FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 175

8. MULTI-PATH CONTROL

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During synchronous control, servo alarm SV0407 occurs.
(1) The difference between the synchronous master and slave axes in positional deviation is too

large.

→

When the difference between synchronous master and slave axes in positional deviation

exceeds the parameter (No.8181) while checking the synchronous error, alarm (SV0407)
occurs. In general, this alarm occurs if the difference between the synchronous master and
slave axes in acceleration/deceleration time constant or servo parameter is large. It can
also occur if the actual movement of the machine is not correct (is not correctly
synchronized) due to some cause or other.

During synchronous control, the machine position deviates.
(1) The synchronous master and slave axes in acceleration/deceleration time constant or servo

parameter (such as loop gain) differs.

→

In this synchronous control, acceleration/deceleration control and servo control are

performed in the master and slave independently of each other. (That is, move commands
are synchronized.) For this reason, if the master and slave differ in acceleration/
deceleration time constant and servo characteristics, the actual movement of the machine
may not fully match.

The travel distance is not correct during synchronous or composite control.
(1) The master and slave axes differ in diameter/radius specification or inch/millimeter setting.

→

In synchronous or composite control, diameter/radius conversion or inch/millimeter

conversion is not performed between master and slave. The master and slave must match
in least command increment.

After a switch to synchronous or composite control, the tool does not move to the specified
coordinates.
(1) After a switch to synchronous or composite control, a move command is issued without waiting

(with an M code without buffering).

→

If, during automatic operation, you want to start or cancel synchronous or composite

control with automatic coordinate system setting, be sure to perform waiting (with an M
code without buffering) before and after that.

Synchronous or composite control is canceled although the synchronous/composite control axis
selection signal <Gn128> or <Gn138> is not changed from 1 to 0.

→

In synchronous or composite control, synchronous or composite control will be automatically

canceled if at least either of the paths enters one of the following states:
-

Emergency stop

Reset

Servo alarm

Alarm PW0000

Alarm related to synchronous or composite control

In addition, if at least one of the axes on which synchronous or composite control is in progress
enters either of the following states:
-

Servo off

Overtravel

10. Alarm DS1933 occurs.

→

In synchronous or composite control, alarm DS1933 occurs if at least one path enters one of the

following states:
-

Emergency stop

Servo off

Servo alarm

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After canceling the emergency stop, after canceling servo off, or after restoring from the servo
alarm, first perform a reference position return or coordinate system setting and then start
synchronous or composite control.

8.6.3

Hypothetical Cs Axis Control

Overview

This function allows you to add a hypothetical Cs axis to a path to which no serial spindle is actually
connected.
Usually, performing composite control on Cs axes in multi-path control requires that both of the axes to
be interchanged between paths be Cs axes. Using this function, however, enables composite control in
which a hypothetical Cs axis and a Cs axis to which a serial spindle is actually connected interchange
with each other. This makes it possible to move the serial spindle with Cs contour control that is
connected to another path with a command to move from a path to which a serial spindle is not connected
to a hypothetical Cs axis.

Explanation

By setting bit 7 (CDMx) of parameter No. 1014 to 1 and setting a Cs axis in parameter No. 1023, you can
add the hypothetical Cs axis to a path to which a serial spindle is not actually connected.

In multi-path control, this enables composite control in which a hypothetical Cs axis and an actual Cs axis
connected to another path interchange with each other.

For the hypothetical Cs axis, you need not set up a Cs contour control mode switching signal.

NOTE

1 An attempt to turn ON the Cs contour control mode switching signal for a

hypothetical Cs axis results in alarm SP0752.

2 If a program issues a move command for a hypothetical Cs axis for which

composite control is OFF or for a hypothetical Cs axis and a Cs axis under
composite control, alarm PS0197 will occur.

Example of control in which a hypothetical Cs axis and composite control are combined

1)

Control in which a Cs contour control axis (a single serial spindle) is used in two paths

[Machining pattern]
Usually, machining is performed in path 1, using X1-Z1-C1.
By performing composite control on C1-C2, you can operate C1 (Cs axis) with a C2 command in path 2,
thereby enabling machining using X2-Z2-C1.

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Tool post 2

Composite control

Tool post 1

Hypothetical
Cs axis

Fig. 8.6.3 (a)

Axis configuration

Path 1

Path 2

X1 (servo axis)

X2 (servo axis)

Z1 (servo axis)

Z2 (servo axis)

C1 (Cs-axis)

C2 (

hypothetical Cs axis

)

Parameter setting

Parameter No. 1023

(servo axis number)

Bit 7 of parameter No. 1014

(Hypothetical Cs axis setting)

1st axis

Path 1, axis 1, X1

2nd axis

Path 1, axis 2, Z1

3rd axis

Path 1, axis 3, C1

-1

4th axis

Path 2, axis 1, X2

5th axis

Path 2, axis 2, Z2

6th axis

Path 2, axis 3, C2

-2

Parameter No. 3717 (spindle motor number)

1st spindle

Path 1, spindle 1

2nd spindle

Path 2, spindle 1

Control in which Cs contour control axes (two serial spindle) are used in two paths

[Machining pattern]
Usually, machining is performed in path 1, using X1-Z1-C1, and in path 2, using X2-Z2-C2.
By performing composite control on B1-C2, you can operate C2 (Cs axis) with a B1 command in path 1,
thereby enabling machining using X1-Z1-C2.
By performing composite control on C1-B2, you can operate C1 (Cs axis) with a B2 command in path 2,
thereby enabling machining using X2-Z2-C1.

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Composite
control

Hypothetical
Cs axis

Tool post 2

Composite
control

Tool post 1

Hypothetical
Cs axis

Fig. 8.6.3 (b)

Axis configuration

Path 1

Path 2

X1 (servo axis)

X2 (servo axis)

Z1 (servo axis)

Z2 (servo axis)

C1 (Cs-axis)

C2 (Cs-axis)

B1 (hypothetical Cs axis)

B2 (hypothetical Cs axis)

Configuration in which by using a hypothetical Cs axis, the addresses of commands for the Cs axis in the
remote path are set separately from those of commands for the Cs axis in the local path.

Parameter

1014

CDMx

[Input type] Parameter input

[Data type] Bit axis

NOTE

When this parameter is set, the power must be turned off before
operation is continued.

#7 CDMx

The Cs contour control axis is:

Not a virtual Cs axis

Virtual Cs axis

1023

Number of the servo axis for each axis

NOTE

When this parameter is set, the power must be turned off before
operation is continued.

[Input type] Parameter input

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[Data type] Byte axis

[Valid data range] 0 to 80

This parameter associates each control axis with a specific servo axis. Specify values
1+8n, 2+8n, 3+8n, 4+8n, 5+8n, and 6+8n (n = 0, 1, 2, …, 9) like 1, 2, 3, 4, 5, …, 77, and
78.
The control axis number is the order number that is used for setting the axis-type
parameters or axis-type machine signals
With an axis for which Cs contour control/spindle positioning is to be performed, set
-(spindle number) as the servo axis number.
Example)

When exercising Cs contour control on the fourth controlled axis by using the first
spindle, set -1.

3717

Spindle amplifier number to each spindle

NOTE

When this parameter is set, the power must be turned off before
operation is continued.

[Input type] Parameter input

[Data type] Byte spindle

[Valid data range] 0 to Maximum number of controlled axes

Set a spindle amplifier number to be assigned to each spindle.
0:

No spindle amplifier is connected.

Spindle motor connected to amplifier number 1 is used.

Spindle motor connected to amplifier number 2 is used.

to
n:

Spindle motor connected to amplifier number n is used.

Alarm and message

Number

Message

Description

PS0197

C-AXIS COMMANDED IN
SPINDLE MODE

The program specified a movement along the Cs-axis when the Cs
contour control switching signal was off.

SP0752

SPINDLE MODE CHANGE
ERROR

This alarm is generated if the system does not properly terminate a
mode change. The modes include the Cs contour control, spindle
positioning, rigid tapping, and spindle control modes. The alarm is
activated if the spindle control unit does not respond correctly to
the mode change command issued by the NC.

Caution

CAUTION

1 Set the necessary parameters such as feedrate for the hypothetical Cs axis as

well. You need not set serial spindle parameters (such as Nos. 4000 to 4799).

2 For Cs contour control, see the explanation of each function.

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Note

NOTE

This function requires the following functions.
-  Serial spindle
-  Cs contour control (bit 2 (SCS) of parameter No.8133 is set to 1)
-  Synchronous/composite control

In the number of controlled axes specification and the number of controlled
spindles specification, you must include the hypothetical Cs axis. (The maximum
number of controllable axes and the maximum number of controllable spindles in
the system or in each path must not be exceeded.)

8.7

SUPERIMPOSED CONTROL

Overview

The superimposed control function adds the amount of movement of an axis (superimposed control
master axis) in one path to an axis (superimposed control slave axis) on the other path for which ordinary
move commands are being executed. This function is similar to synchronous control but differs from it in
that move commands can be issued not only for the master axis but also for the slave axis. The slave axis
moves by the sum of the amount of movement specified by its own move commands and the amount of
movement specified by move commands for the master axis. Appropriate setting of bit 3 (OMRx) of
parameter No. 8162 can reverse the direction in which the master and slave axes move.

Independent control of each path

Turret 1

Turret 2

Workpiece 2

Workpiece 1

Machining is performed
by a path 1 program.

Machining is performed
by a path 2 program.

Fig. 8.7 (a)

This function enables superimposed control between paths and in a single path, as described below.

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Superimposed control

The move command for any axis is superimposed on an axis of another path.
(Example)

Superimpose the movement along the Z1 (master) axis on the Z2 (slave) axis.

Workpiece

Turret 1

Machining is performed by a path 1
program.

Turret 2

Machining is performed by a path 2 program.

Fig. 8.7 (b)

Explanation

Setting

Specify which axis is to be the master axis to be under superimposed control, with parameter No. 8186,
using the path number and the axis number.
Example)

For an axis configuration in which all paths consist of X, Z, and Y axes

To superimpose the movement of the Z1-axis (master) to that of the Z2-axis (slave) :
Parameter No. 8186z of path 2 = 102

To superimpose the movement of the X3-axis (master) to that of the Z4-axis (slave) :
Parameter No. 8186z of path 4 = 301

To superimpose the movement of the X1-axis (master) to that of the Y1-axis (slave) :
Parameter No. 8186y of path 1 = 101

Programming

Both before and after the M codes for a start and a cancellation of superimposed control, specify a waiting
M code.
Master axis path

Slave axis path

M100P12;

Waiting

M220;

Start of superimposed control

M101P12;

Waiting

Independent operation

M100P12;

Waiting

M221;

Cancellation of superimposed control

M101P12;

Waiting

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Signal operation

When superimposed control begins or ends (when an M code is issued), the superimposed control axis
selection signals OVLS1 to OVLS8 <Gn190> for the target slave axis (from the PMC to the CNC) are
changed from "0" to "1" (to begin superimposed control) or from "1" to "0" (to terminate superimposed
control).

Examples of applications

Suppose that a workpiece on the spindle (Z1-axis) that moves along the axis is to be cut with a tool
in path 1 and a tool in path 2 simultaneously. This example superimposes the amount of movement
of the Z1-axis (master) on that of the Z2-axis (slave).

Workpiece

Turret 1

Machining is performed by a path 1
program.

Machining is performed by a path 2 program.

Fig. 8.7 (c)

Feedrate

Because the amount of movement of the master axis is added to that of the slave axis, the resulting
speed of the slave axis may become much larger than a normal speed.

Differences between superimposed control and ordinary synchronous control

Neither out-of-synchronization compensation nor detection is performed between the master and
slave axes during superimposed control.

A parking signal is ineffective for axes under superimposed control.

A reference position return cannot be specified for the salve axis under superimposed control.

Signal

Superimposed control axis selection signals OVLS1 to OVLS8 <Gn190>

[Classification] Input signal

[Function] These signals perform superimposed control.

[Operation] When one of these signals becomes "1", the control unit:

Begins superimposed control over the corresponding axis.
The master axis is selected according to parameter No. 8186.

Synchronous/composite/superimposed control under way signals SYN1O to

SYN8O <Fn118>

[Classification] Output signal

[Function] These signals indicate each axis is being subjected to synchronous, composite, or

superimposed control.

[Output cond.] These signals become "1" under the following condition:

The corresponding axis is under synchronous, composite, or superimposed control.

These signals become "0" under the following condition:

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