FANUC SERVO AMPLIFIER a series. DESCRIPTIONS (B-65162E/03)

B-65162E/03

11. OPTION RELATED TO SPINDLE

11.1.5.7

The table below lists the parameters related to spindle orientation using

a magnetic sensor. Refer to the Parameter Manual for details.

Parameters

Parameter No.

Description

FS0

FS15

FS16

Orientation function setting

Whether spindle orientation is used (Set to 1.)

6515#0

3015#0

4015#0

(CNC software option is necessary.)

Setting related to the magnetic sensor signal

6501#3

3001#3

4001#3

Mounting orientation for the magnetic sensor

6500#0

3000#0

4000#0

Rotational direction of the spindle and motor

Selection of a position coder method magnetic sensor method spindle

6503#0

3003#0

4003#0

orientation (1 for a magnetic sensor method)

6578

3078

4078

MS signal constant

6579

3079

4079

MS signal gain adjustment

Gear ratio setting

6556 to

3056 to

4056 to

Gear ratio between the spindle and motor

6559

3059

4059

(selected by DI signals CTH1A and CTH2A)

Setting of a rotation direction at orientation time

6503

3003

4003

Rotational direction for spindle orientation

#3, 2

Setting of a stop position shift amount

6577

3077

4077

Shift of spindle orientation stop position

Setting related to gain at orientation time

6560 to

3060 to

4060 to

Position gain for orientation

6563

3063

4063

(selected by DI signals CTH1A and CTH2A)

6542

3042

4042

Velocity loop proportional gain for orientation

6543

3043

4043

(selected by DI signal CTH1A)

6550

3050

4050

Velocity loop integral gain for orientation

6551

3051

4051

(selected by DI signal CTH1A)

6564

3064

4064

Change rate for the position gain after spindle orientation

6584

3084

4084

Motor voltage for spindle orientation

Setting related to orientation speed

6576

3076

4076

Motor speed regulation rate for spindle orientation

Setting related to the orientation completion signal

6575

3075

4075

Detection level for the spindle orientation completion signal

483

11. OPTION RELATED TO SPINDLE

B-65162E/03

11.2

RIGID TAPPING

11.2.1

Rigid tapping is a function for tapping based on synchronous control over

spindle and tapping axis operation.

Overview

This section describes the rigid tapping function associated with the

spindle.

11.2.2

System Configuration

(1)

αC Series Spindle

(a)

System where a position coder is attached to the spindle

Gear ratio

Commu-

m : n

CNC

Spindle

nication

amplifier

cable

Spindle

Belt or gear

module

motor

connection

(SPM)

Verocity

JY4

JY2

Spindle

feedback

Position

Gear or timing

coder

belt

Position

1 : 1

feedback

1 : 2

1 : 4

1 : 8

(b)

System where a spindle motor with a built-in MZ sensor is used (including that case where a built-in motor

is used)

Gear ratio

Commu-

m : n

CNC

Spindle

Built-in sensor

nication

amplifier

cable

Spindle

Gear or

module

motor

timing belt

(SPM)

JY2

Spindle

Position and

velocity

feedback

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11. OPTION RELATED TO SPINDLE

(2) αC Series Spindle

Gear ratio

Commu-

m : n

CNC

Spindle

nication

amplifier

cable

Spindle

Belt or gear

module

motor

connection

(SPMC)

Verocity

JY4

Spindle

feedback

Position

Gear or timing

coder

belt

Position feedback

1 : 1

NOTE

Only 1:1 is allowed between the spindle and position coder.

A motor used with the αC series spindle has no speed

sensor, so that the acceleration/deceleration capability and

synchronization control precision are degraded relative to

the α series.

(3) CNC-based Classification of System Configurations

(a) When FS16-M, FS15-T/M, or FS0-M is used

Spindle

First

Spindle

FS16-M

motor

spindle

amplifier

FS15-T/M

(SPM or

FS0-M

SPMC)

(b) When FS16-T or FS0-T is used

When rigid tapping is performed using the second spindle, the

multi-spindle control function option is required.

Spindle

First

Spindle

motor

spindle

FS16-T

amplifier

FS0-T

(SPM)

Spindle

Second

Spindle

motor

spindle

amplifier

(SPM or

SPMC)

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B-65162E/03

11. OPTION RELATED TO SPINDLE

11.2.3

Signals

(1) Signal Addresses

(a) Input signals (PMC to CNC)

[When FS16 is used]

HEAD2

G028

G1028

GR2

GR1

G061

G1061

RGTAP

SWS2

SWS1

G027

G1027

(Note 1)

GR21

G029

G1029

(Note 2)

G070

G1070

SFRA

CTH1A

CTH2A

NOTE

The multi-spindle control function allows rigid tapping to be

performed using the second spindle.

When SWS1 = 1, rigid tapping is performed using the first

spindle (regardless of the setting of SWS2).

When SWS1 = 0, and SWS2 = 1, rigid tapping is performed

using the second spindle.

The signal is used as the gear signal when rigid tapping is

performed using the second spindle. Depending on the

GR21 signal, the first and second rows of the gear-by-gear

parameters common to those of the first spindle are used.

[When FS15 is used]

SPSTP

G026

SFRA

CTH1A

CTH2A

G227

[When FS0 is used]

0TTC

HEAD2

GR2

GR1

G118

G1318

(Note 1)

GR2

GR1

RGTPN

G123

G1323

(Note 2)

(Note 3)

RGTAP

G135

G1335

(Note 4)

GR21

SWS2

SWS1

G145

G1345

(Note 6)

(Note 5)

G229

G1429

SFRA

CTH1A

CTH2A

487

11. OPTION RELATED TO SPINDLE

B-65162E/03

NOTE

The signals at these addresses are valid when the T series

is used, and bit 5 of parameter No. 0031 is set to 0.

The signals at these addresses are valid when the T series

is used and bit 5 of parameter No. 0031 is set to 1. The

signals at these addresses are also valid when the M series

is used, and the constant surface speed option is selected.

The signal at this address is valid when bit 4 of parameter

No. 0019 is set to 0.

(With the T and TT series, only this

signal is valid at all times.)

The signal at this address is valid when bit 4 of parameter

No. 0019 is set to 1. (With the T and TT series, this signal

is invalid.)

The multi-spindle control function allows rigid tapping to be

performed using the second spindle.

When SWS1 = 1, rigid tapping is performed using the first

spindle (regardless of the setting of SWS2).

When SWS1 = 0, and SWS2 = 1, rigid tapping is performed

using the second spindle.

The signal is used as the gear signal when rigid tapping is

performed using the second spindle. Depending on the

GR21 signal, the first and second rows of the gear-by-gear

parameters common to those of the first spindle are used.

(b) Output signals (CNC to PMC)

[When FS16 is used]

F034

GR30

GR20

GR10

(Note)

NOTE

Valid only with the M series.

[When FS15 is used]

F040

RTAP

[When FS0 is used]

F152

GR30

GR20

GR10

(Note)

NOTE

Valid only with the M series.

(2) Main Signals

The main signals used for rigid tapping are listed below.

(a) Signals used to specify rigid tapping mode (RGTAP, RGTPN)

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B-65162E/03

11. OPTION RELATED TO SPINDLE

(b) Gear selection signals indicating the gear state that allows

gear-dependent parameter selection (GR1, GR2, GR21, GR10,

GR20, GR30)

signal: SFR)

NOTE

With the analog interface spindle, the TLML signal is

entered for rigid tapping. With the α series and αC series

spindles, however, set the TLML signal to 0.

For details of the signals, refer to the CNC connection

manual.

(3)

Gear Switch Signals for FS16 and FS0

With FS16 and FS0, two methods of gear switching are supported.

(a) T-type gear switching (T/TT series, or M series with the constant

surface speed option)

With this method, parameters used internally by the CNC are

switched according to the GR1 and GR2 signals (GR21 when the

second spindle is used) sent from the PMC to the CNC.

(b) M-type gear switching (standard M series)

With this method, the CNC determines the number of gear stages

from the CNC parameter setting and specified S value, and the

parameters used internally by the CNC are switched. Moreover,

the number of gear stages to be switched is sent from the CNC

to the PMC with the GR10, GR20, and GR30 signals.

For details, refer to the description of S the function in the

connection manual for each CNC. For details of the parameters,

refer to the parameter manual.

The table below lists the parameters related to the gear switch

signals.

Item

FS0-M

FS16-M

Maximum gear-dependent spindle speed

0541

3741

(When the motor rotates at maximum speed = 10V)

0539

3742

0555

3743

Maximum spindle motor clamp speed

0542

3736

Minimum spindle motor clamp speed

0543

3735

Gear switch method selection

0035#6

3706#2

Spindle motor speed at gear 1-2 switch point

0585

3751

Spindle motor speed at gear 2-3 switch point

0586

3752

Gear switch point change selection at tapping time

0012#6

3706#3

Spindle motor speed at gear 1-2 switch point

0540

3761

Spindle motor speed at gear 2-3 switch point

0556

3762

489

11. OPTION RELATED TO SPINDLE

B-65162E/03

(4) Rigid Tapping Using the Second Spindle with the T/TT Series of FS16 and FS0

The multi-spindle control function option is required.

(a) The following selection is made according to the SWS1 and

SWS2 signals of the multi-spindle control function:

When SWS = 1 (regardless of the setting of SWS2)

→ Rigid tapping using the first spindle

When SWS = 1 and SWS2 = 1

→ Rigid tapping using the second spindle

(b) The GR21 signal (two gear stages only) is used as the gear switch

signal for rigid tapping using the second spindle.

For the second spindle, the first and second rows of the

parameters common to the first spindle are used, depending on

the state of the GR21 signal.

11.2.4

For details of the sequence, refer to the CNC connection manual.

Sequence

(1) For the Series 16i/18i/21i, refer to the following manual:

Section 9.11 of the FANUC Series 16i/18i/21i Connection Manual

(Function) (B-63003EN-1)

(2) For the Series 16/18, refer to the following manual:

Section

9.11 of the FANUC Series 16/18 Connection Manual

(Mechanical) (B-62753EN-1)

(3) For the Series 15, refer to the following manual:

Section 2.3.51 of the FANUC Series 15 Connection Manual (BMI

Interface) (B-61213E-2)

(4) For the Series 0-C, refer to the following manual:

Appendix D and Section 1.2 of the FANUC Series 0 Connection

Manual (B-61393E)

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11. OPTION RELATED TO SPINDLE

11.2.5

The table lists the parameters related to rigid tapping using the α series

and αC series spindles. For details of these parameters, refer to the

Parameter List

parameter manual and the manual for each CNC.

Parameter No.

FS0

M/T/TT

FS15

FS16

Description

First

Second

M/T

spindle

M code setting for rigid tapping

(M series)

(T series)

5210

---

M code for specifying rigid tapping mode

0256

0253

5212

Setting related to the position coder signal

6501#2

6641#2

3001#2

4001#2

Whether to use the position coder signal. (To be set to 1)

6500#0

6640#0

3000#0

4000#0

Spindle and motor rotation direction

6500#2

6640#2

3000#2

4000#2

Position coder mounting direction

Gear ratio between the spindle and position coder

0028#7,6

3706#1,0

0064#7,6

5610

(

0003#7,6

3707#1,0

(

1 only for the αC series)

6503

6643

3003

4003

Position coder signal setting

#7,6,4

Setting related to arbitrary gear ratios (only for the α series)

Setting for rigid tapping that is based on an arbitrary gear ratio

6506#7

6646#7

3006#7

4006#7

(CMR) on the command side and uses a motor with a built-in

MZ sensor

0063#3 (M series)

Whether to use the arbitrary gear ratio (CMR) function on the

5604#2,1

5200#1

0063#6 (T series)

command side

(M series)

(T series)

5703

5221

0663

0427 to

5222

Number of gear teeth on the spindle side when an arbitrary gear

0664

0430

5771 to

5223

ratio (CMR) is used on the command side

0665

5774

5224

(M series)

(T series)

5704

5231

0666

0431 to

5232

Number of gear teeth on the position coder side when an arbi-

0667

0434

5781 to

5233

trary gear ratio (CMR) is used on the command side

0668

5784

5234

Number of gear teeth on the spindle side when an arbitrary gear

6935

6975

3315

4171

ratio (DMR) is used on the detection side (to be selected by

6937

6977

3317

4173

CTH1A)

Number of gear teeth on the position detector side when an ar-

6936

6976

3316

4172

bitrary gear ratio (DMR) is used on the detection side (to be se-

6938

6978

3318

4174

lected by CTH1A)

Gear ratio data between the spindle and motor

6556 to

6696 to

3056 to

4056 to

Gear ratio data between the spindle and motor (to be selected

6559

6699

3059

4059

by CTH1A and CTH2A)

491

11. OPTION RELATED TO SPINDLE

B-65162E/03

Parameter No.

FS0

M/T/TT

Description

FS15

FS16

First

Second

M/T

spindle

Position gain

(M series)

(T series)

3065 to

5280

0615

0406

3068

0669

0407 to

5281 to

Tapping axis position gain at rigid tapping time

0670

0410

5284

0671

6565 to

6705 to

3065 to

4065 to

Spindle position gain at rigid tapping time (to be selected by

6568

6708

3068

4068

CTH1A and CTH2A)

Setting related to acceleration/deceleration time constants

Selection of acceleration/deceleration time constant non-

0037#6 (M series)

---

stage switching. (To be set to 1)

Acceleration/deceleration type setting

0254 (M series)

5605#1

---

(When set to 1: Linear acceleration/deceleration)

(M series)

(T series)

5605#2

5261

0077#1

0415 to

5751

5262

0613

0418

5760

5263

Acceleration/deceleration time constant

0692

5762

5264

0693

5764

(M series)

(T series)

5605#2

5241

0077#1

0423 to

5757

5242

0617

0426

5758

5243

Maximum spindle speed at rigid tapping time

0694

5759

5244

0695

0063#4

---

5200#4

Selection of an override at extraction time

0258 (M series)

---

5211

Override value at extraction time

0254 (T series)

(M series)

(T series)

5201#2

0035#1

0029#3

5271 to

---

Acceleration/deceleration time constant at extraction time

0400 to

0419 to

5274

0402

0422

Setting of velocity loop gain and motor voltage

6544

6684

3044

4044

Velocity loop proportional gain at rigid tapping time (to be se-

6545

6685

3045

4045

lected by CTH1A)

6552

6692

3052

4052

Velocity loop integral gain at rigid tapping time (to be selected

6553

6693

3053

4053

by CTH1A)

6585

6725

3085

4085

Setting of motor voltage at rigid tapping time

Setting of motor voltage at rigid tapping time (for low-speed

6901

6941

3281

4137

characteristics) (only for the α series)

In-position width, positional deviation limit

(M series)

(T series)

1827

5300

Tapping axis in-position width

0618

0400

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11. OPTION RELATED TO SPINDLE

Parameter No.

FS0

M/T/TT

Description

FS15

FS16

First

Second

M/T

spindle

In-position width, positional deviation limit (Continued)

(M series)

(T series)

5755

5301

Spindle in-position width

0619

0401

(M series)

(T series)

5310

1837

Positional deviation limit during movement on the tapping axis

0620

0402

( 5314 )

(M series)

(T series)

5754

5311

Positional deviation limit during spindle movement

0621

0403

(M series)

(T series)

1829

5312

Positional deviation limit when the tapping axis is stopped

0622

0404

(M series)

(T series)

---

5313

Positional deviation limit when the spindle is stopped

0623

0405

Setting related to orientation operation (reference position return) at the start of rigid tapping

Based on

(M series)

machin-

(M series)

Whether to perform spindle orientation at the start of rigid tap-

0388#3

ing pro-

5202#0

ping

grams

6574

3074

4074

Reference position return feedrate at rigid tapping time

6500#4

3000#4

4000#4

Reference position return direction at rigid tapping time

6573

3073

4073

Grid shift amount at rigid tapping time

Position gain change ratio in reference position return opera-

6591

3091

4091

tion at rigid tapping time

Others

6599

6939

3099

4099

Delay for motor activation (α series)

6597

6937

3097

4097

Delay for motor activation (αC series)

(M series)

(T series)

5604#2

5321 to

0255

0214 to

5756

5324

Spindle backlash amount

0217

5791 to

5794

---

5214

Setting of a synchronization error at rigid tapping time

Indication of a synchronization error at rigid tapping time. (To

–--

---

5204#0

be set to 0)

493

11. OPTION RELATED TO SPINDLE

B-65162E/03

11.3.3

Specifications

(1)

For the α Spindle Sensor

(a)

Detection resolution and precision of BZ sensor + internal high-resolution circuitry

BZ sensor

Item

128/128H

256/256H

384

512

Resolution [Typ.]

0.0016°

0.0008°

0.0006°

0.0004°

Precision [Typ.] (Note)

0.04°

0.03°

0.04°

NOTE

It is assumed that the fluctuation of the shrink-fit section of

the spindle is within 5µm, and errors on the machine are

excluded.

(The precision depends on the mounting

accuracy of the detector.)

(Tip)

The precision is determined by the sum of previsions 1 through 3.

BZ sensor

Item

128/128H

256/256H

384

512

Electrical division pre-

cision of one gear tooth

0.015°

and gear pitch preci-

sion [Typ.]

Gear pitch circular fluc-

0.02°

0.01°

0.02°

tuation precision [Typ.]

A fluctuation can be converted to a precision

according to the following formula:

Precision (°) = Vibration (mm)

360 (°)/gear

Machine side shaft fluc-

circumference (mm)

tuation precision [Typ.]

Example: When there are 256 teeth and a fluc-

tuation of 0.005 mm

Precision = 0.005

360/103.2/π

0.005°

(b)

Detection resolution and precision of MZ sensor + internal high-resolution circuitry

BZ sensor

No.

Item

α0.5 motor

α1 to α3 mo-

α6 motor or

(64 teeth)

tor (128 teeth)

up (256 teeth)

Resolution [Typ.]

0.0032°

0.0016°

0.0008°

The precision depends on the detector of (1)-(a)

Precision [Typ.]

mounted onto the spindle.

(2)

For a High-resolution Magnetic Pulse Coder and High-resolution Position Coder

No.

Item

Resolution [Typ.]

0.001°

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11. OPTION RELATED TO SPINDLE

11.3.4

DI and DO Signals

(1)

DI Signal (PMC to CNC)

(a)

Signal Addresses

FS0

FS15

FS16

CON_(M)

COFF_(T)

G123

CON_(T/M)

G027

SCTR1, 2 .

G67, G71 . .

MRDYA

ORCMA

SFRA

SRVA

CTH1A

CTH2A

TLMHA

TLMLA

G229

G227

G070

RCHA

RSLA

INTGA

SOCNA

MCFNA

SPSLA

*ESPA

ARSTA

G230

G226

G071

This signal switches between the spindle rotation control mode and Cs

contouring control mode.

Before switching from the Cs contouring control mode to the spindle

rotation control mode, check that the spindle move command has

terminated. Switching from the spindle rotation control mode to the Cs

contouring control mode is enabled even when the spindle is rotating.

In this case, spindle rotation is decelerated then stopped, and the modes

are changed. For safe operation, be sure to reset the spindle speed

command (S command).

COFF

0 : Cs contouring control mode

(FS0)

1 : Spindle rotation control mode

CON

0 : Spindle rotation control mode

(FS0, FS16)

1 : Cs contouring control mode

SCNTR1, 2, ...

0 : Spindle rotation control mode

(FS15)

1 : Cs contouring control mode

(2)

DO Signal (CNC to PMC)

(b)

Signal Addresses

FS0

FS15

FS16

FSCDL

F178

F004

MCNTR1, 2 .

F67, F71 . .

This signal posts the completion of switching between the

spindle

rotation control mode and Cs contouring control mode.

FSCSL

0 : Spindle rotation control mode

(FS0C, FS16)

1 : Cs contouring control mode

MCNTR1, 2, ...

0 : Spindle rotation control mode

(FS15)

1 : Cs contouring control mode

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11. OPTION RELATED TO SPINDLE

B-65162E/03

11.3.5

Sample Sequence

Cs contouring control mode command

ON=1

(PMC³CNC) (Note 1)

Spindle forward rotation command

(PMC³CNC)

ON=1

(SFRA)

Spindle speed command

(Sxxxx) (Note 2)

Cs contouring control mode state

(CNC³PMC) (_Note

ON=1

Being clamped

Spindle clamp

(Note 4)

Speed integral control disable

command

(PMC³CNC)

ON=1

(INTGA)

NOTE

For Series 16 :

Setting CON to 1 enters the Cs contouring control mode.

For series 15 :

Setting SCNTR to 1 enters the Cs contouring control mode.

For Series 0-TC :

Setting COFF to 0 enters the Cs contouring control mode.

For Series 0-MC :

Setting CON to 1 enters the Cs contouring control mode.

When specifying the Cs contouring control mode, reset the spindle speed command (S0

command) for safe operation.

For Series 16 :

Setting FSCSL to 1 enters the Cs contouring control mode.

For Series 15 :

Setting MCNTR to 1 enters the Cs contouring control mode.

For Series 0-C :

Setting FSCSL to 1 enters the Cs contouring control mode.

When the spindle is clamped after it is positioned to perform machining such as drilling in the

Cs contouring control mode, the clamp position of the spindle may deviate a little from a

specified position. If it deviates, the speed integral function works. The function attempts to

move the spindle to the specified position. As a result, excessive current may flow in the motor.

To prevent this, the speed integral function must be disabled while the spindle is being clamped.

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11. OPTION RELATED TO SPINDLE

11.3.6

The tables below list the parameters relating to Cs contouring control.

Refer to the Parameter Manual and each CNC manual for details.

Parameters

Parameter No.

Description

FS0

FS15

FS16

Setting of axis allocation and so forth

3rd axis

4th axis

1804#7

1023

Setting of the axis for which Cs contouring control is performed

0037#7

1804#0

Select ”High-resolution pulse coder not used.”

0037#3, 2

1815#1

Select ”Separate pulse coder not used”.

0021#3, 2

1815#5

Select ”Other than absolute position detector.”

0102

0103

1820

Set the command multiplication to 2 (that is, x1)

Setting of an in-position width and positional deviation limit

0502

0503

1827

1826

In-position width

0506

0507

1828

Limit on position error during moving

0595

0596

1829

Limit on position error during stop

1830

Limit on position error during servo off

0332

0333

1832

Limit on position error for feed stop

Setting of a feedrate and acceleration/deceleration time constant

0520

0521

1420

Rapid feed rate

0527

1422

Maximum cutting feedrate

0561

0562

1423

Jog feedrate

0524

0525

1620

Time constant for linear acceleration/deceleration in rapid feed

Time constant for linear acceleration/deceleration in cutting feed (op-

0635

1622

1628

tion)

0603

0604

1624

Time constant for exponential acceleration/deceleration in jog feed

αSetting related to the spindle sensors (MZ sensor, BZ sensor)

Whether to use a high-resolution magnetic pulse coder. (To be set to

3001#5

4001#5

3001#6

4001#6

Setting for using a position detection signal for speed detection

3001#7

4001#7

Position detector mounting direction

3000#0

4000#0

Spindle and motor rotation direction

3003#1

4003#1

Use of an MZ sensor or BZ sensor (built-in motor). (To be set to 1)

3003

4003

Position detector type setting

#7,6,4

3004#1

4004#1

Whether to use a BZ sensor on the spindle side

501

11. OPTION RELATED TO SPINDLE

B-65162E/03

Parameter No.

Description

FS0

FS15

FS16

Use of the α spindle sensor Cs contour control function. (To be set to

3018#4

4018#4

3719

4355

Amplitude ratio compensation (motor side)

3720

4356

Phase difference compensation (motor side)

3721

4357

Amplitude ratio compensation (spindle side)

3722

4358

Phase difference compensation (spindle side)

Setting related to the high-resolution magnetic pulse coder and high-resolution position coder

6501#5

3001#5

4001#5

Whether a high-resolution magnetic pulse coder is used (Set to 1.)

Setting for using the position signal from a high-resolution magnetic

6501#6

3001#6

4001#6

pulse coder for speed detection

6501#7

3001#7

4001#7

Mounting orientation for the high-resolution magnetic pulse coder

6504#0

3004#0

4004#0

Whether a high-resolution position coder is used

6500#0

3000#0

4000#0

Rotational direction of the spindle and motor

6503

3003

4003

Position detector type setting

#7,6,4

6502

3002

4002

Setting for Cs contouring control resolution (Normally, set 0, 0, 0.)

#2, 1, 0

Setting of a maximum spindle speed under Cs contour control

6521

3021

4021

Maximum spindle speed for Cs contouring control

Setting of a gear ratio between the spindle and motor

3056 to

4056 to

Gear ratio between spindle and motor

6556 to 6559

3059

4059

(selected by DI signals CTH1A and CTH2A)

Position gain setting

3069 to

4069 to

Position gain for the axis for which Cs contouring control is performed

6569 to 6572

3072

4072

(selected by DI signals CTH1A and CTH2A)

5609

Whether position gain is automatically set for axes for which Cs contour-

#1, 0

ing control is not performed

5609

3900 to

Position gain for axes for which Cs contouring control is not performed

6780 to 6799

#0, 1

3944

(selected by DI signals CTH1A and CTH2A)

Setting related to reference position return

6574

3074

4074

Zero point return speed in Cs contouring control

Position gain change rate for zero position return in Cs contouring con-

6592

3092

4092

trol

Direction of zero point return at the first Cs contouring control after power

6500#3

3000#3

4000#3

Whether the zero point return function is used for the first G00 command

0065#1

1005#0

3700#1

after switching to Cs contouring control mode

502

B-65162E/03

11. OPTION RELATED TO SPINDLE

Parameter No.

Description

FS0

FS15

FS16

Grid shift setting

6635

3135

4135

Grid shift for Cs contouring control

Rotation direction setting

Rotational direction of the spindle for + motion commands in Cs contour-

6500#1

3000#1

4000#1

ing control

6502#4

3002#4

4002#4

Rotational direction signal function for Cs contouring control

Setting of a velocity loop gain and motor voltage

6546

3046

4046

Velocity loop proportional gain for Cs contouring control

6547

3047

4047

(selected by DI signal CTH1A)

6554

3054

4054

Velocity loop integral gain for Cs contouring control

6555

3055

4055

(selected by DI signal CTH1A)

Compensation constant for external disturbance torque (acceleration

6594

3094

4094

feedback gain)

6586

3086

4086

Motor voltage for Cs contouring control (Normally, set to 100.)

Setting for control characteristics for Cs contouring control (Normally,

6516#4

3016#4

4016#4

set 0.)

6519#0

3019#0

4019#0

Whether dead zone compensation is performed in Cs contouring control

6597

3097

4097

Spindle speed feedback gain

Others

6599

3099

4099

Delay time for exciting the motor

503

11. OPTION RELATED TO SPINDLE

B-65162E/03

11.4

SPINDLE

SYNCHRONIZATION

CONTROL

On a machine having two spindles (such as a lathe), the rotational spindle

11.4.1

speed of both spindles must be the same in the following cases:

Outline

- When a workpiece on the 1st spindle is passed to the 2nd spindle while

the spindles are rotating

- When a workpiece is held by both the 1st and 2nd spindles and the

spindles are accelerated or decelerated

The rotation phase (angle) of the spindles must also be the same when a

workpiece of a special shape is passed between the spindles.

The spindle synchronization control function is used to synchronize the

two spindles in the above cases.

11.4.2

System Configuration

(1) αC Series Spindle

(a) When the spindle and spindle motor are connected by a belt or gears

Position

Gears or timing belt

coder

1 : 1

1st

2nd

spindle

Con-

Spindle

Connected

nected

motor

with belt or

with

gears

belt or

Velocity

gears

Power

feedback

line

Position

Spindle

feedback

amplifier

module

(SPM)

Communication

cable

Communication cable

(Note)

CNC

504

B-65162E/03

11. OPTION RELATED TO SPINDLE

11.4.3

Explanation of Spindle

When the command for spindle synchronization control is issued

while the two spindles are rotating at different speeds or stopped, each

Synchronization

spindle increases or decreases its speed to the specified speed. The two

Control

spindles are then controlled in synchronization.

If the synchronization speed is changed after the synchronization

control of the two spindles is started, the spindles increase or decrease

their speed to the new speed. The spindles are synchronized during the

acceleration or deceleration as the speed is increased or decreased

according to the time constant specified in the parameter. When the

specified synchronization speed is 0 min^-1, the two spindles stop at the

same time.

When the command for spindle synchronization control is issued with

the synchronization speed specified as 0 min-1 when both spindles are

stopped, the spindles rotate two or three times. After detecting the one

rotation signal of the position coder (required for synchronization

control of spindle phase), the spindles stop and enter the

synchronization control state. If the synchronization speed is changed

after the synchronous control state is established, the spindles increase

or decrease their speed to the new speed. The spindles are

synchronized during acceleration or deceleration as the speed is

increased or decreased according to the time constant specified in the

parameter.

To handle a workpiece with a unique shape, the spindles need to rotate

to keep the phases (angles) of rotation synchronous. When the

command for spindle phase synchronization is issued when the

spindles are already rotating in synchronization, each spindle is

adjusted to the rotation phase specified in the parameter. At this time,

the speed changes for a moment. Then the two spindles return to the

synchronization control state. Rotation phase synchronization can be

established by setting the parameters in advance so that the reference

points of the two spindles match with each other.

When the command for spindle phase synchronization is issued when

the spindles are controlled in synchronization at 0 min^-1, each spindle

is rotated and adjusted to the phase specified in the parameter then

stops. It is similar to when the spindles are positioned in the stop state

(spindle orientation). This causes the reference points of the spindles

to match with each other

(phase synchronization).

If the

synchronization speed is changed after a workpiece with a unique

shape is held with the two spindles, the spindles increase or decrease

their speed to the new speed. The spindles are synchronized during

acceleration or deceleration as the speed is increased or decreased

according to the time constant specified in the parameter.

Constant surface speed control can be executed while a workpiece is

being held with the two spindles in the synchronous control state.

However, the time constant specified in the parameter is not exceeded

even when a command for a larger increment or decrement in speed

is specified.

Do not switch the rotation direction command (SFR/SRV) during

synchronization control.

507

11. OPTION RELATED TO SPINDLE

B-65162E/03

NOTE

Refer to the following CNC manuals as well:

Section

9.12 of FS

16i/18i/21i Connection Manual

(Function) (B-63003EN-1)

Section 9.12 of FS 16/18 Connection Manual (Function)

(B-62753EN-1)

11.4.4

DI/DO Signals

(1) DI Signals (PMC to CNC)

(a) Signal address

FS0-T FS0-TT FS15

FS16

FS16-TT

Head2

SPPHS

SPSYC

G146

G038

R08I

R07I

R06I

R05I

R04I

R03I

R02I

R01I

G124

G032

SSGN

R12I

R11I

R10I

R09I

G125

G033

RI07

RI06

RI05

RI04

RI03

RI02

RI01

RI00

G025

RISGN

RI12

RI11

RI10

RI09

RI08

G024

SPPHS

SPSYS

G111

1st :

G229

G1429 G227

G070

G1070

SFRA

SRVA

CTH1A

CTH2A

INTGA

1st :

G230

G1430 G226

G071

G1071

2nd :

G233

G235

G074

SFRB

SRVB

CTH1B

CTH2B

INTGB

2nd :

G234

G075

(b) Signal for spindle synchronization control (SPSYC)

[Function] Selects the spindle synchronization control mode.

[Operation] When the signal is set to 1, spindle synchronization control mode is

selected.

When the signal is set to 0, spindle synchronization control mode is

released.

[Function] Selects the spindle phase synchronization mode. It becomes effective

when the signal for spindles synchronization control (SPSYC) is set to 1.

Enter this signal after the signal that indicates that synchronization

control of spindle speed is completed has been set to 1. Synchronization

control of spindle phase is started at the rising edge of this signal. Even

when this signal is set to 0, the synchronized phase does not change.

When the signal is changed again from 0 to 1, phase synchronization is

executed again.

[Operation] At the rising edge of the signal changing from 0 to 1, synchronization

control of the spindle phase begins.

508

B-65162E/03

11. OPTION RELATED TO SPINDLE

(d) Signal for integral speed control (INTGA)

[Function] Enables or disables integral speed control.

[Operation] When this signal is set to 1, integral speed control is disabled.

(Same

effect as when the integral gain of the velocity loop is set to 0.) When the

signal is set to 0, integral speed control is enabled.

When the two spindles are mechanically connected with each other, this

signal is set to 1 for both spindles so that integral speed control is

disabled.

D When a cylindrical workpiece is held with the two spindles after they

are synchronized in speed

D When a workpiece with a unique shape is held with the two spindles

after they are synchronized in phase

(2) DO Signals (CNC to PMC)

(a) Signal address

FS0-T FS0-TT FS15

FS16

FS16-TT

Head2

F178

F044

SYCAL

FSPPH

FSPSY

F111

MSPPHS

MSPSYC

SPSYAL

1st :

F281

F1481 F229

F045

F1045

SARA

RCFNA

2nd :

F285

F245

F049

(b) Signal indicating that synchronization control of spindle speed is completed (FSPSY)

[Function] Reports that synchronization control of spindle speed is completed.

[Output conditions] This signal is set to 1 when the following conditions are satisfied:

D In spindle synchronization control mode, the two spindles reach the

speed specified by the signal for specifying the spindle speed in

synchronization, and the difference between the speeds of the two

spindles is not more than the value specified in parameter 4033(FS16).

This signal is set to 0 when any of the following conditions is satisfied:

D In spindle synchronization control mode, the two spindles have not yet

reached the speed specified by the signal for specifying spindle speed

in synchronization.

D In spindle synchronization control mode, the difference between the

speeds of the two spindle is larger than the value specified in parameter

4033 (FS16).

D The spindles are not in spindle synchronization control mode.

NOTE

The signal changes from 1 to 0 when the difference in

spindle speed exceeds the value specified in parameter

4033(FS16) due to changes in the cutting load, etc.

509

11. OPTION RELATED TO SPINDLE

B-65162E/03

(c)

Signal indicating that synchronization control of spindle phase is completed (FSPPH)

[Function] Reports that synchronization control of spindle phase (control of phase

difference) is completed.

[Output conditions] This signal is set to 1 when the following conditions are satisfied:

D In spindle synchronization control mode, the two spindles reach the

speed specified by the signal for specifying the spindle speed in

synchronization, and the spindles are synchronized in phase by the

signal for spindle phase synchronization. (The difference between the

error pulses of the two spindles is not greater than the value set in

parameter 4810(FS16).)

This signal is set to 0 when any of the following conditions is satisfied:

D In spindle synchronization control mode, the two spindles have not yet

been synchronized in phase.

D In spindle synchronization control mode, the difference between the

error pulses of the two spindles is larger than the value specified in

parameter 4810 (FS16).

D The spindles are not in spindle phase synchronization control mode.

NOTE

The signal changes from 1 to 0 when the difference in the

error pulses exceeds the value specified in parameter

4810(FS16) due to changes in the cutting load, etc.

(d)

Signal for issuing an alarm detected in spindle synchronization control (SYCAL)

[Function] Reports that the difference between the error pulses of the two spindles

exceeds the value specified in the parameter for spindle synchronization

control mode. This signal is used for error handling in spindle

synchronization control.

[Output conditions] The signal is set to 1 when the following conditions are satisfied:

D In spindle synchronization control mode, the difference between the

error pulses of the two spindles exceeds the value specified in

parameter 4811(FS16), after spindle synchronization control has been

put in effect.

The signal is set to 0 when any of the following conditions is satisfied:

D The spindles are not in spindle synchronization control mode.

D In spindle synchronization control mode, the difference between the

error pulses of the two spindles is not greater than the value specified

in parameter 4811(FS16).

510

B-65162E/03

11. OPTION RELATED TO SPINDLE

11.4.5

Sample Sequence

D While spindle 1 is rotating, spindle 2 is accelerated to reach the speed

of spindle 1. The phase of spindle 2 is synchronized with that of

spindle 1. Then the synchronization speed is changed, and the two

spindles increase or decrease their speed in synchronization.

Spindle speed

Acceleration/deceleration

Phase synchronization

in synchronization

Spindle 1

Synchronization

speed A

Synchronization

speed B

Spindle 2

Time

Signal for spindles synchronization

control SPSYC

Spindle

Signal for specifying the spindle

speed A

Spindle speed B

synchronization speed

R12I-R01I, RI12-00

Signal for spindle phase

synchronization control SPPHS

Signal indicating that synchronization

control of spindle speed is completed FSPSY

(Note)

Signal indicating that synchronization

control of spindle phase is completed FSPPH

Enter the signal for specifying spindle synchronization speed and set

the signal for spindle synchronization control to 1.

Wait until the signal indicating that synchronization control of spindle

speed is completed is set to 1.

Set the signal for spindle phase synchronization to 1.

Wait until the signal indicating that synchronization control of spindle

phase is completed is set to 1.

NOTE

The signal indicating that synchronization control of spindle

speed is completed is set to 0 when the signal for spindle

phase synchronization control is entered. It is changed to

1 when phase synchronization is completed.

511

11. OPTION RELATED TO SPINDLE

B-65162E/03

D While spindles 1 and 2 are stopped, their phases are synchronized and

their speeds are increased in synchronization.

Spindle speed

Spindles 1 and 2

Synchronization speed

Phase synchronization

Acceleration/deceleration

in synchronization

(Note 1)

Time

Signal for synchronization control

SPSYC

Signal for specifying spindle

synchronization speed

R12I-R01I, RI12-00

Signal for spindle phase

synchronization control SPPHS

Signal indicating that synchronization

control of spindle speed is completed

FSPSY

(Note 2)

Signal indicating that the synchronous

control of spindle phase is completed

FSPPH

Set the signal for specifying the spindle synchronization speed to 0 and

the signal for spindle synchronization control to 1.

Wait until the signal indicating that synchronization control of spindle

speed is completed is set to 1.

Set the signal for spindle phase synchronization control to 1.

Wait until the signal indicating that synchronization control of spindle

phase is completed is set to 1.

Enter the signal for specifying the spindle synchronization speed.

NOTE

When the spindle synchronization mode is switched (after power is supplied), each spindle

automatically rotates several turns to detect one-rotation signals even if the program does not

request so. If this operation causes a problem (for example, because two spindles are

connected mechanically), or spindle phase synchronization is not to be performed, the

operation can be disabled using parameters (No.4006#3 (FS16)).

The signal indicating that synchronization control of spindle speed is completed is set to 0 when

the signal for spindle phase synchronization control is entered. It is changed to 1 when phase

synchronization is completed.

512

FANUC SERVO AMPLIFIER a series. DESCRIPTIONS (B-65162E/03) - page 17