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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 52

1. AXIS CONTROL

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G01 V100.0 ; .............................................. V-axis approach

G01 U200.0 ; .......................................... Dressing

G00 V200.0 ; .............................................. V-axis escape

M57 ; .............................................. End of B - U synchronization

Flexible synchronization control in case a master axis is controlled by “Spindle
Control with Servo Motor”

Flexible synchronization control can be applied to the case where an axis that is controlled by “Spindle
Control with Servo Motor” is assigned as a master axis, when flexible synchronization control selection
signal MTA, MTB, MTC, or MTD<Gn197.0 to Gn197.3 > is set to "1" in the SV speed control mode. In
this case, a master axis should be in the SV speed control mode of “Spindle Control with Servo Motor” to
enter flexible synchronization  mode.  Please do not change the SV speed mode during  flexible
synchronization control. Flexible synchronization control should be  turned  on/off  during  the SV speed
mode according to the following example of programming.

Example of the machining program)
G00 X10.Z50.;
S0P11;
G96.4P11;

: SV speed control mode ON

M16;

: Flexible synchronization control ON

S100P11;
:
:
S0P11;
M17;

: Flexible synchronization control OFF

N9G96.1P11; : SV speed control mode OFF

Retract by alarm

In  case that bit 3 (ART) of parameter  No.  7702=1,  when  a CNC alarm occurs during  flexible
synchronization control  or automatic  operation,  the axis  retracts according to the amount of retract
(parameter No.  7741) and the speed (parameter No.  7740). As a result, a  tool and a  workpiece can be
prevented from being damaged when the sudden alarm occurs. The axis whose amount of retract is set to
“0”  does  not move.  This improvement becomes effective to “General purpose retract” and “Retract of
flexible synchronization control”. Moreover, the  excitation of a  servomotor  is  kept  until the retract
operation of the axis related to synchronization is completed, even when a servo alarm occurs in an axis
not related to the synchronization in flexible synchronization control.

Conditions under the retract function with an alarm

The conditions under which the retract function with an alarm can be changed using the settings of
bit 1 (ARE) of parameter No. 7703 and bit 2 (ARO) of parameter No. 7703.

The table below lists parameter settings and corresponding conditions.

ARE

ARO

Condition

During function mode

During function mode and automatic operation

During function mode or automatic operation

Servo off

When the axis related to synchronization is servo off state while flexible synchronization control, an
automatic operation is stopped. By setting bit 3 (FSV) of parameter No. 13421 to 1, an automatic
operation can be stopped only when the axis related to synchronization moves.

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Notes

Synchronization is not canceled with a reset.

Synchronization is executed even if the slave axis is in either of the following states:

Interlock

Feed hold

Synchronization is not maintained if the slave axis is in either of the following states:

Machine lock

Servo off

The master axis must not be a oscillation axis, an axis related to arbitrary angular axis control, an
axis related to composite control, or an axis related to superimposed control.

The slave axis must not be a oscillation axis, a PMC axis, an axis related to arbitrary angular axis
control, an axis related to synchronization control, an axis related to composite control, or an axis
related to superimposed control.

If an attempt is made to issue one of G28/G30/G53 during synchronization, alarm PS0010 is issued.
To issue one of G28/G30/G53, cancel synchronization first. By setting parameter FRF to 1, they can
be issued for a master axis.

Parameters for use with synchronization (Nos. 5660 to 5667, 5670 to 5677, 5680 to 5687, and 5690
to 5693) can be set in a part program that uses programmable parameter input (G10).
Note that changes made to the parameters for a group that is already in synchronization mode do not
take effect immediately. For the changes made to the parameters to take effect, it is necessary to turn
off synchronization mode and turn it back on.

With a synchronization pulse, the position display for a slave axis is updated as follows:
-

Machine position display is updated.

(It is updated with the amount of travel after acceleration/deceleration and, therefore, the
display may appear not to be in synchronization.)

Absolute position display and relative position display are not updated.

At the cancellation of synchronization, absolute position display and relative position display
for a slave axis are updated by adding the amount of travel due to synchronization.

If, however, bits 0 (ACA) to 3 (ACD) of parameter No. 5668 are set to 1 so that the machine
coordinates for that group are not updated, the above-mentioned machine coordinate display,
absolute coordinate display, and relative coordinate display are not updated.

If, during automatic operation, the synchronization mode is turned from off to on, alarm PS5242
"ILLEGAL AXIS NUMBER" is issued if a master axis number or a slave axis number is not set
correctly.

If, during automatic operation, the synchronization mode is turned from off to on, alarm PS5243,
"DATA OUTRANGE" is issued if a gear ratio is not set correctly.

10) If, during automatic operation, the synchronization mode is turned from off to on or from on to off,

alarm PS5244, "TOO MANY DI ON" is issued if the mode signal is turned on or off after an M code
is executed.

11) For a synchronization group for which a PMC axis is a master axis, be sure to set the controlled axis

selection signal EAXn<Gn136> for PMC axis control to "1" before turning on the synchronization
mode.

12) For a synchronization group for which spindle control with servo motor or spindle control with Cs

contour control is a master axis, be sure to turn on the SV speed mode of spindle control with servo
motor before turning on the synchronization mode.

13) For a synchronization group for which a PMC axis or spindle control with servo motor is a master

axis, be sure to turn on the synchronization mode with an M code during automatic operation.
If an attempt is made to turn on the synchronization mode not during automatic operation, alarm
PS5245, "OTHERAXIS ARE COMMANDED" is issued.

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14) For a synchronization group for which a PMC axis or spindle control with servo motor is a master

axis, AI contour control I and AI contour control II are automatically turned off from the time the
synchronization mode is turned on until it is turned off. However, when inter-path flexible
synchronization mode select signal OVLN<Gn531.4> is assumed to be "1", advanced preview feed
forward of a slave axis can be made effective. Advanced preview feed forward of a slave axis is
controlled by a mode or modal of a slave axis.

15) For a synchronization group for which a PMC axis or spindle control with servo motor is a master

axis, be sure to turn on the synchronization mode first. Also, for a synchronization group for which a
PMC axis or spindle control with servo motor is a master axis, be sure to turn off the
synchronization mode last.

16) If an attempt is made to turn on a synchronization group for which an PMC axis or spindle control

with servo motor is a master axis when there exists a synchronization group for which a non-PMC or
non-spindle control with servo motor, normal axis is a master axis, alarm PS5245 is issued.

17) In the synchronization mode or when the mode is turned on, alarm PS5245 is issued in the following

cases:

The master and slave axes as synchronization axes overlap the EGB dummy axis.

The master and slave axes as synchronization axes overlap the oscillation axis.

The master and slave axes as synchronization axes overlap the axis related to arbitrary angular
axis control.

The master and slave axes as synchronization axes overlap the axis related to composite
control.

The master and slave axes as synchronization axes overlap the axis related to superimposed
control.

The slave axis as a synchronization axis overlaps the axis related to synchronization control.

The reference position return mode is turned on (was turned on).

18) If an SV alarm is issued, the synchronization mode is automatically turned off after a deceleration

stop.

19) The output pulses for the master axis in detection units are multiplied by the gear ratio, and the result

is regarded the output pulses for the slave axis.

20) To synchronize with a spindle, using a servo motor, it is necessary to adjust the loop gain of the

servo motor to the spindle and make sure that the position deviations are equal.

21) Actual cutting feedrate display does not take synchronization pulses into consideration.
22) Before the synchronization mode can be turned on or off, the master and slave axes must be stopped.

If an attempt is made to turn on or off the synchronization mode when the axes are not stopped,
alarm PS5244 is issued.

23) Specify retract only for the master axis. Specifying retract for the slave axis prevents normal retract

operations. Set the retract operation parameter to 0 for the slave axis.

24) A retract operation for the master axis comes to halt if any of the following conditions occurs when

retract is under flexible synchronization control. As for emergency stop, servo alarm, and alarm
PS5245, the retraction operation comes to halt only when they occur within the path to which the
synchronization axis belongs.
-

Emergency stop

Servo alarm

Overtravel alarm

（

referenced for individual axes

）

Servo off

（

referenced for individual axes; The path to which the synchronization axis belongs is

caused to stop.

）

Alarm PS5245

（

OTHERAXIS ARE COMMANDED

）

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WARNING

If two or more flexible synchronization control pairs are linked as stated below,
the highest-order master axis (X1 axis) can be caused to stop by referencing the
stop condition of the second slave axis (X3 axis) as viewed from the
highest-order master axis (X1 axis). However, the stop condition of the third
slave axis (X4) cannot be referenced.

Master axis Slave axis

First pair

（

Path 1

）

→

（

Path 2

）

Second pair X2

（

Path 2

）

→

（

Path 3

）

Third pair

（

Path 3

）

→

（

Path 4

）

25) In case parameter ART (No.7702#3)=1, the retract operation of “General purpose retract” / “Flexible

synchronization control” has been changed from conventional one to new one in order to realize the
retract operation at alarm generating. When an alarm occurs, a new retract operation is shown as
follows.

Alarm

Conventional retract

Bit 3 (ART) of parameter No. 7702=0

Retract with an alarm is enable.

Bit 3 (ART) of parameter No. 7702=1

PW alarm

All retract operation stops.

Retract operation does not stop.

DS alarm / IE alarm

(Malfunction prevent

functions is enable.)

All retract operation stops because PW
alarm occurs after this alarm.

Only the axis where alarm occurs stops.
All retract operation stops for non-axis
type alarm.

SV alarm

All retract operation stops.

Only the axis where alarm occurs stops.
All retract operation stops for non-axis
type alarm.

26) The retract function with an alarm does not perform a retract operation on the retract axis if an

overtravel alarm or a servo alarm occurs on the retract axis. The retract function with an alarm does
not perform a retract operation on the retract axis if an overtravel alarm or a servo alarm occurs on
the slave axis in case of flexible synchronization control.

27) If a new alarm is issued during retraction with the retract function with an alarm, a retract operation

is not performed.

28) After the end of retraction with a servo alarm, servo position control stops in 400 ms.
29) Please set increment system of the master axis and the slave axis to the same setting. It becomes

operation different from the set ratio of the gear when assuming a different setting.

30) Flexible synchronization control cannot be used together with speed command in PMC axis control

(Speed control).

Parameter

5660

Master axis number (group A)

5661

Slave axis number (group A)

5662

Master axis number (group B)

5663

Slave axis number (group B)

5664

Master axis number (group C)

5665

Slave axis number (group C)

5666

Master axis number (group D)

5667

Slave axis number (group D)

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[Input type] Parameter input

[Data Input type] Word path

[Valid data range] 0 to Number of controlled axes or m

100+n

(m: 1 to Number of paths, n: 1 to Number of controlled axes)
Specify both master and slave axis numbers.
[Example of setting]
1 to 24: Controlled axes on own path (for single-path systems only)
101 to 124:

Controlled axes on path 1

201 to 224:

Controlled axes on path 2

In inter-path flexible synchronization control, an axis of a path can be specified as the
master axis of another path.

NOTE

In inter-path flexible synchronization control, an axis of any path
cannot be specified as the slave axis of another path.

5668

ACD

ACC

ACB

ACA

[Input type] Parameter input

[Data Input type] Bit axis

#0 ACA

Update of the machine coordinates of flexible synchronization control group A is:

0 : Executed.
1 : Not executed.

#1 ACB

Update of the machine coordinates of flexible synchronization control group B is:

0 : Executed.
1 : Not executed.

#2 ACC

Update of the machine coordinates of flexible synchronization control group C is:

0 : Executed.
1 : Not executed.

#3 ACD

Update of the machine coordinates of flexible synchronization control group D is:

0 : Executed.
1 : Not executed.

NOTE

The machine coordinates update is not done though the slave axis
operates on the motor.

In this case, if an automatic reference position return to origin is
done after the synchronization mode is canceled, the alarm of
DS0405, “ZERO RETURN END NOT ON REF” is issued.

Please use a manual reference position return to origin to do the
return to origin.

5670

M code number for turning on the flexible synchronization control mode(group A)

5671

M code number for turning off the flexible synchronization control mode(group A)

5672

M code number for turning on the flexible synchronization control mode(group B)

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5673

M code number for turning off the flexible synchronization control mode(group B)

5674

M code number for turning on the flexible synchronization control mode(group C)

5675

M code number for turning off the flexible synchronization control mode(group C)

5676

M code number for turning on the flexible synchronization control mode(group D)

5677

M code number for turning off the flexible synchronization control mode(group D)

[Input type] Parameter input

[Data Input type] Word path
[Valid data range] 1 to 999

Specify an M code for turning on or off the flexible synchronization control mode for an
automatic operation.

5680

Numerator determining gear ratio for flexible synchronization(group A)

5681

Denominator determining gear ratio for flexible synchronization(group A)

5682

Numerator determining gear ratio for flexible synchronization(group B)

5683

Denominator determining gear ratio for flexible synchronization(group B)

5684

Numerator determining gear ratio for flexible synchronization(group C)

5685

Denominator determining gear ratio for flexible synchronization(group C)

5686

Numerator determining gear ratio for flexible synchronization(group D)

5687

Denominator determining gear ratio for flexible synchronization(group D)

[Input type] Parameter input

[Data Input type] 2 word path
[Valid data range] -99999999 to 99999999

Specify a gear ratio between the master and slave axes.

5690

Index to gear ratio denominator for flexible synchronization(group A)

5691

Index to gear ratio denominator for flexible synchronization(group B)

5692

Index to gear ratio denominator for flexible synchronization(group C)

5693

Index to gear ratio denominator for flexible synchronization(group D)

[Input type] Parameter input

[Data Input type] Byte path
[Valid data range] 0 to 8

Specify an index to the denominator of a gear ratio between the master and slave axes.
Let p, q, and k be, respectively, a denominator determining gear ratio for flexible
synchronization, numerator determining gear ratio for flexible synchronization, and index
to the gear ratio denominator for flexible synchronization:

The gear ratio is

7702

ART

[Input type] Parameter input

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[Data type] Bit path

#3 ART

The retract function executed when an alarm is issued is:

Disabled.

Enabled.

When an alarm is issued, a retract operation is performed with a set feedrate and travel
distance (parameters Nos. 7740 and 7741).

NOTE

If a servo alarm is issued for other than the axis along which a
retract operation is performed, the servo activating current is
maintained until the retract operation is completed.

7703

ARO

ARE

[Input type] Parameter input

[Data type] Bit path

#1 ARE

In the retract function by an alarm, the tool retracts:

During the function mode (refer to NOTE.2) or automatic operation

(automatic operation signal OP <Fn000.7> = “1”).

During the function mode (refer to NOTE.2).

#2 ARO

In the retract function by an alarm, the tool retracts :

During the function mode (refer to NOTE.2).

During the function mode (refer to NOTE.2) and automatic operation
(automatic operation signal OP = “1”).

NOTE

This parameter is effective when bit 1 (ARE) of parameter No. 7703
is set to 1.

The following table lists the parameter settings and corresponding operation.

ARE

ARO

Operation

During function mode

During function mode and automatic operation

During function mode or automatic operation

NOTE

1 Parameters ARE and ARO are valid when bit 3 (ART) of parameter

No. 7702 is set to 1 (when the retract function executed when an
alarm is issued ).

2 The function mode described in the parameter ARE and ARO

shows that the following functions are activated.
- Electronic gear box(EGB)
- Flexible synchronization control

13421

FPA

FSV

FRF

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[Input type] Parameter input

[Data type] Bit path

NOTE

Set these parameters for the first path only. It will be effective to all
paths.

#2 FRF

If G27/G28/G29/G30/G53 is specified during flexible synchronization control, alarm

PS0010 is:
0:

Issued.

Is not issued. Commands to the master axis are possible.

Even if, however, parameter bit FRF is set to 1, and G28 is specified for the master axis
in the state in which the reference position of the master axis subject to flexible
synchronization control is not established, or if G27/G28/G29/G30/G53 is specified for
the slave axis, alarm PS5381 is issued.

#3 FSV

When the axis related to synchronization is servo off state while flexible synchronization

control or inter-path flexible synchronization control, an automatic operation is:
0:

Stopped.

Stopped if the axis related to synchronization moves.

NOTE

In inter-path flexible synchronization control, this parameter
becomes effective when parameter FCN (No.13421#1) is set to 1.

#4 FPA

For a synchronization group for which a PMC axis is a master axis, when the controlled

axis selection signal EAXn<Gn136> for PMC axis control is set to "1" after  starting
flexible synchronization control mode,  and the master axis is specified by PMC axis
control, or for a synchronization group for which spindle control with servo motor is a
master axis, when SV speed  control mode of the master axis  is turned on  after starting
flexible synchronization control mode:
0:

Alarm is not generated.

Alarm PS5381 ”INVALID COMMAND IN FSC MODE” is generated.

This function generates the alarm when flexible synchronization control is operated by in
the incorrect procedure.

CAUTION

When this parameter is set to 0, it operates without generating the
alarm even if flexible synchronization control mode is started
according to a procedure not correct. However, the position shift of
a slave axis may occur.

Signal

Flexible synchronization control mode selection signals

MTA,MTB,MTC,MTD <Gn197.0 to Gn197.3>

[Classification] Input signal

[Function] These signals select flexible synchronization control.

[Operation] 1)

Synchronization is started by setting one of these signals to "1".

Synchronization is canceled by setting one of these signals to "0".

MTA: Synchronization of group A is selected.

MTB: Synchronization of group B is selected.

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