FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 323

16. PMC CONTROL FUNCTION

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Total moving distance

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

NOTE

The dry run signal and the override signal are invalid, but the tool stops only
when the override signal specifies 0%.

Related parameters and related signals

Basically same as for cutting feed -feed per minute

Notes on the commands
-

Display of the remaining amount of travel

When the continuous feed command (EC0g to EC6g: 06h) and the external pulse synchronization
commands (EC0g to EC6g: 0Bh, 0Dh to 0Fh) are specified, the remaining amount of travel indicates 0 at
all times.

Command buffering

The continuous feed command (EC0g to EC6g: 06h) and the external pulse synchronization commands
(EC0g to EC6g: 0Bh, 0Dh to 0Fh) are not buffered. So, the axis control command read completion signal
EBSYg need not be checked at usual command specification time.
When the continuous feed command (EC0g to EC6g: 06h) is specified, the feedrate is changed to a
specified value by specifying a value with EIFg and reversing EBUFg. (However, the direction remains
unchanged.)

Acceleration/deceleration

The valid acceleration/deceleration type varies from one command to another.
See Table 16.1.1 (x), "Valid acceleration/deceleration types (for each command)".

Table 16.1.1 (x) Valid acceleration/deceleration types (for each command)

Command

Operation

Acceleration/deceleration type

00h
05h
07h
08h
09h
0Ah
20h

Rapid traverse
Reference position return
1st reference position return
2nd reference position return
3rd reference position return
4th reference position return
Machine coordinate system selection

The settings of rapid traverse parameters of exponential type,
linear type after interpolation, and bell-shaped type after
interpolation used with the NC are valid.

01h
02h

0Bh
0Dh
0Eh
0Fh
21h

Cutting feed - feed per minute
Cutting feed - feed per revolution
External pulse
-

Position coder

1st manual handle

2nd manual handle

3rd manual handle

Cutting feed - sec / block

The settings of cutting parameters of exponential type, linear
type after interpolation, and bell-shaped type after
interpolation used with the NC are valid.
However, when exponential type and value is set in
parameters Nos. 8030 and 8031, these value are valid
instead of parameters Nos. 1622 and 1623.

06h

Continuous feed

The settings of jog feed parameters of exponential type,
linear type after interpolation, and bell-shaped type after
interpolation used with the NC are valid.
However, when exponential type and value is set in
parameters Nos. 8030 and 8031, these value are valid
instead of parameters Nos. 1624 and 1625.

10h

Speed command

Set linear-type parameters Nos.8028 and 8032.
Set bell-shaped type parameters Nos.8028, 8029 and 8032.

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Immediate commands

The commands listed below are not buffered. The commands are referred to as immediate commands.

(1)  Continuous feed(EC0g to EC6g : 06h)
(2)  External pulse synchronization - Position coder (EC0g to EC6g : 0Bh)
(3)  External pulse synchronization - 1st manual handle (EC0g to EC6g : 0Dh)
(4)  External pulse synchronization - 2nd manual handle (EC0g to EC6g : 0Eh)
(5)  External pulse synchronization - 3rd manual handle (EC0g to EC6g : 0Fh)
(6)  Speed command(EC0g to EC6g : 10h)
(7)  Torque control (EC0g to EC6g : 11h)

When an immediate command is prepared and the axis control command read signal EBUFg is reversed
during execution of the same type of command, the command being executed is terminated, and the next
command is executed immediately.
Suppose, for example, that when continuous feed is being executed at 100 mm/min, another continuous
feed command with only the feedrate changed to 300 mm/min is specified and the axis control command
read signal EBUFg is reversed. The feedrate changes to 300 mm/min.

To end an immediate command, input the reset signal ECLRg.
When specifying a command other than the immediate commands, set the reset signal ECLRg to “1” and
check that the command is terminated, then reverse EBUFg.
(If both of the block being executed and a block being prepared are immediate commands, but the types
of commands differ from each other, set the reset signal ECLRg to “1” once.)

To detect an alarm for unselected PMC axis control

If the controlled axis selection signals EAX1 to EAX8 are “0“, execution of PMC axis control command
is ignored. When the bit 2 (EZC) of parameter No.8019 is set to 1, controlled axis selection signals EAX1
to EAX8 state are “0”, alarm DS1451, “IMPROPER PMC AXIS COMMAND” is detected when the
PMC axis control command is executed. Unexpected operation of the machine can be prevented by alarm
stop.
Alarm DS1451 is detected in the path that belongs to group of PMC axis control. Automatic operation of
the path is stopped, operation of PMC axis control of the group is stopped. Further, in the alarm signal
AL<Fn001.0> and alarm signal EIALg <F130.2, F133.2, F136.2, F139.2> is set to “1”. If PMC axis
control command from the different path, stop the automatic operation by setting the bit 1 (IAL) of
parameter No.8100 to 0.

To detect an alarm for incorrect command after PMC axis control

After the move command of PMC axis control is interrupted by reset signal ECLRg, execution of next
command requires the following operations.

(1) Reset signal ECLRg is set to “1”.
(2) Until the control axis selection status signal *EAXSL is set to “0“, ensure that the reset signal

ECLRg continues to be set to “1”.

(3) Execution of next PMC axis control command.

Without waiting for the condition (2), the following command can not be executed. When the bit 1 (PIA)
of parameter No.8019 is set to 1, As shown in Table 16.1.1 (y) and Table 16.1.1 (z), alarm DS1451,
”IMPROPER PMC AXIS COMMAND” is generated by different acceleration/deceleration type
command during deceleration. Incorrect behavior can be suppressed by alarm generating DS1451.

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Table 16.1.1 (y) PMC axis control command and acceleration/deceleration type

PMC axis control command

Acceleration/deceleration type

Rapid traverse(00h)
Reference position return(05h)
First reference position return(07h)
Second reference position return(08h)
Third reference position return(09h)
Fourth reference position return(0Ah)
Machine coordinate system selection(20h)

Acceleration/deceleration in rapid traverse

Cutting feed - feed per minute(01h)
Cutting feed - feed per revolution(02h)
External pulse synchronization - position coder(0Bh)
External pulse synchronization - first manual handle(0Dh)
External pulse synchronization - second manual handle(0Eh)
External pulse synchronization - third manual handle(0Fh)
Cutting feed - sec/block specification(21h)

Acceleration/deceleration in cutting feed

Continuous feed(06h)

Acceleration/deceleration in jog feed

Skip - feed per minute(03h)

Acceleration/deceleration disabled

Table 16.1.1 (z) Alarm generated by combination of acceleration /deceleration type

( parameter PIA (No.8019#1)=1 )

Reset PMC axis control command

acceleration/deceleration type

Next PMC axis control command acceleration/deceleration type

Rapid

traverse

Cutting

feed

Jog

feed

Disabled

Acceleration/deceleration in Rapid traverse

Commendable

Alarm

Acceleration/deceleration in Cutting feed

Alarm

Commendable

Alarm

Acceleration/deceleration in Jog feed

Alarm

Commendable

Alarm

Signal

Signal list (PMC axis control)

Number

Symbol

Signal name

(1)

EAX1 to EAX8

Controlled axis selection signals

(2)

EC0g to EC6g

Axis control command signals

(3)

EIF0g to EIF15g

Axis control feedrate signals

(4)

EID0g to EID31g

Axis control data signals

(5)

EBUFg

Axis control command read signal

(6)

EBSYg

Axis control command read completion signal

(7)

ECLRg

Reset signal

(8)

ESTPg

Axis control temporary stop signal

(9)

ESBKg

Block stop signal

(10)

EMSBKg

Block stop disable signal

(11)

EM11g to EM48g

Auxiliary function code signals

(12)

EMFg

Auxiliary function strobe signal

(13)

EMF2g

Auxiliary function 2 strobe signal

(14)

EMF3g

Auxiliary function 3 strobe signal

(15)

EFINg

Auxiliary function completion signal

(16)

ESOFg

Servo-off signal

(17)

EMBUFg

Buffering disable signal

(18)

*EAXSL

Control axis selection status signal

(19)

EINPg

In-position signal

(20)

ECKZg

Following zero checking signal

(21)

EIALg

Alarm signal

(22)

EGENg

Axis moving signal

(23)

EDENg

Auxiliary function executing signal

(24)

EOTNg

Negative-direction overtravel signal

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Number

Symbol

Signal name

(25)

EOTPg

Positive-direction overtravel signal

(26)

*EFOV0g to *EFOV7g

Feedrate override signals

(27)

*EROV0g to *EROV7g

1% step rapid traverse override signals

(28)

EOVCg

Override cancellation signal

(29)

EROV1, EROV2

Rapid traverse override signals

(30)

EDRN

Dry run signal

(31)

ERT

Manual rapid traverse selection signal

(32)

EOV0

Override 0% signal

(33)

ESKIP

Skip signal

(34)

EADEN1 to EADEN32

Distribution completion signals

(35)

EABUFg

Buffer full signal

(36)

EACNT1 to EACNT32

Controlling signals

(37)

ELCKZg

Accumulated zero check signal

(38)

TRQM1 to TRQM8

Torque control mode signal

Signal list (Related signals)

Number

Symbol

Signal name

(1)

*+ED1 to *+ED8
*- ED1 to *- ED8

External deceleration signal 1

(2)

*+ED21 to *+ED28
*- ED21 to *- ED28

External deceleration signal 2

(3)

*+ED31 to *+ED38
*- ED31 to *- ED38

External deceleration signal 3

(4)

*+ED41 to *+ED48
*- ED41 to *- ED48

External deceleration signal 4

(5)

*+ED51 to *+ED58
*- ED51 to *- ED58

External deceleration signal 5

(6)

HROV

1% rapid traverse override select signal

(7)

*HROV0 to *HROV6

1% rapid traverse override signals

(8)

FHROV

0.1% rapid traverse override select signal

(9)

*FHRO0 to *FHRO9

0.1% rapid traverse override signals

(10)

ROV1, 2

Rapid traverse override signals

(11)

ZP1 to ZP8

First reference position return completion signal

(12)

ZP21 to ZP28

Second reference position return completion signal

(13)

ZP31 to ZP38

Third reference position return completion signal

(14)

ZP41 to ZP48

Fourth reference position return completion signal

(15)

NDCAL1 to NDCAL8

A/B phase detector disconnection alarm ignore signal

(16)

HNDMP

Manual pulse magnification change signa

Signal address

The method of counting the addresses of the input/output signals G and F is described below. (See Table
16.1.1 (b), "Allocation of group-by-group signals".)
For group-by-group signals, the addresses of group 5 and up are determined in such a way that 1000 is
incremented for every four groups.
For axis-by-axis signals, the addresses of the 9th axis and up are determined in such a way that 1000 is
incremented for every eight axes.
For axis-by-axis signals in a path, the addresses for path 2 and up are determined in such a way that 1000
is incremented for each path.
Example:
The address of the EBUFg signal for group 10 is G2154.7.

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The address of the EAX signal is determined as follows:
Path 1:

1st axis

G136.0

2nd axis

G136.1

3rd axis

G136.2

Path 2:

1st axis

G1136.0

2nd axis

G1136.1

Signal Detail

Each signal is detailed below.
"<>" in the title of each signal indicates a signal address. For group-by-group signals, addresses for group
1 to group 4 are indicated. For axis-by-axis signals, addresses for the 1st axis to 8th axis are indicated.

Signal Detail (PMC axis control)

(1) Controlled axis selection signals EAX1 to EAX8 <Gn136>

[Classification] Input signal, axis-by-axis signal

[Function] Exercises PMC axis control.

[Function] When the signal is set to “1”, PMC axis control becomes valid.

When the signal is set to “0”, PMC axis control becomes invalid. Changing the setting of
the control axis selection signal is possible only when control axis selection status signal
*EAXSL is set to “0”. Changing the setting when *EAXSL is set to “1”  results in the
issue of an alarm PS0139, “CANNOT CHANGE PMC CONTROL AXIS”. Alarm signal
EIALg is set to “1”. When the bit 5 (NCC) of parameter No. 8001, is set to 0, a command
issued from the CNC is executed while the control axis selection signal is set to “1” and
signal *EAXSL is set to “0”. When the parameter is set to “1”, the same attempt results in
the issue of an alarm PS0139.
If the control axis selection signal is set to  “1”  while the CNC is currently executing a
command, an alarm is generated.
While *EAXSL is set to “0”, the status of alarm signal EIALg does not change to  “1”
when the control axis selection signal is set to “1” and an alarm PS0139 is generated. In
this case, the axis can be controlled from the PMC, even when the CNC is in the alarm
status.

NOTE

After setting control axis selection signals EAX1 to EAX8 to “1”, it
takes at least 8 msec before the PMC can issue commands to the
CNC.

(2) Axis control command signals

EC0g to EC6g<G143.0 to 143.6, G155.0 to 6, G167.0 to 6, G179.0 to 6>

[Classification] Input signal, group-by-group signal

[Function] One of the axis control block data signals

[Operation] Specifies a type of command with 7 bits.

For the meaning of each command, see Table 16.1.1 (g), "Command list".

(3) Axis control feedrate signals

EIF0g to EIF15g <G144 to 145, G156 to 157, G168 to 169, G180 to 181>

[Classification] Input signal, Group-by-group signal

[Function] One of the axis control block data signals

[Operation] Two-byte command interface area

Each command has a different function. For details, see Table 16.1.1 (g), "Command
list".

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(4) Axis control data signals

EID0g to EID31g <G146 to 149, G158 to 161, G170 to 173, G182 to 185>

[Classification] Input signal, group-by-group signal

[Function] One of the axis control block data signals

[Operation] Four-byte command interface area

Each command has a different function. For details, see Table 16.1.1 (g), "Command
list".

(5) Axis control command read signal EBUFg <G142.7, G154.7, G166.7, G178.7>

[Classification] Input signal, group-by-group signal

[Function] Directs the CNC to read a block of command data for PMC axis control.

[Operation] For the operation and procedure applicable when the level of this signal is changed from

“0” to “1” or from “1” to “0”, see Fig. 16.1.1 (l), "Timing chart of command operation"
and Table 16.1.1 (f), "Buffering status in PMC axis control".

(6) Axis control command read completion signal

EBSYg <F130.7, F133.7, F136.7, F139.7>

[Classification] Output signal, group-by-group signal

[Function] Notifies the system that the CNC has read a block of command data for PMC axis control

and has stored the block in the input buffer.

[Operation] For the operation and procedure applicable when the level of this signal is changed from

“0” to “1” or from “1” to “0”, see Fig. 16.1.1 (m), "Timing chart of command operation"
and Table 16.1.1 (f), "Buffering status in PMC axis control".

(7) Reset signal ECLRg <G142.6, G154.6, G166.6, G178.6>

[Classification] Input signal, group-by-group signal

[Function] Resets a PMC axis control command.

[Operation] Resets the corresponding PMC-controlled axis.

When this signal is set to “1”, the following is performed:
(1)  When the tool is moving along the axis: decelerates and stops the tool.
(2)  When the tool is dwelling: Stops the operation.
(3)  When an auxiliary function is being executed: Stops the operation.

Simultaneously, all buffered commands are canceled. Any control command is
ignored while this signal is set to “1”.

The continuous feed command (EC0g to EC6g: 06h) and external pulse synchronization
command (EC0g to EC6g: 0Bh, 0Dh to 0Fh) can be terminated by setting reset signal
ECLRg to “1”. When these commands are terminated, the servo motor decelerates and
stops, the axis moving signal EGENg is set to “0”, and the controlled axis selection status
signal *EAXSL is set to “0”.
Confirm that the controlled axis selection status signal *EAXSL has been set to “0”
before issuing the next command. Do not set reset signal ECLRg to “0” until the
controlled axis selection status signal *EAXSL has been set to “0”.

The speed command (EC0g to EC6g: 10h) can also be terminated by setting the reset
signal ECLRg to “1”. When this command is terminated, the servo motor decelerates and
stops, and the axis moving signal EGENg is set to “0”. Confirm that the axis moving
signal EGENg has been set to “0” before issuing the next command. Do not attempt to set
the reset signal ECLRg to “0” until the axis moving signal EGENg has been set to “0”.

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(8) Axis control temporary stop signal ESTPg <G142.5, G154.5, G166.5, G178.5>

[Classification] Input signal, group-by-group signal

[Function] Temporarily stops a movement before the execution of a block is completed.

[Operation] When this signal is set to “1”, the following is performed:

(1)  When the tool is moving along the axis: Decelerates and stops the tool.
(2)  When the tool is in dwell: Stops the operation.
(3)  When an auxiliary function is being executed: Stops the operation when auxiliary

function completion signal EFINg is input.

The stopped operation can be restarted by setting this signal to “0”.

(9) Block stop signal ESBKg <G142.3, G154.3, G166.3, G178.3>
(10)Block stop disable signal EMSBKg <G143.7,G155.7, G167.7, G179.7>

[Classification] Input signal, group-by-group signal

[Function] Enables a stop for each command block, or disables a stop for each block.

[Operation] When block stop signal ESBKg is set to “1” during the execution of a command issued

from the PMC, axis control is stopped after the block being executed is completed. When
this signal is set to “0”, the buffered command is executed. Block stop signal ESBKg is
disabled when block stop disable signal EMSBKg is set to 1 for the block.
Fig. 16.1.1 (l), "Timing chart of block stop related signals" shows the timing chart of
command operation.

ESBKg

(input)

Command block

[1]

[2]

[3]

(input)

EBUFg

(input)

EBSYg

(output)

Input buffer

[2]

Waiting buffer

[1]

[2]

Executing buffer

[1]

More than 8 msec

Fig. 16.1.1 (l) Timing chart of block stop related signals

(11) Auxiliary function code signals

EM11g to EM48g <F132, F142, F135, F145, F138, F148, F141, F151>

[Classification] Output signal, group-by-group signal

(12) Auxiliary function strobe signal EMFg <F131.0, F134.0, F137.0, F140.0>

[Classification] Output signal, group-by-group signal

(13) Auxiliary function 2 strobe signal EMF2g <F131.2, F134.2, F137.2, F140.2>

[Classification] Output signal, group-by-group signal

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(14) Auxiliary function 3 strobe signal EMF3g <F131.3, F134.3, F137.3, F140.3>

[Classification] Output signal, group-by-group signal

(15) Auxiliary function completion signal EFINg <G142.0, G154.0, G166.0, G178.0>

[Classification] Input signal, group-by-group signal

[Function] Completes an auxiliary function

[Operation] When an auxiliary function command (EC0g to EC6g: 12h) is issued by the PMC, the

auxiliary function code is specified in a byte (using signals EID0g to EID7g) or two bytes
(using signals EID0g to EID15g), depending on the setting of bit 6 (AUX) of parameter
No. 8001.
The CNC sends the auxiliary function code specified in signals EID0g to EID7g and
EID8g to EID15g to auxiliary function code signals EM11g to EM28g and EM31g to
EM48g and awaits the auxiliary function completion signal EFINg. When the auxiliary
function completion signal EFINg is returned, the CNC starts executing the next block.
The timings for sending the auxiliary function code signals and auxiliary function strobe
signal, as well as for receiving the auxiliary function completion signal, are the same as
those for the auxiliary functions (M functions) under the control of the CNC. See
"Auxiliary function executing signal" for details.

(16) Servo-off signal ESOFg <G142.4, G154.4, G166.4, G178.4>

[Classification] Input signal, group-by-group signal

[Function] Changes the servo-off state.

[Operation] When this signal is set to “1”, the servo motor for the corresponding PMC-controlled axis

is turned off (servo-off state). When this signal is set to “0”, the servo motor is turned on.
When a torque control command (EC0g to EC6g: 11h) is specified, entering the servo-off
state cancels torque control mode, but the torque control state remains set. In such a case,
set reset signal ECLRg to “1”.

(17) Buffering disable signal EMBUFg <G142.2, G154.2, G166.2, G178.2>

[Classification] Input signal, group-by-group signal

[Function] Changes the buffering disabled state.

[Operation] When this signal is set to “1”, commands from the PMC are not read while the executing,

waiting, or input buffer contains a block. If this signal is set to “1” when any of these
buffers contain a block, that block is executed but subsequent commands are read only
when the buffers are all empty.
To discriminate the buffering disabled condition, the CNC outputs the axis control
command read completion signal (EBSYg) only when a command is read when all
buffers are empty.
Fig. 16.1.1 (m), "Timing chart of buffering related signals" shows the timing chart of
command operation.

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