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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 198

10. SPINDLE SPEED FUNCTION

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Timing chart for switching to spindle positioning mode

M code command

Strobe signal

Spindle stop complete

signals SPSTPs

Spindle position control

Spindle positioning mode

signals MSPOS

Spindle enabled

Spindle unclamp signals

SUCLPs

Spindle unclamp completion

signals *SUCPFs

Spindle orientation

Reference position return completion signals

ZPx

Spindle clamp signals

SCLPs

Spindle clamp completion signals

*SCPFs

Auxiliary function completion signal

FIN

CAUTION

1 Switching between the spindle rotation mode and spindle positioning mode must

be performed on the machine side in response to M code commands issued
from the CNC.

When the spindle positioning mode is canceled, the spindle becomes ready for
accepting speed commands such as an S command. Therefore, a PMC ladder
program must be created so that spindle rotation is not performed when the
spindle is clamped on the machine side.
Example:

When the spindle is clamped on the machine side, spindle stop signal *SSTP
<G029.6> is set to 0.

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CAUTION

2 When the spindle is clamped on the machine side (by using a device such as a

clutch or shot pin), the spindle must be disabled. Enabling or disabling the
spindle means to separately instruct the spindle control unit to enable or disable
spindle motor operation by the PMC ladder and so on.

Example: When a serial spindle is enabled, SFRA <G070.5> is set to 1. When
the serial spindle is disabled, SFRA <G070.5> is set to 0.

Refer to the manual of the spindle control unit to be connected, and add
instructions to the ladder program.

Spindle positioning

In the spindle positioning mode, positioning is performed using one of the following two programmed
commands:
1)

Positioning at a semi-fixed angle by specifying an M code

Positioning at any angle by specifying an axis address

The operations performed by using the above two specification methods are the same, except that in
positioning at any angle, input/output signals related to auxiliary functions are not exchanged.
The M code used for positioning at a semi-fixed angle is set in parameters Nos. 4962 and 4964 in
advance.

When positioning at a semi-fixed angle is performed by specifying the M code, specification A or B can
be selected by setting bit 7 (IMB) of parameter No. 4950.

If specification B is selected, specifying an M code that specifies the spindle positioning angle performs
operations (1) to (3) below successively.
(1)  Canceling the spindle rotation mode and switching to the spindle positioning mode
(2)  Positioning the spindle in the spindle positioning mode
(3)  Canceling the spindle positioning mode and switching to the spindle rotation mode

If specification A is selected, only the spindle positioning operation is performed in the spindle
positioning mode.

[Specification A: Bit 7 (IMB) of parameter No. 4950 = 0 ]
<1>  Suppose that an M code is specified by a program. If an M code is specified in the spindle rotation

mode, the CNC issues alarm PS0224, "ZERO RETURN NOT FINISHED".

<2> Auxiliary function code signal M00 to M31 is sent, and the auxiliary function strobe signal MF is set

to 1 at the same time. This sending procedure is the same as for ordinary auxiliary functions.

<3> When strobe signal MF is set to 1, the PMC must read the code signal and perform corresponding

processing. After completing the corresponding processing, the PMC sets spindle stop complete
signal SPSTPs to 1 when the spindle is stopped.

<4> As soon as setting strobe signal MF to 1, the CNC checks whether spindle stop complete signal

SPSTPs is set to 1. When SPSTPs is set to 1, the CNC sets the spindle unclamp signal SUCLPs to 1.

<5> When spindle unclamp signal SUCLPs is set to 1, the PMC unclamps the spindle, and when

unclamping of the spindle is completed, the PMC sets spindle unclamp completion signal *SUCPFs
to 0.

<6> When spindle unclamp completion signal *SUCPFs is set to 0, the CNC sets spindle unclamp signal

SUCLPs to 0 to post that the CNC has received the *SUCPFs signal.

<7> When spindle unclamp signal SUCLPs is set to 0, the PMC must set spindle unclamp completion

signal *SUCPFs to 1. After setting the SUCLPs signal to 0, the CNC rotates the spindle, makes a
movement as specified, then stops the spindle.

<8> The CNC sets spindle clamp signal SCLPs to 1.
<9> When spindle clamp signal SCLPs is set to 1, the PMC clamps the spindle mechanically with a

device such as a clutch or shot pin as necessary. After completing the clamping operation, the PMC
sets spindle clamp completion signal *SCLPFs to 0.

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<10>When spindle clamp completion signal*SCLPs is set to 0, the CNC sets spindle clamp signal SCLPs

to 0 to post that the CNC has received *SCLPFs

<11>When spindle clamp signal SCLPs is set to 0, the PMC sets spindle clamp completion signal

*SCLPFs to 1.

<12>Finally, the PMC sets completion signal FIN to 1 for auxiliary function strobe signal MF. In

response to this, the CNC sets the MF signal to 0. Then, the PMC sets the FIN signal to 0.

Timing chart for spindle positioning (specification A)

M code command

Strobe signal

Spindle stop complete

signals SPSTPs

Spindle position

control

Spindle unclamp signals

MSPOS

Spindle enabled

Spindle unclamp completion

signals SUCLPs

Reference position return

completion signals *SUCPFs

Spindle positioning rotation

Spindle clamp signals

SCLPs

Spindle clamp completion

signals *SCPFs

Auxiliary function completion signal

FIN

[Specification B: Bit 7 (IMB) of parameter No. 4950 = 1 ]
<1> Suppose that an M code is specified in a program.
<2> Auxiliary function code signal M00 to M31 is sent, and the auxiliary function strobe signal MF is set

to 1 at the same time. This sending procedure is the same as for ordinary auxiliary functions.

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<3> When strobe signal MF is set to 1, the PMC must read the code signal and perform corresponding

processing. After completing the corresponding processing, the PMC sets spindle stop complete
signal SPSTPs to 1 when the spindle is stopped.

<4> As soon as setting strobe signal MF to 1, the CNC checks whether spindle stop complete signal

SPSTPs is set to 1. When the SPSTPs signal is set to 1, the CNC switches the spindle control mode
from the spindle rotation mode to spindle positioning mode, and sets spindle positioning mode
signal MSPOSs to 1.

<5> The CNC sets spindle unclamp signal SUCLPs to 1.
<6> When spindle unclamp signal SUCLPs is set to 1, the PMC unclamps the spindle, and when

unclamping of the spindle is completed, the PMC sets spindle unclamp completion signal *SUCPFs
to 0.

<7> When spindle unclamp completion signal *SUCPFs is set to 0, the CNC sets spindle unclamp signal

SUCLPs to 0 to post that the CNC has received the *SUCPFs signal.

<8> When spindle unclamp signal SUCLPs is set to 0, the PMC sets spindle unclamp completion signal

*SUCPFs to 1.

<9> After setting the SUCLPs signal to 0, the CNC rotates the spindle, makes a movement as specified,

then stops the spindle.

<10>The CNC sets spindle clamp signal SCLPs to 1.
<11>When spindle clamp signal SCLPs is set to 1, the PMC clamps the spindle mechanically with a

device such as a clutch or shot pin as necessary. After completing the clamping operation, the PMC
sets spindle clamp completion signal *SCLPFs to 0.

<12>When spindle clamp completion signal *SCLPs is set to 0, the CNC sets spindle clamp signal

SCLPs to 0 to post that the CNC has received *SCLPFs. The CNC sets the SCLPs signal to 0, and
switches the spindle control mode from the spindle positioning mode to spindle rotation mode at the
same time. The CNC sets spindle positioning mode signal MSPOSs to 0.

<13>When spindle clamp signal SCLPs is set to 0, the PMC sets spindle clamp completion signal

*SCLPFs to 1.

<14>Finally, the PMC sets completion signal FIN to 1 for auxiliary function strobe signal MF. In

response to this, the CNC sets the MF signal to 0. Then, the PMC sets the FIN signal to 0.

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Timing chart for spindle positioning (specification B)

M code command

Strobe signal

Spindle stop complete

signals SPSTPs

Spindle position control

Spindle positioning mode

signals MSPOS

Spindle enabled

Spindle unclamp signals

SUCLPs

Spindle unclamp completion

signals *SUCPFs

Spindle rotation

Spindle clamp signals

SCLPs

Spindle clamp

completion signals *SCPFs

Auxiliary function completion signal

FIN

Canceling spindle positioning

To cancel the spindle positioning mode and enter the spindle rotation mode again, use an M code for
canceling the spindle positioning mode.
Set the M code in parameter No. 4961 in advance.

<1> Suppose that an M code is specified in a program.
<2> Auxiliary function code signal M00 to M31 is sent, and the auxiliary function strobe signal MF is set

to 1 at the same time. This sending procedure is the same as for ordinary auxiliary functions.

<3> When strobe signal MF is set to 1, the PMC must read the code signal and perform corresponding

processing. After completing the corresponding processing, the PMC sets spindle stop complete
signal SPSTPs to 1 when the spindle is stopped.

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<4> As soon as setting strobe signal MF to 1, the CNC checks whether spindle stop complete signal

SPSTPs is set to 1. When the SPSTPs signal is set to 1, the CNC sets spindle unclamp signal
SUCLPs to 1.

<5> When spindle unclamp signal SUCLPs is set to 1, the PMC unclamps the spindle, and when

unclamping of the spindle is completed, the PMC sets spindle unclamp completion signal *SUCPFs
to 0.

<6> When spindle unclamp completion signal *SUCPFs is set to 0, the CNC sets spindle unclamp signal

SUCLPs to 0 to post that the CNC has received the *SUCPFs signal. As soon as setting the SUCLPs
signal to 0, the CNC switches the spindle control mode from the spindle positioning mode to spindle
rotation mode. The CNC sets spindle positioning mode signal MSPOSs to 0.

<7> When spindle unclamp signal SUCLPs is set to 0, the PMC sets spindle unclamp completion signal

*SUCPFs to 1.

<8> Finally, the PMC sets completion signal FIN to 1 for auxiliary function strobe signal MF. In

response to this, the CNC sets the MF signal to 0. Then, the PMC sets the FIN signal to 0.

Timing chart for canceling spindle positioning mode

M code command

Strobe signal

signals MF

Spindle stop complete

signals

SPSTPs

Spindle position

control

Spindle positioning

mode signals MSPOS

Spindle unclamp signals

SUCLPs

Spindle unclamp completion

signals *SUCPFs

Auxiliary function

completion signal FIN

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Parameter

Major related parameters are described below.

1005

ZRNx

[Input type] Parameter input

[Data type] Bit axis

#0 ZRNx

If a move command other than G28 is specified by automatic operation when no

reference position return is performed yet after the power is turned on:
0:

The alarm PS0224, "ZERO RETURN NOT FINISHED" is issued.

Operation is performed without issuing an alarm.

NOTE

1 The state in which a reference position has not been established

refers to the following state:

- When an absolute position detector is not used and reference

position return has not been performed even once after power-up

- When an absolute position detector is used and the association of

the machine position with the position detected with the absolute
position detector has not been completed (See the description of
bit 4 (APZx) of parameter No. 1815.)

2 When the Cs axis coordinates are to be set up, set ZRN to 0.

1006

ZMIx

DIAx

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.

#0 ROTx

Setting linear or rotation axis.

#1 ROSx

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.

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ROSx

ROTx

Meaning

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)

#3 DIAx

The move command for each axis is based on:

Radius specification

Diameter specification

#5 ZMIx

The direction of manual reference position return is:

+ direction

- direction

1013

ISCx

ISAx

[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.

#0 ISAx

#1 ISCx

Increment system of each axis

Increment system

Bit 1 (ISC)

Bit 0 (ISA)

IS-A

IS-B

IS-C

IS-B is specified for the spindle positioning axis.Therefore, set ISA to ISE to 0.

1022

Setting of each axis in the basic coordinate system

[Input type] Parameter input

[Data type] Byte axis

[Valid data range] 0 to 7

To determine a plane for circular interpolation, cutter compensation, and so forth (G17:
Xp-Yp plane, G18: Zp-Xp plane, G19: Yp-Zp plane), specify which of the basic three
axes (X, Y, and Z) is used for each control axis, or a parallel axis of which basic axis is
used for each control axis.
A basic axis (X, Y, or Z) can be specified only for one control axis.
Two or more control axes can be set as parallel axes for the same basic axis.

Setting

Meaning

Rotary axis (Neither the basic three axes nor a parallel axis )

X axis of the basic three axes

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