FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 35

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Connecting motors

Connect the motors according to the servo axis numbers. Connect the feedback cable of the slave axis.
(Sample connection for position feedback cable)

Servo amplifier

JF1

JF2

JF101

Feedback cable for motor of master axis

Feedback cable for motor of slave axis

Separate detector
interface unit

Feedback cable for separate detector

Fig. 1.7 (d)

Servo alarms

Motor overload and other servo alarms are displayed separately for the master and slave axes.

Servo off of slave axis

Specification of servo off of slave axis depends on the parameter TSF (No.11803#2) as follows.
- In case parameter TSF=0

The servo of the slave axis is turned off together with that of the master axis.

- In case parameter TSF=1

The servo of the slave axis is turned off independently of, rather than together with, that of the
master axis.

NOTE

1  Use the parameter TSF for the slave axis.
2  Specify the parameter TSF when both the master and slave axes are at a stop.
3  Setting the parameter TSF to 1 requires consideration on the ladder side,

because the servo of the slave axis is turned off independently of, rather than
together with, that of the master axis.

Parameter

Setting data (parameters)

The parameters that are generally set for each axis can, when set for axes under tandem control, be
classified into the following three groups:
i)

Parameters in which identical values must be set for the master and slave axes

ii)

Parameters that must be specified only for the master axis (The corresponding parameter for the
slave axis is not used.)

iii) Parameters for which different values may be set for the master and slave axes
The classifications of the parameters are described below. Any parameter that is not listed in the tables for
the three classifications should be processed as a parameter of type i) and, specify identical values for the
master and slave axes.

CAUTION

Note that, if different values are set for the master and slave axes in a parameter
of type i), the operations for the two axes of tandem control will not be performed
correctly.

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Care must be taken to specify the following two servo parameters, according to the directions of
rotation around the master and slave axes.
No. 2022 Direction of rotation of the motor
No. 2087 Preload value

In parameter No. 2022, specify 111 for forward rotation and -111 for the reverse rotation.

In parameter No. 2087, specify values having identical signs when the motors of the master and
slave axes rotate in opposite directions. Specify values having different signs when the motors of the
master and slave axes rotate in the same direction.

If a separate detector is used, use of the separate detector must be set for the master axis. For the
slave axis, use of a built-in Pulsecoder must be set. Therefore, pay particular attention to setting the
following parameters.
No. 1815#1

Separate detector

No. 2024

Number of position pulses (PPLS)

No. 1821

Capacity of a reference counter

No. 2084

Flexible feed gear ratio (numerator)

No. 2085

Flexible feed gear ratio (denominator)

If, for example, a motor with

Pulsecoder is used with a linear scale capable of detecting a position in

m units, and if a single rotation of the motor produces a movement of 4 mm, specify the parameters as

shown below:

Master axis

Slave axis

No. 1815#1=

No. 2024 =

4000

12500

No. 1821 =

4000

No. 2084 =

No. 2085 =

1000

Parameters that should be set to the same values for the master and slave
axes

Parameter No.

Meaning of parameters

1005#0

Reference position return

1005#1

Setting of the reference position without dogs

1006#0 to #1

Linear / rotary axis

1006#3

Diameter/radius specification

1006#5

Direction of manual reference position return

1013#0 to #3

Setting unit

1020

Program axis name

1025

Program axis name 2 for each axis

1026

Program axis name 3 for each axis

1240

Coordinate value on the 1st reference point of the machine coordinate system

1241

Coordinate value on the 2nd reference point of the machine coordinate system

1242

Coordinate value on the 3rd reference point of the machine coordinate system

1243

Coordinate value on the 4th reference point of the machine coordinate system

1260

Move distance per rotation of rotary axis

1420

Rapid traverse rate

1421

F0 speed of rapid traverse override

1620

Time constant of rapid traverse linear acceleration/deceleration

1621

Time constant of rapid traverse bell shaped acceleration/deceleration

1622

Time constant of acceleration/deceleration in cutting feed

1623

FL speed of acceleration/decelerati after interpolation in cutting feed

1624

Time constant acceleration/deceleration in jog feed

1625

FL speed of acceleration/deceleration in jog feed

1626

Time constant of during thread cutting cycle

1627

FL speed of acceleration/deceleration during thread cutting cycle

1820

Command multiplier (CMR)

18XX

Most of parameters related to digital servo

20XX

Most of parameters related to digital servo

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Parameters that should be set only for the master axes

Parameter No.

Meaning of parameters

0012#0

Mirror image

0012#7

Controlled axis detach

1004#7

Input unit 10 times

1005#4

External deceleration in positive direction

1005#5

External deceleration in negative direction

1005#7

Servo control off

1022

Basic / parallel axis specification

1220

External workpiece zero point offset

1221

Workpiece zero point offset of workpiece coordinate system 1 (G54)

1222

Workpiece zero point offset of workpiece coordinate system 2 (G55)

1223

Workpiece zero point offset of workpiece coordinate system 3 (G56)

1224

Workpiece zero point offset of workpiece coordinate system 4 (G57)

1225

Workpiece zero point offset of workpiece coordinate system 5 (G58)

1226

Workpiece zero point offset of workpiece coordinate system 6 (G59)

1423

Jog feedrate

1424

Manual rapid traverse

1425

FL rate in manual reference position return

1427

External deceleration rate at rapid traverse

1430

Maximum cutting feedrate

1815#5

Absolute Pulsecoder

2008#2

Velocity feedback average function

19655

Axis number of the linear axis to which a rotation axis belongs

19658

Angular displacement of a rotary axis

19659

Offset value for angular displacement of a rotation axis

19660

Origin offset value of a rotation axis

19667

Control point shift vector

Parameters that may be set to different values for the master and slave axes

Parameter No.

Meaning of parameters

1023

Servo axis number

1310#0

Stored stroke check 2

1310#1

Stored stroke check 3

1320

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

1321

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

1322

Coordinate value of stored stroke check 2 in the positive direction

1323

Coordinate value of stored stroke check 2 in the negative direction

1324

Coordinate value of stored stroke check 3 in the positive direction

1325

Coordinate value of stored stroke check 3 in the negative direction

1326

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

1327

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

1815#1

Separatedetector

1821

Arbitrary reference counter capacity

2022

Motor rotation direction

2024

Number of position pulses (PPLS)

2084

Numerator of flexible feed gear ratio

2085

Denominator of flexible feed gear ratio

2087

Preload value

3115#0

Current position display

1020

Program axis name for each axis

[Input type] Parameter input

[Data type] Byte axis

[Valid data range] 65 to 67, 85 to 90

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An axis name (axis name 1: parameter No. 1020) can be arbitrarily selected from A, B, C,
U, V, W, X, Y, and Z. (When G code system A is used with the lathe system, however, U,
V,  and  W  are not selectable.) When bit 0 (EEA) of parameter No.  1000  is set to 1, the
length  of an axis  name can be extended to three characters by setting axis  name  2
(parameter No. 1025) and axis name 3 (parameter No. 1026) (extended axis name).
For  axis  names 2  and 3, a character  from  0  to  9  and  A  to  Z  of  ASCII  code can be
arbitrarily  selected.  However,  the  setting  of  axis  name 3 for each axis  is invalid if axis
name 2 is not set. Moreover, if a character from 0 to 9 is set as axis name 2, do not use a
character from A to Z as axis name 3.

(Tip) ASCII code

Axis name

Setting

When G code system A is used with the lathe system, and the character X, Y, Z, or C is
used as axis name 1 of an axis, a command with U, V, W, or H specified for axis name 1
represents an incremental programming for the axis.

NOTE

1 When a multiple repetitive canned cycle for turning is used, no

character other than X, Y, and Z can be used as the address of the
axis.

2 When the custom macro function is enabled, the same extended

axis name as a reserved word cannot be used. Such an extended
axis name is regarded as a reserved word.

Because of reserved words of custom macros, extended axis
names that start with the following two characters cannot be used:

AB, AC, AD, AN, AS, AT, AX, BC, BI, BP, CA, CL, CO, US, WH,
WR, XO, ZD, ZE, ZO, ZW

3 In a macro call, no extended axis name can be used as an

argument.

1023

Number of the servo axis for each axis

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 80

This parameter associates each control axis with a specific servo axis. Specify values
1+8n, 2+8n, 3+8n, 4+8n, 5+8n, and 6+8n (n = 0, 1, 2, …, 9) like 1, 2, 3, 4, 5, …, 77, and
78.
The control axis number is the order number that is used for setting the axis-type
parameters or axis-type machine signals
-

With an axis for which Cs contour control/spindle positioning is to be performed, set
-(spindle number) as the servo axis number.
Example)

When exercising Cs contour control on the fourth controlled axis by using the
first spindle, set -1.

For tandem controlled axes or electronic gear box (EGB) controlled axes, two axes
need to be specified as one pair. So, make a setting as described below.

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Tandem axis: For a master axis, set an odd (1, 3, 5, 9, ...) servo axis number. For a

slave axis to be paired, set a value obtained by adding 1 to the value
set for the master axis.

EGB axis:

For a slave axis, set an odd (1, 3, 5, 9, ...) servo axis number. For a
dummy axis to be paired, set a value obtained by adding 1 to the value
set for the slave axis.

1815

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:

Not to be used (semi-closed system)

To be used (full-closed system)

NOTE

1 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.

2 Set this parameter to 1 when using a linear scale with reference

marks or a linear scale with distance-coded reference marks (serial)
(full-closed system).

1817

TANx

[Input type] Parameter input

[Data type] Bit axis

NOTE

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

#6 TANx

Tandem control

Not used

Used

NOTE

Set this parameter to both master axis and slave axis.

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1821

Reference counter size for each axis

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] 0 to 999999999

Set a reference counter size.
As a reference counter size, specify a grid interval for reference position return based on
the grid method.
When a value less than 0 is set, the specification of 10000 is assumed.
When a linear scale with absolute address reference marks is used, set the interval of
mark 1.

2008

VFA

[Input type] Parameter input

[Data type] Bit axis

#2 VFA

In tandem control, the speed feedback average function is:

Disabled.

Enabled.

2021

Load inertia ratio

[Input type] Parameter input

[Data type] Word axis

[Valid data range] 0 to 32767

(Load inertia)/(motor inertia)

256

For tandem control:
(Load inertia)/(motor inertia)

256/2

Set the same value for the master axis and slave axis.

2022

Direction of motor rotation

NOTE

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

[Input type] Parameter input

[Data type] Word axis

[Valid data range] -111,111

Set the direction of motor rotation.
If the motor turns clockwise when viewed from the Pulsecoder side, set 111. If the motor
turns counterclockwise when viewed from the Pulsecoder side, set -111.
When the master axis and slave axis rotate in opposite directions each other, this
parameter is used for switching.

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Turned clockwise when
viewed from the pulse
coder: Set 111.

Turned
counterclockwise when
viewed from the pulse
coder: Set -111.

FANUC

2087

Preload value for each axis (Tcmd offset)

[Input type] Parameter input

[Data type] Word axis

[Unit of data] (Ampere limit)/7282

[Valid data range] -1821 to 1821

An offset is applied to a torque command to suppress backlash.
Set a value much greater than the friction.
As a guideline, specify a value that is about one-third of the rated torque.

[Example] To set a torque equivalent to 3 A in the opposite directions:

When the ampere limit is 40 A

3/(40/7282) = 546

Master side = 546

Slave side

= -546

3115

NDPx

[Input type] Parameter input

[Data type] Bit axis

#0 NDPx

The current position is:

Displayed.

Not displayed.

NOTE

When using the electronic gear box (EGB) function, set 1 for the
EGB dummy axis to disable current position display.

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 parallel operation, 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 parallel axis, 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.

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[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.

11803

TSF

[Input type] Parameter input

[Data type] Bit axis

#2 TSF

Under tandem control, the servo of the slave axis is turned off:

Together with that of the master axis.

Independently of that of the master axis.

NOTE

1 Use this parameter for the slave axis under tandem control.
2 Specify this parameter when both the master and slave axes under

tandem control are at a stop.

3 Setting this parameter to 1 requires consideration on the ladder

side, because the servo of the slave axis is turned off
independently of, rather than together with, that of the master axis.

Alarm and message

Number

Message

Description

SV0006

ILLEGAL TANDEM AXIS

For the slave axis under tandem control, absolute position detection is
set (bit 5 (APCx) of parameter No. 1815 = 1).

SV1055

ILLEGAL TANDEM AXIS

The setting of parameter No. 1023 and bit 6 (TDMx) of parameter
No.1817 is invalid for tandem control.

NOTE

CAUTION

In case the names of the master axis and slave axis are different, be sure not to
specify a programmed command for the slave axis.

Reference item

Manual name

Item name

OPERATOR’S MANUAL (B-64694EN)

Tandem control

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