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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 57

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Alarm and message

Number

Message

Description

PS0115

VARIABLE NO. OUT OF RANGE

A number that cannot be used for a local variable, common
variable, or system variable in a custom macro is specified.
In the EGB axis skip function or skip function for flexible
synchronization control (G31.8), a non-existent custom macro
variable number is specified. Or, the number of custom macro
variables used to store skip positions is not sufficient.

PS1152

G31.9/G31.8 FORMAT ERROR

G31.8 is commanded out of the flexible synchronization control
mode.
The format of the G31.9(continuous high-speed skip function) or
G31.8(EGB skip function / skip function for flexible
synchronization control) block is erroneous in the following
cases:
-

The axis was not specified in the G31.9 or G31.8 block.

Multiple axes were specified in the G31.9 or G31.8 block.

The P code was not specified in the G31.9 or G31.8 block.

G31.8 was commanded the axis besides a slave axis in the
flexible synchronization control mode.

The Q command of G31.8 block is out of range in flexible
synchronization control mode.

1.12.7

Hob Command by Flexible Synchronization Control

Overview

The same hob command as the electronic gearbox

can be used as a synchronization command of flexible

synchronization control.

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Format

Bit 0 (EFX) of

parameter No.7731=0

Bit 0 (EFX) of parameter No.7731=1

Bit 5 (HBR) of

parameter No.7731=1

Bit 5 (HBR) of

parameter No.7731=0

Start of synchronization

G81 T_ ( L_ ) ( I_ )

( Q_ P_ ) ;

G81.4 R_ ( L_ ) ( I_ )

( Q_ P_ ) ;

G81.4 T_ ( L_ ) ( I_ )

( Q_ P_ ) ;

Cancellation of

synchronization

G80 ;

G80.4 ;

(*1) (*4)

(*2) (*4)

(*3) (*4)

T(or R) : Number of teeth (Specifiable range: 1 to 5000)
L : Number of hob threads (Specifiable range: -250 to 250)

The sign of L determines the direction of rotation for a slave axis.
When L is positive, the direction of rotation for a slave axis is positive

(+ direction).

When L is negative, the direction of rotation for a slave axis is negative
(- direction).
When L is 0, it follows the setting of bit 3 (LZR) of parameter No.7701.
If L is not specified, the number of hob threads is assumed 1.

Q : Module or diametrical pitch

Specify a module in the case of metric input.

(Unit: 0.00001mm, Specifiable range: 0.01 to 25.0mm)

Specify a diametrical pitch in the case of inch input.

(Unit: 0.00001inch

-1

, Specifiable range: 0.01 to 254.0 inch

-1

)

P : Gear helix angle

(Unit: 0.0001deg, Specifiable range: -90.0 to 90.0deg)

I : The number of a group starting flexible synchronization control

(Group A = 1, B = 2, C = 3, D = 4)

If I is not specified, the group is assumed A.

*1  Use it for machining center system.
*2  Use it for lathe system.
*3  Use it for machining center system.
*4  When processing a helical gear, it specifies both Q and P. A decimal point can be

used when specifying Q and P.

NOTE

Specify G81, G80, G81.4, and G80.4 in separate blocks.

Explanation

In conventional, flexible synchronization control has been started synchronization by setting flexible
synchronization control mode selection signals MTA, MTB, MTC and MTD <Gn197.0, Gn197.1,
Gn197.2 and Gn197.3> to "1". In this function, a command compatible with that for a hobbing machine
can be used as a synchronization command of flexible synchronization control. This function is enabled
by setting bit 0 (HOB) of parameter No.5694 to 1.

NOTE

If bit 0 (HOB) of parameter No.5694 is set to 1, the function related to "Electronic
gear box" cannot be used.

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Example of programming)
Group A : The master axis is B, the slave axis is C, and gear ratio is 1 : 50.
Group B : The master axis is Z, the slave axis is C, and gear ratio is 1 : 5.
Group C : The master axis is Y, the slave axis is C, and gear ratio is 23 : 20.

G81 T1 L50 I1 ; ......................................................................................... B - C synchronization start
G81 T1 L5 I2 ; ........................................................................................... Z - C synchronization start

G81 T23 L20 I3 ; ....................................................................................... Y - C synchronization start

G80 ; .......................................................................................................... All synchronization cancellation

- Synchronization start

Specify P and Q to use helical gear compensation.
In this case, if only either of P and Q is specified, alarm PS0544 "FSC FORMAT ERROR" is issued.
When G81 is specified so that the machine enters synchronization mode, the synchronization of a master
axis and a slave axis is started.
During synchronization, control is performed such that the ratio of the master axis speed to the slave axis
speed is the same as that of T (number of teeth) to L (number of hob threads).
During synchronization, if G81 is specified again without synchronization cancellation, it is changed to
the one newly specified with T, L, P and Q commands.
It is possible that two or more groups are synchronization mode at same time as the above-mentioned
example of programming.

- Synchronization cancellation

The synchronization of all synchronized groups is canceled with G80.
Absolute position display and relative position display for a slave axis are updated by adding the amount
of movement due to the synchronization in synchronization cancellation. If the group is not updated
machine position display by setting bit 0 to 3 (ACA to ACD) parameter No.5668 to 1, the
above-mentioned absolute position display and relative position display are not updated.
In a G80 block, do not specify addresses other than O or N.

NOTE

1 If bit 0 (EFX) of parameter No. 7731 is 0, no canned cycle for drilling can be

used. To use a canned cycle for drilling, set bit 0 (EFX) of parameter No. 7731 to
1 and use G81.4 instead of G81 and G80.4 instead of G80.

2 If bit 0 (TDP) of parameter No. 7702 is 1, the permissible range of T is 0.1 to 300

(1/10 of the specified value).

3 If, at the start of flexible synchronization control (G81), L is specified as 0, the

synchronization starts with L assumed to be 1 if bit 3 (LZR) of parameter
No.7701 is 0; if bit 3 (LZR) of parameter No.7701 is 1, the synchronization is not
started with L assumed to be 0. At this time, helical gear compensation is
performed.

- Synchronization coefficient

Synchronization coefficient of flexible synchronization control by hob command is calculated from the
following equation.

Synchronization coefficient = L/T ×

β/α

T: Number of teeth
L: Number of hob threads

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α: Pulse count of position detector per rotation about a master axis ( Parameter No.7782)

β: Pulse count of position detector per rotation about a slave axis ( Parameter No.7783)

- Inter-path flexible synchronization control

Start and cancellation by hob command is effective for the group of flexible synchronization control to
which belongs to a path specified. In inter-path flexible synchronization control, it specifies in the path to
which a slave axis belongs.

Example of programming)
The path to which a master axis belongs

The path to which a slave axis belongs

M210 ; ........ Inter-path flexible synchronization

M310 ; ............... Inter-path flexible

control mode on

synchronization control mode on

M100 P12 ; . Waiting

M100 P12 ; ........ Waiting

G81 T1 L50 I1 ; . Flexible synchronization control

: start

G80 ; .................. Flexible synchronization control

: cancellation
M110P 12 ; . Waiting

M110 P12 ; ........ Waiting

M211 ; ........ Inter-path flexible synchronization

M311 ; ............... Inter-path flexible

: control mode off

:: synchronization control mode off

NOTE

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

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

2 In the M code for turning inter-path synchronization mode on, it sets inter-path

flexible synchronization mode select signal OVLN to "1" and confirms that
inter-path flexible synchronization mode signal OVLNS is changed to "1".

3 In the M code for turning inter-path synchronization mode off, it sets inter-path

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

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

synchronization mode on or off.

(Parameter Nos. 3411 to 3420 or 11290 to 11299)

5 In the others note or limitation, refer to the specification of "Inter-path flexible

synchronization control".

- Flexible synchronization control in case a master axis is controlled by "Spindle

control with servo motor or PMC axis"

If PMC axis or spindle control with servo motor is a master axis, be sure to  set the controlled axis
selection signal EAXn<Gn136> for PMC axis control to "1"  or turn on the SV speed mode of spindle
control with servo motor before turning on the synchronization mode.
By setting bit 4 (FPA) of parameter No.13421 to 1, it is possible to issue the alarm PS5381 “INVALID
COMMAND IN FSC MODE”  when flexible synchronization control is operated in the incorrect
procedure.

Example of programming)
:
S0 P11 ;
G96.4 P11 ; .................................................... : SV speed control mode ON (In case of PMC axis,

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EAXn<Gn136> is set to "1".)

G81 T1 L0 I1 ; ............................................... : Flexible synchronization control ON
S100 P11 ;
:
:
S0 P11 ;
G80 ; .............................................................. : Flexible synchronization control OFF
G96.1 P11 ; .................................................... : SV speed control mode OFF (In case of PMC axis,

EAXn<Gn136> is set to "0".)

NOTE

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

2 If an attempt is made to turn on a synchronization group for which PMC axis or

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

3 In the others note or limitation, refer to the specification of "Flexible

synchronization control".

When a master axis of flexible synchronization control is the axis of spindle control with servo motor,
feed per revolution can be performed based on the rotation compensated with a gear ratio of a slave axis
of flexible synchronization control.
Rotation speed that is used for the slave axis is shown as follows.

teeth

Number

threads

hob

Number

selected

coder

position

pulse

Feedback

axis

slave

ratio

gear

with

compensate

Rotation

CAUTION

1. In case that all of following conditions are satisfied, feed per revolution is

executed by the feedback pulse of position coder.
- A group of flexible synchronization control set with parameter No.5695 is under
synchronization mode.
- A master axis is the axis of spindle control with servo motor.
- The rotation of the master axis is selected as the feedback pulse.

2. The rotation compensated with a synchronization coefficient used by feed per

revolution is not included the superimposed pulse from other master axes and
the pulse instructed oneself.

3. Select the rotation of a master axis as the feedback pulse before turning on

flexible synchronization control mode.

- Automatic phase synchronization

It is performed with operating signal as well as conventional. Automatic phase synchronization for
flexible synchronization control can be used. Please show the specification of "Automatic phase
synchronization for flexible synchronization control".

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CAUTION

The group of flexible synchronization control by hob command is changed the
position for automatic phase synchronization of the slave axis by bit 6 (EPA) of
parameter No.7731.

- Helical gear compensation

For a helical gear, a slave axis is subjected to compensation for movement along the Z axis (axial feed
axis) according to the twisted angle of the gear.
Helical gear compensation is performed with the following data.

Compensation angle =

sin(P)

360 (for metric input)

Compensation angle =

sin(P)

360 (for inch input)

Compensation angle: Absolute value with sign (degrees)
Z

: Amount of travel along the Z axis after a G81 command is issued (mm or inch)

P : Twisted angle of the gear with sign (degrees)

: Circular constant

: Number of teeth

: Module (mm) or diametral pitch (inch-1)

Use P, T, and Q specified in the G81 block.

In helical gear compensation, the machine coordinates and the absolute coordinates on a slave axis are
updated with helical gear compensation.

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- Direction of helical gear compensation

The direction depends on bit 2 (HDR) of parameter No. 7700.

When HDR = 1

C : +, Z : +, P : +

Compensation direction:+

(a)

C : +, Z : +, P : -

Compensation direction:-

(b)

C : +, Z : -, P : +

Compensation direction:-

(c)

C : +, Z : -, P : -

Compensation direction:+

(d)

C : -, Z : +, P : +

C :

Compensation direction:-

(e)

C : -, Z : +, P : -

Compensation direction:+

(f)

C : -, Z : -, P : +

Compensation direction:+

(g)

C : -, Z : -, P : -

Compensation direction:-

(h)

When HDR = 0 ((a), (b), (c), and (d) are the same as when HDR = 1)

-Z

C : -, Z : +, P : +

Compensation direction:+

(e)

C : -, Z : +, P : -

Compensation direction:-

(f)

C : -, Z : -, P : +

Compensation direction:-

(g)

C : -, Z : -, P : -

Compensation direction:+

(h)

Fig. 1.12.7 Direction of helical gear compensation

- Acceleration/Deceleration of helical gear compensation

The time constant  of acceleration/deceleration after interpolation  of the slave axis is applied to the
movement by helical gear compensation. Furthermore, when acceleration/deceleration before
interpolation  is valid, maximum allowable acceleration rate  of the slave axis is not considered.  If the
acceleration  of the movement by helical gear compensation is too large, reduce maximum allowable
acceleration rate of the axial feed axis.

Note

Set a master axis number and a slave axis number to the number of a master axis for flexible
synchronization control (Parameters Nos.5660, 5662, 5664 and 5666) and the number of a slave axis for
flexible synchronization control (Parameters Nos.5661, 5663, 5665 and 5667).

It is necessary that a slave axis of flexible synchronization control that performs the hob command is set
the type A of a rotation axis.

If the M code number for turning on the flexible synchronization control mode is specified to a group of
flexible synchronization control by hob command, alarm PS5381 "INVALID COMMAND IN FSC
MODE" is issued.

If hob command is specified to a group of flexible synchronization control by flexible synchronization
control mode selection signals MTA, MTB, MTC and MTD, alarm PS5381 is issued.

G81, G81.4, G80 and G80.4 used with hob command by flexible synchronization control prevent
buffering.

The synchronization mode by hob command is not canceled by reset operation.

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If G81 or G81.4 is re-specified to the group during the synchronization mode, it is necessary that
automatic phase synchronization for flexible synchronization control is enabled.

A synchronization group of turning on the flexible synchronization control mode by hob command is sure
to turn on the synchronization  mode first.  Also, for a synchronization group of turning on the  flexible
synchronization control mode is sure to turn off the synchronization mode last. However, if the inter-path
flexible synchronization  mode select signal OVLN  is set to "1", there is no restriction about the order.
The inter-path flexible synchronization  mode select signal  OVLN can be used with flexible
synchronization control in the path.

The operation of synchronization mode that is not described in this specification is the same as turning on
it by flexible synchronization control mode selection signals MTA, MTB, MTC and MTD. Please refer to
the specification of "Flexible synchronization control" and "Inter-path flexible synchronization control".

Limitation

If bit 0 (HOB) of parameter No.5694 is set to 1, the function related to electronic gear box cannot be
used.

In the group of turning on the flexible synchronization control mode by hob command, flexible
synchronization control mode selection signals MTA, MTB, MTC and MTD is disabled.

Inch/metric conversion commands (G20 and G21) cannot be specified in the synchronization mode by
hob command.

In the synchronization mode by hob command, AI contour control mode is temporarily canceled.
However, when the inter-path flexible synchronization mode select signal OVLN is assumed to be "1", AI
contour control I, AI contour control II and advanced preview feed forward of a slave axis can be made
effective. Advanced preview feed forward of a slave axis is controlled by the mode or modal of a slave
axis.

In the program included hob command, "Program restart" and "Quick program restart" cannot be used.

In "Retrace" and "Manual handle retrace", the blocks specified with G81, G81.4 are backward movement
prohibition.

This function cannot be used together with the function that cannot be used together with G code
command (G81, G81.4, G80 and G80.4) of "Electronic gear box".

Signal

Inter-path flexible synchronization mode select signal OVLN<Gn531.4>

[Classification] Input signal

[Function] Inter-path flexible synchronization control is enabled during automatic operation when

the inter-path flexible synchronization mode is enabled in the relevant paths.

[Operation] When this signal becomes "1", the control unit operates as follows:

Enables the inter-path flexible synchronization mode in the relevant paths.

NOTE

1 To switch the inter-path flexible synchronization mode select signal

between "1" and "0", the tool must be stopped along all axes (other
than PMC axes) in the target path. If the tool moves along any axis,
alarm DS0071 "START OR RELEASE CANNOT BE DONE" is
issued.

2 Be sure to specify the waiting M code following the M code for

enabling the inter-path flexible synchronization mode during
automatic operation.

3 Be sure to specify the waiting M code preceding the M code for

disabling the inter-path flexible synchronization mode during
automatic operation.

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