FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 321

16. PMC CONTROL FUNCTION

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(6) Reference position return ( 05h )

This command performs the same operation as manual reference position return of the CNC after rapid
traverse in the reference position return direction set by bit 5 (ZMIx) of parameter No. 1006.

Reference position return without DOG

If bit 1 (DLZx) of parameter No. 1005 for the function for return the reference position without dogs is
set for each axis, and reference position return operation is not performed even once after the power is
turned on, a reference position return operation (positioning at a grid closest to the current position) can
be performed without using the reference position return deceleration signal when a movement
(positioning at a location near the reference position) is made in the direction set for each axis with the
continuous feed command (EC0g to EC6g: 06h) and the reference position return command (EC0g to
EC6g: 05h) is specified.
At the time of positioning at a location near the reference position, the machine needs to be moved in the
reference position return direction at such a feedrate that the servo position deviation exceeds the value
set in parameter No. 1836.
The direction from a neighborhood point to a grid is set by bit 5 (ZMIx) of parameter No. 1006.
If the reference position return command (EC0g to EC6g: 05h) is issued after reference position
establishment, a high-speed reference position return operation is performed, regardless of the reference
position return direction set by bit 5 (ZMIx) of parameter No. 1006.
Specify this command after canceling tool radius compensation and tool length compensation.

Axis control block data

Signal abbreviation

Signal address (group 1)

Data

EC0g to EC6g

G143.0 to G143.6

Reference position return command (05h)

Related parameters

Bit 1 (DLZx) of parameter No. 1005

Bit 5 (ZMIx) of parameter No. 1006

Parameter No. 1836

(7) Continuous feed ( 06h )

This command performs a continuous feed operation along a controlled axis in a certain direction.
This command performs the same operation as continuous feed in the JOG mode of the CNC.

Continuous feed is performed until a reset. At this time, the remaining amount of travel is 0 at all times.

By setting the reset signal ECLRg to “1”, the command can be ended. At this time, the servo motor is
decelerated to a stop, the axis moving signal EGENg is set to “0”, and the control axis selection status
signal *EAXSL is also set to “0“.
Before specifying the next command, check that the control axis selection status signal *EAXSL is set to
“0”.
Until the control axis selection status signal *EAXSL is set to “0”, ensure that the reset signal ECLRg
continues to be set to “1”.

Axis control block data

Signal abbreviation

Signal address (group 1)

Data

EC0g to EC6g

G143.0 to G143.6

Continuous feed command (06h)

EIF0g to EIF15g

G144,145

Continuous feedrate

EID31g

G149.7

Feed direction (specified with EID31g only)

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Continuous feedrate

A feedrate along an axis is set in the same way as for cutting feed - feed per minute (EC0g to EC6g: 01h).
A feedrate change can be made during continuous feed.
If a feedrate (EIF0g to EIF15g) is set, and the logical state of the axis control command read signal
EBUFg is reversed, a new continuous feedrate is set.
This command is not buffered. So, the axis control command read completion signal EBSYg need not be
checked when this command is specified usually.
A set feedrate can be increased by a factor of 10 with bit 3 (F10) of parameter No. 8002. Moreover, a set
feedrate can be increased by a factor of up to 200 with bit 2 (JFM) of parameter No. 8004.

CAUTION

A maximum feedrate applicable when override is applied differs from a maximum
feedrate applicable when override is canceled. Maximum feedrate data in the
two cases is indicated Table 16.1.1 (s) and Table 16.1.1 (t).

Table 16.1.1 (s) Maximum feedrate (when an override of 254% is applied)

IS-B

IS-C

Metric input

(mm/min)

Inch input
(inch/min)

Metric input

(mm/min)

Inch input
(inch/min)

1 times

166458

1664.58

16645

166.45

10 times

1664589

16645.89

166458

1664.58

200 times (NOTE 1)

19660500

196605.00

1966050

19660.50

Table 16.1.1 (t) Maximum feedrate (when override is canceled)

IS-B

IS-C

Metric input

(mm/min)

Inch input
(inch/min)

Metric input

(mm/min)

Inch input
(inch/min)

1 times

65535

655.35

6553

65.53

10 times

655350

6553.5

65535

655.35

200 times (NOTE 1)

13107000

131070

1310700

13107

NOTE

1 A feedrate increased by a factor of 200 is valid only when the continuous feed

command (EC0g to EC6g: 06h) is used.

2 The actual feedrate may not be displayed correctly, depending on the feedrate.

Feed direction

Specify the direction of continuous feed with the signal EID31g.
0:

Positive direction

Negative direction

The signals EID0g to EID30g are undefined.
To change the feed direction during continuous feed, the signal EID31g is reversed and then the logical
state of the axis control command read signal EBUFg is reversed.

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

Related parameters

Bit 1 (JOV) of parameter No. 1402

Bit 2 (OVE) of parameter No. 8001

Bit 3 (F10) of parameter No. 8002

Bit 2 (JFM) of parameter No. 8004

Related signals

Same as for cutting feed - feed per minute

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(8) First reference position return ( 07h )

This command performs the same operation as reference position return from an intermediate position
done with "G28" of the CNC.

Axis control block data

Signal abbreviation

Signal address (group 1)

Data

EC0g to EC6g

G143.0 to G143.6

First reference position return command (07h)

EIF0g to EIF15g

G144,145

Rapid traverse rate

Rapid traverse rate

The specifications of the rapid traverse command (EC0g to EC6g: 00h) are applicable.
When the first reference position return command is specified, the manual rapid traverse rate set by
parameter No. 1424 is used if manual reference position return operation is not performed even once after
the power is turned on.

NOTE

If bit 1 (DLZ) of parameter No. 1005 is set to enable the function for returning the
reference position without dogs for each axis, and reference position return
operation is not performed even once after the power is turned on, the alarm
PS0090, “REFERENCE RETURN INCOMPLETE” is issued when the first
reference position return command (EC0g to EC6g: 07h) is specified.

Dry run operation follows the specifications of rapid traverse.

Related parameters

Bit 1 (DLZx) of parameter No. 1005

Parameter No. 1240

Bit 1 (JOV) of parameter No. 1402

Parameter No. 1420

Parameter No. 1424

Bit 2 (OVE) of parameter No. 8001

Bit 3 (RDE) of parameter No. 8001

Bit 0 (RPD) of parameter No. 8002

Related signals

Same specification for rapid traverse command

(9) Second reference position return ( 08h )

This command performs the same operation as reference position return from an intermediate position
done with "G30 P2" of the CNC.

Axis control block data

Signal abbreviation

Signal address (group 1)

Data

EC0g to EC6g

G143.0 to G143.6

Second reference position return command (08h)

EIF0g to EIF15g

G144,145

Rapid traverse rate

Rapid traverse rate

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

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Related parameters

Bit 1 (DLZx) of parameter No. 1005

Parameter No. 1241

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

Related signals

Same specification for rapid traverse command

(10) Third reference position return ( 09h )

This command performs the same operation as reference position return from an intermediate position
done with "G30 P3" of the CNC.

Axis control block data

Signal abbreviation

Signal address (group 1)

Data

EC0g to EC6g

G143.0 to G143.6

Third reference position return command (09h)

EIF0g to EIF15g

G144,145

Rapid traverse rate

Rapid traverse rate

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

Related parameters

Bit 1 (DLZx) of parameter No. 1005

Parameter No. 1242

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

Related signals

Same specification for rapid traverse command

(11) Fourth reference position return ( 0Ah )

This command performs the same operation as reference position return from an intermediate position
done with "G30 P4" of the CNC.

Axis control block data

Signal abbreviation

Signal address (group 1)

Data

EC0g to EC6g

G143.0 to G143.6

Fourth reference position return command (0Ah)

EIF0g to EIF15g

G144,145

Rapid traverse rate

Rapid traverse rate

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

Related parameters

Bit 1 (DLZx) of parameter No. 1005

Parameter No. 1243

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

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Related signals

Same specification for rapid traverse command

(12) External pulse synchronization – position coder ( 0Bh )

This command performs a synchronous operation with the position coder. Using position coder of the
serial spindle is also available.
When a negative external pulse value is specified, a movement is made in the opposite direction.
The remaining amount of travel is 0 at all times.
If a manual handle interrupt operation is performed for the same axis, an amount of travel based on
external pulses added to manual handle interrupt pulses results.

By setting the reset signal ECLRg to “1”, the command can be ended. At this time, the servo motor is
decelerated to a stop, the axis moving signal EGENg is set to “0”, and the control axis selection status
signal *EAXSL is also set to “0”.
Before specifying the next command, check that the control axis selection status signal *EAXSL is set to
“0”.
Until the control axis selection status signal *EAXSL is set to “0”, ensure that the reset signal ECLRg
continues to be set to “1”.

Axis control block data

Signal abbreviation Signal address (group 1)

Data

EC0g to EC6g

G143.0 to G143.6

External pulse synchronization - position coder command (0Bh)

EIF0g to EIF15g

G144,145

Pulse weight

EID0g to EID7g

G146

Spindle number of the serial spindle to be synchronized

(common to the system) (*1)

*1: This data is set only during synchronization with the position coder of the serial spindle.

The type of position coder to be synchronized depends on the parameter setting, as shown Table 16.1.1
(u).

Table 16.1.1 (u)

Bit 3 (ESY) of

parameter No.

8007

Bit 0 (EOS) of

parameter No.

8019

Command of

G146

Valid position coder

0/1

Not required Position coder (not a serial spindle)

Not required Position coder of the first spindle belonging to path 1 (*2)

Required

Position coder of an arbitrary spindle (set by G146)

*2: This can be commanded for the servo axis belonging to path 1.

Pulse weight

Set an external pulse weight.

1)

In the Case of Manual pulse magnification change signal HNDMP<Gn088.3> is “0”
When setting a weight value, use the higher bits of signal (EIF8g to EIF15g) to specify the integer
part of an external pulse weight, and use the lower bits of signal (EIF0g to EIF7g) to specify the
fractional part.
The valid range is

1/256 to

127.

With EIF0g to EIF7g for the fractional part, specify a weight in steps of 1/256.

Example)

For 0.5: EIF0g to EIF7g = 80h (=80h/100h=128 / 256 = 0.5)
For 0.2: EIF0g to EIF7g = 33h (=33h/100h= 51 / 256 = 0.2)

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In the Case of Manual pulse magnification change signal HNDMP<Gn088.3> is “1”
When setting a weight value, use the higher bits of signal (EIF5g to EIF15g) to specify the integer
part of an external pulse weight, and use the lower bits of signal (EIF0g to EIF4g) to specify the
fractional part.
The valid range is

1/32 to

1023.

With EIF0g to EIF4g for the fractional part, specify a weight in steps of 1/32.

Example)

For 0.5: EIF0g to EIF4g = 10h (=10h/20h=16 / 32 = 0.5)
For 0.2: EIF0g to EIF4g = 06h (=06h/20h= 6 / 32 = 0.2)

When a negative value is set to pulse weight, a movement is made along the axis in the opposite direction.
If a new pulse weight is set and the logical state of the axis control command read signal EBUFg is
reversed during axis movement based on external pulse synchronization, a movement is made along the
axis according to the new pulse weight.
This command is not buffered. So, the axis control command read completion signal EBSYg need not be
checked when this command is specified normally.

Spindle number of a serial spindle to be synchronized (for synchronization with the position coder
of a serial spindle)

The serial spindle to be synchronized is set with a spindle number common to the system.
The valid range extends from 1 to the maximum number of control spindle axes. If the spindle number
falls outside the range, external pulse synchronization is disabled.

Example)

When the spindle (serial spindle) of each path is assigned as shown Table 16.1.1 (v) and Fig.
16.1.1 (j)

Table 16.1.1 (v)

Spindle number common to the system

Path number + Spindle number in the path

First spindle (S1)

First spindle in path 1 (S11)

Second spindle (S2)

Second spindle in path 1 (S12)

Third spindle (S3)

Third spindle in path 1 (S13)

Fourth spindle (S4)

First spindle in path 2 (S21)

Fifth spindle (S5)

First spindle in path 3 (S31)

Sixth spindle (S6)

Second spindle in path 3 (S32)

Path 1

Path 2

Path 3

Spindle

(S32)

Spindle

(S31)

Spindle

(S21)

Spindle

(S13)

Spindle

(S12)

Spindle

(S11)

Fig. 16.1.1 (j)

To perform external pulse synchronization with the second spindle (S32) in path 3, set the
spindle number of the serial spindle to 6.

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NOTE

1 The spindle number to be set does not depend on the path and is common to

the system.

2 If the set serial spindle is not present, external pulse synchronization is disabled.
3 Be sure to set EID8g to EID31g (G147 to G149 for group 1) to 0.

Related parameters

Bit 3 (DIAx) of parameter No. 1006

Parameter No. 1424

Bit 1 (CDI) of parameter No. 8005

Bit 3 (ESY) of parameter No. 8007

Bit 0 (EOS) of parameter No. 8019

CAUTION

The feedrate is clamped to the manual rapid traverse rate for each axis

(parameter No. 1424).

NOTE

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. At this time, set the same value with bit 3 (DIAx) of
parameter No. 1006 for all axes that belong to the same group.

(13) External pulse synchronization - first manual handle ( 0Dh )
(14) External pulse synchronization - second manual handle ( 0Eh )
(15) External pulse synchronization - third manual handle ( 0Fh )

Each of these commands performs a synchronous operation with a manual handle.

When a negative external pulse value is specified, a movement is made in the opposite direction.
The remaining amount of travel is 0 at all times.
If a manual handle interrupt operation is performed for the same axis, an amount of travel based on
external pulses added to manual handle interrupt pulses results. A parameter-set magnification is invalid.

By setting the reset signal ECLRg to “1”, each of these commands can be ended. At this time, the servo
motor is decelerated to a stop, the axis moving signal EGENg is set to “0”, and the control axis selection
status signal *EAXSL is also set to “0”.
Before specifying the next command, check that the control axis selection status signal *EAXSL is set to
“0”. Until the control axis selection status signal *EAXSL is set to “0”, ensure that the reset signal
ECLRg continues to be set to “1”.

Axis control block data

Signal abbreviation

Signal address (group 1)

Data

EC0g to EC6g

G143.0 to G143.6

External pulse synchronization - manual handle command

(0Dh for the first manual handle)

(0Eh for the second manual handle)

(0Fh for the third manual handle)

EIF0g to EIF15g

G144,145

Pulse weight

Pulse weight

The specifications of the external pulse synchronization - position coder command (EC0g to EC6g: 0Bh)
are applicable.

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Related parameters

Same as for external pulse synchronization - position coder

CAUTION

The feedrate is clamped to the manual rapid traverse rate for each axis

(parameter No. 1424).

NOTE

(16) Speed command ( 10h )

This command performs a continuous feed operation based on a speed command.

By using bit 0 (ROTx) of parameter No. 1006, set a rotation axis as a controlled axis for which this
command is executed.
The continuous feed command (EC0g to EC6g: 06h) exercises position control. However, the speed
command (EC0g to EC6g: 10h) can exercise speed control on the servo motor to dynamically change the
speed during continuous feed. So, this command is suited, for example, to an application where a servo
motor drives a rotary tool.
With parameter No. 8028, 8029 and No. 8032, a time constant for linear acceleration/ deceleration or
bell-shaped acceleration/deceleration can be set for each axis.
Every coordinate values are not updated during the speed command.
A reference position return operation needs to be performed after a move command is specified upon
completion of the speed command. (This operation also needs when an absolute position detector is
attached.)

When bit 2 (VCP) of parameter No. 8007 is set to 0, coordinate value is updated during feed operation
based on a speed command. (The FS15 type is used for the speed command in PMC axis control.)
When bit 2 (VCP) of parameter No. 8007 is set to 1, the FS16 type is used for the speed command in
PMC axis control. With this setting, the speed command is determined by the setting of bit 4 (EVP) of
parameter No. 8005.
When the FS16i type (bit 2 (VCP) of parameter No. 8007 is set to 1) and speed control (bit 4 (EVP) of
parameter No. 8005 is set to 0) are specified, coordinates are not updated. Reference position return must
be performed before a move command is executed after the completion of the speed command since the
machine position is lost. (The machine position is also lost when an absolute position detector is
attached.)
When the FS16i type (bit 2 (VCP) of parameter No. 8007 is set to 1) and position control (bit 4 (EVP) of
parameter No. 8005 is set to 1) are specified, coordinates are updated.

By setting the reset signal ECLRg to “1”, this command can be ended.
At this time, the servo motor is decelerated to a stop, and the axis moving signal EGENg is set to “0”.
Before specifying the next command, check that the axis moving signal EGENg is set to “0”.
Until the axis moving signal EGENg is set to “0”, ensure that the reset signal ECLRg continues to be set
to “1”.
After the execution of speed command, to execute a move command in an NC block, execute the method
(2) of CAUTION 9 in the item "Caution" described in the end of chapter "PMC CONTROL
FUNCTION".

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