FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 225

10. SPINDLE SPEED FUNCTION

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10.17

SPINDLE COMMAND SYNCHRONOUS CONTROL

Overview

Spindles can be synchronized with each other for control.
Two spindles can be combined, one as a master spindle and the other as a slave spindle, so that Cs
contouring control, rigid tapping, spindle positioning, and normal spindle rotation control can also be
used with the slave spindle under control by the master spindle.
A master spindle and slave spindle to be placed under spindle command synchronous control can be
freely selected from the first to fourth spindles.
Multiple combinations of a master spindle and slave spindle can be placed under spindle command
synchronous control.
This function can be used with serial spindles.

Unlike spindle synchronous control, spindle command synchronous control does not guarantee spindle
operation synchronization between a master spindle and slave spindle. Moreover, applicable spindle
functions differ.
The major differences from spindle synchronous control are indicated below.
For details, see also Section of "SPINDLE SYNCHRONOUS CONTROL".

Function

Spindle command

synchronous control

Spindle synchronous control

Combination

with other

spindle

functions

Spindle rotation control

∆

(Same speed command is

used.)

O(Synchronization/phase

matching is possible.)

Cs contour control

Rigid tapping

Spindle positioning

Synchronization of multiple combinations

Synchronization of multiple slave spindles

Parking function

Explanation

When the spindle command synchronous control signal ESRSYC<Gn064.6> (ESSYC1-ESSYC4
<Gn264.0>-<Gn264.3> when bit 5 (SSY) of parameter No.3704 is set to 1.) is input from the PMC, the
spindle command synchronous control mode is selected.

In spindle command synchronous control, a command for the master spindle also functions as a command
for the slave spindle.
The ordinary specification method for a master spindle can be used without modification in the spindle
rotation control mode, Cs contouring control mode, rigid tapping mode, and spindle positioning mode.

The parking function can stop each spindle under spindle command synchronous control.

Configuration of synchronized spindles

In spindle command synchronous control, a spindle that accepts an S command/move command is
referred to as a master spindle, and a spindle that ignores a command for itself and performs operation in
synchronism with the master spindle is referred to as a slave spindle.

When bit 5 (SSY) of parameter No.3704 is set to 0
The configuration of spindles placed under spindle command synchronous control is as follows:

Master spindle

Slave spindle

Spindle number

First spindle

Second spindle

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When bit 5 (SSY) of parameter No.3704 is set to 1
Which slave spindle is placed under spindle command synchronous control with which master spindle is
set using parameter No.4821.

Master spindle

Slave spindle

Spindle number

Second, third, or fourth spindle

First spindle

First, third, or fourth spindle

Second spindle

First, second, or fourth spindle

Third spindle

First, second, or third spindle

Fourth 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).

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

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

A combination that uses a slave spindle as a master spindle is not allowed.

Operation in each control mode

(1) Spindle rotation control mode

The slave spindle rotates upon the issue of the same command as that used for the master spindle.

The command does not specify the speed of the spindle, instead specifies the ratio of the spindle
motor speed to the maximum speed. So, only when the spindle unit configuration of master and
slave spindles (parameter settings for a maximum motor speed, motor-spindle gear ratio, and so
forth) is the same, the two spindles rotate at about the same speed. (However, the synchronous state
is not guaranteed.)

For details of spindle rotation control, see “SPINDLE SPEED CONTROL.”

(2) Cs contour control mode

When the Cs contouring control is used together, Cs contouring control on a slave spindle operating
in synchronism with the master spindle is possible. (Control independent of the master spindle is
impossible.)

A move command address and position are displayed only for the master spindle.

In reference position return operation, the two spindles are checked for reference position return
completion before the reference position return completion signal is turned “1”.

In spindle command synchronous control, switching between the spindle rotation control mode and
the Cs contouring control mode is possible.

For details of Cs contouring control, see "Cs CONTOUR CONTROL".

(3) Rigid tapping

When the rigid tapping is selected, the slave spindle supports rigid tapping under the control of a
rigid tapping command for the master spindle. (Rigid tapping for the slave spindle cannot be
performed independently of the master spindle.)

For details of rigid tapping, see “RIGID TAPPING.”

(4) Spindle positioning

When the spindle positioning is selected, the spindle positioning function for the slave spindle is
enabled under the control of a spindle positioning command for the master spindle. (The spindle
positioning function for the slave spindle cannot be used independently of the master spindle.)

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In the same way as with Cs contour axis control, the display of command address and position data
is limited to the master spindle. Operations such as orientation are performed in the same way as
usual. However, both spindles are checked for the completion of orientation, and the spindle
positioning sequence is processed only after the completion of positioning by both spindles has been
confirmed.

For details of spindle positioning, see “SPINDLE POSITIONING.”

Parking function

The parking function stops the rotation and movement of each of master and slave spindles placed in the
spindle command synchronous control mode, regardless of the spindle control mode (spindle rotation
control, Cs contouring control, rigid tapping, or spindle positioning).
In the parking state, the spindle is placed in the following state, depending on its mode:

Spindle rotation control mode:

Rotation is stopped in the same way as when S0 is specified.

Other modes:

Movement is stopped in the same way as in the case of no distribution pulse.

With a move command for positioning of a Cs contouring control axis or spindle in the parking state,
only the movement of the spindle in the parking state is stopped by updating the coordinate system.

Reference position return operation for a Cs contouring control axis and spindle orientation operation for
spindle positioning are disabled for a spindle placed in the parking state.
If reference position return operation in the Cs contouring control mode or spindle orientation in the
spindle positioning mode is specified with one spindle placed in the parking state, the reference position
return completion signal is turned “1” when the spindle not placed in the parking state has completed a
reference position return operation.

The parking function stops the movement of only a spindle that is placed in the parking state. So, the
parking function can be used, for example, to continue machining by stopping one spindle no longer
required or to perform Cs contouring control, rigid tapping, and spindle positioning with the slave spindle
by placing the master spindle in the parking state.

NOTE

1 In the spindle command synchronous control mode, the two spindles are

checked for a position error at all times, regardless of the parking state. The
excessive error alarm (SV0410 or others) is issued when a spindle has moved
due to a load from the position where the spindle was stopped by the parking
function.

2 The parking function stops the movement of only a spindle that is placed in the

parking state. So, if parking is applied to a spindle after a reference position
return operation or spindle orientation operation is once performed, the spindle
position is shifted from the machine coordinates. Until another reference position
return operation or spindle orientation operation is performed after parking is
canceled, the relationship between the spindle position and machine coordinates
is not guaranteed.

3 The parking signal becomes immediately valid in the spindle command

synchronous control mode. However, even if the parking signal is input during
reference position return operation in the Cs contouring control mode or during
spindle orientation operation in the spindle positioning mode, the reference
position return operation or spindle orientation operation continues until it is
completed. Parking starts immediately after completion of such an operation.

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NOTE

4 Do not specify a reference position return operation in the Cs contouring control

mode or a spindle orientation operation in the spindle positioning mode while the
two spindles are placed in the parking state. When the two spindles are placed in
the parking state, the reference position return operation cannot be completed.

5 When using parking signal PK7 or PK8 for spindle synchronous control while

both spindle command synchronous control and spindle synchronous control are
being used, set the SPK bit (bit 7 of parameter No.4800) to 1. This sets parking
signals PKESS1 and PKESS2, used for spindle command synchronous control,
to bits 6 and 7 of G031.

Simple spindle synchronization and phase error monitor signal

Spindle command synchronous control does not guarantee synchronous spindle operation. In spindle
control involving a position loop as in the case of Cs contouring control, rigid tapping, and spindle
positioning, however, the synchronous state of the two spindles can be maintained by matching the
position gains of the two spindles.

For monitoring of the synchronous state of two spindles in such a case, the phase error monitor signal
SYCAL<Fn044.4> is available. The error between two spindles is monitored at all times. When a
synchronization error exceeding the value set in parameter No.4826 is detected, this signal is set to “1”.
When a synchronization error not exceeding the value set in parameter No.4826 is detected, this signal is
set to 0.

In the spindle rotation control mode, however, synchronous state monitoring is not performed. So, the
phase error monitor signal has no effect, and is set to 0 at all times.

Note that even if phase error monitor signal SYCAL is output, no CNC alarm is issued. This signal is
designed to be used by the PMC to monitor the machine synchronization state. Its usage varies depending
on the machine tool builder. The use of this signal is not mandatory.

NOTE

During spindle command synchronous control, a reference position return
operation in the Cs contouring control mode, a spindle orientation operation in
the spindle positioning mode, or a function (such as spindle orientation) that is
directly specified for a spindle with a PMC signal is performed for each spindle
independently, so that synchronization is not guaranteed.

Relationship between spindle command synchronous control and spindle
synchronous control

The spindle synchronous control mode and the spindle command synchronous control mode cannot be
selected for the same spindle at the same time.
In a mode other than spindle synchronous control mode, no restriction is imposed on the selection timing
of spindle command synchronous control. Usually, select spindle command synchronous control when
the master spindle is not executing a move command in the spindle rotation control mode or in the Cs
contouring control mode.
No restriction is imposed on the timing of spindle command synchronous control cancellation. Usually,
cancel spindle command synchronous control when no command is executed in any spindle control mode.
When spindle command synchronous control is canceled, the mode of the slave spindle switches to the
spindle rotation control mode. The master spindle maintains the selected spindle control mode.

The table below indicates the spindle control mode switching of the master and slave spindles based on
the transitions of the spindle command synchronous control signal and spindle synchronous control
signal.

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Spindle control mode switching

Switching when the spindle command synchronous control signal makes a

transition from “0” to “1” in each spindle control mode selection state

Master spindle

→

SP(ESY)

→

CT(ESY)

→

SV(ESY)

Note 3

→

Note 4

Slave spindle

→

SP(ESY)

Note 1

→

CT(ESY)

Note 2

→

SV(ESY)

Note 3

→

Note 4

Spindle control mode switching

Switching when the spindle command synchronous control signal makes a

transition from “1” to “0” in each spindle command synchronous control mode

selection state

Master spindle

SP(ESY)

→

CT(ESY)

→

SV(ESY)

→

Slave spindle

SP(ESY)

→

CT(ESY)

→

SV(ESY)

→

Spindle control mode switching

Switching when the spindle synchronous control signal makes a transition

from “0” to “1” in each spindle command synchronous control mode selection

state

Master spindle

SP(ESY)

→

SP(ESY)

Note 4

CT(ESY)

→

CT(ESY)

Note 4

SV(ESY)

→

SV(ESY)

Note 4

Slave spindle

SP(ESY)

→

SP(ESY)

Note 4

CT(ESY)

→

CT(ESY)

Note 4

SV(ESY)

→

SV(ESY)

Note 4

The symbols used in the tables above have the following meanings:

: Spindle rotation control mode

: Cs contour control mode

: Rigid tapping mode or spindle positioning mode

SP(ESY) : Spindle rotation control mode during spindle command synchronous control

CT(ESY) : Cs contouring control mode during spindle command synchronous control

SV(ESY) : Rigid tapping or spindle positioning mode during spindle command synchronous

control

: Spindle synchronous control mode

NOTE

1 After initialization to the spindle rotation control mode, operation is performed

with a speed command for the master spindle. So, a speed change can occur.

2 Even if the master spindle is already at the reference position, the slave spindle

is not at the reference position yet when the mode of the slave spindle is just
switched to the Cs contouring control mode by spindle command synchronous
control. So, perform a reference position return operation again.

3 When the master spindle is placed in the rigid tapping or spindle positioning

mode, the input of the spindle command synchronous control signal is masked in
the CNC, so that the mode is not switched to the spindle command synchronous
control mode. After the rigid tapping or spindle positioning mode of the master
spindle is canceled, the master spindle and slave spindle are placed in the
spindle command synchronous control mode. After the spindle command
synchronous control mode is once set, the specification or cancellation of the rigid
tapping or spindle positioning mode of the master spindle is applied to both of the
master spindle and slave spindle.

4 The spindle control mode currently selected is maintained. As an alarm

indicating that the spindle control mode is not switched, alarm PS0194,
“SPINDLE COMMAND IN SYNCHRO-MODE” is displayed. This alarm can be
cleared by resetting the signal input later to “0”.

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NOTE

5 Switch to the spindle command synchronous control mode when the slave

spindle is placed in the spindle rotation control mode.

6 For the slave spindle placed in the spindle command synchronous control mode,

the switching to a spindle mode such as Cs contouring control, rigid tapping,
spindle positioning, and spindle synchronous control cannot be specified.

Spindle rotation direction

In the spindle command synchronous control mode, the same speed command and move command are
issued to the master spindle and slave spindle.
The specified rotation direction of a spindle can be changed using a PMC signal (spindle forward/reverse
rotation command signal SFR or SRV) or serial spindle parameter according to the control mode.

Position deviation check and alarm display

When spindle command synchronous control is used in a mode other than the spindle rotation control
mode, the master spindle and slave spindle are checked for a position deviation.
An in-position check is made to see if the position deviation of each of the two spindles is within a
parameter-set range.
Position deviation excessive error checks at stop time and move time are made to see if the position
deviation of each spindle exceeds a parameter-set value.
The parameters set for the master spindle are used for both spindles.
An alarm for an excessive error is displayed for the master spindle. Which of the master spindle and slave
spindle has entered the excessive error state cannot be identified on the screen.

Limitation

•

Both of the master spindle and slave spindle must have hardware such as a spindle-related detector
required for the functions (Cs contouring control, rigid tapping, and spindle positioning) that use
spindle command synchronous control.

Diagnosis data

418

Position deviation of each spindle

When spindles are involved in a position loop, the position deviation of each spindle is indicated.
The unit is pulses. The detection unit per pulse varies from one spindle control mode to another.

425

Synchronization error of each spindle

The absolute value of the synchronization error of each spindle in spindle command synchronous control
is indicated.
A synchronization error is indicated with a slave spindle.
In the spindle rotation control mode, the synchronization error is 0 at all times.

Spindle tuning screen

In the spindle command synchronous control mode, the display dedicated to the spindle command
synchronous control mode is not provided. Instead, a spindle control mode selected in the spindle
command synchronous control mode is displayed.
When the Cs contouring control mode is set in spindle command synchronous control, the Cs contouring
control mode is displayed.
For details, refer to Spindle tuning screen of MAINTENANCE MANUAL (B-64695EN).

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Signal

Spindle command synchronous control signal ESRSYC<Gn064.6>

[Classification] Input signal

[Function] This signal specifies switching to the spindle command synchronous control mode for the

first/second spindles.

[Operation] When this signal is set to “1”, the spindle command synchronous control mode for the

first/second spindles is set.
When this signal is set to “0”, the spindle command synchronous control mode for the
first/second spindles is canceled.
This signal is valid only when bit 5 (SSY) of parameter No.3704 is set to 0.

Spindle command synchronous control signal for each spindle

ESSYC1<Gn264.0> : For first spindle

ESSYC2<Gn264.1> : For second spindle

ESSYC3<Gn264.2> : For third spindle

ESSYC4<Gn264.3> : For fourth spindle

[Classification] Input signal

[Function] These signals specify switching to the spindle command synchronous control mode for

each spindle.

[Operation] When each of these signals is set to “1”, the spindle command synchronous control mode

with the corresponding spindle set as a slave spindle is set.
When each of these signals is set to “0”, the spindle command synchronous control mode
with the corresponding spindle set as a slave spindle is canceled.
When ESSYC1 is set to “1”: Spindle command synchronous control with the first spindle
set as a slave spindle is exercised.
When ESSYC2 is set  to  “1”: Spindle command synchronous control with the second
spindle set as a slave spindle is exercised.
When ESSYC3 is set  to  “1”: Spindle command synchronous control with the third
spindle set as a slave spindle is exercised.
When ESSYC4 is set  to  “1”: Spindle command synchronous control with the fourth
spindle set as a slave spindle is exercised.
These signals are valid only when bit 5 (SSY) of parameter No.3704 is set to 1.
Which spindle is synchronized with which spindle is set using parameter No.4821.

First spindle command synchronous parking signal

PKESS1<Gn122.6> or PKESS1<Gn031.6>

[Classification] Input signal

[Function] This signal parks the first spindle in spindle command synchronous control.

[Operation] When this signal is set to “1”, the first spindle is placed in the parking state.

When this signal is set to “0”, the parking state of the first spindle is canceled.
When bit 7 (SPK) of parameter No.4800 is set to 1, <Gn031.6> is used.
This signal is valid only when bit 5 (SSY) of parameter No.3704 is set to 0.

Second spindle command synchronous parking signal

PKESS2<Gn122.7> or PKESS2<Gn031.7>

[Classification] Input signal

[Function] This signal parks the second spindle in spindle command synchronous control.

[Operation] When this signal is set to “1”, the second spindle is placed in the parking state.

When this signal is set to “0”, the parking state of the second spindle is canceled.
When bit 7 (SPK) of parameter No.4800 is set to 1, <Gn031.7> is used.
This signal is valid only when bit 5 (SSY) of parameter No.3704 is set to 0.

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Spindle command synchronous parking signal for each spindle

PKESE1<Gn265.0> : For first spindle

PKESE2<Gn265.1> : For second spindle

PKESE3<Gn265.2> : For third spindle

PKESE4<Gn265.3> : For fourth spindle

[Classification] Input signal

[Function] These signals park each spindle in spindle command synchronous control.

[Operation] When each of these signals is set to “1”, the corresponding spindle is placed in the

parking state.
When each of these signals is set to “0”, the parking state of the corresponding spindle is
canceled.
When PKESE1 is set to “1”: The first spindle is placed in the parking state.
When PKESE2 is set to “1”: The second spindle is placed in the parking state.
When PKESE3 is set to “1”: The third spindle is placed in the parking state.
When PKESE4 is set to “1”: The fourth spindle is placed in the parking state.
This signal is valid only when bit 5 (SSY) of parameter No.3704 is set to 0.

Phase error monitor signal SYCAL<Fn044.4>

[Classification] Output signal

[Function] This signal posts that in the spindle command synchronous control mode for the

first/second spindles, the error pulse difference between the two spindles is greater than a
parameter-set value.

[Output cond.] This signal is set to “1” in the following case:

In the spindle command synchronous control mode, the error pulse difference
between two spindles is greater than the value set in parameter No.4826 after spindle
command synchronous control is completed.

This signal is set to “0” in the following cases:
-

The spindle command synchronous control mode is not set.

In the spindle command synchronous control mode, the error pulse difference
between two spindles is equal to or less than the value set in parameter No.4826.

This signal is valid only when bit 5 (SSY) of parameter No.3704 is set to 0.

Phase error monitor signal for each spindle

SYCAL1<Fn043.0> : For first spindle

SYCAL2<Fn043.1> : For second spindle

SYCAL3<Fn043.2> : For third spindle

SYCAL4<Fn043.3> : For fourth spindle

[Classification] Output signal

[Function] These signals post that in the spindle command synchronous control mode with each

spindle set as a slave spindle, the error pulse difference between two spindles is greater
than a parameter-set value.

[Output cond.] Each of these signals is set to “1” in the following case:

Each of these signals is set to “0” in the following cases:
-

The spindle command synchronous control mode is not set.

In the spindle command synchronous control mode, the error pulse difference
between two spindles is equal to or less than the value set in parameter No.4826.

These signals are valid only when bit 5 (SSY) of parameter No.3704 is set to 1.

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