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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 53

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MTC: Synchronization of group C is selected.

MTD: Synchronization of group D is selected.

Flexible synchronization control mode status signals

MFSYNA, MFSYNB, MFSYNC, MFSYND <Fn197.0 to Fn197.3>

[Classification] Output signal

[Function] These signals are used to check that the groups selected with the flexible synchronization

control mode selection signals are actually switched to that mode.

[Operation] 1)

When the synchronization mode actually becomes effective to a group, the
corresponding one of these signals is set to "1".

When the synchronization mode is actually canceled for a group, the corresponding
one of these signals is set to "0".

MFSYNA: Group A is in the synchronization mode.

MFSYNB: Group B is in the synchronization mode.

MFSYNC: Group C is in the synchronization mode.

MFSYND: Group D is in the synchronization mode.

Signal address

Gn197

MTD

MTC

MTB

MTA

Fn197

MFSYND

MFSYNC

MFSYNB

MFSYNA

Alarm and message

Number

Message

Description

PS0010

IMPROPER G-CODE

In case parameter FRF (No.13421#2)=1, One of
G27/G28/G29/G30/G30/G53 is commanded to a master axis or a slave
axis in flexible synchronization control mode.

PS5242

ILLEGAL AXIS NUMBER

A master axis number or a slave axis number was not set correctly
when the flexible synchronization control mode was turned from off to
on during automatic operation.

PS5243

DATA OUTRANGE

A gear ratio was not set correctly when the flexible synchronization
control mode was turned from off to on during automatic operation.

PS5244

TOO MANY DI ON

During automatic operation, the mode signal was not turned on or
off if the flexible synchronization control mode was turned from off
to on or from on to off, after an M code was executed.

An attempt was made to turn on or off the flexible synchronization
control mode when the axis was not stopped.

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Number

Message

Description

PS5245

OTHERAXIS ARE
COMMANDED

For a flexible synchronization control group for which a PMC axis
or spindle control with servo motor was a master axis, an attempt
was made to turn on the synchronization mode during time other
than automatic operation.

An attempt was made to turn on a synchronization group for which
an PMC axis or spindle control with servo motor was a master axis
when there existed a flexible synchronization control group for
which a non-PMC or non-spindle control with servo motor, normal
axis was a master axis.

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).

PS5381

INVALID COMMAND IN FSC
MODE

An attempt was made to issue the following commands:
-

When the reference position for the master axis under flexible
synchronization control has not been established, G28 command
for the master axis.

G27/G28/G29/G30/G53 command for a slave axis.

DS405

ZERO RETURN END NOT ON
REF

In case parameter ACA to ACD (No.5668#0 to #3)=1, a slave axis is
executed an automatic reference position return after canceling
synchronization mode. Please use a manual reference position return
to origin to do the return to origin.

1.12.2

Automatic Phase Synchronization for flexible
synchronization Control

Overview

This function applies acceleration/deceleration when the start or cancellation of synchronization is
specified in flexible synchronization control.

This acceleration/deceleration allows synchronization to be started or canceled while the tool is moving
along the master axis.

This function can also execute automatic phase synchronization so that the slave axis machine coordinate
position at the start of synchronization matches the machine coordinate system zero point of the master
axis (the machine coordinate is 0).

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Acceleration/deceleration

When bit 0 (PHA) to 3 (PHD) of parameter No. 5669 is set to 1, acceleration/deceleration is applied when
the start or cancellation of synchronization is specified.

Synchronization

cancellation command

Synchronization

start command

Slave axis

speed

Synchronization

state

Acceleration

Deceleration

Master axis

speed

Fig. 1.12.2 (a)

Synchronization start
Command sequence

Synchronization start M
command

Flexible synchronization
control mode select signal
MTA

Acceleration (movement)

Flexible synchronization
control mode signal
MFSYNA

End signal FIN

Strobe signal MF

Fig. 1.12.2 (b)

When the M code for turning the synchronization control mode on is specified, and the flexible
synchronization control mode selection signal MTA, MTB, MTC, or MTD which corresponds to the
M code is set to "1", synchronization starts.

The tool moves along the slave axis at the acceleration rate set in parameters Nos. 1420 and 13425 to
13428. Once the synchronization feedrate is reached, the flexible synchronization control mode
status signal MFSYNA, MFSYNB, MFSYNC, or MFSYND becomes "1".

When the flexible synchronization control mode status signal becomes "1", the completion of the M
code for starting synchronization is returned.

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Synchronization cancellation
Command sequence

Synchronization cancellation
M command

Deceleration (movement)

Flexible synchronization
control mode signal
MFSYNA

End signal FIN

Strobe signal MF

Flexible synchronization
control mode select signal
MTA

Fig. 1.12.2 (c)

Move the tool away from the workpiece before cancellation.

When the M code for turning the flexible synchronization control mode off (canceling
synchronization) is specified, and the flexible synchronization control mode selection signal which
corresponds to the M code is set to "0", synchronization cancellation starts. The tool decelerates
along the slave axis at the acceleration rate set in parameters Nos. 1420 and 13425 to 13428.

When deceleration starts, the flexible synchronization control mode status signal becomes "0".

The completion of the M code for canceling synchronization is returned.

NOTE

1 Linear acceleration/deceleration is applied to synchronization start/cancellation.
2 When time constant parameters No. 13425 to 13428 are 0,

acceleration/deceleration is not applied.

3 The next block is not executed until deceleration is completed during automatic

operation.

Automatic phase synchronization

When bit 0 (PHA) to 3 (PHD) of parameter No. 5669 is set to 1, and the flexible synchronization control
automatic phase synchronization signal  AUTPHA, AUTPHB, AUTPHC, or AUTPHD is set to "1",
automatic phase synchronization is executed  after acceleration/deceleration  applied  at the start of
synchronization is completed.  Phase synchronization is automatically executed so that the slave axis
machine coordinate  position at the start of synchronization  (when the flexible synchronization  control
mode selection signal is set to "1") matches the machine coordinate system zero point of the master axis
(the machine coordinate is 0).
When  automatic phase synchronization  for flexible synchronization control  is enabled,  acceleration/
deceleration is applied when the start or cancellation of synchronization is specified.

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Synchronization
cancellation command

Synchronization
start command

Slave axis
speed

Synchroniza-
tion state

Acceleration

Deceleration

Automatic phase
synchronization

Master axis
speed

Fig. 1.12.2 (d)

Command sequence

Synchronization start
M command

Acceleration (movement)

Flexible synchronization
control mode signal
MFSYNA

End signal FIN

Strobe signal MF

Flexible synchronization control
automatic phase synchronization
signal AUTPHA

Phase synchronization
(movement)

Flexible synchronization control
automatic phase synchronization
end signal PHFINA

Flexible synchronization
control mode select signal
MTA

Fig. 1.12.2 (e)

When the M code for turning the flexible synchronization control mode on is specified, and the
flexible synchronization control mode selection signal which corresponds to the M code is set to "1",
synchronization starts.
The flexible synchronization control automatic phase synchronization signal is also set to "1".

The tool moves along the slave axis at the acceleration rate set in parameters Nos. 1420 and 13425 to
13428.

Once the synchronization feedrate is reached, the flexible synchronization control mode status signal
becomes "1".

When the flexible synchronization control mode status signal becomes "1", phase synchronization is
executed automatically.

When phase synchronization is completed, the flexible synchronization control phase
synchronization end signal PHFINA, PHFINB, PHFINC, or PHFIND becomes "1".

When the flexible synchronization control phase synchronization end signal becomes "1", the
completion of the M code for starting synchronization is returned.

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NOTE

1 Set the feedrate in automatic phase synchronization in parameters Nos. 13429

to 13432.

2 Specify the movement direction for automatic phase synchronization in bit 0

(DIA) to 3 (DID) of parameter No. 13420. (Rotation axis only)

3 Linear acceleration/deceleration is applied to automatic phase synchronization.

(The acceleration rate is the same as that at the synchronization start or
cancellation.)

4 The feedrate along the slave axis is obtained by superposing the feedrate in

automatic phase synchronization onto the feedrate in synchronization with the
movement along the master axis. In consideration of this superposition, set a
position deviation limit in parameter No. 1828.

5 By setting parameters Nos. 13433 to 13436, the position at which the phase of

the slave axis is matched can be shifted from the machine coordinate system
zero point of the master axis.

6 If the automatic phase synchronization signal is set to "0", then "1" again during

synchronization, automatic phase synchronization is executed again.

7 When the flexible synchronization control automatic phase synchronization

signal is set to "1" during synchronization (when the flexible synchronization
control mode status signal is "1"), automatic phase synchronization is also
executed if the tool does not move along the master axis. The tool moves only
along the slave axis.

Change of a gear ratio

A gear ratio can be changed during automatic operation by changing values of parameters for the gear
ratio (parameters Nos.5680 to 5687 and 5690 to 5693) using programmable parameter input (G10).

NOTE

1 When the values of the parameters for a gear ratio are changed, the flexible

synchronization control mode status signal becomes "0", and acceleration
/deceleration is applied. When the synchronization feedrate is reached, the
signal becomes "1" again.

2 If automatic phase synchronization is executed after a gear ratio is changed, the

position for automatic phase synchronization is as follows:
Master axis: Machine coordinate system zero point
(value set in parameters Nos. 13433 to 13436)
Slave axis: Position when synchronization starts
(when the flexible synchronization mode selection signal is set to "1")

3 If you want to change the values of the parameters for two or more gear ratios,

stop the machine before changing them.

Speed-up of automatic phase synchronization

During accelerating of a slave axis that begins synchronization, automatic phase synchronization or
decelerating of the slave axis that cancels synchronization, it is possible to command other program. This
function is enabled to set the bit 1 (PHS) of parameter No.5694 to 1.

(1) During accelerating of a slave axis that begins synchronization

In command of M code for beginning synchronization, when flexible synchronization control mode
selecting signals FSYSA, FSYSB, FSYSC, FSYSD <Fn553.4, Fn553.5, Fn553.6, Fn553.7> is “1’, it is
possible to return end signal FIN <Gn004.3>. It is possible to command programs though a slave axis is

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accelerating until flexible synchronization control mode status signals MFSYNA, MFSYNB, MFSYNC,
MFSYND <Fn197.0, Fn197.1, Fn197.2, Fn197.3> are “1” after being set flexible synchronization control
mode selecting signal to “1”.

(2) During automatic phase synchronization

When flexible synchronization control automatic phase synchronization signals AUTPHA, AUTPHB,
AUTPHC, AUTPHD <Gn381.0 to Gn381.3> are set to “1” by M code In  automatic operation, it is
possible to return end signal FIN <Gn004.3>  at once. When flexible synchronization control automatic
phase synchronization signals are set to “1” by M code for turning on synchronization, return end signal
after being set flexible synchronization control mode selecting  signal to “1”. It is possible to command
programs though a slave axis is accelerating or decelerating until flexible synchronization control phase
synchronization end signals PHFINA, PHFINB, PHFINC, PHFIND <Fn381.0 to Fn381.3> is “1” after
being set flexible synchronization control automatic phase synchronization signal to “1”. In previous in
the block that would like to be executed with a master axis suitable for the phase of a slave axis, confirm
flexible synchronization control phase synchronization end signal.

(3) During decelerating of a slave axis that cancels synchronization

Meanwhile, other program instructions can be executed by decelerating a slave axis for canceling
synchronization before instruction M code of canceling synchronization (Parameters No.5671, No.5673,
No.5675 and No.5677). Parameter No.5696 is set decelerating start M code for turning off
synchronization. When M code for beginning deceleration for turning off synchronization is specified, the
deceleration of the slave axis is begun. The block of M code for beginning deceleration for turning off
synchronization finishes at once, and advances to next block. It is possible to command programs though
a slave axis is decelerating until executing M code for turning off synchronization after executing
deceleration start M code for turning off synchronization. M code for beginning deceleration for turning
off synchronization can be executed in two or more M codes in one block.

Hob command by flexible synchronization control

When G81 or G81.4 for turning on synchronization is specified, the block of instruction is finished at
once, and advances to next block. It is possible to command programs though a slave axis is accelerating
to synchronous speed until flexible synchronization control mode status signal is “1”. During decelerating
of a slave axis that cancels synchronization and automatic phase synchronization are similar to usual
flexible synchronization control.

NOTE

1 When a master axis or slave axis would like to specify in finished

synchronization, confirm flexible synchronization control mode status signal.

2 When a master axis or slave axis would like to specify in finished phase

synchronization, confirm flexible synchronization control phase synchronization
end signal.

3 Decelerating start M code for turning off synchronization (Parameter No.5696)

does not output code signal and strobe signal.

4 When decelerating start M code for turning off synchronization is specified,

synchronization cannot begin again if synchronization can begin again only after
it is cancelled first. When a gear ratio is changed after specifying decelerating
start M code for turning off synchronization, alarm PS5381 “INVALID
COMMAND IN FSC MODE” is issued.

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Mzz
Deceleration start of
slave axis

Myy
Confirmation of finishing
synchronization

Mxx
G81, G81.4
Synchronization start

Slave axis
Speed

(3)

(1)

(4)

(2)

Master axis
Speed

Maa
G80, G80.4
Cancel of
synchronization

(1)  Acceleration
(2)  Automatic phase synchronization
(3)  Synchronization
(4)  Deceleration

Mxx: M code set to parameters No.5670, No.5672, No.5674 and No.5676
Myy: Arbitrary M code
Mzz: M code set to parameter No.5696
Maa: M code set to parameters No.5671, No.5673, No.5675 and No.5677

Fig. 1.12.2 (f) Type of acceleration / deceleration and automatic phase synchronization

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