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

1. AXIS CONTROL

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Table 1.14 (a) Functions requiring setting intra-path relative numbers using parameters

Function

Related parameter number

Cs contouring control

3900, 3910, 3920, 3930, 3940

Constant surface speed control

3770

Y-axis offset

5043 to 5045

Canned cycle for grinding

5176 to 5183

Polar coordinate interpolation

5460, 5461

Normal direction control

5480

Flexible synchronization control

5660 to 5667

Position switch

6910 to 6925, 8570 to 8579

High precision oscillation function

8370

5-axis machining function

19657, 19681, 19686

Table 1.14 (b) Functions requiring setting intra-path relative axis numbers for individual axes

Function

Related parameter number

Synchronous control

8180

Composite control

8183

Superimposed Control

8186

Table 1.14 (c) Others

Related parameter number

Description

1020, 1025, 1026

Set axis names.

1022

Set 3 basic parallel axes. (Example: Cylindrical interpolation)

(2) Case in which G10 is unusable for parameter setting

Using functions listed in Tables 1.14 (d) and 1.14 (e) in such a way that the axis order is
changed in axis exchange does not allow G10 to be used because the parameters used require
turning the power off and on again. Follow the examples given in (3), “Case in which it is
unnecessary to use G10 for parameter setting”, below.

Table 1.14 (d) Functions requiring setting intra-path relative numbers using parameters (with power to be

turned off and on again)

Function

Related parameter number

Y-axis offset

5044, 5045

Index table indexing

5510

Straightness compensation

5711 to 5716
5721 to 5726

Electronic gear box

7710

Arbitrary angular axis control

8211, 8212

Table 1.14 (e) Others (with power to be turned off and on again)

Function

Related parameter number

Note

Tandem control

1817#6

Must be specified for both the master and slave axes.

(3) Case in which it is unnecessary to use G10 for parameter setting

Axis configurations shown in Examples 2 to 4 do not cause intra-path relative numbers to be
changed in flexible path axis assignment. So, it is unnecessary to use programmable parameter
input (G10) for parameter re-setting.

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Example 2)

In this example, axes having the same intra-path relative number are exchanged with each other.

Path 1

Path 2

'X'

↔

'X'

Example 3)

In this example, an axis is removed or assigned as the last one in the respective paths.

(Polygon turning is performed using the rotary axis “C” as the fifth axis in path 1 and the fourth axis
in path 2.)

Before assignment

→

After assignment

Path 1

Path 2

Path 1

Path 2

'C'

Example 4)

When the display order of axes is set by parameter No.3130 and releasing and getting axis excluding
the last display order in the path.

In this case, set the axis as the last order in the path, and set the display order in position screen by
No.3130.

(Example of Constant surface speed control : "X" of first display axis in path 1, "X" of first display
axis in path 2)

Setting

Axis name on

position screen

Path 1

Path 2

Path 1

Path 2

Physical

order

Parameter

No.3130

Physical

order

Parameter

No.3130

'X'

After assignment

'X'

- Signal specifications

Even after the arrangement of axes has been changed in flexible path axis assignment, the signals
involved remain enabled if they are of axis type.

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Reset / Emergency stop

If a reset or emergency stop occurs during flexible path axis assignment, the latest axis configuration is
preserved.

Power-off/-on

If the power is turned off and on again during flexible path axis assignment, the axis configuration is
changed or preserved depending on the setting of bit 2 (FA0) of parameter No. 11561 as follows:
-

If parameter FA0 = 0, the initial axis configuration (parameter No. 0981) is resumed.

If parameter FA0 = 1, the latest axis configuration is preserved.

Number of controlled paths in a path

Axis assignment cannot exceed the maximum allowable number of controlled axes in each path. The
number includes any removed axes. No removal command can make the number of controllable axes in
each path become zero. Such an attempt leads to alarm PS0514.

Offset

The various offsets such as the cutter compensation and tool length compensation must be kept canceled
during execution of flexible path axis assignment. Otherwise, alarm PS0514 is issued.

Workpiece Coordinate System

Once flexible path axis assignment is executed, it is necessary to select the workpiece coordinate system
again.

Diameter / Radius setting

When arbitrary flexible path axis assignment is executed, diameter or radius setting is in accordance with
the parameter DIA (No. 1006 # 3).

Plane selection

When Flexible Path Axis Assignment is executed to the axis which consist the current plane selection,
select the plane again after the Flexible Path Axis Assignment is finished.

Cs contour controlled axis

To perform Cs contour control, use the Cs contour control change signals CONS1 to CONS4 <Gn274.0
to 3> for each spindle.
No Cs contour control mode changeover can be made for any removed axis.
Gain switching is carried out as follows:
Removing the Cs contour control axis: The gain specified with parameter No. 1825 is resumed.
Assigning the Cs contour control axis: Switching occurs to the gain specified using parameters Nos. 3900
to 3944 for the path to which the Cs contour control axis belongs.
Exchanging Cs contour control axes: Switching occurs to the gain specified using Nos. 3900 to 3944 for
the path to which the respective Cs contour control axes belong.

Reference axis

The reference axis is decided according to the arrangement of axes valid after flexible path axis
assignment.

State of waiting for removal

Alarm PS0514 is issued if either of the following commands is issued from the other path when the CNC
is waiting for an axis to be removed.
-

Axis exchange command issued from the other path.

Axis assignment command issued from the other path to an axis yet to be removed

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Dwell

When issuing a dwell command, use address P. If flexible path axis assignment results in no X-axis
existing in the path of interest or causes the reference axis to be renamed, it is impossible for the dwell
command to use address X or the name of the reference axis.
Alarm PS0009 may be issued if the dwell command attempts to use address X or the reference axis name.

Axis synchronous control

Alarm PS0514 is issued if an attempt is made to perform flexible path axis assignment for an axis under
axis synchronous control. Before performing flexible path axis assignment for an axis, cancel axis
synchronous control for that axis.
When flexible path axis assignment changes the arrangement of axes not under axis synchronous control:
-

Even if flexible path axis assignment changes the arrangement of the master axis, the master axis is
preserved.

Even if flexible path axis assignment changes the arrangement of axes during axis synchronous
control, the relationship between the master and slave axes is preserved.

Constant surface speed control

If flexible path axis assignment changed the arrangement of axes, which axis to use as a reference in
constant-surface speed control calculation is determined according to the axis arrangement used when a
constant-surface speed control command (G96) is issued.
Even if the arrangement of axes is changed during constant-surface speed control, the calculation
reference axis is preserved until the constant-surface speed control is canceled.

PMC axis control

No flexible path axis assignment can be performed for any axis under PMC axis control.
Before performing flexible path axis assignment, cancel PMC axis control.
No PMC axis control can be performed for any removed axis. Before performing PMC axis control for an
axis, assign that axis.

Synchronous/Composite control

Alarm PS0514 is issued if an attempt is made to perform flexible  path axis assignment for axes under
synchronous control or composite control. Before performing flexible path axis  assignment, cancel
synchronous control and composite control.
If synchronous control or composite control is performed with the arrangement  of axes changed in
flexible path axis assignment, synchronous control or composite control takes effect on the new axis
arrangement.

Superimposed control

Alarm PS0514 is issued if an attempt is made to perform flexible path axis arrangement for axes under
superimposed control. Before performing flexible path axis arrangement, cancel superimposed control.
If superimposed control is performed with the arrangement of axes changed in flexible path axis
assignment, superimposed control takes effect on the new axis arrangement.

Spindle control with servo motor

If flexible path axis assignment is performed for axes under Spindle control with servo motor:
-

Alarm PS0514 is issued if flexible path axis assignment is performed during the SV speed control
mode. Before performing flexible path axis assignment, switch to the positional control mode.

If it is necessary to switch to the SV speed control mode for Spindle control with servo motor, do so
on the path to which the axis under Spindle control with servo motor belongs.

Issuing a command for servo motor-based rigid tapping by changing the arrangement of axes under
Spindle control with servo motor requires setting rigid tapping based on the spindle of the other
spindle.

No SV speed control mode switching command can be issued for any removed axis. Issuing such a
command results in alarm PS0514.

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Parameter No. 3130 (axis display order on the current position display screen)

When using parameter No. 3130, take the following into consideration.
-

The parameter settings for an axis newly assigned by flexible path axis assignment are valid for the
path to which the new axis is assigned. When specifying parameter No. 3130 or rewriting it using
G10, take the conditions of the axis to be assigned into consideration.

If parameter No. 3130 is already specified, the current position is displayed according to the setting
of the parameter No. 3130 even when flexible path axis assignment is performed to change the
arrangement of axes.

When the axis to which parameter No. 3130 is set is removed, the current position display of the
removed axis is displayed according to the setting of the parameter No. 3130. When the axis to
which parameter No. 3130 is set is assigned, the current position display may include blanks.

Polygon turning

Even when the axis configuration or  axis arrangement is  changed by flexible path axis assignment, an
axis can be recognized as a tool rotation  axis if the axis belongs to a path where a  polygon turning
command is issued.
If a path where a polygon turning command is issued has no tool rotation axis specified with a parameter
when the power is turned on, the tool rotation axis is determined according to the axis arrangement that is
valid when a polygon turning command is issued.
When re-assigning a tool rotation axis for polygon turning by flexible path axis assignment, it is
necessary to take the axis arrangement into consideration.

Inch/metric input

No flexible path axis assignment can be applied between paths using different input unit methods (inch
input and metric input).

Extended external machine zero point shift

When apply the Extended external machine zero point shift to the axis which the index in the path has
changed by Flexible Path Axis Assignment, set the parameter FES(bit 4 of parameter No.11565) to 1.
When the parameter FES is 1, the R addresses of each axis which specifies the shift value of Extended
external machine zero point shift is held to the initial order of axis, and becomes not to change by
Flexible path axis assignment.

Position switch

When apply the Position switch to the axis which the index in the path has changed by Flexible Path Axis
Assignment, set the parameter FPS(bit 5 of parameter No.11565) to 1. When the parameter FPS is 1, the
target axis of each position switch is held to the initial order of axis, and becomes not to change by
Flexible path axis assignment.

3-dimensional coordinate conversion

In 3-dimensional coordinate conversion mode, Flexible Path Axis Assignment cannot be performed to the
target axis of the conversion.

Number of blocks read ahead

An alarm (PS0514 or DS0080) will issued if an arbitrary axis switching command that satisfies all of the
following conditions is performed.
-

Number of blocks read ahead differs between paths.

The total of the axis belonging to the path with the largest number of blocks read ahead at startup
and the axis belonging to the other path and being the object of Flexible Path Axis Assignment (the
axis whose parameter No. 11560 is not 0) exceeds the maximum for allowable number of controlled
axes in each path.

At startup, the axes that belonged to a path with a small number of blocks read ahead were moved to
a path with a large number of blocks read ahead.

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In the above case, if the axis on which flexible path axis assignment is performed to a path with a large
number of blocks read ahead is limited to a part of the axes for which parameter No. 11560 is set in the
other path, bit 3(FHM) of parameter No.11565 is set to 1, disable the automatic judgment of the axis that
extends the number of blocks read ahead, then bit 2(FHE) of parameter No.11562 is set to 1 for those
axes.
However, the number of axes that can be set to 1 of FHE is up to the system maximum number of control
axes minus the number of control axes of the system with the largest number of blocks read ahead.

Diagnosis data

4000

Reason number of alarm in flexible path axis assignment

The cause of the alarm that may be issued in flexible path axis assignment is displayed.
1

The number of axes in the path is 0.

The number of axes in the path is larger than its allowable maximum value.

The removal command has no ID specification.

The removal command has a duplicate ID specification.

An axis specified with removal command P does not exist in the path or has been
removed from the path.

An axis specified with removal command Q does not exist in the path or has been
removed from the path.

An axis specified with removal command R does not exist in the path or has been
removed from the path.

An axis specified with the removal command does not exist in the path or has been
removed from the path.

The removal command has no axis specification or has an ID specification.

10  In flexible path axis assignment, the ID specification is incorrect.
11  The assignment command has no ID specification.
12  The assignment command has a duplicate ID specification.
13  The assignment command has a duplicate axis arrangement specification.
14  The path specified with the arrangement command has no target axis or the

arrangement command has no ID specification.

15 The path specified with the arrangement command has an invalid axis assignment

specification.

16 An axis whose removal a command is waiting for belongs to the path where the

command was issued.

18 An axis whose removal an exchange command is waiting for belongs to the path

paired with the path where the exchange command was issued.

19 An axis for which an assignment command was issued is yet to be removed. (Bit 1

of parameter No. 11561 is set to 1.)

20 An axis for which an assignment command is issued in a path belongs to another

path where a removal command for it has been issued.

21  An axis for which an assignment command was issued is yet to be removed.
22  The assignment command has no axis specification or has an ID specification.
23  G-code of axis removal, axis assignment, or axis exchange of Flexible Path Axis

Assignment is executed when the signal type of Flexible Path Axis Assignment is
selected (bit 0 (CSG) of parameter No.11563 is 1).

24 An axis at which an exchange command is targeted belongs to the path where the

exchange command was issued.

25  The exchange command has no ID specification.
26  The exchange command has a duplicate ID specification.
27  In a system having 3 or more paths, an exchange command has no L specification.
28  An axis targeted by an exchange command was not found in the source path (path

where this exchange command was issued).

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29 An axis specified in the exchange command is being processed by another command

or has already been removed.

30 An axis targeted by an exchange command was not found in the destination path

(path paired with a path where another exchange command was issued for the axis).

32  The exchange command has no target axis.
33  The exchange command has a conflict.
34  The exchange command has no axis specification or has an ID specification.
35  A cycle other than flexible path axis assignment is under way.
36  An attempt was made to perform flexible path axis assignment during the SV

rotation control mode.

37 An attempt was made to perform flexible path axis assignment during the polygon

turning mode.

38 An attempt was made to perform flexible path axis assignment during PMC axis

control.

40 An attempt was made to perform flexible path axis assignment during mirror

imaging.

41 An attempt was made to perform flexible path axis assignment during 3-dimensional

coordinate conversion.

42 An attempt was made to perform flexible path axis assignment during coordinate

system rotation.

43 An attempt was made to perform flexible path axis assignment during scaling.
44 An attempt was made to perform flexible path axis assignment during axis

synchronization.

45 An attempt was made to perform flexible path axis assignment for an axis already

removed.

46 An attempt was made to perform flexible path axis assignment for an axis under

composite control.

47 An attempt was made to perform flexible path axis assignment for an axis under

synchronous control.

48 An attempt was made to perform flexible path axis assignment for an axis under

superimposed control.

55 An attempt was made to perform flexible path axis assignment simultaneously with

an axis move command.

56 An attempt was made to perform flexible path axis assignment during tool

compensation.

60 Axis number of axis removal or axis assignment exceed the limitation.
61 An attempt was made to perform Flexible path Axis Assignment in reset operation,

or  an attempt was made to perform Flexible path Axis Assignment in backward
movement or re-forward movement of Manual Handle Retrace, or  Setting of
reference axis of the path cannot be changed, or  An attempt was made to perform
Flexible path Axis Assignment for moving axis, or Command for target axis exists
(prepared by automatic operation) or  Command for target axis exists (prepared by
manual operation).

64 An attempt was made to perform Flexible path Axis Assignment for an axis under

angular axis control.

65 An attempt was made to perform Flexible path Axis Assignment for an axis under

flexible synchronous control.

66 An attempt was made to perform Flexible path Axis Assignment for an axis under

EGB control.

70 The number of look ahead block is larger than original path which axis belongs.
71 The axis which belongs to loader path of Loader control function cannot be the

target of Flexible path axis assignment.

72 Target path is in reset operation.
73 An attempt was made to perform Flexible path Axis Assignment in backward

movement or re-forward movement of Manual Handle Retrace

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74 An attempt was made to perform Flexible path Axis Assignment in backward

movement or re-forward movement of Retrace.

75  Command for target axis exists (prepared by manual operation)
76  Command for target axis exists (prepared by manual operation)
77  Target axis is moving
78  Target axis is moving
79  Target axis is moving
80  Target axis is moving
81  Command for target axis exists (prepared by automatic operation)

4001

Belonging path of axis in flexible path axis assignment

A path (specified by parameter No. 981) to which an axis specified for flexible path axis
assignment belongs is displayed.
0

: Source path

1 to 10

: Destination path (because of assignment or exchange)

-1 to -10 : Already removed

Parameter

0981

Absolute path number to which each axis belongs

NOTE

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

[Input type] Parameter input

[Data type] Byte axis

[Valid data range] 1 to 10

Set the path to which each axis belongs.

NOTE

When 0 is set, each axis is assumed to belong to path 1.

11555

Flexible path axis assignment specified axis name

[Input type] Parameter input

[Data type] Byte path

[Valid data range] 0 to 256

When the axis selected by bit0 (PAN) of parameter No.11564 is assigned, the specified
axis name is used.

11556

Flexible path axis assignment specified axis name 2

[Input type] Parameter input

[Data type] Byte path

[Valid data range] 0 to 256

When the axis selected by bit0 (PAN) of parameter No.11564 is assigned, the specified
axis name is used. If the extended axis name is effective (bit0 (EEA) of parameter
No.1000=1), this value becomes the second character of the axis name. Otherwise, this
value becomes the subscript of the axis name.

FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 61