FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 55

1. AXIS CONTROL

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NOTE

1 To use this function, the axes related to the synchronization must be rotary axes

A type.

2 If 0 or less is set to parameter No.7778, this function is disabled.
3 If 0 or less is set to parameter No.5697, constant acceleration (specified by

parameter No.7778) is applied in all speed area.

4 This function is valid in acceleration/deceleration of synchronization

start/cancellation. This function is invalid in acceleration/deceleration of
automatic phase synchronization.

Synchronization
cancellation command

Synchronization
start command

Speed of
slave axis

Acceleration

Deceleration

Automatic phase
synchronization

Speed of
master axis

This function
is disable

This function
is enabled

synchroniza-
tion state

Parameter

5694

PAV

[Input type] Parameter input

[Data type] Bit path

NOTE

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

#2 PAV

Variable acceleration function in automatic phase synchronization for flexible

synchronization control is:
0:

Disabled.

Enabled.

5697

Acceleration switch speed of slave axis in synchronization start/cancellation

[Input type] Parameter input

[Data type] 2-word axis

[Unit of data] min

-1

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[Valid data range] 0 to 99999999

This parameter set the acceleration switch speed of slave axis in synchronization
start/cancellation. If 0 or less is set to this parameter, constant acceleration (specified by
parameter No.7778) is applied in all speed area.

NOTE

This parameter is valid If 1 is set to the parameter
PAV(No.5694#2).

7778

Acceleration of slave axis in synchronization start/cancellation

[Input type] Parameter input

[Data type] Real axis

[Unit of data] mm/sec

, inch/ sec

, deg/sec

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

(For a millimeter machine, 0.0 to +100000.0, for an inch machine, 0.0 to +10000.0)
When variable acceleration function in automatic phase synchronization for flexible
synchronization control is valid (PAV(No.5694#2)=1), this parameter sets acceleration of
slave axis in synchronization start/cancellation. If 0 or less is set to this parameter,
variable acceleration function in automatic phase synchronization for flexible
synchronization control is disabled.

1.12.4

Synchronization Positional Difference Detection Diagnosis
Display and Signal Output in Flexible Synchronization
Control

Overview

This function displays the diagnosis data and outputs DO signal <Fn533> for confirming error of between
master axis and slave axis after executing automatic phase synchronization for flexible synchronization
control.

Diagnosis data

Error (parameters Nos. 5600 to 5603) and maximum error (parameters Nos. 5604 to 5607) between
master axis and slave axis after executing automatic phase synchronization are displayed.

Output signal

If a positional error detected after automatic phase synchronization exceeds any of the settings of
parameters Nos. 13437 to 13440 (threshold values for phase synchronization positional error detection
signal output), the DO signal <Fn553> is output.

Signal

Automatic phase synchronization error detection signals PHERA, PHERB, PHERC,

PHERD <Fn553.0-Fn553.3>

[Classification] Output signal

[Function] This signal can be used to check whether an automatic phase synchronization positional

difference has exceeded the setting of parameters Nos. 13437 to 13440 (threshold values
for automatic phase synchronization positional error detection signal output).
This signal becomes "1" when:

Error of automatic phase synchronization excess threshold values.

This signal becomes "0" when:
-

Error of automatic phase synchronization does not excess threshold values.

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Flexible synchronization control phase synchronization end signal PHFINA,
PHFINB, PHFINC, PHFIND <Fn381.0-Fn381.3> is "0".

Signal address

Fn553

PHERD

PHERC

PHERB

PHERA

Parameter

13437

Threshold value for automatic phase synchronization error detection signal output (group A)

13438

Threshold value for automatic phase synchronization error detection signal output (group B)

13439

Threshold value for automatic phase synchronization error detection signal output (group C)

13440

Threshold value for automatic phase synchronization error detection signal output (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 reference axis
[Valid data range] 0 or positive 9 digit of minimum unit of data (refer to the standard parameter setting table

(B))
(When the increment system is IS-B, 0.000 to +999999.999)
If error between master axis and slave axis after  executing  automatic  phase
synchronization  for  flexible synchronization control, automatic  phase  synchronization
error detection signal PHERA, PHERB, PHERC, PHERD is turned "1".
Please set this parameter in the path of slave axis in inter-path flexible  synchronization
control.

Diagnosis data

5600

Error of automatic phase synchronization (group A)

5601

Error of automatic phase synchronization (group B)

5602

Error of automatic phase synchronization (group C)

5603

Error of automatic phase synchronization (group D)

[Data type] Real path

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

[Min. unit of data] Depend on the increment system of the reference axis
[Valid data range] 9 digit of minimum unit of data

(When the increment system is IS-B, -999999.999 to +999999.999)
Error between master axis and slave axis after executing automatic phase Synchronization
for flexible synchronization control is displayed.
This data is displayed in the path of slave axis in inter-path flexible synchronization
control.

5604

Maximum error of Automatic Phase Synchronization (group A)

5605

Maximum error of Automatic Phase Synchronization (group B)

5606

Maximum error of Automatic Phase Synchronization (group C)

5607

Maximum error of Automatic Phase Synchronization (group D)

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[Data type] Real path

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

[Min. unit of data] Depend on the increment system of the reference axis
[Valid data range] 9 digit of minimum unit of data

(When the increment system is IS-B, -999999.999 to +999999.999)
Maximum error between master axis and slave axis after executing automatic phase
synchronization for flexible synchronization control is displayed.
This data is displayed in the path of slave axis in inter-path flexible synchronization
control.
This data is cleared when automatic operation is started in auto mode.
This data is cleared when flexible synchronization control is started in manual mode.

Notes

NOTE

Diagnosis data is displayed after the following time passes since flexible
synchronization control phase synchronization end signal is turned "1".

1/ (Parameter No.1825

∗

0.01)

∗

3 [sec]

Example)

If No. 1825 = 3000, diagnosis data is displayed 100 msec later.

This function is usable only when the gear ratio between the master and slave
axes is 1 vs. 1.

1.12.5

Inter-path Flexible Synchronization Control

Overview

Inter-path flexible synchronization control enables

flexible

synchronization

control between axes in

different paths in a multi-path system.

Up to four slave axes can be specified in one path.
An axis in another path can be specified as the master axis of each slave axis.
Synchronization for all synchronization pairs in all paths can be executed simultaneously.

Example)

In a multi-path system with the following axis configuration (Fig. 1.12.5 (a)), not only
synchronization between the C1 axis in path 1 (master axis) and the A1 axis in path 1 (slave axis),
but also synchronization between the C1 axis in path 1 (master axis) and the A2 axis in path 2 (slave
axis) can be performed.

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Path 1

C1 axis

(workpiece axis)

A1 axis (tool

axis)

C2 axis

A2 axis (tool

axis)

Path 2

Synchronization

Master

Slave

Fig. 1.12.5 (a)

Details

Setting of synchronization axes

Set master axis numbers in parameters Nos. 5660, 5662, 5664, and 5666.
Set slave axis numbers in parameters Nos. 5661, 5663, 5665, and 5667.
Set the number obtained by adding the controlled axis number to path number

100 in these parameters

for the slave axis path.

Example)

Master axis: 1st axis in path 1, slave axis: 1st axis in path 2

Parameter No. 5660 (path 2) = 101

Parameter No. 5661 (path 2) = 201

A slave axis in a synchronization group can be set as the master axis in another group.
Example)

The following synchronization is be applied:

X1 (master)

→

X2 (slave)

X2 (master)

→

Y2 (slave)

Y (master)

→

Y1 (slave)

If the relation among the master and slave axes makes a loop, however, alarm PS5242 "ILLEGAL AXIS
NUMBER" is issued when synchronization starts.

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Example)

The following synchronization cannot be applied:

X1 (master)

→

X2 (slave)

X2 (master)

→

Y2 (slave)

Y2 (master)

→

X1 (slave)

X1 is defined as its own master axis.

Specification method

To execute inter-path flexible synchronization control during automatic operation, it is necessary to put
the CNC in the inter-path flexible synchronization mode by setting the inter-path flexible synchronization
mode select signal OVLN <Gn531.4> to "1" with a ladder program by specifying an M code in the paths
to which the master and slave axes belong.

If flexible synchronization is started when the inter-path flexible synchronization mode is off, alarm
PS5245 "OTHER AXIS ARE COMMANDED" is issued.
The inter-path flexible synchronization mode is disabled by setting OVLN to "0".

For the program sequence of the inter-path flexible synchronization mode status and M code commands
for flexible synchronization control, see the following example.

Example)

Path of master axis

Path of slave axis

M210; ------ Turns the inter-path flexible synchronization

mode on.

M100P12; ------ Waiting (Note 1)
~

M310; ------ Turns the inter-path flexible synchronization

mode on.

M100P12; ------ Waiting (Note 1)
~

: ------ Master axis move commands

M60; ------ Starts inter-path flexible synchronization.
~

M61; ------ Cancels inter-path flexible synchronization.

~
M110P12; ------ Waiting (Note 1)
M211; ------ Turns the inter-path flexible synchronization

mode off.

~
M110P12; ----- Waiting (Note 1)
M311; ------ Turns the inter-path flexible synchronization

mode off.

AI contour control I/II can be turned on or off when both the master and slave paths are in the inter-path
flexible synchronization mode.
AI contour control I/II can also be turned on or off even if PMC axis control is used for the master axis
during flexible synchronization.

NOTE

1 Specify the waiting M code after the M code for turning the inter-path flexible

synchronization mode on and before the M code for turning the inter-path flexible
synchronization mode off during automatic operation.

2 The M code for turning the inter-path flexible synchronization mode on controls

signals as follows:

Sets the inter-path flexible synchronization mode select signal OVLN to "1" and
confirms that the inter-path flexible synchronization mode signal OVLNS
<Fn545.1> is changed to "1".

3 The M code for turning the inter-path flexible synchronization mode off controls

signals as follows:

Sets the inter-path flexible synchronization mode select signal OVLN to "0" and
confirms that the inter-path flexible synchronization mode signal OVLNS is
changed to "0".

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Restrictions

The following functions cannot be specified in the inter-path flexible synchronization mode.
If any of these functions is specified in the inter-path flexible synchronization mode, alarm PS0502
"ILLEGAL G-CODE" is issued.
-

Reference return in Cs contouring control (G00, G28)

Skip function (G31)

Automatic tool length measurement/Automatic tool offset function

Automatic reference return operation of low-speed type (G28)

High-speed program check function

These functions can be specified when flexible synchronization control and the inter-path flexible
synchronization mode are turned off.

Inter-path flexible synchronization mode turned on immediately after power-on

When the inter-path flexible synchronization mode select signal is set to "1" immediately after power-on,
the waiting M code does need to be specified.
For the program sequence of the inter-path flexible synchronization mode status and M code commands
for flexible synchronization control, see the following example. (This example also explains the sequence
when G31 is specified.)

Example)

Path of master axis

Path of slave axis

Set OVLN to 1.
(The inter-path flexible synchronization mode is turned
on.)

: ------ Master axis move commands

M60; ------ Starts inter-path flexible synchronization.
~
M61; ------ Cancels inter-path flexible synchronization.

M110P12; ------ Waiting
M211; ------ Turns the inter-path flexible synchronization

mode off. (NOTE 1)

M110P12; ----- Waiting
M311; ------ Turns the inter-path flexible synchronization

mode off. (NOTE 1)

G31_ ;

M210; ------ Turns the inter-path flexible synchronization

mode on. (NOTE 1)

M100P12; ------ Waiting

M310; ------ Turns the inter-path flexible synchronization

mode on. (NOTE 1)

M100P12; ------ Waiting

: ------ Master axis move commands

M60; ------ Starts inter-path flexible synchronization.
~
M61; ------ Cancels inter-path flexible synchronization.

NOTE

1 Turn the inter-path flexible synchronization mode on or off after flexible

synchronization is canceled in the slave path.

2 Start or cancel flexible synchronization control with the signal (MTA, MTB, MTC,

or MTD) in the slave path. Specify the M code for starting or canceling flexible
synchronization in a block without specifying other commands.

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NOTE

3 Flexible synchronization control cannot be started or canceled in the slave axis

path while the path is in any of the following modes. In any of these modes,
alarm PS5244, “TOO MANY DI ON” is issued.
- Tilted working plane indexing

Flexible synchronization control can be started or canceled in the master axis
path, however.

4 Use an M code preventing buffering as the M code for turning the inter-path

flexible synchronization mode on or off. (Parameter No. 3411 to 3420 or 11290
to 11299)

Specify the M code for turning the inter-path flexible synchronization mode on or
off in a block without specifying other commands.

5 Do not specify any move or PMC axis control command between the M code for

turning the inter-path flexible synchronization mode on or off and a waiting M
code.

6 An axis in spindle control with servo motor cannot be used as the master axis of

flexible synchronization control.

Synchronization start
Command sequence

Flexible synchronization
control mode select signal
MTA

Flexible synchronization
control mode signal
MFSYNA

End signal FIN

Strobe signal MF

Synchronization start M
command

Waiting between paths

Inter-path flexible
synchronization mode select
signal OVLN

End signal FIN

Strobe signal MF

Inter-path flexible
synchronization mode on M
command

Inter-path flexible
synchronization mode signal
OVLNS

Fig. 1.12.5 (b)

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