FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 64

1. AXIS CONTROL

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

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

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

depend on the initial path numbers of each axis.

Example)

Flexible path axis assignment is executed as following table.

Before flexible

path axis

assignment



After flexible

path axis

assignment

Axis

number

Path 1

Path 2

Axis

number

Path 1

Path 2

'C'

In this example, to read the data of C-axis, specify the axis number and the path number as following
table.

The axis number and path number

specified to read the data of C-axis

Parameter PPW
(No.11563#7)=0

Before flexible path axis assignment

5th axis in the path 1

After flexible path axis assignment

4th axis in the path 2

Parameter PPW
(No.11563#7)=1

Before flexible path axis assignment

5th axis in the path 1

After flexible path axis assignment

When all axes in the path is specified for read/write, target axes are shown in the following table.

Target axes of read/write

with all axes are specified

Path 1

Path 2

Parameter PPW
(No.11563#7)=0

Before flexible path axis assignment

X1,Y1,Z1,A1,C

X2,Y2,Z2,A2

After flexible path axis assignment

X1,Y1,Z1,A1

X2,Y2,Z2,A2,C

Parameter PPW
(No.11563#7)=1

Before flexible path axis assignment

X1,Y1,Z1,A1,C

X2,Y2,Z2,A2

After flexible path axis assignment

The numbers of axes in each path are read by function code 0 (reading CNC system information) as
shown in the following table.

The numbers of axes in each path

read by function code 0 (reading CNC system

information)

Number of axes in path

Parameter PPW
(No.11563#7)=0

Before flexible path axis assignment

After flexible path axis assignment

Parameter PPW
(No.11563#7)=1

Before flexible path axis assignment

After flexible path axis assignment

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Supported PMC WINDOW functions

Supported PMC WINDOW functions are shown in following table.

Description

Function

code

Response

R/W

Reading CNC system information

High-speed

Reading a work piece origin offset value

High-speed

Writing a work piece origin offset value

Low-speed

Reading a parameter

17,154

High-speed

Writing a parameter

Low-speed

Reading a real type parameter

321

High-speed

Writing a real type parameter

323

Low-speed

Reading setting data

19,155

High-speed

Writing setting data

Low-speed

Reading diagnosis data

Low-speed

Reading detailed information of CNC

433

Low-speed

Reading the absolute position (absolute coordinates) of controlled axes

High-speed

Reading the machine position (machine coordinates) of controlled axes

High-speed

Reading a skip position (stop coordinates of skip operation (G31))

of controlled axes

High-speed

Reading the servo delay for controlled axes

High-speed

Reading the acceleration/deceleration delay on controlled axes

High-speed

Reading the feed motor load current value (A/D conversion data)

High-speed

Reading the relative position on a controlled axis

High-speed

Reading the remaining travel on a controlled axis

High-speed

Reading the actual velocity of each controlled axes

High-speed

Entering torque limit data for the digital servo motor

152

Low-speed

Reading the actual speed on a controlled axis

207

High-speed

Reading the estimate disturbance torque data

211

High-speed

Presetting the relative coordinate

249

Low-speed

Reading the actual machine position of controlled axes

428

High-speed

Reading the command value of axes

446

High-speed

Limitation

Least input increment

When the improvement is valid (No.11563#7=1) and the path number of the axis is changed by flexible
path axis assignment, to treat the data of this axis by PMC window function, least input increment of the
current path must be same as least input increment of the initial path.

Example)

Flexible path axis assignment is executed as following table.

Before flexible path axis

assignment



After flexible path axis

assignment

Axis

number

Path 1

Path 2

Axis

number

Path 1

Path 2

'C'

In this example, to execute read/write of the data of C-axis by PMC window function, least input
increment of path 1 must be same as least input increment of path 2.

1. AXIS CONTROL

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Parameter

11563

PPW

[Input type] Parameter input

[Data type] Bit

#7 PPW

PMC window function with execution of flexible path axis assignment behaves according

to:
0:

The path number and the axis number changed by flexible path axis assignment.

The path number and the axis number of the initial state (setting of the parameter
No.981).

NOTE

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

1.15

HIGH PRECISION OSCILLATION FUNCTION

Overview

In this function, the feedrate of oscillation axis (equivalent to a chopping axis that is moved vertically and
repeatedly for grinding) changes along sine curve. This function is effective to improve, the accuracy of
movement between upper dead point and lower dead point.
Moreover, look-ahead feed forward function can be applied to oscillation motion. Then the servo delay
can be almost eliminated and higher accuracy can be achieved even if oscillation feedrate or upper or
lower dead point is changed.

This function becomes effective by setting the bit 0 (SSO) of parameter No.25650 is set to 1.

Format

G81.1 Z_ Q_ R_ F_ ;

Z : Upper dead point (In case that an axis is other than the Z-axis, specify the axis address. Specify the

distance as an absolute value.)

Q : Distance between the upper dead point and lower dead point

(Specify the distance as an incremental value from the upper dead point.)

R : Distance from the upper dead point to point R

(Specify the distance as an incremental value from the upper dead point.)

F : Oscillation base feedrate

G80 ; Cancels oscillation

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Point R : Z+R

Upper dead point : Z

Lower dead point : Z+Q

Time

If the addresses of Z, Q, R, or F are omitted, the oscillation motion is performed by the value of
parameters. On the other hand, the value of parameters is replaced by the value commanded for each
address.

Z
(Axis address)

Parameter (No.8370)

: Oscillation axis number = Axis number.

Parameter (No.8372)

: Upper dead point = Value of address Z.

Parameter (No.8373)

: Lower dead point = Value of address Q + value of address Z (If address
Z is omitted, the value is parameter (No.8372)).

Parameter (No.8371)

: Point R = Value of address R + value of address Z (If address Z is
omitted, the value is parameter (No.8372)).

Parameter (No.8374)

: Oscillation base feedrate = Value of address F.

NOTE

1 G81.1/G80 is the G code for suppressing buffering.
2 Specify G81.1/G80 in a single block.

- Oscillation activated by signal input

Before oscillation motion is started, oscillation axis, reference position, upper dead point, lower dead
point, and oscillation base feedrate must be set on the parameter screen or the oscillation screen.
Oscillation motion is started once oscillation start signal CHPST <Gn051.6> has been set to "1". This
signal is ignored, however, while oscillation axis is moving during automatic operation.
When oscillation hold signal *CHLD <Gn051.7> is set to "0" during oscillation motion, the tool
immediately moves to point R and stops. Setting the oscillation hold signal *CHLD to "1" restarts
oscillation motion. Oscillation motion can also be stopped by setting oscillation start signal CHPST to "0",
but only when oscillation motion was started by using that signal.

Method of starting oscillation

Method of cancelling oscillation

State

Signal CHPST ="1"

Signal *CHLD = "0"

It stops. (Suspending state)

Signal CHPST = "0"

It stops. (Cancel state)

G80 command

It stops. (Cancel state)

G81.1 command

Signal *CHLD = "0"

It stops. (Suspending state)

Signal CHPST = "0"

It doesn't stop.

G80 command

It stops. (Cancel state)

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- Example of signal sequence, when oscillation motion is started

Oscillation start

signal CHPST

End signal FIN

strobe signals MF

M-code command

for oscillation start

Oscillation-progress

signal CHPMD

Oscillation hold

signal *CHLD

Oscillation cycle

signal CHPCYL

To R point

Oscillation axis

To center point

Oscillation mode

- Example of signal sequence, when oscillation motion is canceled

Oscillation start

signal CHPST

M-code command

for oscillation cancel

Oscillation-progress

signal CHPMD

Oscillation hold

signal *CHLD

Oscillation cycle

signal CHPCYL

To R point

Oscillation axis

Cancel motion

Oscillation mode

End signal FIN

strobe signals MF

Timer

32ms

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NOTE

1 Switching to manual mode or suspending automatic operation, by means of feed

hold, does not stop oscillation motion.

2 If a move command is specified for the oscillation axis while oscillation is being

performed, an alarm (PS5050) is issued.

3 If a G81.1 command is specified during oscillation started by the signal,

oscillation motion is not stopped. If point R, upper dead point, lower dead point,
or oscillation feedrate has been modified by using the G81.1 command,
oscillation is continued but using the modified data.

4 The use of oscillation start signal CHPST <Gn051.6> to start oscillation motion is

not enabled immediately after power-on; it is not enabled until the completion of
manual reference position return.

5 The M codes which are used to set the oscillation start signal CHPST

<Gn051.6> to "1" or "0" should be specified as M code preventing buffering
(parameter Nos. 3411 to 3432).

CAUTION

After the cancel of oscillation motion during NC automatic operation, to execute

a move command or a coordinate system setting command (in the absolute or
incremental mode) for the oscillation axis in an NC block during the same
operation, use G-code (G80) for the cancel of oscillation.
If it is necessary to cancel by signal input, execute the following (1) or (2).

(1) M code in which each axis workpiece coordinate system preset signal

WPRST<Gn358> is turned ON
(Refer to 1.5.2.7"Each axis workpiece coordinate system preset signals" for

details.)

(2) Workpiece coordinate system preset (G92.1)

(Enable workpiece coordinate system preset (G92.1) (bit 1 (NWC) of

parameter No.8136 is 0).

For example, in the following program (O0001), to execute the move command

(N60) after the cancel (N40) of oscillation motion (Z-axis), “M code in which
each axis workpiece coordinate system preset signal WPRST is turned ON” or
“Workpiece coordinate system preset (G92.1)” must be specified in N50.

O0001
N10 G94 G90 G00 X100.0

N20 M55

←

Oscillation start signal is turned ON

N30 G01 X30.0 F30.0

N40 M56

←

Oscillation start signal is turned OFF

N50 ____

←

“M code in which each axis workpiece

coordinate system preset signal WPRST for
Z-axis is turned ON” or “Workpiece
coordinate system preset (G92.1Z0.0)” is
commanded.

N60 G00 Z-50.0

←

Move command of Z-axis

N70 M02

- Oscillation feedrate (feedrate of movement to point R)

From the start of oscillation motion to reaching point R, the tool moves at the rapid traverse rate
(specified by parameter No.1420).

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The override function can be used for either the normal rapid traverse rate or oscillation feedrate, one of
which can be selected by setting bit 0 (ROV) of parameter No.8360. When the oscillation feedrate is
overridden, settings more than 100% are clamped to 100%.

- Oscillation feedrate (feedrate of movement from point R)

From point R, where reached after the start of oscillation motion, to the center point between upper and
lower dead points, the tool moves at the oscillation base feedrate (F). Afterwards, between the center
point and the point where the oscillation motion is canceled, the tool moves with sine curve feedrate by
Exp. 1.















[sec]

]

[deg/

sec]

[

]

[

min]

[

min]

[

180

sin

)

(

rad

F(t)

: Sine curve feedrate [mm/min]

F : Oscillation base feedrate [mm/min]

Q : Distance between the upper dead point and lower dead point [mm]

: Oscillation override (0.0 (0%) to 1.5 (150%))

Set by oscillation federate override signals *CHP1 - *CHP8<Gn051.0-3>

t : Time [sec]

The value (

F) of the product of oscillation base feedrate and oscillation override is clamped to the

maximum oscillation feedrate (parameter No.8375) if the value (

F) is greater than the maximum

oscillation feedrate. However, even if the value (

F) is not greater than maximum oscillation feedrate, it is

clamped by the feedrate never exceeds the maximum allowable acceleration rate for
acceleration/deceleration (parameter No.25652) during oscillation motion.

- Setting oscillation data

Set the following oscillation data:

Oscillation axis…………………Parameter (No.8370)
Reference point (point R)………Parameter (No.8371)
Upper dead point……………….Parameter (No.8372)
Lower dead point……………….Parameter (No.8373)
Oscillation base feedrate………..Parameter (No.8374)
Maximum oscillation feedrate… Parameter (No.8375)

All data items other than the oscillation axis and maximum oscillation feedrate can be set on the
oscillation screen. Moreover, the value of parameters is replaced by the value of G81.1 command.

- Stopping oscillation

The following table lists the operations and commands that can be used to stop oscillation motion, the
positions at which oscillation stops, and the operation performed after oscillation stops:

Operation/ command

Stop position

Operation after stops

G80 command

It follows parameter OST (No.25651#0).

Canceled

Reset

OST=0 : Point R

PS, OT alarm

OST=1 : Decelerated and stopped

CHPST: "0"

It follows parameters OST, SGS (No.25651#0,#2).

Canceled

OST=0 or SGS=0 : Point R

OST=1 and SGS=1 : Decelerated and stopped

*CHLD: "0"

It follows parameters OST, SGS, HST (No.25651#0,#2,#3).

Restart after *CHLD goes

"1"

OST=0, SGS=0, or HST=0 : Point R

OST=1, SGS=1, and HST=1 : Decelerated and stopped

Emergency stop

The tool stops immediately.

Canceled

Servo alarm

…Exp. 1

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Example of stopping at point R. (Except in the case of suspending by signal *CHLD = 0 or issuing an OT
alarm.)
(1) Point R > Center point between upper and lower dead points

Upper dead point

Lower dead point

Point R

Cancel

Center point

(i)

(ii)

After cancel command, oscillation motion is continued until oscillation axis passes center point
between upper and lower dead points via next lower dead point (i).
Afterwards, the axis moves to point R by linear interpolation (ii).

(2) Point R < Center point between upper and lower dead points

Upper dead point

Lower dead point

Point R

Cancel

(ii)

(i)

Center point

After cancel command, oscillation motion is continued until oscillation axis passes center point
between upper and lower dead points via next upper dead point (i).
Afterwards, the axis moves to point R by linear interpolation (ii).

In the case of suspending by signal *CHLD="0" or cancel by OT alarm, oscillation axis moves to point R
at once.

NOTE

The timing of cancellation motion might change according to the position of point
R or the setting of acceleration rate of cancellation motion (parameter
No.25653).

- Movement from point R to the first dead point

The first dead point is decided by the position of point R.

Point R

The first dead point

Point R is on upper dead point side from center point or is on the center point.

Lower dead point

Point R is on lower dead point side from center point.

Upper dead point

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