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

1. AXIS CONTROL

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Block diagram of EGB

pulses

per spindle sensor 1 revolution

＋

Command

Slave axis

Error

counter

Position gain

Velocity

command

Servo

amplifier

Servo

motor

FFG for

slave axis

－

＋

Servo

dummy axis

G81

EGB command

Following

command

for tool axis

Multiplier

for EGB

FFG for

dummy axis

Number of position detector pulses

per rotation about tool axis

(Parameter No.7772)

Spindle

amplifier

Spindle

motor

Spindle

sensor

FSSB

communication

Example 1)

Gear ratio of the spindle to the spindle sensor: 1/1 (The spindle and detector are directly connected
to each other.)
FFG N/M of the EGB dummy axis: 1/1
Gear ratio of the C-axis (Slave axis): 1/36 (One rotation about the C-axis to 36 motor rotations)
Number of detector (

i Pulsecoder) pulses per C-axis rotation: 1,000,000 pulses/rev

C-axis CMR: 1
C-axis detection unit: 0.001 deg

In this case, the number of position detector pulses per one rotation in tool axis (spindle) is:
2

* 1/1 = 16777216

Therefore, set 16777216 for parameter No. 7772.
The number of pulses per C-axis rotation in the detection unit is:
360(deg) / 0.001(deg) = 360000
Therefore, set 360000 for parameter No. 7773.

Regarding FFG for C-axis is
360000 / (36*1000000) = 1/100

Example 2)

Gear ratio between spindle and spindle motor: 1/3 (The spindle sensor is none. Arbitrary gear
ratio : 1/3)
FFG N/M of the EGB dummy axis: 1/1
The configuration of C axis is same as example 1.

In this case, by setting 1 in bit 1 (EGBAGR) of parameter No.4004, the feedback data from spindle
to servo takes arbitrary gear ratio into account. In spindle one rotation, the motor sensor rotates 3
revolutions. But as the feedback pulses from the motor sensor is multiplied by arbitrary gear ratio,
the number of position detector pulses per one rotation in tool axis (spindle) is calculated by
following formula,
2

*3*(1/3)*(1/1) = 16777216

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Motor 3 revolutions any gear ratio FFG. It means No.7772 should be 16777216.

Alarm and message

Number

Message

Description

PW0037

SV/SP COMBINATION ERROR

- The servo axis has dummy axis setting. Please check

parameters (No.1023, bit 0 of No.2009, bit 4 of No.11802).

- The setting for spindle axis number to synchronize with

servo is wrong. Please check parameters (bit 0 of No.3716,
No.3717, No.24204).

SV0417

ILL DGTL SERVO PARAMETER

- The setting for the function, which is not available with EGB

(FSSB type) together, is done. Please turn it off.

SP9068

ILLEGAL SPINDLE PARAMETER

- EGB (FSSB type) and FSSB high-speed rigid tapping

cannot be used together. Please check the parameters (bit
1 of No.4549, bit 2 of No.4549)

- In the case of EGB (FSSB type) using, please turn off

FSSB high-speed rigid tapping,

SP9167

SPINDLE CONTROL SEQUENCE
FAULT

- Arbitrary gear ratio should not be changed during EGB

mode. When you need to change arbitrary gear ratio, you
have to change the parameters and clutch/gear signals
before starting EGB operation.

Diagnosis data

1612

The index number of the spindle axis that synchronizes with each servo axis

[Data Type] Byte axis

The index number of the spindle axis that can use direct communication between a
spindle amplifier and a servo amplifier on FSSB connection is displayed.

Reference item

Manual name

Item name

CONNECTION MANUAL (FUNCTION) (This manual)

Electronic Gear Box
Electronic Gear Box 2 Pair
U-axis Control
Signal-based Servo EGB Synchronous Control

OPERATOR’S MANUAL (B-64694EN)

Electronic Gear Box
Electronic Gear Box 2 Pair
U-axis Control

1. AXIS CONTROL

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1.10

DUAL POSITION FEEDBACK TURNING MODE /
COMPENSATION CLAMP

Overview

To the axis to be controlled with the dual position feedback function, add the turning mode and a
compensation clamp. For details of the dual position feedback function, refer to the FANUC AC SERVO
MOTOR

series, FANUC LINEAR MOTOR L

S series, FANUC SYNCHRONOUS BUILT-IN

SERVO MOTOR D

S series PARAMETER MANUAL (B-65270EN).

Turning mode

Select the turning mode by inputting the dual position feedback turning mode selection signal. In the
turning mode, the full closed side feedback for the axis set in bit 0 (STHx) of parameter No. 11803 is
ignored. If a move command is issued in the turning mode, it is operated only with control with a
semi-closed loop.

This function is used to switch the control method depending on the case; for example, to perform
position control on a given axis, using the servo motor or to control a given axis as a spindle, using a
spindle motor.

In the turning mode, full closed side feedback is ignored, so that all coordinates (machine, workpiece, and
local coordinates) will be shifted by the amount of operation in the turning mode. Thus, after the end of
the turning mode, a reference position return is required to correct the coordinates. If an attempt is made
to perform automatic operation without performing a reference position return, alarm PS0224 "ZERO
RETURN NOT FINISHED" is issued.

NOTE

An absolute position detector cannot be used for the axis that uses the turning
mode.

Compensation clamp

The compensation operation of dual position feedback is canceled by inputting the dual position feedback
compensation clamp signal. When the compensation operation is canceled, full closed side feedback is
interrupted and an operation with a semi-closed loop is assumed. If a mechanical clamp is to be
performed on the axis on which to perform dual position feedback, a compensation clamp must be
performed. This function is enabled for an axis for which bit 1 (CDPx) of parameter No. 11803 is 1.

Signal

Dual position feedback turning mode selection signal HBTRN <Gn531.3>

[Classification] Input signal

[Function] Selects the turning mode.

[Operation] When set to “1”, this signal selects the dual position feedback turning mode, ignoring the

full closed side feedback for the axis set in bit 0 (STH) of parameter No. 11803.

Dual position feedback compensation clamp signal *CL1 to *CL8<Gn548>

[Classification] Input signal

[Function] Cancels the compensation operation of dual position feedback.

[Operation] When set to “0”, this signal cancels the compensation operation of dual position feedback.

This signal is valid only if bit 1 (CDPx) of parameter No. 11803 is 1.

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Signal address

Gn531

HBTRN

Gn548

*CL8

*CL7

*CL6

*CL5

*CL4

*CL3

*CL2

*CL1

Parameter

11803

CDPx

STHx

[Input type] Parameter input

[Data type] Bit axis

#0 STHx

The dual position feedback turning mode is:

Disabled.

Enabled.

NOTE

Before the dual position feedback turning mode function can be
used, a setting to enable dual position feedback is required in
addition to the setting of this bit.

#1 CDPx

Dual position feedback compensation clamping is:

Not performed.

Performed.

NOTE

Before the dual position feedback compensation clamp function
can be used, a setting to enable dual position feedback is required
in addition to the setting of this bit.

Alarm and message

Number

Message

Description

PS0224

ZERO RETURN NOT FINISHED

A reference return has not been performed before the start
of automatic operation.
(Only when bit 0 (ZRNx) of parameter No. 1005 is 0)
Perform a reference position return.

1.11

FUNCTION OF DECELERATION STOP IN CASE OF
POWER FAILURE

Overview

If a power failure occurs during an axial movement, this function stops the movement by decreasing the speed
on each axis at a rate specified in parameter No. 1791. This function prevents the machine from being
damaged by an overrun.

Explanation

Deceleration pattern

Both cutting feed and rapid traverse are decelerated linearly, at a constant rate.

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Example of deceleration

If the rates on the X-axis and Y-axis are different

Power failure detected

Deceleration at the rate
specified in parameter
No.1791

Power failure deceleration
signal PWFL

Rate on X-axis

Rate on Y-axis

Fig. 1.11

NOTE

1 After the completion of deceleration started by bringing the power failure

deceleration signal PWFL to “1”, no axial movement can be made.

2 To make another axial movement, turn the power off and on again.
3 This function does not perform deceleration on a torque control axis or a velocity

control axis under PMC axis control or on an EGB axis.

4 Prevent an emergency stop from occurring until the deceleration is completed.
5 The stored stroke check function is disabled while deceleration by this function is

in progress.

Application

This function is used to decelerate and stop a linear motor in a system connected to a power-failure
backup module and sub-module C (capacitor module), in case of a power failure.

Effect of application

If a power failure occurs, energy required to decelerate and stop the linear motor is supplied from
sub-module C (capacitor module). The amount of energy required for deceleration increases as the time
constant decreases, or as the acceleration increases.
Generally, linear-motor machines perform high-acceleration operation, so that the time constant is set to
the lowest possible level. A number of C sub-modules (capacitor modules) are required to decelerate and
stop the linear motor when a power failure occurs.
The number of necessary C sub-modules (capacitor modules) can be reduced by using this function to
lower the acceleration in deceleration performed in case of a power failure.

Caution

If an acceleration lower than the normal acceleration is set by this function, the braking distance at a
power failure becomes longer than usual. Accordingly, a collision with a stroke end can occur, depending
on the acceleration start position at a power failure.
Because the rate of the collision with a stroke end is decreased by this function, the impact of the collision
is reduced than that occurring without this function (when a DB stop occurs).

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1. AXIS CONTROL

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Signal

Power failure deceleration signal PWFL <G203.7>

[Classification] Input signal

[Function] Indicates that a power failure has been detected.

[Operation] When this signal is set to "1", the control unit performs the following operation.

Immediately starts deceleration at the constant rate specified in parameter No.1791,
and stops the movement.

NOTE

1 This signal is effective on all the paths.
2 Avoid changing any state after the signal is brought to “1”.

Signal address

G203

PWFL

Parameter

1791

Acceleration rate on each axis for the outage-time deceleration stop function

[Input type] Parameter input

[Data type] Real axis

[Unit of data] mm/sec

, inch/sec

, deg/sec

(machine unit)

[Min. unit of data] Depend on the increment system of the applied axis
[Valid data range] Refer to the standard parameter setting table (D)

(0.0 to +100000.0 for the metric system, 0.0 to +10000.0 for the inch system)
Set an acceleration rate for deceleration on an axis on which the tool is decelerated to a
stop at the time of power outage.
On an axis for which this parameter is set to 0, deceleration based on the outage-time
deceleration signal is not performed.

In synchronization control or tandem control, set the same parameter for the master axis
and slave axis.

1.12

FLEXIBLE SYNCHRONIZATION CONTROL

1.12.1

Flexible Synchronization Control

Overview

This function is provided for those machines like hobbing machines that require the synchronization of
various multiple gear ratios.
Synchronization with this function enables up to four pairs to be operated independently and
simultaneously. This achieves special functions for hobbing machines such as the synchronization of the
hobbing axis and a single workpiece axis, Z-C synchronization in helical gear cutting, and Y-C
synchronization in a hobbing axis shift.
Specifications for flexible synchronization control are as follows:
1)

A master axis number, a slave axis number, and a gear ratio are set in parameters.

There can be up to four groups to these parameters. Synchronization of the four groups can be
executed at the same time.

A single slave axis can be specified for multiple master axes.

Synchronization is started and canceled with DI signals from the PMC.

If DI signals are to be switched during automatic operation, this needs to be performed with an M
code set in a parameter.

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Two Cs axes can be used as master and slave axes.

6) A retract operation can be performed during the flexible synchronization control mode and

inter-path flexible synchronization control mode. The retract operation complies with the
specifications of the general-purpose retract function. (Refer to section, “GENERAL PURPOSE
RETRACT”, in this manual for descriptions of the specifications of the general-retract function.)

Fig. 1.12.1 Block diagram

Parameter setting

Parameters for flexible synchronization control include the following:
(1)  Denominator for determining a gear ratio (parameters Nos. 5681, 5683, 5685, and 5687)
(2)  Numerator for determining a gear ratio (parameters Nos. 5680, 5682, 5684, and 5686)
(3)  Exponent for the denominator of a gear ratio (parameters Nos. 5690, 5691, 5692, and 5693)
(4)  Master axis number (parameters Nos. 5660, 5662, 5664, and 5666)
(5)  Slave axis number (parameters Nos. 5661, 5663, 5665, and 5667)
(6)  M code number for turning on the synchronization mode (parameters Nos. 5670, 5672, 5674, and

5676)

(7) M code number for turning off the synchronization mode (parameters Nos. 5671, 5673, 5675, and

5677)

(8) Parameters related to the update of machine coordinates (bits 0 (ACA) to 3 (ACD) of parameter

No.5668)

Start of synchronization

Synchronization is started by setting one of the flexible synchronization control mode selection signals
MTA, MTB, MTC, and MTD<Gn197.0, Gn197.1, Gn197.2, Gn197.3> to "1". Note that to set one of
MTA, MTB, MTC, and MTD to "1" during automatic operation, this needs to be performed with an M
code set in parameter No. 5670, 5672, 5674, or 5676. Up to three of these M codes can be specified in a
single block by enabling the multiple-Ms-per-block command (setting bit 7 (M3B) of parameter No. 3404
to 1).
When one of MTA, MTB, MTC, and MTD is accepted, one of the flexible synchronization control mode
status signals MFSYNA, MFSYNB, MFSYNC, and MFSYND<Fn197.0, Fn197.1, Fn197.2, Fn197.3> is
set to "1".

Cancellation of synchronization

Synchronization is canceled by setting one of the flexible synchronization control mode selection signals
MTA, MTB, MTC, and MTD<Gn197.0, Gn197.1,Gn197.2,Gn197.3> to "0".
When one of MTA, MTB, MTC, and MTD is accepted, one of the flexible synchronization control mode
status signals MFSYNA, MFSYNB, MFSYNC, and MFSYND<Fn197.0, Fn197.1, Fn197.2, Fn197.3> is
set to "0".

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Example of time chart for start and cancellation of synchronization

G27/G28/G29/G30/G53 commands

If an attempt is made to issue one of these commands for a master axis or a slave axis during flexible
synchronization control, alarm PS0010 "IMPROPER G-CODE" is issued, but by setting bit 2 (FRF) of
parameter No. 13421 to 1, they can be issued for a master axis.
In this case, the slave axis is linked to the operation of the master axis, so that its movement is the same as
in normal flexible synchronization control.
Note, however, that even if parameter FRF is set to 1, if an attempt is made to issue G28 when a reference
position has not been established for a master axis or to issue it for a slave axis, alarm PS5381 "INVALID
COMMAND IN FSC MODE" is issued.

Program example

Axis configuration X, Y, Z, B (Cs axis), C, U, V
Group A: Master axis B, slave axis C, gear ratio 1:50, on M50, off M51
Group B: Master axis Z, slave axis C, gear ratio 1:5, on M52, off M53
Group C: Master axis Y, slave axis C, gear ratio 23:20, on M54, off M55
Group D: Master axis B, slave axis U, gear ratio 1:100, on M56, off M57

G90 G00 X111.5 Z410.0 Y75.0 B0 C0 ; ... Move to the start point

M50 ; ...................................................... Start of B - C synchronization

M52 ; ................................................ Start of Z - C synchronization

Mxx ; .................................................. Rotate about the hobbing axis

G04 X1000 ; ............................................... Wait until rotation about the hobbing axis stabilizes.

G00 X71.3 ; .......................................... X-axis approach 1

G01 X61.2 F100 ; ................................... X-axis approach 2

G01 Z369.4 F40.0 ; .................................... Helical gear cutting

G00 X111.5 ; ........................................ X-axis escape

M54 ; .................................................... Start of Y - C synchronization

G91 G01 Y3.0 F100.0 ; .......................... Y-axis shift

M55 ; ...................................................... End of Y - C synchronization

G90 G00 U100.0 V200.0 B0 ; ................... Move to the dressing start point

M56 ; ...................................................... Start of B - U synchronization

Mxx ; .................................................... Rotate about the hobbing axis

G04 X1000 ; ........................................... Wait until rotation about the hobbing axis stabilizes.

Strobe signal

MF<Fn007.0>

Flexible synchronization

control mode

status signals

MFSYNA-MFSYND
<Fn197.0 to Fn197.3>

End signal

FIN<Gn004.3>

Flexible synchronization

control mode selection

signals

MTA-MTD
<Gn197.0 to Gn197.3>

FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 51