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

1. AXIS CONTROL

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11557

Flexible path axis assignment specified axis name 3

[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 third character of the axis name. When the second
axis name(No.11556) is not set, the third axis name becomes invalid.

11560

Identification number for an axis to be subjected to flexible path axis assignment

NOTE

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

[Input type] Parameter input

[Data type] Word axis

[Valid data range] 0 to 32767

Set an identification number for an axis to be subjected to flexible path axis assignment.
The value specified corresponds to a program-specified address P(Q,R) value.

11561

FAC

FAM

FAO

FAW

FAR

[Input type] Parameter input

[Data type] Bit

NOTE

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

#0 FAR

The flexible path axis assignment function is:

Disabled.

Enabled.

NOTE

Setting the parameter FAR erases all history data (operation
history, alarm history, and external operator message history) the
next time the power is turned on.

#1 FAW

If an axis acquisition command is issued for an axis yet to be freed in flexible path axis

assignment:
0:

The command waits for the axis to be freed.

Alarm PS0514 is issued.

#2 FAO

If the power is turned off and on again with flexible path axis assignment in effect, the

axis configuration is:
0:

Returned to the initial state (specified with parameter No. 0981).

Kept in the most recent state.

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#3 FAM

The method of command specification used by programs in flexible path axis assignment

is:
0:

Identification number method.

Axis name method.

#4 FAC

If the axis removement command is issued for an axis which already removed, or

assigned to the another path in flexible path axis assignment:
0:

Alarm PS0514 is issued..

The command is ignored.

11562

FHE

FAN

[Input type] Parameter input

[Data type] Bit axis

#1 FAN

In flexible path axis assignment, axis names used after exchange are:

Those previously set for each axis.

Those set for the other axes in exchange pairs.

NOTE

The parameter FAN is invalid when an axis assignment command
for flexible path axis assignment is issued. The name set for each
axis is inherited.

#2 FHE

In flexible path axis assignment, when parameter FHM(bit 3 of parameter No.11565) is 1,

this axis :
0:

Does not assign to the path which has large number of read ahead blocks more than
initial path which the axis belongs.

Assigns to the path which has large number of read ahead blocks more than initial
path which the axis belongs.

11563

FAX

[Input type] Parameter input

[Data type] Bit

NOTE

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

#4 FAX

In flexible path axis assignment, if the target axis of the assignment command is already

exists on the target path,
0:

The alarm PS0514 occurs.

the command is ignored.

11564

PAN

[Input type] Parameter input

[Data type] Bit axis

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NOTE

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

# 0 PAN

The name of the axis which assigned to each path is

Not changed.

Changed to the specific name selected in each path.

This setting is available on only one axis in a path.

11565

FPS

FES

FHM

[Input type] Parameter input

[Data type] Bit

#3 FHM

On Flexible Path Axis Assignment, the axis which assigned to the path which has large

number of read ahead blocks compared to the initial path which the axis belongs is:
0:

selected automatically.

selected by parameter bit 2(FHE) of parameter No.11562.

#4 FES

For the axis which the order in the path is changed by Flexible path axis assignment,

Extended external machine zero point shift is:
0:

not used.

used. (R address of Extended external machine zero point shift is not changed by
Flexible path axis assignment.)

#5 FPS

When the axis order is changed by Flexible path axis assignment, axis selection of

position switch and high-speed position switch is:
0:

depends on axis order after the execution of Flexible path axis assignment.

always considered as initial axis order.

Alarm and message

Number

Message

Description

PS0514

ILLEGAL COMMAND IN
FLEXIBLE PATH AXIS
ASSIGNMENT

1) An assignment command in flexible path axis assignment

was issued for an axis not yet to be removed.

2) The P, Q, R, I, J, K, or L value specified by G52.1, G52.2,

or G52.3 is invalid.

3) The value of the parameter No. 11560 is duplicated.
4) An attempt was made to execute a removal command

(G52.1) for an axis already removed.

5) An attempt was made to exchange axes having different

settings of bit 1 (FAN) of parameter No. 11562.

6) An attempt was made to perform flexible path axis

assignment without canceling the offset.

Refer to the diagnosis data No.4000 for more detailed cause of
this alarm.

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Caution

CAUTION

Using this function changes the arrangement of axes, thus possibly resulting in
an unintended axis (axis not intended by a parameter involving axis specification)
being specified. When using this function, take the arrangement of axes into
consideration.

NOTE

When the option is available, synchronous control and composite control are
usable.

Limitation

This function cannot be used with Manual Guide

This function cannot be used with Program Restart.

This function cannot be used between an inch machine and a metric machine.

Flexible path axis assignment cannot be performed during the following modes.
-

Canned cycle

Coordinate system rotation

Mirror image

Scaling

Spindle control with servo motor

Polygon turning

High precision oscillation function

Do not specify any axis as a target in flexible path axis assignment if it is being used by any of the
following:
-

Tandem control

Electronic gear box

Angular axis control

In retrace and manual handle retrace, it is impossible to reverse blocks in which flexible path axis
assignment is specified.

When the setting of bit 1 (FAN) of parameter No. 11562 is valid, do not attempt axis exchange
between an axis using an extended axis name and one using no extended axis name.

Notes concerning the FOCAS2 functions

Explained below are the notes concerning FOCAS2 functions. Observing the notes will make applications
use flexible path axis assignment.

Number of controlled axes in a path

The number of controlled axes in a path can be acquired using a FOCAS2 function (cnc_axisnum). The
flexible path axis assignment function may change the number of controlled axes in a path. Therefore,
acquire the number of controlled axes in a path as needed

Information about controlled axes

Information about controlled axes can be acquired using a FOCAS2 function (cnc_rdaxisdata), which
reads various data relating to the servo axis or spindle. The flexible path axis assignment function may
change the configuration of controlled axes. In such a case, however, it is possible to acquire correct data.
The FOCAS2 function can acquire information also about axes removed by flexible path axis assignment.

1. AXIS CONTROL

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History data

In the alarm history and the workpiece offset data change history, the number of controlled axes was
changed as stated below according to whether the flexible path axis assignment function is enabled or
disabled:

When the function is disabled: Intra-path relative axis number (1 to the allowable maximum number
of controlled axes in a path)

When the function is enabled: Absolute axis number + 1000 (1001 to the allowable maximum
number of controlled axes + 1000)

For details, refer to “FOCAS2 Function Reference”.
In addition, when acquiring axis names in the order of absolute axis numbers, use the function
cnc_exaxisname2, which acquires extended axis names.

1.14.1

Outputting States of Individual Axes

Information about the path to which each axis belongs, their intra-path axis numbers, and whether they
have been removed is output to a specified internal relay user area (R). Output information for each axis
uses the 3 bytes in the internal relay user area (R) whose address is specified for them. Information output
is carried out only for axes for which an internal relay user area (R) address has been specified. The
output data is detailed below.

Path to which each axis belongs AXPT1<RXXXX.0> to AXPT4<RXXXX.3>

[Classification] Output signal

[Function] The path number of a path to which the axis of interest belongs is output. When using

multi path PMC, only 1st PMC is used.

NOTE

XXXX represents a value set in parameter No. 11554.

Intra-path axis number for each path AXNM1<RXXXY.0> to AXNM5<RXXXY.4>

[Classification] Output signal

[Function] An axis number in the path to which the axis of interest belongs is output. When using

multi path PMC, only 1st PMC is used.

NOTE

XXXY represents a value specified in parameter No. 11554 plus 1.

Whether each axis has been removed AXRMV<RXXXZ.0>

[Classification] Output signal

[Function] Information about whether each axis has been removed is output. When using multi path

PMC, only 1st PMC is used.
Removed: 1
Assigned: 0

NOTE

XXXZ represents a value specified in parameter No. 11554 plus 2.

Signal address

XXXX represents a value specified in parameter No.11554.
XXXY represents a value specified in parameter No.11554 + 1.
XXXZ represents a value specified in parameter No.11554 + 2.

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RXXXX

AXPT4

AXPT3

AXPT2

AXPT1

RXXXY

AXNM5

AXNM4

AXNM3

AXNM2

AXNM1

RXXXZ

AXRMV

Parameter

11554

Internal relay user area (R) address for individual-axis information

NOTE

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

[Input type] Parameter input

[Data type] 2-word axis

[Valid data range] 0 to 59999

Set an internal relay user area (R) address for information to be output about an
individual axis. The information is output only about the axis specified with this
parameter. Three bytes starting at the setting are used for each axis.

NOTE

1  The setting must be a multiple of 4 (4, 8, …).
2  This function is disabled if the parameter is 0.
3  When performing multipath control, be careful to keep the data

addresses of each path from overlapping with those of the other
paths.

4 The R address area varies depending on the PMC used and its

memory. Be sure to select values within the usable range by
checking the specifications of the PMC. (Example: R addresses in
the range from R0 to R7999 if memory B of the first PMC is used.)

WARNING

If an internal relay of the set address in this parameter is used by
another usage, it may cause an unexpected machine behavior. Be
careful enough that you must prevent the conflict of the used
internal relay.

Example)

If parameter No. 11554 (C) = 1000, the output data of flexible path axis assignment
is listed below.

Axis configuration

Path to which the

C-axis belongs

R1000

Intra-path axis number

for the C-axis

R1001

Whether the C-axis

has been removed

R1002

Path1: X Z C Y
Path2: X Z Y

00000001

00000011

00000000

Removing the C-axis

Path1: X Z Y C
Path2: X Z Y

00000001

00000100

00000001

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Axis configuration

Path to which the

C-axis belongs

R1000

Intra-path axis number

for the C-axis

R1001

Whether the C-axis

has been removed

R1002

Assigning the C-axis to path 2

Path1: X Z Y
Path2: X Z Y C

00000010

00000100

00000000

1.14.2

Direct Assignment Mode of Flexible Path Axis Assignment by
signals

OVERVIEW

When the bit 0(CSG) of the parameter No.11563 is set to 1, direct assignment can be commanded by
signal command with direct assignment mode signal DASN<G0536.5>.

Description

Direct assignment mode of Flexible path axis assignment

When the bit 2(NMF) of the Parameter No.11563 is set to 1, the direct assignment mode signal
DASN<G0536.5> becomes available. If this signal is set to 1, the axis removal command, axis
assignment command of flexible axis assignment can be commanded. Therefore, flexible path axis
assignment command can be used even in the following situation (for example, command from machine
operator panel).
In Direct assignment mode of Flexible path axis assignment, the axis assignment and axis removal is
work as follows.

- Removal of control axis

When

direct assignment mode signal DASN<G0536.5>

and removal command signal

RMVST<Gn536.2> are set to “1”, removal command is executed. When removal command is completed,
Removal completion signal RMVED<Fn536.2> is set to “1”. When Removal command signal RMVST is
set to “0”, Removal completion signal RMVED changes into “0”. The specification of the removal axis is
selected by setting bit 0 of the address in user area of internal relay(R) (No.11553) to “1”. The removal
command is only effective to the axis that belongs in the same path. It is possible to remove three axes at
the same time.

When axis removal is commanded, the CNC is worked as follows.
1.

In case of the bit 3(WUA) of the Parameter No.11563 is 0 and any of the following item is applied,
the alarm (DS0080) issues immediately and axis removal is not executed.
1-1.  The signal DASN<G0536.5> has changed while executing axis removal command.
1-2.  The axis removal is commanded while reset operation.
1-3.  The axis removal is commanded while emergency stop.
1-4.  The axis removal is commanded to the moving axis.
1-5.  The axis removal is commanded while AI Contour control mode, and any axis in the path is

moving.

1-6. The unit of reference axis (Parameter No. 1031) will change by the axis removal command.

In case of WUA(No11563#3) is 1, the CNC waits until item 1-1 to 1-5 becomes irrelevant.

Keep the removal start signal and specified removal axis signal during waiting.

The axis is removed when not all of above item 1-1 to 1-6 applies.

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Example 1: In case of removal command is executed to Z axis while automatic operation with no Z axis
command

Example 2: In case of removal command is executed while the NC is buffering automatic operation with
Z axis command

- Assignment of control axis

When  direct assignment mode signal DASN<G0536.5>  and assignment command signal
ASNST<Gn536.3>  are  set to “1”, assignment command is executed. When assignment command is
completed, Assignment completion signal ASNED<Fn536.3> is set to “1”.
When Assignment command signal ASNST is set to “0”, Assignment completion signal ASNED changes
into “0”.
The specification of the assignment axis is selected by setting bit 1 of the address in user area of internal
relay(R) (No.11553) to  “1”, which area is set for each axis.  The axis order  in the path  when the
assignment  of control axis is  commanded  is specified by the address from bit 0 to bit 4 in user area of
internal relay (R) ((No.11553)+1).
The path from which the control axis is assignment is specified by the address from bit 0 to bit 3 in user
area of internal relay(R) ((No.11553)+2).
The assignment command is effective to the axis that belongs in the M code commanded path. Maximum
three axes can be assigned at the same time.

When axis assignment is commanded on the path which is not in automatic operation, the axis is assigned
immediately. In case of target axis is not removed, the axis assignment is not executed  until the axis is
removed.
In case of the automatic operation, if no buffered program command exists and every axis which belongs
to the assignment path Cs contour controlling axis and servo live tool axis are not moving, the axis
assignment is executed. If not, the alarm (DS0080) issues.
Therefore, in case of axis assignment command, start assignment sequence at the assigned path by
suppress buffering M code to avoid the alarm above.

When axis assignment is commanded, if any of the following item is applied, the alarm (DS0080) issues
immediately and axis assignment is not executed.

- The signal DASN<G0536.5> has changed while executing axis assignment command.

  :
G01Z10.0;
X20.0;
G00X30.0;
X40.0;
  :(no command
  to Z axis below)

Z axis removal command

Z axis removal execute

Executing block

:
G01Z10.0;
X20.0;
G00

Z30.0

;

X40.0;
:(No command
to Z axis below)

Z axis removal command

In case of WUA=0

Alarm(DS0080) occur

Executing block

In case of WUA=1

Z axis removal executes
after waiting

FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 62