FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 204

10. SPINDLE SPEED FUNCTION

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NOTE

1 The spindle position at a reference position set by a reference position return

operation by using this function is not guaranteed to match the spindle position
at a reference position set by a reference position return operation performed
again after the Cs contour control mode is turned off then back on.

2 When an intermediate point is specified in G28, a movement to the intermediate

point is made, then that position is set as the reference position.

3 When this function is used, and a G00 command is issued for a Cs contour

control axis without performing a reference position return even once after the
serial spindle is placed in the Cs contour control mode, alarm PS0303,
“REFERENCE POSITION RETURN IS NOT PERFORMED” is issued even if bit
1 (NRF) of parameter No. 3700 is set to 0. A reference position return must
always be performed using the G28 command.

4 When this function is used, grid shift at the time of reference position return

(parameter No. 4135) is invalid.

5 In automatic phase matching of the spindle EGB, if the master axis is a Cs

contour control axis, this function cannot be used.

Parameter

3700

NRF

CRF

[Input type] Parameter input

[Data type] Bit path

#0 CRF

Reference position setting at an arbitrary position under Cs contour control is:

Not used.

Used.

#1 NRF

With the first move command (G00) after switching the serial spindle to Cs contour

control mode:
0:

A reference position return operation is once performed then positioning is
performed.

A normal positioning operation is performed.

NOTE

When this function is used, an attempt to specify G00 for a Cs
contour control axis without performing a reference position return
operation even once after switching the serial spindle to the Cs
contour control mode results in the alarm PS0303, “REFERENCE
POSITION RETURN IS NOT PERFORMED” even if bit 1 (NRF) of
parameter No. 3700 is set to 0. Be sure to perform a reference
position return operation by specifying G28.

4135

Grid shift amount on Cs contouring control

[Input type] Parameter input

[Data type] 2-word spindle

[Unit of data] 1 pulse unit (=0.001°) (0.0001° when bit 0 (CS360M) of parameter No. 4005 is set to 1)

[Valid data range] -360000 to +360000

(-3,600,000 to +3,600,000 when bit 0 (CS360M) of parameter No. 4005 is set to 1)

Use this parameter to shift the machine reference position on Cs contouring control.

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The machine reference position of the spindle shifts by the set number of pulses in the

CCW direction.

Alarm and message

Number

Message

Description

PS0303

REFERENCE POSITION RETURN
IS NOT PERFORMED

When the setting of a reference position at any position was
possible in Cs contour control (bit 0 (CRF) of parameter No.
3700 = 1), a G00 command was issued for the Cs contour
axis without a return to the reference position after the serial
spindle was switched to Cs contour control mode.
Perform a reference position return with a G28 command
before issuing a G00 command.

Reference item

Manual name

Item name

CONNECTION MANUAL (FUNCTION) (This manual)

Cs contour control

10.11.4

Cs Contour Control Axis Coordinate Establishment

Overview

Shifting a serial spindle from spindle rotation control to Cs contour control results in its current position
being lost.
This function is intended to establish the current position without making a reference position return. This
is done by setting the Cs axis coordinate establishment request signal CSFIx<Gn274.4 to 7> to 1.

NOTE

Once the power has been turned on, this function remains enabled until the
power is turned off after the return of the Cs contour axis to the reference
position.
However, when you use

iCZ sensor (serial type) as a spindle sensor and the

Z-phase signal is detected one or more times after power on, this function is
available without reference position return.
Moreover, when you use a distance coded sensor and the Z-phase signal is
detected three or more times after power on, this function is available without
reference position return.
Moreover, when you use the serial type sensor (RCN2390F (made by
HEIDENHAIN) etc.), which recognizes the position within one revolution just
after power on, as a spindle sensor, this function is available without reference
position return.

Explanation

Setting

This function is enabled by setting bit 2 (CSF) of parameter No. 3712 and bit 5 (CSPTRE) of parameter
No. 4353 to 1.
(Using this function requires resetting bit 7 (RFCHK3) of parameter No. 4016 to 0.)

Inhibit buffering with the M code (parameters Nos. 3411 to 3432 and 11290 to 11299) used to set the Cs
axis coordinate establishment request signal CSFIx<Gn274.4 to 7> to 1.

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Cs axis coordinate establishment procedure

(1) Turn the Cs contour control mode ON, using the M code as a trigger, and set the Cs axis coordinate

establishment request signal CSFIx<Gn274.4 to 7> to 1.

(2) The absolute, relative, and machine coordinate systems for the Cs axis are established if the Cs axis

origin established state signal CSPENx is 1.

(Establishing the relative coordinate system requires setting bit 3 (PPD) of parameter No. 3104 to 1.)

(3) Once the coordinate systems are established, the reference position established signal

ZRFx<Fn120.0 to 7> becomes 1. So, reset the Cs axis coordinate establishment request signal
CSFIx<Gn274.4 to 7> to 0.

(4) Perform the FIN processing for the M code.

NOTE

1 When inputting the MRDY, SFR, and SRV signals from the PMC to serial

spindles via the CNC, ensure they are input normally.

2 In an emergency stop or servo alarm condition, no Cs axis coordinate system

can be established.

3 Do not shift the Cs contour axis when Cs axis coordinate establishment is under

way.

4 Generally, when Cs contouring axis performs reference position return after

power on, CSPENx becomes 1. However, CSPENx becomes 1 even without
reference position return when the following sensors are used as spindle
sensors.
-

CZ sensor (serial type)

When Z-phase signal is detected one or more times after power on, CSPENx
becomes 1.

- Distance coded sensor

When Z-phase signal is detected three or more time after power on, CSPENx
becomes 1.

- The serial type sensor (RCN2390F (made by HEIDENHAIN) etc ) which

recognizes the position within one revolution just after power on, CSPENx
becomes 1.

Case in which no Cs axis coordinate establishment can be performed

If Cs axis coordinate establishment cannot be performed, alarm PS5346 is issued for the path where the
absolute coordinates (workpiece coordinates) are is to be established.

The following conditions prevent Cs axis coordinate establishment.

The Cs axis origin established state signal CSPENx is 0.

An attempt to transfer positional information from the spindle amplifier has failed.

The servo section is off when an attempt is made to start Cs axis coordinate establishment.

The Cs axis is under synchronous control or superimposed control.

An emergency stop condition has occurred during coordinate establishment.

The Cs axis has exited composite control during coordinate establishment.

An attempt has been made to start synchronous, composite, or superimposed control for the Cs axis

during coordinate establishment.

The Cs axis coordinate establishment alarm signal CSFOx<Fn274.4 to 7> becomes 1 in the path to which
the spindle is connected. So, reset the Cs axis coordinate establishment request signal CSFIx<Gn274.4 to
7> to 0.
Resetting the Cs axis coordinate establishment request signal CSFIx<Gn274.4 to 7> to 0 causes the Cs
axis coordinate establishment alarm signal CSFOx<Fn274.4 to 7> to be reset to 0.

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Clearing alarm PS5346

Alarm PS5346 cannot be cleared before the Cs axis reference return position is established.
In the path where alarm PS5346 occurred, make a manual reference position return for the Cs axis.
Once the reference position has been established, a reset can clear alarm PS5346.

Performing a reset after the Cs contour control mode is exited enables alarm PS5346 to be cleared.

Serial type sensor which recognizes the position within one revolution just
after power on

When you use the serial type sensor which recognizes the position within one revolution just after power
on, CSPENx becomes 1 without reference position return, and Cs Contour Control Axis Coordinate
Establishment is available.

The example of applicable sensor is listed below.

- HEIDENHAIN

RCN2390F
RCN2590F
RCN5390F
RCN5590F
RCN8390F
RCN8590F

NOTE

1 To use the above sensor, the corresponding spindle software is required.
2 To use the above sensor as a spindle sensor, the following parameters should

be set.
- No.4002(#3,#2,#1,#0)=(0, 1, 1, 0)
- No.4361=8192
- No.4548#0=1

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Sequence (timing chart)

Case in which Cs axis coordinate establishment has been completed normally

CSFOx<Fn274.4 to 7>

Coor dinate established

M code f or turning the
Cs contour mode ON
<Fn010 to 013>

FIN<Gn004.3>

MF<Fn007.0>

M code

CSFIx<Gn274.4 to 7>

CSPENA<Fn048. 4>

ZRFx<Fn120.0 to 7>

FSCSL<Fn044.1>
or
FCSSx<Fn274.0 to 3>

CON<G n027. 7>
or
CONSx<Gn274.0 to 3>

Cs axis coordinate establishment remains enabled in the Cs contour mode.
In any mode other than the Cs contour mode, setting the Cs axis coordinate establishment request signal
CSFIx<Gn274.4 to 7> to 1 causes Cs axis coordinate establishment to be ignored.

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Case in which Cs axis coordinate establishment cannot be achieved

FSCSL<Fn044.1>
or
FCSSx<Fn274.0 to 3>

CSFOx<Fn274.4 to 7>

Coordinate established

M code for turning the
Cs contour mode ON
<Fn010 to 013>

FIN<Gn004.3>

MF<Fn007.0>

M code

CSFIx<Gn274.4 to 7>

CSPENA<Fn048.4>

ZRFx<Fn120.0 to 7>

A failure in coordinate establishment prevents the ZRFx signal <Fn120.0 to 7> from being
set to "1".

Interrupted

CON<Gn027.7>
or
CONSx<Gn274.0 to 3>

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Example sequence in which the Cs axis is under composite control in a 2-path system

CSFOx<F1274.4 to 7>

Coordinate established

M code for turning the
Cs contour mode ON
<F010 to 013>

FIN<G0004.3>

MF<F0007.0>

M code

CSFIx<G1274.4 to 7>

CSPENA<F1048.4>

ZRFx<F1120>

FSCSL<F1044.1>

CON<G1027.7>

(1) In path 1, issuing an M code causes the MF signal <F0007.0> to be set to 1.
(2) Make sure that the Cs axis origin established state signal CSPENA <F1048.4> in path 2 is 1, and set

the Cs axis coordinate establishment request signal CSFI1<G1274.4> and Cs axis contour control
switching signal CON<G1027.7> in path 2 to 1.

(3) The absolute and relative coordinates in path 1 and the machine coordinates in path 2 are

established.

(4) Upon completion of count-up, the reference position establishment signal ZRFx<F0120.0 to 7> in

path 2 becomes 1. So, reset the Cs axis coordinate establishment request signal CSFI1<G1274.4> in
path 2 to 0.

(5) Perform FIN processing for the M code in path 1.

Note

CMR

Set the command multiplier CMR (parameter No. 1820) for the Cs axis to be subjected to composite
control to the same value. If it is set to a different value, coordinate establishment does not end normally.

Axis synchronous control

Feed axis synchronization control cannot be used for the Cs contour control axis.

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Synchronous control

Setting the Cs axis establishment request signal CSFIx <Gn274.4 to 7> to 1 during synchronization
control results in alarm PS5346.
After disabling synchronization control, perform Cs coordinate establishment, and then start
synchronization control again.

Composite control

Disabling or enabling composite control during Cs axis coordinate establishment results in alarm PS5346.

Superimposed Control

Setting the Cs axis coordinate establishment request signal CSFIx <Gn274.4 to 7> to 1 during
superimposed control results in alarm PS5346.
After disabling superimposed control, perform Cs coordinate establishment, and then start superimposed
control again.

Spindle command synchronous control

If the master axis is parked, coordinate establishment is performed according to the slave axis machine
position.
Set the Cs axis coordinate establishment request signal CSFIx <Gn274.4 to 7> for the master axis to 1.
The Cs axis coordinate establishment alarm signal CSFOx <Fn274.4 to 7> that is output corresponds to
the master axis.

External machine coordinate system shift

Do not shift external machine coordinate systems during Cs axis coordinate establishment.

Signal

Cs axis coordinate establishment request signals CSFI1 to CSFI4<Gn274.4 to 7>

[Classification] Input signal

[Function] These signals perform the Cs axis coordinate establishment (Cs contour control function).

[Operation] When the signals become 1, the control unit behaves as follows:

- If the signals are 1 in the Cs contour control mode, the absolute and machine
coordinates are established according to the Cs axis machine position.
- When the signals become 0, the control unit behaves as follows:
The Cs axis coordinate establishment alarm signal CSFOx<Fn274.4 to 7> becomes 0.

Cs axis coordinate establishment alarm signals CSFO1 to CSFO4<Fn274.4 to 7>

[Classification]

Output signal

[Function] These signals indicate that Cs axis coordinate establishment has not been completed

normally.

[Output cond.]

These signal is 1 in the following case :
-

Cs axis coordinate establishment has not been completed normally.

These signal is 0 in the following case :
-

The Cs contour control mode is exited, or

The corresponding Cs axis coordinate establishment request signal CSFIx<Gn274.4
to 7> becomes 0.

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