FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 200

10. SPINDLE SPEED FUNCTION

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•

In the case of specification B:

When M codes for specifying a spindle positioning angle are specified, operations
(1) to (3) are performed successively. (See parameter No. 4962.) (However, spindle
orientation operation of (1) is not performed.)

4960

M code specifying the spindle orientation

[Input type] Parameter input

[Data type] 2-word spindle

[Valid data range] 6 to 97

Set an M code for switching to the spindle positioning mode.

NOTE

1 Do not set an M code that duplicates other M codes used for

spindle positioning.

2 Do not set an M code used with other functions (such as M00-05,

30, 98, and 99, and M codes for calling subprograms).

4961

M code releasing the spindle positioning mode

[Input type] Parameter input

[Data type] 2-word spindle

[Valid data range] 6 to 97

Set an M code for canceling the spindle positioning mode on the spindle positioning axis.

NOTE

1 Do not set an M code that duplicates other M codes used for

spindle positioning.

2 Do not set an M code used with other functions (such as M00-05,

30, 98, and 99, and M codes for calling subprograms).

4962

M code for specifying a spindle positioning angle

[Input type] Parameter input

[Data type] 2-word spindle

[Valid data range] 6 to 9999999

Two methods are available for specifying spindle positioning. One method uses axis
address for arbitrary-angle positioning. The other use an M code for half-fixed angle
positioning. This parameter sets an M code for the latter method.
In this parameter, set an M code to be used for half-fixed angle positioning based on M
codes.
Six M code from M

to M(

+5) are used for half-fixed angle positioning, when

is the

value of this parameter.
-

When the number of M codes is set in parameter No. 4964, let

be the value set in

parameter No. 4962, and let

be the value set in parameter No. 4964. Then,

codes from M

to M(

-1) are used as M codes for half-fixed angle positioning

based on M codes.

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The table below indicates the relationship between the M codes and positioning angles.

M code

Positioning angle

Example: Positioning

angle when

= 30

+1)

+2)

+3)

120

+4)

150

+5)

180

-1)

β×θ

β×

represents the number of M codes set in parameter No. 4964.

(When parameter No. 4964 is set to 0,

= 6.)

represents the basic angular displacement set in parameter No. 4963.

NOTE

1 Do not set an M code that duplicates other M codes used for

spindle positioning.

2 Do not set an M code used with other functions (such as M00-05,

30, 98, and 99, and M codes for calling subprograms).

4963

Basic angle for half-fixed angle positioning

[Input type] Parameter input

[Data type] Real spindle

[Unit of data] deg

[Min. unit of data] Depend on the increment system of the applied axis
[Valid data range] 0 to 60

This parameter sets a basic angular displacement used for half-fixed angle positioning
using M codes.

4964

Number of M codes for specifying a spindle positioning angle

[Input type] Parameter input

[Data type] 2-word spindle

[Valid data range] 0 to 255

This parameter sets the number of M codes used for Half-fixed angle positioning using M
codes.
As many M codes as the number specified in this parameter, starting with the M code
specified in parameter No. 4962, are used to specify half-fixed angle positioning.
Let

be the value of parameter No. 4962, and let

be the value of parameter No. 4964.

That is, M codes from M

to M(

-1) are used for half-fixed angle positioning.

Setting this parameter to 0 has the same effect as setting 6. That is, M code from M

+5) are used for half-fixed angle positioning.

NOTE

1 Make sure that M codes from M

to M (

-1) do not duplicate

other M codes.

2 Do not set an M code that duplicates other M codes used for

spindle positioning.

3 Do not set an M code used with other functions (such as M00-05,

30, 98, and 99, and M codes for calling subprograms).

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4970

Position gain

[Input type] Parameter input

[Data type] Word spindle

[Unit of data] 0.01/sec

[Valid data range] 1 to 9999

Set the position gain of the analog spindle in the spindle positioning mode.

4971

Position gain multiplier (first stage)

4974

Position gain multiplier (fourth stage)

[Input type] Parameter input

[Data type] Word spindle

[Valid data range] 1 to 32767

Set a position gain multiplier for an analog spindle in spindle positioning.
Position gain multiplier GC is obtained from the following equation:

PLS

360

2048000

PLS

Number of pulses output from the position coder (pulses/rev)

Number of gear teeth on the spindle side

Number of gear teeth on the position coder side

Specified voltage (V) for turning the spindle motor at 1000 min

-1

Angular displacement of the spindle (degrees) per spindle motor rotation

[Example] For the spindle motor and gear ratio given below, GC is calculated as follows:

PLS

= 4096 pulse/rev

= 1

= 2.2 V

= 360 deg

1100

360

4096

360

2048000

NOTE

On the assumption that the spindle motor used turns at 4500 min

-1

at 10 V, 2.2 V is required to turn the spindle motor at 1000 min

-1

11802

KSV

[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.

#4 KSV

Servo axis is:

Enabled.

Disabled.

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NOTE

1 This setting is effective regardless of the value of parameter No.

1023.

2 If this setting is made for the axis subject to Cs axis contour/spindle

positioning, Cs axis contour/spindle positioning will be disabled.

Alarm and message

Number

Message

Description

PS0136

SPOS AXIS - OTHER AXIS SAME
TIME

The spindle positioning axis and another axis are specified in
the same block.

PS0137

M-CODE & MOVE CMD IN SAME
BLK.

The spindle positioning axis and another axis are specified in
the same block.

PS0194

SPINDLE COMMAND IN
SYNCHRO-MODE

A Cs contour control mode, spindle positioning command, or
rigid tapping mode was specified during the spindle
synchronous control mode or spindle command synchronous
control mode.

PS0224

ZERO RETURN NOT FINISHED

Reference position return has not been performed before the
automatic operation starts. Perform reference position return
only when the bit 0 (ZRNx) of parameter No. 1005 is set to 0.
Or, spindle positioning command is specified in spindle
rotation mode. Switch to spindle positioning mode and
specify spindle positioning command.

PS1509

DUPLICATE M-CODE
(SPOS AXIS ORIENTATION)

A function to which the same code as this M code is set
exists. (spindle positioning, orientation)

PS1510

DUPLICATE M-CODE (SPOS AXIS
POSITIONING)

A function to which the same code as this M code is set
exists. (spindle positioning, positioning)

PS1511

DUPLICATE M-CODE (SPOS AXIS
RELEASE)

A function to which the same code as this M code is set
exists. (spindle positioning, mode cancel)

PS1543

ILLEGAL GEAR SETTING

The gear ratio between the spindle and position coder, or the
set position coder number of pulses is illegal in the spindle
positioning function.

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.

SP1224

ILLEGAL SPINDLE-POSITION
CODER GEAR RATIO

The spindle–position coder gear ratio was incorrect.

SP1233

POSITION CODER OVERFLOW

The error counter/speed instruction value of the position
coder overflowed.

SP1234

GRID SHIFT OVERFLOW

Grid shift overflowed.

SP1240

DISCONNECT POSITION CODER

The analog spindle position coder is broken.

SP1243

ILLEGAL SPINDLE PARAMETER
SETTING(GAIN)

The setting for the spindle position gain is incorrect.

SP1244

MOTION VALUE OVERFLOW

The amount of distribution to a spindle is too much

SV0410

EXCESS ERROR (STOP)

The amount of positional deviation during stopping exceeded
the parameter No. 1829 setting value.

SV0411

EXCESS ERROR (MOVING)

The amount of positional deviation during traveling became
excessive than the parameter setting value.

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Number

Message

Description

SV1026

ILLEGAL AXIS ARRANGE

The parameter for servo axis arrange is not set correctly.
-

Parameter No. 1023 (servo axis number of each axis) is
set to a negative value or a duplicate value.

The settings for parameter No. 1023 (servo axis number
of each axis) were made with a certain setting skipped
among 1 to 6, 9 to 14, or 17 to 22.

A setting of a multiple of 8 or a multiple of 8 minus 1 was
made.

Caution

CAUTION

1 While the operations for spindle positioning (canceling the spindle rotation mode

to enter the spindle positioning mode, positioning the spindle in the spindle
positioning mode, and canceling the spindle positioning mode to enter the
spindle rotation mode) are being performed, automatic operation stop signal *SP
is invalid. This means that even when the * SP signal is set to 0, automatic
operation does not stop until the entire sequence is completed.

2 Dry run and machine lock are not enabled during spindle positioning.
3 For M codes used for the spindle positioning function, auxiliary function lock is

not enabled.

4 The spindle positioning function and the serial spindle Cs contour control

function cannot be used together. If both functions are available
(AXC(No.8133#1)=1 and SCS(No.8133#2)=1), positioning has priority.

5 The spindle positioning axis is treated as one of the controlled axes. Therefore,

signals related to controlled axes (such as an overtravel signal) must be set.

6 When analog spindles are used, set exact drift compensation values.

If an inappropriate drift compensation value is set, the positional deviation
amount in the stopped state does not become 0. As a result, the following
problems may occur when spindle orientation or spindle positioning is
performed:

In-position wait state is entered, which results in a stop.

The spindle position is deviated. (The spindle does not reach or passes a
specified position.)

Note on using the rigid tapping function together

CAUTION

When using the rigid tapping function together with the spindle positioning
function, do not specify rigid tapping in the spindle positioning mode, and
contrariwise, do not specify spindle positioning in the rigid tapping mode.

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Note

NOTE

1 M code commands related to spindle positioning must each be specified in an

independent block. A block for specifying such an M code must not contain any
other command. (An M command related to spindle positioning for another
spindle must not be contained in the same block, either.)

Even when the function for enabling specification of multiple M codes in a single
block is used together, spindle positioning M codes must be specified in an
independent block.

2 The axis address for spindle positioning must be specified in an independent

block. A block for specifying such an address must not contain any other
command. The following commands, however, can be specified together with the
axis address in the same block:

G00,G90,G91,G92 (M series, G code system B or C for T series)

G00,G50 (G code system A for T series)

3 M code commands related to spindle positioning are not buffered.
4 Spindle positioning cannot be performed by manual operations (such as a jog

feed, manual handle feed, and so forth).

5 Spindle positioning cannot be performed through PMC axis control.
6 Program restart/block restart cannot be performed for spindle positioning. Use

MDI for specification.

7  The stored stroke limit check is disabled for the spindle positioning axis.
8  The axis removal function is disabled for the spindle positioning axis.
9  The pitch error compensation function is disabled for the spindle positioning axis.
10 When a setting is made to omit spindle orientation, the reference position return

completion signal is not set to 1.

11 In spindle orientation, all-axes interlock/each-axis interlock checks are made only

at the start of the block. Even when the signal is input in the middle of block
execution, it is ignored.

12 The difference between a move command and the actual movement amount is

maintained until the spindle positioning mode is canceled.

Reference item

Manual name

Item name

CONNECTION MANUAL (FUNCTION)
(This manual)

Auxiliary function/2nd auxiliary function

Spindle serial output/analog output

Spindle speed control

FANUC AC SPINDLE MOTOR

series PARAMETER MANUAL (B-65280EN)

10. SPINDLE SPEED FUNCTION

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10.11

Cs CONTOUR CONTROL

10.11.1

Cs Contour Control

Overview

The Cs contour control function positions the serial spindle using the spindle motor in conjunction with a
dedicated detector mounted on the spindle.
This function can perform more accurate positioning than the spindle positioning function, and has an
interpolation capability with other servo axes.

Increment system

As the least input increment of the Cs contour control axis, IS-B or IS-C must be set.
Selecting IS-C requires the following parameter settings:
Bit 1 (ISC) of parameter No. 1013 = 1
Bit 7 (CSC) of parameter No. 3729 = 1
Bit 0 (CS360M) of parameter No. 4005 = 1

Command multiplication

Command multiplication for the Cs contour control axis must be set to 2 (1

Explanation

In Cs contour control, positioning is possible, as well as interpolation between the Cs contour control axis
and a servo axis.

Performing speed control on a serial spindle is referred to as spindle rotation control (the spindle being
rotated with a speed command), while performing position control on a spindle is referred to as spindle
contour control (the spindle being rotated with a move command). The function for performing such
spindle contour control is the Cs contour control function.
Switching between spindle speed control and CS contour control is performed by the DI signal from the
PMC.
In the Cs contour control mode, the Cs contour control axis can be operated either manually or
automatically, in the same way as normal servo axes.
(For a reference position return, see the relevant description in this section.)

Setting the Cs contour control axis

If bit 7 (CSS) of parameter No. 3704 is 0:
Cs contour control is enabled for the first spindle in the path.
The axis used for Cs contour control must be set as an axis of the axes controlled by the CNC. Any
controlled axis may be set as the Cs contour control axis.

Using parameter No. 1023, assign "-1" in the field corresponding to the chosen servo axis. (For
single-path systems)
As the servo axis number (parameter No. 1023) of the axis used as the Cs contour control axis, set the
number of the target logical spindle for Cs contour control with a minus sign (-1 to -n). (For multi-path
systems)
This setting must be made only once for each control system. The spindle operating as the Cs contour
control axis is the first spindle in the path.
If bit 7 (CSS) of parameter No. 3704 is 1:
Cs contour control can be performed for each spindle.
As the servo axis number (parameter No. 1023) of the axis used as the Cs contour control axis, set the
number of the target logical spindle for Cs contour control with a minus sign (-1 to -n).
Cs contour control can be performed for more than one spindle at the same time.

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The axis used as the Cs contour control axis must be set as a rotation axis (bit 0 (ROTx) of parameter No.
1006, and parameter No. 1022)

CAUTION

Parameter No.3721 and No.3722 can not be used for Cs contour control. If Cs
contour control was done by setting the any value on these parameters, spindle
can’t move as commanded. In the machine to do Cs contour control, connect
mechanically between the spindle and position coder by the gear ratio = 1:1. And
these parameters set the No.3721=0, No.3722=0. (It is the setting for the gear
ratio 1:1.)

NOTE

If bit 4 (KSV) of parameter No.11802 is set to 1, Cs contour control will be

disabled.

Command Address

The address for the move command in Cs contour control is the axis name specified in parameter No.
1020. This address is arbitrary.

Switching between spindle speed control and Cs contour control

Switching from spindle speed control to Cs contour control
If bit 7 (CSS) of parameter No. 3704 is 0:

When the Cs contour control change signal CON <Gn027.7> is 1, the first spindle is regarded
as the Cs contour control axis.

If bit 7 (CSS) of parameter No. 3704 is 1:

When the Cs contour control change signal for each spindle CONS1 to CONS4 <Gn274.0 to
3> is 1, the corresponding spindle is regarded as the Cs contour control axis.

When switching to the CS contour control mode is performed while the spindle is rotating, the spindle
stops immediately to perform the change.

Switching from Cs contour control mode to spindle speed control mode
If bit 7 (CSS) of parameter No. 3704 is 0:

When the Cs contour control change signal CON <Gn027.7> is 0, each spindle is placed in the
spindle speed control mode.

If bit 7 (CSS) of parameter No. 3704 is 1:

When the Cs contour control change signal for each spindle CONS1 to CONS4 <Gn274.0 to
3> is 0, the corresponding spindle is placed in the spindle speed control mode.

Confirm that the move command for the spindle has been completed, then specify the switch. If it is
switched while the spindle is moving, the machine enters interlock, or excessive position deviation alarm
occurs.

Setting axes for interpolation with a Cs contour control axis

Up to five servo axes can be used for interpolation with a Cs contour control axis. Any servo axes can be
selected for interpolation with the Cs contour control axis by parameter setting. Set parameters as follows:

When no servo axis is used for interpolation, specify 0 in parameters Nos. 3900, 3910, 3920, 3930,

3940.

When one or more servo axes are used for interpolation, set the parameter for each as follows :

(1) Assign the axis number (1 to 8) to each of the servo axes used for interpolation in parameters Nos.

39n0 (n=0, 1, 2, 3, or 4).

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