procedure below to perform manual reference position return.

(1) Set bit 4 (APZ) of parameter No. 1815 to 0. Alarms PW0000 and DS0300 are displayed.

(2) Turn the power off, then on again. Alarm DS0300 is displayed.

(3) Perform manual reference position return. When manual reference position return is completed, bit 4

(APZ) of parameter No. 1815 is automatically set to 1.

(4) Press the reset button to release alarm DS0300.

Operation in step (3) can also be performed by reference position setting without DOG, reference point

setting with mechanical stopper, or reference point setting with mechanical stopper by grid method.

- Setting the zero point using MDI operation

Follow the procedure below to set the zero point using MDI operation.

(1) Set bit 4 (APZ) of parameter No. 1815 to 0. Alarms PW0000 and DS0300 are displayed.

(2) Turn the power off, then on again. Alarm DS0300 is displayed.

(3) Move the tool to the reference position in jog, manual handle, or manual incremental feed.

(4) Set bit 4 (APZ) of parameter No. 1815 to 1. Alarm PW0000 is displayed.

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(5) Turn the power off, then on again.

CAUTION

If setting the zero point using MDI operation causes the reference position to be

lost for some reason, any FANUC service personnel and end user cannot restore

the reference position accurately. In this case, you should ask the machine tool

builder to restore the accurate reference position, which requires an immense

amount of time for restoration. So, do not use MDI operation to set the zero point.

For details, see “Reexecuting zero point setting” described later.

- Voltage of backup batteries

Normally, the voltage of the backup batteries for the absolute position detector is 6 V. The voltage drops

as time goes on.

Signal

PBATL

Signal

PBATZ

4.5V

1.5V

When the voltage of the backup batteries becomes 4.5 V or less

•

When the voltage of the backup batteries becomes 4.5 V or less, “APC” is highlighted and blinks in

the state display area on the screen, and absolute position detector battery voltage low alarm signal

PBATL <Fn172.7> is set to “1”.

•

When the power to the CNC is turned off, then on again without replacing the backup batteries and

the counter value data of the absolute position detector is retained, alarm DS0307, “APC ALARM:

BATTERY LOW 1” is displayed. Signal PBATL remains set to “1”.

•

In this status, when emergency stop is canceled or the reset key is pressed, alarm DS0307 is released,

but “APC” is highlighted and blinks in the state display area on the screen. Signal PBATL remains

set to “1”.

•

When the batteries are replaced with ones the voltage of which is higher than or equal to the rating

and the reset key is pressed, “APC” in the status display area on the screen goes out and signal

PBATL is set to “0”.

CAUTION

If a battery voltage low alarm is displayed, replace the batteries with new ones

immediately. If the batteries are not replaced, the counter value data of the

absolute position detector is lost.

When the voltage of the backup batteries becomes 1.5 V or less

•

When the voltage of the backup batteries is 1.5 V or less, if the power to the CNC is turned off, the

battery voltage is assumed to be 0, and the counter value data of the absolute position detector is lost.

When the power to the CNC is turned on again, alarm DS0300, “APC ALARM: NEED REF

RETURN” and alarm DS0306, “APC ALARM: BATTERY VOLTAGE 0” are displayed, and

absolute position detector battery voltage zero alarm signal PBATZ <Fn172.6> is set to “1”.

At this time, bit 4 (APZ) of parameter No. 1815, which indicates that the correspondence between

the machine position and the position on the absolute position detector is established, is set to 0.

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•

In this status, when emergency stop is canceled or the reset key is pressed, only alarm DS0306 is

released. Signal PBATZ remains set to “1”.

•

Follow the procedure below to set the zero point of the absolute position detector.

1 Replace the batteries with ones the voltage of which is higher than or equal to the rating.

2 Rotate the motor manually at least one turn.

3 Turn the power to the CNC and servo amplifier off.

4 Turn the power to the CNC and servo amplifier on.

5 Set the zero point of the absolute position detector. After that, press the reset key to release

alarm DS0300.

•

When the power to the CNC is turned off, then on again after the batteries are replaced with ones the

voltage of which is higher than or equal to the rating, signal PBATZ is set to “0”.

- Reexecuting zero point setting

If any of the following states occurs after the zero point of an absolute position detector is set, the

reference position is lost, which requires the reexecution of zero point setting:

•

An event occurred, which set any bit of diagnosis data Nos. 310 and 311 to 1. (For example, the

voltage of the backup batteries became 1.5 V or less, or a parameter was updated, which caused the

reference position to be lost.)

•

A failure occurred in the pulse coder or motor, and it was replaced.

In this case, if the zero point is set using MDI operation, any FANUC service personnel and end user

cannot restore the reference position accurately, and you should ask the machine tool builder to restore

the accurate reference position, which requires an immense amount of time for restoration. So, do not use

MDI operation to set the zero point. The following table lists other methods for setting the zero point to

restore the reference position.

Table 1.4.2 (a) Reference position restoration

Zero point

setting method

Overview

Advantages

Disadvantages

Manual reference
position return

Uses the grid position
created by the detector and a
deceleration dog to establish
the reference position.

Enables the reference position
to be restored most reliably.

Requires a deceleration
dog.

Reference
position setting
without DOG

Uses the grid position
created by the detector and
starts reference position
return operation near the
reference position to
establish the reference
position without dogs.

- Requires no deceleration

dog.

- Allows the reference

position to be restored
easily when the position at
which to start restoring the
reference position is clear.

Cannot restore the
reference position if the
position at which to start
restoring the reference
position is not clear.

Reference point
setting with
mechanical
stopper

Butts the tool against the
mechanical stopper along an
axis and makes the tool
withdraw a set distance from
the mechanical stopper to
establish the reference
position.

- Requires no deceleration

dog.

- Allows the reference

position to be restored very
easily.

Lacks the positional
accuracy of the reference
position when the following
factors are taken into
account: Deformation of the
part where the tool is
butted, foreign matters
attached to the part, etc.

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Zero point

setting method

Overview

Advantages

Disadvantages

Reference point
setting with
mechanical
stopper by grid
method

Butts the tool against the
mechanical stopper along an
axis and makes the tool
withdraw to the grid position
created by the detector to
establish the reference
position.

- Requires no deceleration

dog.

- Allows the reference

position to be restored very
easily.

- Enables the accurate

reference position to be
established since the grid
position is used.

CAUTION

1 Do not use MDI operation to set the zero point. It is impossible to restore the

reference position accurately using this method.

2 Use manual reference position return using a grid whenever possible.

3 To use reference position setting without DOG, be sure to place the eye mark

indicating the start position of reference position return at a position where it can

be seen without removing the cover and other parts of the machine and make the

mark last after long-time machine operation.

4 To use reference point setting with mechanical stopper with using no grid, design

the machine so that the part where the tool is butted is not deformed and is free

from chips and other foreign matters.

5 Be sure to attach a manual which details the method for reference position return

along each axis to the machine.

- Rotary axis A type

When the increment system (bit 0 to 1 (ISA or ISC) of parameter No. 1013) is changed for an axis in the

following status, bit 4 (APZ) of parameter No. 1815 is set to 0 to set the status of the correspondence

between the machine position and the position on the absolute position detector to unestablished:

•

The zero point is established using the absolute position detector. (Bits 4 (APC) and 5 (APZ) of

parameter No. 1815 = 1)

•

Rotary axis A type (Bit 0 (ROT) of parameter No. 1006 = 1, Bit 1 (ROS) of parameter No. 1006 = 0)

•

Bit 6 (RON) of parameter No. 1815 = 0

By setting the bit to 0, alarm DS0300 is issued and the zero point of the absolute position detector must

always be set again, which prevents malfunction caused if zero point setting is not performed again.

At this time, bit 0 (PR1) of diagnosis data No. 310 is set to 1.

Information of setting the zero point

The method of setting the zero point can be confirmed by diagnosis data No.3520.

When the servo axis is disabled (bit 4 (KSVx) of parameter No. 11802 is set to

An absolute position detector cannot be used (bit 5 (APCx) of parameter No. 1815 cannot be set to 1).

If an absolute position detector is used, alarm SV0301, "APC ALARM; COMMUNICATION ERROR"

is issued.

Signal

Absolute position detector battery voltage low alarm signal PBATL<Fn172.7>

[Classification] Output signal

[Function] Notifies that the life of the absolute position detector battery is about to expire.

[Operation] These signal is “1” in the following case:

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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.

These signal is “0” in the following case:

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

rating.

Absolute position detector battery voltage zero alarm signal PBATZ<Fn172.6>

[Classification] Output signal

[Function] Notifies that the life of the absolute position detector battery has expired.

[Operation] These signals are “1” in the following case:

The batteries for the absolute position detector have run out. The batteries need be

replaced in the status in which the power to the machine is on.

These signals are “0” in the following case:

The batteries for the absolute position detector feed the voltage required for data

backup.

Signal address

Fn172

PBATL

PBATZ

Diagnosis data

Why bit 4 (APZ) of parameter No. 1815 is set to 0 can be checked using diagnosis data Nos. 310 and 311.

After any bit of diagnosis data Nos. 310 and 311 is set to 1, it remains set to 1 until the zero point of the

absolute position detector on the axis is set. Each bit of diagnosis data Nos. 310 and 311 is described

below with its corresponding cause.

310

DTH

ALP

BZ2

BZ1

PR2

PR1

PR1 One of the following parameters were changed:

No.1815#0, No.1815#1, No.1815#6, No.1817#3, No.1820, No.1821, No.1822, No.1823,

No.1850, No.1868, No.1869, No.1874, No.1875, No.1876, No.1878, No.1883, No.1884,

No.2022, No.2084, No.2085, No.2179, increment system for a rotary axis A type (see

“Explanation” for details.), No.11802#6, No.11810

PR2 The value of bit 1 (ATS) of parameter No. 8303 was changed. Alternatively, when bit 7

(SMA) of parameter No. 8302 was set to 1, APZ of the relevant axis for synchronous

operation became 1.

BZ1 A battery voltage of 0 V was detected. (Inductosyn)

BZ2 A battery voltage of 0 V was detected. (separate position detector)

ALP Although the

Pulsecoder did not indicate one turn, the zero point was set using MDI

operation.

Alternatively, the CNC could not obtain a valid value from the absolute Pulsecoder.

DTH An axis was released from control by using controlled axis detach signal DTCH

<Gn124> or bit 7 (RMV) of parameter No. 0012.

311

DUA

XBZ

GSG

AL4

AL3

AL2

AL1

AL1 SV alarms SV0301 to SV0305 were issued.

AL2 When bit 1 (CRF) of parameter No. 1819 was 1, soft disconnect alarm SV0445 or

SV0447 or abnormal analog signal alarm SV0646 was detected.

AL3 A battery voltage of 0 V was detected. (built-in serial Pulsecoder)

AL4 Count miss alarm SV0367 was detected.

GSG Disconnection alarm ignore signal NDCAL <Gn202> was changed from “1” to “0”.

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XBZ A battery voltage of 0 V or count miss alarm SV0382 was detected. (separate position

detector installed for each serial method)

DUA When bit 1 (CRF) of parameter No. 1819 was 1, excess error (semi-full) alarm SV0421

was detected.

If a battery low alarm is issued, the cause of the issuance can be checked with diagnosis data No. 3019.

3019

EXP

INP

ABP

[Data type] Axis

ABP Battery low in the phase A/B

ANP Battery low in the serial Pulsecoder (built-in position detector)

EXP Battery low in the serial separate position detector

3520

Information of setting the zero point for absolute position detection

[Data type] Byte axis

[Unit of data] None

[Valid data range] 0 to 3

To set the zero point of absolute position detection:

0 : is not performed yet.

1 : was performed by the manual reference position return.

2 : was performed by MDI operation.

3 : was performed by the reading of parameter file.

Parameter

1803

NFP

[Input type] Parameter input

[Data type] Bit path

#7 NFP

If position matching between the machine position and absolute position detector is not

performed even once, follow-up operation is:

0: Not performed.

1: Performed.

1815

RONx

APCx

APZx

OPTx

[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.

#1 OPTx

The separate position detector is:

0: Not to be used (semi-closed system)

1: To be used (full-closed system)

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NOTE

In case of using the absolute position detector (bit 5 (APCx) of

parameter No.1815 is set to 1), please set the following parameters

that correspond to the absolute position detector which is actually

used.

- parameter No.1815#6, No.1815#0, No.1817#3, No.1868,

No.2275#1, No.2394

If these parameters are not set correctly, the machine coordinates

are not correctly established at power-on.

#4 APZx

Machine position and position on absolute position detector when the absolute position

detector is used

0: Not corresponding

1: Corresponding

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.

#5 APCx

Position detector

0: Other than absolute position detector

1: Absolute position detector (absolute Pulsecoder)

NOTE

1 In case of using FANUC absolute pulsecoder as absolute position

detector for the rotary axis A type that machine coordinate values

are rounded in 0 to 360°, set bit 6 (RON) of parameter No.1815 to 0.

If the parameter is not set correctly, the machine coordinates are

not correctly established at power-on.

2 In case of using a rotary scale without rotary data made by another

company as absolute position detector, please refer to

"CORRESPONDENCE OF ROTARY SCALE WITHOUT ROTARY

DATA" in this manual and set an appropriate value corresponding

to the detector. If the parameter is not set correctly, the machine

coordinates are not correctly established at power-on.

3 When the servo axis is disabled (bit 4 (KSVx) of parameter No.

11802 is set to 1), an absolute position detector cannot be used (bit

5 (APCx) of parameter No. 1815 cannot be set to 1). If an absolute

position detector is used, alarm SV0301, "APC ALARM;

COMMUNICATION ERROR" is issued.

#6 RONx

With a rotary axis A type, a rotary encoder for detecting an absolute position within one

revolution is:

0: Not used.

1: Used.

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NOTE

1 This parameter is available for only the rotary axis A type with an

absolute position detector (absolute Pulsecoder).This function

cannot be used for a rotary scale with distance-coded reference

marks (serial) or for a distance coded rotary scale interface (phase

A/B).

2 Set this parameter to 1 for the rotary axis A type using a rotary scale

without rotary data such as HEIDENHAIN rotary scale RCN 223F,

727F, etc.

Set this parameter to 0

in any other case. If the parameter is not set

correctly, the machine coordinates are not correctly established at

power-on.

3 When this parameter is set, machine position and position on

absolute position detector become uncorresponding. Consequently,

the bit 4 (APZ) parameter No. 1815 (indicating that the

correspondence is established) is set to 0, and alarm DS0300 is

issued. Why the parameter bit 4 (APZ) parameter No. 1815 is set to

0 can be checked using bit 0 of diagnosis data No. 310.

1817

SCRx

[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.

#3 SCRx

Specifies whether to convert scale data by using threshold position (parameter No. 1868)

so that rotary axis B type is available, in the case of the axis B type that use a rotary scale

without data (the number of rotation), whose movable range is under one rotation:

0 : Not to convert.

1 : To convert.

NOTE

1 This parameter is available for only the rotary axis B type with an

absolute position detector (absolute Pulsecoder) or a rotary scale

with distance-coded reference marks (serial). This function cannot

be used for distance coded rotary scale interface (phase A/B).

2 Don't set this parameter in the case of no uncontinuous point within

movable range of rotary axis even if the rotary axis B type.

3 When this parameter is set, machine position and position on

absolute position detector become uncorresponding. Consequently,

the bit 4 (APZ) of parameter No. 1815 (indicating that the

correspondence is established) is set to 0, and alarm DS0300 is

issued. Why the bit 4 (APZ) of parameter No. 1815 is set to 0 can be

checked using bit 0 of diagnosis data No. 310.

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