FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 173

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1. In case of bit 2 (NCA) of parameter No.11284 is set to 0 (Conventional specification)

The forbidden area is composed from the axes actually controlled according to the exchanging of Z
axes on Composite control, as shown in Fig. 8.6.2 (e).

Composite control of
Z1 and Z2 axes

Forbidden area
is composed from
Z1 and X1 axes

Forbidden area
is composed from
Z2 and X2 axes

Forbidden area
is composed from
Z2 and X1 axes

Forbidden area
is composed from
Z1 and X2 axes

Fig. 8.6.2 (e) Composite control and the inside forbidden area (Existing specification)

2. In case of bit 2 (NCA) of parameter No.11284 is set to 1 (Compatible specification with
FS0

-TTC)

The forbidden area is kept even if Composite control is executed, as shown in Fig. 8.6.2 (f).

Composite control of
Z1 and Z2 axes

Forbidden area
is composed from
Z1 and X1 axes

Forbidden area
is composed from
Z2 and X2 axes

Forbidden area
is composed from
Z1 and X1 axes

Fig. 8.6.2 (f) Composite control and the inside forbidden area (Compatible specification with FS0

-TTC’s)

Diagnosis data

The diagnosis data displays synchronous errors.

3502

Display of synchronous error for each axis

[Unit of data] Detection unit

[Meaning] Displays the difference between the master and slave axes in position deviation if

synchronous deviation detection is performed (bit 1 (SERx) of parameter No. 8162 =1).
The positional deviation difference is:
(positional deviation of the master axis)

(positional deviation of the slave axis)

+ if a mirror image is applied to the synchronization command.
- if no mirror image is applied to the synchronization command.

Alarm and message

If any of the following alarms occurs, synchronous or composite control will be canceled for all axes.

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P/S alarm

Number

Message

Description

PS0350

PARAMETER OF THE INDEX OF
THE SYNCHRONOUS CONTROL
AXIS SET ERROR.

An illegal synchronization control axis number (parameter No.
8180) is set.

PS0351

BECAUSE THE AXIS IS MOVING,
THE SYNC CONTROL IS CAN'T BE
USED.

While the axis being subject to synchronization control was
moving, an attempt was made to start or cancel the
synchronization control by a synchronization control axis
selection signal.

PS0352

SYNCHRONOUS CONTROL AXIS
COMPOSITION ERROR.

This error occurred when:
1) An attempt was made to perform synchronization control

for the axis during a synchronization, composition, or
superposition.

2) An attempt was made to synchronize a further

great-grandchild for a parent-child-grandchild relation.

3) An attempt was made to operate synchronization control

although a parent-child-grandchild relation was not set.

PS0353

THE INSTRUCTION WAS DONE
FOR THE AXIS WHICH WAS NOT
ABLE TO MOVE.

This error occurred when:
- For synchronization

1) A move command was issued to the axis for which bit 7

(NUMx) of parameter No. 8163 is set to 1.

2) A move command was issued to the slave axis.

- For composition

1) A move command was issued to the axis for which bit 7

(NUMx) of parameter No. 8163 is set to 1.

2) A move command was issued to the axis for which bit 7

(MUMx) of parameter No. 8162 is set to 1.

PS0354

THE G28 WAS INSTRUCTED IN
WITH THE REF POS NOT FIXED IN
SYNC MODE

This error occurred when G28 was specified to the master
axis being parking during synchronization control, but an axis
reference position is not set for the slave axis.

PS0355

PARAMETER OF THE INDEX OF
THE COMPOSITE CONTROL AXIS
SET ERROR.

An illegal composite control axis number (parameter No.
8183) is specified.

PS0356

BECAUSE THE AXIS IS MOVING,
THE COMP CONTROL IS CAN'T BE
USED.

While the axis being subject to composite control was moving,
an attempt was made to start or cancel the composite control
by a composite control axis selection signal.

PS0357

COMPOSITE CONTROL AXIS
COMPOSITION ERROR.

This error occurred when an attempt was made to perform
composite control for the axis during a synchronization,
composition, or superposition.

PS0359

THE G28 WAS INSTRUCTED IN
WITH THE REF POS NOT FIXED IN
COMP MODE

This error occurred when G28 was specified to the composite
axis during composite control, but a reference position is not
set to the other part of the composition.

PS0367

3-D CONV. WAS COMMANDED IN
SYNC MODE AS THE PARAMETER
PKUx(NO.8162#2) IS 0.

A 3-dimensional coordinate conversion was commanded
during synchronization control when the bit 2 (PKUx) of
parameter No. 8162 was 0.

D/S alarm

Number

Message

Description

DS1933

NEED REF
RETURN(SYNC:MIX:OVL)

The relation between a machine coordinate of an axis in
synchronization, composition, or superposition control, and
the absolute, or relative coordinate was displaced.
Perform the manual return to the reference position.

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Servo alarm

Number

Message

Description

SV0407

EXCESS ERROR

The difference value of the amount of positional deviation for
the synchronization axis exceeded the setting value. (during
synchronization control only)

Caution

Items common to synchronous control and composite control

CAUTION

1 At the start or end of synchronous or composite control, the tool must be

stopped on the axis subject to that control.

2 Before or after an M code for starting or canceling synchronous or composite

control during automatic operation, be sure to specify a waiting M code (M code
without buffering). When exercising synchronous or composite control in a path,
be sure to prohibit look-ahead operation by specifying an M code without
buffering before or after an M code for starting or canceling synchronous or
composite control.

3 The axes under synchronous or composite control must match in least command

increment, Detection unit, and diameter/radius specification. Otherwise, the
amounts of travel will not be equal.

4 In synchronous or composite control, do not change the parameters related to it

(including axis control, increment system, feedrate, and
acceleration/deceleration control).

5 Before starting synchronous or composite control, make sure that the axes

subject to it has undergone a reference position return after the power was
turned on or that a reference position has been established with an absolute
pulse coder.

6 If an emergency stop or servo off is performed or if a servo alarm occurs, the

coordinates will change due to synchronous or composite control. If this occurs
alarm DS1933, “NEED REF RETURN (SYNC:MIX:OVL)" will be generated. After
canceling the emergency stop, canceling servo off, or restoring from the servo
alarm, perform a reference position return and coordinate system setting first,
then start synchronous or composite control.

7 Acceleration/deceleration control, pitch error compensation, backlash

compensation, and stored stroke check are performed independently, regardless
of synchronous or composite control.

8 The following servo software functions cannot be used with synchronous or

composite control:
- Abnormal load detection and switching function for each of cutting and rapid

traverse

- Fine acceleration/deceleration and switching function for each of cutting and

rapid traverse

9 The following functions cannot be used in synchronous or composite control:

-  Electronic gear box
-  Spindle positioning
-  Manual numeric command

10 During synchronous or composite control, reference position establishment

based on "linear scale with absolute address reference mark" or "linear scale
with absolute address zero point" is impossible.

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NOTE

1 This function is an option function.
2 You can place more than one axis under synchronous or composite control at

the same time. You cannot, however, synchronize an axis to multiple axes at the
same time, synchronize the interchanging axis under composite control to
another axis, or duplicate an interchange.

3 Synchronous or composite control cannot be performed on a linear axis and a

rotation axis.

Items related to synchronous control only

CAUTION

1 In synchronous control, you cannot issue a move command for the synchronous

axis on the synchronous slave.

2 The axes under synchronous control must match in acceleration/deceleration

time constant and servo parameters, insofar as possible. If their settings greatly
differ, the actual machine movement will deviate.

3 Even if you perform operations that do not move the machine but change the

workpiece coordinate system only, such as workpiece coordinate system
setting/shifting and geometric offset commands, on the synchronous master, this
will not be reflected in the workpiece coordinate system on the slave.

4 If you perform workpiece coordinate system setting/wear offset commands, tool

nose radius compensation, or cutter compensation on the synchronous master,
the travel path on the synchronous slave will shift by the offset, but the offset will
not be set as an offset amount. (No offset vector will be created.)

5 The synchronous or composite control and axis synchronous control can be

specified at the same time. In this case, the master axis subject to axis
synchronous control can be set as the master axis subject to synchronous
control. The master axis subject to axis synchronous control cannot be used as
the slave axis subject to synchronous control, and the slave axis subject to axis
synchronous control cannot be used as the master or slave axis subject to
synchronous control.

6 If you want to perform a tool retract and recover operation for axes in the

synchronous control mode, perform the operation for the master axis. In the
same way as in ordinary synchronous control, the master and slave axes move
together.

Items related to composite control only

CAUTION

1 If you want to place a tapping axis under composite control, place it under

composite control first, and then issue a rigid tapping command. In rigid tapping
mode, you must not switch the composite control axis selection signal; be sure to
do this in the rigid tapping canceled state.

2 If you place a tapping axis under composite control, rigid tapping will be

performed using the time constant, loop gain, in-position width, and the
positional deviation limits during stoppage/travel of the interchanging axis in
composite control.

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CAUTION

3 In composite control, the loop gain may be switched depending on the switching

of the Cs contour control switching signal and of the composite control axis
selection signal. For this reason, switch the signals in the state in which the tool
has stopped on the related axis. If you change the loop gain while the tool is
moving along an axis, shock may result.

4 The synchronous or composite control and axis synchronous controlcan be

specified at the same time. An axis used for movement under composite control
can be selected as the master axis for axis synchronous control, but cannot be
specified as a slave axis for axis synchronous control.

5 If you want to perform a tool retract and recovery operation for axes in the

composite control mode, perform the operation for the composite control source
axis. In the same way as in ordinary composite control, the composite control
destination axis moves.

Limitation

Limitations on synchronous control and composite control

Function

In synchronous control

In composite control

Acceleration/deceleration control

The synchronous slave axis is subject to
acceleration/deceleration of the same
type as the synchronous master axis.
As the time constants, those specific to
the axes are used.

The acceleration/deceleration type of
the specified path is used. As the time
constants, those specific to the axes
are used (3).

Look-ahead
acceleration/deceleration before
interpolation

The synchronous slave axis is subject to
the same acceleration/deceleration as
the synchronous master axis.

The acceleration/deceleration settings
of the specified path are used.

Cutting feedrate clamp

Clamping is performed on the
synchronous master.

Clamping is performed on the
specified path (4).

Reference position return

Possible on the synchronous master
axis if the axis is not in parking. Only
automatic reference position return
(G28) is possible if the synchronous
master axis is in parking.

Possible on axes not related to
composite control. Only automatic
reference position return (G28) is
possible on an axis under composite
control.

2nd, 3rd, 4th reference position
return

Same as above.

Reference position return check

Same as above.

PMC axis control

Possible on axes other than the
synchronous slave axis. (If a slave axis
is specified as a PMC control axis,
alarm PS0130 is issued.)

Possible.

Polar coordinate interpolation (T
series), Cylindrical interpolation

Possible.

Possible. (In polar coordinate
interpolation (T series) or cylindrical
interpolation mode, composite control
cannot be turned ON/OFF.)

Handle interruption

See bit 5 (SMI) of parameter No. 8163.

Possible with bit 6 (MMI) of parameter
No. 8163

Mirror image

See bit 5 (SMI) of parameter No. 8163.

Signals in the specified path are
effective (4).

Machine lock

Signals in the individual paths are
effective (1).

Signals in the specified path are
effective (4).

Inter lock

Signals on the synchronous master side
are valid for the synchronous slave
axis.(2)

Signals in the specified path are
effective (4).

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Function

In synchronous control

In composite control

Override

Signals on the synchronous master side
are valid for the synchronous slave
axis.(2)

Signals in the specified path are
effective (4).

External deceleration

Signals on the synchronous master side
are valid for the synchronous slave
axis.(2)

Signals in the specified path are
effective (4).

Skip function

Not possible on the synchronous slave
axis.

Possible on axes not related to
composite control.

Automatic tool offset

Not possible on the synchronous slave
axis.

Possible on axes not related to
composite control.

Follow-up

Not possible during synchronization.

Not possible during composite
control.

Program restart

Not possible with a program containing
synchronous control.

Not possible with a program
containing composite control.

Cs contour control

Synchronous control possible (5).

Composite control possible (5).

Spindle positioning

Synchronous control does not possible

Composite control does not possible

EGB function

Synchronous control does not possible

Composite control does not possible

Servo off

Synchronous control does not possible

Possible unless the interchanging
axis in composite control is in the
servo off state.

(1)  Processed after synchronous pulses are transferred to the slave.
(2)  Processed on the master, then transfers synchronous pulses.
(3)  Transfers composite control pulses and the acceleration/ deceleration type. As the time constant,

uses that on the slave.

(4) Processed on the master, then transfers composite control pulses.
(5) Limited to combinations of Cs axes.

Reading of coordinates in synchronous or composite control

In synchronous or composite control, the reading of custom macro system variable positional information
or of current coordinates from the PMC window is as follows:

Positional information type

In synchronous control

In composite control

Absolute coordinate

Reading possible.

Machine coordinate

Reading possible.

End point of each block

Reading possible on the master only.

Reading possible.

Skip signal position

Reading possible on the master only.

Reading not possible.

Canceling synchronous or composite control

Synchronous or composite control is canceled in the event of the following, as well as when the
synchronous/composite control axis selection signal becomes 0.
(1)  Emergency stop
(2)  Reset
(3)  Servo alarm
(4)  Servo off *1
(5)  Overtravel *2
(6)  Alarm related to synchronous or composite control
(7)  Alarm PW0000
If one of the above events occurs in either path, all paths will be released from synchronous or composite
control. If one of the above events occurs in either path in synchronous or composite control, the other
path will automatically be placed in feedhold state (during automatic  operation) or in interlock state
(during manual operation).
*1:  By setting bit 0 (NMR) of parameter No. 8161 to 1, you can prohibit the composite control axis from

release from the synchronous or composite control state even if the axis enters the servo off state.

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By setting bit 7 (NSR) of parameter No. 8161 to 1, you can prohibit the synchronous control axis
from release from the synchronous or composite control even if the axis enters the servo off state.

*2: By setting bit 5 (NCS) of parameter No. 8160 to 1, you can prohibit the synchronous or composite

control axis from release from the synchronous or composite control state even if the axis enters the
overtravel state.

Axis state output signals in synchronous or composite control

State output signal

In synchronous control

In composite control

Axis moving signals
MVn <Fn102>

- During movement along the master or

slave axis, the master axis signal goes
1.

- The slave axis signal is always 0 (1).

- On the axis on which a move

command is executed, the signal
goes 1. The signal on the axis
along which the tool is actually
moving does not turn to 1 (1).

Axis moving direction signals
MVDn <Fn106>

- On the master axis, the moving

direction of the master axis.

- On the slave axis, moving direction

after mirror image processing.

- Actual moving direction on the axis

(moving direction after mirror image
processing in composite control).

In-position signals
INPn <Fn104>

- The master axis signal goes 1 when

both the master and slave axes are in
the in-position state.

- The slave axis signal is always 1.

- The signal in the specified path

reflects the state of the moving axis
with that specification.

Reference position establishment
signal
ZRFn <Fn120>

- The signal on the axis for which the

reference position has been
established turns to 1.

- The signal on the axis for which the

reference position has been
established turns to 1.

Reference position return
completion signal
ZPn <Fn094>

- After completion of reference position

return of the master axis, the signal on
the master axis turns to 1.

- The slave axis is synchronized with

movement of the master axis, but is
not subjected to reference position
return. The signal turns to 0.

- When the master axis is parking, the

slave axis is subjected to reference
position return. The signal on the
slave axis turns to 1.

- The signal on the axis along which

the tool is actually moving turns to
1.

(1) In a positional deviation check, regardless of the states of these signals, parameter No. 1828 is used

if move command pulses are sent to the motor (regardless of whether the axis is the master or slave)
as the limit, and parameter No. 1829 if none are sent.

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Examples of Use

Examples of independent control and of synchronous control on the Z1 and
Z2 axes

(1) Machine configuration

(a) Independent control

Separate machining operations
are performed in path 1 (X1-Z1)
and in path 2 (X2-Z2)

Spindle S1

Turret 1

Turret 2

Spindle S2

Fig. 8.6.2 (g)

(b) Z1-Z2 axis synchronous control

A single workpiece is held on both sides, and
the spindle is moved with Z1 commands.

Spindle S1

Turret 1

Turret 2

Spindle S2

Fig. 8.6.2 (h)

(2) Parameter settings

•

To synchronize the Z2 (slave) axis with the Z1 (master) axis, set parameter No. 8180z of path 2
to "102".

•

Because the plus directions of the Z1 (master) and Z2 (slave) axes are opposite, perform
synchronization with a mirror image applied. To that end, set bit 0 (SMRz) of parameter No.
8162 of path 2 to 1.

•

Because the movements along the Z1 (master) and Z2 (slave) axes must be equal, perform
synchronous error detection. Set bit 1 (SERz) of parameter No. 8162 of path 2 to 1. Set the
synchronous error limit in parameter No. 8181z of path 2, in the range of 100 to 1000. (The
setting differs with each machine.)

•

During synchronization, the difference between the Z1 (master) axis and the Z2 (slave) axis in
positional deviation is displayed as No. 3502 on the diagnosis data of path 2.

(3) Signal operation

•

To start synchronous movement along the Z1 (master) axis and the Z2 (slave) axis, set signal
SYNC2 <G1138.1> to 1.

•

To cancel synchronization, set signal SYNC2 <G1138.1> to 0.

•

When an emergency stop, NC reset, or alarm occurs, set signal SYNC2 <G1138.1> to 0.

•

Set signals other than signal SYNC2 <G1138.1> to 0.

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