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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 242

10. SPINDLE SPEED FUNCTION

B-64693EN-1/01

- 1890 -

Fn595

ARE314

ARE304

ARE294

ARE284

ARE274

ARE264

ARE254

ARE244

Fn708

RE08O

RE07O

RE06O

RE05O

RE04O

RE03O

RE02O

RE01O

Fn709

RE16O

RE15O

RE14O

RE13O

RE12O

RE11O

RE10O

RE09O

Fn710

RE24O

RE23O

RE22O

RE21O

RE20O

RE19O

RE18O

RE17O

Fn711

RE32O

RE31O

RE30O

RE29O

RE28O

RE27O

RE26O

RE25O

Fn712

RE08O2

RE07O2

RE06O2

RE05O2

RE04O2

RE03O2

RE02O2

RE01O2

Fn713

RE16O2

RE15O2

RE14O2

RE13O2

RE12O2

RE11O2

RE10O2

RE09O2

Fn714

RE24O2

RE23O2

RE22O2

RE21O2

RE20O2

RE19O2

RE18O2

RE17O2

Fn715

RE32O2

RE31O2

RE30O2

RE29O2

RE28O2

RE27O2

RE26O2

RE25O2

Fn716

RE08O3

RE07O3

RE06O3

RE05O3

RE04O3

RE03O3

RE02O3

RE01O3

Fn717

RE16O3

RE15O3

RE14O3

RE13O3

RE12O3

RE11O3

RE10O3

RE09O3

Fn718

RE24O3

RE23O3

RE22O3

RE21O3

RE20O3

RE19O3

RE18O3

RE17O3

Fn719

RE32O3

RE31O3

RE30O3

RE29O3

RE28O3

RE27O3

RE26O3

RE25O3

Fn720

RE08O4

RE07O4

RE06O4

RE05O4

RE04O4

RE03O4

RE02O4

RE01O4

Fn721

RE16O4

RE15O4

RE14O4

RE13O4

RE12O4

RE11O4

RE10O4

RE09O4

Fn722

RE24O4

RE23O4

RE22O4

RE21O4

RE20O4

RE19O4

RE18O4

RE17O4

Fn723

RE32O4

RE31O4

RE30O4

RE29O4

RE28O4

RE27O4

RE26O4

RE25O4

Note

NOTE

When bit 0(SSE) of parameter No.3791 is set to 1, following signals are not
effective.

- Spindle motor speed command signals R01I to R12I, R01I2 to R12I2,

R01I3 to R12I3, R01I4 to R12I4

- S12-bit code signals

R01O to R12O, R01O2 to R12O2,

R01O3 to R12O3, R01O4 to R12O4

- Actual spindle speed signals

AR00 to AR15, AR002 to AR152,

AR003 to AR153, AR004 to AR154

Parameter

3791

SSE

[Input type] Parameter input

[Data type] Bit spindle

#0 SSE

The resolution enabled for the spindle speed command:

depend to the bit 4(SSI) of parameter No.3798.

is a maximum spindle speed/1048575 [min

-1

B-64693EN-1/01

10. SPINDLE SPEED FUNCTION

- 1891 -

NOTE

1 When this parameter is set, the power must be turned off before

operation is continued.

When bit 0 (SSE) of parameter No.3791 is set to 1, bit 4 (SSI) of

parameter No.3798 is not effective.

3798

SSI

SDP

[Input type] Parameter input

[Data type] Bit

NOTE

When this parameter is set, the power must be turned off before
operation is continued.

SDP

High-precision spindle speed control is:

Not used.

Used.

#4 SSI

The resolution enabled for the spindle speed command is:

Maximum spindle speed/4095 [min

-1

Maximum spindle speed/16383 [min

-1

3709

MRS

MSI

[Input type] Parameter input

[Data type] Bit path

#2 MSI

In multi-spindle control, the Spindle motor speed command selection signal SINDs signal

is valid
0:

Only when the first spindle is valid (Spindle motor speed command selection signal
SINDs for the 2nd, 3rd spindle becomes ineffective) (TYPE-A)

For each spindle irrespective of whether the spindle is selected (Each spindle has its
own Spindle motor speed command selection signal SINDs). (TYPE-B)

#3 MRS

When the actual spindle speed signals and S 12-bit code signals are output in

multi-spindle control:
0:

The signals common to the first spindle and second spindle are used, and the signals
for the spindle selected by the spindle selection signal are output.

The signals for the first spindle and the signals for the second spindle are output
separately.

10. SPINDLE SPEED FUNCTION

B-64693EN-1/01

- 1892 -

Alarm and message

Number

Message

Description

SP1257

ILLEGAL PARAMETER (No.3791#0)

Bit 0(SSE) of parameter No.3791 is illegal setting.
Causes of the alarm are as follows.
-

The setting of bit 0 (SSE) of parameter No.3791 is
different because of the master and slave. Please
change the following function to the same setting.
-

Spindle synchronous control

Spindle command synchronous control

Polygon turning with two spindles

The bit 0 (SSE) of parameter No.3791 is set to 1 the
spindle control software that does not support this
function. Please set 0 to bit 0 (SSE) of parameter
No.3791.

Diagnosis data

When bit 0 (SSE) of No.3791 is set to 1, the spindle motor speed is displayed to the diagnosis data
No.1547. And then, the diagnosis No.411 is displayed 0.

1547

Spindle motor speed data (2 word)

[Data type] 2 word spindle

[Unit] min

-1

When this function is effective, bit 0 of diagnosis data No.1570 is set to 1.

1570

S2W

S2W A spindle speed command is the resolution of maximum spindle speed/1048575 [min

-1

10.28

SPINDLE CONTROL MODE CHANGING BY PROGRAM
COMMAND

Overview

Spindle control mode can be changed by commanding M code which is set to parameter. The following
spindle control modes can be changed.
-

Spindle orientation

Cs contour control

Programming PMC ladder for changing the spindle mode is unnecessary.

Explanation
- Spindle orientation

Set M code for spindle orientation ON to parameter No.25800, and set M code for spindle orientation
OFF to parameter No.25801. If spindle orientation by program command is not available, set 0 to
parameters No.25800, and No.25801 of the spindle.
If spindle selection by address P of Multi-spindle control is enabled (bit 3 (MPP) of parameter No.3703 is
1), spindle executing spindle orientation can be selected by address P. Spindles executing spindle
orientation by program command use the same M code for spindle orientation ON, and the same M code

B-64693EN-1/01

10. SPINDLE SPEED FUNCTION

- 1893 -

for spindle orientation OFF. Set the same M code to parameter of spindle executing spindle orientation
(refer to Example (2)).

When M code for spindle orientation ON or M code for spindle orientation OFF is commanded, auxiliary
function code signals M00 to M31<Fn010 to Fn013> and auxiliary function strobe signal MF<Fn007.0>
are not output.

DI signals for spindle orientation are available even if M code for spindle orientation ON and M code for
spindle orientation OFF are available. However, DI signals are not available from commanding M code
for spindle orientation ON to canceling spindle orientation. If M code for spindle orientation ON or M
code for spindle orientation OFF is commanded when spindle orientation command signal
ORCMA<Gn070.6> (first spindle), ORCMB<Gn074.6> (second spindle), ORCMC<Gn204.6> (third
spindle), ORCMD<Gn266.6> (fourth spindle) is "1", alarm PS0553, "SP-MODE CHANGE
IMPOSSIBLE" is issued.

There are two methods for specifying stop position of spindle orientation.
-

Orientation with the fixed stop position (bit 0 (ORT) of parameter No.3729 is 0)

Stop position of spindle orientation can be set to parameters No.4031 (MAIN spindle) and No.4204
(SUB spindle).

Orientation with the stop position set externally (bit 0 (ORT) of parameter No.3729 is 1)

Stop position of spindle orientation can be commanded by address R. Increment system of address
R is that of reference axis (parameter No.1031). Least input increment for stop position of spindle
orientation is 360°/4096=0.088° when bit 0 (ORPUNT) of parameter No.4542 is 0 or
360°/32768=0.011° when ORPUNT is 1. If address R is not commanded, stop position of spindle
orientation is 0°. If M code for spindle orientation ON is commanded again after commanding M
code for spindle orientation ON, spindle is moved to the stop position newly commanded. Spindle
took a shortcut and move angle is within ±180° at this time.

Format

M_ (P_) (R_) ; Spindle orientation ON

M :   M code for spindle orientation ON (parameter No.25800)
P  :   Spindle selection of Multi-spindle control
R  :   Stop position of spindle orientation (when bit 0 (ORT) of parameter No.3729

is 1)

M_ (P_) ; Spindle orientation OFF

M : M code for spindle orientation OFF (parameter No.25801)
P : Spindle selection of Multi-spindle control

Example (1) Spindle orientation of first spindle and second spindle by program command

Table 10.28 (a) Example of parameter setting

Parameter

No.25800

No.25801

No.3729#0

First spindle

Second spindle

119

118

Third spindle

10. SPINDLE SPEED FUNCTION

B-64693EN-1/01

- 1894 -

Example of machining program

O1001 ;

N10 M03 S100 ;

First spindle rotates at a speed of 100[min

-1

N20 M19 R90.0 ;
:

Spindle orientation of first spindle is executed. Stop
position of the spindle is 90°.

N30 M19 R180.0 ;
:

Spindle orientation of first spindle is executed. The
spindle moves from 90° to 180°.

N40 M18 ;
:
:

Spindle orientation of first spindle is canceled. First
spindle does not rotate until S code is newly
commanded.

N50 M119 ;
:

Spindle orientation of second spindle is executed.
Stop position of the spindle is 0°.

N60 M118 ;
:
:

Spindle orientation of second spindle is canceled.
Second spindle does not rotate until S code is newly
commanded.

N70 M03 S200 ;

First spindle rotates at a speed of 200[min

-1

Example (2) Spindle selection by address P of Multi-spindle control

Table 10.28 (b) Example of parameter setting

Parameter

No.25800

No.25801

No.3781

No.3729#0

No.3703#3

First spindle

Second spindle

Third spindle

B-64693EN-1/01

10. SPINDLE SPEED FUNCTION

- 1895 -

Example of machining program

O1002 ;

N10 M03 S100 P1 ;

First spindle rotates at a speed of 100[min

-1

N20 M19 R90.0 P1 ;
:

Spindle orientation of first spindle is executed. Stop
position of the spindle is 90°.

N30 M19 R180.0 P1 ;
:

Spindle orientation of first spindle is executed. The
spindle moves from 90° to 180°.

N40 M18 P1 ;
:
:

Spindle orientation of first spindle is canceled. First
spindle does not rotate until S code is newly
commanded.

N50 M19 P2 ;
:

Spindle orientation of second spindle is executed.
Stop position of the spindle is 0°.

N60 M18 P2 ;
:
:

Spindle orientation of second spindle is canceled.
Second spindle does not rotate until S code is newly
commanded.

N70 M03 S200 P1 ;

First spindle rotates at a speed of 200[min

-1

N80 M19 P3 ;
:
:

Alarm PS0552, "SP-MODE CHANGE COMMAND
ERROR" is issued because parameter No.25800 of
third spindle is 0.

If M code for spindle orientation ON is commanded, spindle speed command is set to 0 in order not to
rotate the spindle when spindle orientation is canceled. Therefore, S code has to be newly commanded for
rotating the spindle after spindle orientation OFF. In Multi-spindle control, if spindle selection method by
spindle selection signals SWS1 to SWS4 <Gn027.0, Gn027.1, Gn027.2>, <Gn026.3> is used, select
spindle by spindle selection signals before commanding S code. If S code has not been commanded in the
path from which M code for spindle orientation ON is commanded and only M03/M04 is commanded,
alarm PS0554, "S-CODE IS NOT COMMANDED" is issued in order not to start machining without
spindle rotation. If only M code except for M03/M04 is commanded, alarm PS0554 is not issued. If M
code except for M03/M04 is used for spindle rotation, be sure to command S code in order not to start
machining without spindle rotation.

Example (3) example of alarm PS0554 by only M03/M04 command

10. SPINDLE SPEED FUNCTION

B-64693EN-1/01

- 1896 -

Example of machining program

O1003 ;

N10 M03 S100 P1 ;

First spindle rotates at a speed of 100[min

-1

N20 M19 P1 ;

Spindle orientation of first spindle is executed.

N30 M18 P1 ;
:
:

Spindle orientation of first spindle is canceled. First
spindle does not rotate until S code is newly
commanded.

N40 M03 ;
:

Alarm PS0554, "S-CODE IS NOT COMMANDED" is
issued because S code has not been commanded.

NOTE

1 G code using address P, address Q, or address R and M code for spindle

orientation ON or M code for spindle orientation OFF cannot be commanded in
the same block. When spindle selection by address P is available, if machine
coordinate system select command (G53) is commanded, alarm PS0552,
"SP-MODE CHANGE COMMAND ERROR" is issued.
When spindle selection by address P is available and the addition of workpiece
coordinate system 48 pairs or 300 pairs is available, if selecting a workpiece
coordinate system (G54) is commanded, alarm PS0552, “SP-MODE CHANGE
COMMAND ERROR” is issued.

2 Spindle orientation by program command is not canceled by emergency stop,

reset. However, if emergency stop or reset is executed during M code for spindle
orientation ON, spindle orientation is canceled.

3 S code has to be newly commanded for rotating the spindle after canceling

spindle orientation by program command. If S code has not been commanded in
the path from which M code for spindle orientation ON is commanded and only
M03/M04 is commanded, alarm PS0554, "S-CODE IS NOT COMMANDED" is
issued. If only M code except for M03/M04 is commanded, alarm PS0554 is not
issued. Be sure to command S code if M code except for M03/M04 is used for
spindle rotation in order not to start machining without spindle rotation.

4 Multiple M commands in a single block cannot be used. Don’t command other M

codes with M code for spindle orientation ON or M code for spindle orientation
OFF in the same block.

5 Spindle orientation by program command cannot be used if spindle orientation

by a magnetic sensor is used.

6 Enabling spindle serial output (bit 5 (SSN) of parameter No.8133 is 0) and

spindle orientation (bit 4 (NOR) of parameter No.8135 is 0) is required in order to
use this function.

B-64693EN-1/01

10. SPINDLE SPEED FUNCTION

- 1897 -

- Cs contour control

Set M code for Cs contour control ON to parameter No.25802, and set M code for Cs contour control
OFF to parameter No.25803. If Cs contour control by program command is not available, set 0 to
parameters No.25802 and No.25803 of the spindle.
If spindle selection by address P of Multi-spindle control is enabled (bit 3 (MPP) of parameter No.3703 is
1), spindle changing Cs contour control mode can be selected by address P. Spindles changing Cs contour
control mode by program command use the same M code for Cs contour control ON, and the same M
code for Cs contour control OFF. Set the same M code to parameter of spindle changing Cs contour
control mode (refer to Example (5)).

When M code for Cs contour control ON or M code for Cs contour control OFF is commanded, auxiliary
function code signals M00 to M31<Fn010 to Fn013> and auxiliary function strobe signal MF<Fn007.0>
are not output.

Cs contour control axis coordinate establishment is available when bit 2 (CSF) of parameter No.3712 is 1
and bit 5 (CSPTRE) of parameter No.4353 is 1. If "Q1" is commanded with M code for Cs contour
control ON in the same block, coordinate of Cs contour control axis is established after changing Cs
contour control.

Cs contour control change signal CON<Gn027.7>, Cs contour control change signals in each axis
CONS1 to CONS4<Gn274.0 to Gn274.3>, or Cs axis coordinate establishment request signals CSFI1 to
CSFI4<Gn274.4 to Gn274.7> are available even if M code for Cs contour control ON or M code for Cs
contour control OFF are available. However, DI signals are not available from commanding M code for
Cs contour control ON to canceling Cs contour control. If M code for Cs contour control ON or M code
for Cs contour control OFF is commanded when Cs contour control change signal or Cs contour control
change signal in each axis is "1", alarm PS0553, "SP-MODE CHANGE IMPOSSIBLE" is issued.

Format

M_ (P_) (Q1) ; Cs contour control ON

M :   M code for Cs contour control ON (parameter No.25802)
P  :   Spindle selection of Multi-spindle control
Q1  : Cs contour control axis coordinate establishment

M_ (P_) ;

Cs contour control OFF

M : M code for Cs contour control OFF (parameter No.25803)
P : Spindle selection of Multi-spindle control

Example (4) Cs contour control of first spindle and second spindle by program command

Table 10.28 (c) Example of parameter setting

Parameter

No.25802

No.25803

No.4353#5

No.3712#2

First spindle

Second spindle

150

151

Third spindle

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