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

7.EMBEDDED ETHERNET FUNCTION

B-64485EN/01

FOCAS2 function cnc_unsolicstart

FOCAS2 function cnc_unsolicstop

Not Ready Ready Sending... Receiving... Completed

Ready

Not Ready

State

REQ (NC program ↔

(1)

communication function)

(2)

(5)

(3)

Transmission processing by

communication function

(4)

Reception processing by

communication function

Transmission completed

Response received

(1) After checking that REQ is set to 0, the NC program prepares a message then sets REQ to 1.

(2) Because of REQ set to 1, the communication function transmits the message.

(3) The communication function completes message transmission processing.

(4) Upon reception of a response to the message, the communication function completes reception

processing.

(5) Because of reception processing completed, the communication function sets REQ to 0.

NOTE

For details of the states, see "Display items" in Subsection 7.2.4.3, "Mode

selection".

Example of using a macro variable for control

An example of using a macro variable for control is provided below.

•

Example

[Description]

An NC program on CNC path number 1 posts NC command start date and time information as

an unsolicited message to the personal computer.

[Setting]

As a macro variable for control, volatile RTM variable number #0 (REQ) is used. On the other

hand, macro variables for transmission are used for date and time information managed inside

the CNC (system variable numbers #3011 and #3012).

Setting item

Set value

CONTROL PARAMETER TYPE

CONTROL PARAMETER

1:0

TRANSMISSION NUMBER

TRANSMISSION PARAMETER (NO.1)

TYPE

MACRO NO.

1:3011

NUMBER

TRANSMISSION PARAMETER (NO.2)

TYPE

MACRO NO.

1:3012

NUMBER

[Example of NC program]

A RTM variable is executed in synchronism with the immediately following NC command

according to the RTM variable specification. At this time, the operation timing of the

immediately following NC command is not affected.

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7.EMBEDDED ETHERNET FUNCTION

So, the NC program indicated below posts NC command 2 start date and time information as an

unsolicited message to the personal computer.

RTM variable for control of the unsolicited

messaging function

//1 ZDO;

ZWHILE[#RV[0] NE 0];

(1)

NC program

#RV[0]=1;

①

#RV[0]=1;

ZEND;

NC command 1

Macro call command

One machining

NC command 2

cycle

(Tip)

(1) in the example above corresponds to the number in the timing chart provided

earlier.

NOTE

1 Note that if a custom macro is used as a macro for control, the operation timing

of an NC command is affected. If the RTM variable in the example above is

replaced with a custom macro, for example, NC command 2 becomes

unexecutable unless the macro variable for control is changed.

2 For details of custom macros and RTM variables, refer to "Operator’s Manual

(Common to Lathe System/Machining Center System) (B-64484EN)".

7.2.4.7 Related NC parameters

For embedded Ethernet port

14880

UNM

[Input type] Parameter input

[Data type] Bit

#4 UNM With the embedded Ethernet port, the unsolicited messaging function is:

0: Not used

1: Used

NOTE

1 Re-setting this parameter requires turning the power off and on

again or restarting the embedded Ethernet interface.

2 To use the CNC Unsolicited Messaging function with a built-in port,

the Enhanced Embedded Ethernet function (-R952) is required.

14882

UNS

[Input type] Parameter input

[Data type] Bit

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#4 UNS When the embedded Ethernet port is used and termination of the unsolicited messaging

function is specified from other than the connected unsolicited message server, the

function:

0: Rejects termination.

1: Accepts termination.

NOTE

To use the CNC Unsolicited Messaging function with a built-in port,

the Enhanced Embedded Ethernet function (-R952) is required.

7.2.5

Backing Up and Restoring Communication Parameters

This subsection describes operations for backing up the communication parameters for the embedded

Ethernet in a memory card or USB memory and restoring them from a memory card. Which memory,

memory card or USB memory, is to be used in backup/restoration is determined using NC parameter No.

20. For descriptions of the USB memory specifications and restrictions, refer to Section 8.6, "USB

Functions", in Part III, "OPERATION", in "Operator's Manual (Common to Lathe System/Machining

Center System) (B-64484EN)".

Press the function key

Soft keys [EMBED PORT] and [PCMCIA LAN] appear. (When there is no soft keys, press the

continue key.)

3 To display the Ethernet Setting screen for the embedded Ethernet port or the PCMCIA Ethernet card,

press soft key [EMBED PORT] or [PCMCIA LAN], respectively.

Press soft keys [COMMON], [(OPRT)], and [+] in this order. Soft keys for backing up and restoring

communication parameters, [BACKUP], [RESTORE], [ALL BACKUP], and [ALL RESTORE],

appear as shown below.

Press soft key

[BACKUP], [RESTORE], [ALL BACKUP], or [ALL RESTORE]. Soft keys

[EXECUTE] and [CANCEL] appear.

Enter the name of a file to be backed up or restored in the key-in buffer and press soft key

[EXECUTE]. The relevant operation is executed.

During execution, “EXECUTING” blinks.

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BACKUP

Saves the communication parameters for the embedded Ethernet that are stored in the SRAM of the CNC

in such as memory card.

If a file name is specified in the key-in buffer, it is used in saving parameters to a memory unit such as a

memory card. If no file name is specified, file name “EMBETHER.MEM” is used.

RESTORE

Reads the communication parameters for the embedded Ethernet that are stored in such as memory card

and saves them in the SRAM of the CNC.

If a file name is specified in the key-in buffer, it is used in reading parameters from a memory unit such as

a memory card. If no file name is specified, a file having file name “EMBETHER.MEM” is read.

ALL BACKUP

Saves all valid communication parameters for the embedded Ethernet, fast Ethernet/fast data server,

PROFIBUS-DP master/slave, DeviceNet master/slave, FL-net, and CC-Link remote device that are stored

in the SRAM of the CNC in such as memory card.

If a file name is specified in the key-in buffer, it is used in saving parameters to a memory unit such as a

memory card. If no file name is specified, file name “NETWORK.MEM” is used.

ALL RESTORE

Reads all valid communication parameters for the embedded Ethernet, fast Ethernet/fast data server,

PROFIBUS-DP master/slave, DeviceNet master/slave, FL-net, and CC-Link remote device that are stored

in such as memory card and saves them in the SRAM of the CNC.

If the communication function relevant to any valid parameter is disabled on the CNC, however, the

communication parameter is not saved in the SRAM.

If a file name is specified in the key-in buffer, it is used in reading parameters from a memory unit such as

a memory card. If no file name is specified, a file having file name “NETWORK.MEM” is read.

CAUTION

When you are gaining access to an external input/output device, such as a

memory card and USB memory, do not turn off the power to the CNC or

disconnect the external input/output device. It is likely that doing so may damage

the external input/output device.

NOTE

1 Communication parameters can be backed up and restored only in the MDI

mode, EDIT mode, or the emergency stop state.

2 Restoring communication parameters causes an alarm requiring the power to be

turned off to be issued.

Related NC parameters

0020

I/O CHANNEL : Input/output device selection, or interface number for a foreground input device

[Input type] Setting input

[Data type] Byte

[Valid data range] 4 : Select the memory card as the input/output device.

17 : Select the USB memory as the input/output device.

Any input/output device other than those listed above cannot be used to back up or

restore communication parameters.

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7.3

SWITCHING BETWEEN THE EMBEDDED ETHERNET

DEVICES

There are two types of embedded Ethernet devices: the embedded Ethernet port and PCMCIA Ethernet

card.

Screen operation is required to switch between these two types of devices.

Procedure

Press the function key

Soft keys [EMBED PORT] and [PCMCIA LAN] appear.

(When there is no soft keys, press the continue key.)

Press soft key [EMBED PORT] or [PCMCIA LAN], press soft key [COMMON], and then press

[(OPRT)] to display soft key [EMB/PCMCIA].

Pressing soft key [EMB/PCMCIA] switches between enabled devices.

NOTE

1 Information on a switched device is stored in nonvolatile memory.

On the next power-on, the device last selected can be used as is.

2 When using the unsolicited messaging function, note the following:

• Processing is forcibly started from the "Not Ready" state, regardless of the

unsolicited message transfer state.

• When the parameter for control is set to use the response notification

method, RES and RES_CODE (0x01) are posted to the ladder program.

• When the parameter for control is set to use the simplified method, REQ is

cleared.

7.4

EMBEDDED ETHERNET OPERATIONS

7.4.1

FTP File Transfer Function

The operation of the FTP file transfer function is described below.

Host file list display

A list of the files held on the host computer is displayed.

Procedure

Press the function key

Press soft key [FOLDER]. The program folder screen appears. (If the soft key does not appear, press

the continuous menu key.)

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NOTE

When using the FTP file transfer function, check that the valid device is the

embedded Ethernet port.

The two conditions below determine a connection destination on the host file list

screen:

(1) Check that the valid device is the embedded Ethernet port. Make a selection

in "DEVICE SELECTION" on the Ethernet setting screen.

(2) A host computer can be selected from connection destinations 1, 2, and 3.

Make a selection according to the [HOST] soft key described later.

When a list of files is larger than one page, the screen display can be switched using the page keys

Display item

AVAILABLE DEVICE

The currently selected device is displayed.

Check that the embedded Ethernet port is selected currently.

CONNECT HOST

Number of the currently connected host of the host computer

REGISTERED PROGRAM

The number of files in the current folder.

DEVICE

Current device. When the embedded Ethernet host file list is selected, “EMB_ETHER” is displayed.

CURRENT FOLDER

Current work folder in the host computer

FILE LIST

Information of the files and folders in the host computer

Operation list

DEVICE CHANGE

Enables a device to be selected from the program folder screen. To select the embedded Ethernet host file

list, press soft key [EMB ETHER].

DETAIL ON, DETAIL OFF

Switches between the outline and detailed file lists.

CREATE FOLDER

Creates a new subfolder in the current work folder.

DELETE

Deletes a file or folder.

RENAME

Renames a file or folder.

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HOST CHANGE

Changes the connected host computer.

Searches the current folder for a file.

REFRESH

Updates the information displayed on the embedded Ethernet host file list screen.

7.4.1.1 Displaying and operating the file list

REFRESH, DETAIL ON, DETAIL OFF

Update the file list data or change the file list type.

Press soft key [REFRESH] to update the file list data.

Press soft key [DETAIL OFF] to display only file names.

Press soft key [DETAIL ON] to display file attributes, sizes, dates, and file names.

NOTE

The items displayed in the detailed list depend on the FTP server setting on the

host computer.

Moving a folder

Move a folder.

Select a folder you want to move using cursor keys

and

Press MDI key

CREATE FOLDER

Create a new folder.

Move to a folder in which you want to create a new folder.

Enter a folder name.

Press soft key [CREATE FOLDER].

DELETE

Delete a file or folder.

Select a file or folder you want to delete using cursor keys

and

Press soft key [DELETE].

•

To execute the deletion, press soft key [EXEC].

•

To cancel the deletion, soft key [CANCEL].

DELETE (multiple files)

Delete multiple files at a time.

Press soft key [SELECT START].

Select a file or folder you want to delete using cursor keys

and

Press soft key [SELECT].

The selected file is highlighted.

Repeat steps 2 and 3 for each file you want to delete.

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Press soft key [DELETE].

To execute the deletion, press soft key [EXEC].

To cancel the deletion, soft key [CANCEL].

NOTE

Up to 10 files can be selected at a time.

RENAME

Rename a file or folder.

Select a file or folder you want to rename using cursor keys

and

Enter a new file or folder name.

Press soft key [RENAME].

Search the current work folder for a file.

Enter a file name.

Press soft key [SEARCH].

HOST CHANGE

Change the connected host computer.

Press soft key [HOST CHANGE].

The connected host number changes from 1 to 2 to 3, then back to 1.

7.5

RESTART OF THE EMBEDDED ETHERNET

Communication using the embedded Ethernet can be restarted.

Procedure

Press the function key

Soft keys [EMBED PORT] and [PCMCIA LAN] appear.

(When there is no soft keys, press the continue key.)

Press soft key [EMBED PORT] or [PCMCIA LAN], press soft key [COMMON], and then press

[(OPRT)] to display soft key [RSTART].

Pressing soft key [RSTART] resets embedded Ethernet communication and then restarts it.

NOTE

1 Pressing soft key [RSTART] forcibly interrupts communication even when it is in

progress.

2 This function makes a restart by software. An actual restart may be impossible

under some conditions.

3 When using the unsolicited messaging function, note the following:

• Processing is forcibly started from the "Not Ready" state, regardless of the

unsolicited message transfer state.

• When the parameter for control is set to use the response notification

method, RES and RES_CODE (0x01) are posted to the ladder program.

• When the parameter for control is set to use the simplified method, REQ is

cleared.

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7.EMBEDDED ETHERNET FUNCTION

7.6

MAINTENANCE SCREEN FOR EMBEDDED ETHERNET

FUNCTION

With the embedded Ethernet function, a dedicated maintenance screen is available.

The maintenance screen enables operations to be checked when the embedded Ethernet function operates

abnormally.

Displaying and operating the PING screen

Procedure

Press the function key

Soft keys [EMBED PORT] and [PCMCIA LAN] appear.

(When there is no soft keys, press the continue key.)

By pressing the [EMBED PORT] soft key, the Ethernet Setting screen for the embedded Ethernet is

displayed.

By pressing the [PCMCIA LAN] soft key, the Ethernet Setting screen for the PCMCIA Ethernet

card can be set.

Press soft key [PING] and then press [(OPRT)].

To send the PING command to connection destination 1 for FTP file transfer, press soft key [PING

FTP1] Similarly, to send the PING command to connection destination 2 or 3, press [PING FTP2] or

[PING FTP3], respectively.

PING connection status screen

To send the PING command to the desired destination, enter the address of the destination on the

PING setting screen. (Page keys

are used for switching.)

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PING connection status screen

After entering the address and the repeat count, press the soft key [PING EXEC]. The specified

number of PING commands are sent to the specified destination.

To cancel the PING command currently being sent, press soft key [PING CANCEL].

Displaying Communication status screen

Procedure

Press the function key

Soft keys [EMBED PORT] and [PCMCIA LAN] appear.

(When there is no soft keys, press the continue key.)

By pressing the [EMBED PORT] soft key, the Ethernet Setting screen for the embedded Ethernet is

displayed.

By pressing the [PCMCIA LAN] soft key, the Ethernet Setting screen for the PCMCIA Ethernet

card can be set.

To display the communication status of the embedded Ethernet, press soft key [COM STATE].

Page keys

can be used to switch between the sending state and the receiving state.

Communication status screen

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Display items

Item

Description

BAUDRATE

Displays the baud rate and transmission method.

Transmission rate: 100Mbps or 10Mbps

Transmission method: Full duplex or half duplex

-------- : Not connected to HUB

SEND PACKET

Displays the number of transmitted packets.

COLLISION

Displays the number of errors detected during transmission of packets.

CARRIER SENSE LOST

DELAYOVER

UNDERRUN

SEND PARITY ERROR

RECEIVE PACKET

Displays the number of packets received.

ALIGNMENT ERROR

Displays the number of errors detected during reception of packets.

CRC ERROR

OVERRUN ERROR

FRAME LENGTH ERROR

RECV PARITY ERROR

AVAILABLE DEVICE

Currently available device of embedded Ethernet

Displays either the embedded Ethernet port or the PCMCIA Ethernet card.

TASK STATE screen

Procedure

Press the function key

Soft keys [EMBED PORT] and [PCMCIA LAN] appear.

(When there is no soft keys, press the continue key.)

3 To display the Ethernet Setting screen for the embedded Ethernet port or the PCMCIA Ethernet card,

press soft key [EMBED PORT] or [PCMCIA LAN], respectively.

Pressing soft key [TASK STATUS] causes the task status of the embedded Ethernet function to be

displayed.

TASK STATE screen

The following symbols are used.

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Symbol and meaning

FOCAS2 #0

C: Waiting for a connection from the host

W: Data processing in progress (1)

D: Data processing in progress (2)

N: FOCAS2 out of service

FOCAS2 #1,#2

W: Data processing in progress (1)

D: Data processing in progress (2)

X: Not yet executed

UDP

W: Data processing in progress (1)

D: Data processing in progress (2)

X: Not yet executed

PMC

W: Data processing in progress (1)

D: Data processing in progress (2)

X: Not yet executed

FTP

C: Execution wait

W: Data processing in progress (1)

D: Data processing in progress (2)

X: Not yet executed

UNSOLICITED MSG

W: Data processing in progress (1)

D: Data processing in progress (2)

N: Abnormal state

X: Not yet executed

Number: Alive signal (UDP) transmission in progress when count-up

operation is performed

7.7

LOG SCREEN OF THE EMBEDDED ETHERNET

FUNCTION

This screen displays the log of the embedded Ethernet function.

NOTE

If alarm SR2032, “EMBEDDED ETHERNET/DATA SERVER ERROR” is issued

during data transfer using the embedded Ethernet function, check the error

details on the log screen of the embedded Ethernet function.

Displaying the log screen

Procedure

Press the function key

To display the log screen for the embedded Ethernet port or PCMCIA Ethernet card, press soft key

[EMBED LOG] or [PCMCIA LOG], respectively. (When there is no soft keys, press the continue

key.)

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7.EMBEDDED ETHERNET FUNCTION

LOG screen

The newest error log appears at the top of the screen. The date and time when an error occurred are

displayed at the right end of the line. The format of date and time data is “MMM.DD hh:mm:ss” where

MMM represents a month, dd represents a day, hh represents hours, mm represents minutes, and ss

represents seconds.

The date and time of the upper item shown above is October 30, 18:33:09.

To clear the log, press soft keys [(OPRT)] and [CLEAR] in that order.

The log for each function can be displayed by using soft keys on the embedded Ethernet log screen.

(1) Soft key [ALL]

Displays all log related to the embedded Ethernet.

(2) Soft key [COMMON]

Displays the log related to the parameter settings of the embedded Ethernet function and the basic

communication function.

(3) Soft key [FOCAS2]

Displays the log related to the FOCAS2/Ethernet function.

(4) Soft key [FTP TRANS]

Displays the log related to FTP file transfer.

(5) Soft key [UNSOLT MSG]

Displays the log related to the unsolicited messaging function.

Error and message

Error

Log message

Description and necessary action

No.

E-0118

Error occurred while wait for FOCAS2 pdu

A communication error has occurred because of any of

E-0119

the following:

→ The network quality has been lowered to such a level

that data cannot be received from a PC at the other

end. The communication channel has been logically

shut down.

→ Software running on a PC at the other end has

logically shut down the communication channel.

→ The Ethernet cable has been disconnected.

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Error

Log message

Description and necessary action

No.

E-011A

All communication paths are busy

All the FOCAS2/Ethernet communication channels are

busy.

E-0148

Cannot save parameter for Unsolicited

When the FOCAS2 function cnc_wrunsolicprm2 was

Message

received, the parameter for the unsolicited messaging

function could not be saved for one of the following

causes:

→ The mode of the unsolicited messaging function is not

set to "PC mode".

→ The state of the unsolicited messaging function is not

"Not Ready".

→ The argument "parameter-for-unsolicited-message" of

the FOCAS2 function cnc_wrunsolicprm2 includes an

invalid value.

E-0149

The received parameter for Unsolicited

When the FOCAS2 function cnc_wrunsolicprm2,

Message is wrong

cnc_rdunsolicprm2, cnc_unsolicstart, or cnc_unsolicstop

was received, the argument

"parameter-number-for-unsolicited-message" was found

to be invalid.

E-0200

Received message from FTP server

A message sent by the FTP server is directly displayed.

E-0202

Connection failed with FTP server

Software of the FTP server may not be running. Start the

software of the FTP server.

E-0207

The router is not found

The specified IP address of the router may be wrong.

Alternatively, the router may be turned off. Check whether

the IP address of the router has been correctly specified

and whether the router is turned on.

E-0208

The FTP server is not found

The specified IP address of the FTP server may be

wrong. Alternatively, the FTP server may be turned off.

Check whether the IP address of the FTP server has

been correctly specified and whether the FTP server is

turned on.

E-020B

Cannot login into FTP server

Check whether a correct user name and password are

specified when logging into the FTP server.

E-020C

The parameters of FTP server are wrong

Check whether a correct user name and password are

specified when logging into the FTP server.

E-020D

Changing a work folder of host failed

Check the work folder logging into the FTP server.

E-041A

Frame transmission failed (TCP)

A communication error has occurred because of any of

the following:

→ The network quality has been lowered to such a level

that data cannot be received from a PC at the other

end. The communication channel has been logically

shut down.

→ Software running on a PC at the other end has

logically shut down the communication channel.

→ The Ethernet cable has been disconnected.

E-0901

Cannot read MAC address

The MAC address is not written in the hardware.

Alternatively, the hardware has been damaged.

E-0A06

Network is too busy

An excessive amount of data is flowing over the network.

One possible solution is to divide the network.

E-0B00

The own IP address is wrong

Specify a correct IP address in the designated format.

E-0B01

The own IP address is not set

Specify an IP address.

E-0B02

Subnet mask is wrong

Specify a correct subnet mask in the designated format.

E-0B03

Subnet mask is not set

Specify a subnet mask.

E-0B04

Router IP address is wrong

There may be class disagreement between the IP

address of the local node and the IP address of the

router.

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Error

Log message

Description and necessary action

No.

E-0B05

IP address of DNS server is wrong

There may be class disagreement between the IP

address of the local node and the IP address of the DNS

server.

E-0B06

The own host name is wrong

Check whether a correct host name is specified.

E-0B07

The own domain name is wrong

Check whether a correct domain name is specified.

E-0B08

TCP port number is wrong

A value beyond the permissible setting range may be

specified.

E-0B09

UDP port number is wrong

A value beyond the permissible setting range may be

specified.

E-0B0B

IP address of remote FTP server is wrong

Specify a correct IP address in the designated format.

E-0B0C

Port No of a remote FTP server is wrong

A value beyond the permissible setting range may be

specified.

E-0B0D

User name of remote FTP server is wrong

The specified user name may contain a prohibited

character.

E-0B0E

Password of remote FTP server is wrong

The specified password may contain a prohibited

character.

E-0B0F

The specified log-in folder name may contain a prohibited

character.

E-0B18

Cannot set because DHCP is available

To allow a set-up, disable the DHCP client function.

E-0B19

Embedded Ethernet port isn't found

The software or hardware of embedded Ethernet function

E-0B1A

cannot be recognized. Check whether the software has

been incorporated. Check whether the hardware is sound.

E-0B27

Unsolicited Message function isn't

The software condition for using the unsolicited

available

messaging function is not satisfied. The cause may be

one of the following:

→The version of communication software is not

supported yet.

→ NC parameters for using the unsolicited messaging

function are not set.

For supported versions of communication software and

the NC parameters, see Subsection 7.2.4, "Setting of the

Unsolicited Messaging Function".

E-0B29

Mode of Unsolicited Message is wrong

In the CNC mode, the FOCAS2 function

cnc_wrunsolicprm2 cannot be executed.

E-0B2A

Status of Unsolicited Message is wrong

The state of the unsolicited messaging function was other

than "Not Ready", so that the parameters for the

unsolicited messaging function could not be updated. The

cause may be one of the following:

→ In a state other than "Not Ready", the FOCAS2

function cnc_wrunsolicprm2 or cnc_unsolicstart was

executed.

→ In a state other than "Not Ready", soft key [APPLY]

was pressed.

E-0B2B

Cannot refresh parameter of Unsolicited

The parameters for the unsolicited messaging function

Message

could not be updated. The cause may be one of the

following:

→ The problem of E-0B29 or E-0B2A occurred.

→ A parameter for the unsolicited messaging function

includes an invalid value.

E-0B44

Invalid value exists in Transmission

The parameter for the unsolicited messaging function,

parameter of Unsolicited Message

TRANSMISSION NUMBER or TRANSMISSION

PARAMETER (NO. 1 to NO. 3), includes an invalid value.

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8.DIGITAL SERVO

8 DIGITAL SERVO

This chapter describes servo tuning screen required for maintenance of digital servo and adjustment of

reference position.

8.1 INITIAL SETTING SERVO PARAMETERS

479

8.2 FSSB SETTING SCREEN

489

8.3 SERVO TUNING SCREEN

501

8.4 ADJUSTING REFERENCE POSITION (DOG METHOD)

502

8.5 DOGLESS REFERENCE POSITION SETTING

505

8.6 αi SERVO WARNING INTERFACE

506

8.7 αi SERVO INFORMATION SCREEN

509

8.1

INITIAL SETTING SERVO PARAMETERS

This section describes how to set initial servo parameters, which is used for field adjustment of machine

tool.

Turn on power at the emergency stop condition.

Set the parameter to display the servo tuning screen.

3111

SVS

[Input type] Setting input

[Data type] Bit path

#0 SVS 0: Servo tuning screen is not displayed.

1: Servo tuning screen is displayed.

Turn off the power once then turn it on again.

Display the servo parameter setting screen by the following operation: Function key

→

→ [SV.PARA].

Input data required for initial setting using the cursor and page key.

Parameter No.2000

Parameter No.2020

Parameter No.2001

Parameter No.1820

Parameter No.2084

Parameter No.2085

Parameter No.2022

Parameter No.2023

Parameter No.2024

Parameter No.1821

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8.DIGITAL SERVO

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(1) Initial set bit

2000

DGPRM

PLC01

#0 PLC01 0: Values of parameters Nos. 2023 and 2024 are used as they are:

1 : Values of parameters Nos. 2023 and 2024 are multiplied by 10.

DGPRM 0: Initial setting of digital servo parameter is done.

1: Initial setting of digital servo parameter is not done.

(2)

Motor ID No.

Select the motor ID No. of the servo motor to be used, according to the motor model and drawing

number (the middle four digits of A06B-XXXX-BXXX) listed in the tables on subsequent pages.

Table 8.1 (a) αiS series servo motor

Motor model

Motor specification

Motor type No.

90G0

αiS 2/5000

0212

262

01.0

αiS 2/6000

0218

284

01.0

αiS 4/5000

0215

265

01.0

αiS 4/6000

0210

466

01.0

αiS 8/4000

0235

285

01.0

αiS 8/6000

0232

290

01.0

αiS 12/4000

0238

288

01.0

αiS 12/6000

0230

462

01.0

αiS 22/4000

0265

315

01.0

αiS 22/6000

0262

452

01.0

αiS 30/4000

0268

318

01.0

0272-Bx0x

αiS 40/4000

322

01.0

0272-Bx2x

0275-Bx0x

αiS 50/3000

324

01.0

0275-Bx2x

0275-Bx1x

αiS 50/3000 FAN

325

01.0

0275-Bx3x

αiS 100/2500

0285-Bx0x

335

01.0

αiS 100/2500 FAN

0285-Bx1x

330

01.0

αiS 200/2500

0288-Bx0x

338

01.0

αiS 200/2500 FAN

0288-Bx1x

334

01.0

αiS 300/2000

0292

342

01.0

αiS 500/2000

0295

345

01.0

Loading is possible with the servo software of the series and edition listed above or subsequent editions.

The value for an x varies depending on whether an option is provided or not.

Table 8.1 (b) αiF series servo motor

Motor model

Motor specification

Motor type No.

90G0

αiF 1/5000

0202

252

01.0

αiF 2/5000

0205

255

01.0

αiF 4/4000

0223

273

01.0

αiF 8/3000

0227

277

01.0

αiF 12/3000

0243

293

01.0

αiF 22/3000

0247

297

01.0

αiF 30/3000

0253

303

01.0

0257-Bx0x

αiF 40/3000

307

01.0

0257-Bx2x

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Motor model

Motor specification

Motor type No.

90G0

0257-Bx1x

αiF 40/3000 FAN

308

01.0

0257-Bx3x

Loading is possible with the servo software of the series and edition listed above or subsequent editions.

The value for an x varies depending on whether an option is provided or not.

Table 8.1 (c) αiS (HV) series servo motor

Motor model

Motor specification

Motor type No.

90G0

αiS 2/5000HV

0213

263

01.0

αiS 2/6000HV

0219

287

01.0

αiS 4/5000HV

0216

266

01.0

αiS 4/6000HV

0214

467

01.0

αiS 8/4000HV

0236

286

01.0

αiS 8/6000HV

0233

292

01.0

αiS 12/4000HV

0239

289

01.0

αiS 12/6000HV

0237

463

01.0

αiS 22/4000HV

0266

316

01.0

αiS 22/6000HV

0263

453

01.0

αiS 30/4000HV

0269

319

01.0

0273-Bx0x

αiS 40/4000HV

323

01.0

0273-Bx2x

0276-Bx1x

αiS 50/3000HV FAN

326

01.0

0276-Bx3x

0276-Bx0x

αiS 50/3000HV

327

01.0

0276-Bx2x

αiS 100/2500HV

0286-Bx0x

336

01.0

αiS 100/2500HV FAN

0286-Bx1x

331

01.0

αiS 200/2500HV

0289-Bx0x

339

01.0

αiS 200/2500HV FAN

0289-Bx1x

337

01.0

αiS 300/2000HV

0293

343

01.0

αiS 500/2000HV

0296

346

01.0

αiS 1000/2000HV

0298

348

01.0

αiS 1000/2000HV

0098

458

01.0

αiS 2000/2000HV

0091

459

01.0

αiS 3000/2000HV

0092

460

01.0

Loading is possible with the servo software of the series and edition listed above or subsequent editions.

The value for an x varies depending on whether an option is provided or not.

Table 8.1 (d) αiF (HV) series servo motor

Motor model

Motor specification

Motor type No.

90G0

αiF 4/4000HV

0225

275

01.0

αiF 8/3000HV

0229

279

01.0

αiF 12/3000HV

0245

295

01.0

αiF 22/3000HV

0249

299

01.0

Loading is possible with the servo software of the series and edition listed above or subsequent editions.

Table 8.1 (e) αCi series servo motor

Motor model

Motor specification

Motor type No.

90G0

αC4/3000i

0221

271

01.0

αC8/2000i

0226

276

01.0

αC12/2000i

0241

291

01.0

αC22/2000i

0246

296

01.0

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Motor model

Motor specification

Motor type No.

90G0

αC30/1500i

0251

301

01.0

Loading is possible with the servo software of the series and edition listed above or subsequent editions.

Table 8.1 (f) βiS series servo motor

Motor model

Motor specification

Motor type No.

90G0

βiS 0.2/5000

0111

260

01.0

βiS 0.3/5000

0112

261

01.0

βiS 0.4/5000

0114

280

01.0

βiS 0.5/5000

0115

281

01.0

βiS 0.5/6000

0115

281

01.0

βiS 1/5000

0116

282

01.0

βiS 1/6000

0116

282

01.0

βiS 2/4000

0061-Bxx3

253

01.0

βiS 2/4000

0061-Bxx6

306

01.0

βiS 4/4000

0063-Bxx3

256

01.0

βiS 4/4000

0063-Bxx6

311

01.0

βiS 8/3000

0075-Bxx3

258

01.0

βiS 8/3000

0075-Bxx6

283

01.0

βiS 12/2000

0077-Bxx3

269

01.0

βiS 12/2000

0077-Bxx6

298

01.0

βiS 12/3000

0078

272

01.0

βiS 22/1500

0084

302

01.0

βiS 22/2000

0085

274

01.0

βiS 22/3000

0082

313

01.0

βiS 22/2000

0085

274

01.0

Loading is possible with the servo software of the series and edition listed above or subsequent editions.

Table 8.1 (g) βiS (HV) series servo motor

Motor model

Motor specification

Motor type No.

90G0

βiS 2/4000HV

0062

251

01.0

βiS 4/4000HV

0064

264

01.0

βiS 8/3000HV

0076

267

01.0

βiS 12/3000HV

0079

270

01.0

βiS 22/2000HV

0086

278

01.0

βiS 22/3000HV

0083

314

01.0

Loading is possible with the servo software of the series and edition listed above or subsequent editions.

Table 8.1 (h) LiS series linear motor

Note: The following linear motors are driven by 200V.

Motor model

Motor specification

Motor type No.

90G0

LiS 300A1/4

0441-B200

351

01.0

LiS 600A1/4

0442-B200

353

01.0

LiS 900A1/4

0443-B200

355

01.0

LiS 1500B1/4

0444-B2x0

357

01.0

LiS 3000B2/2

0445-B1x0

360

01.0

LiS 3000B2/4

0445-B2x0

362

01.0

LiS 4500B2/2

0446-B1x0

364

01.0

LiS 6000B2/2

0447-B1x0

368

01.0

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8.DIGITAL SERVO

Motor model

Motor specification

Motor type No.

90G0

LiS 6000B2/4

0447-B2x0

370

01.0

LiS 7500B2/2

0448-B1x0

372

01.0

LiS 9000B2/2

0449-B1x0

376

01.0

LiS 9000B2/4

0449-B210

378

01.0

LiS 3300C1/2

0451-B1x0

380

01.0

LiS 9000C2/2

0454-B1x0

384

01.0

LiS 11000C2/2

0455-B1x0

388

01.0

LiS 15000C2/2

0456-B1x0

392

01.0

LiS 15000C2/3

0456-B2x0

394

01.0

LiS 10000C3/2

0457-B1x0

396

01.0

LiS 17000C3/2

0459-B1x0

400

01.0

Note: The following linear motors are driven by 400V.

Motor model

Motor specification

Motor type No.

90G0

LiS 1500B1/4

0444-B2x0

358

01.0

LiS 3000B2/2

0445-B1x0

361

01.0

LiS 4500B2/2HV

0446-B0x0

363

01.0

LiS 4500B2/2

0446-B1x0

365

01.0

LiS 6000B2/2HV

0447-B0x0

367

01.0

LiS 6000B2/2

0447-B1x0

369

01.0

LiS 7500B2/2HV

0448-B0x0

371

01.0

LiS 7500B2/2

0448-B1x0

373

01.0

LiS 9000B2/2

0449-B1x0

377

01.0

LiS 3300C1/2

0451-B1x0

381

01.0

LiS 9000C2/2

0454-B1x0

385

01.0

LiS 11000C2/2HV

0455-B0x0

387

01.0

LiS 11000C2/2

0455-B1x0

389

01.0

LiS 15000C2/3HV

0456-B0x0

391

01.0

LiS 10000C3/2

0457-B1x0

397

01.0

LiS 17000C3/2

0459-B1x0

401

01.0

Loading is possible with the servo software of the series and edition listed above or subsequent editions.

Table 8.1 (i) DiS synchronous built-in servo motor

Note: The following synchronous built-in servo motors are driven by 200V.

Motor model

Motor specification

Motor type No.

90G0

DiS 22/600

0482-B10x

421

01.0

DiS 85/400

0483-B20x

423

01.0

DiS 85/1000

0483-B224

443

01.0

DiS 110/300

0484-B10x

425

01.0

DiS 110/1000

0484-B12x

445

01.0

DiS 260/300

0484-B30x

427

01.0

DiS 260/600

0484-B31x

429

01.0

DiS 260/1000

0484-B324

447

01.0

DiS 370/300

0484-B40x

431

01.0

DiS 1200/250

0485-B50x

435

01.0

DiS 1500/200

0486-B30x

437

01.0

DiS 2100/150

0487-B30x

439

01.0

DiS 3000/150

0487-B40x

441

01.0

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Note: The following synchronous built-in servo motors are driven by 400V.

Motor model

Motor specification

Motor type No.

90G0

DiS 22/600

0482-B10x

422

01.0

DiS 85/400

0483-B20x

424

01.0

DiS 110/300

0484-B10x

426

01.0

DiS 260/300

0484-B30x

428

01.0

DiS 260/600

0484-B31x

430

01.0

DiS 370/300

0484-B40x

432

01.0

DiS 1200/250

0485-B50x

436

01.0

DiS 1500/200

0486-B30x

438

01.0

DiS 2100/150

0487-B30x

440

01.0

DiS 3000/150

0487-B40x

442

01.0

Loading is possible with the servo software of the series and edition listed above or subsequent editions.

(3) Arbitrary AMR function

2001

AMR7

AMR6

AMR5

AMR4

AMR3

AMR2

AMR1

AMR0

(Axis)

* Set "00000000".

(4) CMR

1820

Command multiply ratio

When CMR is 1/2 to 1/27

Set value＝

+ 100

CMR

When CMR is 0.5 to 48

Set value=2×CMR

1822

Value of the numerator of arbitrary command multiplier n/m

1823

Value of the denominator of arbitrary command multiplier n/m

To set an arbitrary command multiplier, the corresponding option is required.

(5) Turn off the power then back on.

(6) N/M of feed gear (F⋅FG)

2084

n for flexible feed gear

2085

m for flexible feed gear

Setting for the α Pulsecoder in the semi-closed mode

Necessary position feedback

F⋅FG numerator (≤ 32767)

pulses per motor revolution

F⋅FG denominator (≤ 32767)

1,000,000 (Note 2)

(as irreducible fraction)

(Note 1)

NOTE

1 For both F⋅FG number and denominator, the maximum setting value (after

reduced) is 32767.

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NOTE

2 αi Pulsecoders assume one million pulses per motor revolution, irrespective of

resolution, for the flexible feed gear setting.

3 If the calculation of the number of pulses required per motor revolution involves

p, such as when a rack and pinion are used, assume π to be approximately

355/113.

[Example] For detection in 1 mm units, specify as follows:

Ball screw lead

Number of necessary position

F⋅FG

(mm/rev)

pulses (pulses/rev)

10000

1/100

20000

2/100 or 1/50

30000

3/100

[Example]

If the machine is set to detection in 1,000 degree units with a gear reduction ratio of 10:1 for

the rotation axis, the table rotates by 360/10 degrees each time the motor makes one turn.

1000 position pulses are necessary for the table to rotate through one degree.

The number of position pulses necessary for the motor to make one turn is:

360/10 × 1000 = 36000 with reference counter =36000

F⋅FG numerator

36000

F⋅FG denominator

1,000,000

1000

Additional F⋅FG (numerator/denominator) examples with a reduction ratio of 1:1

Ball screw lead

Detection unit

6mm

8mm

10mm

12mm

16mm

20mm

1μm

6 / 1000

8 / 1000

10 / 1000

12 / 1000

16 / 1000

20 / 1000

0.5μm

12 / 1000

16 / 1000

20 / 1000

24 / 1000

32 / 1000

40 / 1000

0.1μm

60 / 1000

80 / 1000

100 / 1000

120 / 1000

160 / 1000

200 / 1000

Setting for use of a separate detector (full-closed)

Number of position pulses corresponding to a

F⋅FG numerator (≤ 32767)

predetermined amount of travel

(as irreducible

F⋅FG denominator (≤ 32767)

Number of position pulses corresponding to a

fraction)

predetermined amount of travel from a

separate detector

[Example]

To detect a distance of 1 μm using a 0.5 μm scale, set the following:

Numerator of F⋅FG

L/1

Denominator of F⋅FG

L/0.5

Other F⋅FG (numerator/denominator) setting examples

Resolution of scale

Detection unit

1μm

0.5μm

0.1μm

0.05μm

1μm

1／1

1／2

1／10

1／20

0.5μm

－

1／1

1／5

1／10

0.1μm

－

1／1

1／2

(7) Direction of travel

2022

Rotational direction of motor

111 : Normal (clockwise)

-111 : Reverse (counterclockwise)

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(8) Number of speed pulses, Number of position pulses

Semi-closed

Closed loop

loop

Parallel type

Serial linear scale

Serial rotary scale

Command unit (μm)

1/0.1

Initial bit setting

b0=0

Number of speed pulses

8192

Number of position pulses

12500(*1)

(*2 - Example 1)

(*2 - Example 2)

Set 8192 as the number of speed pulses. For the linear motor, make settings according to "Linear Motor

Parameter Setting" in the αi series parameter manual.

NOTE

Setting of the number of position pulses for the semi-closed loop (indicated by

(*1) in the above table)

Set 12500.

As the number of position pulses, set the number of pulses fed back from a

separate detector when the motor makes one revolution. (The flexible feed gear

has no relevance to the calculation of the number of position pulses.)

Example 1:

When a ball screw (direct connection) with a 10-mm lead and a separate

detector with a resolution of 0.5 μm per pulse are used

When the motor makes one revolution, the following pulses are fed back from

the separate detector:

10/0.0005 = 20,000

Accordingly,

Number of position pulses = 20,000

Example 2:

When a serial rotary scale with a resolution of 1,000,000 pulses per

revolution is used, the number of position feedback pulses is exceptionally

calculated by the following:

12500 × (deceleration ratio between the motor and table)

When the deceleration ratio between the motor and table is 10:1, for

example, the number of position pulses is:

12,500 × (1/10) = 1250

When the set number of position pulses is greater than 32767

Set position pulses, using the conversion coefficient for the number of position

feedback pulses, as follows:

With a position feedback pulse conversion coefficient, the number of position pulses is set using the

product of two parameters.

2024

Number of position pulses

2185

Conversion coefficient for the number of position feedback pulses

(Example of setting)

When a linear scale with a minimum resolution of 0.1 (m is used and the travel distance

per motor revolution is 16 mm:

Ns = (travel distance per motor revolution (mm))/(minimum resolution of detector (mm))

= 16 mm/0.0001 mm = 160000 (>32767) = 10000 × 16

So, set the following:

A: 10000

B: 16

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NOTE

If the detector of the motor is an αi pulse coder (the number of speed pulses =

8192), select a power of 2 (such as 2, 4, 8, and so on) as a conversion

coefficient whenever possible. (The position gain value used inside the software

becomes more accurate.)

(9) Reference counter

1821

Reference counter capacity for each axis (0 to 99999999)

(a) For the semi-closed loop

Reference counter = Number of position pulses required per motor revolution or the same number divided by an

integer

NOTE

If the rotation ratio between the motor and table is not an integer when a rotation

axis is used, a reference counter capacity needs to be set so that the point

where reference counter = 0 (grid point) always appears at the same position

relative to the table.

Example of setting)

αi Pulsecoder, semi-closed loop (1 μm detection)

Lead of ball screw

Required number of position pulses

Grid width

Reference counter

(mm/revolution)

(pulses/revolution)

(mm)

10000

20000

30000

If there is an error between the required number of position pulses per motor revolution

and the setting of the reference counter, the reference position varies, depending on the

start point. Such an error needs to be eliminated by changing the detection unit. In this

case, a reference counter capacity may be set using a fraction.

Example of setting)

System with detection unit = 1 μm, ball screw lead = 20 mm/revolution, and deceleration

ratio = 1/17

(i)

Method of setting a reference counter capacity as a fraction

Required number of position pulses per motor revolution = 20000/17

Set the parameters as follows:

1821

Reference counter capacity of each axis (numerator) (0 to 99999999)

2179

Reference counter capacity of each axis (denominator) (0 to 100)

The parameter for a denominator is not presently displayed on the servo screen. So, a

denominator needs to be set on the parameter screen.

In this example, set numerator = 20000, and denominator = 17.

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NOTE

The reference counter assumes only an integer. So, if a fraction is set for a

reference counter capacity, the gap to the point where reference counter = 0 is

compensated for.

(In pulse control theory, a position less than one pulse cannot be controlled. So,

grid interval compensation is performed so that a grid point error is less than one

detection unit at all times.)

(ii) Method of changing the detection unit

Required number of position pulses per motor revolution = 20000/17

The values of all of the following parameters are multiplied by 17 to change the detection

unit to 1/17 μm:

Parameter to be changed

Series 30i

FFG × 17

Servo screen

CMR × 17

Servo screen

Reference counter × 17

Servo screen

Effective area × 17

No. 1826, 1827

Positional deviation limit value during movement × 17

No. 1828

Positional deviation limit value during a stop × 17

No. 1829

Backlash amount × 17

No. 1851, 1852

As the detection unit is changed from 1 μm to 1/17 μm, the values of all parameters to be

set using the detection unit must be multiplied by 17.

CAUTION

In addition to the parameters listed above, there are parameters to be set using

the detection unit.

This change eliminates an error between the required number of position pulses per motor

revolution and the reference counter.

Required number of position pulses per motor revolution = 20000

Reference counter = 20000

(b) For the closed loop

Reference counter = Z phase (reference position) interval/detection unit or the same number divided by an integer

If the reference counter does not assume an integer, see the example of semi-closed loop.

NOTE

If the rotation ratio between the separate detector and table is not an integer

when a rotation axis is used, a reference counter capacity needs to be set so

that the point where reference counter = 0 (grid point) always appears at the

same position relative to the table.

Example of setting)

Example 1)

When Z phase interval = 50 mm and detection unit = 1 μm

Reference counter = 50,000/1 = 50,000

Example 2)

When detection unit = 0.001° with a rotation axis

Reference counter = 360/0.001 = 360,000

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Example 3)

When there is only one Z phase as in the case of a linear scale

Set a simple number such as 10000 and 50000 for the reference counter.

Turn off the power then back on.

8.2

FSSB SETTING SCREEN

Connecting the CNC control unit to servo amplifiers via a high-speed serial bus (FANUC Serial Servo

Bus, or FSSB), which uses only one fiber optics cable, can significantly reduce the amount of cabling in

machine tool electrical sections.

Axis settings are calculated automatically according to the interrelationships between axes and amplifiers

entered on the FSSB setting screen. Parameters Nos. 1023, 2013#0, 2014#0, 3717, 11802#4, 24000 to

24095, and 24096 to 24103 are specified automatically according to the results of the calculation.

Display

The FSSB setting screen displays FSSB-based amplifier and axis information. This information can also

be specified by the operator.

Press function key

To display [FSSB], press continuous menu key

several times.

Pressing the soft key [FSSB] causes the [CONNECTION STATUS] screen (or the previously

selected FSSB setting screen) to appear, with the following soft keys displayed.

There are seven FSSB setting screens: [CONNECTION STATUS], [SERVO AMPLIFIER SETTING],

[SPINDLE AMPLIFIER SETTING],

[SEPARATE DETECTOR INTERFACE UNIT],

[AXIS

SETTING], [SERVO AMPLIFIER MAINTENANCE], and [SPINDLE AMPLIFIER MAINTENANCE].

Pressing the soft key [CONECT STATUS] causes the [CONNECTION STATUS] screen to appear.

Pressing the soft key [SERVO AMP] causes the [SERVO AMPLIFIER SETTING] screen to appear.

Pressing the soft key [SPNDLE AMP] causes the [SPINDLE AMPLIFIER SETTING] screen to

appear.

Pressing the soft key [PULSE MODULE] causes the [SEPARATE DETECTOR INTERFACE

UNIT] screen to appear.

Pressing the soft key [AXIS] causes the [AXIS SETTING] screen to appear.

Pressing the soft key [SERVO MAINTE] causes the [SERVO AMPLIFIER MAINTENANCE]

screen to appear.

Pressing the soft key [SPNDLE MAINTE] causes the [SPINDLE AMPLIFIER MAINTENANCE]

screen to appear.

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8.DIGITAL SERVO

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(1) Connection status screen

The connection status screen displays the connection status of slaves connected to the FSSB at

power-on.

(1)

(2)

(3)

(4)

(5)

(6)

(7)

The connection status screen displays the following items:

<1> FSSB1,FSSB2,FSSB3

FSSB line number

The FSSB line number is displayed. (FSSB1: First FSSB line, FSSB2: Second FSSB line,

FSSB3: Third FSSB line)

<2> HRV2,HRV3,HRV4,HRV-

Current loop

The current loop for each FSSB line is displayed. “HRV-” may be displayed when no servo

amplifier is connected to the FSSB or an FSSB-related alarm is issued.

<3> SV,SP,PM

Slave type

The type of slave connected to the FSSB is displayed. (SV: Servo amplifier, SP: Spindle

amplifier, PM: Separate detector interface unit)

<4> 1-01 to 1-32, 2-01 to 2-32, 3-01 to 3-32

Slave number

An FSSB line number (1: First FSSB line, 2: Second FSSB line, 3: Third FSSB line), a hyphen

(-), and a slave number (connection number for the line) are displayed. (The maximum number

of slaves per line is 32.)

<5> XM1,XS1,Y,Z,A,B

Program axis name, Spindle name

The program axis name or spindle name set for each amplifier or separate detector interface

unit is displayed.

<6> L,M,N,1

Amplifier axis order

The axis order for each amplifier is displayed. (L: First axis for a servo amplifier, M: Second

axis for a servo amplifier, N: Third axis for a servo amplifier, 1: First spindle for a spindle

amplifier)

<7> 1 to 8

Connector number

The connector number of a separate detector interface unit is displayed.

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B-64485EN/01

8.DIGITAL SERVO

(2) Servo amplifier setting screen

The servo amplifier setting screen displays servo amplifier information.

The servo amplifier setting screen consists of the following items:

•

HRV

Current loop

The current loop to be set at FSSB automatic setting is displayed. This value does not indicate

the current effective current loop. (2: Servo HRV2 control, 3: Servo HRV3 control, 4: Servo

HRV4 control）

•

Slave number

An FSSB line number (1: First FSSB line, 2: Second FSSB line, 3: Third FSSB line), a hyphen

(-), and a slave number (connection number for the line) are displayed. (The maximum number

of slaves per line is 32.)

•

AMP

Amplifier type

This consists of the letter A, which stands for “servo amplifier”, a number indicating the

placing of the servo amplifier, as counted from that nearest to the CNC, and an alphabetic

character indicating the axis order in the servo amplifier (L: First axis, M: Second axis, N:

Third axis).

•

The following items are displayed as servo amplifier information:

SERIES

Servo amplifier type and series

CUR

Maximum rating current

•

AXIS

Controlled axis number

The controlled axis number assigned to the servo amplifier is displayed. “0” is displayed if an

FSSB-related alarm is issued or no controlled axis number is assigned.

•

NAME

Program axis name

The program axis name corresponding to a particular controlled axis number set in parameter

No. 1020 is displayed. When the axis number is 0, nothing is displayed.

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FANUC Series 30i-MODEL B, 31i-MODEL B, 32i-MODEL B. MAINTENANCE MANUAL - page 17