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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 320

16. PMC CONTROL FUNCTION

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No. Command

Operation

Data 1

Data 2

Description

(19)

14h

Auxiliary function 2

---

Auxiliary

function code

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

(20)

15h

Auxiliary function 3

---

Auxiliary

function code

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

(21)

20h

Machine coordinate

system selection

Rapid

traverse rate

(NOTE)

Machine

coordinate

value

The same operation as “G53” of the CNC
is performed.

(22)

21h

Cutting feed -

sec/block

specification

Cutting feed

time

Total moving

distance

Cutting feed is performed according to a
specified period of time.
In the sec/block specification, specify a
period of time required for ending a block.

NOTE

The rapid traverse rate is valid only when bit 0 (RPD) of parameter No. 8002 is
set to 1.

Details of commands

A detailed description of each command is provided below. The parenthesized number following each
command title represents the value of the axis control command signals EC0g to EC6g.

(1) Rapid traverse ( 00h )

This command performs the same operation as "G00" of the CNC.

Axis control block data

Signal abbreviation

Signal address (group 1)

Data

EC0g to EC6g

G143.0 to G143.6

Rapid traverse command (00h)

EIF0g to EIF15g

G144,145

Rapid traverse rate

EID0g to EID31g

G146 to 149

Total moving distance

Rapid traverse rate

With bit 0 (RPD) of parameter No. 8002, whether the same rapid traverse rate as set in the parameter No.
1420 of the CNC is used or the feedrate of the PMC axis interface set by EIF0g to EIF15g is used
independently of the CNC can be chosen.
When bit 0 (RPD) of parameter No. 8002 is set to 1, set a rapid traverse rate with a binary code.

[Unit of data]

Unit of data

Unit

IS-A to IS-C

Linear axis

Metric machine

mm/min

Inch machine

0.1

inch/min

Rotation axis

deg/min

NOTE

When bit 0 (CMI) of parameter No. 11850 is 0, the rapid traverse rate set by
EIF0g to EIF15g is always represented in millimeters.

[Valid data range] 1 to 65535

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16. PMC CONTROL FUNCTION

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Total moving distance

Set an incremental travel amount in the input system unit of the axis with a binary code.

[Unit of data] Least input increment of the applied axis (Refer to the standard parameter setting table

(A))

[Valid data range]

IS-A

IS-B to IS-C

99999999 to 99999999 (8-digit)

999999999 to 999999999 (9-digit)

For diameter specification based on bit 3 (DIAx) of parameter No. 1006, whether to specify a radius value
or diameter value can be chosen using bit 1 (CDI) of parameter No. 8005.

When bit 0 (RPD) of parameter No. 8002 is set to 1 (to use the PMC axis interface for rapid traverse rate
selection), the rapid traverse rate unit is 1 mm/min if bit 2 (R10) of parameter No. 8005 is set to 0; the
rapid traverse rate unit is 10 mm/min if bit 2 (R10) of parameter No. 8005 is set to 1.

With bit 2 (OVE) of parameter No. 8001, select a dry run signal and manual rapid traverse selection
signal to be used. In addition to these signals, with bit 2 (OVE) of parameter No.8001, select also a feed
rate override signal, a override cancellation signal and rapid traverse override signal. The Table 16.1.1 (h)
indicates the relationships between the bit and signals.

Table 16.1.1 (h)

Signals

Bit 2 (OVE) of parameter

No.8001 = 0

(same signals as those used

for the CNC)

Bit 2 (OVE) of parameter

No. 8001 = 1

(signals specific to the PMC)

Feedrate override signals

*FV0 to *FV7<G012>

*EFOV0 to *EFOV7<G151>

Override cancellation signal

OVC<G006.4)

EOVC<G150.5>

Rapid traverse override signals

ROV1,2<G014.0,1>

EROV1,2<G150.0,1>

*EROV0 to *EROV7<G151>

Dry run signal

DRN<G046.7>

EDRN<G150.7>

Manual rapid traverse selection signal

RT<G019.7>

ERT<G150.6>

When the dry run signal DRN/EDRN is set to “1”, the relationship of feedrate is indicated as Table 16.1.1
(i)

Table 16.1.1 (i)

Manual rapid traverse

selection signal (RTorERT)

When rapid traverse is commanded

RDE(No.8001#3)=0

RDE(No.8001#3)=1

Rapid traverse

Dry run feedrate

*JV (NOTE)

Rapid traverse

NOTE

When bit 1 (JOV) of parameter No. 1402 is set to 1, the manual feedrate
override signal *JV is not applied, but the dry run feedrate is just applied.

Related parameters

Bit 3 (DIAx) of parameter No. 1006

Bit 1 (JOV) of parameter No. 1402

Parameter No. 1420

Bit 2 (OVE) of parameter No. 8001

Bit 3 (RDE) of parameter No. 8001

Bit 0 (RPD) of parameter No. 8002

Bit 1 (CDI) of parameter No. 8005

Bit 2 (R10) of parameter No. 8005

16. PMC CONTROL FUNCTION

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Related signals

Manual rapid traverse selection signal RT <G019.7>

Dry run signal DRN <G046.7>

Manual rapid traverse selection signal (for PMC axis control) ERT <G150.6>

Dry run signal (for PMC axis control) EDRN <G150.7>

(2) Cutting feed - feed per minute ( 01h )

This command performs the same operation as “G94 G01” of the CNC.

Axis control block data

Signal abbreviation

Signal address (group 1)

Data

EC0g to EC6g

G143.0 to G143.6

Cutting feed - feed minute (01h)

EIF0g to EIF15g

G144,145

Cutting feedrate

EID0g to EID31g

G146 to 149

Total moving distance

Cutting feed rate

Set a feedrate along the axis with a binary code.
A set feedrate can be increased by a factor of 10 with bit 3 (F10) of parameter No. 8002.

When bit 4 (EFD) of parameter No. 8006 is set to 1, the unit of feedrate data increases by a factor of 100.
Moreover, the feedrate unit can be changed using a combination of bit 4 (PF1) of parameter No. 8002 and
bit 5 (PF2) of parameter No. 8002.

[Unit of data]When the bit 3 (F10) of parameter No. 8002 is set to 0.

Unit of data

Unit

IS-A

IS-B

IS-C

Linear axis

Metric input

0.1

mm/min

Inch input

0.1

0.01

0.001

inch/min

Rotation axis

0.1

deg/min

When the bit 3 (F10) of parameter No. 8002 is set to 1.

Unit of data

Unit

IS-A

IS-B

IS-C

Linear axis

Metric input

100

mm/min

Inch input

0.1

0.01

inch/min

Rotation axis

100

deg/min

[Valid data range] 1 to 65535

CAUTION

1 When “0” is specified, the buffering state remains unchanged and no axis

movement takes place. In such a case, perform a reset operation with the reset
signal ECLRg.

2 Clamping to the cutting feedrate (parameter No. 1430) is disabled.

Total moving distance

The specifications of the rapid traverse command (EC0g to EC6g: 00h) are applicable.

With bit 2 (OVE) of parameter No. 8001, select a dry run signal and manual rapid traverse selection
signal to be used. In addition to these signals, with bit 2 (OVE) of parameter No.8001, select also a feed
rate override signal, a override cancellation signal and rapid traverse override signal. The Table 16.1.1 (j)
below indicates the relationships between the bit and signals.

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Table 16.1.1 (j)

Signals

Bit 2 (OVE) of parameter

No.8001 = 0

(same signals as those used

for the CNC)

Bit 2 (OVE) of parameter

No. 8001 = 1

(signals specific to the PMC)

Feedrate override signals

*FV0 to *FV7<G012>

*EFOV0 to *EFOV7<G151>

Override cancellation signal

OVC<G006.4)

EOVC<G150.5>

Rapid traverse override signals

ROV1,2<G014.0,1>

EROV1,2<G150.0,1>

*EROV0 to *EROV7<G151>

Dry run signal

DRN<G046.7>

EDRN<G150.7>

Manual rapid traverse selection signal

RT<G019.7>

ERT<G150.6>

When the dry run signal DRN/EDRN is set to “1”, the feedrate is as indicated Table 16.1.1 (k).
Unlike rapid traverse, the feedrate does not depend on the value of bit 3 (RDE) of parameter No. 8001.

Table 16.1.1 (k)

Manual rapid traverse selection signal (RT / ERT)

When cutting feed is specified

Dry run speed

*JV (Note)

Cutting feed

NOTE

When bit 1 (JOV) of parameter No. 1402 is set to 1, the manual feedrate
override signal *JV is not applied, but the dry run feedrate is just applied.

Related parameters

Bit 3 (DIAx) of parameter No. 1006

Bit 1 (JOV) of parameter No. 1402

Bit 2 (OVE) of parameter No. 8001

Bit 3 (F10) of parameter No. 8002

Bit 4 (PF1) of parameter No. 8002

Bit 5 (PF2) of parameter No. 8002

Bit 1 (CDI) of parameter No. 8005

Bit 4 (EFD) of parameter No. 8006

Related signals

Manual rapid traverse selection signal RT <G019.7>

Dry run signal DRN<G046.7>

Manual rapid traverse selection signal (for PMC axis control) ERT <G150.6>

Dry run signal (for PMC axis control) EDRN <G150.7>

(3) Cutting feed - feed per revolution ( 02h )

This command performs the same operation as "G95 G01" of the CNC.
Set the amount of feed along the axis per spindle revolution.
The feedrate per spindle revolution depends on whether the M series or T series is used.

Axis control block data

Signal abbreviation

Signal address (group 1)

Data

EC0g to EC6g

G143.0 to G143.6

Cutting feed - feed per revolution command (02h)

EIF0g to EIF15g

G144,145

Feedrate per revolution

EID0g to EID31g

G146 to 149

Total moving distance

16. PMC CONTROL FUNCTION

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Feedrate per revolution

[Unit of data] The Table 16.1.1 (l) indicates the unit of data depending on the setting of bits 6 (FR1) and

bit 7 (FR2) of parameter No. 8002.

Table 16.1.1 (l)

Parameter

Metric input

(mm/rev)

Inch input

(inch/rev)

Rotation axis

(deg/rev)

FR2

FR1

0.0001

0.000001

0.0001

0.001

0.00001

0.001

0.01

0.0001

0.01

[Valid data range] 1 to 65535

(However, data within the ranges indicated Table 16.1.1 (m) must be commanded.)

Table 16.1.1 (m)

Valid data range

Unit

IS-A to IS-C

Linear axis

Metric input

0.0001 to 500.0000

mm/rev

Inch input

0.000001 to 9.999999

inch/rev

Rotation axis

0.0001 to 500.0000

deg/rev

[Unit of data] The Table 16.1.1 (n) indicates the unit of data depending on the setting of bits 6 (FR1) and

bit 7 (FR2) of parameter No. 8002.

Table 16.1.1 (n)

Parameter

Metric input

(mm/rev)

Inch input

(inch/rev)

Rotation axis

(deg/rev)

FR2

FR1

0.01

0.0001

0.01

0.1

0.001

0.1

0.01

[Valid data range] 1 to 65535

(However, data within the ranges indicated Table 16.1.1 (o) must be commanded.)

Table 16.1.1 (o)

Valid data range

Unit

IS-A to IS-C

Linear axis

Metric input

0.01 to 500.00

mm/rev

Inch input

0.0001 to 9.9999

inch/rev

Rotation axis

0.01 to 500.00

deg/rev

CAUTION

1 A set feedrate can be increased by a factor of 10 or 100 by setting bit 6 (FR1)

and bit 7 (FR2) of parameter No. 8002.

2 The feedrate is clamped to a value not exceeding the setting of parameter No.

8022.

3 Override is enabled. Dry run depends on the value of bit 3 (DRR) of parameter

No. 8005.

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16. PMC CONTROL FUNCTION

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Total moving distance

The specifications of the rapid traverse command (EC0g to EC6g: 00h) are applicable.

Dry run operation follows the specifications of cutting feed - feed per minute.

Related parameters

Bit 3 (DRR) of parameter No. 8005

Parameter No. 8022

Others follow the specifications of the cutting feed - feed per minute.

Related signals

Same as for cutting feed - feed per minute

(4) Skip - feed per minute ( 03h )

Skip

This command performs the same operation as "G31 G01" of the CNC.
High-speed skip is disabled.

Available skip signal

Skip signal of PMC axis control uses the same skip signal SKIP<X0004.7> as CNC. When bit 7 (SKE) of
parameter No.8001 is set to 1, unique skip signal ESKIP<X0004.6> of PMC axis control can be used.
Also, when bit 2 (XSG) of parameter No.3008 is set to 1, arbitrary X address specified by the parameters
Nos.3012, 3019 can be used as a skip signal. Available skip signal is shown in Table 16.1.1 (p).

Table 16.1.1 (p) Skip signal to be used in PMC axis control skip

Bit 7(SKE)

of parameter No.8001

Bit 2 (XSG)

of parameter No.3008

Available skip signal

SKIP <X0004.7>, SKIP

<X0013.7>, SKIP

<X0011.7>,

path 4 can not use skip signal.

ESKIP <X0004.6>, ESKIP

<X0013.6>, ESKIP

<X0011.6>,

path 4 can not use skip signal.

Bit 7 of X address set to the parameter No.3012

Bit 6 of X address set to the parameter No.3019

Axis control block data

Signal abbreviation

Signal address (group 1)

Data

EC0g to EC6g

G143.0 to G143.6

Skip command (03h)

EIF0g to EIF15g

G144,145

Cutting feedrate

EID0g to EID31g

G146 to 149

Total moving distance

Cutting feedrate

The specifications of the cutting feed command (EC0g to EC6g: 01h) are applicable.

CAUTION

Feedrate override, dry run, and automatic acceleration/deceleration are disabled.

Total moving distance

The specifications of the rapid traverse command (EC0g to EC6g: 00h) are applicable.

16. PMC CONTROL FUNCTION

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Acceleration/deceleration after interpolation

When bit 5 (PSA) of parameter No.8007 is set to 1, acceleration/deceleration after interpolation is enabled
for skip command of PMC axis control. Type of acceleration/deceleration is set to bit 3 (ASL) and bit 4
(ASB) of parameter No. 6210, and time constant is set to parameter No.6280. As a result, different from
acceleration/deceleration after interpolation of cutting feed of normal, acceleration/deceleration after
interpolation for the skip function is available. Also, in case of type of exponential
acceleration/deceleration, acceleration/deceleration after interpolation in cutting feed or continuous feed
under PMC axis control is available by setting the time constant to parameter No.8030 and setting FL rate
to parameter No.8031. Setting of acceleration/deceleration is shown in Table 16.1.1 (q). In case of CNC
skip command (G31), when bit 7 (SKF) of parameter No.6200 is set to 1, acceleration/deceleration after
interpolation of cutting feed is enabled. Setting of acceleration/deceleration is shown in Table 16.1.1 (r).
This function is enabled bit 1 (SEB) of parameter No.6201. When parameter SEB is set to 1, Skip
position of system variables (#5061 to #5080, #100151 to #100182) in which the accumulated pulses and
positional deviation due to acceleration/deceleration was considered and compensated can be read.

Table 16.1.1 (q) Setting of acceleration/deceleration after interpolation of PMC axis control skip, when bit 5

(PSA) of parameter No.8007 = 1.

Acceleration/deceleration

setting

Bit 1

(CTBx) of

parameter

No.1610

Bit 0

(CTLx) of

parameter

No.1610

Bit 4

(ASB) of

parameter

No.6210

Bit 3

(ASL) of

parameter

No.6210

Time

constant,

FL rate

parameter

Exponential

acceleration/

deceleration

Same time constant and

FL rate as cutting feed

No.1622
No.1623

Time constant and FL rate

different from cutting feed

No.8030
No.8031

Linear

acceleration/

deceleration

Same time constant

as cutting feed

No.1622

Time constant

different from cutting feed

0 / 1

No.6280

Bell-shaped

acceleration/

deceleration

Same time constant

as cutting feed

No.1622

Time constant

different from cutting feed

0 / 1

No.6280

Table 16.1.1 (r) Setting of acceleration/deceleration after interpolation of CNC skip command, when bit 7

(SKF) of parameter No.6200 = 1.

Acceleration/deceleration

setting

Bit 1

(CTBx) of

parameter

No.1610

Bit 0

(CTLx) of

parameter

No.1610

Bit 4

(ASB) of

parameter

No.6210

Bit 3

(ASL) of

parameter

No.6210

Time

constant,

FL rate

parameter

Exponential

acceleration/

deceleration

Same time constant and

FL rate as cutting feed

No.1622
No.1623

Time constant and FL rate

different from cutting feed

This setting does not exist.

Linear

acceleration/

deceleration

Same time constant

as cutting feed

No.1622

Time constant

different from cutting feed

0 / 1

No.6280

Bell-shaped

acceleration/

deceleration

Same time constant

as cutting feed

No.1622

Time constant

different from cutting feed

0 / 1

No.6280

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16. PMC CONTROL FUNCTION

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NOTE

1 Setting value of parameters Nos.8030, 8031 are the same as cutting feed under

PMC axis control.

2 Setting value of bit 3 (ASL) and bit 4 (ASB) of parameter No.6210, parameter

No.6280 are the same as CNC skip command (G31).

3 Multi-step skip function, high-speed skip function, torque limit skip function, skip

function for EGB Axis, and dwell skip function can not be used in PMC axis
control skip.

Related parameters

Parameter No. 3012

Parameter No. 3019

Bit 1 (SK0) of parameter No. 6200

When Bit 5 (PSA) of parameter No. 8007 is set to 1, Bit 1 (SEB) of parameter No. 6201

When Bit 5 (PSA) of parameter No. 8007 is set to 1, Bit 3 (ASL) of parameter No. 6210 and

Bit 4 (ASB) of parameter No. 6210, No. 6280

Related signals

Skip signal SKIP<X0004.7>, SKIP

<X0013.7>, SKIP

<X0011.7>, ESKIP<X0004.6>,

ESKIP

<X0013.6>, ESKIP

<X0011.6>

(5) Dwell ( 04h )

This command performs the same operation as "G04" of the CNC.

Axis control block data

Signal abbreviation

Signal address (group 1)

Data

EC0g to EC6g

G143.0 to G143.6

Dwell command (04h)

EID0g to EID31g

G146 to 149

Dwell time

Dwell time

Set a dwell time with a binary code.

Valid data range

Unit

1 to 9999999

When diameter specification is selected with bit 3 (DIAx) of parameter No. 1006, whether to specify a
radius value or diameter value for dwell operation can be specified using bit 1 (CDI) of parameter No.
8005.

When the increment system is IS-C, the dwell time can be set to a least input increment of 0.1 msec with
bit 1 (DWE) of parameter No. 8002.

Related parameters

  Bit 3 (DIAx) of parameter No. 1006
  Bit 1 (DWE) of parameter No. 8002
  Bit 1 (CDI) of parameter No. 8005

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