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

10. SPINDLE SPEED FUNCTION

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[Unit of data] min

-1

[Valid data range] 0 to 19999

The speed of the slave spindle under speed ratio control in spindle synchronization
control is clamped so that the speed does not exceed the value set in this parameter.

NOTE

1 This parameter is valid only when bit 2 (SBR) of parameter No.

7603 is set to 1.

2 When speed ratio control in spindle synchronization control is used,

be sure to set this parameter.

3 When 0 is set, the speed is clamped to 0, disabling rotation under

spindle synchronization.

Alarm and message

Number

Message

Description

PS0194

SPINDLE COMMAND IN
SYNCHRO-MODE

A Cs contour control mode, spindle positioning command, or rigid
tapping mode was specified during the spindle synchronous control
mode or spindle command synchronous control mode.

Caution

CAUTION

1 Phase error monitor signal SYCAL is used for monitoring a phase shift in spindle

synchronous control. The processing performed when a phase shift is detected
depends on the specifications determined by the machine tool builder.

2 A gear ratio of 1:1 only is allowed between the spindle and position coder.
3 A CNC system restriction is imposed on the maximum number of spindles.

Reference item

For details of the parameters Nos.4000 to 4539, signals, and alarms for the serial spindle control unit,
refer to the manuals related to serial spindles listed below.
FANUC AC SPINDLE MOTOR

series PARAMETER MANUAL (B-65280EN)

10.14.1

Arbitrary Spindle Position Phase Synchronization Function

Overview

In spindle synchronous control, when workpiece whose cross section is non-circular is gripped between
master spindle and slave spindle, phase of master and slave has to be synchronized. In order to
synchronize the phase of master spindle and slave spindle by spindle phase synchronous control so far,
phase difference between master spindle and slave spindle has to measure by hand, and set to parameter.
This function can detect master and slave spindle position automatically by setting DI signal, and save
spindle positions to parameters. In spindle phase synchronous control, phase can synchronize by loading
saved spindle positions. Therefore, setup time for spindle phase synchronous control can be shortened.
Besides, master and slave spindle position can save up to 4 pairs. DI signal can select which of spindle
position pairs will be loaded. Therefore, plural non-circular workpieces can be applied.
This function can use with serial spindles.

Explanation

Save of spindle position

In order to grip workpiece whose cross section is non-circular between master spindle and slave spindle,
master and slave spindle positions are detected automatically, and saved to parameters Nos.4840 to 4843.

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Master and slave spindle position can save up to 4 pairs. Master and slave spindle position are saved to
parameters Nos.4840 to 4843 by the following procedure.

(1) Detect one-rotation signal of both master spindle and slave spindle beforehand. Check whether

one-rotation signal has been detected or not by position coder one-rotation signal detection status
signal PC1DT <Fn047.0, Fn051.0, Fn170.0, Fn268.0>.

(2)  Command “S0 ;” to both master spindle and slave spindle so as not to rotate spindles.
(3)  Turn off excitation of master spindle and slave spindle.
(4)  Set a workpiece whose cross section is non-circular with master spindle and slave spindle.
(5)  Turn on excitation of master spindle and slave spindle.
(6)  Set spindle position save start signal SPMST1 to SPMST4 <Gn587.0 to Gn587.3> of slave spindle

to “1”. Spindle position can save whether the spindle is stopping or rotating. If spindle position is
saved during rotating spindles by spindle synchronous control, set spindle position save start signal
SPMST1 to SPMST4 <Gn587.0 to Gn587.3> to “1” after having become spindle synchronous speed
control completion signal FSPSY <Fn044.2> (or <Fn288.0 to Fn288.3>) “1”.

(7) When spindle position save start signal SPMST1 to SPMST4 <Gn587.0 to Gn587.3>

is set from “0”

to “1”, position coder one-rotation signal detection status signals PC1DT <Fn047.0, Fn051.0,
Fn170.0, Fn268.0> of both master spindle and slave spindle are checked. If position coder
one-rotation signal detection status signal <Fn047.0, Fn051.0, Fn170.0, Fn268.0> of master spindle
or slave spindle is “0”, spindle position save error signal SPMER1 to SPMER4 <Fn577.4 to
Fn577.7> becomes “1” because spindle position cannot be detected.

(8) When spindle position save start signal SPMST1 to SPMST4 <Gn587.0 to Gn587.3> is set from “0”

to “1”, spindle position saving parameter Nos.4840 to No.4843 is selected by setting spindle position
save selection signal SMSL11 to SMSL14 <Gn588.0 to Gn588.3>, SMSL21 to SMSL24 <Gn588.4
to Gn588.7> of slave spindle.

(9) Spindle positions of both master spindle and slave spindle are saved to parameter selected by (8),

and spindle position save completion signal SPMFN1 to SPMFN4 <Fn577.0 to Fn577.3> of slave
spindle becomes “1”. Besides, one of bit 0 to 3 (SM1 to SM4) of parameter No.4803 becomes 1.

Table 10.14.1 (a) Relationship between spindle position save selection signal and spindle position saving

parameter

spindle position

saving parameter

parameter notifying

spindle position save

is completed or not

Spindle position save selection signal

SMSL21 toSMSL24

<Gn588.4 toGn588.7>

SMSL11 toSMSL14

<Gn588.0 to Gn588.3>

No.4840

No.4803#0

No.4841

No.4803#1

No.4842

No.4803#2

No.4843

No.4803#3

(10) Set spindle position save start signal SPMST1 to SPMST4 <Gn587.0 to Gn587.3> to “0” after

having become spindle position save completion signal SPMFN1 to SPMFN4 <Fn577.0 to
Fn577.3> “0”.

(11) If spindle position save start signal SPMST1 to SPMFN4 <Fn577.0 to Fn577.3> is set to “0”,

spindle position save completion signal SPMFN1 to SPMFN4 <Fn577.0 to Fn577.3> becomes “0”.

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(7)

(8)

spindle position save start signal
SPMST1 to SPMST4
<Gn587.0 to Gn587.3>

position coder one-rotation signal
detection status signal
PC1DT
<Fn047.0, Fn051.0, Fn170.0, Fn268.0>

spindle position save error signal
SPMER1 to SPMER4
<Fn577.4 to Fn577.7>

spindle position save
selection signal
SMSL11 to SMSL14
<Gn588.0 to Gn588.3>
SMSL21 to SMSL24
<Gn588.4 to Gn588.7>

parameter saving

spindle position save
completion signal
SPMFN1 to SPMFN4
<Fn577.0 to Fn577.3>

(6)

(10)

(11)

(9)

Fig.10.14.1 (a) Spindle position save

NOTE

Set bit 0 to 3 (SM1 to SM4) of parameter No.4803 to 0 if spindle position has to
be saved again, for example, motor or detector is exchanged, parameter file of
other machine is inputted, and so on.

Spindle position save error signal SPMER1 to SPMER4 <Fn577.4 to Fn577.7> of slave spindle becomes
“1” in the following cases, because spindle position cannot be saved.
-

Position coder one-rotation signal detection status signal PC1DT<Fn047.0, Fn051.0, Fn170.0,
Fn268.0> of master spindle or slave spindle is ”0”.

Spindle position save start signal SPMST1 to SPMST4 <Gn587.0 to Gn587.3> is set to “0” before
having become spindle position save completion signal SPMFN1 to SPMFN4 <Fn577.0 to Fn577.3>
“1”.

Spindle position save to a parameter cannot be completed correctly.

Spindle positions save start signal SPMST1 to SPMST4 <Gn587.0 to Gn587.3> of a slave spindle is
set to “1” during saving spindle position of other master-slave pair (in the case of plural slave
spindles for master spindle).

If spindle position save error signal SPMER1 to SPMER4 <Fn577.4 to Fn577.7> becomes “1”, bit 0 to 3
(SM1 to SM4) of parameter No.4803 corresponding to bit position of the signal becomes 1. If spindle
position save error signal SPMER1 to SPMER4 <Fn577.4 to Fn577.7> becomes “1”, spindle position
save start signal SPMST1 to SPMST4 <Gn587.0 to Gn587.3> has to be set to “0”. If spindle position save
start signal SPMST1 to SPMST4 <Gn587.0 to Gn587.3> is set to “1” again, spindle position save error
signal SPMER1 to SPMER4 <Fn577.4 to Fn577.7> becomes “0”.

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spindle position save start signal
SPMST1 to SPMST4
<Gn587.0 to Gn587.3>

spindle position save error signal
SPMER1 to SPMER4
<Fn577.4 to Fn577.7>

position coder one-rotation
signal detection status signal
PC1DT
<Fn047.0, Fn051.0,
Fn170.0, Fn268.0>

Fig.10.14.1 (b) Example of becoming spindle position save error signal “1”

Arbitrary spindle position phase synchronous control

In spindle phase synchronous control, phase between master spindle and slave spindle is synchronized
based on parameter No.4034 (shift amount for spindle phase synchronous control). This function can use
spindle position saved to parameter Nos.4840 to 4843 as phase shift amount (The value of parameter
(No.4034) (shift amount for spindle phase synchronous control) is disabled for this function.). Up to 4
spindle positions can be memorized. Phase adjustment is performed for various non-standard workpieces.
If spindle phase synchronous control signal SPPHS <Gn038.3> (or <Gn289.0 to Gn289.3>) is set to “1”
with arbitrary spindle position phase synchronization control signal SPAPH1 to SPAPH4 <Gn587.4 to
Gn587.7> of slave spindle “1”, phase synchronization whose shift amount is parameter Nos.4840 to 4843
is started. Spindle position save selection signal SMSL11 to SMSL14 <Gn588.0 to Gn588.3>, SMSL21
to SMSL24 <Gn588.4 to Gn588.7> of slave spindle can select which of parameter Nos.4840 to 4843 will
be used. Relationship between spindle position save selection signal SMSL11 to SMSL14 <Gn588.0 to
Gn588.3>, SMSL21 to SMSL24 <Gn588.4 to Gn588.7> and parameter Nos.4840 to 4843 is shown at
Table 10.14.1 (a). If spindle position is not saved, and selected the pair of spindle position, alarm SP1256,
“SPINDLE PHASE-SYNC IMPOSSIBLE” is issued to master spindle and slave spindle when arbitrary
spindle position phase synchronous control is started. Bit 0 to 3 (SM1 to SM4) of parameter No.4803 of
slave spindle can check whether spindle position save has been completed or not.

NOTE

1 Set bit 0 to 3 (SM1 to SM4) of parameter No.4803 to 0 if spindle position has to

be saved again, for example, motor or detector is exchanged, parameter file of
other machine is inputted, and so on.

2 Set bit 0 to 3 (SM1 to SM4) of parameter No.4803 to 0 if the saved spindle

position (parameter Nos. 4840 to 4843) will not be used.

3 If bit 0 to 3 (SM1 to SM4) of parameter No.4803 is set to 1 by MDI unit or G10

command, alarm SP1256, “SPINDLE PHASE-SYNC IMPOSSIBLE” is not
issued. Don’t set bit 0 to 3 (SM1 to SM4) of parameter No.4803 to 1 by MDI unit
or G10 command, if spindle position of phase synchronization is not saved to
parameter Nos.4840 to 4843.

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spindle synchronous control signal
SPSYC
<Gn038.2>

arbitrary spindle position phase
synchronization control signal
SPAPH1 to SPAPH4
<Gn587.4 to Gn587.7>

spindle position save selection signal
SMSL11 to SMSL14
<Gn588.0 to Gn588.3>
SMSL21 to SMSL24
<Gn588.4 to Gn588.7>

spindle phase synchronization
control signal
SPPHS
<Gn038.3>

spindle phase synchronization control completion signal
FSPPH
<Fn044.3>

spindle synchronous speed control
completion signal
FSPSY
<Fn044.2>

Fig.10.14.1 (c) Arbitrary spindle position phase synchronous control

Limitation

Plural slave spindles

If there are plural slave spindles for master spindle, 3 or more spindles are synchronized as shown in
Fig.10.14.1 (d), this function cannot be used.

CNC

spindle
S1

Master spindle with which slave spindle is synchronized

spindle
S2

spindle
S3

spindle
S4

Fig.10.14.1 (d) Example of plural slave spindles

Spindle synchronous control for spindle control with servo motor

This function cannot be used for spindle synchronous control for spindle control with servo motor.

Signal

Spindle position save start signal SPMST1 to SPMST4 <Gn587.0 to Gn587.3>

[Classification] Input signal

[Function] Spindle position save is started.

[Operation] If this signal of slave spindle is set to “1”, spindle position save of both master spindle

and slave spindle is started.

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Spindle position save selection signal SMSL11 to SMSL14 <Gn588.0 to Gn588.3>
SMSL21 to SMSL24 <Gn588.4 to Gn588.7>

[Classification] Input signal

[Function] Parameter which saves spindle position is selected. Besides, parameter which is used as

phase shift amount for spindle phase synchronous control is selected.

[Operation] When spindle position save start signal SPMST is from “0” to “1”, parameter which saves

spindle position is selected by setting this signal of slave spindle as shown in Table 10.14
(b).

Table 10.14.1 (b) Relationship between spindle position save selection signal and spindle

position saving parameter

spindle

position saving

parameter

parameter notifying

spindle position save

is completed or not

Spindle position save selection signal

SMSL21 to SMSL24

<Gn588.4 to Gn588.7>

SMSL11 to SMSL14

<Gn588.0 to Gn588.3>

No.4840

No.4803#0

No.4841

No.4803#1

No.4842

No.4803#2

No.4843

No.4803#3

Besides, parameter which is used for spindle phase synchronous control with spindle
position memorized in the parameter as phase shift amount is selected as shown in Table
10.14 (b).

Arbitrary spindle position phase synchronization control signal
SPAPH1 to SPAPH4 <Gn587.4 to Gn587.7>

[Classification] Input signal

[Function] Spindle phase synchronous control whose phase shift amount is spindle position saved to

parameter is executed.

[Operation] If spindle phase synchronous control signal SPPHS is set to “1” with this signal of slave

spindle “1”, spindle phase synchronous control whose phase shift amount is spindle
position saved to parameter is started.

Spindle position save completion signal SPMFN1 to SPMFN4 <Fn577.0 to Fn577.3>

[Classification] Output signal

[Function] These signals notify whether spindle position save is completed or not.

[Output cond.] These signals become “1” under the following condition:

- Spindle position is saved to parameter.
These signals become “0” under the following condition:
-

Spindle position save is completed, and spindle position save start signal SPMST is
set to “0”.

Spindle position save is not executed.

Spindle position save error signal SPMER1 to SPMER4 <Fn577.4 to Fn577.7>

[Classification] Output signal

[Function] These signals notify the error of spindle position save to have occurred.

[Output cond.] These signals become “1” under the following condition:

Spindle position save is started when position coder one-rotation signal detection
status signal PC1DT of master spindle or slave spindle is “0”.

Spindle position save start signal SPMST is set to “0” before having become spindle
position save completion signal SPMFN “1”

Spindle position save cannot be completed correctly.

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Spindle positions save start signal SPMST1 to SPMST4 of a slave spindle is set to
“1” during saving spindle position of other master-slave pair (in the case of plural
slave spindles for master spindle).

These signals become “0” under the following condition:
-

Spindle position save start signal SPMST is set to “0” after having become spindle
position save error signal SPMER “1”, and spindle position save start signal SPMST
is set to “1” again.

Spindle position save is not executed.

Signal address

Gn587

SPAPH4

SPAPH3

SPAPH2

SPAPH1

SPMST4

SPMST3

SPMST2

SPMST1

Gn588

SMSL24

SMSL23

SMSL22

SMSL21

SMSL14

SMSL13

SMSL12

SMSL11

Fn577

SPMER4

SPMER3

SPMER2

SPMER1

SPMFN4

SPMFN3

SPMFN2

SPMFN1

Parameter

4803

SM4

SM3

SM2

SM1

[Input type] Parameter input

[Data type] Bit spindle

#0 SM1

Spindle position save to parameter No.4840 is:

Not completed.

Completed.

#1 SM2

Spindle position save to parameter No.4841 is:

Not completed.

Completed.

#2 SM3

Spindle position save to parameter No.4842 is:

Not completed.

Completed.

#3 SM4

Spindle position save to parameter No.4843 is:

Not completed.

Completed.

NOTE

Set bit 0 to 3 (SM1 to SM4) of parameter No.4803 to 0 if spindle
position has to be saved again, for example, motor or detector is
exchanged, parameter file of other machine is inputted, and so on.

4840

Spindle position 1 used as phase shift amount

4841

Spindle position 2 used as phase shift amount

4842

Spindle position 3 used as phase shift amount

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4843

Spindle position 4 used as phase shift amount

[Input type] Parameter input

[Data type] Word spindle

[Unit of data] Detection unit

[Valid data range] 0 to 4095

Spindle position is saved by CNC. Spindle phase synchronous control whose phase shift
amount is spindle position saved to this parameter can be executed.

Alarm and message

Number

Message

Description

SP1256

SPINDLE PHASE-SYNC
IMPOSSIBLE

Arbitrary spindle position phase synchronous control cannot
be executed. Save the spindle position.

10.15

SPINDLE ORIENTATION

Overview

This function stops the spindle at a specified position. The spindle can be stopped in either of the
following two ways.

-The spindle is stopped by applying a function of the spindle control unit.

-The spindle is stopped using mechanical stop.

Explanation

Using the spindle control unit

Some spindle control units can position the spindle motor by using sensors and position coders. The CNC
itself does not control positioning by using these units.

Mechanical stop

To mechanically stop the spindle by using, for example, a shot pin, rotate the spindle at a constant low
speed and drive the pin into the spindle. The spindle can be rotated at a low constant speed by applying
either of the following methods.
-

Spindle orientation signal SOR<Gn029.5>

Spindle output control by the PMC

Serial spindle orientation by a position coder

Two methods of serial interface spindle orientation are available:
-

Spindle orientation by a magnetic sensor

Spindle orientation by a position coder

Spindle orientation by a position coder is described below.

For the function of spindle orientation by a magnetic sensor, refer to "FANUC SPINDLE MOTOR

series PARAMETER MANUAL (B-65280EN)".

Two methods of spindle orientation by a position coder are available:
-

Orientation with the fixed stop position

Orientation with the stop position set externally

(1) Orientation with the fixed stop position: Bit 0 (ORT) of parameter No.3729 = 0

By inputting the spindle orientation command signal, the spindle can always be stopped at an
orientation stop position set beforehand with a parameter.

(2) Orientation with the stop position set externally: Bit 0 (ORT) of parameter No.3729 = 1

FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 223