FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 212

10. SPINDLE SPEED FUNCTION

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This signal posts whether the PMC has entered rigid tapping mode. If this signal is not set
to 1, even when M29 is specified, alarm (PS0205) "RIGID MODE DI SIGNAL OFF" is
issued in a G84/G74(machining center system) or G84/G88(lathe system) block.

Spindle rotation direction signals RGSPM,RGSPP<Fn065.1,0>

[Classification] Output signal

[Function] During rigid tapping, these signals notify the PMC of whether the spindle is rotating in

the forward or reverse direction.

→

During rigid tapping, the spindle is:

RGSPP 1 : Rotating in the forward direction (CW).

0 : Not rotating in the forward direction (CW).

RGSPM 1 : Rotating in the reverse direction (CCW).

0 : Not rotating in the reverse direction (CCW).

[Output cond.] These signals are output when the spindle is rotating in rigid tapping mode. This means

that, even in rigid tapping mode, these signals are not output, for example, when the
spindle is being positioned to a hole position, or a dwell operation is in progress at the
bottom of a hole or at an R point.
These signals are not output in the feed hold state or single block stop state. When the
spindle is placed in the interlock stop state, machine lock state, or Z-axis ignore state,
however, the spindle is not regarded as having stopped; these signals are output.
These signals are valid only in rigid tapping mode. In normal spindle control, these
signals are not output; both RGSPP and RGSPM are set to 0.

Rigid tapping in-progress signal RTAP<Fn076.3>

[Classification] Output signal

[Function] This signal notifies the PMC that rigid tapping mode is active.

RTAP 1 : Rigid tapping mode is currently active.

0 : Rigid tapping mode is not currently active.
By latching M29, the PMC knows that rigid tapping mode has been specified, and thus
performs the required processing on the PMC side. This signal can substitute for the
latching of M29. Even in this case, however, FIN for M29 cannot be omitted.

10.13.14.2

Signals related to S code output

Spindle enable signal ENB<Fn001.4>

[Classification] Output signal

[Function] This signal post whether the spindle output is 0. In rigid tapping mode, this signal is used

to cancel rigid tapping in a PMC sequence associated with rigid tapping. For details, see
the explanation of the interface with the PMC, given later.

Spindle-speed function code signals (binary output) S00 to S31<Fn022 to Fn025>
Spindle-speed function strobe signals SF<Fn007.2>

[Classification] Output signal

[Function] These signals send S codes specified for the CNC, in binary format, to the PMC.

[Output cond.] When an S code is specified, the specified value is output, in binary format, with these

signals. When the new spindle speed data is fully set, the SF signal is set to 1.
Before rigid tapping can be performed, however, parameter setting is required to output
these signals, as described below.

Machining center system :

SF output depends on the gear selection method, as described below.
[1] M-type gear selection method

SF output depends on bit 6 (SFA) of parameter No. 3705.

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[2] T-type gear selection method

SF output depends on the setting of bit 5 (NSF) of parameter No. 3705.

Lathe system :

The following parameter needs to be set to output S codes and SF:

Bit 4 (EVS) of parameter No. 3705 is set to 1

In rigid tapping, when SF is to be used by the PMC to read an S code output signal for
gear switching or output switching, set the above parameters as required.

NOTE

1 The timing charts, given later, give examples of gear switching by

setting the parameters as follows:
Machining center system : SFA=0,NSF=0
Lathe system : EVS=1

2 When the constant surface speed control function is being used, an

S code (specifying a surface speed) used for constant surface
control (G96) is output. Such an S code can be distinguished from
an S code used for specifying a rotation speed. One method is to
use, for example, the constant surface speed control in-progress
signal <F002.2> for the processing performed on the PMC side.
Another method is to mask the S code and SF signal, output by
setting bit 0 (ESF) of parameter No. 3705.

10.13.14.3

Signals related to gear switching

Gear selection signals (output) GR3O,GR2O,GR1O<Fn034.2,1,0>

[Classification] Output signal

[Operation] When M-type gear selection is being used, these signals are used in a PMC sequence for

rigid tapping.
The signals post, to the PMC, information about a spindle gear to be used, according to
the value of S_ specified at the execution of G84 (G74).
When gear switching becomes necessary, the states of the signals change together with
the SF signal.
The PMC should perform gear switching according to the information posted by the gear
selection signals.
Reference information:

The table below indicates the relationship between the output signals and gear
selection.

GR3O

GR2O

GR1O

1st (low) speed gear

2nd (medium) speed gear

3rd (high) speed gear

Gear selection signals (input) GR2,GR1<Gn028.2,1>

[Classification] Input signal

[Operation] When T-type gear selection is being used, these signals are used in a PMC sequence for

rigid tapping.
The signals post, to the CNC, information about a spindle gear to be used.
Reference information:

The table below shows the relationship between the output signals and spindle gear
selection.

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GR1

GR2

1st (low) speed gear

2nd (medium) speed gear

3rd (high) speed gear

4th (high) speed gear

The serial spindle clutch/gear selection signals <G070.3,2> must be set in addition to the
setting of the gear selection signal described above.

NOTE

In machining center system rigid tapping, the specification of the
4th (high) speed gear is invalid. If specified, the system assumes
that the 3rd (high) speed gear has been specified.

10.13.14.4

Signals related to the addition of multi-spindle control

Spindle enable signals ENB<Fn001.4>,ENB2,ENB3<Fn038.2,3>,ENB4<Fn039.1>

[Classification] Output signal

[Function] These signals post whether the spindle output to each spindle is 0 in multi-spindle control.

In rigid tapping mode, these signals are used to cancel rigid tapping in a PMC sequence
associated with rigid tapping.
For details, see the explanation of the interface with the PMC, given later.

Gear selection signals (input)

GR2,GR1<Gn028.2,1>,GR22,GR21<Gn029.1,0>,GR32,GR31<Gn029.3,2>,
GR42,GR41<Gn031.5,4>

[Classification] Input signal

[Operation] When the T-type gear selection method is employed in multi-spindle control, these

signals are used with a PMC sequence for rigid tapping.
The signals post, to the CNC, information about a spindle gear to be used.
Reference information:

The table below shows the relationship between the output signals and spindle gear
selection.

GRs1

GRs2

1st (low) speed gear

2nd (medium) speed gear

3rd (high) speed gear

4th (high) speed gear

(s is -, 2, 3, or 4.)

The serial spindle clutch/gear selection signals (G070.3,2 for the first spindle, G074.3,2
for the second spindle, G204.3,2 for the third spindle, and G266.3,2 for the fourth
spindle) must be set in addition to the setting of the gear selection signal described above.

NOTE

In machining center system rigid tapping, the specification of the
4th (high) speed gear is invalid. If specified, the system assumes
that the 3rd (high) speed gear has been specified.

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Spindle selection signals

SWS1<Gn027.0>,SWS2<Gn027.1>,SWS3<Gn027.2>,SWS4<Gn026.3>

Rigid tapping spindle selection signals

RGTSP1<Gn061.4>,RGTSP2<Gn061.5>,RGTSP3<Gn061.6>,RGTSP4<Gn061.7>

[Classification] Input signal

[Operation] SWS1 to SWS4 are used to transfer spindle commands when the multi-spindle control is

enabled (bit 3 (MSP) of parameter No.8133 is 1). In rigid tapping, the signals can be
shared to select a spindle to be used for rigid tapping. (The signals can be used for this
purpose when bit 7 (SRS) of parameter No. 5200 is set to 0.)
RGTSP1, RGTSP2, RGTSP3, and RGTSP4 are used to select a spindle used for rigid
tapping, independently of the SWS1 to SWS4 signals, when the multi-spindle control is
enabled (bit 3 (MSP) of parameter No.8133 is 1). (The signals can be used when bit 7
(SRS) of parameter No. 5200 is set to 1. These signals are supported only by the lathe
system.)
See the tables below for details of the settings of these signals.
When bit 7 (SRS) of parameter No. 5200 is set to 0, to select a spindle to be used for rigid
tapping, set the signals as indicated below.

Spindle used for rigid tapping

Signal state

SWS1

SWS2

SWS3

SWS4

First spindle

"1"

"0"

Second spindle

"0"

"1"

"0"

Third spindle

"0"

"1"

"0"

Fourth spindle

"0"

"1"

Alarm PS0205 is issued.

"0"

When bit 7 (SRS) of parameter No. 5200 is set to 1, to select a spindle to be used for rigid
tapping, set the signals as indicated below.

Spindle used for rigid tapping

Signal state

RGTSP1

RGTSP2

RGTSP3

RGTSP4

First spindle

"1"

"0"

Second spindle

"0"

"1"

"0"

Third spindle

"0"

"1"

"0"

Fourth spindle

"0"

"1"

Alarm PS0205 is issued.

"0"

NOTE

1 These signals must be applied before the command for rigid

tapping (M29 S....; G84 X...) is specified. The states of these
signals must not be changed before rigid tapping has been
completed.

2 When multiple signals from SWS1 to SWS4 are set to "1"

simultaneously, the signals are checked in the order from SWS1 to
SWS2 to SWS3 to SWS4, and the spindle corresponding to the
signal that is first found to be set to "1" is assumed to be specified.

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NOTE

3 Similarly, when multiple signals from RGTSP1 to RGTSP4 are set

to "1" simultaneously, the signals are checked in the order from
RGTSP1 to RGTSP2 to RGTSP3 to RGTSP4, and the spindle
corresponding to the signal that is first found to be set to "1" is
assumed to be specified.

Spindle-by-spindle stop

signals*SSTP1<Gn027.3>,*SSTP2<Gn027.4>,*SSTP3<Gn027.5>,
*SSTP4<Gn026.6>

[Classification] Input signal

[Operation] These signals are used to stop each spindle when the multi-spindle control option is

enabled (bit 3 (MSP) of parameter No.8133 is 1). In a PMC sequence for rigid tapping,
the ENB1, ENB2, ENB3 and ENB4 signals are used. Accordingly, the logic of the signals
used for a spindle selected to perform rigid tapping must match the logic of the spindle
stop signal *SSTPs.

*SSTP1 1 : The output to the first spindle is not forced to 0 min

-1

0 : 0 min

-1

is commanded to first spindle.

*SSTP2 1 : The output to the second spindle is not forced to 0 min

-1

0 : 0 min

-1

is commanded to second spindle.

*SSTP3 1 : The output to the third spindle is not forced to 0 min

-1

0 : 0 min

-1

is commanded to third spindle.

*SSTP4 1 : The output to the fourth spindle is not forced to 0 min

-1

0 : 0 min

-1

is commanded to fourth spindle.

Position coder selection signal

PC2SLC<Gn028.7>,PC3SLC<Gn026.0>,PC4SLC<Gn026.1>

[Classification] Input signal

[Operation] This signal is used to select the position coder when the multi-spindle control option is

enabled (bit 3 (MSP) of parameter No.8133 is 1). Note, however, that it cannot be used
with a spindle selected to perform rigid tapping.
For rigid tapping, this signal is not used. Instead, a position loop is constructed by
combining the first spindle with the first position coder, by combining the second spindle
with the second position coder, by combining the third spindle with the third position
coder, or by combining the fourth spindle with the fourth position coder.
However, the display of the actual speed is switched by this signal, even during rigid
tapping.

Signal address

Gn026

*SSTP4

SWS4

PC4SLC

PC3SLC

Gn027

*SSPT3

*SSTP2

*SSTP1

SWS3

SWS2

SWS1

Gn028

PC2SLC

GR2

GR1

Gn029

*SSTP

GR32

GR31

GR22

GR21

Gn031

GR42

GR41

Gn061

RGTSP4

RGTSP3

RGTSP2

RGTSP1

RGTAP

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Fn001

ENB

Fn007

Fn034

GR3O

GR2O

GR1O

Fn022

S07

S06

S05

S04

S03

S02

S01

S00

Fn023

S15

S14

S13

S12

S11

S10

S09

S08

Fn024

S23

S22

S21

S20

S19

S18

S17

S16

Fn025

S31

S30

S29

S28

S27

S26

S25

S24

Fn038

ENB3

ENB2

Fn039

ENB4

Fn065

RGSPM

RGSPP

Fn076

RTAP

10.13.14.5

Notes on interface with the PMC

The following describes some notes in designing the interface with the PMC. Refer to the following
timing chart about ON/OFF of signals.

Rigid tapping mode management and ENB (ENB2,ENB3,ENB4)

The PMC must manage rigid tapping mode as follows: rigid tapping mode is set using M29, and is
canceled upon the issue of a reset or at the falling edge of the spindle enable signal ENB in rigid tapping
mode. ENB is used during rigid tapping in this way, so the spindle stop signal *SSTP must not be set to
"0".
However, the spindle orientation function (*SSTP and SOR) may be used for gear switching. To do so,
ensure that the PMC does not cancel rigid tapping mode on a falling edge of ENB while *SSTP is "0".
Rigid tapping mode may be set on a rising edge of the RTAP signal instead of by using M29, and
canceled on a falling edge of the RTAP signal instead of the ENB signal. In rigid tapping under multi
-spindle control, use the spindle enable signal ENBs for the spindle engaged in rigid tapping to exercise
control.

Controlling spindle output by the PMC

When the SIND signal is set to "1", spindle output is controlled by the signals (SSIN, SGN, R1I to R12I)
output from the PMC.
At this time, the effect of ENB is as described above. In addition, when rigid tapping mode is canceled in
a block containing G80;, the momentary rotation of the spindle, caused by a delay in the PMC processing,
can result. Accordingly, the PMC's control over spindle output must be disabled in rigid tapping mode by
setting SIND to "0".
In rigid tapping under multi-spindle control, ensure, for a similar reason, that in the rigid tapping mode,
PMC-based control is disabled (SINDs = "0") for the spindle used for rigid tapping.

T-type gear selection method

When T-type gear selection is used, the PMC must determine whether gear switching is to be performed,
and subsequently perform gear switching as required. For this purpose, each time a spindle-speed
function code is specified, the spindle-speed function code read signal (SF) and spindle-speed function
code signals (S00 to S31) must be output to the PMC. The required parameter settings are described
below.

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Machining center system :

Set bit 5 (NSF) of parameter No. 3705 to 0 to output SF.

Lathe system :

Set bit 4 (EVS) of parameter No. 3705 to 1 to output SF.

Gear switching timing

In general, a block containing M29 (miscellaneous function for preparation for rigid tapping) specifies S_,
S_ being output when a block containing G84/G74 (machining center system) or G84/G88 (lathe system)
is executed. This means that gear switching is performed in the block specifying G84 (G74).

When rigid tapping mode is specified

M29 (miscellaneous function for preparation for rigid tapping) and S_ specify rigid tapping mode. When
M29 is accepted by the PMC, the following processing must be performed:
-

Stop the spindle when it is rotating.

Check speed zero signal SSTs if the spindle has been stopped, then set "1" to rigid tapping signal
RGTAP <Gn061.0>.

Activate the spindle motor. Activate the motor so that a positive speed command rotates the spindle
in the forward direction (CCW when viewed from the - side of the tapping axis).

Return FIN at least 250 ms after activation.

NOTE

The condition "at least 250 ms after activation" results from there being no way
of checking the completion of spindle motor activation. Therefore, this wait
period serves as an alternative. The time required for activation to be completed
varies with the spindle motor and amplifier. Therefore, this value of 250 ms is
given as a guideline only.

In an M29 block, S_ is not executed, merely being read in. Spindle output is equivalent to the
specification of S0. S_ is executed in a G84/G74 (machining center system) or G84/G88 (lathe system
block). The timing chart is shown in the chart indicating the execution of G84/G74 or G84/G88.

Execution of G84/G74 (machining center system) or G84/G88 (lathe system
block)

When M29S_; is specified, S_ is read in, spindle output being equivalent to the specification of S0;. S_ is
output when G84/G74 (machining center system) or G84/G88 (lathe system block) is executed. Thus, the
processing described below is performed.

When M-type gear selection is used

When using a machine that features multiple gear stages for use with the spindle motor and spindle, and
the newly programmed S_ is outside the previously selected gear range, the spindle-speed function strobe
signal SF <F007.2> and gear selection signals (output) GR3O, GR2O, GR1O <F034.2, 1, 0> are output to
the PMC.
At this time, perform gear switching at the PMC.

When T-type gear selection is used

The spindle-speed function strobe signal SF <F007.2> and spindle-speed function code signals S00 to
S31 <F022 to F025> are output to the PMC. (However, parameter setting is required to enable output of
the S codes and SF signal. See the description of each bit of parameter No. 3705.)
At this time, the PMC must determine whether gear switching is to be performed, and perform gear
switching as required. The selected gear must be reflected in the gear selection signals (input) GR2 and
GR1 <G028.2, 1> for notification to the CNC.
From GR2 and GR1, the CNC determines which gear is selected.
However, note the difference between the machining center system and lathe system, as described below.
-

Machining center system :

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Up to three gear stages are supported. If the fourth gear stage is selected, it is assumed that the third
gear stage is selected.

Lathe system :

Up to four gear stages are supported.

(A gear selection is posted to the CNC with the gear selection signal for each spindle.)

C-axis clamp/unclamp

When an M code for C-axis clamping is specified in a block specifying G84/G88, the M codes for C-axis
clamping/unclamping are output at the following timings:
-

The M code for clamping is output at the time of rapid traverse to the R point level (motion 2).
When FIN is returned, tapping (motion 3) starts.

After extraction from the hole bottom to the R point level (motion 5), the M code for unclamping is
output. When FIN is returned, dwell or rapid traverse to the initial level (motion 6) starts.

The rigid tapping mode can be specified in three different methods. One method specifies M29 before
G84. The second method specifies M29 and G84 in the same block. The third method uses G84 as a rigid
tapping G code. In any method, however, PMC processing is the same. (In any case, the M29 code is
output.)

10.13.15

Timing Charts for Rigid Tapping Specification

The timing chart for rigid tapping specification depends on the method used to specify rigid tapping mode,
the gear selection method (M-type or T-type), and whether to perform gear switching.
From the table, find the appropriate timing chart and apply the information it contains as necessary.

Gear selection

method

M-type

T-type

Gear switching

Specification method

M29 is specified
before G84/G74.

M29 and G84/G74

are specified in the

same block.

By parameter setting,

G84/G74 is specified as a G

code for rigid tapping.

M-type

Not performed

Fig. 10.13.15.1 (a)

Fig. 10.13.15.2 (a)

Fig. 10.13.15.3 (a)

Performed

Fig. 10.13.15.1 (b)

Fig. 10.13.15.2 (b)

Fig. 10.13.15.3 (b)

T-type

Not performed

Fig. 10.13.15.1 (c)

Fig. 10.13.15.2 (c)

Fig. 10.13.15.3 (c)

Performed

Fig. 10.13.15.1 (d)

Fig. 10.13.15.2 (d)

Fig. 10.13.15.3 (d)

Gear switching

Specification method

M29 is specified
before G84/G88.

M29 and G84/G88 are

specified in the same block.

By parameter setting, G84/G88 is

specified as a G code for rigid tapping.

Not performed

Fig. 10.13.15.4 (a)

Fig. 10.13.15.5 (a)

Fig. 10.13.15.6 (a)

Performed

Fig. 10.13.15.4 (b)

Fig. 10.13.15.5 (b)

Fig. 10.13.15.6 (b)

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