FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 319

16. PMC CONTROL FUNCTION

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Path 2

Path 1

PMC

CNC

Group 2 command

Group 1 command

Group 2

Group 1

DI / DO

First axis control

Second axis control

Third axis control

Fourth axis control

Fig. 16.1.1 (b) Example of correct relationships between groups and axes

In Fig. 16.1.1 (c), " Example of incorrect relationships between groups and axes", the first and second
axes specified with group 1 belong to path 1, but the third axis specified with group 1 belongs to path 2,
so that an intended operation is not performed.

Path 2

Path 1

PMC

CNC

Group 2 command

Group 1 command

Group 2

Group 1

DI / DO

First axis control

Second axis control

Third axis control

Fourth axis control

Fig. 16.1.1 (c) Example of incorrect relationships between groups and axes

As mentioned earlier, in PMC axis control, group-by-group signal addresses are allocated in the signal
area of each path, but PMC axis control and multi-path control are independent of each other.
So, from the path to which group-by-group signal addresses are allocated, commands can be issued to
axes that belong to another path. In this case, however, check that the target axes belong to the same path.

In Fig. 16.1.1 (d), “Commands to different paths”, the group-by-group signal addresses of group 1 are
allocated to path 1, and the group-by-group signal addresses of group 5 are allocated to path 2. (See Table
16.1.1 (b), “Allocation of group-by-group signals”.)

Group 1 can issue commands to the axes that belong to path 2. Similarly, group 5 can issue commands to
the axes that belong to path 1.

Path 2

Path 1

PMC

CNC

Group 5 command

Group 1 command

Group 5

(Signal addresses are

allocated to path 2.)

DI / DO

First axis control

Third axis control

Group 1

(Signal addresses are

allocated to path 1.)

Second axis control

Fourth axis control

Fig. 16.1.1 (d) Commands to different paths

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Relationships between paths and groups (path-by-path signals, path-by-path
parameters)

Path-by-path signal addresses are allocated in the signal area of each path. (See Table 16.1.1 (c),
“Example of Path-by-path signal (PMC axis control override signal) allocation”.)
However, PMC axis control and multi-path control are independent of each other.
The path-by-path direct signal (X) is described later.

NOTE

The number of available groups depends on the number of NC path or type of
PMC.
Generally, the maximum number of available groups equals the number of NC
paths multiplied by 4.

Table 16.1.1 (c) Example of Path-by-path signal (PMC axis control override signal) allocation

Group-by-group signal

Input signal (G) address

Output signal (F) address

Group 1

G0150.0,1,6,7, G0151

F0129.5,7

Group 2

G0150.0,1,6,7, G0151

F0129.5,7

Group 3

G0150.0,1,6,7, G0151

F0129.5,7

Group 4

G0150.0,1,6,7, G0151

F0129.5,7

Group 5

G1150.0,1,6,7, G1151

F1129.5,7

Group 6

G1150.0,1,6,7, G1151

F1129.5,7

Group 7

G1150.0,1,6,7, G1151

F1129.5,7

Group 8

G1150.0,1,6,7, G1151

F1129.5,7

Group 9

G2150.0,1,6,7, G2151

F2129.5,7

Group 10

G2150.0,1,6,7, G2151

F2129.5,7

Group 11

G2150.0,1,6,7, G2151

F2129.5,7

Group 12

G2150.0,1,6,7, G2151

F2129.5,7

Group 13

G3150.0,1,6,7, G3151

F3129.5,7

Group 14

G3150.0,1,6,7, G3151

F3129.5,7

Group 15

G3150.0,1,6,7, G3151

F3129.5,7

Group 16

G3150.0,1,6,7, G3151

F3129.5,7

A path-by-path signal is input/output to and from a signal of the path to which the group belongs (for
example, path 1 when a command is issued from group 1). No path-by-path signal is input/output to and
from the path to which the axis assigned to the group belongs.

In Fig. 16.1.1 (e), "Relationships between paths and groups for path-by-path signals (G, F)", for example,
the signal EBUFB#2 (described later) input from group 5 (whose signal addresses are allocated to path 2)
is output to EOV#2 (path-by-path signal described later) of path 2 to which group 5 addresses are
allocated.
EBUFB#2 is not output to EOV#1 of path 1, to which the first axis assigned to group 5 belongs.

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Path 2

Path 1

PMC

CNC

Group 5 command

Group 5

(Signal

addresses are

allocated to path

2.)

DI / DO

First axis control

Second axis control

Group 1

(Signal

addresses are

allocated to path

1.)

Path-by-path signal

EOV#1

Path-by-path signal

EOV#2

Fig. 16.1.1 (e) Relationships between paths and groups for path-by-path signals (G, F)

Restrictions on the number of groups

Basically, PMC axis control and multi-path control are independent of each other, but there are the
following restrictions.

1.

When PMC/L is used as PMC, the groups up to group 8 can be used. Group 9 and later groups
cannot be used.

When PMC control is performed with more than four times as many groups as the number of NC
paths, the signals shown in (A) and (B) below cannot be used for the excess paths and groups.
To use feedrate override signals, etc., set bit 2 (OVE) of parameter No. 8001 to 1.
(A) Path-by-path signals common to all groups

Fx129.7

*EAXSL

Fx129.5

EOV0

(B) Signals same as the CNC

Gx012

*FV0-*FV7

Gx006.4

OVC

Gx014.0,1

ROV1,2

Gx046.7

DRN

Gx019.7

For example, when the number of NC paths is 2, the signals in (A) and (B) can be used by the groups up
to group 8.

The restrictions on the number of NC paths, available (A) signals, and available (B) signals are shown
Table 16.1.1 (d).

Table 16.1.1 (d)

Number of NC paths

Available (A) signals

Available (B) signals

F129.5,7

(B) signals in the range from G0 to G0767

F129.5,7,…, F1129.5,7

(B) signals in the range from G0 to G1767

F129.5,7,…, F2129.5,7

(B) signals in the range from G0 to G2767

F129.5,7,…, F3129.5,7

(B) signals in the range from G0 to G3767

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Direct signal, path-by-path parameter

The direct signal (X) and path-by-path parameter differ from the path-by-path signals (G, F).
The direct signals and parameter values set for the paths to which all axes related to a group belong are
valid.
The direct signals and parameter values are irrelevant to values set for the path to which a group belongs.

In Fig. 16.1.1 (f), "Relationships between paths and groups for the direct signal (X)", when a command is
issued from group 5 to an axis of path 1, the valid direct signal ESKIP (described later) is ESKIP#1 of
path 1. The signal ESKIP#2 of path 2 is invalid.

Path 2

Path 1

PMC

CNC

Group 5 command

Signal address

area of path 2

(Group 5)

DI / DO

First axis control

Second axis control

Signal address

area of path 1

Direct signal

ESKIP#2

Direct signal

ESKIP#1

Fig. 16.1.1 (f) Relationships between paths and groups for the direct signal (X)

In Fig. 16.1.1 (g), "Relationships between path-by-path parameters and groups", when a command is
issued from group 5 to path 1, the setting value of 0 with bit 2 (OVE) of the path-by-path parameter No.
8001 for path 1 is valid.

Path 2

Path 1

PMC

CNC

Group 5 command

Signal address area of

path 2 (group 5)

DI / DO

First axis control

Second axis control

Parameter for path 1

8001#2=0

Parameter for path 2

8001#2=1

Fig. 16.1.1 (g) Relationships between path-by-path parameters and groups

Relationships between axes and paths (axis-by-axis signals, axis-by-axis
parameters)

The specifications of the axis-by-axis signals and axis-by-axis parameters associated with the
relationships between paths and axes are the same as the NC specifications.
Signals and parameters set for an axis are valid for the axis, and are not affected by groups.

PMC axis control consists of groups, axes, and paths.

Among the three relationships, that is, the group-axis, path-group, and path-axis relationships, the two
relationships other than the path-axis relationship represent a concept specific to PMC axis control.

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CAUTION

1 PMC axis control cannot be used to an axis under the axis synchronous control.

Cancel axis synchronous control before starting PMC axis command.

2 PMC axis control cannot be used to an axis under synchronous slave axis of

synchronous/composite control. Cancel synchronous control before starting
PMC axis command in slave axis.

3 Each axes cannot execute another PMC axis command by assigning two or

more axes to the same group. Assign the axes to another groups, and command
to each group.

Basic procedure

(1) In parameter No. 8010, set one of groups 1 to 16 for use with each axis to be used.

When

movements

are

made

along

multiple

axes

for

synchronization by using one group, ensure that the

feedrate-related parameters (rapid traverse, acceleration/deceleration time constant, diameter/ radius
specification, linear axis/rotation axis, and so forth) must be set to the same conditions.

When assigning multiple axes to one group, check that all axes that belong to the group are in the
same path.

(2) To detach from CNC control and to enable direct PMC axis control, set each control axis selection

signal (EAX1 to EAX8) bit, that corresponds to an axis to be controlled, to “1“.

(3) Determine the operation.

The axis control command signals (EC0g to EC6g) specify the type of operation. The axis control
feedrate signals (EIF0g to EIF15g) specify the feedrate. The axis control data signals (EID0g to
EID31g) specify the moving distance and other data.

These signals, together with block stop prohibition signal EMSBKg (described later), determine one
complete operation, which is tantamount to one block command executed during CNC-controlled
automatic operation. These signals may be collectively called the axis control block data signals.
(Refer to Table 16.1.1 (e), “List of signals determining data, tantamount to one block for PMC axis
control”.)

Table 16.1.1 (e) List of signals determining data, tantamount to one block for PMC axis control

Generic name

Signal name

Symbol

Data type

Axis control block data

signals

Block stop prohibition signal

EMSBKg

Bit

Axis control command signal

EC0g to EC6g

Byte

Axis control feedrate signal

EIF0g to EIF15g

Word

Axis control data signal

EID0g to EID31g

2-word

(4) When the data governing a complete operation (one block) is determined, reverse the logical state of

the axis control command read signal EBUFg (i.e., from “0“ to “1“ or vice versa). Note that, for this
to occur, axis control command read completion signal EBSYg must be in the same logical state as
EBUFg.

(5) The CNC is capable of storing axis control functions from the PMC in its buffer so that multiple

operations can be performed in series, under the control of the PMC. This allows the CNC to accept
a new command block from the PMC during the execution of another block if the buffer has free
space.

The Fig. 16.1.1 (h), "Buffering under PMC axis control" illustrates an example in which command
[1] is being executed, commands [2] and [3] are stored in the buffers, and command [4] has been
issued (the axis control block data signal is set).

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Block 1

Block 2

Block 3

Block 4

Block 5

Block n

PMC Commands

Setting of the axis
control block data signal

CNC's buffers

[1]

[2]

[3]

Executing buffer

Waiting buffer

Input buffer

[4]

Command [1]

Command [2]

Command [3]

Command [4]

Command [5]

Fig. 16.1.1 (h) Buffering under PMC axis control

When the execution of command [1] is completed:
  Command [2] is transferred from the waiting buffer to the executing buffer;
  Command [3] is transferred from the input buffer to the waiting buffer;
  and
  Command [4] is transferred to the input buffer as the command block (axis control block data signal).
After the reception of command [4] by the input buffer, the PMC can issue command [5] to the CNC (the
axis control block data signal is set).
The timing chart for the command operation is shown below. (Fig. 16.1.1 (i), "Timing chart of command
operation")

Command block

[1]

[2]

[3]

[4]

[5]

(Input)

EBUFg

(Input)

(1)

(2)

(3)

(4)

(5)

Uncommandable

EBSYg

(Output)

Input buffer

[3]

[4]

Waiting buffer

[2]

[3]

Executing buffer

[1]

[2]

Beginning
of execution

End of
execution

Beginning
of execution

Fig. 16.1.1 (i) Timing chart of command operation

(1), (2), (3), (4), (5) : A new block cannot be issued during these intervals (while EBUFg and EBSYg are
in different logical states). In interval (4), the buffer is in the "full" state.

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The status of the CNC buffer can be determined by the exclusive OR of the axis control command read
signal EBUFg, input from the PMC, and axis control command read completion signal EBSYg, output
from the CNC. (Table 16.1.1 (f), "Buffering status in PMC axis control")

Table 16.1.1 (f) Buffering status in PMC axis control

EBUFg

EBSYg

Exclusive OR

(XOR)

CNC buffer status

The previous block has already been read into the CNC buffer. The
PMC can issue the next block.

The previous block has not yet been read completely. It is just being
read or buffer is in the "full" state, and waiting for the CNC buffer to
become available. Do not issue the next block, nor reverse the
logical state of EBUFg. Reversing the EBUFg state invalidates any
block that has been already issued.

(6) Repeat steps (3) and (4) until all the blocks have been issued.

When the final block has been issued and other command is unnecessary, set control axis selection
signals EAX1 to EAX8 to “0“. Before setting these signals to “0“, however, check that the blocks
stored in the CNC's input, waiting, and executing buffers have all been executed. Setting the signals
to “0“ while a block is being executed, or while a block remains in any of these buffers, results in the
issue of a P/S alarm. This alarm PS0139, “CANNOT CHANGE PMC CONTROL AXIS” suspends
the current block execution and invalidates the blocks stored in the input and waiting buffers.

To ensure no block is being executed, or that there are no blocks remaining in the input or waiting
buffer, check that control axis selection status signal *EAXSL is set to “0“.

For those axes that are always subject to PMC control without switching the management between
CNC and PMC, such as those controlling turrets, pallets, and ATCs, ensure that the EAX1 to EAX8
signals are always set to “1“. There is no need to set these signals to “0“ after issuing commands
from the PMC to the CNC. When all command blocks have been executed (there are no blocks
remaining to be executed), the CNC automatically stops execution.

(7) When control axis selection signals EAX1 to EAX8 are set from “1“ to “0“, control is returned to the

CNC.

Command

Overview of commands

As described in step (3) in the basic procedure, one PMC axis control command block is represented by
the axis control block data signals.

PMC axis control enables the commands indicated in Table 16.1.1 (g), “Command list” to be specified.

In Table 16.1.1 (g), "Command list":
"Command" represents the axis control command signals (EC0g to EC6g).
"Data 1" represents the axis control feedrate signals (EIF0g to EIF15g).
"Data 2" represents the axis control data signals (EID0g to EID31g).

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Table 16.1.1 (g) Command list

No. Command

Operation

Data 1

Data 2

Description

(1)

00h

Rapid traverse

Rapid

traverse rate

(NOTE)

Total moving

distance

The same operation as “G00” of the CNC
is performed.

(2)

01h

Cutting feed - feed

per minute

Cutting

feedrate

Total moving

distance

The same operation as “G94 G01” of the
CNC is performed.

(3)

02h

Cutting feed - feed

per revolution

Feedrate per

revolution

Total moving

distance

The same operation as “G95 G01” of the
CNC is performed.

(4)

03h

Skip - feed per

minute

Cutting

feedrate

Total moving

distance

The same operation as “G31 G01” of the
CNC is performed.

(5)

04h

Dwell

---

Dwell time

The same operation as “G04” of the CNC
is performed.

(6)

05h

Reference position

return

---

After a rapid traverse movement is made
in the reference position return direction
set by bit 5 (ZMIx) of parameter No. 1006,
the same operation as manual reference
position return of the CNC is performed.

(7)

06h

Continuous feed

Continuous

feedrate

Feed direction

(EID31g only)

A continuous feed operation is performed
along a controlled axis in a certain
direction.
The same operation as continuous feed in
the JOG mode of the CNC is performed.

(8)

07h

First reference

position return

Rapid

traverse rate

(NOTE)

---

The same operation as reference position
return from an intermediate position done
with “G28” of the CNC is performed.

(9)

08h

Second reference

position return

Rapid

traverse rate

(NOTE)

---

The same operation as reference position
return from an intermediate position done
with “G30 P2” of the CNC is performed.

(10)

09h

Third reference

position return

Rapid

traverse rate

(NOTE)

---

The same operation as reference position
return from an intermediate position done
with ”G30 P3” of the CNC is performed.

(11)

0Ah

Fourth reference

position return

Rapid

traverse rate

(NOTE)

---

The same operation as reference position
return from an intermediate position done
with G30 P4” the CNC is performed.

(12)

0Bh

External pulse

synchronization -

position coder

Pulse weight

---

Synchronous operation with the position
coder is performed.

(13)

0Dh

External pulse

synchronization -

first manual handle

Pulse weight

---

Synchronous operation with the first
manual handle is performed.

(14)

0Eh

External pulse

synchronization -

second manual

handle

Pulse weight

---

Synchronous operation with the second
manual handle is performed.

(15)

0Fh

External pulse

synchronization -

third manual handle

Pulse weight

---

Synchronous operation with the third
manual handle is performed.

(16)

10h

Speed command

Speed

specified by

speed

command

---

Continuous feed operation based on a
speed command is performed.

(17)

11h

Torque control

Maximum

feedrate

Torque data

Continuous feed operation based on
torque control is performed.

(18)

12h

Auxiliary function 1

---

Auxiliary

function code

The same operation as an auxiliary
function of the CNC is performed.

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