FANUC Series 16i / 18i / 160i / 180i - Model A. Maintenance Manual (B-63005EN/01) - page 3
1. DISPLAY AND OPERATION
B-63005EN/01
1.6.5
Notes
(1) While the operation history screen is displayed, no information can be
recorded to the history.
(2) An input signal having an on/off width of up to 16 msec is not recorded
in the history. Some signals are not recorded in the history. See
Appendix 1.
(3) Once the storage becomes full, old data is deleted, starting from the
oldest record. Up to about 8000 key information items can be
recorded.
(4) The recorded data is retained even after the power is turned off. A
memory all clear operation, however, erases the recorded data.
(5) The operation history function cannot execute sampling when the
OHS bit (bit 7 of parameter No. 3106) is set to 1.
(6) Set the date and time on the setting screen.
(7) The time needed to input and output 6000 operation records at a rate
of 4800 baud is as follows:
Output:About 5 minutes
Input: About 2 minutes and 30 seconds
This file corresponds to a paper tape of about 180 m in length.
50
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1. DISPLAY AND OPERATION
1.7
HELP FUNCTION
1.7.1
General
The help function displays alarm information, operation method and a
table of contents for parameters. This function is used as a handbook.
1.7.2
Press
HELP
key on any screen other than PMC screen, then a help screen
Display Method
appears.
(However, it is not available when PMC screen/CUSTOM screen is
displaying)
D Display of help screen
HELP (INITIAL MENU)
O1234 N12345
*****
HELP
*****
1. ALARM DETAIL
2. OPERATION METHOD
3. PARAMETER TABLE
[ALARM]
[OPERAT]
[PARAM]
[
]
[
]
D Help for alarm
(1) When an alarm is generated, press soft key [ALARM], then a help
message of the alarm is displayed.
HELP (INITIAL MENU)
O1234 N12345
NUMBER
: 010
M’SAGE
: IMPROPER G CODE
FUNCTION
:
ALARM
:
A G CODE NOT LISTED IN G-CODE TABLE
IS BEING COMMANDED
ALSO G-CODE FOR FUNCTION NOT ADDED
IS BEING COMMANDED
[ALARM]
[OPERAT]
[PARAM] [
] [ (OPRT) ]
(2) Pressing soft key [OPERAT],(alarm No.), and soft key [SELECT]
in this order, a help message corresponding to the input alarm number
is displayed.
51
1. DISPLAY AND OPERATION
B-63005EN/01
D Help for operation
(1) Press [2 OPR], then a menu for operation method is displayed.
HELP (OPERATION METHOD)
O1234 N12345
1. PROGRAM EDIT
2. SEARCH
3. RESET
4. DATA INPUT WITH MDI
5. DATA INPUT WITH TAPE
6. OUTPUT
7. INPUT WITH FANUC CASSETTE
8. OUTPUT WITH FANUC CASSETTE
9. MEMORY CLEAR
[ALARM]
[OPRERAT]
[PARAM] [
]
[(OPRT)]
(2) Press [OPERAT], (an item number) and soft key [SELECT], then an
operation method of the item is displayed.
PAGE
Pressing PAGE key
or
displays another pages.
PAGE
HELP (OPERATION METHOD)
O1234 N12345
<<1.PROGRAM EDIT>>
1/4
Current
page/ Total
DELETE ALL PROGRAMS
page
MODE :EDIT
SCREEN :PROGRAM
OPR
:(0-9999) - (DELETE)
DELETE ONE PROGRAM
MODE : EDIT
SCREEN : PROGRAM
OPR
:(0+PROGRAM NUMBER) - <DELETE>
[
]
[
]
[
]
[
]
[SELECT]
52
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1. DISPLAY AND OPERATION
D Parameter table
Press soft key [3 PARA], then a parameter table is displayed.
HELP (PARAMETER TABLE)
O1234 N12345
1/4
Current
page/ Total
·SETTING
(NO.0000~ )
page
·READER/PUNCHER INTERFACE
(NO.0100~ )
·AXIS CONTROL/SETTING UNIT
(NO.1000~ )
·COORDINATE SYSTEM
(NO.1200~ )
·STROKE LIMIT
(NO.1300~ )
·FEED RATE
(NO.1400~ )
·ACCEL/DECELERATION CTRL
(NO.1600~ )
·SERVO RELATED
(NO.1800~ )
·DI/DO
(NO.3000~ )
[ ALARM ] [OPERAT][
PARAM
] [
][SELECT]
PAGE
Another screen can be selected by the PAGE key
or
PAGE
53
1. DISPLAY AND OPERATION
B-63005EN/01
1.8
DISPLAYING
DIAGNOSTIC PAGE
1.8.1
SYSTEM
(1) Press
key.
Displaying Diagnostic
(2) Press soft key [DGNOS], then a diagnostic screen is displayed.
Page
1.8.2
Contents Displayed
D Causes when the
machine does not travel
000 WAITING FOR FIN SIGNAL
An auxiliary function is being
in spite of giving a
executed.
command
001 MOTION
Travel command of cycle
operation is being executed.
002 DWELL
DWELL Dwell is being
executed.
003 IN-POSITION CHECK
In-position check is being done.
004 FEEDRATE OVERRIDE 0%
Feedrate override is 0%.
005 INTERLOCK/START LOCK
Interlock or start lock is input.
006 SPINDLE SPEED ARRIVAL CHECK
Waiting for spindle speed
arrival signal.
010 PUNCHING
Data is being output through
reader/puncher interface.
011 READING
Data is being input through
reader/puncher interface.
012 WAITING FOR (UN) CLAMP
Waiting for the end of index
table indexing
013 JOG FEEDRATE OVERRIDE 0%
Manual feedrate override is 0%.
014 WAITING FOR RESET, ESP,RRW OFF
NC is in reset state.
015 EXTERNAL PROGRAM NUMBER SEARCH External Program Number
Search External program
number search is being done
016 BACKGROUND ACTIVE
Background is being used.
54
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1. DISPLAY AND OPERATION
D Cause of the cycle start
LED turned off
020 CUT SPEED UP/DOWN
1
0
0
0
1
0
0
021 RESET BUTTON ON
0
0
1
0
0
0
0
022 RESET AND REWIND ON
023 EMERGENCY STOP ON
0
0
0
1
0
0
0
024 RESET ON
1
0
0
0
0
0
0
025 STOP MOTION OR DWELL
1
1
1
1
0
0
0
1
1
1
1
1
1
0
Input of emergency stop signal
Input of external reset signal
Reset button On of MDI
Input of reset & rewind
Servo alarm generation
Switching to other mode, Feed hold
Single block stop
D State of TH alarm
030 CHARACTER NUMBER TH ALARM Position of the character that
caused TH alarm. The position
is counted from the head.
031 TH DATA
Data of the character that caused
TH alarm.
D Detail of serial pulse
coder
#7
#6
#5
#4
#3
#2
#1
#0
DGN
0202
CSA
BLA
PHA
RCA
BZA
CKA
SPH
#6(CSA):
Hardware of serial pulse coder is abnormal
#5(BLA):
Battery voltage is low (warning)
#4(PHA):
Serial pulse coder or feedback cable is erroneous.
#3(RCA):
Serial pulse coder is faulty.
Counting of feedback cable is erroneous.
#2(BZA):
Battery voltage became 0.
Replace the battery and set the reference position.
#1(CKA):
Serial pulse coder is faulty.
Internal block stopped.
#0(SPH):
Serial pulse coder or feedback cable is faulty.
Counting of feedback cable is erroneous.
#7
#6
#5
#4
#3
#2
#1
#0
DGN
0203
DTE
CRC
STB
#7(DTE): Communication failure of serial pulse coder.
There is no response for communication.
#6(CRC): Communication failure of serial pulse coder.
Transferred data is erroneous.
#5(STB): Communication failure of serial pulse coder.
Transferred data is erroneous.
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1. DISPLAY AND OPERATION
B-63005EN/01
D Details of digital servo
alarm
#7
#6
#5
#4
#3
#2
#1
#0
DGN
0200
OVL
LV
OVC
HCA
HVA
DCA
FBA
OFA
#7(OVL): Overload alarm
#6(LV): Insufficient voltage alarm
#5(OVC): Over current alarm
#4(HCA): Abnormal current alarm
#3(HVA): Overvoltage alarm
#2(DCA): Discharge alarm
#1(FBA): Disconnection alarm
#0(OFA): Overflow alarm
#7
#6
#5
#4
#3
#2
#1
#0
DGN
0201
ALD
EXP
Overload
0
-
-
-
Motor overheat
al
arm
1
-
-
-
Amplifier overheat
Disconnec-
1
-
-
0
Built-in pulse coder (hand)
tion a
larm
1
-
-
1
Disconnection of separated type pulse
coder (hard)
0
-
-
0
Disconnection of pulse coder (software)
#7
#6
#5
#4
#3
#2
#1
#0
DGN
0204
RAM
OFS
MCC
LDA
PMS
#6(OFS):
Abnormal current value result of A/D conversion of digital
#5(MCC):
Contacts of MCC of servo amplifier is melted.
#4(LDA):
Serial pulse coder LED is abnormal
#3(PMS):
Feedback is not correct due to faulty serial pulse coder C or feedback
cable.
This data indicates the cause of servo alarm No. 417, detected by the NC.
If the alarm is detected by the servo, the PRM bit (bit 4 of DGN No. 0203)
is set to 1.
#7
#6
#5
#4
#3
#2
#1
#0
0280
AXS
DIR
PLS
PLC
MOT
#0 (MOT):
The motor type specified in parameter No. 2020 falls outside the
predetermined range.
#2 (PLC):
The number of velocity feedback pulses per motor revolution, specified in
parameter No. 2023, is zero or less. The value is invalid.
#3 (PLS):
The number of position feedback pulses per motor revolution, specified in
parameter No. 2024, is zero or less. The value is invalid.
#4 (DIR):
The wrong direction of rotation for the motor is specified in parameter No.
2022 (the value is other than 111 or -111).
#6 (AXS):
In parameter No. 1023 (servo axis number), a value that falls outside the
range of 1 to the number of controlled axes is specified. (For example, 4 is
specified instead of
3.)
Alternatively, the values specified in the
parameter are not consecutive.
56
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1. DISPLAY AND OPERATION
D Position error amount
DGN
0300
Position error of an axis in detection unit
Feed rate [mm/min]
1
Position error=
×
60 servo loop gain [1/sec]
Detection unit
D Machine position
DGN
0301
Distance from reference position of an axis in detection unit
D Reference position shift
function
DGN
302
Distance from the end of the deceleration dog to the first grid point
[Data type]
Two-word axis
[Units of data]
0.001 mm (metric output), 0.0001 inch (inch output)
[Valid data range]
0 to "99999999
D Cause of the APZ bit (bit
4 of parameter 1815)
brought to 0
#7
#6
#5
#4
#3
#2
#1
#0
DGN
310
DTH
ALP
NOF
BZ2
BZ1
PR2
PR1
#0(PR1):
The setting of the following parameters has been changed: Parameters
1821, 1850, 1860, 1861.
#1(PR2):
The setting of the ATS bit (bit 1 of parameter 8302) has been changed.
#2(BZ1):
The detected APC battery voltage is 0 V (Inductosyn).
#3(BZ2):
The detected APC battery voltage is 0 V (separate position detector).
#4(NOF):
The Inductosyn output no offset data.
#5(ALP):
Before the α pulse coder detects a full single rotation, reference position
establishment by parameters was attempted.
#6(DTH):
A controlled axis detach signal/parameter was input.
#7
#6
#5
#4
#3
#2
#1
#0
DGN
311
DUA
XBZ
GSG
AL4
AL3
AL2
AL1
#0(AL1):
An APC alarm was issued.
#2(AL3):
The detected APC battery voltage is 0 V (serial pulse coder).
#3(AL4):
An abnormal rotation speed (RCAL) was detected.
#4(GSG):
The G202 signal was brought from 0 to 1.
#1(AL2):
A disconnection was detected.
#6(DUA):
While the dual position feedback function was being used, the difference
in error between the semi-closed loop side and the closed loop side
became too large.
#5(XBZ):
The detected APC battery voltage is 0 V (serial separate position
detector).
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1. DISPLAY AND OPERATION
B-63005EN/01
D Diagnostic data related
to the Inductosyn
absolute position
detector
DGN
380
Difference between the absolute position of the motor and offset data
M (absolute position of the motor) - S (offset data)
λ(pitch interval)
The remainder resulting from the division is displayed.
[Data type]
Two-word axis
[Units of data]
Detection units
DGN
381
Offset data from the Inductosyn
Off set data is displayed when CNC calculates the machine position.
[Data type]
Two-word axis
[Units of data]
Detection units
D Serial spindle
#7
#6
#5
#4
#3
#2
#1
#0
DGN
0400
SAI
SS2
SSR
POS
SIC
This data indicates the offset data received by the CNC while
it is
calculating the machine coordinates.
#4(SAI)
0 : Spindle analog control is not used.
1 : Spindle analog control is used.
#3(SS2)
0 : Spindle serial doesn’t control 2nd spindle.
1 : Spindle serial control 2nd spindle.
#2(SSR)
0 : Spindle serial control is not performed.
1 : Spindle serial control is performed.
#1 (POS)
A module required for spindle analog control is
0 : not mounted
1 : mounted
#0 (SIC)
A module required for spindle serial control is
0 : not mounted
1 : mounted
DGN
0401
Serial spindle alarm state of 1st spindle
DGN
0402
Serial spindle alarm state of 2nd spindle
58
B-63005EN/01
1. DISPLAY AND OPERATION
#7
#6
#5
#4
#3
#2
#1
#0
DGN
0408
SSA
SCA
CME
CER
SNE
FRE
CRE
#0 (CRE):
A CRC error occurred. (Warning)
#1 (FRE):
A framing error occurred. (Warning)
#2 (SNE):
The transmission/reception target is invalid.
#3 (CER):
An error occurred during reception.
#4 (CME):
No response was returned during automatic scanning.
#5 (SCA):
A communication alarm occurred on the spindle amplifier side.
#7 (SSA):
A system alarm occurred on the spindle amplifier side.
(These problems cause spindle alarm 749. Such problems are mainly
caused by noise, disconnection, or instantaneous power-off).
#7
#6
#5
#4
#3
#2
#1
#0
DGN
0409
SPE
S2E
S1E
SHE
Refer to this diagnosis when alarm 750 has generated.
#3 (SPE)
In spindle serial control serial spindle parameters
0 : Satisfy start condition of spindle unit
1 : Do not satisfy start condition of spindle unit
#2 (S2E)
0 : 2nd spindle started normally in spindle serial control.
1 : 2nd spindle did not start normally in spindle serial control.
#1 (S1E)
0 : 1st spindle started normally in spindle serial control.
1 : 1st spindle did not start normally in spindle serial control.
#0 (SHE)
0 : Serial communication module is correct on CNC side.
1 : An error occurred in serial communication module on CNC side
DGN
0410
Load meter of 1st spindle [%]
DGN
0411
Speed meter of 1st spindle [%]
DGN
0412
Load meter of 2nd spindle [%]
DGN
0413
Speed meter of 2nd spindle [%]
DGN
0414
Position error in 1st spindle synchronous control mode
DGN
0415
Position error in 2nd spindle synchronous control mode
DGN
0416
Absolute value of synchronization error between 1st and 2nd spindles
DGN
0417
Feedback information of 1st spindle position coder
DGN
0418
Position error of 1st spindle position loop mode
DGN
0419
Feedback information of 2nd spindle position coder
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1. DISPLAY AND OPERATION
B-63005EN/01
DGN
0420
Feedback information of 2nd spindle position coder
D Diagnostic data related
to rigid tapping
DGN
450
Spindle position error during rigid tapping
[Data type] Word
[Unit of data] Detection units
DGN
451
Spindle distribution during rigid tapping
[Data type] Word
[Unit of data] Detection units
DGN
454
Accumulated spindle distribution during rigid tapping
[Data type] Two-word
[Unit of data] Detection units
DGN
455
Instantaneous difference for the move command, calculated in terms of the spindle,
during rigid tapping (signed, accumulated value)
[Data type] Two-word
[Unit of data] Detection units
DGN
456
Instantaneous difference for the travel error, calculated in terms of the spindle,
during rigid tapping (signed)
[Data type] Word
[Unit of data] Detection units
DGN
457
Width of synchronization error during rigid tapping (maximum value)
[Data type] Word
[Unit of data] Detection units
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1. DISPLAY AND OPERATION
D Two-spindle polygon
This data indicates the status of the polygon synchronization mode.
machining
(T series only)
#7
#6
#5
#4
#3
#2
#1
#0
470
SC0
LGE
SCF
PST
SPL
#0 (SPL): Spindle polygon synchronization is in progress.
#1 (PST): Spindle polygon synchronization mode is starting.
#2: Spindle polygon synchronization mode is being released.
#3: The spindle speed is being changed in spindle polygon synchronization
mode.
#4 (SCF): The spindle speed has been changed in spindle polygon synchronization
mode.
#5: Not used
#6 (LGE): In spindle polygon synchronization mode, the two spindles have different
loop gains.
#7 (SC0): In spindle polygon synchronization mode, the specified speed is zero.
CAUTION
D If SPL and SCF are set to 1 and #1, #2, and #3 are set to 0 in polygon synchronization mode,
the operation is normal.
Notes
1
If the status does not change, even though PST is set to 1 and the program is stopped in a block
including G51.2, one of the spindles cannot attain the polygon synchronization speed. This
may occur when the spindle cannot be activated because the PSTU bit (bit 7 of parameter No.
7603) is set to 0.
2
LGE is set to 1 when the speed is changed in polygon synchronization mode if the serial spindle
control unit uses different loop gains for the first and second spindles during spindle
synchronization.
When this function is used, the two spindles must be controlled with an identical loop gain. The
warning is displayed in DGN, but the warning does not cause an alarm.
(The serial spindle
control unit switches parameters according to the statuses of CTH1, CTH2, and other signals.)
3
SCO is set to 1 if either of the following occurs: The combination of the programmed S value
and spindle control signals including *SSTP <G0029, #6>, SOV0 to SOV7 <G0030> and
multispindle control signal <G0027> causes 0 or a value smaller than the resolution of spindle
control to be programmed (the programmed value multiplied by 4095/highest-spindle-speed
is smaller than 1).
Alternatively, SIND control <G0032, G0033> is used and the programmed output is 0.
When SCO is set to 1, the spindle speed becomes 0, setting bit 0 of DGN 471 to 1 and disabling
the ratio of polygon synchronization rotation. This, however, is handled as a result of the
program, and does not cause P/S alarm No. 5018.
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1. DISPLAY AND OPERATION
B-63005EN/01
This data indicates the cause of P/S alarm 5018 or 218.
#7
#6
#5
#4
#3
#2
#1
#0
471
NPQ
PQE
NSP
SUO
QCL
PCL
#0 to #3
→Cause of P/S alarm No. 5018
P/S alarm No. 5018 can be cleared by issuing a reset. The cause indication
is retained until the cause is removed or until polygon synchronization
mode is released.
#4 to #7
→Cause of P/S alarm No. 218
If P/S alarm No. 218 occurs, polygon synchronization mode is released.
The cause indication, however, is retained until P/S alarm No. 218 is
cleared by issuing a reset.
#0:
The speed specified for spindle polygon synchronization is too low. (The
unit speed becomes 0 for internal operations.)
#1 (PCL):
The first spindle (master axis in polygon synchronization) is clamped.
#2 (QCL):
The second spindle (slave axis in polygon synchronization) is clamped.
#3 (SUO):
The speed specified in spindle polygon synchronization is too high. (The
speed is restricted to the upper limit for internal operations.)
#4 (NSP):
A spindle required for control is not connected.
(The serial spindle,
second spindle, etc. is not connected.)
#5:
A negative Q value is specified while the QDRC bit (bit 1 of parameter
No. 7603) is set to 1.
#6 (PQE):
The P value or Q value, specified with G51.2, falls outside the
predetermined range. Alternatively, the P and Q values are not specified
as a pair.
#7 (NPQ):
Although the P and Q values are not specified with G51.2, an R value is
specified. Alternatively, none of the P, Q, or R value is specified.
CAUTION
Bit 0 is set to 1 even when the specified spindle speed is 0 (bit 7 of DGN 470 is set to 1). This,
however, does not cause P/S alarm No. 5018 to be output (because the programmed speed
is 0). P/S alarm No. 5018 occurs when bit 7 of DGN 470 is set to 0, while bit 0 of DGN 471 is
set to 1. Normal spindle speeds will not cause this alarm to be output.
NOTE
1
PCL indicates that the speed specified for the master axis exceeds the maximum speed for the
first axis, specified in parameters No. 3741 to 3744, causing, the specified speed to be limited
to the maximum speed.
PCL is not set to 1 provided the first spindle is connected correctly.
2
QCL is set to 1 when the polygon synchronization speed specified for the second spindle (slave
axis in polygon synchronization) exceeds the value set in parameter No. 7621, causing the
actual speed to be limited to the specified value.
3
SUO occurs if the number of distributed pulses for ITP exceeds 32767, that is, if the speed
specified for the first axis, divided by the specified P value, exceeds 59998. In other words,
SUO occurs when a speed in excess of 59998 rpm is specified for the first axis if P is set to 1.
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1. DISPLAY AND OPERATION
The specified synchronization mode status is displayed.
DGN
474
Rotation ratio of the master axis in spindle polygon synchronization
(specified P value)
In spindle polygon synchronization mode, the rotation ratio (specified P
value) of the current master axis (first spindle) is displayed.
DGN
475
Rotation ratio of the slave axis in spindle polygon synchronization
(specified Q value)
In spindle polygon synchronization mode, the rotation ratio (specified Q
value) of the current slave axis (second axis) is displayed.
DGN
476
Phase difference between two spindles in spindle polygon synchronization
(specified R value)
In spindle polygon synchronization mode, the current phase difference
(specified R value) is displayed.(The units are the minimum input
increment for the rotation axis of the machine.)
If the RDGN bit (bit 5 of parameter 7603) is set to 1, the shift amount
specified for the serial spindle (number of specified pulses, calculated at
a rate of 4096 pulses per 360 degrees) is displayed.
This diagnostic data indicates the actual speed of each spindle in
synchronization mode.
DGN
477
Actual speed of the master axis for spindle polygon synchronization (rpm)
In spindle polygon synchronization mode, the actual speed of the master
axis (first spindle) is displayed.
DGN
478
Actual speed of the slave axis in spindle polygon synchronization (rpm)
In spindle polygon synchronization mode, the actual speed of the slave
axis (second spindle) is displayed.
NOTE
The values of DGN 477 and DGN 478 are displayed without being sampled. The displayed
values may vary from the actual values. Use these values for guidance only.
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1. DISPLAY AND OPERATION
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D State of remote buffer
(protocol A)
DGN
0500
Send command
1: SYN
2: RDY
3: RST
4: ALM
5: SAT
6: GTD
7: RTY
8: SDI
DGN
0501
Receive command
1: SYN
2: RDY
3: ARS
4: AAL
5: CLB
6: SET
7: DAT
8: EOD
9: WAT
10: RTY 11:RDI
12: SDO
DGN
0502
State of remote buffer
0 : Not ready
1 : Reset state
2 : Operation state
3 : Alarm state
4 : Circuit disconnection
D Open CNC
#7
#6
#5
#4
#3
#2
#1
#0
DGN
510
This data indicates the internal Open CNC information (not available to
general users).
#7
#6
#5
#4
#3
#2
#1
#0
DGN
511
This data indicates the internal Open CNC information (not available to
general users).
#7
#6
#5
#4
#3
#2
#1
#0
DGN
512
PA1
PA0
BNK
THH
THL
PRA
This data indicates the cause of a system alarm that has occurred in Open
CNC.
#0(PRA)
1 : A RAM parity error occurred in shared RAM.
#2(THL)
0 : The temperature of the harddisk of Open CNC is too low.
1 : Normal
#3(THH)
0 : The temperature of the harddisk of Open CNC is too high.
1 : Normal
#4
0 : Normal
1 : An NMI has occurred in HSSB.
#5(BNK)
If bit 0 (PRA) is set to 1,
0 : An alarm occurred in the lower half of shared RAM.
1 : An alarm occurred in the upper half of shared RAM.
#6 (PA0)
If bit 0 (PRA) is set to 1,
1 : An alarm occurred at an even-numbered address.
#7 (PA1)
If bit 0 (PRA) is set to 1,
1 : An alarm occurred at an odd-numbered address.
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1. DISPLAY AND OPERATION
D Diagnostic data related
to a small-diameter peck
drilling cycle (M series
only)
DGN
520
Total number of retractions during cutting after G83 is specified
Executing the G83 command clears the value to zero.
DGN
521
Total number of retractions made by receiving the overload signal during cutting
after G83 is specified
Executing the G83 command clears the value to zero.
DGN
522
Position on the drill axis from which retraction is started
The units are the same as the minimum input increment.
DGN
523
Difference between the position on the drill axis from which the previous retraction
was started and the position from which the current retraction is started
The units are the same as the minimum input increment.
65
1. DISPLAY AND OPERATION
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D Diagnostic data related
to ATC for FD Alpha
#7
#6
#5
#4
#3
#2
#1
#0
DGN
530
A99
A98
A97
A96
A95
A43
* Check the contents of this data if alarm 251 is output.
#5 (A99):
A pry alarm occurred while the tool was being changed.
#4 (A98):
After the power was turned on or after an emergency stop was released,
M06 was specified before the first reference position return. While the
tool was being changed, machine lock was enabled for the Z-axis.
#3 (A97):
M06 is specified in canned cycle mode. M06 is specified in a block
containing the command instructing reference position return. M06 is
specified in tool compensation mode.
#2 (A96):
The current tool number parameter (parameter No. 7810) is set to 0.
#1 (A95):
M06 is specified while the Z-axis machine coordinate is positive.
#0 (A43):
A prohibited T code is specified after M06.
#7
#6
#5
#4
#3
#2
#1
#0
DGN
531
585
584
583
582
581
580
502
#6 (585):
Spindle servo alarm (excessive error during ATC magazine indexing)
#5 (584):
Invalid sequence during positioning and ATC (system error)
#4 (583):
Spindle servo alarm (LSI overflow)
#3 (582):
Spindle servo alarm (excessive drift)
#2 (581):
Spindle servo alarm (excessive error during travel)
#1 (580):
Spindle servo alarm (excessive error in the stop state)
#0 (502):
Large spindle distribution (system error)
DGN
540
Difference in the position error between the master and slave axes in simple synchro-
nas control
DGN
541
Difference in the position error between the master and slave axes in simple synchro-
nas control
D Diagnostic data related
DGN 540 indicates the difference in the position error between the master
to simple synchronous
and slave axes when a single axis pair is subjected to simple synchronous
control
control. DGN 541 is used when two or more pairs are subjected to simple
synchronous control. The position error is indicated for the master axis.
DGN 540 and 541 indicate values in detection units. They are displayed
only with the M series.
66
B-63005EN/01
1. DISPLAY AND OPERATION
D Diagnostic data related
to the dual position
feedback function
0550
Closed loop error
[Data type]
2-word axis
[Unit of data]
Detection units
[Valid data range]
-99999999 to +99999999
0551
Semi-closed loop error
[Data type]
2-word axis
[Unit of data]
Detection units
[Valid data range]
-99999999 to +99999999
0552
Error between semi-closed and closed loops
[Data type]
word axis
[Unit of data]
Detection units
[Valid data range]
-32768 to +32767
0553
Amount of dual position compensation
[Data type]
2-word axis
[Unit of data]
Detection units
[Valid data range]
-99999999 to +99999999
67
1. DISPLAY AND OPERATION
B-63005EN/01
The data items displayed on the diagnosis screen are obtained at the
following positions:
Semi-closed loop
error (No. 551)
Motor
Command
+
+
+
Speed
S
Kp
Machine
control
-
+
-
Servo amplifier
Ps
Conversion
coefficients
(Parameters No. 2078 and 2079)
Closed loop error
(No. 550)
Amount of dual
+
position compensa-
Time
tion (No. 553)
constant
+
-
+
S
(Parameter No. 2080)
-
+
Error between semi-
Pf
closed and closed
loops (No. 552)
68
B-63005EN/01
1. DISPLAY AND OPERATION
1.9
CNC STATE DISPLAY
ACTUAL POSITION (ABSOLUTE)
O1000 N00010
X
217.940
Y
363.233
Z
0.000
PART COUNT
5
RUN TIME
0H15M CYCLE TIME
0H
0M38S
ACT.F
3000MM/M
S
0
T0000
MEM
STRT MTN
***
09:06:35
[ ABS ]
[ REL ]
[ ALL ]
[ HNDL ]
[ OPRT ]
MEM
STRT
MTN
***
ALM/BAT (Alarm state/
Low battery)
FIN (Waiting for auxiliary
funciton finish)
MTN/DWL( Axis travelling/dwelling)
- -EMG- -/-RESET-
(Emergency stop/reset state)
STRT/STOP/HOLD/INC
(Start/Stop/Hold state)
Mode display
EDIT/MEM/RMT/MDI/INC
HND/JOG/REF/THND/TJOG
EDIT: Edit mode
MEM: Memory mode
RMT: Remote operation mode
MDI:
MDI operation mode
INC:
Incremental feed mode
(Without manual pulse
generator)
HND: Handle feed mode
JOG: Jog feed mode
REF: Reference position
return mode
THND: TEACH IN NANDLE
mode
TJOG: TEACH IN JOG mode
69
1. DISPLAY AND OPERATION
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Tuning becomes easier by graphically displaying servo error amount and
1.10
torque command, etc. (Graphic option is required).
WAVE FORM
The following two types of waveform diagnosis functions are supported:
DIAGNOSTIC
(1) One-shot type
FUNCTION
The one-shot type waveform diagnosis function can graphically
display, as a waveform, any variation in those data items listed below.
The start of data sampling can be triggered by the rising or falling edge
of a machine signal. This function facilitates the adjustment of the
servo and spindle motors.
a. Error, pulse distribution amount, torque, speed, current, and
thermal simulation data for the servo motor of each axis
b. Composite speed for the first, second, and third axes
c. Spindle motor speed and load meter value
d. On/off state of a machine signal specified with a signal address
(2) Storage type
The storage type waveform diagnosis function enables the storing
of any variation in the data items listed below and, if a servo alarm
occurs, the graphical display (as a waveform) of the stored data. The
end of data sampling can be triggered by the rising or falling edge
of a machine signal. This function facilitates the estimation of
erroneous locations. Stored data can be output via the reader/punch
interface.
a. Error, pulse distribution amount, torque, speed, current, and
thermal simulation data for the servo motor for each axis
NOTE
1
To output stored waveform data, the optional reader/punch
interface must have been installed.
2
The waveform diagnosis function is enabled when bit 0
(SGD) of parameter No. 3112 is set to 1. Note, however, that
a graphics card is necessary to display waveforms.
1.10.1
(1) Set a parameter to utilize the servo waveform diagnostic function.
Setting Parameters
#7
#6
#5
#4
#3
#2
#1
#0
3112
SGD
#0(SGD)
0 : Do not display servo waveform (usual graphic display).
1 : Displays servo waveform (usual graphic display function cannot be
used).
(2) Turn off the power once and turn it on again.
3120
Time between servo alarm and sampling stop (storage type)
[Data type] Word
[Unit of data] ms
[Valid data range] 1 to 32760
70
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1. DISPLAY AND OPERATION
1.10.2
1.Press the
SYSTEM
key to display a system screen such as aparameter.
Waveform Diagnostic
Parameter Screen
2. Press the continuous menu key
several times, and the soft key
[W.DGNS] is displayed.
3. Press
[W.DGNS], then the parameter screen for the waveform
diagnosis is displayed.
Set the necessary data items. Position the cursor to the item to be set,
enter the corresponding data, then press
INPUT
. Data items for which
***** is displayed cannot be set. To assist in data setting, the frame on
the right side of the screen displays help information for that data to which
the cursor is positioned. Help information which cannot fit into a single
frame is split into several pages, which the user can scroll through using
the page keys
and
WAVE DIAGNOSE (PARAMETER)
O1234 N12345
GRP CONDITION 100
GRP CONDITION
(ONE-S TYPE)
SAMPLING TIME *****MS
0:START
TRIGGER *******
1:START&TRG
↑
2:START&TRG
↓
(MEMORY TYPE)
(CH-1)
(CH-2)
100: DATA OF
DATA NO.
11
22
MEMORY
UNIT
1000
10
1/3
SIGNAL
*******
*******
>
S
0
T0000
EDIT **** *** ***
08:20:52
[W.PRM]
[W.GRPH]
[ W.MEM ]
[
]
[
]
D Waveform diagnosis
(1) Display start condition
parameters (one-shot
0 : Starts data sampling upon the
[START] key being pressed,
type)
samples data for the specified period, then draws a waveform.
1 : Starts data sampling upon the detection of the first rising edge of
the trigger signal after the [START] key is pressed, samples data
for the specified period, then draws a waveform.
2 : Starts data sampling upon the detection of the first falling edge of
the trigger signal after the [START] key is pressed, samples data
for the specified period, then draws a waveform.
(2) Sampling period: Set the period during which data will be sampled.
Valid data range: 10 to 32760
Units: ms
(3) Trigger: Set the PMC address and bit for the signal used to trigger the
start of data sampling, when 1 or 2 is set for the start condition.
Example) G0007.2: ST signal
71
1. DISPLAY AND OPERATION
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(4) Data number: The table below lists the numbers of the data items for
which a waveform can be displayed (n = 1 to 8).
Data No.
Description
Units
00
Does not display a waveform.
-
0n
Servo error (8 ms) for the n-th axis (positional devi-
Pulses
ation)
(detection units)
1n
Pulse distribution for the n-th axis
Pulses
(move command)
(input increments)
2n
Torque for the n-th axis (actual current)
% (relative to maxi-
mum current)
3n
Servo error (2 ms) for the n-th axis (positional devi-
Pulses
ation)
(detection units)
5n
Actual speed for the n-th axis
RPM
6n
Command current for the n-th axis
% (relative to maxi-
mum current)
7n
Thermal simulation data for the n-th axis
% (OVC alarm ratio)
90
Composite speed for the first, second, and third axes
Pulses
(input increments)
99
On/off state of a machine signal specified with a sig-
None
nal address
10n
Actual spindle speed for the n-th axis
% (relative to maxi-
mum rotation
speed)
11n
Load meter for the spindle for the n-th axis
% (relative to maxi-
mum output)
161
Difference in position error calculated on the spindle
Pulses (detection
basis
unit)
(5) Data units: Weight of data when 1 is specified. The data units are
automatically specified for each data item and need not be set unless
the units must be changed for some reason.
[Valid data range] 1 to 1000
[Unit] 0.001
(6) Signal address: PMC address and bit number. Set in the same way as
that for trigger, when the data number is 99.
72
B-63005EN/01
1. DISPLAY AND OPERATION
D Waveform diagnosis
(1) Display start condition
parameters (storage
100 : Draws a waveform for the stored data.
type)
(2) Sampling period: Invalid
(3) Trigger: Invalid
(4) Data number: The table below lists the numbers of the data items for
which a waveform can be displayed (n = 1 to 8). Numbers for which
no data is stored cannot be specified.
Data No.
Description
Units
00
Does not display a waveform.
-
0n
Servo error (8 ms) for the n-th axis (positional devi-
Pulses
ation)
(detection units)
1n
Pulse distribution for the n-th axis (move command)
Pulses
(input increments)
2n
Torque for the n-th axis (actual current)
% (relative to maxi-
mum current)
5n
Actual speed for the n-th axis
RPM
6n
Command current for the n-th axis
% (relative to maxi-
mum current)
7n
Thermal simulation data for the n-th axis
% (OVC alarm ratio)
(5) Data units: Weight of data when 1 is specified. The data units are
automatically specified for each data item and need not be set unless
the units must be changed for some reason.
[Valid data range] 1 to 1000
[Unit] 0.001
(6) Signal address: Invalid
73
1. DISPLAY AND OPERATION
B-63005EN/01
1.10.3
1. Press soft key [W.GRPH], then graph of waveform diagnosis is
displayed.
Graphic of Wave
Diagnosis data
WAVE DIAGNOSE (GRAPHIC)
CH1
CH2
1.0
1.0
0.5
0.5
0
0
-0.
-0.
5
5
-1.
-1.
0
0
[START] [TIME³] [²TIME] [H-DOBL] [H-HALF]
2. Press soft key [(OPRT)], then the following soft keys are displayed.
The following three sets of soft keys are displayed by the
key.
[START] [TIME³] [²TIME] [H-DOBL] [H-DOBL]
[START] [CH-1°] [CH-1±] [V-DOBL] [V-HALF]
[START] [CH-2°] [CH-2±] [V-DOBL] [V-HALF]
1)
[START ]
: Starts Graphic data
2)
[TIME→]
: Shift the waveform of channel 1 and 2 rightward
3)
[←TIME]
: Shift the waveform of channel and 2 leftward
4)
[H-DOBL] : Double the time scale of the waveform of channel 1
and 2
5)
[H-HALF] : Half the time scale of the waveform of channel 1 and 2
6)
[H-DOBL] : Double the height of waveform of channel 1 and 2
7)
[V-HALF]
: Half the height of waveform of channel 1 and 2
8)
[CH-1↑]
: Shift the zero point of channel 1 upward
9)
[CH-1↓]
: Shift the zero point of channel 1 downward
10) [CH-2↑]
: Shift the zero point of channel 2 upward
11) [CH-2↓]
: Shift the zero point of channel 2 downward
D Drawing a waveform for
The one-shot type waveform diagnosis function draws a waveform for a
one-shot type waveform
specified data item in real time as the data is sampled. The sampled data,
diagnosis
however, is not stored and thus cannot be output later.
To sample data for one-shot type waveform diagnosis, press the
[START] key on the WAVE DIAGNOS. (GRAPHIC) screen. Then, data
is sampled when the specified start condition is satisfied. Data sampling
continues for the specified period.
74
B-63005EN/01
1. DISPLAY AND OPERATION
Pressing the [SATART] soft key starts data sampling. While sampling
is being performed, SAMPLING blinks at the top of the screen. Once data
sampling has been completed, a waveform is automatically displayed.
WAVE DIAGNOS. (GRAPHIC)
O1234 N12345
CH1
CH2
EDIT **** ******
[START] [TIME³] [²TIME] [H-DOBL] [H-HALF]
D Drawing a waveform for
To use storage type waveform diagnosis, set 100 for the display start
storage type waveform
condition. The maximum data width for storage type waveform diagnosis
diagnosis
is 32760 ms. Data must be sampled before starting drawing. The next
page explains sampling in detail.
Pressing the [START] soft key loads stored data. While the data is being
loaded, SAMPLING blinks at the top of the screen. Once the data has
been loaded, a waveform is displayed. The date on which the data was
stored is displayed at the top left of the screen. If the [START] soft key
is pressed while data is being stored, storage is stopped and the waveform
for the data stored up to that point is displayed. The WAVE DIAGNOS.
(MEMORY) screen indicates whether data is being stored.
WAVE DIAGNOS. (GRAPHIC)
O1234 N12345
CH197/01/13
12:15:00
CH2
EDIT **** ******
[START] [TIME³] [²TIME] [H-DOBL] [H-HALF]
75
1. DISPLAY AND OPERATION
B-63005EN/01
1.10.4
(1) Press the
SYSTEM
function key. Pressing the menu continuation key [
]
Data Sampling for
displays the [W.DGNS] soft key. Press this soft key to display the
Storage Type
WAVE DIAGNOS. (PARAMETER) screen.
Waveform Diagnosis
(2) Press the [W.MEM] soft key to display the WAVE DIAGNOS.
(MEMORY) screen. The operation selection soft keys appear.
The configuration of the operation selection soft keys is as follows:
WAVE DIAGNOS. (MEMORY)
O1234 N12345
CONDITION:
100
TRIGGER: G0123.4
DATA KINDS
SAMPLING AXIS
POS ERROR
XYZABCUV
MOTION CMD
XYZABCUV
CURRENT (%)
XYZABCUV
SPEED (RPM)
NONE
TORQUE CMD
NONE
HEAT SIMLT
XYZABCUV
SMPL TIME :
2. 0SEC
DATE
: MEMORY
EDIT **** *** ***
08:20:52
[SELECT] [
] [
] [
] [START]
(3) The configuration of the operation selection soft keys is as
follows:
[W.PRM] [W.GRPH] [ W.MEM ] [
] [
]
Press
[SELECT] [
] [
] [
] [START]
[
] [
] [PUNCH] [
] [
]
Fig. 1.10.4 Soft keys
(4) Using the cursor, set the necessary data items. To set the sampling
axes, position the cursor to the data item to be set, enter the names of
the axes for which data will be sampled for that data item, then press
[SELECT] or
INPUT
. The axis names are displayed to the right of the
data items.
Example) XYZ + [SELECT] or
INPUT
Once the sampling axes have been selected, the sampling period for each
axis is displayed. Subsequently pressing the [START] soft key starts data
sampling.
76
B-63005EN/01
1. DISPLAY AND OPERATION
CAUTION
1
Data items for which ***** is displayed cannot be set.
2
To change the sampling axes, enter new axis names then
press the [SELECT] soft key. Pressing the [SLELCT] soft
key without entering an axis name results in no sampling
axis being set.
3
If the sampling axes are changed during data sampling,
data sampling is stopped. In this case, press the [START]
soft key to restart data sampling for the new sampling axes.
4
Initially, no sampling axis is set.
D Storage data parameters
(1) Storage stop condition
100: Stops data storage upon the issue of a servo alarm.
101: Stops data storage upon the issue of a servo alarm or the
detection of the rising edge of the trigger signal.
102: Stops data storage upon the issue of a servo alarm or the
detection of the falling edge of the trigger signal.
The maximum stored data width is 32760 ms. If the storage stop
condition is not satisfied within 32760 ms, data is overwritten, starting
with the oldest data.
Parameter No. 3120 can be used to delay data storage being stopped
by a specified period (ms), after the issue of a servo alarm.
(2) Trigger: Set the PMC address and bit for the signal used to trigger the
stopping of data storage, when 101 or 102 is set for the stop condition.
Example) G0007.2: ST signal
(3) Data type: The following table lists the types of data for which a
waveform can be displayed.
Data type
Description
Units
POS ERROR
Servo error (8 ms) for the n-th axis
Pulses
(detection units)
MOTION CMD
Pulse distribution for the n-th axis
Pulses
(input increments)
CURRENT (%)
Torque for the n-th axis
% (relative to maxi-
mum current)
SPEED (RPM)
Actual speed for the n-th axis
RPM
TORQUE CMD
Command current for the n-th axis
% (relative to maxi-
mum current)
HEAT SIMLT
Thermal simulation data for the n-th axis
%
(OVC alarm ratio)
(4) Sampling axis: The axes along which data will be sampled are
displayed.
(5) Sampling period: The sampling period for each axis is displayed.
(6) Date of storage: While data is being sampled, MEMORY blinks in this
field. When data sampling stops, the date at that point appears in this
field.
77
1. DISPLAY AND OPERATION
B-63005EN/01
1.10.5
Waveform diagnosis data of servo alarm format can be output to an I/O
device, as follows:
Outputting Waveform
1) Select EDIT mode.
Diagnosis Data
(Storage Type)
2) Press the
SYSTEM
key, then display the WAVE DIAGNOS. (MEMORY)
screen.
3) Press the [W.MEM],
, [PUNCH], and [EXEC] soft keys, in this
order.
For details of input/output to/from the FANUC Floppy Cassette or FA
Card, see “Output to FANUC Floppy Cassette or FA Card,” below.
WAVE DIAGNOSE (MEMORY)
O1234 N12345
CONDIGION:
100
TRIGGER: G0123.4
DATA KINDS
SAMPLING AXIS
POS ERROR
XYZABCUV
MOTION CMD
XYZABCUV
CURRENT (%)
XYZABCUV
SPEED (RPM)
NONE
TORQUE CMD
NONE
HEAT SIMLT
XYZABCUV
SMPL TIME :
2.0SEC
DATE
: 97/01/13
12:15:00
EDIT **** *** ***
12:15:52
[SELECT] [
] [
] [
] [START]
[
] [
] [PUNCH] [
] [
]
Press
[
] [
] [
] [ CAN ] [ EXEC ]
Press
D Output to FANUC Floppy
Cassette or FA Card
1)
Select EDIT mode.
2)
Press the
SYSTEM
key, then display the WAVE DIAGNOS. (MEMORY)
screen.
3)
Open the write protect tab on the floppy disk or card.
4)
Press the [W.MEM],
, [PUNCH], and [EXEC] soft keys, in this
order.
The waveform diagnosis data is output to a file named WAVE
DIAGNOS, to which the number of the last file is assigned.
If a file named WAVE DIAGNOS already exists in the floppy disk or
on the card, P/S alarm 86 is issued. A floppy disk or card can contain
only one file for waveform diagnosis data. If the existing WAVE
DIAGNOS file contains unnecessary waveform diagnosis data of
servo alarm format, delete that file before attempting to output new
data. The procedure for deleting a file is described later.
78
B-63005EN/01
1. DISPLAY AND OPERATION
D Directory display
The directory in the cassette or card is displayed by means of the
following procedure:
1) Select EDIT mode.
2) Press the
PROG
function key to select the program screen.
3) Press the continuous menu key
, then press [FLOPPY].
4) Press page key
The directory is displayed.
D Deleting a file
A file stored on a cassette or card is deleted by means of the following
procedure:
1) Select EDIT mode.
2) Press the
PROG
function key to select the program screen.
3) Set the write protect switch on the cassette or card to enable writing.
4) Press [FLOPPY].
5) Press [DELETE].
6) Enter the file number, then press [F SET].
7) Press [EXEC].
The file corresponding to the specified file number is deleted. The
number of each file subsequent to the deleted file is decremented by
one.
79