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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 104

4. REFERENCE POSITION ESTABLISHMENT

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

3-dimensional coordinate conversion

Mirror image (mirror image by signal or setting)

NOTE

If all the above conditions are not satisfied, reference position establishment
operation is not performed, and the same operation as normal jog feed is
performed.

Operation

The reference position establishment procedure is explained below.
<1> A movement on the specified axis starts at the FL feedrate of reference position return (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 established establishment signal
(ZRF1, ZRF2, ZRF3, etc.) is set to "1".

<4>  The tool is fed in the direction selected by the feed axis direction selection signal at the jog feedrate.

When the feed axis and direction selection signal is set to "0"  during steps <2> to <4>, feed operation
stops. When the feed axis direction selection signal  is set to "1"  again, the reference position is
established. A time chart for the above procedure is shown below.

Reference mark

ZRFn

Feedrate

FL feedrate

Time

JOG feedrate

JOG

+Jn(-Jn)

Fig. 4.10.2 (a) Time chart for reference position establishment (jog feed)

Interruption by the feed axis and direction selection signal

If the feed axis and direction selection signal +Jn (-Jn) is set to "0" during reference position
establishment, the reference position establishment operation is interrupted. In this case, data on the
reference marks detected through the previous movement is not used for the next reference establishment
operation. When the feed axis and direction selection signal +Jn (-Jn) is set to "1" again, the reference
position establishment operation is resumed, and the reference position is established after two, three, or
four reference marks are detected.

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Interruption by reset or emergency stop

When a reset or emergency stop is applied during reference position establishment operation, axis
movement stops, and the reference position establishment operation is interrupted. In this case, data on
the reference marks detected through the previous movement is not used for the next reference
establishment operation. When the feed axis and direction selection signal +Jn (-Jn) is set to "1" again, the
reference position is established after two, three, or four reference marks are detected.

Caution

PMC axis control

The reference position establishment operation is not performed in rapid traverse (axis control command
00h) or continuous feed (axis control command 06h) under PMC axis control.

Rapid traverse operation other than G00

In a rapid traverse operation automatically generated by a command such as canned cycle, no reference
position establishment operation is carried out.

Reference position establishment operation

This function has the same specifications as the conventional function of the distance coded linear scale
interface, with regard to the operation to detect a reference mark and establish a reference position. The
parameter setting, limitation, and the like are also the same.
For details, refer to " Linear scale with distance-coded reference marks (serial)."

Parameter

1802

DC2x

DC4x

[Input type] Parameter input

[Data type] Bit axis

#1 DC4x

When the reference position is established on the linear scale with reference marks:

An absolute position is established by detecting three reference marks.

An absolute position is established by detecting four reference marks.

#2 DC2x

Reference position establishment operation for a linear scale with reference marks is

performed as follows:
0:

The setting of bit 1 (DC4) of parameter No. 1802 is followed.

An absolute position is established by detecting two reference marks.

NOTE

1 When this parameter is set to 1, specify the direction of the scale

zero point by setting bit 4 (SCP) of parameter No. 1817.

2 When a rotary encoder with absolute address reference marks is

used, this parameter is invalid. Even when this parameter is set to
1, the setting of bit 1 (DC4) of parameter No. 1802 is followed.

1815

DCLx

OPTx

[Input type] Parameter input

[Data type] Bit axis

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NOTE

When at least one of these parameters is set, the power must be
turned off before operation is continued.

#1 OPTx

The separate position detector is:

Not to be used (semi-closed system)

To be used (full-closed system)

NOTE

Set 1 when this function is used.

#2 DCLx

As a separate position detector, a linear scale with reference marks or a linear scale with

an absolute address zero point is:
0:

Not used.

Used.

NOTE

Set 1 when this function is used.

1818

DG0

[Input type]

Parameter input

[Data type]

Bit axis

#2 DG0

When the linear scale function with absolute address reference marks is used, reference

position establishment operation based on the G00 command and jog feed is:
0:

Disabled.

Enabled.

4.11

REFERENCE POSITION SIGNAL OUTPUT FUNCTION

Overview

If, after the establishment of the reference position on each axis, the coordinates in the machine
coordinate system match the reference position, this function outputs a signal as the DO signal <Fn517>
of the PMC.
Also, if the coordinates in the machine coordinate system match the second reference position, the
function outputs a signal as the DO signal <Fn518> of the PMC.

Signal

Reference position match signals RP11 to RP18<Fn517>

[Classification] Output signal

[Function] Reports that the coordinates in the machine coordinate system match the reference

position.
There is an independent one for each axis, with the last digit indicating the number of the
corresponding controlled axis.
RP1x
x : 1

The machine coordinates on the first axis match the reference position.

2 The machine coordinates on the second axis match the reference position.

The machine coordinates on the third axis match the reference position.

: :
: :

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[Output cond.] This signal becomes "1" only when, after the establishment of the reference position on

each axis, the coordinates in the machine coordinate system match the reference position.

NOTE

This signal does not take the delay due to acceleration/deceleration
into consideration.
No in-position check is performed.

Second reference position match signals RP21 to RP28<Fn518>

[Classification] Output signal

[Function] Reports that the coordinates in the machine coordinate system match the second reference

position.
There is an independent one for each axis, with the last digit indicating the number of the
corresponding controlled axis.
RP2x
x : 1

The machine coordinates on the first axis match the second reference position.

2 The machine coordinates on the second axis match the second reference
position.

The machine coordinates on the third axis match the second reference position.

: :
: :

[Output cond.] This signal becomes "1" only when, after the establishment of the reference position on

each axis, the coordinates in the machine coordinate system match the second reference
position.

NOTE

This signal does not take the delay due to acceleration/deceleration
into consideration.
No in-position check is performed.

Signal address

Fn517

RP18

RP17

RP16

RP15

RP14

RP13

RP12

RP11

Fn518

RP28

RP27

RP26

RP25

RP24

RP23

RP22

RP21

Parameter

1205

R2O

R1O

[Input type] Parameter input

[Data type] Bit path

#4 R1O

The output of the signal for the reference position is:

Disabled.

Enabled.

#5 R2O

The output of the signal for the second reference position is:

Disabled.

Enabled.

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NOTE

1 For an axis subject to angular axis control, a signal is output in the angular

coordinate system.

2 For the third/fourth reference positions and floating reference positions, no

signals are output.

4.12

CORRESPONDENCE OF ROTARY SCALE WITHOUT
ROTARY DATA

Overview

This manual describes how to deal with an absolute position detector (absolute pulse coder) or a scale
with distance-coded reference marks (serial), when the rotary scale without rotary data is used, such as
Heidenhain rotary scale RCN723 or Futaba rotary scale FRR902L3DB.
And it is required to set some servo parameters in order to use Heidenhain rotary scale RCN223, 723 and
220. In the case of using such a scale, please set servo parameters with referring to Subsection 4.14.5
“Method of using Heidenhain rotary scale RCN223, 723 and 220”.

WARNING

Please set the parameters that correspond to the absolute position detector

which is actually used. If the parameter is not set correctly, the machine
coordinates are not correctly established at power-on.

4.12.1

Setting Method by Rotary Axis Type and Movable Range

Rotary axis type

Movable range

Parameters required setting

Reference item

Rotary axis B type

Under one rotation

No.1817#3

No.1868

Subsec. 4.14.2

Rotary axis B type

Over one rotation

No.1815#0

Subsec. 4.14.3

Rotary axis A type

No.1815#6

Subsec. 4.14.4

See the following description for the rotary axial type.

Parameter

1006

ROSx

ROTx

[Input type] Parameter input

[Data type] Bit axis

NOTE

When at least one of these parameters is set, the power must be
turned off before operation is continued.

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#0 ROTx

#1 ROSx

Setting linear or rotary axis.

ROSx ROTx

Meaning

Linear axis
(1) Inch/metric conversion is done.
(2) All coordinate values are linear axis type. (Is not rounded in 0 to 360

)

(3) Stored pitch error compensation is linear axis type (Refer to parameter No.

3624)

Rotary axis (A type)
(1) Inch/metric conversion is not done.
(2) Machine coordinate values are rounded in 0 to 360

. Absolute coordinate

values are rounded or not rounded by bits 0 (ROAx) and 2 (RRLx) of
parameter No. 1008.

(3) Stored pitch error compensation is the rotation type. (Refer to parameter No.

3624)

(4) Automatic reference position return (G28, G30) is done in the reference

position return direction and the move amount does not exceed one rotation.

Rotary axis (B type)
(1) Inch/metric conversion is not done.
(2) Machine coordinate values, absolute coordinate values and relative

coordinate values are linear axis type. (Is not rounded in 0 to 360

(3) Stored pitch error compensation is linear axis type (Refer to parameter No.

3624)

(4) Cannot be used with the rotary axis roll-over function and the index table

indexing function (M series)

Except for the

above.

Setting is invalid (unused)

4.12.2

In the Case of a Rotary Axis B Type whose Movable Range is
under One Rotation

In the case of a rotary axis B type whose movable range is under one rotation with an absolute position
detector (absolute pulse coder) or a scale with distance-coded reference marks (serial), there is an
uncontinuous point of scale data which is under one rotation, if a rotary scale without data (the number of
rotation) is used. Then, if the scale data within the movable range of the rotary axis is continuous, it is
possible to acquire the correct machine coordinate value of NC. On the other hand, if an uncontinuous
point of scale data is in movable range, the machine coordinate value of NC is different from correct
position.
In this function, by the bit 3 (SCRx) of parameter No.1817 and parameter No.1868, the machine
coordinate value of NC become correct even if an uncontinuous point of scale data is in movable range.
Therefore, it is possible to set a rotary axis B type even if there is no rotation speed data on the rotary
scale on the rotary axis whose movable range is under one rotation

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Example 1

180

-180

Actual machine

coordinate value

Scale data

359999

135000

-135

-45

Movable range of rotary axis

180000

90000

Machine position of NC

-45.000

45.000

Fig. 4.12.2 (a) The case that the scale data is continuous in movable range of rotary axis

In the case of Fig. 4.12.2 (a), the scale data is continuous from 90000 to 18000.
Because the machine coordinate value of NC is shown by the following equation, (scale data when the
power is turned on) - (scale data on the machine coordinate value equals 0), the machine coordinate value
of NC becomes correct ones from -45.000 to 45.000.

Example 2

180

-180

Actual machine

coordinate value

Scale data

359999

320000

-45

275000

5000

Movable range of rotary axis

Machine position of NC

-45.000

39.999

-320.000

-315.000

Fig. 4.12.2 (b) The case that the scale data is uncontinuous in movable range of rotary axis.

In the case of Fig. 4.12.2 (b), the scale data of movable range is uncontinuous, 275000 to 359999 and 0 to
5000, because the uncontinuous point whose machine coordinate value 40.000 exists.

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Because the machine coordinate value of NC is shown by the following equation, (scale data when the
power is turned on) - (scale data on the machine coordinate value equals 0),
NC shows two position ranges. One is correct ones from -45.000 to 0.000 to 39.999. And another is
wrong ones from -320.000 to -315.000, which is different from correct position by 360 degree.

Example 3

-40000

-85000

250000

Scale data of threshold position

-45.000

45.000

Range where scale data is converted

(present scale

‐

360000)

Movable range of rotary axis

Scale data

Actual mathine

coordinate value

Machine position of NC

5000

-45

Threshold position

290

( -70

)

Fig. 4.12.2 (c) The case that parameter No.1817#3 is set to 1 and No.1868 (the threshold position)

is set to 290.0.

In the case of Fig. 4.12.2 (b), if the bit 3 (SCRx) of parameter No. 1817 is set to 1 and No.1868 (threshold
position) is set to 290.0, the scale data of the threshold position (parameter No.1868) or more (250000 to
359999) is converted to the data which is subtracted by the amount of one rotation (360000 in this case),
as shown in Fig. 4.12.2 (c). Therefore, the scale data is continuous as -85000 to 5000 in movable range of
the rotary axis. The machine coordinate value of NC can become correct value as -45.000 to 45.000
because the scale data is continuous in movable range of the rotary axis like Example 1.
The parameter No.1868 (the threshold position) is required to be set the position out of movable range
and positive value. (0.0 to 360.0: Set to 290.0 instead of –70.0, in this case.)

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