FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 229

10. SPINDLE SPEED FUNCTION

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NOTE

13 For a serial spindle, carefully check the gear count selection statuses of
clutch/gear signals (CTH1, CTH2) and gear selection signals (GR3O, GR2O, GR1O
(type M)/GR1, GR2(type T). The spindle speed fluctuation detection function does
not normally work if the gear count statuses of the two types of signals are different.

CNC system

Serial spindle

side

Lathe system

、

Machining center system

GR2

GR1

Selected

gear

GR3

GR2

GR1

Selected

gear

CTH1

CTH2

1st stage

2nd stage

3rd stage

4th stage

Reference item

Manual name

Item name

CONNECTION MANUAL (FUNCTION)
(This manual)

Path spindle control
Spindle speed control
Spindle output control by the PMC
Multi-spindle control

FANUC AC SPINDLE MOTOR

series PARAMETER MANUAL (B-65280EN)

10.20

SPINDLE CONTROL WITH SERVO MOTOR

Overview

Servo motors can be controlled by spindle functions like spindle rotation commands or rigid tapping.
(1) Spindle control with servo motor

Rotation commands (S command) can be used to control the speed of spindles by regarding servo
motors as spindles (live tools). No reference position return is necessary to switch between rotation
and positioning commands.

(2) Spindle indexing

There are two types of spindle indexing. The first type allows the next-block command to be
executed before spindle indexing is finished. The second type allows the next block to be executed
only after spindle indexing is completed.
With the first type, it is possible to issue commands to axes other than the axis for which a spindle
indexing command has been issued, before the next command is issued to the axis. The next
command can be issued only after it is confirmed that spindle indexing is completed. Using this
function can reduce the wait time. In addition, an axis can be stopped at a specified point by issuing
a spindle indexing command to the axis when the spindle is rotating.

(3) Rigid tapping with servo motor

Rigid tapping can be carried out by regarding a servo motor as a rotation axis.

(4) Threading, feed per revolution, and constant surface speed control

Threading, feed per revolution, and constant surface speed control can be carried out by regarding a
servo motor as a spindle.

(5) Spindle output control with PMC

Spindle output control with PMC can be carried out by regarding a servo motor as a spindle
controlled axis.

Notes

(1) Enable the spindle serial output (bit 5 (SSN) of parameter No,8133 is 0) and multi-spindle control

(bit 3 (MSP) of parameter No,8133 is 1).

If this function is used under the conditions below, the multi-spindle control option is not enabled.
-

Two or more spindles are not used on any path.

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10. SPINDLE SPEED FUNCTION

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The spindle gear type is T.

No G code (G96.1, G96.2, G96.3, or G96.4) commands are used.

Spindle indexing is not used.

(2) This function handles a servo motor used as a spindle controlled axis as one of controlled spindles

and one of controlled axes.

(3) When carrying out rigid tapping with servo motor, enable the rigid tapping (bit 3 (NRG) of

parameter No,8135 is 0) and the canned cycle (bit 4 (NCD) of parameter No,8137 is 0).

(4) When carrying out constant surface speed control, enable the constant surface speed control (bit 0

(SSC) of parameter No,8133 is 1).

Spindle motors and supported functions

Spindle

Function

Conventional

spindle control

Spindle control with servo motor

Threading/feed per revolution

○

Polygon machining (T series)

○

×(*1)

Spindle speed fluctuation detection

○

Spindle synchronous control

○

Spindle simple synchronous control

○

Polygon machining with two spindles

○

Spindle orientation

Multi-point orientation

Spindle output switching

○

Inter-path spindle control

○

Constant surface speed control

○

Multi-spindle control

○

Rigid tapping

○

Spindle output control with PMC

○

Actual spindle speed output (T series)

○

Spindle indexing

○

NOTE

Servo motor can be used as

tool rotation axis.

(*1)

10.20.1

Spindle Control with Servo Motor

Specification

Command with a program

This function supports two modes; SV speed control mode (a spindle rotation command (S command) is
enabled for the servo motor-controlled rotation axis) and position control mode (ordinary positioning is
enabled). Controlling servo motor rotation requires  issuing an SV speed control mode ON command
(G96.4). Once the command is issued, the S command for the servo motor remains enabled until the mode
is canceled. No positioning command is usable if the SV speed control mode is ON.
Performing positioning requires canceling the SV speed control mode.  Canceling the SV speed control
mode (setting the position control mode to ON) requires issuing a spindle indexing command (G96.1 or
G96.2). In the position control mode, the S command is disabled as  in the ordinary servo axis state.
However, information about the S command is preserved. So, when the SV speed control mode becomes
ON, the motor starts rotating at the speed already specified.

Command with a signal

The SV speed control mode signal <Gn521> can also be used to specify whether to turn ON or OFF the
SV speed control mode.
If the SV speed control mode is turned ON using the signal and then OFF using a program command,
turning it ON again requires re-entering the signal or re-issuing the G96.4 command.

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The SV speed control mode in-progress signal <Fn521> can be used to check whether the SV speed
control mode is in effect.
Turning the SV speed control mode signal OFF during rotation performs spindle indexing and then turns
the SV speed control mode OFF. Spindle indexing is executed with R0 (absolute position 0).
Specify an M code not involved in buffering as an M code to be used as a command for switching the SV
speed control mode (parameters Nos. 3411 to 3420 and 11290 to 11299).

Format

G96.4 P_ ;

SV speed control mode ON

M03 (M04) S_ P_ ;

Rotation command

S: Spindle speed [min

-1

] (numeric value of up to five digits)

P: Spindle selection with multi-spindle control

Using G96.4 and a spindle selection command P can turn the SV speed control mode ON for each axis
separately. Likewise, using a spindle indexing command (G96.1/G96.2) and a spindle selection command
P can cancel the SV speed control mode, that is, turn on the position control mode ON, for each axis
separately.
To specify “G96.4 P_ ;”, use an independent block.
However, it is possible to specify "G96.4 P_ S_ ;".

Explanation

Command

(1) Spindle speed command output

Set up the spindle speed command in the same way as for the ordinary speed command (S
command). However, turn the SV speed control mode ON before issuing the rotation command (S
command). When performing positioning, cancel the SV speed control mode, and select the position
control mode.
The sequence by the following input signals is unnecessary.

*ESPA, MRDYA, and SFRA

(2) Condition for stopping spindle speed output

Commands once output to a spindle become 0 if *SSTP becomes 0 or if a command (such as S0)
that makes the spindle speed command output 0 is issued. Also, issuing a spindle indexing command
(G96.1/G96.2) makes the spindle speed command output 0. In addition, an emergency stop
condition and servo alarm bring the spindle to a stop.
With M05, the CNC does not make the command output to the spindle 0.

(3) Stopping rotation by spindle indexing

Issuing a command that specifies a position enables the rotating axis to stop at the specified position.
For details, see Subsection of "Spindle Indexing Function."

(4) Maximum speed

The maximum speed that can be specified is usually 2777 min

-1

However, setting bit 3 (IRC) of parameter No. 1408 to 1 may be able to increase the limit to about
27770 min

-1

depending on the performance of the related motor and detector. (when IS-B is used.)

Depending on the increment system, the maximum speed is as below.

Increment system

Bit 7 (IESP) of parameter No. 1013 = 0

Bit 7 (IESP) of parameter No. 1013 = 1

IS-B

27750min

-1

27750min

-1

IS-C

2777min

-1

27750min

-1

It is assumed that bit 3 (IRC) of parameter No. 1408 is set to 1 in all cases.

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Example command for switching between rotation control and position control

Spindle name

Spindle select P code (parameter No. 3781)

Servo motor axis address

Command with a program (SV speed control mode in-progress signal (Fn521))

Program command

SV speed control mode ON/OFF

Operation

G96.4 P1 ;

ON (SV speed control mode in-progress

signal (C) =1)

SV speed control mode ON (C).

M03 S100 P1 ;

The servo motor rotation axis C rotates in the

normal direction at 100 [min

-1

G96.1 P1 R0 ;

OFF (SV speed control mode in-progress

signal (C) = 0)

The servo motor rotation axis C stops at C =

0 (spindle indexing).

G00 C180.0 ;

OFF (SV speed control mode in-progress

signal (C) = 0)

Positioning at C = 180 degrees.

M03 S200 P1 ;

OFF (SV speed control mode in-progress

signal (C) = 0)

M03 S200 is stored without causing the servo

motor to rotate.

G96.4 P1 ;

ON (SV speed control mode in-progress

signal (C) = 1)

The servo motor rotation axis C rotates in the

normal direction at 200[min

-1

SV speed control mode ON (C).

Signal-controlled mode switching

Program command

SV speed control mode ON/OFF

Operation

M15 ;

ON (SV speed control mode in-progress

signal (C) = 1)

SV speed control mode is turned ON (C) with

M code.

M03 S100 P1 ;

ON (SV speed control mode in-progress

signal (C) =1)

Servo motor rotation axis C rotates in normal

direction at 100 [min

-1

G96.1 P1 R0 ;

OFF (SV speed control mode in-progress

signal (C)=0)

Servo motor rotation axis C stops at C = 0

(spindle indexing).

G00 C180. ;

OFF (SV speed control mode in-progress

signal (C)=0)

Positioning at C = 180 degrees.

M15 ;

ON (SV speed control mode in-progress

signal (C)=1)

SV speed control mode is turned ON (C) with

M code.

M03 S100 P1 ;

Servo motor rotation axis C rotates in normal

direction at 100 [min

-1

Multi-spindle control and commands from another path

Controlling the rotation of a spindle in a path that has another spindle (such as a servo motor used as a
live tool) requires the multi-spindle control. The path spindle control function can handle commands from
another path. The address P-based spindle select function for multi-spindle control can be used to select
spindles in another path.
Example of program commands are as follows.
Example 1: (Spindle selection with address P)
Bit 3 (MPP) of parameter No. 3703 = 1: A spindle is selected with address P.

Spindle configuration (S1 = first spindle and S2 = second spindle)

Path 1

Path 2

S1 (spindle axis)

S3 (spindle axis)

S2 (servo axis)

S4 (servo axis)

Setting address P for spindle selection in multi-spindle control

Parameter

Path 1

Path 2

3781

11 (S1)

21 (S3)

12 (S2)

22 (S4)

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Program example

Command issuing path

Program

Operation

M03 S1000 P12 ;

S2 rotates in normal direction at 1000 min

-1

M03 S1500 P22 ;

S4 rotates in normal direction at 1500 min

-1

M04 S1500 P11 ;

S1 rotates in reverse direction at 1500 min

-1

Operation (automatic/manual) of spindle control with servo motor axis

Once a spindle control with servo motor axis has returned to its reference position, it can operate in the
same manner as in the ordinary servo axis or spindle rotation control mode. To operate the a spindle
control with servo motor axis manually, keep the SV speed control mode OFF.

Acceleration/deceleration (time constant)

It is possible to change the spindle acceleration/deceleration specified in a rotation command according to
the speed of the spindle.
Acceleration/deceleration can be switched at two points of speed, using parameters S0 and S1 (switching
speed). In addition, parameters Aa, Ab, and Ac are available to set up three acceleration/deceleration
spans.

Rotation
speed (min

-1

)

Time (s)

Setting of parameter No. 11020 (acceleration/deceleration is switched at rotation speed S0
(min

-1

)).

Setting of parameter No. 11021 (acceleration/deceleration is switched at rotation speed S1
(min

-1

)).

Specified rotation speed (min

-1

Setting of parameter No. 11030 (acceleration/deceleration (min

-1

/s) used between rotation speeds

0 and S0).

Setting of parameter No. 11031 (acceleration/deceleration (min

-1

/s) used between rotation speeds

S0 and S1).

Setting of parameter No. 11032 (acceleration/deceleration (min

-1

/s) used between rotation speeds

S1 and motor’s maximum).

Determine the setting of each parameter according to the torque characteristic of the motor.

Acceleration/deceleration after interpolation

Acceleration/deceleration after interpolation is available in the SV speed control mode. Bit 1 (TCR) of
parameter No. 11001 can be used to select a time constant type, that is, parameter No. 1622
(Time constant of acceleration/deceleration in cutting feed for each axis) or parameter No. 11016 (Time
constant of acceleration/ deceleration in SV speed control mode for each axis).

Direction of rotation

It is possible to change the polarity of the spindle speed output voltage, using bits 6 (CWM) and 7 (TCM)
of parameter No. 3706.
It is also possible to reverse the direction of spindle rotation, using the SV reverse signal <Gn523>.
These functions are usable in the rotation mode and during rigid tapping. Changing the signal to 1/0
during rotation causes the spindle to decelerate, reverse, and then accelerate.

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SV reverse signal ON

Rotation
speed (min

-1

)

-S

Time (sec)

-S

Reference position return

Before issuing the first command, be sure to make a reference position return.

Display

Bit 3 (NDF) of parameter No. 3115 can be used to specify whether to display the actual speed. In addition,
bits 0 (NDP) and 1 (NDA) of parameter No. 3115 can be used to specify whether to display, respectively,
the current position and the remaining amount of movement.

Setting of a rotation axis with a servo motor

(1) Axis setting

For the servo axis number of the axis to be set as a rotation axis with a servo motor (parameter No.
1023), set a value as a servo  motor as usual. Specify which servo motor to use as a spindle
controlled  axis, using bit 7 (SRV) of parameter No. 11000. Specify which  spindle to use as the
spindle controlled axis with the servo motor, by setting the spindle number in parameter No. 11010.
For the selected spindle, reset the spindle amplifier number (parameter No. 3717) to 0.
In multi-spindle control, set bit 3 (MPP) of parameter No. 3703 to  1 to specify that program
commands be used to select a spindle.
Also set parameter No. 3781 with the P code for selecting a spindle.

(2) Using a command to specify a spindle speed requires adjusting the following parameters.

Parameter No. 11013:

Positioning deviation limit in movement

Parameter No. 11014:

Positioning deviation limit in the stop state

Parameter No. 11015:

Maximum motor speed

(3) Rotation axis setting

Using bits 0 (ROTx) and 1 (ROSx) of parameter No. 1006, select rotation axis type A.
Using the rollover function, round the absolute coordinate values to be displayed to an amount of
movement per rotation specified in parameter No. 1260 in order to prevent rotation axis coordinate
overflow. Also round the relative coordinate values to be displayed to an amount of movement per
rotation by setting bit 2 (RRLx) of parameter No. 1008 to 1.
The rollover function is enabled by setting bit 0 (ROAx) of parameter No. 1008 to 1 (for the rotation
axis).

(4) Extension of maximum speed

When using spindle control with servo motor, set 1 to bit 3 (FEX) of parameter No.8003.

Example of parameter setting

The following examples show typical parameter settings. These typical parameter settings should be used
unless otherwise stated.
(1) Spindle controlled axis setting

Let the fourth axis of the CNC be the C axis. Assuming that the fourth axis is connected to the
second spindle, let us use the second spindle as a spindle controlled axis (servo motor).
No.11000#7 (C) = 1

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No.11010 (C) = 2 (a spindle number is specified for a controlled axis assigned to the spindle

controlled axis.)

(Set up No. 3717 (S2) = 0.)

Given below are the least command increment, detection unit, and the amount of movement per
rotation for the C axis.

Least command increment =

DMR

CMR

Ｑ

Detection unit =

DMR

CMR

Ｑ

increment

command

Least

Amount of movement per tool axis rotation =

increment

command

Least

360

where

Amount of tool movement per motor rotation (360 × speed increment ratio) [deg]

For example, if the servo motor is connected directly to the spindle (live tool), L = 360. For
example, if the speed must be increased by twice, L = 720.

Q: Number of pulses per pulse coder rotation

(For the serial pulse coder, Q = 1000000.)
The least command increment mentioned above is specific to the C axis and is determined
independently of bits 0 (IS-A) and 1 (IS-C) of parameter No 1013.
Reset both bits 0 (IS-A) and (IS-C) of parameter No 1013 to 0 to select IS-B.
If the servo motor is connected directly to the spindle (live tool):

Least command increment=

001

100

1000000

360

[deg]

Detection unit = 0.001 [deg]
Amount of movement per tool axis rotation =360.0 [deg]

So, the required parameter setting must be:
Parameter No. 11011 (C) = 360.000 (amount of movement per spindle controlled axis rotation)
In addition, the acceleration/deceleration values for rotation control must be specified in parameters
Nos. 11020 to 11032.

Let us assume that the axis parameters be specified for the fourth axis, as follows:

(2) Servo parameter setting

Let us assume: CMR = 1 and DMR = 36/100
(The capacity of the reference counter will be 360000.)
  No.1820 (C) = 2 (CMR)
  No.1821 (C) = 360000      (Reference counter capacity)
  No.2084 (C) = 36 (DMR numerator)
  No.2085 (C) = 100 (DMR denominator)
If the tool axis-to-motor gear ratio is 1:1:
  No.11015(C) = 5000      (Maximum motor speed)
  No.3741(S2) = 5000      (Maximum speed for gear 1)
For the other servo parameters, use the respective typical settings.

(3) Full closed system setting

When using spindle control in a full closed system, set bit 1 (FSR) of parameter No. 11000 to 1.

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Signal

SV speed control mode signals SRVON1 to SRVON8<Gn521>

[Classification] Input signal

[Function] These signal switch the respective axes to the SV speed control mode.

[Operation] Setting these signals to 1 cause the respective axes to enter the SV speed control mode.

Resetting these signals to 0 cause the respective axes to exit the SV speed control mode.
Resetting the signals to 0 during axis rotation causes the respective axes to start spindle
indexing, to stop at the origin (R0), and to exit the SV rotation mode.

NOTE

1 Even if these signals are 1, the spindle control function remains

disabled when a program command turns the SV speed control
mode OFF (the SV speed control mode in-progress signal Fn521
becomes 0). To enable it, re-set these signals to 1.

2 Specify an M code not involved in buffering as an M code to be

used as a command for switching the SV speed control mode
(parameters Nos. 3411 to 3420 and 11290 to 11299).

SV reverse signals SVRVS1 to SVRVS8<Gn523>

[Classification] Input signal

[Function] These signals cause the respective axes to reverse their rotation direction in the SV speed

control mode.

[Operation] Setting these signals to 1 cause the respective axes to reverse their rotation direction.

esetting these signals to 0 cause the respective axes to resume their normal rotation

direction

NOTE

These signals are effective even in rigid tapping.

SV speed control mode in-progress signals SVREV1 to SVREV8<Fn521>

[Classification] Output signal

[Function] These signals inform that the respective axes are in the SV speed control mode.

[Output cond.] These signals are 1 if:

The respective axes are in the SV speed control mode.

These signals are 0 if:
-

The respective axes are in the SV speed control mode, or

The respective axes are in the position control mode.

SV speed control start sequence

SV speed control cancellation sequence

SV speed control start

M code command(*)

SV speed cancellation

M code command (*)

SV speed control mode

signals SRVONx

SV speed control mode

signals SRVONx

SV speed control mode

in-progress signals SVREVx

SV speed control mode

in-progress signals SVREVx

End signal FIN

Strobe signal MF

(*)

Specify an M code not involved in buffering as an M code to be used as a command for switching the SV speed control mode.

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