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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 330

16. PMC CONTROL FUNCTION

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Bit 7 (IFH) of No. 11850 = 0

(*EROVs are on a

path-by-path basis.)

Bit 7 (IFH) of No. 11850 = 1

(*EROVs are on a

group-by-group basis.)

Bit 1 (OVR) of No. 8013 = 0

EROV1, EROV2

<G150.0, G150.1>

EROV1, EROV2

<G150.0, G150.1>

Bit 1 (OVR) of No. 8013 = 1

*EROV<G151>

*EROVA<G151>
*EROVB<G163>
*EROVC<G175>
*EROVD<G187>

NOTE

Overrides are clamped at up to 100%.

12730

PTC

[Input type] Parameter input

[Data type] Bit path

#0 PTC

Linear acceleration/deceleration time constant of continuous feed operation based on a

speed command in PMC axis control is:
0:

Normal.

Extended.

This bit is available when speed command in PMC axis control is FS16 type (bit 2 (VCP)
of parameter No. 8007 is 1).

12731

2nd time constant of linear acceleration/deceleration of continuous feed operation based on a speed

command in PMC axis control

12732

3rd time constant of linear acceleration/deceleration of continuous feed operation based on a speed

command in PMC axis control

12733

4th time constant of linear acceleration/deceleration of continuous feed operation based on a speed

command in PMC axis control

12734

5th time constant of linear acceleration/deceleration of continuous feed operation based on a speed

command in PMC axis control

[Input type] Parameter input

[Data type] Word axis

[Unit of data] msec/1000min

-1

[Valid data range] 0 to 32767

If 0 is specified, the time constant at a given feedrate becomes invalid, and
acceleration/deceleration is not performed.
This parameter is available when speed command in PMC axis control is FS16 type (bit 2
(VCP) of parameter No. 8007 is 1) and linear acceleration/deceleration time constant of
continuous feed operation based on a speed command in PMC axis control is extended
(bit 0 (PTC) of parameter No. 12730 is 1).

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12735

1st feedrate for changing time constant of continuous feed operation based on a speed command in

PMC axis control

12736

2nd feedrate for changing time constant of continuous feed operation based on a speed command in

PMC axis control

12737

3rd feedrate for changing time constant of continuous feed operation based on a speed command in

PMC axis control

12738

4th feedrate for changing time constant of continuous feed operation based on a speed command in

PMC axis control

[Input type] Parameter input

[Data type] Word axis

[Unit of data] min

-1

[Valid data range] 0 to 32767

Set feedrate parameters as following.
No. 12735 < No. 12736 < No. 12737 < No. 12738.
This parameter is available when speed command in PMC axis control is FS16 type (bit 2
(VCP) of parameter No. 8007 is 1) and linear acceleration/deceleration time constant of
continuous feed operation based on a speed command in PMC axis control is extended
(bit 0 (PTC) of parameter No. 12730 is 1).

18050

OTW

[Input type] Parameter input

[Data type] Bit path

#7 OTW

If an axis move command is executed with PMC axis control during automatic operation,

and the NC block under execution is stopped by a feed hold when the axis moving due to
PMC axis control is completed, the amount of movement due to PMC axis control in that
block is:
0:

Not reflected in the NC coordinate system.

Reflected in the NC coordinate system.

Alarm and message

Servo and overtravel alarms for PMC axis control are detected in the same way as for CNC controlled
axes.
When an alarm is issued, the alarm signal EIALg is set to “1” for notification to the PMC in addition to
normal alarm processing.
(When an overtravel alarm is issued, the negative-direction overtravel signal EOTNg or the
positive-direction overtravel signal EOTPg is also set to “1”.)

The alarm signal EIALg is reset using the reset signal ECLRg.

CAUTION

If an alarm is issued by a PMC axis control command or in connection with PMC
axis control, be sure to set the reset signal ECLRg to “1” in addition to a reset
operation on the NC.

16. PMC CONTROL FUNCTION

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Alarms related to conflict with the NC

Alarm PS0130
In general, if the CNC and PMC attempt to simultaneously control an axis not subject to superimposition,
the alarm PS0130 is issued.
This alarm is issued in the following cases:

•

When cutting feed with an override of 0% is performed along the axis, or the tool is temporarily
stopped along the axis (with the axis control temporary stop signal ESTPg set to “1”), this alarm is
issued. (During feed hold or single block stop, a PMC axis control command is valid, not resulting in
an alarm.)

•

When a command is issued from the CNC for an axis controlled by the PMC

•

When a move command is issued from the PMC for an axis on the polar coordinate interpolation
plane in the polar coordinate interpolation mode (G12.1 command)

Alarm PS5131
If a command related to 3-dimensional coordinate conversion / tilted working plane indexing or polar
coordinate interpolation is specified during PMC axis control, the alarm PS5131 is issued.
However, when 3-dimensional coordinate conversion / tilted working plane indexing mode and the bit 2
(TPM) of parameter No. 11216 is “1”, CNC axis move commands to the same coordinate (no move
command) can be commanded.

Alarms due to setting modifications made during PMC axis control

Alarm PS0139
If parameter No. 8010 is modified during PMC axis control, or the level of the control axis selection
signal EAXx for an axis under PMC axis control is changed, the alarm PS0139 is issued.

Other alarms

Alarm PS0224
If a PMC axis control command is specified without performing a reference position return operation
even once after the power is turned off when bit 0 (ZRNx) of parameter No. 1005 is set to 0, the alarm
PS0224 is issued.

Alarm PS5065
If a PMC axis control command is executed by assigning axes with different increment systems to the
same group, the alarm PS5065 is issued.

Number

Message

Description

PS0130

NC AND PMC AXIS ARE
CONFLICTED

The NC command and the PMC axis control command were
conflicted. Modify the program or ladder.

PS0139

CANNOT CHANGE PMC
CONTROL AXIS

The PMC axis was selected for the axis for which the PMC axis
is being controlled.

PS0224

ZERO RETURN NOT FINISHED

Reference position return has not been performed before the
automatic operation starts. Perform reference position return only
when the bit 0 (ZRNx) of parameter No. 1005 is set to 0.

PS5065

DIFFERRENT AXIS UNIT(PMC
AXIS)

Axes having different increment systems have been set in the
same DI/DO group for PMC axis control. Modify the setting of
parameter No. 8010.

PS5131

NC COMMAND IS NOT
COMPATIBLE

The PMC axis control and 3-dimensional coordinate conversion
or a polar coordinate interpolation were specified simultaneously.
Check the program or the ladder.

PS0220

ILLEGAL COMMAND IN
SYNCHR-MODE

In the synchronous operation, movement is commanded by the
NC program or PMC axis control interface for the synchronous
axis. Modify the program or check the PMC ladder.

DS1184

PARAMETER ERROR IN
TORQUE

An invalid parameter was set for torque control.
The torque constant parameter is set to 0.

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Number

Message

Description

SV0422

EXCESS VELOCITY IN TORQUE

In torque control, the commanded permissible velocity was
exceeded.

SV0423

EXCESS ERROR IN TORQUE

In torque control, the maximum allowable cumulative travel value
by the parameter was exceeded.

DS1451

IMPROPER PMC AXIS
COMMAND

1. During deceleration of PMC axis control, next PMC axis

control command is commanded. Correct PMC ladder
sequence to execute the next command after the PMC axis
control is stopped.

2. While the controlled axis selection signals EAX1 to EAX8

<Gn136> or PMC controlled-axis selection variable (#8700)
are “0”, PMC axis control command is commanded. Correct
PMC ladder sequence or macro executor program so that
the signal or variable is set to 1.

Warning

WARNING

1 PMC axis control must be executed while the controlled axis selection signals

EAX1 to EAX8 are "1". If controlled axis selection signals EAX1 to EAX8 are "0",
the command cannot be accepted.

2 PMC axis control is able to command by PMC ladder and macro executor.

In case of use PMC axis control, “controlled axis selection” and “PMC axis
control command”, use the same command method. If you use the different
command method to “controlled axis selection” and “PMC axis control
command”, “PMC axis control command” may be ignored, or the command may
execute incorrect axis motion. Therefore, the machine may behave in an
unexpected manner.

Macro executor

command

Macro executor

command

PMC ladder

command

PMC ladder

command

Controlled axis

selection

PMC axis control

command

16. PMC CONTROL FUNCTION

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Caution

CAUTION

1 The mode selection, CNC reset, and other CNC statuses have no effect.
2 CNC-controlled feed hold *SP, single block stop SBK, reset signal ERS, and

interlock of all axes or each axis are invalid for PMC axis control, but similar
control is enabled by operating the PMC signals (ESTPg, ESBKg, and ECLRg).

3 Emergency stop is enabled.
4 If cutting feed blocks are specified in succession, deceleration is not performed

between blocks (acceleration/deceleration is applied, however, when the
specification of a feedrate changes), and cutting proceeds to the next block
without waiting for the tool to enter the in-position area. At the end of a block
other than for cutting feed, the tool is temporarily decelerated. The next block is
then executed after waiting for the tool to enter the in-position area. When bit 6
(NCI) of parameter No. 8004 is set to 1, cutting can proceed to the next block
without making an in-position check for each block.

5 Under PMC axis control, manual absolute mode is always set. If the PMC starts

control of an axis after manual intervention (manual continuous feed, manual
handle feed, etc.) is performed during automatic operation while manual
absolute mode is not set (*ABSM is set to “1”), manual absolute mode is set.

6 Under PMC axis control, all commands are handled as axis commands. Even for

the auxiliary functions, the position check is effective.

7 When the CNC executes the command to set the workpiece coordinate system

setting (G54 to G59) during an axial movement by PMC axis control command, a
valid coordinate system cannot be set.

8 If the alarm PS0139 is issued due to a modification to parameter No. 8010, the

alarm is issued with all paths. After resetting the alarm, input the reset signal
ECLRg for all groups before a start.

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16. PMC CONTROL FUNCTION

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CAUTION

9 After the execution of a move command in PMC axis control during NC

automatic operation, to execute a move command (in the absolute or
incremental mode) for the relevant axis in an NC block during the same
operation, execute the following method (1) or (2).
Note that in case of speed command or torque control, execute the method (2)
because the method (1) can not be executed.

(1) Execute the PMC axis command by M code preventing buffering.

Execute the PMC axis command while the system is waiting for the FIN
signal for an M code preventing buffering. Then, after the completion of that
PMC axis command, return the FIN signal for the M code preventing
buffering.

For example, in the following program, to execute the move command (N40)
after the tool is moved along the Y-axis using a PMC axis command, the
PMC axis command must be controlled within the M code preventing
buffering (N20):

When the speed command (10h) or torque control command (11h) in PMC
axis control is specified, execute the method (2) instead of this method.

O0001
N10 G94 G90 G01 X20. Y30. F3000 ;

N20 M55 ; → Y axis moves by PMC axis command.
N30 X70.0 ;
N40 Y50.0 ;
N50 M02 ;

Control under the following setting.

- Set an M code preventing buffering for the M55 block (Example: set 55 in

parameter No. 3411).

- During M55 block, start PMC axis command. And, after the PMC axis

command ends, the FIN signal for M55 is returned.

To perform the feed hold stop during PMC axis control, set bit 7 (OTW) of
parameter No. 18050 to 1.

16. PMC CONTROL FUNCTION

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CAUTION

(2)-1 After the PMC axis command ends, command M code which turn on each

axis workpiece coordinate system preset signal.

After the PMC axis command ends, command M code which turn on each
axis workpiece coordinate system preset signal before the move command of
NC block. Refer to "Each axis workpiece coordinate system preset signal" for
details.

(2)-2 After the PMC axis command ends, command workpiece coordinate

system preset.

As well as (2)-1, after the PMC axis command ends, command workpiece
coordinate system preset before the move command of NC block.

For example, in the following program, to execute the move command(N50)
after the tool is moved along the Y-axis using a PMC axis command, M code
which turn on each axis workpiece coordinate system preset signal or
workpiece coordinate system preset must be commanded in N40.

O0002
N10 G94 G90 G01 X20.0 Y30.0 F3000 ;

N20 M55 ; → Y axis moves start by PMC axis command.
N30 X70.0 ;
N40 M60 ;

→ M code which turn on each axis workpiece coordinate system

reset signal is commanded.

Or, workpiece coordinate system preset (G92.1Y0)
is commanded.

N50 Y50. ;
N60 M02 ;

When the speed command (10h) or torque control command (11h) in PMC
axis control is specified, this method is only applicable to the setting that the
coordinates are updated.

10 Both feed-forward and advanced preview feed-forward function are unavailable

for PMC axis.

11 For the axis under Cs contour control, PMC axis control can be used only

following command.
-  Rapid traverse (00h)
-  Cutting feed (01h)
-  Continuous feed (06h)
-  Machine coordinate system selection (20h)
-  Speed command (10h) for FS16

type position control

(bit 2 (VCP) of parameter No. 8007 is set to 1 and bit 4 (EVP) of parameter
No. 8005 is set to 1 )

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Note

NOTE

1 The actual speed excluding the effect of movement along a PMC-controlled axis

can be displayed if the bit 3 (ZDF) of parameter No. 3115 is set to 1.

2 If an absolute pulse coder is used, a specified reference position is retained in

memory, even after the power is turned off.

3 For an index table indexing axis, no PMC axis control command can be

specified.

4 The individual output of the auxiliary function is provided by adding a signal for

individual output. The timing diagram of controlling and commanding the
auxiliary function is not changed. The normal specifications of the auxiliary
functions for PMC axis control function are applied.

16.1.2

Advanced preview feed forward for PMC axis control

Overview

Advanced preview feed forward can be enabled for the commands executed by PMC axis control.
As a result, servo delay that becomes large as the feedrate becomes fast is reduced, and the command
follow-up performance is improved.

Explanation

By setting bit 3 (G8C) and bit 4 (G8R) of parameter No.8004, advanced preview feed forward can be
enabled for the commands executed by PMC axis control. (Table 16.1.2 (a))

Table 16.1.2 (a) Parameter setting and advanced preview feed forward

Parameter

Advanced preview feed forward

Bit 3 (G8C)

of No.8004

Bit 4 (G8R)

of No.8004

Disable

Enable for cutting feed
(Disable for rapid traverse)

Enable for cutting feed and rapid traverse

It is necessary to set bit 1 (FEEDx) of parameter No.2005 and parameter No.2092.

Command list of PMC axis control

PMC axis control enables the commands indicated in Table “Command list” to be specified.

In Table “Command list”, “Command” represents the axis control command signals (EC0g to EC6g).
For the detail of the axis control command signals (EC0g to EC6g), refer to “PMC CONTROL
FUNCTION”.

“Advanced preview feed forward” shows enable or disable of advanced preview feed forward.

Disable

Advanced preview feed forward is disabled.

Enable (Cutting feed)

Advanced preview feed forward is enabled when the parameters are set to enable for cutting
feed.

Enable (Rapid traverse)

Advanced preview feed forward is enabled when the parameters are set to enable for rapid
traverse.

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