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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 174

8. MULTI-PATH CONTROL

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(4) Program example

Path 1

Path 2

N1000 . . .

N2000 . . .

Independent machining of each path

N1010 Z80.0 ;

N2010 Z150.0 ;

Move the workpiece and the chuck to position

N1020 M200 P12 ; N2020 M200 P12 ;

Waiting

N2030 M61 ; Workpiece clamping and start of synchronization

N1040 M201 P12 ; N2040 M201 P12 ;

Waiting

N1050 M3 S800 ;

Forward spindle rotation

N1060 Z- 25.0 ;

Movement along the Z1 axis

N1070 . . .

Machining along the X1 and Z1 axes

N1080 M200 P12 ; N2080 M200 P12 ;

Waiting

N1090 M62 ; Cancellation of synchronization and unclamping of

workpiece

N1100 M201 P12;

N2100 M201 P12;

Waiting

N1110 . . .

N2110 . . .

Independent machining of each path

where
M61 is an M code that clamps the workpiece and sets signal SYNC2 <G1138.1> to 1, and
M62 is an M code that sets signal SYNC2 <G1138.1> to 0 and unclamps the workpiece.

NOTE

1 An operation to make the speeds of spindles S1 and S2 identical is required. To

do this, issue a spindle command of path 1 to both S1 and S2.

2 A waiting M code is an M code without buffering.

Examples of independent control and interpolation on the X1 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 (i)

(b) Interpolation on the X1 and Z2 axes

Machining is performed with
turret (X1) and spindle S2
(Z2).

Spindle

Ｓ

Turret 1

Turret 2

Spindle

Ｓ

Fig. 8.6.2 (j)

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8. MULTI-PATH CONTROL

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There are two ways to perform interpolation on the X1 and Z2 axes.
1.

Use the program of path 2 to issue a command to the X2 and Z2 axes to synchronize the X1 (slave)
axis to the X2 (master) axis and to park the X2 (master) axis. For path 1, do not issue a move
command.

Perform composite control to let the X1 and X2 axes interchange between paths. For path 1, do not
issue a move command.

The following explains the ways using synchronous control and composite control separately.

If using synchronous control

(1) Parameter settings

To synchronize the X1 (slave) axis to the X2 (master) axis, set parameter No. 8180x of path 1
to "201".

For both X1 (slave) and X2 (master) axes, no mirror image is required because the direction
away from the center of the workpiece is the plus direction of coordinates.

Do not perform synchronous error detection because the X2 (master) axis is parked.

During synchronization, the difference between the X2 (master) and X1 (slave) axes in
positional deviation is displayed as No. 3502 on the diagnosis data of path 1.

(2) Signal operation

To start synchronous control on the X2 (master) axis and the X1 (slave) axis, set signals
SYNC1 <G0138.0> and PK1 <G1122.0> to 1.

To cancel synchronization, set signals SYNC1 <G0138.0> and PK1 <G1122.0> to 0.

When an emergency stop, NC reset, or alarm occurs, set SYNC1 <G0138.0> and PK1
<G1122.0> to 0.

Set signals other than SYNC1 <G0138.0> and PK1 <G1122.0> to 0.

(3) Program example

Path 1

Path 2

N1000 . . .

N2000 . . .

Independent machining of each path

N1010 Z0 ;

N2010 Z20.0 ;

Move each workpiece to position

N1020 X120.0 ;

N2020 X120.0 ;

Move each X axis to the synchronization start
position (X1=X2)

N1030 M200 P12; N2030 M200 P12 ;

Waiting

N2040 M55 ;

Synchronize the X2 and X1 axes and start parking
on the X2 axis

N1050 M201 P12 ; N2050 M201 P12 ;

Waiting

N2060 T0212 ;

Set the offset for turret 1

N2070 S1000 M4 ;

Reverse spindle rotation

N2080 G0 X30.0 Z55.0 ;

N2090 G1 F0.2 W-15.0 ; Machining along the X1 and Z2 axes

N2100 . . .

N1110 M200 P12 ; N2110 M200 P12 ;

Waiting

N2120 M56 ;

Cancellation of synchronization and parking

N1130 M201 P12 ; N2130 M201 P12 ;

Waiting

N1140 . . .

N2140 . . .

Independent machining of each path

where
M55 is an M code to start the control of turret 1 with the program of path 2, and M56 is an M code
that cancel the control of turret 1 with the program of path 2.

NOTE

During synchronous control on the X axis, no move command can be issued
from path 1 to the X1 (slave) axis, but movement along the Z1 axis is possible.

8. MULTI-PATH CONTROL

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If using composite control

(1) Parameter settings

To perform composite control by letting the X1 and X2 axes interchange, set parameter No.
8183x of path 2 to "101".

Because the direction of the coordinates on the X1 axis is opposite from that of the coordinates
on the X2 axis, set bit 6 (MCDx) of parameter No. 8162 of path 2 to 1.

To automatically set the position of turret 1 in the workpiece coordinate system of path 2 at the
start of composite control, set bit 4 (MPMx) of parameter No. 8162 of path 2 to 1.

To automatically set the position of turret 1 in the workpiece coordinate system of path 1 at the
end of composite control, set bit 5 (MPSx) of parameter No. 8162 of path 1 to 1.

Assuming that the X coordinate of the reference position of turret 1 in the workpiece coordinate
system of path 2 is -150.0 mm as shown in the figure below, set parameter No. 8184x of path 2
to "-150000" to automatically set the coordinate system.

Reference position of
turret 1

150.0 mm

Fig. 8.6.2 (k)

(2) Signal operation

To start composite control on the X2 and X1 axes, set signal MIX1 <G1128.0> to 1.

To cancel composite control, set signal MIX1 <G1128.0> to 0.

When an emergency stop, NC reset, or alarm occurs, set MIX1 <G1128.0> to 0.

Set signals other than MIX1 <G1128.0> to 0.

(3) Program example

Path 1

Path 2

N1000 . . .

N2000 . . .

Independent machining of each path

N1010 Z0 ;

N2010 Z20.0 ;

Move each workpiece to position

N2020 X120. ;

Move along the X2 axis to a non-interference
position

N1030 M200 P12 ; N2030 M200 P12 ;

Waiting

N2040 M55 ;

Start composite control on the X2 and X1 axes
(perform automatic coordinate system setup)

N1050 M201 P12 ; N2050 M201 P12 ;

Waiting

N2060 T0212 ;

Set the offset for turret 1

N2070 S1000 M4 ;

N2080 G0 U10.0 W- 20.0 ; Machining along the X1 and Z2 axes

N2090 G1 F0.2 W- 15.0 ;

N2100 . . .

N1110 M200 P12 ; N2110 M200 P12 ;

Waiting

N2120 M56 ;

Cancel composite control (perform automatic
coordinate system setup)

N1120 M201 P12 ; N2120 M201 P12 ;

Waiting

N1130 . . .

N2130 . . .

Independent machining of each path

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8. MULTI-PATH CONTROL

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where
M55 is an M code to start the control of turret 1 with the program of path 2, and
M56 is an M code that cancel the control of turret 1 with the program of path 2.

NOTE

1 At the start and end of composite control, you do not necessarily perform

automatic setup of the coordinate system. If you do not perform automatic
setting, the program will set an appropriate one internally.

2 During composite control on the X axis, you can issue a move command for the

X axis in path 1 to move the tool along the X2 axis.

3 With the parameter settings above, turret 1 will be positioned on the minus side

of the X coordinates in the workpiece coordinate system of path 2. For this
reason, specify with the opposite sign as usual, such as U+10.0 and U-10.0 to
move turret 1 toward the center of the workpiece and move it away from it,
respectively.
If this is inconvenient, specify the following parameter settings:

Bit 6 (MCDx) of parameter No. 8162 = 0

Parameter No. 8184x

= 150000

These settings cause turret 1 to exist on the plus side of the X coordinates
virtually.

Actual position of turret 1

Spindle S2

Virtual position of turret 1

Bit 6 (MCDx) of parameter No. 8162 = 1
No. 8184x

= -150000

Bit 6 (MCDx) of parameter No. 8162 = 0
No. 8184x

= 150000

Fig. 8.6.2 (l)

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Examples of independent control and of interpolation on X1-Z2 and X2-Z1

(1) Machine configuration

(a) Independent control

Workpiece 1 and turret 1
are controlled with
program of path 1

Spindle S1

Spindle S2

Workpiece 2 and turret 2
are controlled with
program of path 2

Turret 1

Turret 2

Fig. 8.6.2 (m)

(b) X1-Z2 and X2-Z1 interpolation

Workpiece 2 and turret 1
are controlled with
program of path 2

Spindle S1

Spindle S2

Workpiece 1 and turret 2
are controlled with
program of path 2

Turret 2

Turret 1

Fig. 8.6.2 (n)

(2) Parameter settings

To perform composite control by letting the X1 and X2 axes interchange, set parameter No.
8183x of path 2 to "101".

Because the direction of the coordinates on the X1 axis is opposite from that of the coordinates
on the X2 axis, set bit 6 (MCDx) of parameter No. 8162 of path 2 to 1.

To automatically set the position of the remote turret in the workpiece coordinate system of
each path at the start of composite control, set bit 4 (MPMx) of parameter No. 8162 of each of
paths 1 and 2 to 1.

To automatically set the position of the local turret in the workpiece coordinate system of each
path at the end of composite control, set bit 5 (MPSx) of parameter No. 8162 of each of paths 1
and 2 to 1.

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Assuming that the relations between the workpiece coordinates of each path and the reference
position are as shown in the figure below, set parameter No. 8184x of path 1 to "200000" and
No. 8184x of path 2 to "180000".

Reference position
of turret 1

200.0mm

120.0mm

180.0mm

Reference
position of turret 2

Fig. 8.6.2 (o)

(3) Signal operation

To start composite control on the X2 and X1 axes, set signal MIX1 <G1128.0> to 1.

To cancel composite control, set signal MIX1 <G1128.0> to 0.

When an emergency stop, NC reset, or alarm occurs, set signal MIX1 <G1128.0> to 0.

Set signals other than signal MIX1 <G1128.0> to 0.

(4) Program example

Path 1

Path 2

N1000 . . .

N2000 . . .

Independent machining of each path

N1010 M200 P12 ;

N2010 M200 P12 ;

Waiting

N2020 M55 ;

Start composite control on the X1 and
X2 axes

N1030 M201 P12 ;

N2030 M201 P12 ;

Waiting

N1040 T0313 ;

N2040 T0212 ;

Selection of composite control tool and
setting of offset

N1050 G50 W120.0 ;

N2050 G50 W120.0 ;

Shifting of Z axis workpiece coordinate
system

N1060 S1000 M4 ;

N2060 S1500 M4 ;

N1070 G0 X20.0 Z15.0 ; N2070 G0 X15.0 Z30.0;

N1080 G1 F0.5 W- 8.0 ;

N2080 G1 F0.1 W-5.0 ;

Start of composite control

N1090 . . .

N2090 . . .

N1100 M200 P12 ;

N2100 M200 P12 ;

Waiting

N2110 M56 ;

End of composite control

N1120 M201 P12 ;

N2120 M201 P12 ;

Waiting

N1130 G50 W- 120.0 ;

N2130 G50 W-120.0 ;

Shifting of Z axis workpiece coordinate
system

N1140 . . .

N2140 . . .

Independent machining of each path

where

M55 is an M code to start composite control (set signal MIX1 <G1128.0> to 1), and
M56 is an M code to cancel composite control (set signal MIX1 <G1128.0> to 0).

8. MULTI-PATH CONTROL

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NOTE

At the start and end of composite control, you do not necessarily perform
automatic setup of the coordinate system. If you do not perform automatic
setting, the program will set an appropriate one internally.

Others

In the preceding explanation, a single synchronous control or composite control operation is
explained. In reality, however, you can select multiple synchronous control or composite control
operations and execute them at the same time: Set all necessary parameters in advance, and specify
which synchronous or composite control to perform, using appropriate signals. Make sure that a
single axis is not subject to multiple synchronous/composite control operations at the same time.

You can set only a single set of axes subject to synchronous or composite control. If you require
multiple sets, use the programmable parameter input function (G10) to change the parameter settings
in the program. Before changing parameters, make sure that the associated synchronous or
composite control has been canceled. If parameters are changed during Synchronous control or
Composite control, the changes will not take effect immediately. For the changes made to the
parameters to take effect, it is necessary to turn off synchronous or composite control mode and turn
it back on.

(Example)

Change parameter settings to synchronize the Z2 (slave) axis to the Y1 (master) axis.
(To set parameter No. 8180z of path 2 to "103", execute a program such as that shown below.)
N0200 . . .
N0210 G10 L50 ;

Start of parameter settings

N0220 N8180 P2 R103 ; Set parameter No. 8180z to "103".
N0230 G11 ;

End of parameter settings

N0240 . . .
Execute blocks G10 and G11 while the Y1 and Z2 axes are not subject to synchronous or
composite control.

Troubleshooting

Unable to start synchronous or composite control. (No alarm occurs.)
(1) The correct synchronous or composite control have not been set up.

→

To perform synchronous or composite control, you must set up the correct.

(2) The synchronous/composite control axis selection signals <Gn128> or <Gn138> is not changed

from 0 to 1.

→

Synchronous or composite control starts when the synchronous/composite control axis

selection signal <Gn128> or <Gn138> is changed from 0 to 1. After synchronous or
composite control ends due to a reset or alarm, merely canceling the reset or alarm cause
will not cause synchronous or composite control to restart. After canceling the reset or
alarm cause, you must make the signal rise again.

(3) The axis number of the axis subject to synchronous or composite control is not set in the

appropriate parameter.

→

To perform synchronous control, set the axis number of the master axis in parameter No.

8180. To perform composite control, set the axis number of the interchanging axis in
parameter No. 8183. If using a 2-path interface, use the parameter of path 2.

(4) Synchronous or composite control cannot be started if the NC unit is one of the following

states:
-

Emergency stop

Reset

Servo alarm

Alarm PW0000

Alarm related to synchronous or composite control

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Synchronous or composite control cannot be started, either, if the axis on which synchronous or
composite control is to start is either of the following states:
-

Servo off

Overtravel

An attempt to raise a synchronous or composite start signal results in an alarm.
(1) An attempt is made to use an axis already under synchronous or composite control for another

synchronous or composite signal operation. (Alarms PS0352 and PS0357)

→

You cannot use a single axis for a combination of multiple synchronous or composite

control operations. Note, however, that the synchronous master axis can be the master of
multiple synchronous slave axes at the same time. You can add additional slave axes while
synchronous control is in progress.

(2) The axis number set in a parameter is greater than the number of controllable axes. (Alarms

PS0350 and PS0355)

→

The number of the synchronous master axis and that of the interchanging axis subject to

composite control must not exceed the number of axes controllable in the remote path (or
the local path if you are to perform synchronous control in that path).

(3) The tool is moving along the axis that you want to control. (Alarms PS0351 and PS0356)

→

At the start of synchronous or composite control, the tool must be stopped on the axis

subject to that control. That the tool is stopped on an axis means that the speed specified
after acceleration/deceleration is zero.

(4) An axis on which you want to perform synchronous or composite control belongs to another

machine group. (Alarms PS0350 and PS0355)

→

The axes on which you want to perform synchronous or composite control must be of the

same machine group.

An attempt to cancel synchronous or composite control results in alarms PS0351 and PS0356.
(1) The tool is moving along the axis on which the control you want to cancel.

→

To cancel synchronous or composite control, the tool must be stopped on the axis on

which to cancel it. That the tool is stopped on an axis means that the speed specified after
acceleration/deceleration is zero. Before canceling, make sure that the movement in
progress signal Fn102 has changed to 0.

During synchronous control or composite control, an alarm occurs.
(1) A move command is issued for a synchronous slave axis. (Alarm PS0353)

→

No move command can be issued for a synchronous slave axis, whether it be automatic or

manual.

(2) A move command is issued for an axis under composite control for which bit 7 (MUMx) of

parameter No. 8162 is set to 1. (Alarm PS0353)

→

During composite control, no move command can be issued for an axis for which bit 7

(MUMx) of parameter No. 8162 is set to 1, whether it be automatic or manual.

(3) During synchronous control, an automatic reference position return command with G28 is

issued for a parking master axis. (Alarm PS0354)

→

In this case, a reference position return is performed on the slave axis, requiring that the

reference position of the slave axis be established.

(4) During composite control, an automatic reference position return command with G28 is issued.

(Alarm PS0359)

→

In this case, a reference position return is performed on the remote interchanging axis,

requiring that the reference position of the interchanging axis be established.

(5) During synchronous control, a 3-dimensional coordinate conversion is specified. (Alarm

PS0367)

→

For the synchronous master axis to be specified in 3-dimensional coordinate conversion

mode, set bit 2 (PKUx) of parameter No. 8162 to 1.

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