FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 63

1. AXIS CONTROL

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- The axis assignment is commanded while reset operation.
- The axis assignment is commanded while emergency stop.
- The unit of reference axis (Parameter No. 1031) will change by the axis removal command.
- The axis assignment is commanded while program is buffered.

NOTE

1 When the axis assignment command and removal command is executed to the

same path, the preceded command is executed first. The next command is
executed when the preceded command is finished and the assignment
completion signal / removal completion signal becomes 0.

2 When executing macro blocks or executing short length movement blocks, the

axis assignment / removal may take time.

-Specification of the order intra-path number of axis on axis assignment command

When no order number or illegal order number of the axis is specified by PMC signals, the CNC
operation is as follows.
Ex) Y-axis and C-axis are assigned to the path of the axis configuration X-axis and Z-axis:

Setting value of Parameter No.11560: (X, Y, Z, C) = (1, 2, 3, 4),

No.11553: (X, Y, Z, C) = (100, 104, 108, 112)
1)

In case that the axis order is not specified

Command: Assignment command ASNST <Gn536.3>=1 R104.1=1, R112.1=1, R105 = 0,
R113 = 0

Y is assigned as the third axis, and C is assigned as the fourth and last axis. (X, Z, Y, C)

In case that the axis order is specified doubly.

Command: Assignment command ASNST <Gn536.3>=1 R104.1=1, R112.1=1, R105 = 2,
R113 = 2

As "R104=2" and "R113=2" for second axis are specified doubly, the alarm (PS0514) is issued.

In case that the command contradicts axis configuration.

Command: Assignment command ASNST <Gn536.3>=1 R104.1=1, R112.1=1, R105 = 2,
R113 = 5

As "R113=5" for fifth axis specification is contradicted, the alarm (PS0514) is issued.

Sample program

Example 1:
We show an example of axis assignment in case that M40 is a command for activating axis assignment
ladder sequence M code by direct assignment mode signal DASN<G0536.5>.
If execute MDI operation at only one path (The rest of paths which concern to flexible path axis
assignment are not executing automatic operation (Reset status)), the M code can be commanded in any
path.

In case of automatic operation, the M code which activates the ladder sequence must be command from
the assigned path. The sample program below shows the example that the axis removed from 2nd path
and assigned to 1st path. By M40, the direct assignment mode signal is changed to 1, and then the ladder
sequence that removes the axis from 2nd path is activated. Then the ladder sequence that assigns the axis
to 1st path is activated. At last, the direct assignment mode signal is changed to 0.
(M40 is the M code which suppress buffering)

MDI program in path 1

O0000;

M40;

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Example 2:
This sample program shows that in case of the machine has following axis configuration and use the A
axis from both 1st path and 2nd path.

1st path axis configuration: X1, Z1, C1, A

2nd path axis configuration: X2, Z2, C2

Parameter No.11553 = 100 for A axis
M104: Change the signal DASN<G0536.5> to 1, then activate the ladder sequence that remove the

A axis from 2nd path. Then activate the ladder sequence that assign A axis to 1st path.

At last, change the signal DASN to0 and return FIN signal.

M204: Change the signal DASN<G0536.5> to 1, then activate the ladder sequence that remove the

A axis from 1st path. Then activate the ladder sequence that assign A axis to 2nd path.

At last, change the signal DASN to 0 and return FIN signal.

(Both M104 and M204 are the M code which suppress buffering)

(A)-(A’) Activate the ladder sequence from 2nd path that remove the A axis from 1st path and assign to

2nd path (M204)

(B)-(B’)

Activate the ladder sequence from 1st path that remove the A axis from 2nd path and assign to
1st path (M104)

1st path
O1001;
:
G01X1=100.0;

(A')

G00X1=150.0;
G00Z1=230.0;
:
M104;

(B)

A10.0;
:

2nd path
O2001;
:
M204;

(A)

A10.0;
:
:
G01X2=100.0;

(B')

X2=110.0Z2=110.0;
X2=120.0;
G00X2=200.0Z2=200.0;
:

Path 1:

O1001

M40

Path 2:

O2001

(Waiting M code is not necessary)

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(Signal sequence on (A))

Signals

Removal start signal

RMVST<Gn536.2>

[Classification] Input signal

[Function] Start removal command of flexible path axis assignment.

[Operation] When the signal is set to “1” with M code (Parameter No.11550), the removal command

is executed.

Assignment start signal

ASNST<Gn536.3>

[Classification] Input signal

[Function] Starts assignment command of flexible path axis assignment.

[Operation] When the signal is set to “1” with M code (Parameter No.11551), the assignment

command is executed.

Direct assignment mode signal DASN<G0536.5>

[Classification] Input signal

[Function] Starts direct assignment mode of flexible path axis assignment.

[Operation] When the signal is set to “1”, the signal type of flexible path axis assignment can be

executed in case that the bit 2(NMF) of parameter No.11563 is 1.

Removal completion signal RMVED<Fn536.2>

[Classification] Output signal

[Function] Notifies the completion of removal command.

[Output condition] 0 : Removal command is not completed or removal command is not commanded.

1 : Removal command is completed.

M204

DASN
G0536.5

Specified removal axis (A)
R100.0

Removal completion signal
(1

path) F0536.2

Removal start signal(1

path)

G0536.2

Specified assignment axis(A)
R100.1

Axis number of assignment axis (A)
R101=4

Assignment start signal(2

path)

G1536.3

Assignment completion signal(2

path)

F1536.3

FIN

Path number of assignment(A)
R102=1

(A)

(A) block completion

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When Removal command signal RMVST is set to “0”, this signal changes into “0”.

Assignment completion signal

ASNED<Fn536.3>

[Classification] Output signal

[Function] Notifies the completion of assignment command.

[Output condition] 0 : Assignment command is not completed or assignment command is not commanded.

1 : Assignment command is completed.

When Assignment command signal ASNST is set to “0”, this signal changes into “0”.

- User area of internal relay (R) for each axis

The address in user area of internal relay (R) of each axis used for flexible path axis assignment is set to
the parameter (No.11553). This parameter is used by three bytes an axis. Please set not to overlap with
other axes.
The meaning of user area of internal relay (R) of each axis is as follows.

Specified removal axis

RMVAX<RXXXX.0>

[Classification] Input signal

[Function] This signal specifies the removal axis. When using multi path PMC, only 1st PMC is

used.

NOTE

XXXX represents a value set in parameterNo.11553.

Specified assignment axis ASNAX<RXXXX.1>

[Classification] Input signal

[Function] This signal specifies the assignment axis. When using multi path PMC, only 1st PMC is

used.

NOTE

XXXX represents a value set in parameterNo.11553.

Axis number of assignment axis

ASNM1<RXXXY.0> to ASNM5<RXXXY.4>

[Classification] Input signal

[Function] These signals specify the axis number of assignment axis in the path. When using multi

path PMC, only 1st PMC is used.

NOTE

XXXY represents a value specified in parameter No. 11553 plus 1.

Path number of assignment or path number of exchange target axis

CMPT1<RXXXZ.0> to CMPT4<RXXXZ.3>

[Classification] Input signal

[Function] These signals specify the path number of assignment command.

These signals specify the path number of exchange target axis. When using multi path
PMC, only 1st PMC is used.

NOTE

XXXZ represents a value specified in parameter No. 11553 plus 2.

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Signal address

Gn536

DASN

ASNST

RMVST

Fn536

ASNED

RMVED

- User area of internal relay (R)

XXXX represents a value set in parameter No.11553.
XXXY represents a value specified in parameter No. 11553 plus 1.
XXXZ represents a value specified in parameter No. 11553 plus 2.

RXXXX

ASNAX RMVAX

RXXXY

ASNM5

ASNM4

ASNM3 ASNM2 ASNM1

RXXXZ

CMPT4

CMPT3

CMPT2

CMPT1

Parameter

11553

The address of command in user area of internal relay(R)

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

When the signal type of flexible path axis assignment is used, the address of command in
user area of internal relay (R) is set in each axis. 3 bytes are used from a set value with
each axis.

NOTE

1 Set the value that becomes the multiple of 4. (0, 4, 8, …)
2 The range of the R address differs depending on the PMC used

and the memory size. Check the specifications of the PMC, and set
a value within the valid range.
(Example: R addresses in the range from R0 to R7999 if memory B
of the first PMC is used.)

3 Signal type of flexible path axis assignment is not available for the

axis in case of this parameter is set to 0.

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 competition of the used
internal relay.

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11563

WUA

NMF

CSG

[Input type] Parameter input

[Data type] Bit

NOTE

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

# 0 CSG

Flexible path axis assignment is commanded:

By G code command.

By PMC signal setting.

WARNING

Please set an appropriate value to parameter No.11553
beforehand when you set 1 to this parameter.
If an internal relay of the set address in parameter No.11553 is
used by another usage, it may cause an unexpected machine
behavior. Be careful enough that you must prevent the competition
of the used internal relay.

# 2 NMF

Direct assignment mode signal DASN<G0536.5> is:

Not used.

Used.

# 3 WUA

In direct assign mode of the flexible path axis assignment, if removal command could not

execute,
0:

The alarm (DS0080) occurs.

Wait execution of the axis removal.

Alarm and message

Number

Message

Description

DS0080

ILLEGAL COMMAND IN
FLEXIBLE PATH AXIS
ASSIGNMENT

1)  The program is buffered.
2)  Signal DASN<G0536.5> is changed.
3)  Reset operation is executed.
4)  The machine is in emergency stop state.
5)  Axis exchange command is executed in the direct

assignment mode

6) The unit of the reference axis cannot be changed.
7) Target axis is moving

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

Limitation

Direct assignment of Flexible path axis assignment cannot execute during rigid tapping mode.

Axis assignment and axis removal cannot execute during backward movement, re-forward movement
of Manual handle retrace function.

Flexible path axis assignment cannot be executed during high precision oscillation.
If you command as above, the alarm (DS0080) issues.

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1.14.3

Axis Assignment Reset

OVERVIEW

When using Flexible path axis assignment, if specified parameter is set, axis assignment can be initialized
automatically by reset operation.
When automatic operation is halted by reset operation, it becomes easy to initialize the axis assignment.

Description

When bit 6(RRS) of the parameter No. 11563 is set to 1, and every path which execute the Flexible path
axis assignment becomes the reset state simultaneously by MDI reset key operation , external reset signal,
or reset and rewind signal, axis assignment is initialized automatically at the completion of reset state.
The axis assignment is initialized or not can be verified by checking Initial axis assignment signal INIST
<F0536.7>.

To initialize axis assignment, every axis which belongs to the target path must be the state which the
Flexible path axis assignment can execute. If any axis is not, the initialize of axis assignment is not
executed.
The state which the flexible axis assignment can execute is based on the specifications of Direct
assignment of Flexible path axis assignment.

Following is the examples that axis assignment reset cannot be execute.
-

Any axis which enables the Flexible path axis assignment is executing the PMC axis control on target
path.

Tool offset is enabled on target path, and the offset is not cancelled by reset operation.

The axis which is not assigned to another path might be target of axis removal/assignment by Axis
assignment reset for restoration to original axis configuration. However, the axis that the Flexible path
axis assignment is not enable (the parameter No.11560 = 0) is not becomes target of axis removal /
assignment.
Example)
The machine has the original axis configuration that X1,Z1,C1 axes are on 1

path, and X2,Z2,C2 axes

are on 2

path. Flexible path axis assignment is enabled on Z1 and Z2 axis.

In case of axis assignment is changed by Flexible path axis assignment that X1, Z1, Z2, C1 on 1

path

and X2, C2 on 2

path.

When both 1

and 2

path becomes reset state simultaneously, if Z2 axis is able to execute Flexible

path axis assignment, the 1

and 2

path become initial axis assignment after reset.

In case of axis order is changed to X1, C1, Z1 in 1

path and no axis changed in 2

path by Flexible

path axis assignment.
When reset is executed on 1

path and Z1 axis is able to execute Flexible path axis assignment, the 1

path becomes initial axis order after reset operation.

In case of axis order has changed to X1, Z2, C1 on 1

path, and X2, Z1, C2 on 2

path by Flexible

path axis assignment.
When both 1

and 2

path becomes reset state simultaneously, and both Z1, Z2 axis is able to

execute Flexible path axis assignment, the 1

and 2

path becomes initial axis assignment after reset.

Signals

Initial axis assignment signal INIST<Fn536.7>

[Classification] Output signal

[Function] Notifies the path has initial axis assignment or not.

[Output condition] 0: The axis assignment of the path is not same as initial state.

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1: The axis assignment of the path is same as initial state.

Parameter

#7 #6 #5 #4 #3 #2 #1 #0

11563

RRS

[Input type] Parameter input

[Data

type]

Bit

NOTE

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

# 6 RRS

When reset is executed, the axis assignment changed by Flexible path axis assignment

Is not changed.

Is returned to its initial assignment.

Note

High precision oscillation function

When reset is executed during precision oscillation and this function is available, another path which is
not in initial assignment keeps reset. The reset is finished when the precision oscillation axis is returned to
R position and chopping mode is canceled.

External reset, Reset and Rewind

When this function is enabled, and reset and rewind or external reset is executed to each path individually,
the axis assignment reset is executed when all target paths become the reset state.

1.14.4

Improvement of PMC Window Function with Flexible Path
Axis Assignment

Outline

In flexible path axis assignment, it has been enabled to read and write the axis information by PMC
window function according to the path number and axis number of the initial state specified by parameter
(No.981).

Explanation

Behavior of PMC window function with flexible path axis assignment

In the conventional specification, PMC window function with flexible path axis assignment behaves as

follows:

When one axis is specified for read/write, the axis number and the path number changed by

flexible path axis assignment should be specified.

When all axes in a path are specified for read/write, target axes are determined by the path

numbers of each axis changed by flexible path assignment. Furthermore, the order of each axis
data and the axis number read by function code 433 (CNC alarm detail read) depend on axis
number after flexible path assignment.

The number of axes in a path acquired by function code 0 (reading CNC system information)

depends on the path numbers of each axis after flexible path assignment.

If the bit 7(PPW) of parameter No.11563 is set to 1, behavior of PMC window function with flexible path
axis assignment is not changed by the execution of flexible path assignment as follows:

When one axis is specified for read/write, the axis number and the path number of the initial state

can be specified.

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