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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 211

10. SPINDLE SPEED FUNCTION

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side)

negative

on the

difference

deviation

position

converted

spindle

(maximum

side)

positive

on the

difference

deviation

position

converted

spindle

(maximum

range

error

ation

Synchroniz

lead

thread

revolution

spindle

per

pulses

number

deviation)

position

axis

(drilling

ratio

gear

deviation

position

spindle

difference

deviation

position

converted

Spindle

lead

thread

revolution

spindle

per

pulses

number

command)

move

axis

(tapping

ratio

gear

command

move

spindle

difference

command

move

converted

Spindle

[

]

[

]

ratio

gear

position

machine

spindle

�

lead

thread

revolution

spindle

per

pulses

number

position

machine

axis

drilling

�

difference

deviation

position

machine

converted

Spindle

deviation

position

spindle

command

move

spindle

�

position

machine

Spindle

deviation

position

axis

drilling

command

move

axis

drilling

�

position

machine

axis

Drilling

∑

If a maximum allowable synchronization error range is set in parameter No. 5214, the position deviation
alarm during spindle movement (alarm SP0741) is issued to indicate that the set synchronization error
range has been exceeded. (If 0 is set in parameter No. 5214, no check is performed to detect whether the
synchronization error range has been exceeded.)

Error difference display

Momentary error difference between the spindle and drilling axis

→

Diagnosis data No. 0452

Maximum error difference between the spindle and drilling axis

→

Diagnosis data No. 0453

Diagnosis display No. 0452 is cleared to 0 when rigid tapping mode is set or canceled, and diagnosis data
No. 0453 is cleared to 0 in the positioning of the rigid tapping cycle.

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10. SPINDLE SPEED FUNCTION

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The following figure shows the tapping axis as the Z axis.

Z-axis
error

Zc =

Speed

Gain

Detection unit

(Theoretical value)

Ze = Z-axis error counts (measured value)

Spindle
error

Sc =

Speed

360

Gain

Detection unit

(Theoretical value)

Se = Spindle error counts (measured value)

Speed : mm/min or inch/min
Gain : 0.01sec

-1

Detection unit : mm,inch,or deg
Speed : min

-1

100 [%]

The error difference between the spindle and Z axis
can be obtained by

S-

Z. This value is sampled at

intervals of 8 ms.

Display of spindle position data

Position coder signal pulse data from the spindle one-rotation signal is displayed.
-

Position coder signal pulse data of each spindle

→

Diagnosis data No.0445

NOTE

1 For an unconnected spindle, 0 is displayed.
2 For display of this data, the conditions below must be satisfied.

<1> Serial spindle
<2> Bit 1 (SPP) of parameter No. 3117 must be set to 1.
<3>The state where the serial spindle has detected a one-rotation signal must

be set.

To detect a one-rotation signal accurately, spindle orientation must be
performed. This orientation operation needs to be performed only once after the
power is turned on.

Whether a one-rotation signal has been detected can be known by checking
position coder one-rotation signal detection status signal (serial spindle)
PC1DTA to PC1DTD<Fn047.0, Fn051.0, Fn170.0, Fn268.0>.

10. SPINDLE SPEED FUNCTION

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Diagnosis data

Spindle position data

0445

SPINDLE POSITION DATA

Position coder signal pulse data from the spindle one-rotation signal of each spindle
(serial spindle only)

[Unit] Pulse

Spindle position deviation

0450

SPINDLE MOTION ERROR

Spindle position deviation during rigid tapping

[Unit] Pulse

Number of pulses distributed to the spindle

0451

SPINDLE MOTION PULSE

Number of pulses distributed to the spindle during rigid tapping

[Unit] Pulse

Error difference between the spindle and drilling axis (momentary value)

0452

RIGID ERROR

Momentary error difference between the spindle and drilling axis during rigid tapping
(signed)

[Unit] %

Error difference between the spindle and drilling axis (maximum)

0453

RIGID ERROR (MAX)

Maximum error difference between the spindle and drilling axis during rigid tapping
(absolute value)

[Unit] %

Cumulative number of pulses distributed to the spindle during rigid tapping

0454

SPINDLE PULSE (SUM)

Cumulative number of pulses distributed to the spindle during rigid tapping

[Unit] Pulse

Spindle-converted move command difference during rigid tapping
(momentary value)

0455

SYNC. PULSE (SUM)

Momentary spindle-converted move during command difference between the spindle and
the drilling axis during rigid tapping

[Unit] Pulse

Spindle-converted position deviation difference during rigid tapping
(momentary value)

0456

SYNC. ERROR

Momentary spindle-converted position deviation difference between the spindle and the
drilling axis during rigid tapping

[Unit] Pulse

Synchronization error range during rigid tapping (maximum value)

0457

SYNC. WIDTH

Synchronization error range during rigid tapping (maximum value)

[Unit] Pulse

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10. SPINDLE SPEED FUNCTION

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Spindle-converted move command difference during rigid tapping (maximum
value)

0460

SYNC. PULSE (MAX)

Maximum spindle-converted move during command difference between the spindle and
the drilling axis during rigid tapping

[Unit] Pulse

Spindle-converted machine position difference during rigid tapping
(momentary value)

0461

MACHIN POS ERROR

Spindle-converted machine position difference during rigid tapping (momentary value)

[Unit] Pulse

Spindle-converted machine position difference during rigid tapping (maximum
value)

0462

MACHIN POS ERROR (MAX)

Spindle-converted machine position difference during rigid tapping (maximum value)

[Unit] Pulse

10.13.12

Command Format

Command format for the lathe system

The rigid tapping mode can be specified in one of two formats: FANUC Series 16 program format and
FANUC Series 15 program format. A usable format can be selected by parameter setting.

Parameter

Executable command format

Bit 1 (FCV) of

parameter No. 0001

Bit 3 (F16) of

parameter No. 5102

FANUC Series 16 program format only (The number of repeats is
specified using address K.)

FANUC Series 15 program format or
FANUC Series 16 program format (The number of repeats is specified
using address L.)

FANUC Series 16 program format only (The number of repeats is
specified using address L.)

This subsection describes the FANUC Series 16 program command format for rigid tapping on the lathe
system. For the machining center system, refer to the description of "RIGID TAPPING" in the Operator's
Manual.

G84 : Face tapping cycle

The first axis of a plane is a drilling axis, and the other axes are positioning axes.

Bit 0 (RTX) of parameter No. 5209

Plane selection

Drilling axis

G17: Xp-Yp plane

G18: Zp-Xp plane

G19: Yp-Zp plane

1 (Note)

Xp : X axis or its parallel axis
Yp : Y axis or its parallel axis
Zp : Z axis or its parallel axis
Note) These are invalid in the FANUC Series 15 program format.

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When the bit 1 (FCV) of parameter No. 0001 is set to 0 :
G84 X_C_ Z_ R_ P_ F_ K_ M_ ;

G84 : Face tapping cycle G code
X C : Tapping position
Z

: Position of the bottom of a hole

: Position of an R point (incremental command at all times)

: Dwell time at the bottom of a hole

: Cutting feedrate

: Number of repeats

: M code for C-axis clamping

When the bit 1 (FCV) of parameter No. 0001 is set to 1 :
G84 X_C_ Z_ R_ P_ F_ L_ M_ ;

G84 : Face tapping cycle G code
X C : Tapping position
Z

: Position of the bottom of a hole

: Position of an R point (incremental command at all times)

: Dwell time at the bottom of a hole

: Cutting feedrate

: Number of repeats

: M code for C-axis clamping

G88 : Side tapping cycle

The second axis of a plane is a drilling axis, and the other axes are positioning axes.

Bit 0 (RTX) of parameter No. 5209

Plane selection

Drilling axis

G17: Xp-Yp plane

G18: Zp-Xp plane

G19: Yp-Zp plane

1 (Note)

Xp : X axis or its parallel axis
Yp : Y axis or its parallel axis
Zp : Z axis or its parallel axis
Note) These are invalid in the FANUC Series 15 program format.

1.

When the bit 1 (FCV) of parameter No. 0001 is set to 0 :
G88 Z_C_ X_ R_ P_ F_ K_ M_ ;

G88 : Side tapping cycle G code
Z C : Tapping position
X

: Position of the bottom of a hole

: Position of an R point (incremental command at all times)

: Dwell time at the bottom of a hole

: Cutting feedrate

: Number of repeats

: M code for C-axis clamping

When the bit 1 (FCV) of parameter No. 0001 is set to 1 :
G88 Z_C_ X_ R_ P_ F_ L_ M_ ;

G88 : Side tapping cycle G code
Z C : Tapping position
X

: Position of the bottom of a hole

: Position of an R point (incremental command at all times)

: Dwell time at the bottom of a hole

: Cutting feedrate

: Number of repeats

: M code for C-axis clamping

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10. SPINDLE SPEED FUNCTION

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Method of specification

The rigid tapping mode can be specified using one of three methods:
-

Specification of M29S_ before specifying a tapping cycle

Specification of M29S_ in the same block

Enabling rigid tapping to be performed without specifying M29S_

When using the third method, specify S_ either before or in a block containing G84 (G88).
Thus, the spindle stops, after which the tapping cycle specified next is placed in rigid tapping mode.
When Spindle selection by address P of Multi spindle is enabled, if S is commanded at G84(G88) block,
alarm PS5305, “ILLEGAL SPINDLE NUMBER” is issued. Command S before G84(G88) block.

-

Specifying M29 before a block containing G84 (G88)

M29 S_;
G84(G88) X_C_(Z_C_) Z_(X_) R_ P_ F_ K_ M_;
X_C_(Z_C_);
X_C_(Z_C_);
:
G80;

Rigid tapping mode

Specifying M29 and G84 (G88) in the same block
(However, the M code for C-axis clamping cannot be specified.)

G84(G88) X_C_(Z_C_) Z_(X_) R_ P_ F_ K_ M29 S_;

X_C_(Z_C_);

G80;

Rigid tapping mode

Converting G84 (G88) to a G code for rigid tapping
(by setting bit 0 (G84) of parameter No. 5200 to 1)

G84(G88) X_C_(Z_C_) Z_(X_) R_ P_ F_ K_ S_ M_;

X_C_(Z_C_);

G80;

Rigid tapping mode

Notes on the lathe system

NOTE

1 In feed per minute mode, F_/S**** determines a thread lead. In feed per

revolution mode, F_ specifies a thread lead.

2 S**** must specify a value that does not exceed the value set in the maximum

spindle speed parameters Nos. 5241 to 5244 for the gear to be used. Otherwise,
an alarm PS0200, “ILLEGAL S CODE COMMAND” is issued in a block containing
G84 (G88).

3 F_ must specify a value that does not exceed the maximum cutting feedrate.

When 0 is specified, an alarm PS0201, “FEEDRATE NOT FOUND IN RIGID
TAP” is issued.

4 Between M29 and G84 (G88), S and a command for movement along an axis

must not be specified. Further, M29 must not be specified in a tapping cycle.
Otherwise, alarms PS0203, “PROGRAM MISS AT RIGID TAPPING” and
PS0204, “ILLEGAL AXIS OPERATION” are issued, respectively.

5 In the rigid tapping mode, G84 and G88 must not be specified in succession.

Cancel the rigid tapping mode before specifying G84 and G88 in succession.

10. SPINDLE SPEED FUNCTION

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G84, G88 (Tapping cycle)

Spindle stop

Spindle stop, M

Spindle stop

Spindle CW

Initial point

R point

Z(X) point

Motion 1

Motion 2

Motion 3

Motion 4

Motion 5

Motion 6

G84 (G88) (G98 mode)

Spindle stop

Spindle CW

Spindle CCW

Initial point

R point

Z(X) point

Motion 1

Motion 2

Motion 3

Motion 4

Motion 5

Spindle stop, M

, P

Rapid traverse
Cutting feed

Dwell specified by address P in the program

Dwell set by parameter No. 5111 (not performed in the FANUC Series 15 program format)

G84 (G88) (G99 mode)

Spindle CCW

Spindle stop

Output of an M code for C-axis clamping

Output of an M code for C-axis unclamping (

+1) (not performed in the FANUC Series 15

program format)

Supplement: P1, M

, M

, and P2, when not specified, are not executed and output.

CAUTION

For cutting feed along the Z(X)-axis and override in extraction, see Subsection
"Override".

NOTE

G code system A does not include G98 (return to initial level) and G99 (return to
R point level). Return to the initial level is always used.

10.13.13

Position Control Loop Gain Parameter Switching

In rigid tapping, the position control loop gain of the drilling axis must match that of the spindle.
Specifically, change the position control loop gain of the drilling axis at the following timings:
(1) A change from a position control loop gain for normal operation to a position control loop gain for

rigid tapping must be made when the cutting along the drilling axis is started (when motion 3 is
started).

(2) A change from a position control loop gain for rigid tapping to a position control loop gain for

normal operation must be made when the operation after the completion of extraction along the
drilling axis is started (when motion 6 is started).

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10. SPINDLE SPEED FUNCTION

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While a position control loop gain for rigid tapping is selected, the parameters dedicated to rigid tapping
are used for the following parameters for the drilling axis:
(1) In-position width

(Parameters Nos.5300, 5302, 5304, and 5306)

(2) Position deviation limit during stop

(Parameters Nos.5312, 5352, 5356, and 5360)

(3) Position deviation limit during travel

(Parameters Nos.5310, 5350, 5354, and 5358)

The above parameters dedicated to rigid tapping are usually used to specify the in-position width at the R
point for motion 2. However, an ordinary parameter No. 1826 can be selected by using bit 4 (IRR) of
parameter No. 5202.

NOTE

If bit 5 (NCI) of parameter No. 1601 is set to 1, no in-position check is made at
the R point for motion 2 except when bit 1 (RIP) of parameter No. 5209 is set to
1.

Z axis feed

Rapid traverse

Motion 1

Motion 2

Motion 3

Motion 5

Z point

R point

Motion 4

Motion 6

Initial point

Dwell

1) As in-position width parameters:

Ordinary parameters are used.

Parameters for rigid tapping are used.

2) As parameters for position deviation limits during stop:

Ordinary parameters are used.

Parameters for rigid tapping are used.

3) As parameters for position deviation limits during travel:

Ordinary parameters are used.

Parameters for rigid tapping are used.

10.13.14

Signal

10.13.14.1

Signals for the rigid tapping function

Rigid tapping signal RGTAP<Gn061.0>

[Classification] Input signal

[Function] When M29 (miscellaneous function for preparation for rigid tapping) is specified, the

PMC enters rigid tapping mode, then turns on this signal to notify the CNC.
1 : The PMC enters in rigid tapping mode.
0 : The PMC does not enter rigid tapping mode.
For an explanation of placing the PMC in rigid tapping mode, see the description of the
interface with the PMC, given later.

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