FANUC Series 0i-MODEL C, Series 0i Mate-MODEL C. PARAMETER MANUAL (B-64120EN/01) - page 5
4.DESCRIPTION OF PARAMETERS
B-64120EN/01
+
DA
X CMR
Error counter
To velocity
Converter
-
Least command
control
increment
Feedback pulse
Reference
X DMR
Position detector
counter
Detection
unit
Fig.4.18 (a) CMR, DMR, and the Capacity of the Reference Counter
Set the magnification ratios of CMR and DMR so that the weight
of positive inputs to the error counter equals that of negative inputs.
Least command increment
Feedback pulse unit
= Detection unit =
CMR
DMR
The feedback pulse unit varies according to the type of detector.
The amount of travel per rotation of
the Pulsecoder
Feedback pulse unit =
The number of pulses per rotation of
the Pulsecoder (2000, 2500, or 3000)
As the size of the reference counter, specify the grid interval for the
reference position return in the grid method.
Grid interval
Size of the reference counter =
Detection unit
Grid interval =
The amount of travel per rotation of the Pulsecoder
The value set in the parameter is obtained as follows:
(1) When command multiplier is 1/2 to 1/27
1
Set value =
+100
(Command multiplier)
Valid data range:
102 to 127
(2) When command multiply is 1 to 48
Set value =
2 × command multiplier
Valid data range:
2 to 96
NOTE
When command multiplier is 1 to 48, the set value
must be determined so that an integer can be set
for command multiplier.
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B-64120EN/01
4.DESCRIPTION OF PARAMETERS
1821
Reference counter size for each axis
NOTE
When this parameter has been set, the power must
be turned off before operation is continued.
[Data type]
2-word axis
[Valid data range]
0 to 99999999
Set the size of the reference counter.
When an encoder with absolute address reference marks (linear scale
or rotary encoder) is to be used, set the interval of mark 1 on the
encoder with absolute address reference marks (linear scale or rotary
encoder).
NOTE
With a scale with the absolute address zero point
(detection circuit C), this parameter is used for the
normal purpose (for setting the reference counter
size for each axis).
1825
Servo loop gain for each axis
[Data type]
Word axis
[Unit of data]
0.01 s-1
[Valid data range]
1 to 9999
Set the loop gain for position control for each axis.
When the machine performs linear and circular interpolation (cutting),
the same value must be set for all axes. When the machine requires
positioning only, the values set for the axes may differ from one
another. As the loop gain increases, the response by position control is
improved. A too large loop gain, however, makes the servo system
unstable.
The relationship between the positioning deviation (the number of
pulses counted by the error counter) and the feedrate is expressed as
follows:
Feedrate
Positioning deviation =
60 × (loop gain)
Unit :
Positioning deviation
: mm, inches, or deg
Feedrate
: mm/min, inches/min, or deg/min
loop gain
: s-1
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4.DESCRIPTION OF PARAMETERS
B-64120EN/01
1826
In-position width for each axis
[Data type]
Word axis
[Unit of data]
Detection unit
[Valid data range]
0 to 32767
The in-position width is set for each axis.
When the deviation of the machine position from the specified
position (the absolute value of the positioning deviation) is smaller
than the in-position width, the machine is assumed to have reached the
specified position. (The machine is in the in-position state.)
1827
In-position width in cutting feed for each axis
[Data type]
Word axis
[Unit of data]
Detection unit
[Valid data range]
0 to 32767
Set an in-position width for each axis in cutting feed. This parameter
is valid when bit 4 (CCI) of parameter No.1801=1.
1828
Positioning deviation limit for each axis in movement
[Data type]
2-word axis
[Unit of data]
Detection unit
[Valid data range]
0 to 99999999
Set the positioning deviation limit in movement for each axis.
If the positioning deviation exceeds the positioning deviation
limit during movement, a servo alarm is generated, and operation is
stopped immediately (as in emergency stop).
Generally, set the positioning deviation for rapid traverse plus some
margin in this parameter.
1829
Positioning deviation limit for each axis in the stopped state
[Data type]
Word axis
[Unit of data]
Detection unit
[Valid data range]
0 to 32767
Set the positioning deviation limit in the stopped state for each axis.
If, in the stopped state, the positioning deviation exceeds the
positioning deviation limit set for stopped state, a servo alarm is
generated, and operation is stopped immediately (as in emergency
stop).
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B-64120EN/01
4.DESCRIPTION OF PARAMETERS
1830
Axis-by-axis positional deviation limit at servo-off time
[Data type]
2-word axis
[Unit of data]
Detection unit
[Valid data range]
0 to 99999999
This parameter is used to set a positional deviation limit at servo-off
time, on an axis-by-axis basis.
If the value specified with this parameter is exceeded at servo-off time,
a servo alarm (No.410) is issued to cause an immediate stop (same as
an emergency stop). Usually, set the same value as a positional
deviation at stop time (parameter No.1829).
NOTE
When this parameter is set to 0, no positional
deviation limit check is made at servo-off time.
1836
Servo error amount where reference position return is possible
[Data type]
Byte axis
[Unit of data]
Detection unit
[Valid data range]
0 to 127
This parameter sets a servo error used to enable reference position
return in manual reference position return.
In general, set this parameter to 0.
(When 0 is set, 128 is assumed as
the default.)
NOTE
When bit 0 (PLC01) of parameter No.2000 is set to
1, a value ten times greater than the value set in
this parameter is used to make the check.
Example
When the value 10 is set in this parameter, and bit
0 (PLC01) of parameter No.2000 is set to 1,
reference
1850
Grid shift and reference position shift for each axis
NOTE
When this parameter has been set, the power must
be turned off before operation is continued.
[Data type]
2-word axis
[Unit of data]
Detection unit
[Valid data range]
(1) 0 to 99999999 (for reference shift position)
(2) Reference counter size or less (for grid shift)
To shift the reference position, set the amount of grid shift or
reference position shift for each axis. Up to the maximum value
counted by the reference counter can be specified as the grid shift.
In case of parameter SFD (No.1002#2) is 0: Grid shift
In case of parameter SFD (No.1002#2) is 1: Reference shift position
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4.DESCRIPTION OF PARAMETERS
B-64120EN/01
1851
Backlash compensating value for each axis
[Data type]
Word axis
[Unit of data]
Detection unit
[Valid data range]
-9999 to +9999
Set the backlash compensating value for each axis.
When the machine moves in a direction opposite to the reference
position return direction after the power is turned on, the first backlash
compensation is performed.
1852
Backlash compensating value used for rapid traverse for each axis
[Data type]
Word axis
[Unit of data]
Detection unit
[Valid data range]
-9999 to +9999
Set the backlash compensating value used in rapid traverse for each
axis.
This parameter is valid when RBK, #4 of parameter 1800, is set to 1.
More precise machining can be performed by changing the backlash
compensating value depending on the feedrate, the rapid traverse or
the cutting feed.
Let the measured backlash at cutting feed be A and the measured
backlash at rapid traverse be B. The backlash compensating value is
shown below depending on the change of feedrate (cutting feed or
rapid traverse) and the change of the direction of movement.
Table 4.18 Backlash Compensating Value
Change of feedrate
Cutting feed
Rapid
Rapid
Cutting feed
to cutting
traverse to
traverse to
to rapid
Change of direction of movement
feed
rapid traverse
cutting feed
traverse
Same direction
0
0
±α
± (-α)
Opposite direction
±A
±B
±B (B+α)
±B (B+α)
α = (A-B)/2
The positive or negative direction for compensating values is the
direction of movement.
Stopped during cutting feed
Stopped during rapid traverse
a
a
A
B
Assign the measured backlash at cutting feed (A) in parameter No.1851 and that at rapid traverse (B) in parameter No.1852.
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B-64120EN/01
4.DESCRIPTION OF PARAMETERS
NOTE
1 Jog feed is regarded as cutting feed.
2 The backlash compensation depending on a rapid
traverse and a cutting feed is not performed until
the first reference position return is completed after
the power is turned on. The normal backlash
compensation is performed according to the value
specified in parameter No.1851 irrespective of a
rapid traverse and a cutting feed.
3 The backlash compensation depending on a rapid
traverse and a cutting feed is performed only when
RBK, bit 4 of parameter No.1800, is set to 1. When
RBK is set to 0, the normal backlash is performed.
1867
Threshold for scale data conversion (common to all axes)
[Data type]
2-word
[Unit of data]
Increment system
IS-A
IS-B
IS-C
Unit
Rotation axis
0.01
0.001
0.0001
deg
[Valid data range]
0 to 99999999
If scale data is greater than the setting of this parameter, data for one
turn is subtracted from the scale data so that continuous scale data is
obtained within the movable range. The threshold to be set must be
the scale data of a position outside the movable range (an angle from a
discontinuous point). This parameter is common to all axes. If a
non-zero value is set in parameter No. 1868 for an axis, this parameter
is invalid for that axis.
NOTE
1 When this parameter has been set, the power must
be turned off before operation is continued.
2 This parameter is valid only for axes for which bit 3
(SCR) of parameter No. 1817 is set to 1.
3 When you have changed this parameter, establish
the reference position again.
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4.DESCRIPTION OF PARAMETERS
B-64120EN/01
1868
Threshold for scale data conversion (for each axis)
[Data type]
2-word axis
[Unit of data]
Increment system
IS-A
IS-B
IS-C
Unit
Rotation axis
0.01
0.001
0.0001
deg
[Valid data range]
0 to 99999999
If scale data is greater than the setting of this parameter, data for one
turn is subtracted from the scale data so that continuous scale data is
obtained within the movable range. The threshold to be set must be
the scale data of a position outside the movable range (an angle from a
discontinuous point). For axes for which this parameter is set to 0, the
parameter common to all axes (parameter No. 1867) becomes valid.
NOTE
1 When this parameter has been set, the power must
be turned off before operation is continued.
2 This parameter is valid only for axes for which bit 3
(SCR) of parameter No. 1817 is set to 1.
3 When you have changed this parameter, establish
the reference position again.
1874
Number of the conversion coefficient for inductosyn position detection
1875
Denominator of the conversion coefficient for inductosyn position detection
NOTE
When this parameter has been set, the power must
be turned off before operation is continued.
[Data type]
Word axis
[Valid data range]
1 to 32767
Set a conversion coefficient for inductosyn position detection for each
axis. The value set is determined as follows:
No. 1874
Number of position feedback pulses per motor revolution
=
No. 1875
1,000,000
1876
One-pitch interval of the inductosyn
NOTE
When this parameter has been set, the power must
be turned off before operation is continued.
[Data type]
Word axis
[Unit of data]
Detection unit
[Valid data range]
1 to 32767
Set a one-pitch interval of the inductosyn for each axis.
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B-64120EN/01
4.DESCRIPTION OF PARAMETERS
SUPPLEMENTAL REMARK
To use an absolute-position detector using Inductosyn,
set the following digital servo parameters as well:
Bit 4 (INDx) of parameter No. 2015
The absolute-position detect function by
Inductosyn is:
0 : Disabled.
1 : Enabled.
Parameter No. 2141 Inductosyn data acquisition time
Set a time requirement for acquiring the Inductosyn
data. If the setting is 0, 20 ms is assumed. (For the
setting, contact the scale manufacturer.)
1880
Unexpected disturbance torque detection alarm timer
[Data type]
Word
[Unit of data]
ms
[Valid data range]
0 to 32767 (200 msec is assumed when 0 is set)
This parameter sets the time from the detection of an unexpected
disturbance torque until a servo alarm is issued. The specified value is
rounded up to the nearest integral multiple of 8 msec.
[Example]
When 30 is specified, the value is rounded up to 32 (msec).
1881
Group number when an unexpected disturbance torque is detected
[Data type]
Byte axis
[Valid data range]
0 to 4
This parameter sets the group number of each axis, used when an
unexpected disturbance torque is detected.
If an unexpected disturbance torque is detected for an axis, only the
movement along the axes of the group containing the axis with the
unexpected disturbance torque is stopped. If 0 is set for an axis,
movement along that axis is stopped whenever an unexpected
disturbance torque is detected for any axis.
[Example]
Assume that the following settings have been made. If an
unexpected disturbance torque is detected for the first axis,
movement along the first, third, and fourth axes is stopped. If an
unexpected disturbance torque is detected for the second axis,
movement along the second and fourth axes is stopped.
Parameter No.1881
Setting
(First axis)
1
(Second axis)
2
(Third axis)
1
(Fourth axis)
0
NOTE
This parameter is enabled when the ANA
parameter (bit 5 of parameter No.1804) is 1.
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4.DESCRIPTION OF PARAMETERS
B-64120EN/01
1882
Interval of mark 2 on encoder with absolute address reference marks
[Data type]
2-word axis
[Unit of data]
Detection unit
[Valid data range]
0 to 99999999
This parameter sets the interval of mark
2 on the encoder with
absolute address reference marks (linear scale or rotary encoder).
NOTE
For an encoder with the absolute address zero
point (linear scale or rotary encoder) (detection
circuit C), the setting of this parameter is invalid.
Distance 1 from the mark zero point of an encoder with absolute address
1883
reference marks or encoder with the absolute address zero point (detection
circuit C) to the reference position
NOTE
When this parameter has been set, the power must
be turned off before operation is continued.
[Data type]
2-word axis
[Unit of data]
Detection unit
[Valid data range]
-99999999 to 99999999
Distance 2 from the mark zero point of an encoder with absolute address
reference marks or encoder with the absolute address zero point (detection
1884
circuit C) to the reference position
NOTE
1 When this parameter has been set, the power must
be turned off before operation is continued.
2 When an encoder with the absolute address zero
point (linear scale or rotary encoder) (detection
circuit C) is used, specifying a value beyond the
valid data range in this parameter can cause P/S
5325 to be issued during the establishment of the
reference position.
[Data type]
Word axis
[Unit of data]
Detection unit × 100,000,000
[Valid data range]
-20 to 20
This parameter is used when the distance from the zero point of an
encoder to the reference position exceeds the setting range of
parameter No. 1883.
With parameter Nos.1883 and 1884, set the distance from the zero
point of the encoder with absolute address reference marks (linear
scale or rotary encoder) or encoder with the absolute address zero
point
(linear scale or rotary encoder)
(detection circuit C) to the
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B-64120EN/01
4.DESCRIPTION OF PARAMETERS
reference position. The distance from the zero point of the encoder to
the reference position is obtained from the following equation:
Distance from the zero point of the encoder to the reference position
＝No.1884×100,000,000＋No.1883
The zero point of the encoder refers to the point at which mark 1 and
mark 2 match. Normally, this point is a hypothetical point that does
not physically exist on the encoder. (See the figure below.)
If the reference position is located on the positive side when viewed
from the zero point of the encoder, set a positive value. If the
reference position is located on the negative side when viewed from
the zero point of the encoder, set a negative value.
Reference position
Zero point of encoder
Encoder end
Mark 1 Mark 2
Mark 1 Mark 2
Mark 1 = mark 2
……..
8.0
42.0
8.2
41.8
PRM.1821
PRM.1882
PRM.1884 × 100,000,000 + PRM.1883
[Example of parameter settings] When an encoder as shown below is used with an IS-B,
millimeter machine:
Zero point of encoder
+ direction
Reference position
- direction
A
B
Mark 1 = mark 2 Mark 1 Mark 2
Mark 1
Mark 1
Mark 2
Mark 1
Mark 2
Mark 1 Mark 2 Mark 1
20.000
19.980
9.940
10.060
9.960
10.040
9.980
10.020
5.000
20.000mm
-[9960/(20020-20000)*20000+5000] = -9965000
20.020mm
Parameters
No.1821 (interval of mark 1)
= 20000
No.1882 (interval of mark 2)
= 20020
No.1883 (reference position)
= position of point A + 5.000
= distance between A and B/(mark 2 − mark 1) × mark 1 + 5000
= 9960/(20020-20000) × 20000 + 5000
= 9965000
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4.DESCRIPTION OF PARAMETERS
B-64120EN/01
-9965000 (the reference position is on the negative side)
[Setting parameter No. 1883]
(For an encoder with absolute address reference marks (linear scale or
rotary encoder))
If it is difficult to measure the distance from the zero point of the
encoder to the reference position (parameter No. 1883), the distance
can be obtained by following the steps below:
1
Set the following parameters to use the encoder with absolute address
reference marks (linear scale or rotary encoder):
OPTx(No.1815#1)=1,DCLx(No.1815#2)=1,DCRx(No.1815#3)=0/1
Set appropriate values in parameter Nos. 1821 and 1882.
Set parameter No. 1240 to 0.
Set parameter Nos.1883 and 1884 to 0.
2
Establish the reference position at an appropriate position.
(As a result of this, the machine coordinate value shows the distance
from the zero point of the encoder to the current position.)
3
Perform a jog feed or handle feed to position the machine at the
accurate reference position.
4
In parameter No. 1883, set the result of the conversion of the machine
coordinate value observed at this point of time (diagnosis screen No.
301) into the detection unit (by multiplying the value on diagnosis
screen No. 301 by CMR).
5
If necessary, set parameter No. 1240.
NOTE
This method does not apply if the distance from the
zero point of the encoder to the reference position
exceeds 99,999,999.
[Setting parameter No. 1883]
(For an encoder with the absolute address zero point (linear scale or
rotary encoder) (detection circuit C))
The value to be set can be obtained by following the steps below.
1
Set bit 1 (OPTx) of parameter No. 1815 to 0 or 1, and bit 2 (DCLx) of
parameter No. 1815 to 1 to use the encoder with the absolute address
zero point (linear scale or rotary encoder) (detection circuit C).
Set parameter No. 1240 to 0.
Set parameter Nos. 1883 and 1884 to 0.
2
Establish the reference position at an appropriate position.
(As a result of this, the machine coordinate value shows the distance
from the zero point of the encoder to the current position.)
3
Perform a jog feed or handle feed to position the machine at the
accurate reference position.
4
In parameter No. 1883, set the result of the conversion of the machine
coordinate value observed at this point of time (diagnostic screen No.
301) into the detection unit (multilication of the value on diagnostic
screen No. 301 by CMR).
5
If necessary, set parameter No. 1240.
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B-64120EN/01
4.DESCRIPTION OF PARAMETERS
NOTE
This method does not apply if the distance from the
zero point of the encoder to the reference position
exceeds 99,999,999.
1885
Maximum allowable value for total travel during torque control
[Data type]
Word axis
[Unit of data]
Detection unit
[Valid data range]
0 to 32767
This parameter sets the maximum allowable value for the total travel
(error counter value) for an axis placed under torque control, as
specified by the axis control command of the PMC axis control
function. If the total travel exceeds the parameter-set value while
torque control is applied, a servo alarm (No.423) is generated.
NOTE
This parameter is enabled when the TQF
parameter (bit 4 of parameter No.1803) is 0
(follow-up is not performed during torque control).
1886
Positional deviation when torque control is canceled
[Data type]
Word axis
[Unit of data]
Detection unit
[Valid data range]
0 to 32767
This parameter sets the positional deviation used when torque control,
performed for an axis according to the axis control command of the
PMC axis control function, is canceled and position control is
resumed. After the positional deviation has fallen to the parameter-set
value, switching to position control is performed.
NOTE
This parameter is enabled when the TQF
parameter (bit 4 of parameter No.1803) is 0
(follow-up is not performed during torque control).
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4.DESCRIPTION OF PARAMETERS
B-64120EN/01
1895
Servo motor axis number used for a milling tool
[Data type]
Byte
[Valid data range]
1, 2, 3, ..., number of controlled axes
This parameter sets the servo motor axis number used for displaying
the speed of a milling tool that incorporates a servo motor.
1896
Number of gear teeth on the servo motor axis side
[Data type]
Word
[Valid data range]
1 to 9999
This parameter sets the number of servo motor axis gear teeth used for
displaying the speed of a milling tool that incorporates a servo motor.
1897
Number of gear teeth on the milling axis side
[Data type]
Word
[Valid data range]
1 to 9999
This parameter sets the number of milling axis gear teeth used for
displaying the speed of a milling tool that incorporates a servo motor.
#7
#6
#5
#4
#3
#2
#1
#0
1901
RFD
[Data type]
Bit
RFD
In jog feed mode, the fine acceleration/deceleration function and
feed-forward function are:
0 : Disabled.
1 : Enabled.
NOTE
1 The axis operating under PMC axis control are not
affected by this parameter. For such an axis, the
settings for PMC axis control are followed. To
enable the fine acceleration/deceleration function
and feed-forward function in PMC axis control,
advanced preview control for the PMC-controlled
axis must be enabled. (See the descriptions of bit 3
(G8C) of parameter No. 8004 and bit 4 (G8R) of
parameter No. 8004.)
2 Note that when the abnormal load detection
function for cutting and rapid traverse is used,
setting this parameter changes the threshold value
(0: Threshold value for rapid traverse,
1: Threshold value for cutting feed).
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B-64120EN/01
4.DESCRIPTION OF PARAMETERS
#7
#6
#5
#4
#3
#2
#1
#0
1902
ASE
FMD
NOTE
When this parameter has been set, the power must
be turned off before operation is continued.
WARNING
Be sure to set bits 5 and 7 of parameter No. 1902
to 0. If 1 is set, the safety function may not work
properly.
[Data type]
Bit
FMD
The FSSB setting mode is:
0 : Automatic setting mode.
(When information including an axis-amplifier relationship is set
on the FSSB setting screen, parameter Nos. 1023, 1905, 1910
through 1919, 1936, and 1937 are set automatically.)
1 : Manual setting 2 mode.
(Set parameter Nos. 1023, 1905, 1910 through 1919, 1936, and
1937 manually.)
ASE
When automatic setting mode is selected for FSSB setting (when the
FMD parameter (bit 0 of parameter No.1902) is set to 0), automatic
setting is:
0 : Not completed.
1 : Completed.
(This bit is automatically set to
1 upon the completion of
automatic setting.)
#7
#6
#5
#4
#3
#2
#1
#0
1904
DSPx
NOTE
When this parameter has been set, the power must
be turned off before operation is continued.
[Data type]
Bit axis
DSPx
0 : Two axes use one DSP. (Ordinary axes)
1 : One axis uses one DSP exclusively.
NOTE
Parameter No.1904 is set on the FSSB setting
screen. So, parameter No.1904 should not have to
be specified directly. This parameter need not be
set in FSSB manual setting 2 mode.
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4.DESCRIPTION OF PARAMETERS
B-64120EN/01
#7
#6
#5
#4
#3
#2
#1
#0
1905
PM2x
PM1x
FSLx
NOTE
When this parameter has been set, the power must
be turned off before operation is continued.
[Data type]
Bit axis
FSLx
The type of interface used between the servo amplifier and servo
software is:
0 : Fast type.
1 : Slow type.
The user can choose between two interface types for servo data
transfer: fast type or slow type. Set this parameter so that the
following conditions are satisfied:
•
When a one-axis amplifier is used, either the fast type or slow
type interface can be used.
•
When a two-axis amplifier is used, the use of the fast type for
both axes is not allowed. The slow type can be used for both
axes.
•
When a three-axis amplifier is used, the requirement for a
two-axes amplifier described above applies to the first and
second axes, and the requirement for a one-axis amplifier, again
described above, applies to the third axis.
•
When an odd number is specified for parameter No.1023, the fast
type interface must be used. However, the slow type may be used
for high-speed current loop axis and high-speed interface axis.
•
When an even number is specified for parameter No.1023, only
the slow type interface can be used. (The FSL bit must always be
set to 1.)
CNC
Controlled
Program
Servo axis
Interface
axis
axis name
number
type
number
No.1020
No.1023
Fast/Slow
1
X
1
F
2
Y
2
F
2-axis
X (Fast)
3
Z
3
S
amplifier
A (Slow)
4
A
4
S
1-axis
Y (Fast)
amplifier
Z (Slow)
1-axis
amplifier
PM1x
The first separate detector interface unit is:
0 : Not used.
1 : Used.
PM2x
The second separate detector interface unit is:
0 : Not used.
1 : Used.
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B-64120EN/01
4.DESCRIPTION OF PARAMETERS
NOTE
When automatic setting mode is selected for FSSB
setting (when the FMD parameter (bit 0 of
parameter No.1902) is set to 0), parameter
No.1905 is automatically set when input is
performed with the FSSB setting screen. When
manual setting 2 mode is selected for FSSB setting
(when the FMD parameter (bit 0 of parameter
No.1902) is set to 1), parameter No.1905 must be
set directly. When a separate detector interface
unit is used, a connector number must be set in the
corresponding parameter (No.1936 or No.1937).
1910
Address conversion table value for slave 1 (ATR)
1911
Address conversion table value for slave 2 (ATR)
1912
Address conversion table value for slave 3 (ATR)
1913
Address conversion table value for slave 4 (ATR)
1914
Address conversion table value for slave 5 (ATR)
1915
Address conversion table value for slave 6 (ATR)
1916
Address conversion table value for slave 7 (ATR)
1917
Address conversion table value for slave 8 (ATR)
1918
Address conversion table value for slave 9 (ATR)
1919
Address conversion table value for slave 10 (ATR)
NOTE
After these parameters have been set, the power
must be turned off then back on for the settings to
become effective.
[Data type]
Byte
[Valid data range]
0 to 3, 16, 40, 48
These parameters set address conversion table values for slaves 1 to
10.
A slave is the generic name given to a device such as a servo
amplifier or separate detector interface unit, connected to the CNC via
an FSSB optical cable. Smaller numbers, starting from 1 are assigned
to slaves closer to the CNC; the maximum number that can be
assigned is 10. A two-axis amplifier has two slaves, while a three-axis
amplifier has three slaves. Set each parameter as described below,
- 127 -
4.DESCRIPTION OF PARAMETERS
B-64120EN/01
depending on whether the slave is an amplifier or separate detector
interface unit, or when no slave exists.
•
When the slave is an amplifier:
Set the value obtained by subtracting
1 from the setting of
parameter No.1023 for the axis to which the amplifier is
assigned.
•
When the slave is a separate detector interface unit:
Set 16 for the first separate detector interface unit (closest to the
CNC).
Set 48 for the second separate detector interface unit (furthest
from the CNC).
•
When no slave exists
Set 40.
NOTE
When automatic setting mode is selected for FSSB
setting (when the FMD parameter (bit 0 of
parameter No.1902) is set to 0), parameters
No.1910 to No.1919 are automatically set when
input is performed with the FSSB setting screen.
When manual setting 2 mode is selected for FSSB
setting (when the FMD parameter (bit 0 of
parameter No.1902) is set to 1), parameter
No.1910 to No.1919 must be directly set.
- 128 -
B-64120EN/01
4.DESCRIPTION OF PARAMETERS
•
Examples of axis configurations and parameter settings
CNC
Controlled
Program
Servo axis
Slave
ATR
axis
axis name
number
number
No.1910
Axis
number
No.1020
No.1023
to 1919
1
X
1
2
Y
3
1-axis
3
Z
4
1
0
X
amplifier
4
A
2
2-axis
2
1
A
amplifier
3
2
Y
M1
4
1
(M1)
1-axis
5
3
Z
amplifier
6
48
(M2)
M2
7
40
((None)
8
40
((None)
9
40
((None)
10
40
((None)
CNC
Controlled
Program
Servo axis
Slave
ATR
axis
axis
number
number
No.1910
Axis
number
name
No.1023
to 1919
1
X
1
2
Y
3
1-axis
1
0
X
3
Z
4
amplifier
4
A
2
2-axis
2
2
Y
amplifier
3
3
Z
1-axis
4
1
A
amplifier
M1
5
16
(M1)
6
48
(M2)
M2
7
40
((None)
8
40
((None)
9
40
((None)
10
40
((None)
M1/M2: First separate detector interface unit/second separate detector interface unit
1920
Controlled axis number for slave 1 (dedicated to the FSSB setting screen)
1921
Controlled axis number for slave 2 (dedicated to the FSSB setting screen)
1922
Controlled axis number for slave 3 (dedicated to the FSSB setting screen)
1923
Controlled axis number for slave 4 (dedicated to the FSSB setting screen)
1924
Controlled axis number for slave 5 (dedicated to the FSSB setting screen)
- 129 -
4.DESCRIPTION OF PARAMETERS
B-64120EN/01
1925
Controlled axis number for slave 6 (dedicated to the FSSB setting screen)
1926
Controlled axis number for slave 7 (dedicated to the FSSB setting screen)
1927
Controlled axis number for slave 8 (dedicated to the FSSB setting screen)
1928
Controlled axis number for slave 9 (dedicated to the FSSB setting screen)
1929
Controlled axis number for slave 10 (dedicated to the FSSB setting screen)
NOTE
After these parameters have been set, the power
must be turned off then back on for the settings to
become effective.
[Data type]
Byte
[Valid data range]
0 to 3
These parameters are used to set the controlled axis numbers for
slaves 1 to 10.
NOTE
These parameters are set using the FSSB setting
screen. So, these parameters should not normally
have to be specified directly. These parameters
need not be set in FSSB manual setting mode.
Connector number for the first separate detector interface unit (dedicated to
1931
the FSSB setting screen)
Connector number for the second separate detector interface unit (dedicated
1932
to the FSSB setting screen)
NOTE
After these parameters have been set, the power
must be turned off then back on for the settings to
become effective.
[Data type] Byte axis
[Valid data range]
0 to number of connectors provided on each separate detector
interface unit
When a separate detector interface unit is used, these parameters set a
separate detector interface unit connector number for each axis.
NOTE
These parameters are set using the FSSB setting
screen. So, these parameters should not normally
have to be specified directly. These parameters
need not be set in FSSB manual setting 2 mode.
- 130 -
B-64120EN/01
4.DESCRIPTION OF PARAMETERS
1933
Cs contour control axis (dedicated to the FSSB setting screen)
NOTE
When this parameter has been set, the power must
be turned off before operation is continued.
[Data type]
Byte axis
[Valid data range]
0, 1
When Cs contour control is to be applied for an axis, this parameter
must be set to 1 for that axis.
NOTE
This parameter is set using the FSSB setting
screen. So, this parameter should not normally
have to be specified directly. This parameter need
not be set in FSSB manual setting 2 mode.
Master and slave axis numbers subject to tandem control (dedicated to the
1934
FSSB setting screen)
NOTE
When this parameter has been set, the power must
be turned off before operation is continued.
[Data type]
Byte axis
[Valid data range]
0 to 3
This parameter is used to set an odd number, and the subsequent even
number, for a master axis and slave axis subject to tandem control,
respectively.
NOTE
This parameter is set using the FSSB setting
screen. So, this parameter should not normally
have to be specified directly. This parameter need
not be set in FSSB manual setting 2 mode.
- 131 -
4.DESCRIPTION OF PARAMETERS
B-64120EN/01
1936
Connector number of the first separate detector interface unit
1937
Connector number of the second separate detector interface unit
NOTE
After these parameters have been set, the power
must be turned off then back on for the settings to
become effective.
[Data type]
Byte axis
[Valid data range]
0 to 7
When a separate detector interface unit is used, each of these
parameters sets the value obtained by subtracting 1 from a separate
detector interface unit connector number for each axis. That is, values
of 0 through 7 are set for connector numbers 1 through 8. In addition,
bits 6 and 7 of parameter No.1905 must be set. For an axis that does
not use a separate detector interface unit, 0 must be set.
Any connector can be used for any axis, however the connectors in a
single separate detector interface unit should be used in ascending
order
of connector number. For instance, connector 4 of a separate detector
interface unit cannot be used without using connector 3 of the same
separate detector interface unit.
Example
Connector
Connector
number for the
number for the
Controlled
No.1905
first separate
second separate
No.1936
No.1937
axis
(#7, #6)
detector
detector
interface unit
interface unit
X
1
Not used
0
0
0, 1
Y
Not used
2
0
1
1, 0
Z
Not used
1
0
0
1, 0
A
Not used
Not used
0
0
0, 0
NOTE
When automatic setting mode is selected for FSSB
setting (when bit 0 of parameter No.1902 is set to
0), these parameters are automatically set when
input is performed with the FSSB setting screen.
When manual setting 2 mode is selected for FSSB
setting (when bit 0 of parameter No.1902 is set to
1), these parameters must be set directly.
- 132 -
B-64120EN/01
4.DESCRIPTION OF PARAMETERS
Parameters No.2000 to 2999 are for digital servo, The following
parameters are not explained in this manual. Refer to FANUC AC
SERVO MOTOR αi series PARAMETER MANUAL (B-65270EN)
No.
Data type
Contents
2000
Bit axis
PGEX
PRMC
DGPR
PLC0
2001
Bit axis
AMR7
AMR6
AMR5
AMR4
AMR3
AMR2
AMR1
AMR0
2002
Bit axis
PFSE
2003
Bit axis
V0FS
OVSC
BLEN
NPSP
PIEN
OBEN
TGAL
2004
Bit axis
TRW1
TRW0
TIB0
TIA0
2005
Bit axis
SFCM
BRKC
FEED
2006
Bit axis
ACCF
PKVE
FCBL
2007
Bit axis
FRCA
FAD
IGVRO
ESP2AX
2008
Bit axis
LAXD
PFBS
VCTM
SPPC
SPPR
VFBA
TNDM
2009
Bit axis
BLST
BLCU
ADBL
SERD
2010
Bit axis
POLE
HBBL
HBPE
BLTE
LINE
2011
Bit axis
RCCL
FFALWY
SYNMOD
2012
Bit axis
STNG
VCM2
VCM1
MSFE
2013
Bit axis
APTG
HRV3
2014
Bit axis
(Reserve)
2015
Bit axis
BZNG
BLAT
TDOU
SSG1
PGTW
2016
Bit axis
K2VC
ABNT
2017
Bit axis
PK25
OVCR
RISC
HTNG
DBST
2018
Bit axis
PFBC
OVR8
MOVO
REVS
2019
Bit axis
DPFB
TANDMP
2020
Word axis
Motor number
2021
Word axis
Load inertia ratio
2022
Word axis
Direction of motor rotation
2023
Word axis
Number of velocity pulses
2024
Word axis
Number of position pulses
2028
Word axis
Position gain switching speed
2029
Word axis
Effective speed for integral acceleration at low speed
2030
Word axis
Effective speed for integral deceleration at low speed
2033
Word axis
Position feedback pulse
2034
Word axis
Damping control gain
2039
Word axis
Second-stage acceleration for two-stage backlash acceleration
2040
Word axis
Current loop integral gain (PK1)
2041
Word axis
Current loop proportional gain (PK2)
2042
Word axis
Current loop gain (PK3)
2043
Word axis
Velocity loop integral gain (PK1V)
2044
Word axis
Velocity loop proportional gain (PK2V)
2045
Word axis
Velocity loop incomplete integral gain (PK3V)
2046
Word axis
Velocity loop gain (PK4V)
2047
Word axis
Observer parameter (POA1)
2048
Word axis
Backlash acceleration
2049
Word axis
Maximum amplitude for dual position feedback
2050
Word axis
Observer parameter (POK1)
2051
Word axis
Observer parameter (POK2)
2053
Word axis
Current dead zone compensation (PPMAX)
2054
Word axis
Current dead zone compensation (PDDP)
2055
Word axis
Current dead zone compensation (PHYST)
2056
Word axis
Current gain change during deceleration (EMFCMP)
2057
Word axis
D phase current at high-speed operation (PVPA)
- 133 -
4.DESCRIPTION OF PARAMETERS
B-64120EN/01
No.
Data type
Contents
2058
Word axis
Ｄ phase current limit (PALPH)
2059
Word axis
Counter electromotive force compensation (EMFBAS)
2060
Word axis
Torque limit
2062
Word axis
Overload protection coefficient (OVC1)
2063
Word axis
Overload protection coefficient (OVC2)
2064
Word axis
Soft disconnection alarm level
2065
Word axis
Overload protection coefficient (OCVLMT)
2066
Word axis
Acceleration feedback gain
2067
Word axis
Torque command filter
2068
Word axis
Feed forward coefficient
2069
Word axis
Velocity feed forward coefficient
2070
Word axis
Backlash acceleration timing
2071
Word axis
Backlash acceleration effective duration, time during which the static friction
compensation function is enabled
2072
Word axis
Static friction compensation
2073
Word axis
Stop judgment parameter
2074
Word axis
Velocity-dependent current loop gain
2077
Word axis
Overshoot prevention counter
2078
Word axis
Conversion coefficient for dual position feedback (numerator)
2079
Word axis
Conversion coefficient for dual position feedback (denominator)
2080
Word axis
First-order lag time constant for dual position feedback
2081
Word axis
Zero width for dual position feedback
2082
Word axis
Backlash acceleration stop amount
2083
Word axis
Brake control timer (ms)
2084
Word axis
Flexible feed gear (numerator)
2085
Word axis
Flexible feed gear (denominator)
2086
Word axis
Rated current parameter
2087
Word axis
Torque offset /pre-loaded value in tandem control
2088
Word axis
Machine velocity feedback coefficient gain
2089
Word axis
Backlash acceleration base pulse
2091
Word axis
Non-linear control parameter
2092
Word axis
Look-ahead feed forward coefficient
2094
Word axis
Backlash acceleration in negative direction
2095
Word axis
Feed-forward timing adjustment coefficient
2097
Word axis
Static friction compensation stop parameter
2098
Word axis
Current phase lead compensation coefficient
2099
Word axis
N-pulse suppression level
2101
Word axis
Overshoot compensation effective level
2102
Word axis
Final clamp value for actual current limit
2103
Word axis
Amount of track back upon detection of unexpected disturbance torque
2104
Word axis
Abnormal load detection alarm level during cutting (for cutting when switch function is
used)
2105
Word axis
Torque constant
2107
Word axis
Velocity loop gain override
2109
Word axis
Fine acceleration/deceleration time constant (for cutting when switch function is used)
2110
Word axis
Magnetic saturation compensation (base/coefficient)
2111
Word axis
Deceleration torque limit (base/coefficient)
2112
Word axis
AMR conversion coefficient 1
2113
Word axis
Attenuation center frequency (Hz) of vibration-damping filter 1
2114
Word axis
Stage 2 acceleration amount override for two-stage backlash acceleration
2116
Word axis
Abnormal load detection, dynamic friction compensation value
2118
Word axis
Excessive error level between semi-closed and closed loops
2119
Word axis
Stop level with variable proportional gain
- 134 -
B-64120EN/01
4.DESCRIPTION OF PARAMETERS
No.
Data type
Contents
2126
Word axis
Tandem control , time constant for switching position feedback
2127
Word axis
Non-interacting control coefficient
2128
Word axis
Weak magnetic flux compensation (coefficient)
2129
Word axis
Weak magnetic flux compensation (base/limit)
2130
Word axis
Two smooth compensation operations per magnetic pole pair
2131
Word axis
Four smooth compensation operations per magnetic pole pair
2132
Word axis
Six smooth compensation operations per magnetic pole pair
2133
Word axis
Deceleration phase delay compensation coefficient (PHDLY1)
2134
Word axis
Deceleration phase delay compensation coefficient (PHDLY2)
2137
Word axis
Stage 1 acceleration amount override for two-stage backlash acceleration
2138
Word axis
Linear motor AMR conversion coefficient 2
2139
Word axis
Linear motor AMR offset
2142
Word axis
Threshold for detecting abnormal load during rapid traverse
2143
Word axis
Fine acceleration/deceleration time constant 2 (at cutting)
2144
Word axis
Position feed forward coefficient for cutting
2145
Word axis
Velocity feed forward coefficient for cutting
2146
Word axis
Two-stage backlash acceleration end timer
2148
Word axis
Deceleration decision level (HRV control)
2154
Word axis
Static friction compensation function. Decision level for movement restart after stop.
2156
Word axis
Torque command filter (at rapid cutting)
2161
Word axis
OVC magnification at stop (OVCSTP)
2162
Word axis
Second overload protection coefficient (POVC21)
2163
Word axis
Second overload protection coefficient (POVC22)
2164
Word axis
Second overload protection coefficient (POVCLMT2)
2165
Word axis
Maximum amplifier current
2167
Word axis
Stage 2 acceleration amount offset for two-stage backlash acceleration
2177
Word axis
Attenuation band width (Hz) of vibration-damping filter 1
2180
Word axis
Phase lag compensation in linear motor smooth compensation
2185
Word axis
Position pulse conversion coefficient
2200
Bit axis
P2EX
RISCMC
ABGO
IQOB
OVSP
2201
Bit axis
CPEE
RNVL
CROF
2202
Bit axis
DUAL
OVS1
PIAL
VGCG
FADCH
2203
Bit axis
TCMD4X
FRC2
CRPI
2204
Bit axis
DBS2
PGW2
HSTP10
2205
Bit axis
HDIS
HD2O
FLDY
2206
Bit axis
HSSR
HBSF
2207
Bit axis
PK2D50
2209
Bit axis
PGAT
FADPGC
FADL
2210
Bit axis
ESPTM1
ESPTM2
PK12S2
2211
Bit axis
PHCP
2212
Bit axis
OVQK
OVQK
2214
Bit axis
FFCHG
2215
Bit axis
ABT2
TCPCLR
2223
Bit axis
BLCUT2
DISOBS
2225
Bit axis
TSA05
TCMD05
2270
Bit axis
DSTIN
DSTTAN
DSTWA
ACREF
AMR60
V
2271
Bit axis
RETR2
2273
Bit axis
WSVCPY
2274
Bit axis
HP2048
2275
Bit axis
800PLS
2318
Word axis
Disturbance filter gain
- 135 -
4.DESCRIPTION OF PARAMETERS
B-64120EN/01
No.
Data type
Contents
2319
Word axis
Inertial ratio of disturbance filter
2320
Word axis
Inverse function gain of disturbance filter
2321
Word axis
Filter time constant of disturbance filter
2322
Word axis
Acceleration feedback limit of disturbance filter
2323
Word axis
Variable current PI ratio
2324
Word axis
Proportional gain change function at stop Any magnification at stop (for cutting only)
2325
Word axis
Tandem vibration-damping control/integral gain (main axis) Phase coefficient (sub-axis)
2326
Word axis
Disturbance input gain
2327
Word axis
Starting frequency of disturbance input
2328
Word axis
Ending frequency of disturbance input
2329
Word axis
Number of disturbance input measurement points
2333
Word axis
Tandem vibration-damping control/incomplete integral time constant (main axis)
2334
Word axis
Current loop gain magnification (valid only during high-speed HRV current control)
2335
Word axis
Velocity loop gain magnification (valid only during high-speed HV current control)
2338
Word axis
Stage 2 acceleration limit amount for two-stage backlash acceleration
2339
Word axis
Stage 2 acceleration amount for two-stage backlash acceleration (negative direction)
2340
Word axis
Stage 2 acceleration amount override for two-stage backlash acceleration (negative
direction)
2341
Word axis
Stage 2 acceleration limit amount for two-stage backlash acceleration (negative direction)
2345
Word axis
Dynamic friction compensation amount at stop in abnormal load detection
2346
Word axis
Dynamic friction compensation limit in abnormal load detection
2352
Word axis
Detection level of active vibration-damping filter
2359
Word axis
Damping of vibration-damping filter 1
2360
Word axis
Attenuation center frequency of vibration-damping filter 2
2361
Word axis
Attenuation band width of vibration-damping filter 2
2362
Word axis
Damping of vibration-damping filter 2
2363
Word axis
Attenuation center frequency of vibration-damping filter 3
2364
Word axis
Attenuation band width of vibration-damping filter 3
2365
Word axis
Damping of vibration-damping filter 3
2366
Word axis
Attenuation center frequency of vibration-damping filter 4
2367
Word axis
Attenuation band width of vibration-damping filter 4
2368
Word axis
Damping of vibration-damping filter 4
2369
Word axis
Two smooth compensation operations per magnetic pole pair (negative direction)
2370
Word axis
Four smooth compensation operations per magnetic pole pair (negative direction)
2371
Word axis
Six smooth compensation operations per magnetic pole pair (negative direction)
2373
Word axis
Pull-up amount of vertical axis pull-up function at emergency stop
2374
Word axis
Pull-up time of vertical axis pull-up function at emergency stop
2395
Word axis
Feed-forward timing adjustment function (when FAD is enabled)
- 136 -
B-64120EN/01
4.DESCRIPTION OF PARAMETERS
4.16
PARAMETERS OF DI/DO
#7
#6
#5
#4
#3
#2
#1
#0
MHI
ZPO
RWM
3001
MHI
RWM
[Data type]
Bit
RWM
RWD signal indicating that rewinding is in progress
0 : Output only when the tape reader is being rewound by the reset
and rewind signal RRW
1 : Output when the tape reader is being rewound or a program in
memory is being rewound by the reset and rewind signal RRW
ZPO
The reference position return completion signal for G28 and G30 is:
0 : Output upon completion of the reference position return
operation.
1 : Output when the machine is positioned at the reference position
after the completion of the reference position return operation.
NOTE
If this parameter is set to 0, executing G28 or G30
outputs the reference position return completion
signal even when the reference position return
operation is performed in the machine lock state.
MHI
Exchange of strobe and completion signals for the M, S, T, and B
codes
0 : Normal
1 : High-speed
#7
#6
#5
#4
#3
#2
#1
#0
3002
IOV
[Data type]
Bit
IOV
For the feedrate override signal and rapid traverse override signal:
0 : Negative logic is used.
1 : Positive logic is used.
#7
#6
#5
#4
#3
#2
#1
#0
MVG
MVX
DEC
DAU
DIT
ITX
ITL
3003
MVX
DEC
DIT
ITX
ITL
[Data type]
Bit
ITL
Interlock signal
0 : Enabled
1 : Disabled
ITX
Interlock signals for each axis
0 : Enabled
1 : Disabled
- 137 -
4.DESCRIPTION OF PARAMETERS
B-64120EN/01
DIT
Interlock for each axis direction
0 : Enabled
1 : Disabled
DAU
If bit 3 (DIT) of parameter No. 3003 is set to 0, the interlock signal of
each axial direction is:
0 : Enabled only in manual operation and disabled in automatic
operation.
1 : Enabled in both manual operation and automatic operation.
DEC
Deceleration signal (*DEC1 to *DEC4) for reference position return
0 : Deceleration is applied when the signal is 0.
1 : Deceleration is applied when the signal is 1.
MVX
The axis-in-movement signal is set to 0 when:
0 : Distribution for the axis is completed. (The signal is set to 0 in
deceleration.)
1 : Deceleration of the axis is terminated, and the current position is
in the in-position.
If, however, a parameter specifies not to make in-position during
deceleration, the signal turns to "0" at the end of deceleration.
MVG
While drawing using the dynamic graphics function (with no machine
movement), the axis-in-movement signal is:
0 : Output
1 : Not output
NOTE
In case of M series the signal is not output.
#7
#6
#5
#4
#3
#2
#1
#0
3004
OTH
BCY
BSL
[Data type]
Bit
BSL
The block start interlock signal *BSL and cutting block start interlock
signal *CSL are:
0 : Disabled.
1 : Enabled.
BCY
When more than one operation is performed by one block command
such as a canned cycle, the block start interlock signal *BSL is:
0 : Checked only at the beginning of the first cycle.
1 : Checked at the beginning of every cycle.
NOTE
This is enabled when the BSL parameter (bit 0 of
parameter No.3004) is set to 1.
OTH
The overtravel limit signal is:
0 : Checked
1 : Not checked
WARNING
For safety, usually set 0 to check the overtravel
limit signal.
- 138 -
B-64120EN/01
4.DESCRIPTION OF PARAMETERS
#7
#6
#5
#4
#3
#2
#1
#0
3006
EPS
EPN
GDC
GDC
As the deceleration signal for reference position return:
0 : X009 is used.
1 : G196 is used. (X009 is disabled.)
EPN
Workpiece number search signals are assigned to:
0 : PN1, PN2, PN4, PN8, and PN16 <G009>.
1 : EPN0 to EPN13 <G024, G025>.
EPS
When a program is searched using the workpiece number search
function, it is started by:
0 : Automatic operation start signal ST (when automatic operation
(memory operation) is started).
1 : Workpiece number search start signal EPNS <G025#7>. (Search
is not started by ST.)
#7
#6
#5
#4
#3
#2
#1
#0
3008
XSG
NOTE
When this parameter is set, the power must be
turned off before operation is continued.
[Data type]
Bit
XSG
The signals assigned to X addresses are:
0 : Fixed to these addresses.
1 : Able to be re-assigned to any addresses. (Emergency stop signal
*ESP <X008#4>, however, cannot be changed.)
When assignment to any addresses is selected, set parameter Nos.
3012 to 3014.
3010
Time lag in strobe signals MF, SF, TF, and BF
[Data type]
Word
[Unit of data]
1 ms
[Valid data range]
16 to 32767
The time required to send strobe signals MF, SF, TF, and BF after the
M, S, T, and B codes are sent, respectively.
M, S, T, B code
MF, SF, TF, BF, signal
Delay time
Fig.4.19 (a) Delay Time of the strobe signal
- 139 -
4.DESCRIPTION OF PARAMETERS
B-64120EN/01
NOTE
The time is counted in units of 8 ms. If the set value
is not a multiple of eight, it is raised to the next
multiple of eight.
Example
When 30 is set, 32 ms is assumed.
When 32 is set, 32 ms is assumed.
When 100 is set, 104 ms is assumed.
3011
Acceptable width of M, S, T, and B function completion signal (FIN)
[Data type]
Word
[Unit of data]
1 ms
[Valid data range]
16 to 32767
Set the minimum signal width of the valid M, S, T, and B function
completion signal (FIN).
M, S, T, B code
MF, SF, TF, BF
signal
FIN signal
Ignored because
Valid because longer
shorter than min.
than min. signal width
signal width
Fig.4.19 (b) Valid width of the FIN (M,S, T, and B function completion)
signal
NOTE
The time is counted in units of 8 ms. If the set value
is not a multiple of eight, it is raised to the next
multiple of eight.
Example
When 30 is set, 32 ms is assumed.
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B-64120EN/01
4.DESCRIPTION OF PARAMETERS
3012
Address to be assigned to skip signals
NOTE
When this parameter is set, the power must be
turned off before operation is continued.
[Data type]
Word
[Valid data range]
0 to 127
Set the address to which the skip signals
(SKIPn), measurement
position arrival signals (XAE, YAE (for the M series only), and ZAE),
and manual feed interlock signal for each axis direction and tool
compensation amount write signal (±MIT1 (for the T series only) and
±MIT2 (for the T series only)) are assigned.
This parameter is valid when bit 2 (XSG) of parameter No. 3008 is set
to 1.
3013
Address to be assigned to reference position return deceleration signals
NOTE
When this parameter is set, the power must be
turned off before operation is continued.
[Data type]
Word axis
[Valid data range]
0 to 127
Set the address to which the reference position return deceleration
signal for each axis (*DECn) is assigned.
This parameter is valid when bit 2 (XSG) of parameter No. 3008 is set
to 1.
3014
Bit position to be assigned to reference position return deceleration signals
NOTE
When this parameter is set, the power must be
turned off before operation is continued.
[Data type]
Byte axis
[Valid data range]
0 to 7
Set the bit position to which the reference position return deceleration
signal for each axis (*DECn) is assigned. Set the address in parameter
No. 3013.
This parameter is valid when bit 2 (XSG) of parameter No. 3008 is set
to 1.
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