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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 220

10. SPINDLE SPEED FUNCTION

B-64693EN-1/01

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Number

Message

Description

PS0203

PROGRAM MISS AT RIGID
TAPPING

(1) In the rigid tap, position for a rigid M code (M29) or an S

command is incorrect. Modify the program.

(2) FSSB high-speed rigid tapping cannot be used on the

rigid tapping with one servo motor and multiple spindle
motors by spindle command synchronous control.

(3) In FSSB high-speed rigid tapping, parameter setting is

wrong (bits 1 and 2 of parameter No.2429, and bits 1 and
2 of parameter No.4549).

(4) In FSSB high-speed rigid tapping, parameter No.24204 is

wrong. Set the same index number of the spindle
synchronizing to three axes of 3-dimensional rigid
tapping.

PS0204

ILLEGAL AXIS OPERATION

In the rigid tap, an axis movement is specified between the
rigid M code (M29) block and G84 (or G74) block. Modify the
program.

PS0205

RIGID MODE DI SIGNAL OFF

(1) Although a rigid M code (M29) is specified in rigid

tapping, the rigid mode DI signal (Gn061.0) is not ON
during execution of the G84 (or G74) block. Check the
PMC ladder diagram to find the reason why the DI signal
is not turned on.

(2) In rigid tapping, no spindle has selected commands in

the path of interest. Alternatively, spindles in two or more
paths have selected commands in the same path. Check
the spindle command select signal.

(3) A spindle specified for rigid tapping is already being used

in another path.

(4) In a machine provided with the multi-spindle control, no

spindle has been selected for attempted rigid tapping.

(5) Rigid tapping command is issued to a spindle control axis

with servo motor in a path other than the command
issuing path.

PS0206

CAN NOT CHANGE PLANE (RIGID
TAP)

Plane changeover was instructed in the rigid mode. Modify
the program.

PS0207

RIGID DATA MISMATCH

The specified distance was too short or too long in rigid
tapping.

PS0564

ILLEGAL COMMAND OF SMART
RTAP

The command for Smart rigid tapping is illegal. The reason of
this alarm is in the followings.
-

The moving distance of feed axis is larger than 4096
times of screw pitch.

The used spindle software doesn’t support Smart rigid
tapping.

PS5560

ILLEGAL DEPTH OF CUT

On the peck rigid tapping, the depth of cut (Q) is smaller than
the cutting start distance (d).

SV0048

SMART RIGID TAPPING STOP

The excitation of servo motors is turned off because smart
rigid tapping is stopped. This alarm is accompanied by
spindle alarm.

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.

SV0417

ILL DGTL SERVO PARAMETER

A digital serve parameter setting is incorrect.

SP0740

RIGID TAP ALARM : EXCESS
ERROR

The positional deviation of the stopped spindle has exceeded
the set value of parameter No.5313 during rigid tapping.

B-64693EN-1/01

10. SPINDLE SPEED FUNCTION

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Number

Message

Description

SP0741

RIGID TAP ALARM : EXCESS
ERROR

(1) The positional deviation of the moving spindle has

exceeded the set value of parameter No.5311 during
rigid tapping.

(2) Rigid tapping synchronization error has exceeded the set

value of parameter No.5214.

SP0742

RIGID TAP ALARM : LSI OVERFLOW An LSI overflow has occurred for the spindle side during rigid

tapping.

SP0752

SPINDLE MODE CHANGE ERROR

The spindle is in a mode (such as Cs contour control or
spindle synchronous control) other than the spindle control
mode. When the "rigid tapping with spindle of another path"
function is used, the spindle to be used for rigid tapping must
be switched to the spindle control mode before the start of
rigid tapping.

PW0037

SV/SP COMBINATION ERROR

(1) The servo axis might be a setting of the dummy axis.

Check to see the parameters No.1023, bit 0 of No.2009,
and bit 4 of No.11802.

(2) The index number of spindle axis that synchronizes

servo axis is wrong.

Check to see the parameters bit 0 of No.3716, No.3717,
and No.24204.

(3) FSSB high-speed rigid tapping cannot be used with the

analog spindle or the spindle control with servo motor.

DS0092

SV/SP COMBINATION ERROR

1. The servo axis might be a setting of the dummy axis.

Check to see the parameters No.1023, bit 0 of No.2009,
and bit 4 of No.11802.

2. The index number of spindle axis that synchronizes servo

axis is wrong.. Check parameters (bit 0 of No.3716,
No.3717, No.24208).

3. One of the following functions is applied. Turn it off.

- Rigid tapping
- Servo/Spindle synchronous control
- Electronic gear box

10.13.19

Notes

Notes on spindles

Note

NOTE

1 A spindle pitch error is not compensated for in rigid tapping mode.
2 The limits to the number of pulses assigned to each spindle are as follows

(displayed with diagnosis data No. 0451):

- Serial spindle: 32767 pulses every 8 msec
- Analog spindle: 4095 pulses every 8 msec

These values vary with the position coder gear ratio setting and rigid tapping
specification. If a value greater than the maximum allowable number is specified,
an alarm PS0202 is issued.

3 If rigid tapping is commanded during constant surface speed control, alarm

PS0200, ”ILLEGAL S CODE COMMAND” is issued. Command rigid tapping
after canceling constant surface speed control.

10. SPINDLE SPEED FUNCTION

B-64693EN-1/01

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Other cautions

CAUTION

1 When the spindle orientation function is to be used at the same time

The spindle orientation function positions the spindle by using sensors and the
PMC, without being directly controlled by the CNC.

The CNC has no direct control over this processing, instead following the
specifications of the spindle orientation function being used.

2 When the spindle positioning function is to be used at the same time

When the spindle positioning function is to be used together with rigid tapping,
rigid tapping mode must not be specified in spindle indexing mode, and spindle
indexing mode must not be specified in rigid tapping mode. (Spindle positioning
and rigid tapping cannot be performed simultaneously for a single spindle.)

This is not applicable when multi-spindle control is used together and a spindle
used for spindle position indexing is different from a spindle used for rigid
tapping.

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10. SPINDLE SPEED FUNCTION

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CAUTION

3 When the Cs contouring control function is to be used at the same time

When the Cs contouring control function for the serial spindle is used together
with the rigid tapping function, the same motor is used for spindle rotation
control, Cs contouring control, and rigid tapping modes. The following points
must be noted:
(1) Whether to enter Cs contouring control mode or spindle rotation control mode

is selected by the CON (Cs contouring control switch signal) signal; however,
the system can enter rigid tapping mode regardless of the state of the CON
signal. When the rigid tapping mode is canceled the system enters spindle
rotation control mode or Cs contouring control mode according to the state of
the CON signal.

(2) Since the system can change to rigid tapping mode directly from the Cs

contouring control mode, use of the Cs contouring control function enables
the tapping tool to be positioned before rigid tapping begins. Accurate
positioning is not guaranteed. As a matter of course, if the rigid tapping cycle
executes gear change or output range changing, it becomes invalid when
losing the position of the spindle..

(3) Although the system can change to rigid tapping mode directly from Cs

contouring control mode, positions designated in Cs contouring control mode
are not preserved if rigid tapping mode is canceled by G80 etc. When the
system is changed to rigid tapping mode directly from Cs contouring control
mode and wanting to set Cs contouring control mode again, then returns to
the Cs contouring control mode, G00 or G28 must be issued to return to the
reference position.

(4) In systems with the serial spindle Cs contouring control function, the spindle

motor is in a state called servo mode when it is operating in rigid tapping
mode. In servo mode, it can accept jog feed and manual handle feed. To
prevent this, inhibit jog feed and manual handle feed of the Cs contouring
axis in the PMC logic during rigid tapping.

(5) The servo-off signal for the Cs contour control axis should be masked on the

PMC side during rigid tapping. It should be masked on the PMC side as
required.

(6) When multi-spindle control is used together and a spindle used for Cs

contour control is different from a spindle used for rigid tapping, rigid tapping
can be specified with one spindle while the other spindle is placed in the Cs
contour control mode.

(7) The Cs contour control axis cannot be a drilling axis. If it is specified as a

drilling axis, alarm PS0203 is issued.

4 Program restart

The program cannot be restarted in a block placed in the rigid tapping mode.
(The program cannot be restarted in blocks between an M29 command and G80
command.)

5 Specification of multiple M codes in one block

Specify an M code for specifying the rigid tapping mode as an independent M
code. (Multiple M codes must not be specified in one block.)

6 Positioning by optimum accelerations

Positioning by optimum accelerations is disabled during rigid tapping.

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B-64693EN-1/01

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Position control loop gain switching and serial spindle parameters

In rigid tapping, the loop gain of the drilling axis is switched so that the loop gains for position control of
the drilling axis and spindle match each other.
This switching processing is specified by parameters Nos. 5281 to 5284.
The spindle loop gain depends on the setting of serial spindle parameters and the input gear signals
(CTH2, CTH1).
So, in order to perform rigid tapping with a serial spindle, the position control loop gain of the spindle
must be set in the parameters for the serial spindle used for rigid tapping.
When multi-spindle control is used, a spindle other than the first spindle can be used for rigid tapping. So,
set the parameters below for the serial spindle used for rigid tapping.
The parameters indicated below are the major serial spindle parameters required for the setting and
adjustment needed to use a serial spindle.
For details of the serial spindle parameters, refer to the "FANUC AC SPINDLE MOTOR

B / β

-B

series DESCRIPTIONS (B-65452EN)" or "FANUC AC SPINDLE MOTOR

series PARAMETER

MANUAL (B-65280EN)".

4044

Proportional gain of the velocity loop in servo mode (gear 1, gear 2)

4045

Proportional gain of the velocity loop in servo mode (gear 3, gear 4)

[Unit of data]

[Valid data range] 0 to 32767

Set a proportional gain for the velocity loop in a servo mode (such as rigid tapping
mode).

4052

Integral gain of the velocity loop in the servo mode (gear 1, gear 2)

4053

Integral gain of the velocity loop in the servo mode(gear 3, gear 4)

[Unit of data]

[Valid data range] 0 to 32767

Set an integral gain of the velocity loop in a servo mode (such as rigid tapping mode).

4065

Position gain in the servo mode (HIGH)

4066

Position gain in the servo mode (MEDIUM HIGH)

4067

Position gain in the servo mode (MEDIUM LOW)

4068

Position gain in the servo mode (LOW)

[Unit of data] 0.01sec

-1

[Valid data range] 0 to 65535

Set a servo loop gain in a servo mode (such as rigid tapping mode).

CAUTION

Set a loop gain for spindle position control in rigid tapping using a serial spindle.
In these parameters, basically, set the same values as those set in parameters
Nos. 5281 to 5284 (loop gains for position control of the tapping axis).

Which serial spindle parameter (i.e., loop gain) is actually used to operate the
spindle depends on the serial spindle clutch/gear selection signals CTH1 and
CTH2. Accordingly, which parameter is to be used must be determined by
considering the gear switching and PMC software.

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10. SPINDLE SPEED FUNCTION

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The table below indicates the relationship between the spindle gear selection signals and selected gear
numbers.

CTH1

CTH2

Gear selected

Parameter No. to be used

HIGH

4065

4044

4052

MIDEUM HIGH

4066

MIDEUM LOW

4067

4045

4053

LOW

4068

Reference item

Manual name

Item name

OPERATOR’S MANUAL (B-64694EN)

Rigid tapping

CONNECTION MANUAL (FUNCTION) (This manual)

Spindle speed control
Multi spindle control

FANUC SERVO AMPLIFIER

–B series

DESCRIPTIONS (B-65412EN)

Rigid tapping

FANUC AC SPINDLE MOTOR

series

PARAMETER MANUAL (B-65280EN)

Rigid tapping

Tuning way for FSSB High-speed Rigid Tapping

10.14

SPINDLE SYNCHRONOUS CONTROL

Overview

This function can exercise synchronous control on spindles. This function can also control the rotation
phase of spindles, so that not only a round rod but also a non-standard workpiece can be grasped by either
of two spindles.
A combination of a master spindle and slave spindle in spindle synchronous control can be selected
arbitrarily from spindles.

This function can be used with serial spindles.

Explanation

Synchronous-spindle configuration (when the one path system is used)

In spindle synchronous control, the spindle to which an S command is issued is called the master spindle.
A spindle which ignores any S command that is issued for it, instead rotating synchronously with the
master spindle, is called the slave spindle.

When the bit 4 (SSS) of parameter No.3704 is set to 0
The configuration of synchronized spindles is as follows:

Master spindle

Slave spindle

First spindle

Second spindle

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Spindle
S1

CNC

Spindle
S2

Spindle
S3

Spindle
S4

Master spindle with which slave spindle is synchronized

When the bit 4 (SSS) of parameter No. 3704 is se to 1
Which slave spindle is synchronized with which master spindle is set using parameter No. 4831.

Master spindle

Slave spindle

Arbitrary spindle

When four spindles are involved, two combinations of spindles can be formed for spindle
synchronization.
Example)

Two combinations are possible: first spindle (master spindle)/second spindle (slave spindle)
and third spindle (master spindle)/fourth spindle (slave spindle).

Spindle
S1

CNC

Spindle
S2

Spindle
S3

Spindle
S4

Master spindle with which slave spindle is synchronized

Multiple slave spindles can be synchronized with one master spindle.
Example)

A combination of first spindle (master spindle)/second, third, and fourth spindles (slave
spindles) is possible.

Spindle
S1

CNC

Spindle
S2

Spindle
S3

Spindle
S4

Master spindle with which slave spindle is synchronized

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NOTE

1 A combination that uses a slave spindle as a master spindle is not allowed.
2 When multiple slave spindles are configured for synchronous control, a

restriction is imposed on phase matching operation. See the description of the
spindle phase synchronization control signal.

Configuration of synchronized spindles (in a multi-path system)

•

When the bit 4 (SSS) of parameter No.3704 is set to 0

The configuration of synchronized spindles is as follows:

Master spindle

Slave spindle

First spindle of each path

Second spindle of each path

Path 1

Path 2

Spindle S1
(S11)

Spindle S2
(S12)

Spindle S3
(S13)

Spindle S4
(S14)

Spindle S5
(S21)

Spindle S6
(S22)

Master spindle with which slave spindle is synchronized

•

When the bit 4 (SSS) of parameter No.3704 is set to 1

Spindle synchronization can be performed by combining arbitrary spindles.

Which slave spindle is synchronized with which master spindle is set using parameter No.
4831/4832.

Master spindle

Slave spindle

Arbitrary spindle of each path

Set a master spindle for each slave in parameter No.4831.
As a master spindle, set a spindle number in the same path as for a slave spindle.

By setting a logic spindle number common to the system in parameter No.4832, such spindle
synchronization that an arbitrary spindle belonging to a different path is used as a master spindle can be
exercised.
The spindle number of a master spindle to be set is a logic spindle number common to the system. In this
case, set 0 in parameter No.4831 for all.
For the path to which a slave spindle belongs and the path to which a master spindle belongs, bit 4 (SSS)
of parameter No.3704 needs to be set to 1 (to enable spindle synchronization using arbitrary axes).

Example of parameter setting)
Spindle configuration of each path
Six spindles (four spindles of path 1 + two spindles of path 2)

Logic spindle number common to system

Path number + intra-path spindle number

First spindle (S1)

First spindle of path 1 (S11)

Second spindle (S2)

Second spindle of path 1 (S12)

Third spindle (S3)

Third spindle of path 1 (S13)

Fourth spindle (S4)

Fourth spindle of path 1 (S14)

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