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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 33

1. AXIS CONTROL

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#0 NDPx

The current position is:

Displayed.

Not displayed.

#1 NDAx

The current position and the amount of the movement to be made in absolute and relative

coordinates are:
0:

Displayed.

Not displayed.

3130

Axis display order for current position display screens

[Input type] Parameter input

[Data type] Byte axis

[Valid data range] 0 to 32

Set the order in which axes are displayed on current position display screens (absolute,
relative overall, and handle interrupt screens).

3131

Subscript of axis name

[Input type] Parameter input

[Data type] Byte axis

[Valid data range] 0 to 9, 65 to 90

In order to distinguish axes under synchronization control and tandem control, specify a
subscript for each axis name.

Setting value

Meaning

Each axis is set as an axis other than a synchronization control axis and
tandem control axis.

1 to 9

A set value is used as a subscript.

65 to 90

A set letter (ASCII code) is used as a subscript.

[Example] When the axis name is X, a subscript is added as indicated below.

Setting value

Axis name displayed on a screen such as the position display screen

If a multi-path system is used, no extended axis name is used within a path, and no
subscript is set for the axis names, then the path number is automatically used as the
subscript for the axis names. To disable the display of axis name subscripts, set a blank
(32) of ASCII code in the parameter for specifying an axis name subscript.

NOTE

If even one axis in a path uses an extended axis name when bit 2
(EAS) of parameter No. 11308 is set to 0, subscripts cannot be
used for axis names in the path.

8301

SYA

[Input type] Parameter input

[Data type] Bit path

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#4 SYA

In the servo-off state in axis synchronous control, the limit of the difference between the

positioning deviation of the master axis and that of the slave axis is:
0:

Checked.

Not checked.

8302

SMA

[Input type] Parameter input

[Data type] Bit path

NOTE

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

#7 SMA

When an absolute position detector is attached, and bit 4 (APZx) of parameter No. 1815

for an axis in synchronous operation is set to 0, APZx of the pairing axis in synchronous
operation is:
0:

Not set to 0.

Set to 0.

8303

SOFx

SYPx

SAFx

ATSx

ATEx

[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 ATEx

In axis synchronous control, automatic setting for grid positioning is:

Disabled

Enabled

The setting for the slave axis is available.

#1 ATSx

In axis synchronous control, automatic setting for grid positioning is:

Not started

Started

The setting for the slave axis is available.

NOTE

When starting automatic setting for grid positioning, set ATS to 1.
Upon the completion of setting, ATS is automatically set to 0.

#2 SAFx

In axis synchronous control, a movement along a slave axis is:

Not added to actual feedrate display.

Added to actual feedrate display.

The setting for the slave axis is available.

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#4 SYPx

In axis synchronous control, some parameters must be set to the same value for the master

and slave axes. When a value is set in such a parameter for the master axis:
0:

The same value is not automatically set in the parameter for the slave axis.

The same value is automatically set in the parameter for the slave axis.

NOTE

1 The parameters that are automatically set are found previously

described in "Parameters which must be set to the same value for
the master and slave axes".

2 Set this parameter to the same value for both the master and slave

axes.

#7 SOFx

In axis synchronous control, the synchronization establishment function based on

machine coordinates is:
0:

Disabled.

Enabled.

The setting for the slave axis is available.When using synchronization error compensation,
set this parameter to 0.

8304

SYEx

SMSx

SCAx

MVBx

CLPx

ADJx

SSAx

[Input type] Parameter input

[Data type] Bit axis

#0 SSAx

When the one-direction synchronization establishment function under axis synchronous

control is used:
0:

The axis with a larger machine coordinate is used as the reference.

The axis with a smaller machine coordinate is used as the reference.

NOTE

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

operation is continued.

2 Set this parameter to the same value for both the master and slave

axes.

#2 ADJx

In axis synchronous control, this parameter specifies an axis along which a movement is

made in the correction mode.
0:

A movement is not made in the correction mode along the axis.

A movement is made in the correction mode along the axis.

When this parameter is set to 1, the correction mode is set.
Along an axis with this parameter set to 1, a movement is made by a move command for
the master axis.
Set this parameter for one of the master and slave axes.
When there are multiple slave axes for one master axis, set this parameter to 1 for an axis
with which a synchronization error excessive alarm is issued for recovery. If an alarm is
issued with multiple axes, modify this parameter after recovery of one axis to recover
another axis.

#3 CLPx

In axis feed synchronous control, synchronization error compensation is:

Disabled.

Enabled.

The setting for the slave axis is available.

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#4 MVBx

In the correction mode, a move command in a direction that increases a synchronization

error is:
0:

Ignored.

Valid.

When there are multiple slave axes for one master axis, an attempt to reduce the
synchronous error of a slave axis by a movement along the master axis can increase the
synchronization error of another slave axis. If this parameter is set to 0 in such a case, a
movement can be made in neither direction along the master axis. In this case, set bit 2
(ADJx) of parameter No. 8304 to make a movement along a slave axis to perform a
corrective operation.

#5 SCAx

In axis synchronous control:

Synchronous operation is performed when the axis synchronous control manual feed
selection signal SYNCJ <Gn140> or the axis synchronous control selection signal
SYNC <Gn138> for slave axes is set to 1.

Synchronous operation is performed at all times.

The setting for the slave axis is available.

#6 SMSx

The synchronization error smooth suppress function is:

Disabled.

Enabled.

The setting for the slave axis is available.

#7 SYEx

When external machine coordinate system shift is specified by external data input/output

for the master axis in synchronous control, the slave axis is:
0:

Not shifted.

Shifted by the same amount as specified for the master axis.

The setting for the slave axis is available.
This function is disabled during normal operation.

8305

SLR

SRF

SSE

SSO

[Input type] Parameter input

[Data type] Bit path

#0 SSO

One-direction synchronization establishment function under axis synchronous control in

axis synchronous control is:
0:

Disabled.

Enabled.

#1 SSE

After emergency stop, one-direction synchronization establishment function under axis

synchronous control in axis synchronous control is:
0:

Enabled.

Disabled.

#2 SRF

In axis synchronous control, G28, G30, and G53:

Make the same movement along the slave axis as a movement along the master axis.

Make movements along the slave axis and master axis independently to specified
positions.

#4 SLR

When G28 is specified for an axis under axis synchronous control for which the reference

position is not established:
0:

Alarm PS0213, “ILLEGAL COMMAND IN SYNCHRO-MODE” is issued.

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Reference position return operation of low-speed type is performed.

8306

SJR

[Input type] Parameter input

[Data type] Bit path

#0 SJR

In synchronization establishment,

A machine coordinate difference between the master axis and slave axis is output at
a time as command pulses (axis movements are performed without
acceleration/deceleration).

Axis movements are executed with the feedrate of manual rapid traverse and the
acceleration/deceleration after interpolation in rapid traverse.

NOTE

When the one-direction synchronization establishment function
under axis synchronous control is used (bit 0 (SSO) of parameter
No.8305 is set to 1), the machine coordinate difference for
synchronization establishment is output as command pulses at a
time, regardless of the setting of this parameter.
Acceleration/deceleration is not applied to the axis movements in
the one-direction synchronization establishment.

8307

FSS

[Input type] Parameter input

[Data type] Bit type

NOTE

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

#0 FSS

The slave axis of flexible synchronization control or the slave axis of superimposed

control is:
0:

Not used as the master axis of axis synchronous control.

Used as the master axis of axis synchronous control.

8311

Axis number of master axis in axis synchronous control

NOTE

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

[Input type] Parameter input

[Data type] Byte axis

[Valid data range] 0 to Number of controlled axes

Select a master axis in axis synchronous control. In the parameter for the slave axis, set
the axis number of the master axis.
Example 1)

When one set of axis synchronous control is used:

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When the master axis is the first axis (X-axis), and the slave axis is the third axis
(Z-axis), set parameter No. 8311 as follows:

Parameter No.8311 X (first axis)

= 0

Parameter No.8311 Y (second axis) = 0

Parameter No.8311 Z (third axis)

= 1

Parameter No.8311 A (fourth axis) = 0

Example 2)

When three sets of axis synchronous control is used:

When the master axes are the first axis, second axis, and third axis, and the slave
axes are the sixth axis, fifth axis, and fourth axis, set parameter No. 8311 as follows:

Parameter No.8311 X (first axis)

= 0

Parameter No.8311 Y (second axis) = 0

Parameter No.8311 Z (third axis)

= 0

Parameter No.8311 A (fourth axis) = 3

Parameter No.8311 B (fifth axis)

= 2

Parameter No.8311 C (sixth axis)

= 1

Example 3)

When the multiple slave axes of axis synchronous control are used in each path:

When the master axes are the first axis of the each path, and the slave axes are the
fourth axis and fifth axis of the each path, set parameter No. 8311 as follows:
Path-1

Path-2

Parameter No.8311 X (first axis)

= 0

X (first axis)

= 0

Parameter No.8311 Y (second axis) = 0

Y (second axis)

= 0

Parameter No.8311 Z (third axis)

= 0

Z (third axis)

= 0

Parameter No.8311 A (fourth axis) = 1

A (fourth axis)

= 1

Parameter No.8311 B (fifth axis)

= 1

B (fifth axis)

= 1

8312

Enabling/disabling slave axis mirror image

[Input type] Parameter input

[Data type] Word axis

[Valid data range] 0, 100

When the slave axis mirror image is enabled on axis synchronous control, set this
parameter to 100. If 0 is set in this parameter, the slave axis mirror image is disabled. The
setting for the slave axis is available.
Example)

For reverse synchronization with the master axis being the third axis and the slave
axis being the fourth axis, set parameter No. 8312 as follows:

Parameter No.8312 X (first axis)

= 0

Parameter No.8312 Y (second axis) = 0

Parameter No.8312 Z (third axis)

= 0

Parameter No.8312 A (fourth axis) = 100

NOTE

In synchronous operation with mirror image applied,
synchronization error compensation, synchronization
establishment, synchronization error checking, and correction
mode cannot be used.

8314

Maximum allowable error in synchronization error check based on machine coordinates

[Input type] Parameter input

[Data type] Real axis

[Unit of data] mm, inch, deg (machine unit)

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[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)
This parameter sets a maximum allowable error in a synchronization error check based on
machine coordinates. When the error between the master and slave axes in machine
coordinates exceeds the value set in this parameter, the machine stops with the servo
alarm SV0005, “SYNC EXCESS ERROR (MCN)”.
The setting for the slave axis is available.

NOTE

Set 0 in this parameter when a synchronization error check is not
made.

8323

Limit in positional deviation check in axis synchronous control

[Input type] Parameter input

[Data type] 2-word axis

[Unit of data] Detection unit

[Valid data range] 0 to 999999999

This parameter sets the maximum allowable difference between the master axis and slave
axis position deviations. When the absolute value of a positional deviation difference
exceeds the value set in this parameter in axis synchronous control, the alarm DS0001,
“SYNC EXCESS ERROR (POS DEV)” is issued.
The setting for the slave axis is available. If 0 is specified in this parameter, no position
deviation difference check is made.

8325

Maximum compensation value in synchronization establishment based on machine coordinates

[Input type] Parameter input

[Data type] Real axis

[Unit of data] mm, inch, deg (machine unit)

[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)
This parameter sets the maximum compensation value for synchronization. When a
compensation value exceeding the value set in this parameter is detected, the servo alarm
SV0001, “SYNC ALIGNMENT ERROR” is issued, and the synchronization
establishment is not performed.
The setting for the slave axis is available. To enable this parameter, set the bit 7 (SOF) of
parameter No.8303 to 1. When 0 is set in this parameter, synchronization establishment is
not performed.

8326

Difference between master axis and slave axis reference counters

[Input type] Parameter input

[Data type] 2-word axis

[Unit of data] Detection unit

[Valid data range] 0 to 999999999

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The difference between the master axis reference counter and slave axis reference counter
(master axis and slave axis grid shift) is automatically set when automatic setting for grid
positioning is performed. Then, the difference is transferred together with an ordinary
grid shift value to the servo system when the power is turned on. This parameter is set
with a slave axis.

8327

Torque difference alarm detection timer

[Input type] Parameter input

[Data type] 2-word axis

[Unit of data] msec

[Valid data range] 0 to 4000

This parameter sets a time from the servo preparation completion signal, SA <Fn000.6>,
being set to “1” until torque difference alarm detection is started in axis synchronous
control.
When 0 is set in this parameter, the specification of 512 msec is assumed.
The setting for the slave axis is available.

8330

Multiplier for a maximum allowable synchronization error immediately after power-up

NOTE

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

[Input type] Parameter input

[Data type] Word path

[Valid data range] 1 to 100

Until synchronization establishment is completed immediately after power-up,
synchronization error excessive alarm 2 is checked using the maximum allowable error
(parameter No. 8332) multiplied by the value set in this parameter.
If the result produced by multiplying the value of parameter No. 8332 by the value of this
parameter exceeds 32767, the value is clamped to 32767.

8331

Maximum allowable synchronization error for synchronization error excessive alarm 1

[Input type] Parameter input

[Data type] 2-word axis

[Unit of data] Detection unit

[Valid data range] 1 to 32767

This parameter sets a maximum allowable synchronization error for synchronization error
excessive alarm 1.
The setting for the slave axis is available.

8332

Maximum allowable synchronization error for synchronization error excessive alarm 2

NOTE

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

[Input type] Parameter input

[Data type] 2-word axis

[Unit of data] Detection unit

[Valid data range] 1 to 32767

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