FANUC Series 30i-MODEL B, 31i-MODEL B, 32i-MODEL B. MAINTENANCE MANUAL

1.DISPLAY AND OPERATION

B-64485EN/01

Diagnosis screen

The diagnosis screen displays diagnosis information of the slave.

Diagnosis data is displayed in bit or integer (decimal) representation. For details of diagnosis data, refer

to FANUC SERVO MOTOR βi series I/O Link Option Maintenance Manual.

Display method

Press the continuous menu key

Press soft key [DGNOS] to display the diagnosis screen.

Searching for diagnosis data

First, select the active slave.

Press the soft key [(OPRT)]. The following soft keys appear:

Enter a diagnosis number and press the soft key [NO. SRH]. The search starts.

You can also select a desired parameter number by pressing the cursor keys

and page

keys

and moving the cursor.

System configuration screen

The system configuration screen displays information on the system software of slaves.

Display method

Press the continuous menu key

Press the soft key [SYSTEM] to select the system configuration screen.

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1.DISPLAY AND OPERATION

Series and edition of the I/O Link βi system software

1.8.2

Inputting and Outputting Parameters

Outputting parameters

Parameters are output to the CNC memory or a memory card as a data file in the program format. Set the

first registration program number in parameter No. 8760. For each slave, program with a predetermined

number is created.

When parameters are output to the CNC memory, a program with the specified program number is

created.

When parameters are output to a memory card, a file is created, of which file name consists of the

specified program number and an extension PMM.

Program number = setting-of-parameter (parameter No. 8760) + (m - 1) × 100 + n × 10

m: Channel number (1 to 4)

n: Group number

Example: When parameter No. 8760 is set to 8000

Channel 1 (I/O Link β: Group 0)

8000 + 0*100 + 0*10 = 8000

Channel 2 (I/O Link β: Group 1)

8000 + 1*100 + 1*10 = 8110

Channel 3 (I/O Link β: Group 2)

8000 + 2*100 + 2*10 = 8220

Channel 4 (I/O Link β: Group 3)

8000 + 3*100 + 3*10 = 8330

The group number is the slave number displayed in the slave status field in the upper section of the screen

in reverse video.

When bit 3 (PMO) of parameter No. 0961 is set to 1, the numbers of the parameters to be output can be

set only with a group number.

Select a desired input device using bits 1 (MD1) and 2 (MD2) of parameter No. 0960.

Connect a memory card or check the unused area of the CNC memory, then follow the steps below:

For multi-path control, display the Power Mate CNC manager screen from the screen for path 1.

Select the active slave.

Press the soft key [(OPRT)]. The following soft keys appear:

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Press the soft key [READ]. The following soft keys appear:

Press the soft key [EXEC].

During input, “INPUT” blinks in the message field.

NOTE

1 Parameters can be saved in other than the MEM mode or in the emergency stop

status.

2 To save parameters in a memory card, if a file with the same name is found in

the memory card, the parameters cannot be saved. Delete the file from the

memory card or change the file name by setting parameter No. 8760.

To save parameters in a program area, save operation is performed according to

the setting of bit 2 (REP) of parameter No. 3201.

Inputting parameters

A data file of parameters output to the CNC memory or a memory card as a program is input to the slave

determined by the program number. The program number and memory device are determined as

described in “Outputting parameters.”

For multi-path control, display the Power Mate CNC manager screen from the screen for path 1.

Select the active slave.

Press the soft key [(OPRT)]. The following soft keys appear:

Press the soft key [PUNCH]. The following soft keys appear:

Press the soft key [EXEC].

During output, “OUTPUT” blinks in the message field.

NOTE

1 Parameters can be input in other than the MEM mode or in the emergency stop

status.

2 For multi-path control, parameters can be input and output only using the Power

Mate CNC manager screen for path 1. They can only be input from and output to

the CNC memory for path 1.

1.8.3

Parameters

0960

PPE

PMN

MD2

MD1

[Input type] Setting input

[Data type] Bit path

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1.DISPLAY AND OPERATION

#1 MD1

#2 MD2 The slave parameters are input from and output to either of the following devices:

Parameter MD2

Parameter MD1

I/O destination

Program memory

Memory card

#3 PMN The Power Mate CNC manager function is:

0: Enabled.

1: Disabled. (Communication with the slave is not performed.)

#4 PPE Setting slave parameters using the Power Mate CNC manager:

0: Can always be performed regardless of the setting of PWE.

1: Follows the setting of PWE.

0961

PMO

[Input type] Parameter input

[Data type] Bit

#3 PMO The O number of a program for saving and restoring the I/O LINK β parameter is set

based on:

0: Group number and channel number

1: Group number only

8760

Program number of data input/output (Power Mate CNC manager)

[Input type] Setting input

[Data type] 2-word path

[Valid data range] 0 to 99999999

This parameter sets the program numbers of programs to be used for inputting and

outputting slave data (parameters) when the Power Mate CNC manager function is used.

For a slave specified with I/O LINK channel m and group n, the following program

number is used:

Setting + (m - 1) × 100 + n × 10

If the setting is 0, the parameters of the slave specified with channel 1 and group 0 cannot

be input from or output to the CNC memory because the program number is set to 0. The

parameters can be input from and output to a memory card.

(Set a value with which any used program number does not exceed 99999999.)

Warning

If an alarm is issued for the Power Mate CNC manager, a warning message is displayed.

Message

Description

DATA ERROR

An attempt was made to execute [PUNCH] (NC → β) for a program not found in

the program area.

WRITE PROTECTED

An attempt was made to execute [READ] (β → NC) for a program area when the

memory protection signal (KEY) is off.

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Message

Description

EDIT REJECTED

An attempt was made to execute [READ] (β → NC) when the program area already

contained a program with the same name as that to be created by executing

[READ] (β → NC).

An attempt was made to execute [READ] (β → NC) when the number of the

program to be created by executing [READ] (β → NC) was selected.

An attempt was made to execute [READ] (β → NC) when bit 0 (TVC) of CNC

parameter No. 0000 was set to 1. (Parameters Nos. 0000 to 0019 are output, but

parameter No. 0020 and subsequent parameters are not output.)

An attempt was made to execute [PUNCH] (NC → β) when a memory card did not

contain any program for which [PUNCH] (NC → β) could be executed.

An attempt was made to execute [READ] (β → NC) for a protected memory card.

NO MORE SPACE

An attempt was made to execute [READ] (β → NC) when the program area did not

have enough unused space.

FORMAT ERROR

Data other than digits, signs, CAN, and INPUT was entered as the setting of a

parameter.

TOO MANY FIGURES

Data consisting of 9 or more digits was entered for a bit-type parameter.

DATA IS OUT OF RANGE

The setting exceeds the valid data range.

1.8.4

Notes

Connecting an I/O Link

When I/O Link βi is used as a slave of an I/O Link, the CNC assigns I/O addresses. The slave data is

input and output in 16-byte units. Therefore, be sure to specify 128 as the number of input/output points.

Up to eight slaves can be connected.

The module name is OC021 (16-bit input) or OC020 (16-byte output).

BASE is always 0 and SLOT is always 1.

Function of ignoring the Power Mate CNC manager

After setting and checking data required for each slave connected, you can stop communication with the

Power Mate CNC manager function to send a command from the CNC ladder to the slave.

When bit 3 (PMN) of parameter No. 960 is set to 1, communication between the CNC and the slave via

the I/O Link is all open to the ladder. While this bit is 1, the Power Mate CNC manager function does not

operate.

Data protection key

When the program data protection key of the CNC is on, no parameters can be input to the CNC program

memory.

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1.DISPLAY AND OPERATION

1.9

SERVO GUIDE MATE

The servo guide mate enables various types of data related to the servo motor and spindle motor to be

displayed on the screen in the form of graphs. This allows you to readily measure the machine precision,

thereby making it easy to grasp changes in precision resulting from the aging process, an earthquake, or

collision of the machine.

Overview

Set up as outlined in Fig. 1.9 (a), the servo guide mate displays graphs representing the feedback data

related to the servo motor and spindle motor that are controlled through the execution of the program. It

features such functions as drawing graphs representing chronological changes in data and the motor path,

as well as displaying an enlarged view of error associated with the circular operation.

CNC

Graph

display

Feedback

data

Parameter setting

Data buffer

Program execution

Feed axis

Servo motor

Spindle motor

Spindle

Sensor

Fig. 1.9 (a) Outline of the servo guide mate setup

1.9.1

Wave Display

The wave display function can acquire various types of data related to the servo motor and spindle motor

and display graphs in several different drawing modes for the analysis of the measurement data. A graph

is made up of the two elements described below. To display a graph, therefore, operations for the wave

display need to be set, in addition to the measurement data.

Measurement data

This refers to raw data, such as position and torque, acquired from the CNC on a per-channel basis.

Operations

This collectively refers to the results of operations performed for measurement data. A graph cannot

be displayed unless necessary operations are set.

This denotes that the following relationship holds true:

Wave display (graph display) = measurement data + operations

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In the remainder of this chapter, the term channel (CH) is used to refer to a specific set of measurement

data and the term draw to refer to a specific displayed wave.

CH1

: Measurement data 1

Draw3

: Display waveform 3

A conceptual diagram of the wave display is shown Fig. 1.9 (b).

Measurement data

Display data

Operation

CH1

Draw1

CH2

Draw2

Screen

Data

acquisition

display

CH3

Draw3

CH4

Draw4

Fig. 1.9 (b)

Measurements of both the servo motor and spindle motor can be made for up to four channels

simultaneously. Also, data can be measured at up to 10000 points per measurement item.

The following five drawing modes are available.

Y-time graph

This mode displays wave data along the time axis, as by an oscilloscope.

XY graph

This mode provides a 2-dimensional path display using 2-axis data.

Circle graph

This mode displays an enlarged view of the path deviation from the specified circle arising during

circular cutting.

Fourier graph

This mode displays the frequency spectrum by performing digital Fourier conversion for the range

of data displayed by the Y-time graph.

Bode graph

This mode displays a Bode diagram in the form of single logarithm graph for the horizontal axis.

Note

Axis number

NOTE

For multi-axis control, the axis number must be an absolute axis number instead

of a relative axis number in each path.

1.9.1.1 Y-time graph

The Y-time graph displays wave data for the measurement data along the time axis, as by an oscilloscope.

Up to four draws can be displayed at a time.

Displaying and setting the Y-time graph

Procedure

The procedure for displaying the measurement data is described below.

Press the

function key.

Press the continuous menu key

several times until [SERVO GUIDE MATE] is displayed.

Click the soft key [SERVO GUIDE MATE].

Click the soft key [Y-TIME].

The wave display screen is displayed as shown Fig. 1.9.1.1 (a).

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Fig. 1.9.1.1 (a)

Click the soft key[MEASUREMENT].

Click the soft key[DATA IN].

Click the soft key[SAMPLING].

The data-in screen is displayed as shown Fig. 1.9.1.1 (b).

Fig. 1.9.1.1 (b)

Move the cursor to the parameter you want to set, by pressing the cursor key.

Enter data and then press the

key.

10 Repeat steps 8 and 9 until you set all the parameters.

11 Click the soft key [SET CHANNEL].

The channel setting screen is displayed as shown Fig. 1.9.1.1 (c).

To set any channel other than the one currently displayed, display the setting screen for the desired

channel by pressing the

key.

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Fig. 1.9.1.1 (c)

12 Move the cursor to the parameter you want to set, by pressing the cursor key.

13 Enter data and the press the

key.

14 Repeat steps 12 and 13 until you set all the parameters.

15 Click the soft key [RE-DSPGRAPH].

16 Click the soft key [OPERATION & GRAPH].

The operation and graph setting screen is displayed as shown Fig. 1.9.1.1 (d).

To set any draw other than the one currently displayed, display the setting screen for the desired

draw by pressing the

key.

Fig. 1.9.1.1 (d)

17 Move the cursor to the parameter you want to set, by pressing the cursor key.

18 Enter data and the press the

key.

19 Repeat steps 17 and 18 until you set all the parameters.

20 Click the soft key [RE-DSPGRAPH].

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21 Click the soft key [SCALE SET].

The scale setting screen is displayed as shown Fig. 1.9.1.1 (e).

Fig. 1.9.1.1 (e)

22 Move the cursor to the parameter you want to set, by pressing the cursor key.

23 Enter data and the press the

key.

24 Repeat steps 22 and 23 until you set all the parameters.

25 Click the soft key [RE-DSPGRAPH].

26 Click the soft key [MEASUREMENT].

27 Click the soft key [START].

28 Start the automatic or manual operation.

29 When the measurement is completed, the wave display screen is displayed as shown Fig. 1.9.1.1 (f).

Fig. 1.9.1.1 (f)

Changing the operation and graph setting screen

The procedure for changing the operation and graph setting screen as necessary is described below.

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Click the soft key [OPERATION & GRAPH].

The operation and graph setting screen is displayed as shown Fig. 1.9.1.1 (g).

To set any draw other than the one currently displayed, display the setting screen for the desired

draw by pressing the

key.

Fig. 1.9.1.1 (g)

Move the cursor to the parameter you want to set, by pressing the cursor key.

Enter data and the press the

key.

Repeat steps 2 and 3 until you set all the parameters.

Click the soft key [RE-DSPGRAPH].

Based on the new operation and graph settings, the wave display screen is displayed as shown Fig.

1.9.1.1 (h).

Fig. 1.9.1.1 (h)

Changing the scale screen

The procedure for changing the scale settings as necessary is described below.

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1.DISPLAY AND OPERATION

Click the soft key [SCALE SET].

The scale setting screen is displayed as shown Fig. 1.9.1.1 (i).

Fig. 1.9.1.1 (i)

Move the cursor to the parameter you want to set, by pressing the cursor key.

Enter data and the press the

key.

Repeat steps 2 and 3 until you set all the parameters.

Click the soft key [RE-DSPGRAPH].

Based on the new scale settings, the wave display screen is displayed as shown Fig. 1.9.1.1 (j).

Fig. 1.9.1.1 (j)

Manipulating the Y-time graph

By clicking the following soft keys, you can perform the operations corresponding to them.

[MEASUREMENT] : Performs a measurement-related operation.

[←]

: Shifts the time axis to the right.

[→]

: Shifts the time axis to the left.

[H-AXIS EXP]

: Expands the time axis.

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[H-AXIS RED]

Reduces the time axis.

[DRAW 1UNDSP]

Sets whether or not to display Draw 1.

[DRAW 1 ↑]

Shifts Draw 1 downward.

[DRAW 1 ↓]

Shifts Draw 1 upward.

[DRAW 1 V-EXP]

Expands Draw 1.

[DRAW 1 V-RED]

Reduces Draw 1.

[DRAW 2UNDSP]

Sets whether or not to display Draw 2.

[DRAW 2 ↑]

Shifts Draw 2 downward.

[DRAW 2 ↓]

Shifts Draw 2 upward.

[DRAW 2 V-EXP]

Expands Draw 2.

[DRAW 2 V-RED]

Reduces Draw 2.

[DRAW 3UNDSP]

Sets whether or not to display Draw 3.

[DRAW 3 ↑]

Shifts Draw 3 downward.

[DRAW 3 ↓]

Shifts Draw 3 upward.

[DRAW 3 V-EXP]

Expands Draw 3.

[DRAW 3 V-RED]

Reduces Draw 3.

[DRAW 4UNDSP]

Sets whether or not to display Draw 4.

[DRAW 4 ↑]

Shifts Draw 4 downward.

[DRAW 4 ↓]

Shifts Draw 4 upward.

[DRAW 4 V-EXP]

Expands Draw 4.

[DRAW 4 V-RED]

Reduces Draw 4.

[AUTO SCALE]

Enables auto scaling.

[V-AXIS EXP]

Expands all draws.

[V-AXIS RED]

Reduces all draws.

[OPE/G SET]

Sets operations and graphs.

[SCALE SET]

Sets scales.

[COM1 INPUT]

Inputs comment 1.

[COM2 INPUT]

Inputs comment 2.

[XY]

Switches to the XY graph.

[CIRCLE]

Switches to the Circle graph.

[FOURIER]

Switches to the Fourier graph.

[BODE]

Switches to the Bode graph.

Performing measurement

When you click the soft key [MEASUREMENT], you can perform the operations corresponding to the

menu items that follow.

[START]

: Starts measurement.

[ORIGIN]

: Sets the origin value.

[STOP]

: Stops measurement.

[DATA IN]

: Specifies measurement-related settings.

Changing measurement settings

When you click the soft key [MEASUREMENT] and then the soft key [DATA IN], you can perform

the operations corresponding to the menu items that follow.

Click the soft key [LIST].

The list screen is displayed as shown Fig. 1.9.1.1 (k).

To display any channel other than the one currently displayed, display the list screen for the desired

channel by pressing the

key.

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Fig. 1.9.1.1 (m)

Move the cursor to the parameter you want to set, by pressing the cursor key.

10 Enter data and the press the

key.

11 Repeat steps 9 and 10 until you set all the parameters.

12 Click the soft key [RE-DSPGRAPH].

The wave display screen is displayed as shown Fig. 1.9.1.1 (n).

Fig. 1.9.1.1 (n)

13 The new settings will take effect next time you perform measurement. Change the operation/graph

settings and scale settings according to the new channel settings.

Explanation

Setting the data-in screen

• Measurement data points

Enter a numerical value between 1 and 10000. This setting represents the number of data points to

be measured.

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1.DISPLAY AND OPERATION

The data measurement time is calculated by multiplying the data points by the sampling cycle. If

different sampling cycles are set for the servo axis and spindle axis, the data points for the shorter

sampling cycle apply. The data points for the longer sampling cycle is decreased according to the

sampling cycle ratio.

•

Trigger path and sequential number

Enter numerical values

- path number and sequential number - that specify when to trigger

measurement. Numerical values that can be specified as path numbers are sequential, starting at Path

1, with the maximum value being the number of paths that are set to the CNC. The range of

sequential numbers is from 0 to 99999. If 0 is specified as the sequential number, measurement starts

immediately after you click the soft key [MEASUREMENT] and then the soft key [START].

•

Sampling cycle (servo and spindle)

Enter numerical values that specify the sampling cycles for the servo axis and spindle axis separately.

The specifiable values are listed in Table 1.9.1.1 (a), Sampling cycles.

Table 1.9.1.1 (a) Sampling cycles

Input value

Meaning (sampling cycle)

Servo axis

Spindle axis

100ms

Specifiable

50ms

Specifiable

20ms

Specifiable

10ms

Specifiable

5ms

Specifiable

2ms

Specifiable

1ms

Specifiable

500μs

Specifiable

250μs

Specifiable

Unspecifiable

125μs

Specifiable

Unspecifiable

62.5μs

Specifiable

Unspecifiable

•

Auto scaling

Enter a numerical value that specifies whether to perform auto scaling each time a measurement is

made. The specifiable values are 1 (do not perform), 2 (perform only once), and 3 (perform each

time). When auto scaling is enabled, the wave scale is changed so that the entire wave can be

displayed within the display range of the graph. Therefore, when you want to monitor changes in the

wave size, it is better to fix the scale, rather than using the auto scaling function.

•

Synchronization mode selection

The specifiable values are 1 (do not select) and 2 (select).

This function may be useful in cases where data is not synchronized in terms of time due to different

sampling cycles when interpolation between servo axis and spindle axis is performed through Cs

contour control or other means. (In some cases, the function may not produce any effect.)

•

Date and time

The date and time when data is measured are displayed. (This is a read-only item.)

Setting the channel setting screen

Up to four sets of measurement data can be specified per channel. Be sure to set measurement data

starting with the smallest channel number.

• Axis

Specify an axis number for the data to be specified. Use a positive control axis number when

specifying a servo axis or a negative control axis number when specifying a spindle axis. The

maximum number that can be specified is equal to the number of servo axes and spindle axes that

are set to the CNC respectively. When enabling channels, be sure to specify the channel numbers

sequentially, starting with the smallest channel number. Setting

0 disables the channel

(not

measured).

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• Type

When a servo axis is selected, the specifiable values are as shown in Table 1.9.1.1 (b), Servo motor

measurement data types. When a spindle axis is selected, the specifiable values are as shown in

Table 1.9.1.1 (c), Spindle motor measurement data types. Specify the type of data you want to

measure.

Table 1.9.1.1 (b) Servo motor measurement data types

Input value

Item name

Description

POSF

Position feedback integrated value

VCMD

Velocity command

TCMD

Torque command

SPEED

Motor speed

ERR

Position error

SYNC

Right tapping synchronization error (tap axis only)

ABS

Absolute position of the built-in pulse coder

DTRQ

Estimated disturbance torque

DLTCM

Synchronous axis torque difference

SFERR

Dual position feedback semi-full error

R phase current value

S phase current value

IEFF

Effective current

ROTOR

Rotor phase

SIN_T

Rotor position SINθ

FREQ

Disturbance input frequency (used to measure frequency characteristics)

FRTCM

Disturbance torque (used to measure frequency characteristics)

OVCLV

OVC level

Table 1.9.1.1 (c) Spindle motor measurement data types

Input value

Item name

Description

SPEED

Motor speed

INORM

Motor current amplitude

TCMD

Torque command

VCMD

Velocity command

VERR

Velocity error

PERR1

Position error

ORERR

Orientation position error

PCPOS

Position feedback integrated value

MCMD

Command pulse per ITP cycle

PERR2

Position error

CSPOS

Position feedback integrated value

SPCMD

Velocity command data

SPCT1

Spindle control signal 1

SPCT2

Spindle control signal 2

SPST1

Spindle status signal 1

SPST2

Spindle status signal 2

ORSEQ

Orientation sequence data

FREQ

Vibration frequency

FRTCM

Vibration torque command

PA1

AD value of the motor sensor A phase signal

PB1

AD value of the motor sensor B phase signal

PA2

AD value of the spindle sensor A phase signal

PB2

AD value of the spindle sensor B phase signal

MFBDF

Motor feedback incremental data

SFBDF

Spindle feedback incremental data

DTRQ

Estimated load torque

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• Unit

The specifiable values are as shown in Table 1.9.1.1 (d), Measurement data units. However, as

shown in Table 1.9.1.1 (e), Corresponding measurement data units, you cannot specify any unit

other than that corresponding to the type of measurement data. Under normal circumstances, the

automatically set values do not need to be changed. When performing polar coordinate conversion

or other operation that requires information about the actual position of the rotation axis, deg needs

to be selected as the unit.

Table 1.9.1.1 (d) Measurement data units

Input value

Unit

Input value

Unit

A(p)

μm

pulse

bit

inch

deg

1/min

V(p)

m/min

rev

Table 1.9.1.1 (e) Corresponding measurement data units

Servo motor data type

Corresponding unit

Spindle motor data type

Corresponding unit

4 : mm

6 : μm

5 : POSF

1 : SPEED

20 : 1/min

8 : inch

9 : deg

20 : 1/min

36 : --

1 : VCMD

2 : INORM

14 : m/min

31 : A(p)

33 : %

2 : TCMD

3 : TCMD

33 : %

31 : A(p)

20 : 1/min

3 : SPEED

4 : VCMD

20 : 1/min

14 : m/min

4 : mm

6 : μm

4 : ERR

5 : VERR

20 : 1/min

8 : inch

9 : deg

7 : SYNC

36 : --

7 : PERR1

9 : deg

4 : mm

6 : μm

9 : deg

8 : ABS

8 : ORERR

8 : inch

34 : pulse

9 : deg

22 : DTRQ

31 : A(p)

9 : PCPOS

9 : deg

24 : DLTCM

31 : A(p)

10 : MCMD

34 : pulse

4 : mm

6 : μm

23 : SFERR

11 : PERR2

34 : pulse

8 : inch

9 : deg

31 : A(p)

48 : IR

13 : CSPOS

9 : deg

33 : %

31 : A(p)

49 : IS

14 : SPCMD

36 : --

33 : %

31 : A(p)

50 : IEFF

15 : SPCT1

36 : --

33 : %

20 : ROTOR

9 : deg

16 : SPCT2

36 : --

21 : SIN_T

36 : --

17 : SPST1

36 : --

15 : FREQ

32 : Hz

18 : SPST2

36 : --

16 : FRTCM

31 : A(p)

19 : ORSEQ

36 : --

25 : OVCLV

33 : %

20 : FREQ

32 : Hz

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Servo motor data type

Corresponding unit

Spindle motor data type

Corresponding unit

21 : FRTCM

31 : A(p)

25:PA1

38:V(p)

33:%

26:PB1

38:V(p)

33:%

27:PA2

38:V(p)

33:%

28:PB2

38:V(p)

33:%

29:MFBDF

9:deg

39:rev

30:SFBDF

9:deg

39:rev

32:DTRQ

33:%

•

Conversion coefficient

Set the weight of the data selected for each channel type (numerator = physical amount). For POSF

and other position-related data, specify the amount of travel per pulse. For VCMD and SPEED,

specify 3750. For TCMD, specify the maximum current value of the amplifier in use.

•

Conversion base

Set the weight of the data selected for each channel type (denominator = raw data unit). Under

normal circumstances, use the value that is automatically set when the type is selected. Usually, the

system automatically sets 1 for POSF and other position-related data, 32768 for VCMD and SPEED,

and 7282 for TCMD.

•

Origin value

Specify the value that is to be set as the initial value for each channel when you click the soft key

[MEASUREMENT] and then the soft key [ORIGIN].

•

Extended address

Under normal circumstances, this item is unspecifiable and not used. (This is a read-only item.)

•

Shift

Under normal circumstances, this item is unspecifiable and not used.

(A value may be set

automatically when the type is selected.)

Setting the operation and graph setting screen

In the operation and graph setting screen, up to four graphs can be set per draw.

• Operation

The specifiable values are as shown in Table 1.9.1.1 (f), Y-time graph operations.

An operation cannot be specified if it does not meet the graph display conditions defined in Table

1.9.1.1 (g), Y-time graph conditions.

Table 1.9.1.1 (f) Y-time graph operations

Input value

Operation name

Description

N/A

Not displayed.

Normal display

(The data of the sleeted channel is displayed as is, without performing any

Y-Time

operations.) Input 1 is the vertical axis. All measurement channels are available to

be selected.

First order differential display of position data (equivalent to velocity)

Diff1 ( VT )

Input 1 is the vertical axis. Only those channels whose positions have been

measured can be selected.

Second order differential display of position data (equivalent to acceleration)

Diff2 ( AT )

Input 1 is the vertical axis. Only those channels whose positions have been

measured can be selected.

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Input value

Operation name

Description

Tangent speed display

Tangent

Only those channels whose positions have been measured can be selected. The

combined speed of input 1 and input 2 is displayed.

N axis tangent speed display

Only those channels whose positions have been measured can be selected. The

Tangent N

combined speed for the position data from the channel specified by input 1 to the

channel specified by input 2 is displayed.

All channels to be combined need to have position data.

Feed smoothness display

Only those channels whose positions have been measured can be selected. This

Smooth

item displays the deviation from the ideal position calculated on the assumption

that the tool moves from the displayed start time (start point) to the end time (end

point) at a constant speed.

Synchronization error display

Only those channels whose positions have been measured can be selected. This

Synchro

item displays the difference between input 1 and input 2. Currently, only 1-to-1 ratio

is supported as the proportion of input 1 to input 2.

Bit display

Bit

The status of the corresponding bit specified by input 2 is displayed, based on the

measurement data for the channel specified by input 1.

Table 1.9.1.1 (g) Y-time graph conditions

Coordinate

Operation

Input 1

Input 2

Remarks

conversion

Channel whose position has

1 : Normal

Not specified

been measured

Channel whose position has

been measured

2 : Y-Time

2 : Polar

been measured

(only when the data unit is mm,

(only when the data unit is deg)

μm, or inch)

Channel whose position has

3 : Angular

been measured

Channel whose position has

3 : Diff1 ( VT )

1 : Normal

Not specified

been measured

Channel whose position has

4 : Diff2 ( AT )

1 : Normal

Not specified

been measured

Channel whose position has

1 : Normal

been measured

Channel whose position has

been measured

5 : Tangent

2 : Polar

been measured

(only when the data unit is mm,

(only when the data unit is deg)

μm, or inch)

Channel whose position has

3 : Angular

been measured

Make sure that

the measured

Channel whose position has

6 : Tangent N

1 : Normal

data unit is

been measured

either mm, μm,

or inch, or deg.

Channel whose position has

7 : Smooth

1 : Normal

Not specified

been measured

Channel whose position has

8 : Synchro

1 : Normal

been measured

Channel whose position has

9 : Bit

1 : Normal

Bit position

been measured

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•

Input 1

Specifiable values are sequential, with channel 1 being 1. The maximum value is the largest channel

number for which measurement is set during the channel setting process. A value that does not meet

the graph display conditions defined in Table 1.9.1.1 (g), Y-time graph conditions cannot be

specified in input 1.

•

Input 2

Specifiable values are sequential, with channel 1 being 1. The maximum value is the largest channel

number for which measurement is set during the channel setting process. Note that, when Bit is

specified as the operation, values are sequentially set, with bit position 0 being 10. In this case, the

maximum value is 25, which indicates bit position 15. A value that does not meet the graph display

conditions defined in Table 1.9.1.1 (g), Y-time graph conditions cannot be specified in input 2.

•

Display unit

Specifiable values are as shown in Table 1.9.1.1 (h), Display units. The conditions for specifying

these display units are as shown in Table 1.9.1.1 (i), Y-time graph display units.

Table 1.9.1.1 (h) Display units

Input value

Unit

Input value

Unit

sec

1/sec

msec

1/min

μsec

mm/sec/sec

mm/min/min

m/sec/sec

μm

m/min/min

inch/sec/sec

inch

inch/min/min

deg

deg/sec/sec

mdeg

deg/min/min

mm/sec

1/sec/sec

mm/min

1/min/min

m/sec

A(p)

m/min

inch/sec

inch/min

pulse

deg/sec

bit

deg/min

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Table 1.9.1.1 (i) Corresponding Y-time graph display units

Operation

Input 1 measurement data unit

Specifiable display unit

4 : mm

5 : m

6 : μm

7 : nm

8 : inch

9 : deg

11 : mm/sec

12 : mm/min

13 : m/sec

14 : m/min

15 : inch/sec

2 : Y-Time

16 : inch/min

17 : deg/sec

18 : deg/min

20 : 1/min

19 : 1/sec

20 : 1/min

31 : A(p)

32 : Hz

33 : %

34 : pulse

35 : bit

36 : --

11 : mm/sec

4 : mm

12 : mm/min

5 : m

13 : m/sec

6 : μm

14 : m/min

7 : nm

15 : inch/sec

3 : Diff1 ( VT )

8 : inch

16 : inch/min

17 : deg/sec

18 : deg/min

9 : deg

19 : 1/sec

20 : 1/min

21 : mm/sec/sec

4 : mm

22 : mm/min/min

5 : m

23 : m/sec/sec

6 : μm

24 : m/min/min

7 : nm

25 : inch/sec/sec

4 : Diff2 ( AT )

8 : inch

26 : inch/min/min

27 : deg/sec/sec

28 : deg/min/min

9 : deg

29 : 1/sec/sec

30 : 1/min/min

4 : mm

11 : mm/sec

5 : m

12 : mm/min

6 : μm

13 : m/sec

5 : Tangent

7 : nm

14 : m/min

8 : inch

15 : inch/sec

9 : deg

16 : inch/min

4 : mm

11 : mm/sec

5 : m

12 : mm/min

6 : μm

13 : m/sec

6 : Tangent N

7 : nm

14 : m/min

8 : inch

15 : inch/sec

9 : deg

16 : inch/min

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Operation

Input 1 measurement data unit

Specifiable display unit

4 : mm

5 : m

6 : μm

7 : Smooth

7 : nm

8 : inch

9 : deg

4 : mm

5 : m

6 : μm

8 : Synchro

Not affected by the measurement unit.

7 : nm

8 : inch

9 : deg

36 : --

9 : Bit

Not affected by the measurement unit.

Not specified.

• Coordinate conversion

Specifiable values are 1 (Normal; no coordinate conversion), 2 (Polar; coordinate conversion for

polar coordinate interpolation), and 3 (Angular; coordinate conversion for angular axis control). The

conditions for the specifiable coordinate conversion types are as shown in Table

1.9.1.1

(j),

Corresponding Y-time graph coordinate conversion types. Note that no conditions are imposed for

specifying Normal (no coordinate conversion).

Table 1.9.1.1 (j) Corresponding Y-time graph coordinate conversion types

Specifiable coordinate

Operation

Input 1

Input 2

conversion

Channel whose position has been

measured

2 : Polar

2 : Y-Time

(only when the data unit is mm, μm,

(only when the data unit is deg)

5 : Tangent

or inch)

Channel whose position has been

3 : Angular

measured

• Inclination

Specify the inclination in degrees. The specified value is effective only when Angular (coordinate

conversion for angular axis control) is specified as the coordinate conversion type.

Setting the scale screen

The scale screen lets you set up to four scales per draw and specify the graph scale with respect to the

time axis.

• Start point

Set the center coordinate of the displayed data (Draw 1 to Draw 4; vertical axis).

Set the display start time for time (horizontal axis).

• Division

Set the value of the displayed data per grid (Draw 1 to Draw 4; vertical axis).

Set the amount of time per grid for time (horizontal axis).

Operation for measurement

• Origin

Arrange that the origin value, set on a per-channel basis in the channel setting screen, will be the

initial value for the measurement data when measurement is started. This operation is effective only

for those channels for which position measurement is set.

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Limitation

Data update cycle

Position-related data is updated at intervals of 1 ms, and power-related data is updated at the current cycle.

Therefore, even if you specify a sampling cycle that is shorter than the data update cycle, the displayed

data remains unchanged during the present data update cycle.

Sampling cycle and the number of channels measured

Regarding the sampling cycle and the number of channels measured, there are limitations as shown in

Table 1.9.1.1 (k).

Table 1.9.1.1 (k) Sampling cycle and the number of channels measured

Sampling cycle

Maximum number of channels measured

1ms or more

500μs

250μs

125μs

62.5μs

(Channel 3 or later cannot be input.)

The following limitations are imposed on the servo axis and spindle axis.

Number of channels that can be acquired per servo DSP

• Up to four channels can be acquired when the sampling cycle is 1 ms or longer, 500 μs, or 250 μs.

• Up to two channels can be acquired when the sampling cycle is 125 μs.

• Only one channel can be acquired when the sampling cycle is 62.25 μs.

Number of channels that can be acquired per spindle axis

• Up to two channels can be acquired when the sampling cycle is1 ms or longer.

• Only one channel can be acquired when the sampling cycle is 500 ms.

1.9.1.2 XY graph

This graph provides a 2-dimensional path display of measurement data by using 2-axis data.

Up to two draws can be displayed at a time.

Displaying and setting the XY graph

Procedure

The procedure for displaying the measurement data is described below.

Press the

function key.

Press the continuous menu key

several times until [SERVO GUIDE MATE] is displayed.

Click the soft key [SERVO GUIDE MATE].

Click the soft key [XY].

The wave display screen is displayed as shown Fig. 1.9.1.2 (a).

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Fig. 1.9.1.2 (a)

Click the soft key [MEASUREMENT].

Click the soft key [DATA IN].

Click the soft key [SAMPLING].

The data-in screen is displayed as shown Fig. 1.9.1.2 (b).

Fig. 1.9.1.2 (b)

Move the cursor to the parameter you want to set, by pressing the cursor key.

Enter data and the press the

key.

10 Repeat steps 8 and 9 until you set all the parameters.

11 Click the soft key [SET CHANNEL].

The channel setting screen is displayed as shown Fig. 1.9.1.2 (c).

To set any channel other than the one currently displayed, display the setting screen for the desired

channel by pressing the

key.

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Fig. 1.9.1.2 (c)

12 Move the cursor to the parameter you want to set, by pressing the cursor key.

13 Enter data and the press the

key.

14 Repeat steps 12 and 13 until you set all the parameters.

15 Click the soft key [RE-DSPGRAPH].

16 Click the soft key [OPERATION & GRAPH].

The operation and graph setting screen is displayed as shown Fig. 1.9.1.2 (d).

To set any draw other than the one currently displayed, display the setting screen for the desired

draw by pressing the

key.

Fig. 1.9.1.2 (d)

17 Move the cursor to the parameter you want to set, by pressing the cursor key.

18 Enter data and the press the

key.

19 Repeat steps 17 and 18 until you set all the parameters.

20 Click the soft key [RE-DSPGRAPH].

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21 Click the soft key [SCALE SET].

The scale setting screen is displayed as shown Fig. 1.9.1.2 (e).

Fig. 1.9.1.2 (e)

22 Move the cursor to the parameter you want to set, by pressing the cursor key.

23 Enter data and the press the

key.

24 Repeat steps 22 and 23 until you set all the parameters.

25 Click the soft key [RE-DSPGRAPH].

26 Click the soft key [MEASUREMENT].

27 Click the soft key [START].

28 Start the automatic or manual operation.

29 When the measurement is completed, the wave display screen is displayed as shown Fig. 1.9.1.2 (f).

Fig. 1.9.1.2 (f)

Changing the operation and graph setting screen

The procedure for changing the operation and graph setting screen as necessary is described below.

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Click the soft key [OPERATION & GRAPH].

The operation and graph setting screen is displayed as shown Fig. 1.9.1.2 (g).

To set any draw other than the one currently displayed, display the setting screen for the desired

draw by pressing the

key.

Fig. 1.9.1.2 (g)

Move the cursor to the parameter you want to set, by pressing the cursor key.

Enter data and the press the

key.

Repeat steps 2 and 3 until you set all the parameters.

Click the soft key [RE-DSPGRAPH].

Based on the new operation and graph settings, the wave display screen is displayed as shown Fig.

1.9.1.2 (h).

Fig. 1.9.1.2 (h)

Changing the scale screen

The procedure for changing the scale settings as necessary is described below.

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Click the soft key [SCALE SET].

The scale setting screen is displayed as shown Fig. 1.9.1.2 (i).

Fig. 1.9.1.2 (i)

Move the cursor to the parameter you want to set, by pressing the cursor key.

Enter data and the press the

key.

Repeat steps 2 and 3 until you set all the parameters.

Click the soft key [RE-DSPGRAPH].

Based on the new scale settings, the wave display screen is displayed as shown Fig. 1.9.1.2 (j).

Fig. 1.9.1.2 (j)

Manipulating the XY graph

By clicking the following soft keys, you can perform the operations corresponding to them.

[MEASUREMENT] : Performs a measurement-related operation.

[←]

: Shifts the horizontal axis to the right.

[→]

: Shifts the horizontal axis to the left.

[H-AXIS EXP]

: Expands the horizontal axis.

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[H-AXIS RED]

: Reduces the horizontal axis.

[AUTO SCALE]

: Enables auto scaling.

[↑]

: Shifts the vertical axis downward.

[↓]

: Shifts the vertical axis upward.

[V-AXIS EXP]

: Expands the vertical axis.

[V-AXIS RED]

: Reduces the vertical axis.

[DRAW 1UNDSP]

: Sets whether or not to display Draw 1.

[DRAW 2UNDSP]

: Sets whether or not to display Draw 2.

[OPE/G SET]

: Sets operations and graphs.

[SCALE SET]

: Sets scales.

[COM1 INPUT]

: Inputs comment 1.

[COM2 INPUT]

: Inputs comment 2.

[Y-TIME]

: Switches to the Y-Time graph.

[CIRCLE]

: Switches to the Circle graph.

[FOURIER]

: Switches to the Fourier graph.

[BODE]

: Switches to the Bode graph.

Performing measurement

When you click the soft key [MEASUREMENT], you can perform the operations corresponding to the

menu items that follow.

[START]

: Starts measurement.

[ORIGIN]

: Sets the origin value.

[STOP]

: Stops measurement.

[DATA IN]

: Specifies measurement-related settings.

Changing measurement settings

When you click the soft key [MEASUREMENT] and then the soft key [DATA IN], you can perform

the operations corresponding to the menu items that follow.

Click the soft key [LIST].

The list screen is displayed as shown Fig. 1.9.1.2 (k).

To display any channel other than the one currently displayed, display the list screen for the desired

channel by pressing the

key.

Fig. 1.9.1.2 (k)

Check the current settings on the list screen.

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FANUC Series 30i-MODEL B, 31i-MODEL B, 32i-MODEL B. MAINTENANCE MANUAL - page 4