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

10. SPINDLE SPEED FUNCTION

B-64693EN-1/01

- 1562 -

(2) Set the loop gain for each of the servo axes specified in (1) in parameter nos. 39n1, 39n2, 39n3,

39n4. The loop gain must be the position loop gain for the Cs contour control axis or a desired value.
Four parameters are provided to correspond to the four gears of the spindle. Use those parameters
according to the inputs of the serial spindle clutch /gear signals (CTH1, CTH2).

(3) When the number of servo axes to be used for interpolation is smaller than five, set 0 in remaining

parameter nos. 39n0.

Note on setting bit 7 (CSS) of parameter No. 3704 to 1
Common settings are used whichever spindle is used for Cs contour control. When Cs contour control is
performed with more than one spindle, the parameters for the gear specified by the clutch/gear signals
(CTH1 and CTH2) of the serial spindle for which the Cs contour mode is specified last are used.

When bit 7 (ALG) of parameter No. 1814 is set to 1, the loop gain can be set automatically at the time of
switching between spindle speed control and Cs contour control.

Automatic setting of the loop gain at the time of switching between spindle speed control and Cs

contour control

Switching from spindle speed control to Cs contour control
The position loop gain of the Cs contour control axis selected by the clutch/gear signals (CTH1
and CTH2) (one of parameters Nos. 4069, 4070, 4071, and 4072) is set automatically for the
servo axis for which bit 7 (ALG) of parameter No. 1814 is set to 1.
When there are multiple Cs contour control axes, the smallest one of the position gain values
selected for these axes is set automatically for the other Cs contour control axes and servo axes.

Switching from Cs contour control to spindle speed control
The original position gain (parameter No. 1825) is set automatically for the servo axis.
When there are multiple Cs contour control axes, and there are still remaining Cs contour
control axes, the smallest one of the position gain values selected for the individual remaining
Cs contour control axes is set automatically for the other Cs contour control axes and servo
axes.

Switching between spindle speed control and Cs contour control during automatic operation
Switching is impossible during automatic operation and during axis movement.
If switching from spindle speed control to Cs contour control or vice versa is made in the
middle of a block executed in automatic operation, position gains do not change immediately;
they are set automatically after all controlled axes are stopped completely.

Similarly, when switching between spindle speed control and Cs contour control is made in
other than automatic operation, automatic setting is performed after the completely stopped
states of all controlled axes are confirmed

Reference Position Return of Cs Contour Control Axis

After the serial spindle is switched from spindle speed control to Cs contour control mode, the current
position is undefined. Return the spindle to the reference position.
The reference position return of the Cs contour control axis is as follows:

In manual mode

After the serial spindle enters the Cs contour control mode, move the spindle in the direction of the
reference position by turning on the feed axis and direction select signal (+Jn <Gn100> or -Jn
<Gn102>). The spindle starts the movement to the reference position; when it reaches that position,
the reference position return completion signal ZPn <Fn094> turns to 1. Turning any feed axis and
direction select signal to 1 moves the tool in the reference position direction.

In the automatic mode
(a) G00 command

If a serial spindle is placed in the Cs contour control mode, then the G00 command is issued
without performing reference position return even once when bit 1 (NRF) of parameter No.
3700 is 0, the serial spindle performs a reference position return.

As G00 is specified, the serial spindle indexes the reference position, then performs positioning
at a specified position.

B-64693EN-1/01

10. SPINDLE SPEED FUNCTION

- 1563 -

Only when positioning at the reference position is performed, the reference position return
completion signal ZPn <Fn094> is set to 1 after completion of the positioning operation.

When a reference position return has been performed at least once, a G00 command performs a
normal positioning operation.

When a reference position return is performed manually or by using G28, the spindle is always
positioned at the reference position; on the other hand, when a reference position return is
performed by using G00, the spindle can be positioned at any specified position.

NOTE

Set bit 0 (ZRN) of parameter No.1005 to 1.

(b) G28 command

After the serial spindle is put in the Cs contour control mode, issuing the G28 command stops
the spindle motor, then moves the spindle to the midpoint. The spindle then returns to the
reference position. At this point, the reference position return completion signal ZPn <Fn094>
turns to 1.

When the serial spindle has returned to the reference position once while in the Cs contour
control mode, the G28 command positions the spindle at the reference position without moving
to the midpoint and ZPn comes on.

Reference position return speed

After the serial spindle is put in the Cs contour control mode, the reference position return speed is
the value of reference position return speed in Cs contour control (parameter No.4074). When
reference position return speed in Cs contour control (parameter No.4074) is set to 0, the reference
position return speed is the value of maximum speed in Cs contour control (parameter No.4021).

Interruption of reference position return
(a) Manual operation

Return to the reference position can be interrupted by resetting, emergency stop, or turning off
the feed axis and direction select signal. When the interrupted return operation is resumed, start
from the beginning.

(b) Automatic operation

Return to the reference position can be interrupted by resetting, emergency stop, or feed hold.
When the interrupted return operation is resumed, start from the beginning.

Operation of Cs contour control axis (Manual/Automatic)

If a reference position return is performed on the Cs contour control axis, the axis can be operated in the
same way as a normal NC axis.

In the spindle speed control mode, on the other hand, it does not operate as the Cs contour control axis,
and alarm PS0197, "C-AXIS COMMANDED IN SPINDLE MODE" occurs during automatic operation.
In the spindle speed mode, inhibit manual operation of the Cs contour control axis using the PMC ladder.

Diagnosis data

Display of Position Error of Cs Contour Control Axis

418

Position deviation amount of each spindle

Position deviation amount of the position loop for the each spindle.
This diagnostic data shows information obtained from the serial spindle control unit. This diagnosis data
position error of the CS contour axis during CS contour control.
The position error can also be checked using a servo error display (DGN of No. 300) for an axis under Cs
contour control.

300

Position deviation amount of each servo axis

10. SPINDLE SPEED FUNCTION

B-64693EN-1/01

- 1564 -

Spindle tuning screen

In the Cs contour control mode, indications related to the Cs contour control mode appear.
For details, please refer to Spindle tuning screen of MAINTENANCE MANUAL (B-64695EN).

Signal

Cs contour control change signal CON<Gn027.7>

[Classification] Input signal

[Function] This signal specifies that the first spindle be switched between the spindle speed control

and Cs contour control modes.
This signal is valid when bit 7 (CSS) of parameter No. 3704 is 0.

Cs contour control change signals in each axis

CONS1<Gn274.0> : First spindle

CONS2<Gn274.1> : Second spindle

CONS3<Gn274.2> : Third spindle

CONS4<Gn274.3> : Fourth spindle

[Classification] Input signal

[Function] This signal specifies that the first spindle be switched between the spindle speed control

and Cs contour control modes.
This signal is valid when bit 7 (CSS) of parameter No. 3704 is 1. In this case, Cs contour
control change signal CON <Gn027.7> is invalid.

Cs contour control change completion signal FSCSL<Fn044.1>

[Classification] Output signal

[Function] This signal posts that the first spindle has switched to the Cs contour control mode.

[Output cond.] This signal is set to 1 when:

The spindle switches to the Cs contour control mode.
The signal is set to 0 when:
The spindle is not in the Cs contour control mode (is in the spindle speed control mode).
This signal is valid when bit 7 (CSS) of parameter No. 3704 is 0.

Cs contour control change completion signal in each axis

FCSS1<Fn274.0>:First spindle

FCSS2<Fn274.1>:Second spindle

FCSS3<Fn274.2>:Third spindle

FCSS4<Fn274.3>:Fourth spindle

[Classification] Output signal

[Function] This signal posts that the spindle has switched to the Cs contour control mode.

[Output cond.] This signal is set to 1 when:

B-64693EN-1/01

10. SPINDLE SPEED FUNCTION

- 1565 -

Time Chart

Spindle speed control

Cs contour control

Spindle speed control

CON

Gear change and
operation of spindle
motor must be
completed

FSCSL

Switching internal control

NOTE

1 Any mechanical gear change needed and inputs for GR1, GR2, CTH1A, and

CTH2A must be completed before the CON signal selects Cs contour control
mode.

2 A servo excessive error may be generated if the spindle motor is not ready for

operation. (Signal SRVA, SFRA <Gn070.4, 5> or other required signals must be
appropriately processed on the machine side).

3 In the Cs contouring control mode, do not change the SFR (SRV) signal.

Other signals

Gear select signals GR1O,GR2O,GR3O<Fn034.0 to 2>

[Classification] Output signal

[Function] This signal is output to the PMC to specify the gear stage.

[Output cond.] For information about this signal, see "SPINDLE SPEED CONTROL".

Gear select signals GR1,GR2<Gn028.1, Gn028.2>

[Classification] Input signal

[Function] This signal informs the CNC of the gear stage currently selected.

[Operation] For information about this signal, see "SPINDLE SPEED CONTROL".

Clutch/Gear signal (Serial spindle)

CTH1A,CTH2A<Gn070.3,Gn070.2> : First spindle

CTH1B,CTH2B<Gn074.3,Gn074.2> : Second spindle

CTH1C,CTH2C<Gn204.3,Gn204.2> : Third spindle

CTH1D,CTH2D<Gn266.3,Gn266.2> : Fourth spindle

Refer to the manual of serial spindle.

These signals determine what parameter (loop gain, etc.) to be used for each gear position.
CTH1 and CTH2 are the gear select signals for the serial spindle, but GR1 and GR2 must also be set. Do
not change these signals while in the Cs contour control mode.

10. SPINDLE SPEED FUNCTION

B-64693EN-1/01

- 1566 -

Relationship between gears selected and spindle gear select signals

CNC side

Serial spindle

T/M series with CSSC

M series without CSSC

GR2

GR1

Gear selection

GR3O

GR2O

GR1O

Gear selection

CTH1

CTH2

1st stage

2nd stage

3rd stage

4th stage

CSSC: Constant surface speed control

NOTE

1 When the M series does not include the constant surface speed control (bit 0

(SSC) of parameter No. 8133=0), and bit 4 (GTT) of parameter No. 3706=0,
GR1 and GR2 do not need to be input. Input CTH1 and CTH2 when gears are
changed using GR1O, GR2O and GR3O that output from CNC.

2 The above combination of clutch/gear signals CTH1 and CTH2 is an example.

The serial spindle gear is selected by CTH1 and CTH2 independently of gear
selection on the CNC side. So, enter necessary signals, and set the
corresponding serial spindle parameters.

Cs contour control axis reference position return completion signals

ZP1 to ZP8<Fn094>

[Classification] Output signal

[Function] This signal indicates that a reference position return has been made for the Cs contour

control axis.

ZPx

x : 1 ..... Reference position return completion signal of 1st spindle

2 ..... Reference position return completion signal of 2nd spindle
3 ..... Reference position return completion signal of 3rd spindle
:

[Output cond.] If a manual reference position return or automatic reference position return by G28 is

performed during the Cs contour control mode, this signal becomes logical 1 when the Cs
contour control axis reaches the reference position.

Signals on manual operation

Feed axis and direction select signal +Jn, -Jn <Gn100, Gn102> (Input) Manual handle feed axis select
signal HSnA, HSnB, HSnC, HSnD <Gn018, Gn019> (Input) (Refer to respective items in this manual)
The Cs contour control axis can be manually operated in the same way as normal servo axes, except for a
manual reference position return.
In the spindle speed control mode, however, manual operations for the Cs contour control axis must be
inhibited using the PMC ladder, etc.

B-64693EN-1/01

10. SPINDLE SPEED FUNCTION

- 1567 -

Signal address

Gn027

CON

Gn028

GR2

GR1

Gn274

CONS4

CONS3

CONS2

CONS1

Fn034

GR3O

GR2O

GR1O

Fn044

FSCSL

Fn094

ZP8

ZP7

ZP6

ZP5

ZP4

ZP3

ZP2

ZP1

Fn274

FCSS4

FCSS3

FCSS2

FCSS1

For first serial spindle

Gn070

MRDYA

SFRA

SRVA

CTH1A

CTH2A

TLMHA

TLMLA

Fn045

LDT2A

LDT1A

For second serial spindle

Gn074

MRDYB

SFRB

SRVB

CTH1B

CTH2B

TLMHB

TLMLB

Fn049

LDT2B

LDT1B

For third serial spindle

Gn204

MRDYC

SFRC

SRVC

CTH1C

CTH2C

TLMHC

TLMLC

Fn168

LDT2C

LDT1C

For fourth serial spindle

Gn266

MRDYD

SFRD

SRVD

CTH1D

CTH2D

TLMHD

TLMLD

Fn266

LDT2D

LDT1D

Parameter

Major related parameters are described below.
In addition to the parameters described below, axis speed, acceleration, indication, and other parameters
can be used. It is not necessary to set the digital servo parameters (parameters Nos. 2000 and up) for the
axis used as the Cs contour control axis.

1005

ZRNx

[Input type] Parameter input

[Data type] Bit axis

10. SPINDLE SPEED FUNCTION

B-64693EN-1/01

- 1568 -

#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 this parameter

to 0.

3 To use a function that establishes the reference point and makes a

movement with a command other than G28, such as an axis of Cs
contour control, set this parameter to 1.

1006

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.

B-64693EN-1/01

10. SPINDLE SPEED FUNCTION

- 1569 -

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)

Set a Cs contouring control axis as a rotation axis.

NOTE

1 Inch/metric conversion is not performed on rotation axes.
2 For rotation axes, the machine coordinate system is normalized to

the range from 0 to 360 degrees. Automatic reference position
return (G28, G30) is done in the direction of manual reference
position return and the amount of travel does not exceed one turn.

#3 DIAx

The move command for each axis is based on:

Radius specification

Diameter specification

For a Cs contouring control, set 0.

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

1022

Setting of each axis in the basic coordinate system

[Input type] Parameter input

[Data type] Byte axis

[Valid data range] 0 to 7

FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 201