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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 54

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Example of time chart high speed type for acceleration / deceleration and

automatic phase synchronization

Strobe signal
MF<Fn007.0>

Flexible synchronization
control mode selecting
signal
FSYSA<Fn553.4>

Flexible synchronization
control mode status signal
MFSYNA<Fn197.0>

Flexible synchronization
control automatic phase
synchronization signal
AUTPHA<Gn381.0>

Flexible synchronization
control phase
synchronization end signal
PHFINA<Fn381.0>

End signal
FIN<Gn004.3>

Flexible synchronization
control mode selection
signal
MTA<Gn197.0>

Command of M code
for beginning deceleration
of a slave axis

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Example of time chart high speed type for acceleration / deceleration and

automatic phase synchronization (Hob command)

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 starts when these signals become "1".

Synchronization is canceled when these signals become "0".

MTA: Selects synchronization for group A.
MTB: Selects synchronization for group B.
MTC: Selects synchronization for group C.
MTD: Selects synchronization for group D.

Flexible synchronization control mode status signals

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

[Classification] Output signal

Strobe signal
MF<Fn007.0>

Flexible synchronization
control mode selecting
signal
FSYSA<Fn553.4>

Flexible synchronization
control mode status signal
MFSYNA<Fn197.0>

Flexible synchronization
control automatic phase
synchronization signal
AUTPHA<Gn381.0>

Flexible synchronization
control phase
synchronization end signal
PHFINA<Fn381.0>

End signal
FIN<Gn004.3>

Synchronous beginning /
cancel
G code command

Command of M code
for beginning deceleration
of a slave axis

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[Function] These signals check whether the group selected by a flexible synchronization control

mode selection signal has actually entered the mode.

[Operation] These signals become "1" when:

Acceleration/deceleration is applied at the start of synchronization and the
synchronization feedrate is reached.

These signals become "0" when:
-

Deceleration starts at synchronization cancellation.

The gear ratio is changed during automatic operation.

MFSYNA: Synchronization select switching for group A has been accepted.
MFSYNB: Synchronization select switching for group B has been accepted.
MFSYNC: Synchronization select switching for group C has been accepted.
MFSYND: Synchronization select switching for group D has been accepted.

Flexible synchronization control automatic phase synchronization signals

AUTPHA, AUTPHB, AUTPHC, AUTPHD <Gn381.0 to Gn381.3>

[Classification] Input signal

[Function] These signals select automatic phase synchronization for flexible synchronization control.

[Operation] When these signals are "0", automatic phase synchronization is not executed.

When these signals are "1", automatic phase synchronization is executed after
acceleration/deceleration applied at the start of synchronization start is completed.
(When the flexible synchronization control mode status signal is "1", automatic phase
synchronization is executed.)
When these signals are set to 0, then "1" again during synchronization, automatic phase
synchronization is executed again.

AUTPHA: Selects automatic phase synchronization for group A.
AUTPHB: Selects automatic phase synchronization for group B.
AUTPHC: Selects automatic phase synchronization for group C.
AUTPHD: Selects automatic phase synchronization for group D.

Flexible synchronization control phase synchronization end signals

PHFINA, PHFINB, PHFINC, PHFIND <Fn381.0 to Fn381.3>

[Classification] Output signal

[Function] These signals notify that automatic phase synchronization for flexible synchronization

control is completed.

[Operation] These signals become "1" when:

Automatic phase synchronization is completed.

These signals become "0" when:
-

The flexible synchronization control mode status signal becomes "0".

PHFINA: Notifies that automatic phase synchronization for group A is completed.
PHFINB: Notifies that automatic phase synchronization for group B is completed.
PHFINC: Notifies that automatic phase synchronization for group C is completed.
PHFIND: Notifies that automatic phase synchronization for group D is completed.

Flexible synchronization control mode selecting signals

FSYSA, FSYSB, FSYSC, FSYSD <Fn553.4 to Fn553.7>

[Classification] Output signal

[Function] These signals notify that the change to flexible synchronization control mode is begun.

[Operation] These signals become "1" when:

The change to flexible synchronization control mode is begun.

These signals become "0" when:
-

Flexible synchronization control mode is canceled

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NOTE

If the bit 1 (PHS) of parameter No.5694 is set to 1, this signal is
enabled.

Signal address

Gn197

MTD

MTC

MTB

MTA

Gn381

AUTPHD

AUTPHC

AUTPHB

AUTPHA

Fn197

MFSYND

MFSYNC

MFSYNB

MFSYNA

Fn381

PHFIND

PHFINC

PHFINB

PHFINA

Fn553

FSYSD

FSYSC

FSYSB

FSYSA

Parameter

5669

PHD

PHC

PHB

PHA

[Input type] Parameter input

[Data Input type] Bit path

#0 PHA

The automatic phase synchronization for flexible synchronization control of group A is:

Disabled.

Enabled.

#1 PHB

The automatic phase synchronization for flexible synchronization control of group B is:

Disabled.

Enabled.

#2 PHC

The automatic phase synchronization for flexible synchronization control of group C is:

Disabled.

Enabled.

#3 PHD

The automatic phase synchronization for flexible synchronization control of group D is:

Disabled.

Enabled.

NOTE

When this parameter is set, acceleration/deceleration upon a
synchronization start or synchronization cancellation is enabled.
For automatic positioning, set the automatic phase synchronization
signal for each group to "1".

5694

PHS

[Input type] Parameter input

[Data type] Bit path

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NOTE

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

#1 PHS

Speed-up of automatic phase synchronization for flexible synchronization control is:

Disabled.

Enabled.

5696

M code for beginning deceleration for canceling synchronization

[Input type] Parameter input

[Data type] 2 Word path

[Valid data range] 0 to 99999999

This parameter set M code for beginning deceleration for canceling synchronization.
The M code of group A : Number set to this parameter
The M code of group B : Number set to this parameter + 1
The M code of group C : Number set to this parameter + 2
The M code of group D : Number set to this parameter + 3
When this parameter is set to 0, the M code is disabled.

NOTE

1 If the bit 1 (PHS) of parameter No.5694 is set to 1, this parameter

is enabled.

2 Do not set an M code used with other functions (such as M00-05,

30, 98, and 99, and M codes for calling subprograms).

13420

DID

DIC

DIB

DIA

[Input type] Parameter input

[Data type] Bit path

#0 DIA

The movement direction of the automatic phase synchronization of group A is:

+ direction.

- direction.

#1 DIB

The movement direction of the automatic phase synchronization of group B is:

+ direction.

- direction.

#2 DIC

The movement direction of the automatic phase synchronization of group C is:

+ direction.

- direction.

#3 DID

The movement direction of the automatic phase synchronization of group D is:

+ direction.

- direction.

13425

Acceleration/deceleration time constant of the slave axis when synchronization is started/canceled

(group A)

13426

Acceleration/deceleration time constant of the slave axis when synchronization is started/canceled

(group B)

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13427

Acceleration/deceleration time constant of the slave axis when synchronization is started/canceled

(group C)

13428

Acceleration/deceleration time constant of the slave axis when synchronization is started/canceled

(group D)

[Input type] Parameter input

[Data type] Word path

[Unit of data] msec

[Valid data range] 0 to 4000

These parameters set the acceleration/deceleration time constants of the slave axis subject
to automatic phase synchronization for flexible synchronization control.
The acceleration when synchronization is started/canceled will be as follows:
Acceleration = parameter No.1420 / parameters Nos.13425 to 13428

13429

Automatic phase synchronization feedrate for the slave axis (group A)

13430

Automatic phase synchronization feedrate for the slave axis (group B)

13431

Automatic phase synchronization feedrate for the slave axis (group C)

13432

Automatic phase synchronization feedrate for the slave axis (group D)

[Input type] Parameter input

[Data type] Real path

[Unit of data] mm/min, inch/min, deg/min (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 (C)

(When the increment system is IS-B, 0.0 to +999000.0)
These parameters set the automatic phase synchronization feedrates for the slave axis
subject to automatic phase synchronization.
These feedrates are superimposed on the feedrate synchronized to the master axis.
If the setting of one of the parameters is 0, the automatic phase synchronization feedrate
for the corresponding group will be 6 (mm/min).

13433

Machine coordinates of the master axis used as the reference for phase synchronization (group A)

13434

Machine coordinates of the master axis used as the reference for phase synchronization (group B)

13435

Machine coordinates of the master axis used as the reference for phase synchronization (group C)

13436

Machine coordinates of the master axis used as the reference for phase synchronization (group D)

[Input type] Parameter input

[Data type] Real path

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

[Min. unit of data] Depend on the increment system of the applied axis
[Valid data range] 9 digit of minimum unit of data (refer to standard parameter setting table (A))

(When the increment system is IS-B, -999999.999 to +999999.999)
These parameters set the machine coordinates of the master axis used as the reference for
phase synchronization. If the setting of this parameter is 0, the origin position
(coordinates: 0) of the machine coordinate system of the master axis will be the reference
position for automatic phase synchronization.

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Alarm and message

Number

Message

Description

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.

Automatic phase synchronization is effective, and a set
increment system of the master axis and the slave axis
is different.

Automatic phase synchronization is effective, and the
setting of the rotation axis of the master axis or the
slave axis is illegal.

PS5381

INVALID COMMAND IN FSC MODE

The gear ratio is changed without canceling
synchronization after specifying M code of beginning
deceleration for canceling synchronization.

Notes

NOTE

1 The next block is not executed until acceleration/deceleration at the start or

cancellation of synchronization is completed during automatic operation.

2 Due to an error produced when the output pulses for the slave axis are

calculated, the phase of the slave axis may not be matched by least input
increment. This error is not accumulated.

3 If a retract operation is performed during automatic phase synchronization, the

automatic phase synchronization is stopped and the retract operation is
performed. After the completion of the retract operation, restarting the program
resumes the automatic phase synchronization. However, no request for
automatic phase synchronization is accepted during a retract operation.

4 It is necessary to set increment system of the master axis and the slave axis to

the same setting. If flexible synchronization is started when it is different setting,
alarm PS5242 "OTHER AXIS ARE COMMANDED" is issued.

5 When the master axis and the slave axis are the following settings, automatic

phase match cannot be used. If flexible synchronization is started, alarm PS5242
"OTHER AXIS ARE COMMANDED" is issued.
- Either the master axis or the slave axis is rotation axis, and the type of

rotation axis is A type.

- Both the master axes and the slave axes are the rotation axes, and the type

of the rotation axis is different.

- Both the master axes and the slave axes are the rotation axes of type A, and

the value of parameter No.1260 is different.

1.12.3

Variable Acceleration Function in Automatic Phase
Synchronization for Flexible Synchronization Control

Outline

In automatic phase synchronization for flexible synchronization control, acceleration of slave axis can be
changed depending on the speed in during synchronization start/cancellation.

Explanation

Over the base speed, output characteristic of a spindle motor is constant and its torque characteristic
decreases in inverse proportion to the speed. Therefore if the target speed is over the base speed in the

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linear acceleration pattern, low acceleration must be set depending on torque characteristic at the target
speed, and motor torque can not be used efficiently in the low speed area. If this variable acceleration
function is used, the acceleration is constant (specified by parameter No.7778) in lower speed area than
parameter No.5697 and the acceleration decreases in inverse proportion to the speed in higher speed area
than parameter No.5697. To use this function, set the parameter PAV(No.5694#2) to 1.

Fig. 1.12.3 (a) Acceleration of slave in synchronization start/cancellation

Speed of slave axis

Speed of slave axis used for acceleration calculation of this function is the number of rotation calculated
by the shift amount per one rotation of a rotary axis specified by the parameter No.1260. Set the value to
parameter No.5697 considering this calculation.

Acceleration in higher speed area than parameter No.5697

The acceleration decreases in inverse proportion to the speed. The acceleration is as follows:

speed

Current

No.5697

Parameter

No.7778

Parameter

Accelerati

No.7778

Acceleration of slave axis

Speed of slave aixs

No.5697

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