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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 31

1. AXIS CONTROL

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Parameter

number

Description

1007#4

Method of setting the reference position without dogs

1008#0

Enabling rotary axis roll-over

1008#1

Not making a short cut in an absolute command

1008#2

Rounding relative coordinates with the travel distance of one rotation.

1240

Coordinate value of the reference position in the machine coordinate system

1241

Coordinate value of the second reference position in the machine coordinate system

1242

Coordinate value of the third reference position in the machine coordinate system

1243

Coordinate value of the fourth reference position in the machine coordinate system

1260

Amount of a shift per one rotation of a rotary axis

1310#0,#1

Enabling stored stroke check 2, 3

1320

Coordinate value I of stored stroke check 1 in the positive direction on each axis

1321

Coordinate value I of stored stroke check 1 in the negative direction on each axis

1322

Coordinate value of stored stroke check 2 in the positive direction on each axis

1323

Coordinate value of stored stroke check 2 in the negative direction on each axis

1324

Coordinate value of stored stroke check 3 in the positive direction on each axis

1325

Coordinate value of stored stroke check 3 in the negative direction on each axis

1326

Coordinate value II of stored stroke check 1 in the positive direction on each axis

1327

Coordinate value II of stored stroke check 1 in the negative direction on each axis

1420

Rapid traverse rate for each axis

1424

Manual rapid traverse rate for each axis (bit 0 of (SJR) parameter No.8306 = 1)

1610#0,#1

Acceleration type of cutting feed or dry run during cutting feed

1610#4

Acceleration type of jog feed

1620

Time constant used for linear acceleration/deceleration for each axis

1621

Time constant T2 used for bell-shaped acceleration/deceleration in rapid traverse for each axis

1622

Time constant of acceleration/deceleration in cutting feed for each axis

1623

FL rate of acceleration/deceleration in cutting feed for each axis

1624

Time constant of acceleration/deceleration in jog feed for each axis.

1625

FL rate of exponential acceleration/deceleration in jog feed for each axis

1626

Time constant of acceleration/deceleration during thread cutting cycle

1627

FL rate of acceleration/deceleration during thread cutting cycle

1671

Maximum permissible acceleration of acceleration/deceleration before interpolation for linear rapid
traverse for each axis or permissible reference acceleration of optimum torque
acceleration/deceleration

1763

FL rate acceleration/deceleration after cutting feed interpolation for each axis in the
acceleration/deceleration before interpolation mode

1769

Time constant of acceleration/deceleration after cutting feed interpolation in the
acceleration/deceleration before interpolation mode

1815#2

Using a linear scale with reference marks

1818#0,#1,#3,
1819#2

Related to the linear scale with absolute addressing reference marks/linear scale with an absolute
addressing origin

1819#0

Follow-up in the servo off state

1819#1

Reference position establishment state at the time of a servo alarm

1821

Reference counter capacity

1825

Servo loop gain

1881

Group number when an unexpected disturbance torque is detected

1882

Intervals of mark 2 of a linear scale with absolute address reference marks.

1885

Maximum allowable value for total travel during torque control

1886

Positional deviation when torque control is canceled

2028

Limit speed for enabling position gain switching

2031

Torque-command-difference threshold for a torque-difference alarm

2060

Torque limit

2068

Feed forward coefficient

2092

Advanced preview feed forward coefficient

2144

Position feed forward coefficient for cutting

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Parameter

number

Description

2178

Position gain for rapid traverse

2179

Reference counter (denominator)

3605#0

Using bidirectional pitch error compensation

3605#1

Using interpolation type pitch error compensation

3605#2

Using interpolated straightness compensation

3624

Interval between pitch error compensation positions for each axis

3625

Travel distance per revolution in pitch error compensation of rotary axis type

7310

Order of axes to move to with dry run after a program restart
(in the case of not switching between synchronous operation and normal operation with signals)

8304#0

Setting the reference position for the one direction synchronization compensation function

11242

Time constant of acceleration/deceleration after interpolation of acceleration/deceleration before
interpolation in rapid traverse

11248

Time constant 1 of acceleration/deceleration after interpolation in Smart overlap for each axis

11249

Time constant 2 of acceleration/deceleration after interpolation in Smart overlap for each axis

11814

The second servo loop gain for each axis

13622

Time constant for acceleration/deceleration after interpolation when AI contour control is used
(precision level 1)

13623

Time constant for acceleration/deceleration after interpolation when AI contour control is used
(precision level 10)

(2) Parameters which need to be set only for the master axis

Parameter

number

Description

1005#3

Operation to be performed during a manual reference position return when a reference position is
established

1012#0

Method of setting the reference position without dogs

1250

Coordinates of the reference position when automatic coordinate system setting is performed

1408#0

The rotary axis feedrate control method is to convert the rotation speed on the circumference of a
virtual circle.

1421

F0 rate of rapid traverse override for each axis

1423

Feedrate in manual continuous feed (jog feed) for each axis

1424

Manual rapid traverse rate for each axis (bit 0 of (SJR) parameter No.8306 = 1)

1425

FL rate of the reference position return for each axis

1427

External deceleration rate of rapid traverse for each axis

1428

Reference position return speed for each axis

1430

Maximum cutting feedrate for each axis

1432

Maximum cutting feedrate for each axis in the mode of acceleration/deceleration before interpolation

1465

Radius of the virtual circle in a rotary axis virtual circle velocity command

1660

Maximum permissible acceleration of acceleration/deceleration before interpolation for each axis

1735

Permissible acceleration for each axis in the deceleration function with the acceleration in circular
interpolation

1737

Permissible acceleration for each axis in the deceleration function with the acceleration in AI contour
control

1783

Permissible speed difference in speed determination with the speed difference at a corner

1788

Permissible acceleration change amount in speed determination with the acceleration change on
each axis

1789

Permissible acceleration change amount in speed determination with the acceleration change on
each axis (linear interpolation)

3455#0

When the decimal point is omitted, mm, inch, sec units (calculator-type decimal point input)

5022

Distance (L) from reference tool tip position to the reference measurement surface

5401#0

Enabling scaling

5421

Scaling magnification for each axis

5440

Positioning direction and overrun distance in single directional positioning

7181

First retract distance at reference point setting with mechanical stopper

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Parameter

number

Description

7182

Second retract distance at reference point setting with mechanical stopper

7183

First retract speed at reference point setting with mechanical stopper

7184

Second retract speed at reference point setting with mechanical stopper

7185

Retract speed at reference point setting with mechanical stopper (common to the first and second
retractions)

7741

Retract amount

8410

Allowable feedrate difference used for feedrate determination, based on a corner feedrate difference

19541 to 19544 Optimum torque acceleration/deceleration (speed)
19545 to 19568 Optimum torque acceleration/deceleration (acceleration)
19667

Control point shift vector

(3) Parameters which may be set to different values for the master and slave axes

Parameter

number

Description

1020

Program axis name for each axis

1023

Number of the servo axis for each axis

18XX
2XXX

Parameters related to servo (other than those listed in (1), (2), or (4))

3115#0

Not displaying the current position

3115#1

Not displaying the absolute and relative coordinates

3115#3

Not adding axis moving to actual cutting feedrate display

3131

Subscript of axis name of synchronous controlled axis and tandem control axis

3620

Number of the pitch error compensation position for the reference position for each axis

3621

Number of the pitch error compensation position at extremely negative position for each axis

3622

Number of the pitch error compensation position at extremely positive position for each axis

3623

Magnification for pitch error compensation for each axis

3626

Number of the both-direction pitch error compensation position at extremely negative position (for
movement in the negative direction)

3627

Pitch error compensation at reference position when a movement to the reference position is made
from the direction opposite to the direction of reference position return

5861 to 5864

Inclination compensation : Compensation point number for each axis

5871 to 5874

Inclination compensation : Compensation at compensation point number for each axis

7186

Torque limit value in reference point setting with mechanical stopper (for 0% to 39%)

7187

Torque limit value in reference point setting with mechanical stopper (for 0 to 100%)

7310

Order of axes to move to with dry run after a program restart
(in the case of switching between synchronous operation and normal operation with signals (SYNC1
to SYNC8<Gn138> and SYNCJ1 to SYNCJ8<Gn140>))

24096

Connector number for the first separate detector interface unit

24097

Connector number for the second separate detector interface unit

24098

Connector number for the third separate detector interface unit

24099

Connector number for the fourth separate detector interface unit

24100

Connector number for the fifth separate detector interface unit

24101

Connector number for the sixth separate detector interface unit

24102

Connector number for the seventh separate detector interface unit

24103

Connector number for the eighth separate detector interface unit

(4) Parameters which need to be set only for the slave axis

Parameter

number

Description

1817#6

Performing tandem control for the axis

8303#0

Enabling automatic setting of grid positioning

8303#1

Setting the start of automatic setting of grid positioning

8303#2

Adding data for the slave axis for actual cutting feedrate display

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1. AXIS CONTROL

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Parameter

number

Description

8303#7

Using the synchronization compensation function based on machine coordinates for the axis
synchronous control function

8304#3

Enabling synchronization error compensation

8304#5

Always performing axis synchronous control

8304#6

Enabling the synchronization error smooth suppress function

8304#7

Enabling external machine coordinate system shift

8311

Axis number of master axis in axis synchronous control

8312

Enabling/disabling mirror image in axis synchronous control

8314

Maximum allowable error in synchronization error check based on machine coordinates

8323

Limit in positional deviation check in axis synchronous control

8325

Maximum compensation value in synchronization establishment based on machine coordinates

8326

Difference between master axis and slave axis reference counters

8327

Torque difference alarm detection timer

8331

Maximum allowable synchronization error for synchronization error excessive alarm 1

8332

Maximum allowable synchronization error for synchronization error excessive alarm 2

8333

Synchronization error zero width for each axis

8334

Synchronization error compensation gain for each axis

8335

Synchronization error zero width 2 for each axis

8336

Synchronization error compensation gain 2 for each axis

- How signals for each axis are handled

Some signals for each axis are input or output to both the master and slave axes and others are input or
output to only the master axis. The following table lists the type of each signal.

Input signals

Address Bit

Symbol

Signal name

Master and

slave axes

Master axis

only

Gn100

+Jx

Feed axis direction select signals

Gn102

-Jx

Feed axis direction select signals

Gn104

+EXLx

Stored stroke limit 1 switching signals in axis direction

Gn105

-EXLx

Stored stroke limit 1 switching signals in axis direction

Gn106

MIx

Mirror image signals

Gn108

MLKx

Machine lock signal in each axis

Gn110

+LMx

Stroke limit external setting signals

Gn112

-LMx

Stroke limit external setting signals

Gn114

*+Lx

Over travel signals

Gn116

*-Lx

Over travel signals

Gn118

*+Edx

External deceleration signals

Gn120

*-Edx

External deceleration signals

Gn124

DTCHx

Controlled axes detach signals

O *1

Gn126

*SVFx

Servo-off signals

O *1

Gn130

*ITx

Interlock signals in each axis

Gn138

SYNCx

Signals for selecting the axis for axis synchronous control

Gn140

SYNCJx

Signals for selecting the manual feed axis for axis
synchronous control

Gn192

IGVRYx

VRDY off alarm ignore signal in each axis

O *1

X009

*DECx

Deceleration signals for reference position return

Output signals

Address Bit

Symbol

Signal name

Master and

slave axes

Master axis

only

Fn094

ZPx

Reference position return completion signals

Fn096

ZP2x

2nd reference position return completion signals

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Address Bit

Symbol

Signal name

Master and

slave axes

Master axis

only

Fn098

ZP3x

3rd reference position return completion signals

Fn100

ZP4x

4th reference position return completion signals

Fn102

MVx

Axis moving signals

Fn104

INPx

In-position signals

Fn106

MVDx

Axis moving direction signals

Fn108

MMIx

Mirror image check signals

Fn110

MDTCHx Controlled axis detach status signals

Fn120

ZRFx

Reference position establishment signals

NOTE

1 Turn the signal marked with *1 on or off simultaneously for the master and slave

axes in the synchronization mode.

2 In the above table, the address only for the 1st axis is listed. For the addresses

of the 2nd and subsequent axes, see Appendix, “INTERFACE BETWEEN CNC
AND PMC” in this manual.

- Axis selection in actual cutting feedrate display

The slave axis of the axis synchronous control does not execute the calculation of the actual cutting
feedrate display during the synchronous operation.
By setting bit 2 (SAFx) of parameter No. 8303 to 1 for a slave axis, the slave axis can be included in an
actual cutting feedrate display calculation during synchronous operation.

- Program restart

If an operation mode is not switched between synchronous operation and normal operation with signals
(SYNC1 to SYNC8<Gn138> and SYNCJ1 to SYNCJ8<Gn140>) (to be in the synchronous state at all
times), set the same data for the master axis and slave axis in parameter No.7310.
If an operation mode is switched between synchronous operation and normal operation with signals, the
same data need not be set for the master axis and slave axis, but data (1 to the number of controlled axes)
must be set for both the master axis and slave axis.

- Flexible synchronization/Superimposed control

The slave axis of flexible synchronization control or the slave axis of superimposed control can be set to
the master axis of axis synchronous control by setting bit 0 (FSS) of parameter No. 8307 to 1. Then, it is
necessary to execute beginning and the end of flexible synchronization control or superimposed control
while axis synchronous control. The example of machining program is shown as follows.

Example of the machining program)
:
:
M50;

: Beginning of axis synchronous control

M210;

: Turning Superimposed ahead signals on (In case of superimposed control)

M16;

: Beginning of flexible synchronization control or superimposed control

:
:
M17;

: End of flexible synchronization control or superimposed control

M211;

: Turning Superimposed ahead signals off (In case of superimposed control)

M51;

: End of axis synchronous control

- Reference position return of axis synchronous control

It is necessary to perform reference position return before flexible synchronization control or
superimposed control is begun.

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- Synchronization Establishment of axis synchronous control

It is necessary to perform synchronization Establishment before flexible synchronization control or
superimposed control is begun.

- When using slave axis of superimposed control as master axis of axis synchronous control

It is necessary to set superimposed ahead signals OVLN <Gn531.4> to "1" during superimposed control

is begun.

Note

Please turn on the mode of axis synchronous control  before turning on the mode of flexible
synchronization control or superimposed  control  when the slave axis of flexible synchronization
control or the  slave axis of  superimposed  control is  used as the master axis of axis  synchronous
control.

It is not possible to instruct the workpiece coordinate system setting command (G92) and local
coordinate system setting command (G52) while the master axis of axis synchronous control is mode
of flexible synchronization control or superimposed control.

When bit 0 (FSS) of parameter No. 8307 is set to 1, the display of slave axis of axis synchronous
control is updated with the amount of travel after acceleration/deceleration and, therefore, the
display may appear not to be in synchronization.

When the slave axis of flexible synchronization control or the slave axis of superimposed control is
used as the master axis of axis synchronous control, slave axis of axis synchronous control checks
the state of stopping state by positioning deviation limit in movement.

The output of the in-position signals INP1 to INP8 <Fn104> and the axis moving signals MV1 to
MV8 <Fn102> follows each specification of flexible synchronization control or superimposed
control.

At the correction mode inside (bit 2 (ADJ) of parameter No. 8304 = 1), the movement instruction
cannot be done to the master axis of flexible synchronization control or the master axis of
superimposed control.

Use an M code preventing buffering as the M code for turning the superimposed ahead signals on or
off.

limitation

When bit 0 (FSS) of parameter No. 8307 is set to 1, the following parameters become invalid for the
master axis and the slave axis of axis synchronous control.

Parameter number

Description

12255

Maximum servo motor speed

12256

Maximum servo motor acceleration rate

When bit 0 (FSS) of parameter No. 8307 is set to 1, please set the same value to master axis and slave
axis of axis synchronous control about the following parameters.

Parameter number

Description

1013

Parameter of increment system

18xx

Parameter related to servo

2xxx

Flexible synchronization control / superimposed control

When this function is effective(bit 0 (FSS) of parameter No. 8307 = 1), slave axis of axis synchronous
control cannot be made the axis of flexible synchronization control or the axis of superimposed control.

General purpose retract

If general purpose retract is used in flexible synchronization control, general purpose retract can be set
only to the master axis. General purpose retract can not be used in superimposed control. Because of this,

1. AXIS CONTROL

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general purpose retract cannot be used in the master axis of axis synchronous control while using this
function.

Tandem control

When this function is effective(bit 0 (FSS) of parameter No. 8307 = 1), tandem control cannot be used
with a related axis of axis synchronous control.

1.6.10

Automatic Slave Axis Parameter Setting

Explanation

Axis synchronous control involves parameters which must be set to the same values for the master axis
and slave axis. (See the parameter list previously described in "Parameters which must be set to the same
value for the master and slave axes"). If bit 4 (SYPx) of parameter No. 8303 is 1, setting values for these
parameters for the master axis causes the same values to be set to the parameters for the slave axis.
This function is enabled when parameters are set with the following methods:

•

MDI key input

•

Parameter file input

•

Input with a program command
(1)  Programmable data input (parameter)
(2)  Stored stroke check 2 on (parameters Nos. 1322, 1323)
(3)  Cutting condition selection function (parameters Nos. 1769, 13622, and 13623)

•

Input with a signal
Stroke limit external setting (parameters Nos. 1320, 1321)

•

Input with the FOCAS function and the window function

- Prohibition of writing for the slave axis

If bit 4 (SYPx) of parameter No. 8303 is 1, it is prohibited to set values to the parameters for the slave
axis previously described in "Parameters which must be set to the same value for the master and slave
axes". Even if values are set, they will be invalid.
If any parameter other than the BIT parameter is set with the methods below, either an alarm or a warning
will be output.
MDI key input

A "WRITE PROTECT" warning is issued.

Programmable data input, stored stroke check 2 on

The alarm PS5379, “ WRITE PROTECTED TO SLAVE AXIS” is issued.

Input with the FOCAS function and the window function

The return value is 7 (write protect error).

1.6.11

Torque Difference of Axis Synchronous

Explanation

By acquiring and comparing information with this system variable at multiple points, can be detected
balanced synchronous position in master axis and slave axis.
This function can read information of toque difference of master axis and slave axis in Axis synchronous
control with system variable (#180801 to #180850).

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Information of torque difference of master axis and slave axis

System variable

number

System

variable name

Attribute

Description

#180801 to
#180850

[#_SYNTD[n]]

Torque difference of master axis and slave axis in Axis synchronous
control
Range

：

-32768 to 32767

Unit

：

Unit in which the set value corresponding to Nominal current

limit of Amplifier [Ap] is 6554.

(Note) Subscript n represents a compensation number (1 to 50).

R is attribute of a variable and indicate read-only.

Parameter (No.8311) determines the combination of master axis and slave axis, and torque difference of
master axis and slave axis is output to system variable of slave axis during synchronous operation and
normal operation.
The output torque difference is the value obtained by subtracting torque value of slave axis from the
torque value of master axis.
System value is read “0” in master axis. The case of axis more than the number of axis in a path is read
“0” as with master axis.
When value of parameter (No.8311) is incorrect, data of system variable cannot be read and becomes
alarm (PS5580) “CANNOT GET SYSTEM VARIABLE”.

Application example

When setting Pitch error compensation of Axis synchronous control using this function. Acquiring torque
difference master axis and slave axis from system variable, detecting the position where torque difference
of master axis and slave axis is the minimum, it is possible to set more optimal Pitch error compensation.

Example)
Setting procedure of Pitch error compensation value in slave axis with this system variable

(#180801 to #180850) is as follows.

In using this function, enable synchronization establishment of Axis synchronous control in

NC parameter.

Set synchronization establishment of maser axis using Laser measuring instrument.

In synchronous operation, move master axis to the first observation point.

After cancel synchronous operation, move slave axis only while acquiring torque
difference by system variable (#180801 to #180850), find position where torque
difference of master axis and slave axis is the smallest

After save coordinate difference of master axis and slave axis to work variable, set
synchronous operation.

5 Operate “3” to “4” in all master axis of observation point.

6 Calculate pitch data amount of movement of slave axis and set to Pitch error compensation

of slave axis.

Limitation

- Real time custom macro

System variables (#180801 to #180850) can’t use in real time custom macro. Value is read “0” in Real
time custom macro.

- Flexible path axis assignment

System variable (#180801 to #180850) corresponds to Flexible path axis assignment if axis configuration
is changed while maintaining parameter (No.8311) and axis configuration.
Correspondence example of Flexible path axis assignment is as follows.

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