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

10. SPINDLE SPEED FUNCTION

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#2 DDMx

The motor used for spindle control with servo motor is:

Not a DD motor.

A DD motor.

Notes

When using the functions explained above, enable the constant surface speed control (bit 0 (SSC) of
parameter No,8133 is 1), 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).

To use a DD motor, set bit 2 (DDMx) of parameter No. 11001 to 1.
Also needed are the CNC software and servo software supporting the functions.

10.20.6

Spindle Output Control with PMC

Overview

The “spindle control with servo motor” function enables the PMC to be sued for spindle output control.

How to specify

Once the SV speed control mode has been turned ON, spindle output control with PMC can be specified
using the same commands as for ordinary spindle control.
Refer to Section of “SPINDLE OUTPUT CONTROL BY THE PMC,” of the connection manual for
detailed descriptions.

NOTE

1 For the “spindle control with servo motor” function, the maximum motor speed is

one specified in parameter No. 11015.

2 Even if using spindle output control by the PMC, specify parameters Nos. 3741

to 3744.

10.20.7

Speed Arrival Signals and Speed Zero Signals

Overview

In the function of spindle control with a servo motor, output signals equivalent to the speed arrival signals
SARx and the speed zero signals SSTx for serial spindles are added. In the past, to determine whether the
rotation axis with a servo motor reached at the specified speed, it was necessary to read the speed by
using the real spindle speed output (T series) or PMC window function. By adding the speed arrival
signals and the speed zero signals equivalent to those for serial spindles, the need is eliminated to create a
new PMC ladder program for reading the servo motor speed and determining whether it has reached the
specified speed. This makes it easy to replace the spindle (rotary tool) using a spindle motor with a servo
motor.

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Signal

speed arrival signals SVSAR1 to SVSAR8<Fn377>

[Classification] Output signal

[Function] In connection with the speed command in spindle control with a servo motor, these

signals notify that the actual rotation speed of the servo motor has reached the previously
set range.

[Output cond.] These signals are set to “1” in the following cases:

In SV rotation control mode, the difference between the motor speed and the
specified speed goes below the speed arrival detection level.

The system enters position control mode.

Spindle indexing is executed.

Rigid tapping with a servo motor is executed.

These signals are set to “0” in the following cases:
-

In SV rotation control mode, the difference between the motor speed and the
specified speed goes above the speed arrival detection level.

An emergency stop occurs.

(Note)

The system enters the servo off state.

NOTE

At the point when the servo software recognizes an emergency
stop, SVSARx is set to “0”. Even if a condition for speed arrival is
met, SVSARx is not set to “1”.

Speed zero signals SVSST1 to SVSST8<Fn376>

[Classification] Output signal

[Function] These signals notify that the rotation speed of the servo motor used for spindle control

with a servo motor has become equal to or less than the speed detection level.

[Output cond.] These signals are set to 1 in the following case:

The motor speed goes below the speed zero detection level.

These signals are set to 0 in the following case:
-

The motor speed goes above the speed zero detection level.

Signal address

Fn376

SVSST8

SVSST7

SVSST6

SVSST5

SVSST4

SVSST3

SVSST2

SVSST1

Fn377

SVSAR8

SVSAR7

SVSAR6

SVSAR5

SVSAR4

SVSAR3

SVSAR2

SVSAR1

Parameter

2482

Speed arrival detection level

[Input type] Parameter input

[Data type] Word axis

[Unit of data] 0.1%

[Valid data range] 0 to 1000

[Recommended value] 0 (15%)

This parameter sets the detection range for the speed arrival signal SVSARx as a
percentage of the specified speed. The actual detection level used is the setting of this
parameter plus an offset of 50/min.
If the difference between the motor speed and the specified speed reaches the speed
arrival detection level, the speed arrival signal SVSARx is set to 1.

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2483

Speed zero detection level

[Input type] Parameter input

[Data type] Word axis

[Unit of data] min

-1

[Valid data range] 0 to 32767

[Recommended value] 0 (45/min)

This parameter sets the detection range for the speed zero signal SVSSTx.
If the motor speed becomes equal to or less than the speed zero detection level, the speed
zero signal SVSSTx is set to 1.

Note

- This function does not support composite control.
- Servo software supporting this function is required.

10.20.8

Using Speed Control to Improve Spindle Control with Servo
Motor

Overview

Conventionally, spindle control with servo motor has used position control for the SV rotation control
mode. This function enables speed control to be used.

Specification

Setting bit 0 (SPCx) of parameter No. 11000 to 1 enables speed control to be used for the SV rotation
control mode. (If bit 0 (SPCx) of parameter No. 11000 is 0, position control is used for the SV rotation
control mode.)

To turn the SV rotation control mode ON, use a G code (G96.4) or the signal SRVON (Gn521) = 1 in the
same manner as conventional.
To turn the SV rotation control mode OFF, use a G code (G96.1) or the signal SRVON (Gn521) = 0.

If speed control is used for the SV rotation control mode, issuing G96.1 during rotation outputs S0,
causing the SV rotation control mode to be turned OFF after rotation stops. In this case, however, spindle
indexing does not operate.

When using SRVON (Gn521) = 0 to turn the SV rotation control mode OFF, previously stop rotation by
issuing S0 or resetting the spindle stop signal (SSTP (Gn029.6) or SSTPx (Gn027.3, 4, 5, Gn026.6)) to 0.
Resetting the signal SRVON (Gn521) to 0 during rotation cannot turn the SV rotation control mode OFF.

If speed control is used for the SV rotation control mode, it is impossible to use spindle indexing
(G96.1/G96.2/G96.3). When positioning the spindle at a specified location, previously turn the SV
rotation control mode OFF.

Even when this function is used, positional information is updated during rotation. The current position
managed by the CNC is updated by follow-up. The value of position error displayed at diagnosis data
No.300 etc. is the difference between actual machine position and current position updated by follow-up.

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NOTE

Status output signals in servo rotation control mode (SV rotation control mode)
are as follows.

Status output signals in servo rotation control mode

Status output signals

Position control

(Bit 0 (SPC) of
parameter No.11000 is
0)

Speed control

(Bit 0 (SPC) of parameter No.11000 is 1)

Bit 1 (VCSx) of
parameter No.11004 is
0

Bit 1 (VCSx) of
parameter No.11004 is
1

Axis moving signals
MV1 to MV8<Fn102>

Spindle rotation : “1”
Spindle stop : “0”

“0” at all times

Velocity command 0 :
“0”
Velocity command
except for 0 : “1”

Axis moving direction
signals
MVD1 to
MVD8<Fn106>

Spindle forward
rotation : “0”
Spindle reverse
rotation : “1”

The status when servo
rotation control mode is
changed is maintained.

Positive velocity
command : “0”
Negative velocity
command : “1”

In-position signals
INP1 to INP8<Fn104>

In-position : “1”
Not in-position : “0”

“1” at all times

“0” at all times

Parameter

11000

SRVx

SPCx

[Input type] Parameter input

[Data type] Bit axis

NOTE

When at least one of these parameters is set, the power must be
turned off before operation is continued.

#0 SPCx

In spindle control with servo motor, the SV rotation control mode uses:

Position control.

Speed control.

#7 SRVx

Spindle control with servo motor are:

Not performed.

Performed

11004

VCSx

[Input type] Parameter input

[Data type] Bit axis

#1 VCSx

When SV rotation control mode of spindle control with servo motor is speed control (bit

0 (SPCx) of parameter No.11000 is 1), improvement of status output signals is:
0:

Disabled.

Enabled.

Specifications of status output signals are as follows.

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Status output signals

Bit 1 (VCSx) of parameter

No.11004 is 0

Bit 1 (VCSx) of parameter

No.11004 is 1

Axis moving signals
MV1 to MV8<Fn102>

“0” at all times

Velocity command 0: “0”
Velocity command except for 0: “1”

Axis moving direction signals
MVD1 to MVD8<Fn106>

The status when servo rotation
control mode is changed is
maintained.

Positive velocity command: “0”
Negative velocity command: “1”

In-position signals
INP1 to INP8<Fn104>

“1” at all times

“0” at all times

10.20.9

Spindle Synchronous Control for Spindle Control with Servo
Motor

Overview

This function enables control spindles synchronously in spindle control using servo motor. It also enables
the control of the rotation phase of a spindle, a polygon-bar as well as a round-bar can be exchanged
between two spindles. A combination of a master spindle and slave spindle in spindle synchronous
control can be selected arbitrarily.
This function can be used with servo motors in the state of SV speed control mode.

Specification

Synchronous-spindle configuration

In spindle synchronous control, the spindle which is issued S command is called the master spindle. A
spindle which ignores any S command that is issued for it, and instead rotates synchronously with the
master spindle, is called the slave spindle.
Example :
Combining spindles of different paths for spindle synchronization
Parameter setting
Bit 4 (SSS) of parameter No.3704 (PATH1)=1, (PATH2)=1
Parameter No.4831(ALL) =0
Parameter No.4832(S1) =0, (S2) =0,(S3) =0,(S4) =0,(S5) =1,(S6) =0

Master spindle

Slave spindle

First spindle of path 1(S11)

First spindle of path 2(S21)

Path 1

Path 2

Spindle S1

(S11)

Spindle S2

(S12)

Spindle S3

(S13)

Spindle S4

(S14)

Spindle S5

(S21)

Spindle S6

(S22)

Master spindle which is synchronized with slave spindle

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Acceleration/deceleration

As for the acceleration/deceleration when the slave axis synchronizes with the master axis, the parameters
Nos.11020 to 11021 and Nos.11030 to 11032 at the acceleration/deceleration of spindle control function
with servo motor or the parameters Nos.11070 to 11071 and Nos.11080 to 11082 at the acceleration of
spindle synchronous control for spindle control with servo motor becomes effective. In case of bit 6
(DCSx) of parameter No.11001 for the acceleration/deceleration is set to 1, the parameter(Nos.25720 to
25721 and Nos.25730 to 25732) at the deceleration of spindle synchronous control for spindle control
becomes effective.

Ex.) In case of bit 6 (CSA) of parameter No.11005 =1:

Speed synchronization

When the spindle synchronous control signal is set to 1, the  spindle  synchronous control  mode is set.
When spindle synchronous control is specified, slave spindle is accelerated or decelerated to a specified
speed of master spindle then enters the synchronous control state.
The spindle synchronous speed control completion signal is output when the two spindles have reached
the speed matching a  specified  spindle  synchronous speed and the speed  difference  between the two
spindles is
within the value set in parameter No.11042.
The  S command  to  the master spindle  is clamped by the maximum speed  of  the  slave  spindle  if  S
command is more than the maximum speed of the slave spindle(No.3741-No.3744).

Phase matching

Spindle phase synchronization is executed by setting the spindle phase synchronization control signal to
set to 1 in the spindle  synchronous control  mode  (after the output of the spindle  synchronous speed
control completion signal). The synchronous state between the two axes is not maintained during spindle
phase synchronization operation (until the spindle phase synchronization control completion signal is set
to 1).
The spindle phase synchronization completion signal is output when the error difference between the two
spindles lies within the allowable number of pulses set in the CNC parameter No.4810. When the two
spindles hold a workpiece, do not specify spindle phase synchronization.
When spindle phase synchronization control is executed,  the speed  fluctuation  of slave spindle  can  be
reduced. When parameter No.11040 is 0, the speed fluctuation of the slave spindle increases because the
amount  of the movement of the slave spindle  is  output  at a  time and the  position deflection increases
rapidly. The phase match can be executed smoothly because the amount of the movement of the slave
spindle is divided by the number of pulses of parameters No.11040 of each 8msec.
When spindle phase synchronization control is specified, phase  matching  is executed by  movement of
slave  spindle.  The operation of the master  spindle is not influenced.  Therefore, you can command
spindle phase synchronization control at the same time by each slave spindle.

For spindle synchronization

For SV speed mode

Slave spindle

Master spindle

Spindle synchronization start

Spindle synchronization cancel

Time

Speed

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Speed command

In the spindle synchronous control mode, the speed command for the master spindle is valid.
In the spindle synchronous control mode, a speed for the master spindle can be command in the same way
as for an ordinary S command.
When 0 is set in the parameter corresponding to a selected gear, the spindle does not make a synchronous
rotation.
A S command for a master spindle before the spindle synchronous control mode is set are valid even in
the spindle synchronous control mode. A speed command for a master spindle during spindle
synchronous control is also valid as a command for the master spindle after spindle synchronous control
is canceled.

Command by PMC DI signals

Spindle synchronous control can be commanded by the DI signal of PMC.

Spindle synchronous control mode ON

Spindle synchronous control is executed when spindle synchronous control signal of each spindle
SPSYCs<Gn288.0~3> is set to 1. Phase match is executed when spindle phase synchronization control
signal of each spindle SPPHSs<Gn289.0~3> is set to 1.

Spindle synchronous control mode OFF

Spindle synchronous control is released when spindle synchronous control signal of each spindle
SPSYCs<Gn288.0~3> is set to 0.

Supplement

To monitor an error mutually between two spindles in the spindle synchronous control mode, the phase
error monitor signal SYCAL<Fn044.4>(SYCAL1 to SYCAL4<Fn043.0> to <Fn043.3>) is available. A
synchronization error between two spindles is always monitored. When a synchronization error exceeding
the value (absolute number of error pulses) set in parameter No.4811 is detected, this signal is set to “1”.
When the synchronization error does not exceed the value set in parameter No.4811, the signal is set to
“0”.
Even when two spindles hold a workpiece in the synchronous control state, constant surface speed control
can be performed. Even if the speed of a spindle changes, however, the synchronous speed changes
within the parameter-set range (acceleration/deceleration time constant in spindle synchronous control).
In spindle synchronous control, the spindle speed offset value (parameter No.3731) is invalid.
The slave axis moves whenever instructing in the spindle phase synchronization.

Limitation

When both a master spindle and a slave spindle are SV speed control mode, you can command to change
spindle synchronous mode.
For spindles during the spindle synchronous control mode, commands for rigid tapping, simple
synchronous control, and so on cannot be specified.
The ratio of the gear of the master axis and the slave axis should be the same.
If SV speed control mode of spindle control with servo motor is velocity control type (bit 0 (SPCx) of
parameter No.11000 =1), this function cannot be used.

The example that can be used is shown as follows. The pair that can be used is shown in the example. if
each pair is like a pair of “synchronization with spindle control with servo motor or a pair of the usual
synchronization with spindle control”, two or more pairs of the synchronization can be specified.

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Diagnosis data (Spindle synchronous control)

300

Position deviation of each servo motor

The position deviation of each servo motor is indicated.

425

Synchronization error of each spindle

The absolute value of the synchronization error of each spindle in spindle synchronization is indicated. A
synchronization error is indicated with a slave spindle.

Signal

Spindle synchronous control signal of each spindle
SPSYC1 to SPSYC4<Gn288.0 to Gn288.3>

[Classification] Input signal

[Function] These signals turn on the spindle synchronous control mode.

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

spindle set as a slave spindle is set.

When each of these signals is set to “0”, the spindle synchronous control mode with a

spindle set as a slave spindle is canceled. When SPSYCs is set to “1”, spindle
synchronization with a spindle set as a slave spindle is performed. These signals are valid
only when bit 4 (SSS) of parameter No.3704 is set to 1 and bit 5 (SCB) of parameter
No.4800 is set to 0.

Which spindle is synchronized with which spindle is set using parameter No.4831 or

No.4832.

Same system

Spindle with servo motor

Master spindle with which slave spindle is synchronized

Same system

Spindle with servo motor

Spindle motor

Master spindle with which slave spindle is synchronized

FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 234