FANUC Series 0i-MODEL D, Series 0i Mate-MODEL D. For Machining Center System USER’S MANUAL

B.DIFFERENCES FROM SERIES 0i-C APPENDIX

B-64304EN-2/01

B.6 MANUAL REFERENCE POSITION RETURN

B.6.1 Differences in Specifications

Function

Series 0i-C

Series 0i-D

Conditions for

Manual reference position return is performed when automatic operation is halted (feed

performing manual

hold) and when any of the following conditions is met:

reference position

return during feed

(1) Travel distance is remaining.

hold

(2) An auxiliary function (M, S, T, or B function) is being executed.

(3) A dwell, canned cycle, or other cycle is in progress.

Depends on bit 2 (OZR) of parameter

Bit 2 (OZR) of parameter No. 1800 is

No. 1800.

not available.

[When OZR = 0]

Alarm PS0091 occurs, and manual

reference position return is not

performed.

[When OZR = 1]

Manual reference position return is

performed without issuing an alarm.

When inch/metric

The reference position is lost.

The reference position is not lost.

switch is done

(The reference position is not

(The reference position remains

established.)

Reference position

Set 1 in bit 1 (DLZ) of parameter No.

Bit 1 (DLZ) of parameter No. 1002 is

setting without dogs

1002.

not available.

for all axes

Reference position setting without dogs

(bit 1 (DLZx) of parameter No. 1005) is

set for all axes.

Function that

Not available.

Depends on bit 4 (GRD) of parameter

performs reference

No. 1007.

position setting

without dogs two or

Bit 4 (GRD) of parameter No. 1007

more times when the

For the axis on which absolute values are

reference position is

detected, when correspondence between

not established in

the machine position and the position by

absolute position

the absolute position detector is not

detection

completed, the reference position setting

without dogs is:

0: Not performed two or more times.

1: Performed two or more times.

- 322 -

B-64304EN-2/01

APPENDIX B.DIFFERENCES FROM SERIES 0i-C

Function

Series 0i-C

Series 0i-D

Behavior when

Does not depend on bit 0 (RTLx) of

[Rotation axis type = A and bit 0 (RTLx)

manual reference

parameter No. 1007.

of parameter No. 1007 = 0]

position return is

Movement is made at the reference

started on a rotation

position return feedrate FL even if the

axis with the

grid is not established.

deceleration dog

Releasing the deceleration dog before

pressed before a

the grid is established causes alarm

reference position is

PS0090.

established

[Rotation axis type = A and bit 0 (RTLx)

of parameter No. 1007 = 1]

Movement is made at the rapid

traverse feedrate until the grid is

established.

If the deceleration dog is released

before the grid is established, one

revolution is made at the rapid traverse

feedrate, thus establishing the grid.

Pressing the deceleration dog again

establishes the reference position.

[Rotation axis type = B]

Does not depend on bit 0 (RTLx) of

parameter No. 1007.

Movement is made at the reference

position return feedrate FL even if the

grid is not established.

Releasing the deceleration dog before

the grid is established causes alarm

PS0090.

Reference position

The function is enabled for all axes by

Bit 2 (SFD) of parameter No. 1002 is

shift function setting

setting 1 in bit 2 (SFD) of parameter No.

not available.

1002.

Set bit 4 (SFDx) of parameter No. 1008

for each axis.

Setting of whether to

Not available.

Depends on bit 1 (HZP) of parameter

preset the coordinate

The coordinate system is not preset.

No. 1206.

system upon

high-speed manual

Bit 1 (HZP) of parameter No.1206

reference position

Upon high-speed manual reference

return

position return, the coordinate system is:

0: Preset.

1: Not preset (FS0i-C compatible

specification).

- 323 -

B.DIFFERENCES FROM SERIES 0i-C APPENDIX

B-64304EN-2/01

Function

Series 0i-C

Series 0i-D

G28/G30 command in

Not available.

The command can be executed only

the coordinate system

Cancel the mode before executing the

when all of the conditions described

rotation, scaling, or

command.

below are met.

programmable mirror

Otherwise, alarm PS0412 occurs.

image mode

[Conditions required before specifying the

command]

(1) An absolute command is specified for

the target axis of coordinate system

rotation, scaling, or programmable

mirror image.

(2) Tool length compensation has not been

performed for the target axis of

coordinate system rotation, scaling, or

programmable mirror image when it is

moved by reference position return.

(3) Tool length compensation has been

canceled.

[Conditions required when specifying the

command]

(4) In an incremental command, the travel

distance of the middle point is 0.

[Conditions required after specifying the

command]

(5) The first move command specified for

the target axis of coordinate system

rotation, scaling, or programmable

mirror image is an absolute command.

B.6.2 Differences in Diagnosis Display

None.

- 324 -

B-64304EN-2/01

APPENDIX B.DIFFERENCES FROM SERIES 0i-C

B.7 WORKPIECE COORDINATE SYSTEM

B.7.1 Differences in Specifications

Function

Series 0i-C

Series 0i-D

Change in absolute

Make a selection using bit 5 (AWK) of

Bit 5 (AWK) of parameter No. 1201 is

position display when

parameter No. 1201.

not available.

the workpiece zero

The tool always behaves as when AWK

point offset value is

Bit 5 (AWK) of parameter No. 1201

is set to 1.

changed

When the workpiece zero point offset value

is changed:

0: Changes the absolute position display

when the program executes the block

that is buffered next.

1: Changes the absolute position display

immediately.

In either case, the changed value does not

take effect until the block that is buffered

next.

B.7.2 Differences in Diagnosis Display

None.

- 325 -

B.DIFFERENCES FROM SERIES 0i-C APPENDIX

B-64304EN-2/01

B.8 LOCAL COORDINATE SYSTEM

B.8.1 Differences in Specifications

Function

Series 0i-C

Series 0i-D

Clearing of the local

The processing is

The processing is determined by the settings of bit

coordinate system

determined by the settings

7 (WZR) of parameter No. 1201, bit 3 (RLC) of

after servo alarm

of bit 5 (SNC) and bit 3

parameter No. 1202, bit 6 (CLR) of parameter No.

cancellation

(RLC) of parameter No.

3402, and bit 6 (C14) of parameter No. 3407.

1202.

Bit 5 (SNC) of parameter No. 1202 is not available.

Bit 3 (RLC) of parameter No.

Bit 7 (WZR) of parameter No. 1201

1202

If the CNC is reset by the reset key on the MDI panel,

Upon reset, the local

external reset signal, reset and rewind signal, or

coordinate system is:

emergency stop signal when bit 6 (CLR) of parameter

0: Not canceled.

No. 3402 is set to 0, the G code of group number 14

1: Canceled.

(workpiece coordinate system) is:

0: Placed in the reset state.

Bit 5 (SNC) of parameter No.

1: Not placed in the reset state.

1202

NOTE

After servo alarm cancellation,

When bit 6 (CLR) of parameter No. 3402 is set to 1, the

the local coordinate system is:

processing depends on the setting of bit 6 (C14) of

0: Cleared.

parameter No. 3407.

1: Not cleared.

NOTE

Bit 3 (RLC) of parameter No. 1202

When the RLC bit of the

Upon reset, the local coordinate system is:

parameter is set to 1, the local

0: Not canceled.

coordinate system is cleared,

1: Canceled.

even if the SNC bit of the

NOTE

parameter is set to 1.

When bit 6 (CLR) of parameter No. 3402 is set to 0

and bit 7 (WZR) of parameter No. 1201 is set to 1,

the local coordinate system is canceled, regardless

of the setting of this parameter.

When bit 6 (CLR) of parameter No. 3402 is set to 1

and bit 6 (C14) of parameter No. 3407 is set to 0,

the local coordinate system is canceled, regardless

of the setting of this parameter.

Bit 6 (CLR) of parameter No. 3402

The reset key on the MDI panel, external reset signal,

reset and rewind signal, or emergency stop signal

places the local coordinate system in:

0: Reset state.

1: Clear state.

Bit 6 (C14) of parameter No. 3407

If the CNC is reset by the reset key on the MDI panel,

external reset signal, reset and rewind signal, or

emergency stop signal when bit 6 (CLR) of parameter

No. 3402 is set to 1, the G code of group number 14

(workpiece coordinate system) is:

0: Placed in the clear state.

1: Not placed in the clear state.

- 326 -

B-64304EN-2/01

APPENDIX B.DIFFERENCES FROM SERIES 0i-C

Function

Series 0i-C

Series 0i-D

Operation with the

Make a selection using bit 4 (G52) of

Bit 4 (G52) of parameter No. 1202 is

local coordinate

parameter No. 1202.

not available.

system setting (G52)

The tool always behaves as when G52

Bit 4 (G52) of parameter No. 1202

is set to 1.

1) If there are two or more blocks that are

not moved before G52 is specified

during cutter compensation, or if G52 is

specified after the cutter compensation

mode is turned off, with the offset vector

maintained, the local coordinate system

setting is performed:

0: Without considering the cutter

compensation vector.

1: Considering the cutter

compensation vector.

2) When G52 is specified, the local

coordinate system setting is performed

for:

0: All axes.

1: Only those axes whose command

addresses are found in the

G52-specified block.

B.8.2 Differences in Diagnosis Display

None.

- 327 -

B.DIFFERENCES FROM SERIES 0i-C APPENDIX

B-64304EN-2/01

B.9 Cs CONTOUR CONTROL

B.9.1 Differences in Specifications

Function

Series 0i-C

Series 0i-D

In-position check

The in-position check is not made.

Make a selection using bit 2 (CSNs) of

when the Cs contour

parameter No. 3729.

control mode is off

Bit 2 (CSNs) of parameter No. 3729

When the Cs contour control mode is off,

the in-position check is:

0: Made.

1: Not made.

When 1 is set in this parameter, the

processing is the same as Series 0i-C.

B.9.2 Differences in Diagnosis Display

Item

Series 0i-C

Series 0i-D

Position error display

For the first spindle, diagnosis display No.

For both the first and second spindles,

for Cs contour control

418 is used.

diagnosis display No. 418 (spindle) is used.

For the second spindle, diagnosis display

No. 420 is used.

- 328 -

B.DIFFERENCES FROM SERIES 0i-C APPENDIX

B-64304EN-2/01

B.11 CONSTANT SURFACE SPEED CONTROL

B.11.1 Differences in Specifications

Function

Series 0i-C

Series 0i-D

Constant surface

This is an optional function for the T

This is a basic function for both M

speed control with no

series.

series and T series.

position coder

It is not available with the M series.

It can be used by enabling constant

surface speed control (setting 1 in bit 0

(SSC) of parameter No. 8133) and

setting 1 in bit 2 (PCL) of parameter

No. 1405.

Using bit 0 (PSSCL) of parameter No.

Bit 0 (PSSCL) of parameter No. 1407 is

1407, select whether to enable or

not available.

disable the axis feedrate clamp in feed

The axis feedrate is always clamped.

per revolution when the spindle speed

Using the position coder selection

is clamped by the maximum spindle

signal, select the spindle to be used for

speed set in parameter No. 3772.

feed per revolution.

(To use the

position coder selection signal requires

Bit 0 (PSSCL) of parameter No. 1407

enabling multi-spindle control.)

In constant surface speed control with no

position coder, when the spindle speed is

The M series does not support the

clamped by the maximum spindle speed

multi-spindle control function. Therefore,

parameter, the axis feedrate in feed per

the second spindle cannot be used for feed

revolution is:

per revolution.

0: Not clamped.

1: Clamped.

When 1 is set in this parameter, select the

spindle to be used for feed per revolution

by using the position coder selection signal.

(To use the position coder selection signal

requires enabling multi-spindle control.)

B.11.2 Differences in Diagnosis Display

None.

- 330 -

B-64304EN-2/01

APPENDIX B.DIFFERENCES FROM SERIES 0i-C

B.12 TOOL FUNCTIONS

B.12.1 Differences in Specifications

Function

Series 0i-C

Series 0i-D

Specification of a G

Not allowed.

code of the 00 group

Specifying a G code in this way causes

and a T code in the

alarm PS0245.

same block

Behavior when G49

Make a selection using bit 6 (GCS) of

Bit 6 (GCS) of parameter No. 5008 is

and G40 are specified

parameter No. 5008.

not available.

in the same block

The tool always behaves as when 1 is

Bit 6 (GCS) of parameter No. 5008

set in bit 6 (GCS) of parameter No.

When G49 (tool length compensation

5008.

cancellation) and G40 (cutter compensation

(Tool length compensation is canceled

cancellation) are specified in the same

in the command block.)

block:

Tool length compensation is canceled

in the next block.

Tool length compensation is canceled

in the block in which the command is

specified.

Specification of the

Depends on whether the order of

Not dependent on the conditions

tool length

compensation amount numbers

described at left.

compensation amount

specified by the H code is that of tool

In Series 0i-D, the H code is used to

(Select the

length compensation types A, B, and C,

specify the compensation amount number

compensation amount

whether the cutter compensation mode

(select the compensation amount), and

number with H code.)

is on or off, and the setting of bit 2

G43, G44, and G49 are used to select

(OFH) of parameter No. 5001. For

whether to enable or disable tool length

details, refer to Section 14.1, "TOOL

compensation. For details, refer to

LENGTH COMPENSATION", in

Section 6.1, "TOOL LENGTH

"OPERATOR'S MANUAL"

COMPENSATION", in "USER'S MANUAL

(B-64124EN).

(MACHINING CENTER)" (B-64304EN-2).

Restoration of the tool

The restoration conditions differ

Not dependent on the setting of bit 2

length compensation

depending on the setting of bit 2 (OFH)

(OFH) of parameter No. 5001 or the

vector canceled by

of parameter No. 5001, as well as on

cutter compensation mode.

specifying G53, G28,

whether the cutter compensation mode

Depends only on the setting of bit 6

or G30 during tool

is on or off. For details, refer to

(EVO) of parameter No. 5001.

length compensation

Section 14.1, "TOOL LENGTH

COMPENSATION", in "OPERATOR'S

Bit 6 (EVO) of parameter No. 5001

MANUAL" (B-64124EN).

For tool length compensation type A or B, if

the tool compensation amount is changed

during the offset mode (G43 or G44), the

vector is restored in:

0: Subsequent block containing a G43 or

G44 command or a H code.

1: Block buffered next.

B.12.2 Differences in Diagnosis Display

None.

- 331 -

B.DIFFERENCES FROM SERIES 0i-C APPENDIX

B-64304EN-2/01

B.13 TOOL COMPENSATION MEMORY

B.13.1 Differences in Specifications

Function

Series 0i-C

Series 0i-D

Unit and range of tool

The unit and range of tool

Set the unit and range using bit 0 (OFA) and

compensation values

compensation values are

bit 1 (OFC) of parameter No. 5042.

determined by the setting unit.

Bit 0 (OFA) and bit 1 (OFC) of parameter No.

5042

Select the setting unit and range of tool offset

values.

Metric input

OFC

OFA

Unit

Range

0.01mm

±9999.99mm

0.001mm

±9999.999mm

0.0001mm

±9999.9999mm

Inch input

OFC

OFA

Unit

Range

0.001inch

±999.999inch

0.0001inch

±999.9999inch

0.00001inch

±999.99999inch

Automatic conversion

Make a selection using bit 0 (OIM)

Bit 0 (OIM) of parameter No. 5006 is not

of tool compensation

of parameter No. 5006.

available.

values upon

Tool compensation values are always

inch/metric switch

Bit 0 (OIM) of parameter No. 5006

converted automatically.

Upon inch/metric switch, automatic

conversion of tool compensation

values is:

0: Not performed.

1: Performed.

If the setting of this parameter is

changed, set the tool compensation

data again.

B.13.2 Differences in Diagnosis Display

None.

- 332 -

B-64304EN-2/01

APPENDIX B.DIFFERENCES FROM SERIES 0i-C

B.14 CUSTOM MACRO

B.14.1 Differences in Specifications

Function

Series 0i-C

Series 0i-D

Keep-type common

The default value is <null>.

The default value is 0.

variable

The Series 0i-D function (described at

The range specified by parameter Nos.

(#500 to #999)

right) is not available.

6031 and 6032 can be made

write-protected (read-only).

System variable to

Machine coordinates are always read

read machine

in machine units (output units).

in input units.

coordinates

Example) When the setting unit is

#5021 to #5025

IS-B, the input unit is the inch, the

machine unit is the millimeter, and the

coordinate value of the X axis (first

axis) is as follows:

Machine coordinate = 30.000 (mm)

Since the value of #5021 is read in

input units (inches), #5021 is 1.1811.

Logical operations in

Logical operations can be used by

Bit 0 (MLG) of parameter No. 6006 is

an if statement

setting 1 in bit 0 (MLG) of parameter

not available.

No. 6006.

Logical operations can always be used.

Bit 0 (MLG) of parameter No. 6006

In an if statement in a custom macro,

logical operations:

0: Cannot be used.

(P/S alarm No. 114

is issued.)

1: Can be used.

Behavior of the GOTO

The command after the sequence

If a move command is specified before

statement when a

number of the block (to the right of the

the sequence number (left side), alarm

sequence number is

sequence number) is executed.

PS0128 is issued.

not found at the start of

If no move command is specified

the block

before the sequence number (left side),

a block containing a sequence number

is executed from the beginning.

* Use a sequence number at the start of a block.

Behavior of "GOTO 0"

The program jumps to the block

No jump occurs.

when there is a

containing the sequence number.

Alarm PS1128 is issued.

sequence number

* Do not use a sequence number.

When another NC

In a program like the one shown in the

A program like the one shown in the

command is found in a

example, G01 changes the G code

example cannot be executed. Alarm

G65 block or in an M

group to 01, while the move command

PS0127 is issued.

code block where a

X100. is not executed. X100. is

A G65 code or an M code that calls a

macro is called by an

regarded as an argument of G65.

macro must be specified at the

M code

beginning of a block (before all other

Example) G01 X100.

arguments).

G65 P9001 ;

- 333 -

B.DIFFERENCES FROM SERIES 0i-C APPENDIX

B-64304EN-2/01

Function

Series 0i-C

Series 0i-D

Behavior when

- When the machine is run under the conditions and program described below:

subprogram call using

[Conditions]

an M code and

Subprogram call by T code is enabled (bit 5 (TCS) of parameter No. 6001 is set

subprogram call using

to 1).

an T code are done

The M code that calls subprogram No. 9001 is M06 (parameter No. 6071 is set to

6).

[Program]

O0001;

T100;

(1)

M06 T200;

(2)

T300 M06;

(3)

M30;

In FS0i-C, blocks (1) to (3) of the program

In FS0i-D, blocks (1) to (3) of the program

causes the machine to behave as follows:

1) Calls and executes O9000.

2) Outputs T200 and waits for FIN.

2) Issues alarm PS1091.

Upon receipt of the FIN signal, the

3) Issues alarm PS1091 (when the

machine calls and executes O9001.

program is run with block (2) deleted).

3) Outputs T300 and waits for FIN.

Upon receipt of the FIN signal, the

machine calls and executes O9001.

Block containing "M98

Bit 4 (NPS) of parameter No. 3450 is

Pxxxx" or "M99"

not available. The block is always

without any addresses

treated as a macro statement.

(Single

treated as a macro statement.

(Single

other than O, N, P, and

block stop is not performed.)

* For details about macro and NC statements, refer to Section 16.4, "MACRO AND NC

STATEMENTS", in "USER'S MANUAL" (B-64304EN).

Subprogram and

The call nesting level differs as follows.

macro calls

Series 0i-C

Series 0i-D

Model

Independent

Total

Call method

nesting level

Macro call

4 in all

5 in all

(G65/G66)

(G65/G66/M98)

Subprogram

8 in all

15 in all

call (M98)

Local variable clear

Make a selection using bit 7 (CLV) of

Bit 7 (CLV) of parameter No. 6001 is

operation by reset

parameter No. 6001.

not available.

Local variables are always cleared to

Bit 7 (CLV) of parameter No. 6001

<null> when reset.

When reset, the local variables in the

custom macro are:

0: Cleared to <null>.

1: Not cleared.

B.14.2 Differences in Diagnosis Display

None.

- 334 -

B.DIFFERENCES FROM SERIES 0i-C APPENDIX

B-64304EN-2/01

B.17 AI ADVANCED PREVIEW CONTROL /AI CONTOUR

CONTROL

B.17.1 Differences in Specifications

Function

Series 0i-C

Series 0i-D

Function name

Some function names have been changed as follows.

Automatic corner deceleration

Speed control based on the feedrate

difference on each axis

Arc radius-based feedrate clamp

Speed control with acceleration in

circular interpolation

Setting to enable

Setting 1 in bit 6 (RBL) of parameter

Bit 6 (RBL) of parameter No. 1603 is

bell-shaped

No. 1603 enables bell-shaped

not available.

acceleration/deceleration

acceleration/deceleration in rapid

Bell-shaped acceleration/deceleration

in rapid traverse

traverse.

in rapid traverse is enabled by setting

the time constant of bell-shaped

acceleration/deceleration after

interpolation in rapid traverse in

parameter No. 1621 or the

acceleration change time of

bell-shaped acceleration/deceleration

before interpolation in rapid traverse

in parameter No. 1672.

Selection of

The combination of bit 1 (AIR) of

Bit 1 (AIR) of parameter No. 7054 is

acceleration/deceleration

parameter No. 7054 and bit 1 (LRP) of

not available.

before interpolation in

parameter No. 1401 determines

The combination of bit 5 (FRP) of

rapid traverse or

acceleration/deceleration before

parameter No. 19501 and bit 1 (LRP)

acceleration/deceleration

interpolation or

of parameter No. 1401 determines

after interpolation in

acceleration/deceleration after

acceleration/deceleration before

rapid traverse

interpolation.

interpolation or

acceleration/deceleration after

interpolation. For details, refer to

"PARAMETER MANUAL"

(B-64310EN).

Setting of acceleration

Set acceleration by specifying the

Parameter Nos. 1770 and 1771 are

for look-ahead linear

maximum cutting feedrate for linear

not available.

acceleration/deceleration

acceleration/deceleration before

In parameter No. 1660, set the

before interpolation

interpolation in parameter No. 1770

maximum permissible cutting feedrate

and the time to elapse before reaching

for acceleration/deceleration before

the maximum cutting feedrate for

interpolation for each axis.

linear acceleration/deceleration before

interpolation in parameter No. 1771.

- 338 -

B-64304EN-2/01

APPENDIX B.DIFFERENCES FROM SERIES 0i-C

Function

Series 0i-C

Series 0i-D

Time constant setting of

Set the value in parameter No. 1768.

Parameter No. 1768 is not available.

linear/bell-shaped

Set the time constant for each axis in

acceleration/deceleration

parameter No. 1769.

after interpolation in

cutting feed common to

all axes

Time constant setting of

Set the value in parameter No. 1762.

Parameter No. 1762 is not available.

exponential

(To set the value for linear or

Set the value in parameter No. 1769.

acceleration/deceleration

bell-shaped acceleration/deceleration,

(Use parameter No. 1769 for any

after interpolation in

use parameter No. 1769.)

acceleration/deceleration type - linear,

cutting feed for each axis

bell-shaped, or exponential.)

Automatic corner

Setting 0 in bit 4 (CSD) of parameter

Automatic corner deceleration based

deceleration based on

No. 1602 enables the function.

on angle difference is not available.

angle difference

Set the lower limit speed in parameter

Therefore, bit 4 (CSD) of parameter

No. 1777 and the critical angle

No. 1602 and parameter Nos. 1777

between the two blocks in parameter

and 1779 are not available.

No. 1779.

Permissible speed

Set the value in parameter No. 1780.

Parameter No. 1780 is not available.

difference common to all

Set the permissible speed difference

axes for automatic

for each axis in parameter No. 1783.

corner deceleration

based on angle

difference (speed control

based on the feedrate

difference on each axis)

Setting of arc

Set the upper limit of the feedrate and

Parameter Nos. 1730 and 1731 are

radius-based feedrate

the corresponding arc radius value in

not available.

clamp (speed control

parameter Nos. 1730 and 1731,

Set the permissible acceleration for

with acceleration in

respectively.

each axis in parameter No. 1735.

circular interpolation)

Setting of the maximum

Set the value in parameter No. 1431.

Parameter No. 1431 is not available.

cutting feedrate common

Set the maximum cutting feedrate for

to all axes

each axis in parameter No. 1432.

Rapid traverse block

Disabled in the advanced preview

Enabled only when

overlap

control (T series), AI advanced

acceleration/deceleration after

preview control (M series), or AI

interpolation is used in the advanced

contour control (M series) mode.

preview control (T series), AI

advanced preview control (M series),

or AI contour control (M series) mode.

Function name

Some function names have been changed as follows.

Acceleration-based feedrate clamp

Speed control with the acceleration on

each axis

Setting of

Set the permissible acceleration by

Parameter No. 1785 is not available.

acceleration-based

specifying the time to elapse before

Set the permissible acceleration for

feedrate clamp (speed

reaching the maximum cutting

each axis in parameter No. 1737.

control with the

feedrate in parameter No. 1785.

acceleration on each

The maximum cutting feedrate set in

axis)

parameter No. 1432 is used.

- 339 -

B.DIFFERENCES FROM SERIES 0i-C APPENDIX

B-64304EN-2/01

Differences regarding AI contour control

Function

Series 0i-C

Series 0i-D

Time constant of

Set parameter Nos. 1773 and 1774.

Parameter Nos. 1773 and 1774 are

acceleration/deceleration

If these parameters are not set,

not available.

in rapid traverse in the AI

parameter Nos. 1620 and 1621 are

In the case of

contour control mode

used.

acceleration/deceleration before

interpolation in rapid traverse, set

parameter Nos. 1660 and 1672.

In the case of

acceleration/deceleration after

interpolation in rapid traverse, set

parameter Nos. 1620 and 1621.

Setting to enable

Setting 1 in bit 7 (BEL) of parameter

Bit 7 (BEL) of parameter No. 1603 is

look-ahead bell-shaped

No. 1603 enables bell-shaped

not available.

acceleration/deceleration

acceleration/deceleration before

Setting the acceleration change time

before interpolation

interpolation.

of bell-shaped

acceleration/deceleration before

interpolation in parameter No. 1772

enables bell-shaped

acceleration/deceleration before

interpolation.

B.17.2 Differences in Diagnosis Display

None.

- 340 -

B-64304EN-2/01

APPENDIX B.DIFFERENCES FROM SERIES 0i-C

B.18 MACHINING CONDITION SELECTION FUNCTION

B.18.1 Differences in Specifications

Function

Series 0i-C

Series 0i-D

Parameters set by

The following parameters are set

"acceleration/deceleration

according to the precision level:

before interpolation"

[Parameter No. 1770]

[Parameter No. 1660]

(machining parameter

Maximum cutting feedrate in linear

Maximum permissible cutting feedrate

adjustment screen)

acceleration/deceleration before

in acceleration/deceleration before

interpolation

interpolation on each axis

[Parameter No. 1771]

(Series 0i-D does not have parameter

Time before the maximum cutting

Nos. 1770 and 1771.)

feedrate in linear

acceleration/deceleration before

interpolation (parameter No. 1770) is

reached

Parameter 1 set by

The following parameters are set

"permissible acceleration"

according to the precision level:

(machining parameter

[Parameter No. 1730]

[Parameter No. 1735]

adjustment screen)

Upper limit of the feedrate by arc

Permissible acceleration in speed

radius-based feedrate clamp

control with acceleration in circular

[Parameter No. 1731]

interpolation

Arc radius corresponding to the upper

(Series 0i-D does not have parameter

limit of the feedrate by arc

Nos. 1730 and 1731. Also, "arc

radius-based feedrate clamp

radius-based feedrate clamp" has

(parameter No. 1730)

been renamed "speed control with

acceleration in circular interpolation".)

Parameter 2 set by

The following parameters are set

"permissible acceleration"

according to the precision level:

(machining parameter

[Parameter No. 1432]

[Parameter No. 1737]

adjustment screen)

Maximum cutting feedrate

Permissible acceleration for speed

[Parameter No. 1785]

control with the acceleration on each

Time before the maximum cutting

axis

feedrate (parameter No. 1432) is

(Series 0i-D does not have parameter

reached

No. 1785. Also, "acceleration-based

(Set this to determine the permissible

feedrate clamp" has been renamed

acceleration for acceleration-based

"speed control with the acceleration

feedrate clamp.)

on each axis".)

B.18.2 Differences in Diagnosis Display

None.

- 341 -

B.DIFFERENCES FROM SERIES 0i-C APPENDIX

B-64304EN-2/01

B.19 AXIS SYNCHRONOUS CONTROL

B.19.1 Differences in Specifications

Function

Series 0i-C

Series 0i-D

Function name

Quick synchronous control

Axis synchronous control

Setting to perform

Not available.

Depends on bit 5 (SCA) of parameter

synchronous

No. 8304 for the slave axis. When 0 is

operation all the time

set, the processing is the same as

Series 0i-C.

Bit 5 (SCA) of parameter No. 8304

In axis synchronous control:

Synchronous operation is performed

when the axis synchronous control

selection signal SYNCx or axis

synchronous control manual feed

selection signal SYNCJx for the slave

axis is set to "1".

Synchronous operation is performed all

the time.

Synchronous operation is performed

regardless of the setting of the SYNCx

or SYNCJx signal.

Setting to move

Not available.

Available.

multiple slave axes in

This is possible by setting the same

synchronism with the

master axis number in parameter No.

master axis

8311 for the multiple slave axes.

Setting of the same

The same name cannot be set for the

The same name can be set for the

name for the master

master and slave axes.

master and slave axes. In that case,

and slave axes

however, automatic operation cannot

be performed in normal operation; only

manual operation is allowed.

(No alarm is caused even if an attempt

to perform automatic operation is

made.)

Setting of axes for

The master axis number set in

which to perform

parameter No. 8311 must be smaller

parameter No. 8311 may or may not be

simple synchronous

than the slave axis number.

smaller than the slave axis number.

control (axis

synchronous control)

- 342 -

B-64304EN-2/01

APPENDIX B.DIFFERENCES FROM SERIES 0i-C

Function

Series 0i-C

Series 0i-D

Synchronization error

The servo positional difference between

The servo positional difference

check based on

the master and slave axes is monitored,

between the master and slave axes is

positional difference

and alarm PS0213 is issued if the

monitored, and alarm DS0001 is issued

difference exceeds the limit value set in

if the difference exceeds the limit value

parameter No. 8313 when the number

set in parameter No. 8323 for the slave

of synchronized axis pairs is one or the

axis. At the same time, the signal for

limit value set in parameter No. 8323 for

indicating a positional difference error

the master axis when the number of

alarm for axis synchronous control

synchronized axis pairs is two.

SYNER<F403.0> is output.

Parameter No. 8313 is not available.

The data range of parameter No. 8323

Regardless of the number of pairs, set

is as follows:

the limit value in parameter No. 8323.

[Data range]

0 to 32767

The data range of parameter No. 8323

is as follows:

[Data range]

0 to 999999999

Synchronization error

The machine coordinates of the master

check based on

and slave axes are compared and, if

machine coordinates

the difference is greater than the value

set in parameter No. 8314 for the

set in parameter No. 8314 for the slave

master axis, alarm SV0407 is issued

axis, alarm SV0005 is issued and the

and the motor is stopped immediately.

motor is stopped immediately.

The data range of parameter No. 8314

is as follows:

[Data range]

0 to 32767

0 or positive 9 digits of the minimum

unit of data.

(For IS-B, 0.0 to

+999999.999)

Setting of

Synchronization establishment is

synchronization

enabled by setting 1 in bit 7 (SOF) of

establishment

parameter No. 8301 when the number

parameter No. 8303 for the slave axis.

of synchronized axis pairs is one or by

(Bit 7 (SOF) of parameter No. 8301 is

setting 1 in bit 7 (SOF) of parameter

not available. Regardless of the

No. 8303 for the master axis when the

number of pairs, set 1 in bit 7 (SOF) of

number of synchronized axis pairs is

parameter No. 8303.)

two.

Timing of

Synchronization establishment is

synchronization

performed when:

establishment

Power is turned on when the absolute

position detector is used.

2. Emergency stop is canceled.

2. Manual reference position return

operation is performed.

3. The state of servo position control is

changed from off to on.

(This occurs when emergency stop,

servo alarm, servo off, etc. is canceled.

Note, however, that synchronization

establishment is not performed at the

time of axis removal cancellation.)

- 343 -

B.DIFFERENCES FROM SERIES 0i-C APPENDIX

B-64304EN-2/01

Function

Series 0i-C

Series 0i-D

Maximum

Set the value in parameter No. 8315

Set the value in parameter No. 8325 for

compensation for

when the number of synchronized axis

the slave axis.

synchronization

pairs is one or in parameter No. 8325

If the compensation amount exceeds

for the master axis when the number of

the values set in this parameter, alarm

synchronized axis pairs is two.

SV0001 occurs.

If the compensation amount exceeds

(Parameter No. 8315 is not available.

the values set in the relevant

Regardless of the number of pairs, set

parameter, alarm SV0410 occurs.

the value in parameter No. 8325.)

The data unit and data range of

parameter Nos. 8315 and 8325 are as

parameter No. 8325 are as follows:

follows:

[Data unit]

Machine unit

Detection unit

[Data range]

0 or positive 9 digits of the minimum

0 to 32767

unit of data.

(For IS-B, 0.0 to

+999999.999)

Automatic setting for

Enable automatic setting for grid

Set 1 in bit 0 (ATE) of parameter No.

grid position matching

position matching by setting 1 in bit 0

8303 for the slave axis to enable

(ATE) of parameter No. 8302 when the

automatic setting for grid position

number of synchronized axis pairs is

matching.

one or in bit 0 (ATE) of parameter No.

(Bit 0 (ATE) of parameter No. 8302 is

8303 when the number of synchronized

not available. Regardless of the

axis pairs is two.

number of pairs, set the value in bit 0

(ATE) of parameter No. 8303.)

Start automatic setting for grid position

matching by setting 1 in bit 1 (ATS) of

Set 1 in bit 1 (ATS) of parameter No.

parameter No. 8302 when the number

8303 for the slave axis to start

of synchronized axis pairs is one or in

automatic setting for grid position

bit 1 (ATS) of parameter No. 8303 when

matching.

the number of synchronized axis pairs

(Bit 1 (ATS) of parameter No. 8302 is

is two.

not available. Regardless of the

number of pairs, set the value in bit 1

(ATS) of parameter No. 8303.)

Difference between

Set the value in parameter No. 8316

Set the value in parameter No. 8326 for

the master axis

when the number of synchronized axis

the slave axis.

reference counter and

pairs is one or in parameter No. 8326

(Parameter No. 8316 is not available.

slave axis reference

for the master axis.

Regardless of the number of pairs, set

counter obtained

the value in parameter No. 8326.)

through automatic

setting for grid

positioning

Time from the servo

Set the value in parameter No. 8317

Set the value in parameter No. 8327 for

preparation

when the number of synchronized axis

the slave axis.

completion signal SA

pairs is one or in parameter No. 8327

(Parameter No. 8317 is not available.

<F000.6> being set to

for the master axis when the number of

Regardless of the number of pairs, set

1 until torque

synchronized axis pairs is two.

the value in parameter No. 8327.)

difference alarm

detection is started

- 344 -

B-64304EN-2/01

APPENDIX B.DIFFERENCES FROM SERIES 0i-C

Function

Series 0i-C

Series 0i-D

Setting to use the

When 1 is set in bit 3 (SSE) of

Bit 3 (SSE) of parameter No. 8302 is

external machine

parameter No. 8302, setting an external

not available.

coordinate system

machine coordinate system shift for the

By setting 1 in bit 7 (SYE) of parameter

shift function for the

master axis causes the slave axis to

No. 8304 for the slave axis, the slave

slave axis

shift as well.

axis is shifted as well when an external

This parameter is used for all the pairs.

machine coordinate system shift is set

for the corresponding master axis.

This parameter is used individually for

each slave axis.

Setting to prevent

Setting 1 in bit 7 (SMF) of parameter

Bit 7 (SMF) of parameter No. 3105 is

slave axis movement

No. 3105 prevents slave axis

not available.

from being added to

movement from being added to the

Setting 0 in bit 2 (SAF) of parameter

the actual feedrate

actual feedrate display.

No. 8303 prevents slave axis

display

This parameter is used for all the pairs.

movement from being added to the

actual feedrate display.

(Note that the

meaning of the value is the opposite

from bit 7 (SMF) of parameter No.

3105.)

This parameter is used individually for

each slave axis.

Change of the

Specify an M code that is not to be

Specify an M code that changes the

synchronization state

buffered.

synchronization state (parameter No.

during a program

Using this M code, change the input

8337 or 8338).

command

signal - SYNCx<G138> or

By changing the input signal -

SYNCJx<G140> - from the PMC side.

SYNCx<G138> or SYNCJx<G140> -

from the PMC side using this M code, it

is possible to change the

synchronization state during a program

command.

Parameter No. 8337

Specify an M code that changes

synchronous operation to normal

operation.

Parameter No. 8338

Specify an M code that changes normal

operation to synchronous operation.

Automatic slave axis

This function is enabled by setting 1 in

Bit 4 (TRP) of parameter No. 12762 is

parameter setting

bit 4 (SYP) of parameter No. 8303 for

not available.

the master axis.

This function is enabled by setting 1 in

bit 4 (SYP) of parameter No. 8303 for

the master and slave axes.

Mirror image for the

A mirror image cannot be applied to a

By setting parameter No. 8312 for the

slave axis

slave axis during simple synchronous

slave axis, a mirror image can be

control. It can be applied only to the T

applied to a slave axis during simple

series.

synchronous control.

Parameter No. 8312

This parameter sets mirror image for the

slave axis. When 100 or a more value is

set with this parameter, the mirror image

function is applied to synchronous control.

- 345 -

B.DIFFERENCES FROM SERIES 0i-C APPENDIX

B-64304EN-2/01

Function

Series 0i-C

Series 0i-D

Setting to cancel the

Depends on bit 5 (SYE) of parameter

Not available.

check of positional

No. 8301.

Therefore, bit 5 (SYE) of parameter No.

difference between

8301 is not available.

the master and slave

Bit 5 (SYE) of parameter No. 8301

Since the positional difference is

axes during

During synchronization establishment, the

always checked, parameter No. 8318 is

synchronization

positional difference limit is:

not available, either.

establishment

0: Checked.

1: Not checked.

Parameter No. 8318

Set the time from the synchronization

establishment function outputting a

compensation pulse to the slave axis until

the check of the positional difference limit

between the master and slave axes starts.

B.19.2 Differences in Diagnosis Display

Item

Series 0i-C

Series 0i-D

Positional difference

This item is displayed in diagnosis No.

between the master

540 for the master axis when the

3500 for the slave axis.

and slave axes

number of synchronized axis pairs is

(Regardless of the number of pairs, the

one or in diagnosis No. 541 for the

item is displayed in diagnosis No.

master axis when the number of

3500.)

synchronized axis pairs is two.

- 346 -

B-64304EN-2/01

APPENDIX B.DIFFERENCES FROM SERIES 0i-C

B.20 ARBITRARY ANGULAR AXIS CONTROL

B.20.1 Differences in Specifications

Function

Series 0i-C

Series 0i-D

Angular and

perpendicular axes

Series 0i-C

Series 0i-D

when an invalid value

Angular

Perpendicular

Angular axis

Perpendicular axis

is set in parameter

axis

No. 8211 or 8212

Y-axis of the basic

Z-axis of the basic

Y axis

Z axis (3rd

three axes (axis with

series

(2nd axis)

axis)

2 set in parameter

3 set in parameter

No. 1022)

Reference position

Select the signal using bit 3 (AZP) of

Bit 3 (AZP) of parameter No. 8200 is

return completion

parameter No. 8200.

not available.

signal ZP for the

When the bit is set to 0, ZP is not set to

ZP is always set to "0".

(The signal is

perpendicular axis

"0".

(The signal is not cleared.)

cleared.)

moved with the

When the bit is set to 1, ZP is set to "0".

angular axis

(The signal is cleared.)

<Fn094, Fn096,

Fn098, Fn100>

When an angular axis

Select the perpendicular axis operation

Bit 6 (A53) of parameter No. 8201 is

is specified

using bit 6 (A53) of parameter No.

not available.

individually in machine

8201.

Only the angular axis is always moved.

coordinate system

When the bit is set to 0, the

selection (G53) during

perpendicular axis is also moved.

arbitrary angular axis

When the bit is set to 1, only the

control

angular axis is moved.

G30 command during

Select the operation using bit 0 (A30) of

Bit 0 (A30) of parameter No. 8202 is

arbitrary angular axis

parameter No. 8202.

not available.

control

When the bit is set to 0, the operation is

The operation is always for the angular

for the perpendicular coordinate

coordinate system.

system.

When the bit is set to 1, the operation is

for the angular coordinate system.

B.20.2 Differences in Diagnosis Display

None.

- 347 -

B.DIFFERENCES FROM SERIES 0i-C APPENDIX

B-64304EN-2/01

B.21 RUN HOUR AND PARTS COUNT DISPLAY

B.21.1 Differences in Specifications

Function

Series 0i-C

Series 0i-D

Data range of the M

Parameter No. 6710

code that counts the

The data range of the M code that counts the number of machined parts is as follows.

number of machined

parts

0 to 255

0 to 99999999 (8 digits)

Data range of the

Parameter No. 6713

number of parts

The data range of the number of parts required is as follows.

required

0 to 9999

0 to 999999999 (9 digits)

Data range of the

Parameter No. 6711

Parameter No. 6712

number and total

Number of parts machined

Total number of parts machined

number of parts

machined

The data range is as follows.

0 to 99999999 (8 digits)

0 to 999999999 (9 digits)

Data range of the

Parameter No. 6750

Parameter No. 6752

Parameter No. 6754

power-on period, time

Integrated value of

Integrated value of time during

Integrated value of cutting

during automatic

power-on period

automatic operation

time

operation, cutting

Parameter No. 6756

Parameter No. 6758

time, input signal

Integrated value of time when input signal TMRON (G053.0)

Integrated value of one

TMRON on time, and

is on

automatic operation time

one automatic

operation time

The data range is as follows.

0 to 99999999 (8 digits)

0 to 999999999 (9 digits)

B.21.2 Differences in Diagnosis Display

None.

- 348 -

B-64304EN-2/01

APPENDIX B.DIFFERENCES FROM SERIES 0i-C

B.22 MANUAL HANDLE FEED

B.22.1 Differences in Specifications

Function

Series 0i-C

Series 0i-D

Handle pulses

If manual handle feed exceeding the rapid traverse rate is specified, whether to ignore or

exceeding the rapid

accumulate handle pulses exceeding the rapid traverse feedrate can be set as follows.

traverse rate

Depends on bit 4 (HPF) of parameter

Bit 4 (HPF) of parameter No. 7100 is

No. 7100. The amount of pulses to be

not available. Whether to ignore or

accumulated is set in parameter No.

accumulate excess handle pulses is

7117.

determined by the amount to be

accumulated that is set in parameter

No. 7117.

[When parameter No. 7117 = 0]

Ignored.

[When parameter No. 7117 > 0]

Accumulated in the CNC without being

ignored.

Permissible amount of

The value range of parameter No. 7117

pulses for manual

is 0 to 99999999 (8 digits).

is 0 to 999999999 (9 digits).

handle feed

Number of manual

Set the value in parameter No. 7110.

Parameter No. 7110 is not available.

pulse generators used

Up to three generators can be used

without setting the parameter.

Value range of the

For parameter Nos. 7113, 7131, 7133,

For parameter No. 7113, 7114, 7131,

magnification

and 12350, magnification ranges from 1

7132, 7133, 7134, 12350, and 12351,

parameter for manual

to 127.

magnification ranges from 1 to 2000.

handle feed

For parameter Nos. 7114, 7132, 7134,

and 12351, magnification ranges from 1

to 1000.

Parameter No. 7133

Parameter No. 7134

Magnification when manual handle feed

amount selection signals MP31 = 0 and

amount selection signals MP31 = 1 and

MP32 = 1

* For parameter Nos. 7113, 7114, 7131, 7132, 12350, and 12351, see the section

explaining the similar function for the T series.

B.22.2 Differences in Diagnosis Display

None.

- 349 -

B.DIFFERENCES FROM SERIES 0i-C APPENDIX

B-64304EN-2/01

B.23 PMC AXIS CONTROL

B.23.1 Differences in Specifications

Function

Series 0i-C

Series 0i-D

Relationship with

PMC axis control can be applied for any

PMC axis control cannot be applied

synchronous control

axis other than a synchronous slave axis.

for any axis under synchronous

(synchronous control of

control.

synchronous/composite

control)

Relationship with the

Enable or disable the functions by using

Neither the feed-forward nor advanced

feed-forward and

bit 7 (NAH) of parameter No. 1819, bit 3

preview feed-forward function is

advanced preview

(G8C) of parameter No. 8004, and bit 4

available for an axis under PMC axis

feed-forward functions

(G8R) of parameter No. 8004 in

control.

combination.

Bit 3 (G8C) and bit 4 (G8R) of

parameter No. 8004 are not available.

Data range of rapid

The data range is as follows.

1 to 65535

Valid data range

Unit of

traverse rate for rapid

IS-A, IS-B

IS-C

data

The data unit is as follows.

Millimeter

Data unit

Unit

traverse (00h), 1st to 4th

Linear axis

machine

30 to 15000

30 to 12000

mm/min

IS-A to IS-C

Linear

Metric machine

mm/min

Inch machine

30 to 6000

30 to 4800

inch/min

axis

Inch machine

0.1

inch/min

reference position return

Rotation axis

30 to 15000

30 to 12000

deg/min

Rotation

axis

deg/min

(07h to 0Ah), and

machine coordinate

system selection (20h)

Data range of total

The data range is as follows.

Input increment

IS-B

IS-C

Unit

IS-A

IS-B,IS-C

moving distance for rapid

mm unit input

-99999999 to 99999999 (8 digits)

-999999999 to 999999999 (9 digits)

traverse (00h), cutting

±99999.999

±9999.9999

deg unit input

deg

feed - feed per minute

inch unit input

±9999.9999

±999.99999

inch

The data unit is the minimum setting unit

(01h), cutting feed - feed

for the corresponding axis.

(See the

per revolution (02h), and

table below.)

Setting

Minimum

unit

data unit

skip - feed per minute

IS-A

0.01

IS-B

0.001

(03h)

IS-C

0.0001

Data range of cutting

1 to 65535

feedrate for rapid

The specified feedrate must be within the

traverse (01h) and skip -

range shown in the table below.

Valid data range

Unit of

IS-B

IS-C

data

feed per minute (03h)

Millimeter

Linear axis

machine

1 to 100000

0.1 to 12000.0

mm/min

Inch machine

0.01 to 4000.00

0.01 to 480.000

inch/min

Rotation axis

1 to 100000

0.1 to 12000.0

deg/min

Function to increase the

Not available.

By setting 1 in bit 2 (JFM) of

specification unit by a

parameter No. 8004, it is possible to

factor of 200 for

increase the specification unit by a

continuous feed (06h)

factor of 200.

Bit 2 (JFM) of parameter No. 8004

Set the specification unit of feedrate data

for specifying the continuous feed

command for PMC axis control.

Increment

Bit 2 (JFM)

Millimeter

Inch input

Rotation

system

of No. 8004

input

(inch/min)

axis

(mm/min)

(min^-1)

IS-B

0.01

0.00023

200

2.00

0.046

IS-C

0.1

0.001

0.000023

0.200

0.0046

- 350 -

B-64304EN-2/01

APPENDIX B.DIFFERENCES FROM SERIES 0i-C

Function

Series 0i-C

Series 0i-D

Maximum feedrate for

When an override of 254% is applied

IS-B

IS-C

IS-B

IS-C

continuous feed (06h)

Metric input

Inch input

Metric input

Inch input

166458

1664.58

16645

166.45

Metric input

Inch input

Metric input

Inch input

1 time

mm/min

inch/min

mm/min

inch/min

1664589

16645.89

166458

1664.58

(mm/min)

(inch/min)

(mm/min)

(inch/min)

10 times

mm/min

inch/min

0mm/min

inch/min

1 time

166458

1664.58

16645

166.46

When override is canceled

10 times

999000

16645.89

99900

1664.58

IS-B

IS-C

200 times

999000

39330.0

99900

3933.0

Metric input

Inch input

Metric input

Inch input

65535

655.35

6553

65.53

1 time

mm/min

inch/min

mm/min

inch/min

When override is canceled

655350

6553.50

65535

655.35

10 times

mm/min

inch/min

mm/min

inch/min

IS-B

IS-C

Metric input

Inch input

Metric input

Inch input

(mm/min)

(inch/min)

(mm/min)

(inch/min)

1 time

65535

655.35

6553

65.53

10 times

655350

6553.5

65535

655.35

200 times

999000

39330.0

999000

3933.0

Minimum unit of feedrate

The minimum unit of feedrate is given by the expressions shown below. The value must

for the speed command

be specified as an integer. No finer value may be specified.

(10h)

A calculation is made according to IS-B.

Fmin: Minimum feedrate unit

P: Number of pulses per revolution of a detector for speed feedback

Fmin = P ÷ 7500 (mm/min)

Fmin = P ÷ 1000 (mm/min)

Speed specification in

A speed is specified according to the expressions shown below.

the speed command

A calculation is made according to IS-B.

(10h)

F: Speed command (integer)

N: Servo motor speed (min^-1)

P: Number of pulses per revolution of a detector for speed feedback

F = N × P ÷ 7500 (mm/min)

F = N × P ÷ 1000 (mm/min)

Setting range of torque

The setting range is as follows.

Valid data range

Unit

Valid data range

Unit

data for torque control

-999999999 to +999999999 (9 digits)

0.0000 1 Nm

-99999999 to +99999999

0.0000 1 Nm

(11h)

Note on executing an

[For Series 0i-D]

absolute command from

When you switch to PMC axis control to execute a move command during automatic

the program for an axis

operation and then switch back to NC axis control to execute an absolute command

subject to PMC axis

from the program for the moved axis, that PMC command needs to be executed using

control during automatic

a non-buffering M code.

operation

For example, when an absolute command is executed in a N40 block after PMC

control is applied to Y axis, as in the example below, PMC axis control needs to be

executed in a non-buffering M code (N20 block).

O0001 ;

N10 G94 G90 G01 X20. Y30. F3000 ;

N20 M55 ; → Executes PMC axis control for the Y axis.

N30 X70. ;

N40 Y50. ;

N50 M30 ;

Execute PMC axis control as follows.

1. After the output of the auxiliary function strobe signal MF for M55, start PMC axis

control.

2. Upon completion of PMC axis control, input the completion signal FIN for M55.

[For Series 0i-C]

Control does not need to be executed using a non-buffering M code.

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FANUC Series 0i-MODEL D, Series 0i Mate-MODEL D. For Machining Center System USER’S MANUAL - page 12