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

4. REFERENCE POSITION ESTABLISHMENT

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NOTE

1 When the reference position shift function is enabled (when bit 4

(SFDx) of parameter No. 1008 is set to 1)
When bit 4 (SFDx) of parameter No. 1008 is set to 1, the distance
from a point at which the deceleration dog is released to the first
grid point (parameter No. 1844) is set to 0, and reference position
shift (parameter No. 1850) is set to 0, a manual reference position
return allows this parameter to be set automatically. Do not change
an automatically set value.

2 When a reference position return is made by grid shift with a setting

not to use reference position setting without dogs (when bit 4
(SFDx) of parameter No. 1008 is set to 0, and bit 1 (DLZx) of
parameter No. 1005 is set to 0)
When a manual reference position return using deceleration dogs
is made, this parameter is set automatically.

3 When a reference position return is made by grid shift with a setting

to use reference position setting without dogs (when bit 4 (SFDx) of
parameter No. 1008 is set to 0, and bit 1 (DLZx) of parameter No.
1005 is set to 1)
When a reference position setting without dogs is made, this
parameter is set automatically.

1850

Grid shift and reference position shift for each axis

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

[Unit of data] Detection unit

[Valid data range] -99999999 to 99999999

To shift the reference position, the grid can be shifted by the amount set in this parameter.
Up to the maximum value counted by the reference counter can be specified as the grid
shift.
In case of bit 4 (SFDx) of parameter No. 1008 is 0: Grid shift
In case of bit 4 (SFDx) of parameter No. 1008 is 1: Reference point shift

NOTE

For setting the reference position without dogs, only the grid shift
function can be used.

(The reference position shift function cannot be used.)

3003

DEC

[Input type] Parameter input

[Data type] Bit path

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#5 DEC

Deceleration signal (*DEC1 to *DEC8) for reference position return

Deceleration is applied when the signal is 0.

Deceleration is applied when the signal is 1.

3006

GDC

[Input type] Parameter input

[Data type] Bit

#0 GDC

As the deceleration signal for reference position return *DEC:

X0009 is used.

Gn196 is used. (X0009 is disabled.)

WARNING

If the signal *DEC<X0009> is used by another usage when you set
0 to this parameter, it may cause an unexpected machine behavior.
Be careful enough that you must prevent the competition of the
used X address.

3008

XSG

[Input type] Parameter input

[Data type] Bit path

NOTE

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

#2 XSG

A signal assigned to an X address is:

Fixed at the address.

Able to be reassigned to an arbitrary X address.

NOTE

When this parameter is set to 1, set parameter No. 3013, No. 3014,
No. 3012, and No. 3019. If parameter No. 3013 and No. 3014 are
not set, the deceleration signal for reference position return

*DEC

assigned to bit 0 of <X0000>. If parameter No. 3012 and No. 3019
are not set, the skip signal, the PMC axis control skip signal, the
measurement position arrival signal, the interlock signal for each
axis direction, and the tool compensation value write signal are
assigned to <X0000>.

WARNING

Please set an appropriate value to parameters ( Nos. 3013, 3014,
3012, 3019 ) beforehand when you set 1 to this parameter.
If an input signal of the set address in parameters ( Nos. 3013,
3014, 3012, 3019 ) is used by another usage, it may cause an
unexpected machine behavior. Be careful enough that you must
prevent the competition of the used X address.

4. REFERENCE POSITION ESTABLISHMENT

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3013

X address to which the deceleration signal for reference position return is assigned

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 727

Set an address to which the deceleration signal *DECn for reference position return for
each axis is to be assigned.

NOTE

This parameter is valid when bit 2 (XSG) of parameter No. 3008 is
set to 1.

Depending on the configuration of the I/O Link, the actually usable
X addresses are:

WARNING

If you used the set address in this parameter by another usage, it
may cause an unexpected machine behavior.

Be careful enough that you must prevent the competition of the
used X address.

3014

Bit position of an X address to which the deceleration signal for reference position return is assigned

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] 0 to 7

Set a bit position to which the deceleration signal for reference position return *DECn for
each axis is to be assigned.

NOTE

This parameter is valid when bit 2 (XSG) of parameter No. 3008 is
set to 1.

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Alarm and message

Number

Message

Description

PS0090

REFERENCE RETURN
INCOMPLETE

1. The reference position return cannot be performed

normally because the reference position return start point
is too close to the reference position or the speed is too
slow. Separate the start point far enough from the
reference position, or specify a sufficiently fast speed for
reference position return.

2. An attempt was made to set the zero position for the

absolute position detector by return to the reference
position when it was impossible to set the zero point.

Rotate the motor manually at least one turn, and set the
zero position of the absolute position detector after
turning the CNC and servo amplifier off and then on
again.

PS0091

MANUAL REFERENCE POSITION
RETURN IS NOT PERFORMED IN
FEED HOLD

Manual return to the reference position cannot be performed
when automatic operation is halted. Perform the manual
return to the reference position when automatic operation is
stopped or reset.

PS0092

ZERO RETURN CHECK (G27)
ERROR

The axis specified in G27 has not returned to zero.
Reprogram so that the axis returns to zero.

PS0224

ZERO RETURN NOT FINISHED

Reference position return has not been performed before the
automatic operation starts. Perform reference position return
only when the bit 0 (ZRNx) of parameter No. 1005 is set to 0.

PS0304

G28 IS COMMANDED WITHOUT
ZERO RETURN

Although a reference position was not set, an automatic
return to the reference position (G28) was commanded.

PW0001

X-ADDRESS(*DEC) IS NOT
ASSIGNED.

The X address of the PMC could not be assigned correctly.
This alarm may occur in the following case:
-

During the setting of parameter No. 3013, the X address
could not be assigned correctly for the deceleration dog
(*DEC) for a return to the reference position.
When there are four or more paths or there are nine or
more axes for one path, the signals must be assigned by
setting bit 2 (XSG) of parameter No. 3008, parameter
No. 3013, and parameter No. 3014.

Diagnosis data

302

Distance between the position at which the deceleration dog is turned off and the first grid point

[Data type] Real axis

[Unit of data] Machine unit

Reference item

Manual name

Item name

OPERATOR’S MANUAL (B-64694EN)

Manual reference position return

4.2

REFERENCE POSITION SETTING WITHOUT DOG

Overview

This function moves each axis in the manual continuous feed mode near the reference position. It then
sets the reference position in the reference position return mode without the deceleration signal for
reference position return. This is done by setting the feed axis and direction select signal to 1. With this
function, the machine reference position can be set at a given position without installing the limit switches
for reference position return.

4. REFERENCE POSITION ESTABLISHMENT

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If the absolute-position detector is provided, the set reference position is retained after the power is turned
off. In this case, when the power is turned on again, there is no need for setting the reference position
again.

Explanation

Basic Procedure for Setting the Reference Position Without DOG

(1) Feed the tool, along the axis for which the reference position is to be set, by manual continuous feed

in the reference position return direction. Stop the tool near the reference position, but do not exceed
the reference position.

(2) Enter manual reference position return mode, then set 1 for the feed axis direction selection signal

(for the positive or negative direction) for the axis.

(3) The CNC positions the tool to the nearest grid point (based on one-rotation signals from the position

detector) in the reference position return direction specified with bit 5 (ZMIx) of parameter No.1006.
The point at which the tool is positioned becomes the reference position.

(4) The CNC checks that the tool is positioned to within the in-position area, then sets the completion

signal (ZPx) for reference position return and the reference position establishment signal (ZRFx) to
1.

The timing chart for the basic elements constituting steps (2) to (4) is shown below.

+J1 or -J1

Grid

ZP1

Feedrate

Manual reference position return mode

FL rate

ZRF1

The following figure shows the positional relation between the reference position and the point to which
the tool is positioned by manual continuous feed.

Grid

- direction

Position after
jog feed

+ direction

A : Reference position for reference position return in the negative direction
B : Reference position for reference position return in the positive direction

Servo position error and one-rotation signal

To set the reference position without DOG, when the reference position has not yet been established. The
tool must be fed, in manual continuous feed mode, in the reference position return direction at such a
speed that the servo position error exceeds the value set in parameter No. 1836. The tool must cross the
grid line corresponding to a one-rotation signal from the position detector.
Section "MANUAL REFERENCE POSITION RETUNR" explains how to calculate the servo position
error.
When the one-rotation signal from the position detector is seized at the time of reference position setting
without DOG, bit 6 (PCR) of diagnosis data No. 201 is set to 1, and a grid for manual reference position
return is established, enabling setting of the reference position without DOG.

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NOTE

This bit has no effect until operation in the jog mode starts during
setting of the reference position without DOG

Grid shift

To shift the reference position, the grid can be shifted by the distance set in parameter No. 1850. The grid
shift to be set in the parameter must not exceed the reference counter capacity (parameter No. 1821).
Reference position shift function can not be used.

When the grid has been shifted, the relationship between the start position for the reference point return
operation and the reference point to be set is shown below.

Grid

Start position

+ direction

Grid after
gridshift

- direction

A : Reference position for reference position return in the negative direction
B : Reference position for reference position return in the positive direction

Manual reference position return

When the feed axis and direction selection signal is set to 1 in manual reference position return mode
after the reference position has been established, the tool is positioned to the reference position regardless
of the direction specified by the feed axis and direction selection signal. The completion signal for
reference position return is then set to 1.

Caution

CAUTION

When a feed axis and direction selection signal is selected in the
manual reference position mode, the tool may be positioned at the
reference position irrespective of the direction specified by the feed
axis and direction selection signal, depending on the current
position.

Setting the reference position without dog when the absolute-position
detector loses the reference position

When an absolute-position detector is provided [bit 5 (APCx) of parameter No. 1815 is set to 1] and the
reference position is lost [bit 4 (APZx) of parameter No. 1815 is set to 0], an alarm (DS0300) is issued.

As described in "Basic Procedure for Setting the Reference Position Without DOG," feed the tool to point
P in the figure below in the jog feed mode.
Then, put the machine into the manual reference position return mode and set the reference position
without dog.

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+J1

-J1

Grid

ZP1

Feedrate

Manual reference position return mode

FL rate

Ref.

Upon the completion of setting the reference position without dog, the tool is positioned at a grid point
and point Ref. in the figure is used as the reference position.
The correspondence between the machine position and reference position for the absolute-position
detector has been established, and the reference position is also established. [Bit 4 (APZx) of parameter
No. 1815 is set to 1.]
Then, reset the system to release the alarm DS0300.
With the first reference position return without dog, the correspondence between the machine position
and position in the absolute-position detector has been established.

Bit 4 (GRDx) of parameter No. 1007 can be set to 1 to set the reference position without dog twice or
more when an alarm DS0300 is issued due to absolute-position detection.
Bit 4 (APZx) of parameter No. 1815 remains set to 0 after the reference position is set without dog and
the tool reaches the reference position.

As shown in the figure below, reference position return without dog is repeated from P2 to P3 and P4
until the tool reaches point Ref used as the reference position.

+J1 or -J1

Grid

Manual reference position return
mode

Ref.

Set bit 4 (APZx) of parameter
No. 1815 to 1 at this position.

Put the system in the MDI mode at point Ref used as the reference position and set bit 4 (APZx) of
parameter No. 1815 to 1.
Then, turn the power off, then on again. The correspondence between the machine position and position
in the absolute-position detector has been established.

Parameter

1002

IDG

[Input type] Parameter input

[Data type] Bit path

#7 IDG

When the reference position is set without dogs, automatic setting of the bit 0 (IDGx) of

parameter No. 1012 to prevent the reference position from being set again is:
0:

Not performed.

Performed.

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NOTE

When this parameter is set to 0, bit 0 (IDGx) of parameter No. 1012
is invalid.

1005

DLZx

[Input type] Parameter input

[Data type] Bit axis

#1 DLZx

Function for setting the reference position without dogs

Disabled

Enabled

1006

ZMIx

[Input type] Parameter input

[Data type] Bit axis

NOTE

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

#5 ZMIx

The direction of manual reference position return is:

+ direction

- direction

1007

GRDx

[Input type] Parameter input

[Data type] Bit axis

#4 GRDx

When absolute position detection is performed for an axis and the correspondence

between the machine position and the position on the absolute-position detector has not
yet been established for the axis, reference position setting without digs is:
0:

Not performed more than once.

Performed more than once.

1012

IDGx

[Input type] Parameter input

[Data type] Bit axis

#0 IDGx

The function for setting the reference position again, without dogs, is:

Not inhibited.

Inhibited. (The alarm PS0301 is issued.)

FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 96