FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 103

4. REFERENCE POSITION ESTABLISHMENT

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The automatic setting procedure is as follows:
<1> Set an appropriate value in parameters Nos. 1815, 1821, and 1882.

(In case of the linear scale with distance-coded reference marks (serial), it is not
necessary to set the parameter No.1882.)

<2> Position the machine at the reference position by manual operation.
<3> Set this parameter to 1.

Alarm PS5220, “REFERENCE POINT ADJUSTMENT MODE”, occurs.

<4> Perform a manual reference position return operation. Upon completion of manual

reference position return operation, parameters Nos. 1883 and 1884 are set, and this
parameter is automatically set to 0.
Make a reset to release alarm PS5220.

1883

Distance 1 from the base point to reference position

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] -999999999 to 999999999

1884

Distance 2 from the base point to reference position

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] -999 to 999

Set the distance from the base point to the reference position in parameter Nos. 1883 and
1884. The base point is a point at a scale end as shown Fig. 4.9 (a).

Mark 1

Mark 2

Mark 1

Mark 2

Mark 1

Mark 2

Reference position

10.020

9.980

10.040

9.960

10.060

9.940

Base point

20.000

20.020

Fig. 4.9 (a)

If the reference position is located in the positive direction when viewed from the base
point, set a positive value; if the reference position is located in the negative direction, set
a negative value. Set the value by following the steps explained below.

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<1> Set bit 1 (OPT) of parameter No. 1815 , bit 2 (DCL) of parameter No. 1815, and bit

3 (SDC) of parameter No. 1818 to enable this function.
Set 0 in parameter No. 1240.
Set 0 in parameter Nos. 1883 and 1884.

<2> At an appropriate position, establish a reference position.

(Consequently, the machine coordinate value indicates the distance from the base
point to current position.)

<3> By jog feed or handle feed, place the machine at the accurate reference position.
<4> In parameters Nos. 1883 and 1884, set the machine coordinate of that time converted

to the detection unit (machine coordinate

CMR).

If necessary, set parameter No. 1240.

NOTE

1 Set parameter Nos. 1883 and 1884 so that the distance from the

base point to the reference position is within the range from
-999,999,999,999 to +999,999,999,999. If a value beyond this
range is set, an alarm DS0016, "SERIAL DCL:FOLLOW-UP
ERROR", is issued.

2 The scale area on the scale cannot be extended across the base

point. Make parameter settings not to cause the scale area to
extend beyond the base point.

14010

Maximum allowable travel distance when the reference position is established for a linear scale with an

absolute address reference position

[Input type] Parameter input

[Data type] 2-word axis

[Unit of data] Detection unit

[Valid data range] 0 to 99999999

This parameter sets the maximum allowable travel distance at the FL rate when the
reference position is established for a linear scale with an absolute address reference
position. When the travel distance exceeds the setting of this parameter, the alarm
DS0017, “SERIAL DCL:REF-POS ESTABLISH ERR” is issued. When this parameter is
set to 0, the maximum allowable travel distance is not checked.

NOTE

1 To establish the reference position with axis synchronous control,

set the parameter for both master and slave axes.

2 In angular axis control, the setting of this parameter is invalid to the

orthogonal axis where the reference position on the angular axis is
being established.

Alarm and message

No.

Message

Description

PS0372

REFERENCE RETURN
INCOMPLETE

An attempt was made to perform an automatic return to the
reference position on the orthogonal axis before the completion of a
return to the reference position on the angular axis.
However, this attempt failed because a manual return to the
reference position during angular axis control or an automatic return
to the reference position after power-up was not commanded. First,
return to the reference position on the angular axis, then return to
the reference position on the orthogonal axis.

4. REFERENCE POSITION ESTABLISHMENT

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No.

Message

Description

PS0376

SERIAL DCL: ILLEGAL
PARAMETER

1. When bit 1 (OPTx) of parameter No. 1815 is set to 1, bit 3

(PFSE) of parameter No. 2002 is set to 0

2. The absolute-position detection function is enabled. (Bit 5

(APCx) of parameter No. 1815 is set to 1.)

PS5220

REFERENCE POINT
ADJUSTMENT MODE

In case of distance coded linear scale I/F, the reference point auto
setting bit 2 (DATx) of parameter No. 1819 is set to 1. Move the
machine to reference position by manual operation and execute
manual reference return.

DS0016

SERIAL DCL:FOLLOW-UP
ERROR

1. The specification of parameter No. 1883 or 1884 is out of range.
2. During the establishment of an origin, the distance between the

current position and the reference position (detection unit)
exceeded

2147483647. To avoid this situation, modify either

the current position or the reference position.

DS0017

SERIAL DCL:REF-POS
ESTABLISH ERR

During the establishment of an origin, the amount of travel at the FL
feedrate exceeded the setting of parameter No. 14010.

DS0018

SERIAL DCL:MISMATCH
(SSYNC CTRL)

Master/slave axes of axis synchronous control, one of them is the
linear scale with distance-coded reference marks (serial) and the
other of them is not the linear scale with distance-coded reference
marks (serial). Please establish reference position with the input
signal SYNCn<G138>, SYNCJn<G140> or bit 5 (SCA) of parameter
No. 8304 setting to 0.

DS0019

SERIAL
DCL:MISMATCH(ANGL-AXIS)

On angular axis control, one of the angular/perpendicular axes is the
scale with ref-pos, and the other of them is not the scale with
ref-pos. Such system is not admired.

DS0020

REFERENCE RETURN
INCOMPLETE

SV0366

PULSE MISS(INT)

A pulse error occurred on the built-in Pulsecoder.

SV0367

COUNT MISS(INT)

A count error occurred on the built-in Pulsecoder.

SV0382

COUNT MISS(EXT)

A count error occurred on the separate detector.

SV0383

PULSE MISS(EXT)

A pulse error occurred on the separate detector.

Caution

CAUTION

1 When the Linear scale with distance-coded reference marks (serial) is used, set

bit 3 (SDCx) of parameter No. 1818 of the corresponding axis to 1.

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CAUTION

2 On the Linear scale with distance-coded reference marks (serial), the axis does

not stop until three reference marks are detected. If this procedure is started at
the position near the scale end, CNC can not detect three reference marks and
the axis does not stop until over travel alarm occurs. Please care to start at the
position that has enough distance from scale end.

And if establishment of reference position is failed, the establishment is retried.
Then axis does not stop until still more three reference marks are detected. So
set the maximum move amount (detection unit: parameter No.14010) not to
reach the scale end.

Scale end

Reference marks

Start point (Bad)

Start point (Good)

3 On flexible synchronization mode, reference position can't be established.
4 In case that straightness compensation function is used, the movement is

explained below.

When the reference position establishment of moving axis is executed after the
establishment of compensation axis after power on, the compensation axis is
moved by straightness compensation amount when the reference point of
moving axis is established.

5 It is not available to use this function and the temporary absolute coordinate

setting together.

6 This function cannot be used together with synchronous control, composite

control, and superimposed control.

7 When the axis used this function, the following function can not be used.

- Absolute position detection

4.10

EXTENDED FUNCTION OF THE DISTANCE CODED
LINEAR SCALE INTERFACE

Overview

The distance coded linear scale interface has reference marks at intervals that change at a constant rate.
By determining the reference mark interval, the corresponding absolute position can be deduced. When a
G00 command or a move command in jog feed is specified for an axis for which the distance coded linear
scale interface is used, this function establishes the reference position by measuring the reference mark
intervals automatically. Therefore, after CNC power-up, the reference position can be established without
performing reference position return operation.

Reference
mark 1

Reference
mark 2

Reference
mark 1

Reference
mark 2

Reference
mark 1

10.02

10.04

20.02

20.00

10.06

Fig. 4.10 (a) Sample distance coded linear scale interface

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To use this function, the distance coded linear scale interface is also required.

4.10.1

Reference Position Established by the G00 Command

Explanation

Activation conditions

When the following conditions are satisfied, reference position establishment operation is performed
automatically:
<1> A G00 command is specified to cause a movement along an axis for which no reference position has

been established.

<2> The movement direction in <1> above matches the reference position return direction set by bit 5

(ZMI) of parameter No. 1006.

<3> The specified axis is not in the following modes:

•

3-dimensional coordinate conversion

•

Coordinate system rotation

•

Mirror image (mirror image by signal or setting)

•

Programmable mirror image

•

Scaling (M series)

•

AI contour control mode

•

Mirror image of facing tool posts

NOTE

If all the above conditions are not satisfied, the reference position establishment
operation is not performed, and normal G00 command operation is performed.

Operation

The reference position establishment procedure is explained below.

<1> The tool is fed along a specified axis at the reference position return FL feedrate (parameter No.

1425).

<2> Upon detection of a reference mark on the scale, the tool is stopped briefly then fed at the reference

position return FL feedrate.

<3> Step <2> above is repeated until two, three, or four reference marks are detected on the scale. Then,

the reference position is established, and the reference position establishment signal (ZRF1, ZRF2,
ZRF3, etc.) is set to "1".

<4> The tool is fed to a specified end point at a rapid traverse rate.

A time chart for the above procedure is shown below.

G00 command

Reference mark

ZRFn

Feedrate

FL
feedrate

Time

Rapid
traverse rate

Fig. 4.10.1 (a) Time chart for reference position establishment (G00)

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The specifications for the steps of detecting reference marks and establishing the reference position (steps
<1> to <3> above) are the same as for the conventional distance coded linear scale interface. The
restrictions are also the same.
For details, refer to " Linear scale with distance-coded reference marks (serial)."

Tool path

The tool path in the G00 command is explained below.
(1) When no axis requires the reference position establishment When the reference position has already

been established for all specified axes, the reference position establishment operation is not
performed.

For example, suppose that the reference position is already established for the X-, Y-, and Z-axes,
and that G00 Xxx Yyy Zzz; is specified. Then, normal rapid traverse operation takes place. The tool
path follows the setting in bit 1 (LRP) of parameter No. 1401.

(2) When all axes require the reference position establishment operation

Suppose that the reference position is not established for the X-, Y-, and Z-axes and that G00 Xxx
Yyy Zzz; is specified. The operation in this case is shown in the Fig. 4.10.1 (b).

Operation 1 in the figure establishes the reference position. During the establishment operation, the
tool path is always of the non-linear interpolation type regardless of the setting in bit 1 (LRP) of
parameter No. 1401.

Operation 2 performs positioning to a specified end point. During this operation, the tool path
follows the setting in bit 1 (LRP) of parameter No. 1401.

After operation 1 is completed for all axes, operation 2 starts.

FL feedrate

Rapid
traverse
rate

X-axis

Y-axis

Time

Z-axis

←

Operation 1

→

←

Operation 2

→

Fig. 4.10.1 (b) When the reference position is established for all axes

(3) When some axes require the reference position establishment operation and others do not require the

establishment operation

For example, suppose that the reference position is already established for the X-axis and that the
reference position is not yet established for the Y- and Z-axes. Also suppose that G00 Xxx Yyy Zzz;
is specified. The operation in this case is shown in the Fig. 4.10.1 (c).

In operation 1 in the figure, movement to a specified position is made along the X-axis for which the
reference position is already established. For the Y- and Z-axes for which no reference position is
established, the reference position is established. During the establishment operation, the tool path is
always of the non-linear interpolation type regardless of the setting in bit 1 (LRP) of parameter No.
1401.

In operation 2, positioning to a specified end point is performed along the Y- and Z-axes. The tool
path along the Y- and Z-axes then follows the setting in bit 1 (LRP) of parameter No. 1401. Because
positioning to the specified position is already made along the X-axis, no movement is made along
the X-axis.

After operation 1 is completed for all axes, operation 2 starts.

4. REFERENCE POSITION ESTABLISHMENT

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No movement

FL feedrate

Rapid
traverse rate

X-axis

Y-axis

Time

Z-axis

←

Operation 1

→

←

Operation 2

→

Fig. 4.10.1 (c) When an axis does not require the reference position establishment operation and others

require the establishment operation

Absolute command and incremental command

After the reference position has been established, positioning to a specified end point is performed. This
operation is explained below.
(1) When an absolute command is specified

Movement to the end point in the new coordinate system that has been established in step <3> is
made. For example, when G90 G00 Xxx.Yyy.; is specified, the tool moves as indicated with the
bold line in the Fig. 4.10.1 (d). Note that, however, the figure shows the positional relationship
among points and that the intermediate tool path is not always of the linear interpolation type.

Specified end point (xx,yy)

Position at which the reference
position is established

Machine coordinate system before the reference position is
established (inaccurate coordinate system)

Workpiece origin offset

Workpiece coordinate system before the reference position is
established (inaccurate coordinate system)

(New) machine coordinate system (accurate coordinate
system) after the reference position is established

Workpiece origin offset

(New) workpiece coordinate system (accurate coordinate
system) after the reference position is established

Actual end point ((xx,yy) in the coordinate system after the reference position is established)

Difference between the machine coordinate system at power-on and the machine
coordinate system after the reference position is established (

)

Start point

Fig. 4.10.1 (d) Operation when an absolute command is specified

(2) When an incremental command is specified

Movement is made along each axis by a specified distance. (The movement is indicated with the
bold line in the Fig. 4.10.1 (e). Note that the intermediate tool path is not always of the linear
interpolation type.) The coordinates at the end point are those in a newly established coordinate
system. When there is a difference (

) between the newly established coordinate system and the

old coordinate system, the coordinates at the end point are shifted by (

). For example, when G91

G00 X100.0Y30.0; is specified from the position of which absolute coordinates are (0,0), the
distance of movement along each axis is (100,30), and the coordinates of the end point are (100-

30-

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Difference between the machine coordinate system at power-on and the machine
coordinate system after the reference position is established (

)

Machine coordinate system before the reference position is
established (inaccurate coordinate system)

Workpiece origin offset

Workpiece coordinate system before the reference position is
established (inaccurate coordinate system)

New machine coordinate system (accurate coordinate system)

Workpiece origin offset

New workpiece coordinate system (accurate coordinate system)

(100,30) in the new coordinate system

Specified end point (100,30)

＝

Actual end point 100-

,30-

)

Position at which the reference
position is established

Start point

Fig. 4.10.1 (e) Operation when an incremental command is specified

When a short distance is specified

When a short distance is specified, the end point can be reached before two, three, or four reference marks
are passed. Even in such a case, the CNC makes a movement at the FL feedrate while detecting reference
marks, but the CNC does not establish the reference position even when the end point is reached.
If the reference position is not established, the next G00 command causes the reference position
establishment operation again. The CNC does not use data on the reference marks detected through the
previous movement and detects three or four reference marks again to establish the reference position.

Interruption by feed hold

When a feed hold has been applied during reference position establishment operation, the reference
position establishment operation is not performed after execution is restarted. After the restart, non-linear
interpolation type positioning is performed. In this block, the reference position is not established, so
reference position establishment operation is performed again when the next G00 command is specified.

Interruption by reset or emergency stop

When a reset or emergency stop is applied during reference position establishment operation, the
reference position establishment operation is interrupted. Since the reference position is not established,
reference position establishment operation is performed again when the next G00 command is specified.

When an illegal reference mark interval is detected

If a correct reference mark interval cannot be detected for a cause, the tool is positioned to the end point
without establishing the reference position. Therefore, the machine position, absolute coordinates, and
machine coordinates of the end point are set as if a G00 command without reference position
establishment operation were executed. However, the intermediate tool path is different from the tool path
obtained by executing the G00 command.
Since the reference position is not established, reference position establishment operation is performed
again when the next G00 command is specified.
Even when the CNC detects an illegal reference mark interval, it does not issue the alarm DS1449
"REFERENCE MARK ARE DIFFERENT FROM PARAMETER".

4.10.2

Reference Position Establishment by Jog Feed

Explanation

Activation condition

If the following conditions are satisfied, reference position establishment operation is performed
automatically:
<1> For an axis for which no reference position has been established, feed axis and direction selection

signal +Jn or -Jn <G100, G102> is input in jog mode.

<2> The move direction in <1> above matches the reference position return direction set by bit 5 (ZMI)

of parameter No. 1006.

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