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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 99

4. REFERENCE POSITION ESTABLISHMENT

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(B) After the tool strikes the mechanical stopper, the tool is withdrawn in the direction opposite to the

butting direction, along the axis for a parameter-set distance.
-

The tool is moved in the direction opposite to that specified with bit 5 (ZMIx) of parameter
No.1006,

At the feedrate specified with parameter No.7185,

For the distance specified with parameter No.7181.

the mechanical stopper at a constant feedrate in reference position setting.

(D) The tool moves along the specified axis at a specified torque until it butts against the mechanical

stopper.
-

The tool moves in the direction specified with bit 5 (ZMIx) of parameter No.1006,

At the feedrate specified with parameter No.7184,

At the torque specified with parameter No.7186 or No.7187 (until the tool strikes the
mechanical stopper).

(E) After the tool strikes the mechanical stopper end on the axis, the tool is withdrawn in the direction

opposite to the butting direction, along the axis for a parameter-set distance.
-

The tool is moved in the direction opposite to that specified with bit 5 (ZMIx) of parameter
No.1006,

At the feedrate specified with parameter No. 7185,

For the distance specified with parameter No.7182.

For parameter No.7183 and No.7184, set the feedrates at which the tool is moved toward the mechanical
stopper with a limited torque, considering the machine accuracy.
After the tool strikes the mechanical stopper, and the tool is withdrawn the distance specified with
parameter No.7182, the withdrawal point is set as the reference position on the specified axis. Then, the
reference position return end signal and reference position establishment signal are set to 1.
The timing chart for the cycle operation is shown below.

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Manual reference position return
mode

Manual handle feed axis select
signals HS1A to HS1D

Automatic operation start
signal ST

Cycle operation

Automatic operation signal OP

Reference position return
end signals ZP1 to ZP8

Torque limit

Axis feedrate

Torque limit reach signals for
reference point setting with
mechanical stopper
CLRCH1 to CLRCH8

100%

Butting direction

Withdrawal
direction

N%: Torque limit (%) specified with parameter No. 7186 or No. 7187 (%)

Cycle operation after the reference position has been established

When the reference position has been established, cycle operation is not performed by operations for
reference position setting with a mechanical stopper. In this case, the tool is positioned to the reference
position in the rapid traverse mode. After the completion of the positioning, the relevant reference
position return end signal is set to 1.
This signal is not set to 1 during automatic operation.

Signal

Cycle start signal ST<Gn007.2>

[Classification] Input signal

[Function] Starts automatic operation.

[Operation] When signal ST is set to 1 then 0 in memory (MEM) mode, DNC operation mode (RMT)

or manual data input (MDI) mode, the CNC enters the cycle start state and starts
operation.
MEM, RMT, or MDI mode

. . . .

Start

Signal ST "1"

"0"

Automatic operation

32 msec

or more

Fig.4.6 (a)

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Manual Handle Feed Axis Selection Signals

HS1A to HS1D<Gn018.0 - 3>, HS1E<Gn411.0>,
HS2A to HS2D<Gn018.4 - 7>, HS2E<Gn411.1>,
HS3A to HS3D<Gn019.0 - 3>, HS3E<Gn411.2>,
HS4A to HS4D<Gn020.0 - 3>, HS4E<Gn411.3>,
HS5A to HS5D<Gn379.0 - 3>, HS5E<Gn412.0>

[Classification] Input signal

[Function] Selects the axis of manual handle feed. A set of five code signals, A, B, C, D and E is

provided for each manual pulse generator. (Up to 5 generators can be used.) (For
multi-path control, there is a set of code signals in each path.) The number in the signal
name indicates the number of the manual pulse generator to be used.

1 : Selection of axis to be moved by 1st. manual pulse generator
2 : Selection of axis to be moved by 2nd. manual pulse generator
3 : Selection of axis to be moved by 3rd. manual pulse generator
4 : Selection of axis to be moved by 4th. manual pulse generator
5 : Selection of axis to be moved by 5th. manual pulse generator

HS1A

Code signals A, B, C, D, and E correspond to the feed axes listed in following table:

Manual handle feed axis selection signals

Feed axis

HSnE

HSnD

HSnC

HSnB

HSnA

No selection (None of axis is fed)

1st axis

2nd axis

3rd axis

22nd axis

23rd axis

24th axis

Torque limit reach signals for reference point setting with mechanical stopper

CLRCH1 to CLRCH8 <Fn180>

[Classification] Output signal

[Function] These signals are used to post notification of the torque limit having been reached for

each corresponding axis during cycle operation for reference point setting with
mechanical stopper.

[Output cond.] Each signal is set to 1 when:

The torque limit is reached for the corresponding axis during cycle operation for
reference point setting with mechanical stopper.

Each signal is set to 0 when:
-

The torque limit is not reached for the corresponding axis during cycle operation for
reference point setting with mechanical stopper.

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Signal address

Gn007

Gn018

HS2D

HS2C

HS2B

HS2A

HS1D

HS1C

HS1B

HS1A

Gn019

HS3D

HS3C

HS3B

HS3A

Gn020

HS4D

HS4C

HS4B

HS4A

Gn379

HS5D

HS5C

HS5B

HS5A

Gn411

HS4E

HS3E

HS2E

HS1E

Gn412

HS5E

Fn180

CLRCH8

CLRCH7

CLRCH6

CLRCH5

CLRCH4

CLRCH3

CLRCH2

CLRCH1

Parameter

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

7181

First withdrawal distance in reference point setting with mechanical stopper

7182

Second withdrawal distance in reference point setting with mechanical stopper

[Input type] Parameter input

[Data type] Real axis

[Unit of data] mm, inch, deg (machine unit)

[Min. unit of data] Depend on the increment system of the applied axis
[Valid data range] 9 digit of minimum unit of data (refer to standard parameter setting table (A))

(When the increment system is IS-B, -999999.999 to +999999.999)
This parameter sets the distance, by which an axis is withdrawn after the axis butts
against the mechanical stopper in each cycle operation, (the distance from the mechanical
stopper to the withdrawal point).

NOTE

Set the same direction as that set in bit 5 (ZMIx) of parameter
No.1006. Cycle operation cannot be started if the opposite direction
is set.

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7183

First butting feedrate in reference point setting with mechanical stopper

7184

Second butting feedrate in reference point setting with mechanical stopper or butting feedrate in

reference point setting with mechanical stopper by Grid Method

7185

Withdrawal feedrate (common to the first and second butting operations) in reference point setting with

mechanical stopper

[Input type] Parameter input

[Data type] Real axis

[Unit of data] mm/min, inch/min, deg/min (machine unit)

[Min. unit of data] Depend on the increment system of the applied axis
[Valid data range] Refer to the standard parameter setting table (C)

(When the increment system is IS-B, 0.0 to +999000.0)
This parameter sets a feedrate used to butt against the stopper along an axis in each cycle.

7186

Torque limit value in reference point setting with mechanical stopper

[Input type] Parameter input

[Data type] Byte axis

[Valid data range] 0 to 100

This parameter sets a torque limit value. A value from 0 to 100 corresponds to 0% to 39%.
The torque limit value is obtained by multiplying the setting by 1/255. If more than 39%
is to be set, use parameter No. 7187.

NOTE

When 0 is set in this parameter, 100% is assumed.

7187

Torque limit value in reference point setting with mechanical stopper or reference point setting with

mechanical stopper by Grid Method

[Input type] Parameter input

[Data type] Word axis

[Valid data range] 0 to 255

This parameter sets a torque limit value. As for the setting value, 0-255 corresponds to
0% to 100%.
When this parameter is set for reference point setting with mechanical stopper, parameter
No.7186 is ignored. When this parameter is set to 0, the setting of parameter No.7186 is
used.
However, in case of reference point setting with mechanical stopper by Grid Method,
only this parameter is valid. If this parameter is set to 0, 100% of the rated torque is
assumed even if parameter No.7186 is set up.

Alarm and message

Number

Message

Description

PS0307

CAN NOT START REFERENCE
RETURN WITH MECHANICAL
STOPPER SETTING

An attempt was made to set a butt-type reference position for
an axis for which to use the function to set a reference
position without a dog.

SV0047

REFERENCE POINT SETTING
WITH MECHANICAL STOPPER IS
BROKEN OFF

Reference point setting with mechanical stopper is broken off.
Reference point setting again after reset.

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Warning

WARNING

When cycle operation of Reference point setting with mechanical stopper is
completed, Reference position return end signals ZPx <Fn094> turns to "1".
Before completing the cycle operation, namely, when the RESET is executed or
operation mode is changed to a mode other than REF mode in the state of ZPx
signal is "0", the cycle operation is broken off. In such a case, take the action
along the following procedure.

The situations that require interruption, it is assumed that the following
situations: When the cycle operation is started the axis is stopped or is not
moved while ZPx signal is "0" for the torque limit value is too low.

The countermeasure differs as follows in the case with and without an alarm
SV0047, "REFERENCE POINT SETTING WITH MECHANICAL STOPPER IS
BROKEN OFF" occurs during the interruption.

Without alarm SV0047

1 Enter state e

mergency stop.

2 In the case of axis that uses the absolute position detector (bit 5 (APC) of

parameter No.1815 is 1), bit 4 (APZ) of parameter No.1815 is set to 0.

3 If there is a factor in stopping axis, remove it. In addition, change the

parameters such as the torque limit value as needed.

4 Turn the power off, then on again.
5 Start over Reference point setting with mechanical stopper again from

beginning.

With alarm SV0047

1 If there is a factor in stopping axis, remove it. In addition, change the

parameters such as the torque limit value as needed.

2 Release alarm by reset operation.
3 Start over Reference point setting with mechanical stopper again from

beginning.

Note

NOTE

1 Multiple axes cannot be selected simultaneously.
2 This cycle is not executed if either of the following conditions is satisfied:

(A) Automatic operation signal OP <Fn000.7> is set to 1.
(B) The direction of reference position return (bit 5 (ZMIx) of parameter No. 1006)

does not agree with the sign of a reference position setting distance
(parameter No. 7181 or 7182).

3 During cycle operation, excess error and feed hold in the moving and stopped

states are not checked.

4 During withdrawal operation, the torque limit is effective, but the tool is not butted

when the limit is reached. The torque limit is released after the reference position
is established.

5 When the RESET signal is input during cycle operation, operation stops, but the

torque limit is not released.

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NOTE

6 This function cannot be used together with the grid shift function or reference

position shift function.

7 This function cannot be used for angular, synchronous, Cs, spindle positioning, or

index table indexing axis.

8 Acceleration/deceleration is applied for this function in the same way as for

manual reference position return.

9 When this function is used and the manual reference position return mode is

selected, feed axis and direction selection signals (such as +J1 and -J1) must be
disabled.

4.7

REFERENCE POINT SETTING WITH MECHANICAL
STOPPER BY GRID METHOD

Overview

A reference position return for an axis can be made by pushing the axis against the mechanical stopper
without using a limit switch or deceleration dog. As this reference position setting uses a grid method, its
precision is on the same level as for a manual reference position return. Unlike the deceleration dog,
however, the mechanical stopper cannot be shifted for reference position setting. It requires using also the
"reference position shift function" or "grid shift function."

Explanation

Setting and operation

Stopper

Grid

Position

Feedrate

F : Reference position return feedrate
FL : FL rate

Start point

Setting

(1) Set a mechanical stopper near the reference position.
(2

）

Specify the direction of a reference position return as toward the stopper (using bit 5 (ZMIx) of

parameter No. 1006).

）

Set parameter No.7187 with the motor torque limit override value when the axis is pushed against

the stopper.

）

Set parameter No.7184 with the feedrate (reference position return feedrate) at which the axis is

pushed against the stopper.

）

Set parameter No.1425 with the feedrate (reference position return FL rate) at which the axis moves

to the reference position from the stopper.

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Operation

(1) The machine is placed in the reference position return mode, and the feed axis direction select signal

is issued to feed the axis toward the stopper. At this time, torque limit override is put in effect.

(2) When the axis hits the stopper, it stops because of a torque limit. When it is detected that the axis has

stopped because of a torque limit, the axis starts moving back.

(3) When the axis stops at the first grid, its reference position return is completed. However, grids are

ignored if a parameter specifies so, until the amount of servo position deviation changes from
positive to negative or vice versa.

NOTE

An alarm (PS0090), "REFERENCE RETURN INCOMPLETE", is raised if an
attempt is made to perform reference point setting with mechanical stopper by
Grid Method without establishing electrical grids based on the one-rotation signal
from the position detector.

Reference position adjustment by grid shifting

The reference position can be shifted by as much as an amount of grid position shift specified in
parameter No.1850.
A maximum grid shift amount that can be specified is below a reference counter capacity specified in
parameter No.1821 (grid interval).

Reference position adjustment by reference position shifting

The reference position can be shifted by specifying an amount of reference position shift in parameter
No.1850.
This function is enabled by setting the bit 4 (SFDx) of parameter No. 1008 to 1.
The reference position can be shifted by specifying the reference position shift amount shown below in
parameter No.1850.
The distance L

DEC

the axis moved for a reference position return is automatically saved to parameter

No.1844.

Reference position return direction

Stopper

Grid point

DEC

: Distance the axis moves to get to the first grid point from the

stopper if the reference position shift amount is 0 (parameter
No.1844).

SFT

: Reference position shift amount (parameter No.1850)

DEC

Reference position

SFT

Procedure

(1) Set up the following parameters. Then, turn the power off.

Bit 4 (SFDx) of parameter No. 1008 is set to 1.

Parameter No.1844 is set to 0.

Parameter No.1850 is set to 0.

(2) Make a reference position return. The machine first hits the stopper and then stops at the first grid

point. The distance L

DEC

is automatically saved to parameter No.1844. Do not change the

automatically set value.

(3) Obtain the distance (reference position shift amount L

SFT

) from the stop position to the reference

position, and set it in parameter No.1850. Then, turn the power off.

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