GE Fanuc Automation

Computer Numerical Control Products

Series 15 i / 150 i–Model A

Connection Manual (Function)

(Volume 1 of 3)

GFZ-63323EN-1/03 October 2000

 GFL-001
Warnings, Cautions, and Notes
as Used in this Publication

Warning
Warning notices are used in this publication to emphasize that hazardous voltages, currents,
temperatures, or other conditions that could cause personal injury exist in this equipment or may
be associated with its use.
In situations where inattention could cause either personal injury or damage to equipment, a
Warning notice is used.

Caution
Caution notices are used where equipment might be damaged if care is not taken.

Note
Notes merely call attention to information that is especially significant to understanding and
operating the equipment.

This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein which
are not present in all hardware and software systems. GE Fanuc Automation assumes no
obligation of notice to holders of this document with respect to changes subsequently made.

GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory

with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.

©Copyright 2000 GE Fanuc Automation North America, Inc.

All Rights Reserved.
B-63323EN-1/03 DEFINITION OF WARNING, CAUTION, AND NOTE

DEFINITION OF WARNING, CAUTION, AND NOTE

This manual includes safety precautions for protecting the user and preventing damage to the machine.
Precautions are classified into Warning and Caution according to their bearing on safety. Also,
supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly
before attempting to use the machine.

WARNING

Applied when there is a danger of the user being injured or when there is a damage of both the user
being injured and the equipment being damaged if the approved procedure is not observed.

CAUTION

Applied when there is a danger of the equipment being damaged, if the approved
procedure is not observed.

NOTE

The Note is used to indicate supplementary information other than Warning and
Caution.

- Read this manual carefully, and store it in a safe place.

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B-63323EN-1/03 PREFACE

PREFACE
Contents of this document
This manual describes all the NC functions required to enable machine
tool builders to design their CNC machine tools. The following items
are explained for each function.

1. General
Describes feature of the function. Refer to Operator’s manual as
required.
2. Signals
Describes names, functions, output conditions and addresses of
the signals required to realize a function.
3. Parameters
Describes parameters related with a function.
4. Alarms and messages
Lists the alarms and messages related with a function in a table.
5. Reference item
List the related items of the related manuals in a table.

A list of addresses of all signals and a list of signals are described in the
appendix of this manual. Refer to it as required.

Applicable models
The models covered by this manual, and their abbreviations are :
Model name Abbreviation
FANUC Series 15i-MA 15i-MA Series 15i
FANUC Series 150i-MA 150i-MA Series 150i

NOTE
Some functions described in this manual may not
be applied to some
products. For details, refer to the DESCRIPTIONS
manual (B-63322EN).

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PREFACE B-63323EN-1/03

Signal description
Relation of interface signals among the CNC, the PMC and the
machine tool is shown below:

G000 - X000 -

CNC F000 - PMC Y000 - Machine tool

NOTE
For the signals, a single data number is assigned to
8 bits. Each bit has a different meaning.

- Expression of signals
#7 #6 #5 #4 #3 #2 #1 #0
F000 MA SA OP STL SPL RST AL RWD

         

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B-63323EN-1/03 PREFACE

Parameter description
Parameters are classified by data type as follows :

Data type Valid data range Remarks

Bit
Bit axis 0 or 1
Bit spindle
Integer
In some parameters, signs are
Integer axis 0 to ±999999999
ignored.
Integer spindle
Real
Standard parameter
Real axis
See setting table.
Real spindle

NOTE
1 For the bit type, bit axis type, and bit spindle type
parameters, a single data number is assigned to 8
bits. Each bit has a different meaning.
2 The axis type allows data to be set separately for
each control axis.
3 The spindle type allows data to be set separately for
each spindle.
4 The valid data range for each data type indicates a
general range. The range varies according to the
parameters. For the valid data range of a specific
parameter, see the explanation of the parameter.

- Notation of bit type, bit axis type, and bit spindle type parameters
#7 #6 #5 #4 #3 #2 #1 #0
0000 EIA NCR ISP CTV TVC

Data No. Data (#0 to #7 indicates bit position)

- Notation of parameters other than bit type, bit axis type, and bit spindle type
parameters

1023 Servo axis number for each axis

Data No. Data

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PREFACE B-63323EN-1/03

Related Manuals for Series 15i/150i- MODEL A

The table below lists manuals related to MODEL A of Series 15i and
Series 150i.
In the table, this manual is marked with an asterisk(*).

Table 1 (a) Manuals Related to the Series 15i, 150i

Manual name Specification
number
DESCRIPTIONS B-63322EN *
CONNECTION MANUAL (Hardware) B-63323EN
CONNECTION MANUAL (Function) B-63323EN-1
OPERATOR’S MANUAL (PROGRAMMING) B-63324EN
for Machining Center
OPERATOR’S MANUAL (OPERATION) B-63324EN-1
for Machining Center
MAINTENANCE MANUAL B-63325EN
PARAMETER MANUAL B-63330EN
DESCRIPTIONS (Supplement for Remote Buffer) B-63322EN-1
PROGRAMMING MANUAL B-63323EN-1
(Macro Compiler/Macro Executor)

Related manuals for Servo Motor α/β series

The following table lists the manuals related to the FANUC Servo
Motor α/β series.

Table 1 (b) Manuals Related to the Servo Motor α/β series.

Manual name Specification
number
FANUC AC SERVO MOTOR α series B-65142E
DESCRIPTIONS
FANUC AC SPINDLE MOTOR α series B-65152E
DESCRIPTIONS
FANUC SERVO AMPLIFIER α series B-65162E
DESCRIPTIONS
FANUC CONTROL MOTOR α series B-65165E
MAINTENANCE MANUAL
FANUC AC SERVO MOTOR α series B-65150E
PARAMETER MANUAL
FANUC AC SPINDLE MOTOR αseries B-65160E
PARAMETER MANUAL
FANUC SERVO MOTOR β series B-65232EN
DESCRIPTIONS
FANUC SERVO MOTOR β series B-65235EN
MAINTENANCE MANUAL
FANUC SERVO MOTOR β series B-65245EN
MAINTENANCE MANUAL (I/O Link Option)

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B-63323EN-1/03 TABLE OF CONTENTS (Volume 1 of 3)

TABLE OF CONTENTS (Volume 1 of 3)

1 AXIS CONTROL.....................................................................................1
1.1 NUMBER OF CONTROLLED AXES .............................................................2
1.2 SETTING EACH AXIS ...................................................................................3
1.2.1 Axis Name ............................................................................................................... 3
1.2.2 Increment System .................................................................................................... 6
1.2.3 Rotation Axis Specification................................................................................... 10
1.2.4 Controlled Axes Detach ........................................................................................ 14
1.2.5 Outputting the Movement State of an Axis ........................................................... 17
1.2.6 Mirror Image.......................................................................................................... 19
1.2.7 Follow-up............................................................................................................... 22
1.2.8 Servo Off (Mechanical handle) ............................................................................. 24
1.2.9 Position Switch...................................................................................................... 26
1.2.10 Vertical Axis Drop Prevention Function............................................................... 30
1.3 ERROR COMPENSATION..........................................................................32
1.3.1 Stored Pitch Error Compensation.......................................................................... 32
1.3.2 Backlash Compensation ........................................................................................ 44
1.3.3 Straightness Compensation.................................................................................... 52
1.3.4 Interpolated straightness compensation................................................................. 57
1.3.5 128 straightness compensation points ................................................................... 60
1.3.6 Interpolated pitch error compensation................................................................... 68
1.3.7 Cyclic second pitch error compensation................................................................ 70
1.3.8 Gradient Compensation ......................................................................................... 76
1.3.9 Bidirectional Pitch Error Compensation ............................................................... 79
1.3.10 Nano Interpolation Type Error Compensation ...................................................... 87
1.3.11 Smooth Backlash Compensation ........................................................................... 89
1.3.12 Addition of 5000 Pitch Error Compensation Points.............................................. 96
1.3.13 Thermal Growth Compensation along Tool Vector .............................................. 98
1.4 THREE-DIMENSIONAL ERROR COMPENSATION .................................111
1.5 SETTINGS RELATED TO SERVO CONTROLLED AXES........................118
1.5.1 Servo Parameter................................................................................................... 119
1.5.2 Absolute Position Detection ................................................................................ 131
1.5.3 FSSB Setting........................................................................................................ 134
1.6 SETTINGS RELATED TO COORDINATE SYSTEMS ..............................158
1.6.1 Machine Coordinate System................................................................................ 158

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TABLE OF CONTENTS (Volume 1 of 3) B-63323EN-1/03

1.6.2 Workpiece Coordinate System/Addition of Workpiece Coordinate System

Pair ................................................................................................................... 159
1.6.3 Rotation Axis Roll-over....................................................................................... 162
1.6.4 Cutting/Rapid Traverse In-position Check.......................................................... 165
1.7 PARALLEL AXIS CONTROL .....................................................................169
1.8 TANDEM CONTROL .................................................................................175
1.9 SYNCHRONOUS CONTROL ....................................................................185
1.9.1 Configuration of Synchronous Control Axes ...................................................... 186
1.9.2 Synchronous Error Compensation....................................................................... 188
1.9.3 Synchronization Alignment ................................................................................. 190
1.9.4 Synchronous Error Check.................................................................................... 193
1.9.5 Recovery from Excessive Synchronous Error Alarm.......................................... 195
1.9.6 Torque Difference Alarm Detection for Synchronous Control........................... 197
1.10 TWIN-TABLE CONTROL ..........................................................................219
1.10.1 Tool Length Compensation in Tool Axis Direction with Twin Table Control... 224
1.11 CHOPPING FUNCTION ............................................................................232
1.12 ELECTRONIC GEAR BOX ........................................................................246
1.12.1 Command Description (G80.5, G81.5)................................................................ 246
1.12.2 Description of Commands Compatible with Those for a Hobbing Machine ...... 249
1.12.3 Configuration Examples of Controlled Axes ...................................................... 253
1.12.4 Retraction Function ............................................................................................. 256
1.12.5 Automatic phase matching function with electronic gear box ............................ 258
1.13 EGB AXIS SKIP FUNCTION .....................................................................276
1.14 TURNING MODE AND COMPENSATION CLAMP OF DUAL
POSITION FEEDBACK .............................................................................280
1.15 DECELERATION STOP AT POWER FAILURE........................................283
1.16 HIGH SPEED HRV MODE ........................................................................285
1.17 SETUP OF FSSBs IF USING HIGH SPEED HRV CONTROL ..................288
1.18 LOADING OF MULTIPLE SERVO PROGRAMS.......................................294
2 PREAPARATIONS FOR OPERATION...............................................296
2.1 EMERGENCY STOP .................................................................................297
2.2 READY SIGNALS ......................................................................................301
2.3 OVERTRAVEL CHECK .............................................................................303
2.3.1 Overtravel Signal ................................................................................................. 303
2.3.2 Stored Stroke Check 1 ......................................................................................... 306
2.3.3 Stroke Check 2..................................................................................................... 310
2.3.4 Stroke Limit Check Prior to Performing Movement ........................................... 316
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2.4 ALARM SIGNALS ......................................................................................319

2.5 INTERLOCK ..............................................................................................322
2.6 MODE SELECTION...................................................................................327
2.7 STATUS OUTPUT SIGNAL.......................................................................334
2.8 VRDY OFF ALARM IGNORE SIGNAL ......................................................336
2.9 ABNORMAL LOAD DETECTION ..............................................................339
3 MANUAL OPERATION ......................................................................347
3.1 JOG FEED/INCREMENTAL FEED............................................................348
3.2 MANUAL HANDLE FEED..........................................................................357
3.3 MANUAL HANDLE CONNECTED TO I/O LINK ........................................362
3.4 MANUAL HANDLE INTERRUPTION.........................................................366
3.5 THREE-DIMENSIONAL HANDLE FEED...................................................367
3.6 MANUAL INTERRUPTION FUNCTION FOR THREE-DIMENSIONAL
COORDINATE CONVERSION ..................................................................409
3.7 MANUAL NUMERIC COMMAND ..............................................................412
3.8 MANUAL ARBITRARY-ANGLE FEED.......................................................416
4 REFERENCE POSITION ESTABLISHMENT.....................................421
4.1 MANUAL REFERENCE POSITION RETURN...........................................422
4.2 SETTING THE REFERENCE POSITION WITHOUT DOGS ....................435
4.3 REFERENCE POSITION SHIFT ...............................................................439
4.4 REFERENCE POSITION RETURN...........................................................444
4.5 2ND REFERENCE POSITION RETURN/3RD, 4TH REFERENCE
POSITION RETURN..................................................................................446
4.6 FLOATING REFERENCE POSITION RETURN........................................449
4.7 LINEAR SCALE WITH REFERENCE MARKS ..........................................452
4.7.1 Enhancement of Distance Coded Linear Scale ................................................... 461

5 AUTOMATIC OPERATION ................................................................466

5.1 CYCLE START/FEED HOLD.....................................................................467
5.2 RESET AND REWIND...............................................................................472
5.3 TESTING A PROGRAM ............................................................................476
5.3.1 Machine Lock ...................................................................................................... 476
5.3.2 Dry Run ............................................................................................................... 479
5.3.3 Single Block ........................................................................................................ 483
5.4 MANUAL ABSOLUTE ON/OFF .................................................................486
5.5 OPTIONAL BLOCK SKIP/ADDITION OF OPTIONAL BLOCK SKIP.........489
5.6 SEQUENCE NUMBER COMPARISON AND STOP..................................492

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5.7 PROGRAM RESTART...............................................................................493

5.8 BLOCK RESTART .....................................................................................499
5.9 RETRACE..................................................................................................507
5.10 WITHDRAWING AND RETURNING A TOOL ...........................................512
5.11 ACTIVE BLOCK CANCEL .........................................................................519
5.12 EXACT STOP/EXACT STOP MODE/TAPPING MODE/CUTTING
MODE ........................................................................................................524
5.13 DNC OPERATION .....................................................................................526
5.14 REGAINING A MANUAL INTERVENTION AMOUNT DURING
AUTOMATIC OPERATION........................................................................528
5.15 SIMULTANEOUS AUTOMATIC AND MANUAL OPERATION ..................534
5.16 DNC OPERATION FROM OPEN CNC SELECTING SIGNAL ..................541
5.17 DNC OPERATION FROM MEMORY CARD INTERFACE ........................543
6 INTERPOLATION FUNCTION ...........................................................546
6.1 POSITIONING ...........................................................................................547
6.2 LINEAR INTERPOLATION ........................................................................549
6.3 CIRCULAR INTERPOLATION...................................................................552
6.4 THREADING..............................................................................................558
6.4.1 Threading............................................................................................................. 558
6.4.2 Threading Based on an Arbitrary Spindle Gear Ratio......................................... 561
6.5 SINGLE DIRECTION POSITIONING ........................................................566
6.6 HELICAL INTERPOLATION ......................................................................568
6.7 HELICAL INTERPOLATION B...................................................................570
6.8 INVOLUTE INTERPOLATION ...................................................................572
6.9 SPLINE INTERPOLATION ........................................................................578
6.10 POLAR COORDINATE INTERPOLATION ................................................579
6.11 CYLINDRICAL INTERPOLATION .............................................................582
6.12 CYLINDRICAL INTERPOLATION CUTTING POINT CONTROL ..............586
6.13 NORMAL DIRECTION CONTROL ............................................................593
6.14 EXPONENTIAL INTERPOLATION............................................................597
6.15 SMOOTH INTERPOLATION .....................................................................599
6.16 HYPOTHETICAL AXIS INTERPOLATION ................................................602
6.17 SPIRAL INTERPOLATION, CONICAL INTERPOLATION ........................603
6.18 NURBS INTERPOLATION ........................................................................607
6.18.1 NURBS Interpolation Additional Functions ....................................................... 610
6.19 3-DIMENSIONAL CIRCULAR INTERPOLATION (G02.4 AND G03.4) .....613

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B-63323EN-1/03 TABLE OF CONTENTS (Volume 2 of 3)

TABLE OF CONTENTS (Volume 2 of 3)

7 FEEDRATE CONTROL/ACCELERATION AND DECELERATION

CONTROL..........................................................................................615
7.1 FEEDRATE CONTROL .............................................................................616
7.1.1 Rapid Traverse Rate ............................................................................................ 617
7.1.2 Cutting Feedrate Clamp....................................................................................... 620
7.1.3 Feed Per Minute .................................................................................................. 621
7.1.4 Feed Per Revolution/Feed Per Revolution Without Position Coder ................... 623
7.1.5 F1-digit Feed........................................................................................................ 625
7.1.6 Feedrate Inverse Time Specification ................................................................... 629
7.1.7 Override ............................................................................................................... 630
7.1.8 Automatic Corner Override ................................................................................. 638
7.1.9 External Deceleration .......................................................................................... 643
7.1.10 Feed Stop Function.............................................................................................. 645
7.1.11 Deceleration Based on Acceleration during Circular Interpolation .................... 646
7.1.12 Advanced Preview Control.................................................................................. 651
7.1.13 Nano Interpolation............................................................................................... 652
7.1.14 Fine HPCC........................................................................................................... 653
7.1.15 Machining type in HPCC screen programming................................................... 667
7.1.16 Feedrate Specification on a Virtual Circle for a Rotary Axis ............................. 668
7.1.17 Automatic Feedrate Control by Area................................................................... 672
7.2 ACCELERATION AND DECELERATION CONTROL ...............................677
7.2.1 Post-interpolation Automatic Acceleration/Deceleration ................................... 677
7.2.2 Look-ahead Acceleration/Deceleration Before interpolation.............................. 687
7.2.3 Corner Control..................................................................................................... 704
7.2.4 Feed Forward in Rapid Traverse ......................................................................... 707
7.2.5 Acceleration/Deceleration before Interpolation of Linear Type Rapid
Traverse ............................................................................................................... 708

8 MISCELLANEOUS FUNCTION .........................................................712

8.1 MISCELLANEOUS FUNCTION/2ND AUXILIARY FUNCTION..................713
8.2 AUXILIARY FUNCTION LOCK ..................................................................725
8.3 MULTIPLE M COMMANDS IN A SIGLE BLOCK ......................................726
8.4 HIGH-SPEED M/S/T/B INTERFACE .........................................................730
9 SPINDLE FUNCTION.........................................................................734

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TABLE OF CONTENTS (Volume 2 of 3) B-63323EN-1/03

9.1 SPINDLE SPEED FUNCTION (S CODE OUTPUT) ..................................735

9.2 SPINDLE SERIAL OUTPUT/SPINDLE ANALOG OUTPUT ......................737
9.3 SPINDLE CONTROL .................................................................................766
9.4 CONSTANT SURFACE SPEED CONTROL .............................................787
9.5 ACTUAL SPINDLE SPEED OUTPUT .......................................................794
9.6 SPINDLE POSITIONING ...........................................................................796
9.7 Cs CONTOUR CONTROL .........................................................................855
9.8 RIGID TAPPING ........................................................................................874
9.8.1 Rigid Tapping Additional Function..................................................................... 934
9.9 SPINDLE ORIENTATION ..........................................................................937
9.10 SPINDLE OUTPUT SWITCHING ..............................................................940
9.11 SPINDLE SPEED FLUCTUATION DETECTION.......................................941
10 TOOL FUNCTION ..............................................................................949
10.1 TOOL FUNCTION......................................................................................950
10.2 TOOL COMPENSATION VALUE/TOOL COMPENSATION NUMBER/
TOOL COMPENSATION MEMORY ..........................................................952
10.2.1 Specification of Diameter Entry for Tool Compensation Value......................... 956
10.3 TOOL LIFE MANAGEMENT FUNCTION ..................................................957
10.4 TOOL COMPENSATION FUNCTION........................................................975
10.4.1 Tool Length Offset .............................................................................................. 975
10.4.2 Tool Offset........................................................................................................... 979
10.4.3 Cutter Compensation ........................................................................................... 982
10.4.4 Three-dimensional Tool Compensation .............................................................. 991
10.4.5 Tool Offsets Based on Tool Numbers ................................................................. 997
10.4.6 Tool Axis Direction Tool Length Compensation.............................................. 1008
10.4.7 Rotary Table Dynamic Fixture Offset ............................................................... 1019
10.4.8 Three-dimensional Cutter Compensation.......................................................... 1026
10.4.9 Designation Direction Tool Length Compensation........................................... 1041
10.4.10 Tool Center Point Control ................................................................................. 1052
10.4.11 Control Point Compensation of Tool Length Compensation Along Tool Axis 1061
10.4.12 Grinding Wheel Wear Compensation................................................................ 1069
10.4.13 Cutter Compensation for Rotary Table ............................................................. 1080

11 PROGRAM COMMAND ...................................................................1088

11.1 DECIMAL POINT PROGRAMMING/POCKET CALCULATOR TYPE
DECIMAL POINT PROGRAMMING ........................................................1089
11.2 PROGRAM CONFIGURATION ...............................................................1091

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11.3 INCH/METRIC CONVERSION ................................................................1094

11.4 DIAMETER SPECIFICATION AND RADIUS SPECIFICATION ..............1097
11.5 CUSTOM MACRO ...................................................................................1099
11.5.1 Custom Macro ................................................................................................... 1099
11.5.2 Interruption Type Custom Macro ...................................................................... 1122
11.6 CANNED CYCLE SPINDLE CONTROL ..................................................1125
11.7 EXTERNAL MOTION FUNCTION ...........................................................1136
11.8 INDEX TABLE INDEXING FUNCTION....................................................1138
11.9 MULTIPLE ROTARY CONTROL AXIS FUNCTION ................................1148
11.10 SCALING .................................................................................................1150
11.11 COORDINATE SYSTEM ROTATION (G68,G69)....................................1154
11.12 THREE-DIMENSIONAL COORDINATE CONVERSION .........................1157
11.13 AXIS INTERCHANGE..............................................................................1165
11.14 OILING SIGNAL (CANNED CYCLE) .......................................................1170

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TABLE OF CONTENTS (Volume 3 of 3) B-63323EN-1/03

TABLE OF CONTENTS (Volume 1 of 3)

12 DISPLAY/SET/EDIT .........................................................................1175
12.1 DISPLEY/SET..........................................................................................1176
12.1.1 Clock Function .................................................................................................. 1176
12.1.2 Operation/Alarm History Screen ....................................................................... 1177
12.1.3 Alarm Display.................................................................................................... 1179
12.1.4 Operator Message Display................................................................................. 1181
12.1.5 Servo Adjustment Screen .................................................................................. 1182
12.1.6 Spindle Adjustment Screen ............................................................................... 1183
12.1.7 Waveform Diagnosis Display............................................................................ 1184
12.1.8 Self-diagnosis .................................................................................................... 1185
12.1.9 Hardware/Software System Configuration Screen............................................ 1186
12.1.10 Machined Part Count and Operation Time Display .......................................... 1187
12.1.11 Tool Path Drawing and Background Drawing .................................................. 1191
12.1.12 Operating Monitor Screen ................................................................................. 1193
12.1.13 Machining Time Stamp ..................................................................................... 1194
12.1.14 Menu Switches .................................................................................................. 1196
12.1.15 Software Operator’s Panel ................................................................................. 1197
12.1.16 National Language Display ............................................................................... 1206
12.1.17 Screen Clear Function and Automatic Screen Clear Function.......................... 1207
12.1.18 Touch Panel ....................................................................................................... 1210
12.1.19 Periodic Maintenance Screen ............................................................................ 1214
12.1.20 Maintenance Information Screen....................................................................... 1216
12.1.21 High-speed High-precision Machining Setting Screen ..................................... 1217
12.1.22 Pitch Error Compensation Screen ..................................................................... 1220
12.1.23 Power Mate CNC Manager Function ................................................................ 1222
12.1.24 DI/DO Monitor Function................................................................................... 1231
12.1.25 Brightness Adjustment Screen for Monochrome Display Unit with Graphic
Function ............................................................................................................. 1236
12.1.26 Fine Torque Sensing.......................................................................................... 1238
12.1.27 2-LCD-unit Connection Function...................................................................... 1243
12.1.28 Changing Blinking Displays in G05.1 Q1 Mode............................................... 1246
12.2 EDITING ..................................................................................................1249
12.2.1 Tape Length for Part Program Storage.............................................................. 1249
12.2.2 Number of Programs Stored .............................................................................. 1250

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12.2.3 Memory Protection Keys................................................................................... 1251

12.2.4 Program Encryption........................................................................................... 1252
12.2.5 Background Editing........................................................................................... 1256
12.2.6 Playback............................................................................................................. 1257
12.2.7 Automatic Sequence Number Insertion............................................................. 1259
12.2.8 Editing a Running Program ............................................................................... 1260
12.2.9 DO Signal Output by Soft Key.......................................................................... 1261
12.3 READER/PUNCHER INTERFACE ..........................................................1269
13 MEASUREMENT..............................................................................1279
13.1 TOOL LENGTH MANUAL MEASUREMENT...........................................1280
13.2 WORKPIECE ORIGIN MANUAL SETTING.............................................1281
13.3 TOOL LENGTH/WORKPIECE ORIGIN MEASUREMENT ......................1282
13.4 AUTOMATIC TOOL LENGTH MEASUREMENT (G37) ..........................1288
13.4.1 High-speed Measuring Position Reached Signal............................................... 1295
13.5 SKIP FUNCTION .....................................................................................1297
13.5.1 Skip Function..................................................................................................... 1297
13.5.2 High-speed Skip Signal ..................................................................................... 1302
13.5.3 Multi-step Skip .................................................................................................. 1303
13.5.4 Torque Limit Skip ............................................................................................. 1311
13.6 CHANGING ACTIVE OFFSET VALUE WITH MANUAL MOVE ..............1317
14 PMC CONTROL FUNCTION............................................................1326
14.1 PMC AXIS CONTROL .............................................................................1327
14.2 EXTERNAL DATA INPUT........................................................................1377
14.3 EXTERNAL WORKPIECE NUMBER SEARCH.......................................1393
14.4 KEY INPUT FROM PMC .........................................................................1397


A INTERFACE BETWEEN CNC AND PMC ........................................1401
A.1 ADDRESS LIST .......................................................................................1402
A.1.1 PMC to NC ........................................................................................................ 1402
A.1.2 CNC to PMC ..................................................................................................... 1423
A.2 SIGNAL LIST ...........................................................................................1444
A.2.1 Signal List (In Order of Symbol)....................................................................... 1444
A.2.2 Signal List (In Order of Address) ...................................................................... 1516

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B-63323EN-1/03 1.AXIS CONTROL

1 AXIS CONTROL

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1.AXIS CONTROL B-63323EN-1/03

1.1 NUMBER OF CONTROLLED AXES

General

Series 15i/150i
Item Standard Multiaxis
specification specification
Number of basic controlled axes 3
Extension of the number of 10 maximum 24 maximum
controlled axes (total) (including 2 Cs axes)
Number of basic simultaneous 2
controlled axes
Extension of the number of basic Up to the maximum number of controlled
simultaneous controlled axes axes

Alarm and message

Number Message Contents

PS0183 TOO MANY SIMULTANEOUS AXES A move command was specified for more axes than can be
controlled by simultaneous axis control.
Either add on the simultaneous axis control extension
option, or divide the number of programmed move axes into
two blocks.

Reference item

Series15i/150i-MA Operator’s Manual II-2.1 Number of Controlled

(Programming) axes
(B-63324EN)

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B-63323EN-1/03 1.AXIS CONTROL

1.2 SETTING EACH AXIS

1.2.1 Axis Name

General
Those axes (including PMC-controlled axes) that are controlled by the
CNC must be named.
Axis names can be selected from X, Y, Z, A, B, C, U, V, and W (with
parameter No. 1020).
When parallel axis control, synchronization control, or tandem control
is used, the same axis name can be assigned to multiple axes. In this
case, a suffix like Xm or Xs can be assigned so that each axis can be
identified for current position display and alarm indication. Parameter
No. 1021 is used to assign a suffix to an axis name.

- Axis name extension function

When the optional axis name extension function is used, axis names I, J,
K, and E can also be used.

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1.AXIS CONTROL B-63323EN-1/03

Parameter
1020 Program axis name for each axis

   

     

     
The programmed axis name of each controlled axis is set according to the following
table:

Axis Setting
name
X 88
Y 89
Z 90
A 65
B 66
C 67
U 85
V 86
W 87

NOTE
1 When the option for tool axis direction tool length compensation
is provided, always set the A, B, or C value.
2 When the axis name extension function (option) is used, the
following addresses can be used as axis names:

Axis name Setting

I 73
J 74
K 75
E 69

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B-63323EN-1/03 1.AXIS CONTROL

1021 Subscripts of the axis names of parallel, synchronization control, and

tandem control axes

   

     

     
To distinguish the axes controlled in parallel operation mode, synchronization
control mode, and tandem control mode, specify a suffix for each axis.

Setting Meaning
0 Set 0 for those axes not controlled in parallel
operation mode, synchronization control, or
tandem control.
1-9 A set number is used as a suffix.
65-90 A set alphabetic character (ASCII code) is used as
a suffix.

Example: For an axis whose axis name is X, the following will be indicated:

Setting Axis name indicated on screens such as

position display screen
0 X
1 X1
77 XM
83 XS

Note
NOTE
1 When the optional second auxiliary function is used,
those addresses that are specified in the second
auxiliary function cannot be used as axis names.
2 When the axis name extension function is used, the
second auxiliary function cannot be used.

Reference item
Series15i/150i-MA Operator’s Manual II-2.2 Axes name
(Programming)
(B-63324EN)

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1.AXIS CONTROL B-63323EN-1/03

1.2.2 Increment System

General
The increment system depends on the combination of the least input
increment (input increment) and least command increment (output
increment). The least input increment is the least increment for the
programmed amount of movement. The least command increment is
the least increment for the amount of movement of the machine.
The unit of each least increment is mm, inch, or deg.
As indicated in Table 1.2.2(a), five increment systems are supported.
For each axis, an increment system can be set using bit 0 (ISA), bit 1
(ISC), bit 2 (ISD), or bit 3 (ISE) of parameter No. 1012. To switch
between metric input and inch input for the least input increment, a G
code (G20/G21) or bit 0 (INI) of parameter No. 0010 can be used.
Whether to use the metric system or inch system for the least command
increment is determined for each machine; bit 1 (INM) of parameter No.
1002 is used to select either the metric system or inch system.
A combination of the metric system and inch system is not allowed.
Some functions (such as circular interpolation and cutter
compensation) cannot be used for axes for which different increment
systems are used.
IS-D and IS-E are optional.

NOTE
The unit (mm, inch) in the table is a diameter value
for diameter specification (with bit 3 (DIA) of
parameter No. 1006 set to 1); for radius
specification, the unit is a radius value.

Table. 1.2.2 (a) Increment Systems

Increment Least input Least command Maximum stroke
system name increment increment
0.01 mm 0.01 mm 999999.99 mm
IS-A 0.001 inch 0.001 inch 99999.999 inch
0.01 deg 0.01 deg 999999.99 deg
0.001 mm 0.001 mm 99999.999 mm
IS-B 0.0001 inch 0.0001 inch 9999.9999 inch
0.001 deg 0.001 deg 99999.999 deg
0.0001 mm 0.0001 mm 9999.9999 mm
IS-C 0.00001 inch 0.00001 inch 999.99999 inch
0.0001 deg 0.0001 deg 9999.9999 deg
0.00001 mm 0.00001 mm 9999.99999 mm
IS-D 0.000001 inch 0.000001 inch 999.999999 inch
0.00001 deg 0.00001 deg 9999.99999 deg
0.000001 mm 0.000001 mm 999.999999 mm
IS-E 0.0000001 inch 0.0000001 inch 99.9999999 inch
0.000001 deg 0.000001 deg 999.999999 deg
When bit 0 (IM0) of parameter No. 1013 for increasing the input
increment 10 times is set to 1, and a command is issued without
specifying the decimal point, each increment system is as indicated in
Table 3.2.2(b).
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B-63323EN-1/03 1.AXIS CONTROL

Table. 1.2.2 (b)

Increment Least input Least command Maximum stroke
system name increment increment
0.01 mm 0.001 mm 99999.999 mm
IS-B 0.001 inch 0.0001 inch 9999.9999 inch
0.01 deg 0.001 deg 99999.999 deg
0.001 mm 0.0001 mm 9999.9999 mm
IS-C 0.0001 inch 0.00001 inch 999.99999 inch
0.001 deg 0.0001 deg 9999.9999 deg
0.0001 mm 0.00001 mm 9999.99999 mm
IS-D 0.00001 inch 0.000001 inch 999.999999 inch
0.0001 deg 0.00001 deg 9999.99999 deg
0.00001 mm 0.000001 mm 999.999999 mm
IS-E 0.000001 inch 0.0000001 inch 99.9999999 inch
0.00001 deg 0.000001 deg 999.999999 deg

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
0010 INI

  

   

        !" #$ $ $ !     !% !$ &
' (  !
)' !$

#7 #6 #5 #4 #3 #2 #1 #0
1002 INM

NOTE
After this parameter has been set, the power must be off turned off
then back on for the setting to become effective.

   

   

    )  (  !" #$ $ $  !% !  "% $   
  !% !$ &
' (  !&  *+$  !$     !$ &,
)' !$ &  *+$  !$  !$ !$ &,

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1.AXIS CONTROL B-63323EN-1/03

#7 #6 #5 #4 #3 #2 #1 #0
1006 DIA

   

    

NOTE
After this parameter has been set, the power must be off turned off
then back on for the setting to become effective.

    - . (%/ !% "%  !$   !" '
0: Radius specification
1: Diameter specification

If bit 5 (PDC) of parameter No. 1001 is 1, DIA has the following meaning:
The scale of the parameter, offset, and graphic screens is indicated using:
0: Radius specification
1: Diameter specification

#7 #6 #5 #4 #3 #2 #1 #0
1012 ISE ISD ISC ISA

   

    

NOTE
After this parameter has been set, the power must be off turned off
then back on for the setting to become effective.

     .
    ) 0
    1 
    - 2 !   "%  !$ 

Increment system #3 ISE #2 ISD #1 ISC #0 ISA

IS-A 0 0 0 1
IS-B 0 0 0 0
IS-C 0 0 1 0
IS-D 0 1 0 0
IS-E 1 0 0 0

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B-63323EN-1/03 1.AXIS CONTROL

#7 #6 #5 #4 #3 #2 #1 #0
1013 IM0

   

    

     (  !" #$ $ % $  !  %" !$ % 
 $  !% !  #$  !%  #$%
$  ! %&
' %% %  $  !% !  &
)'  %  $  !% !  &
3$ .  $ !   $  !  
! %4  %  $  !% !  &

Reference item
Series15i/150i-MA Operator’s Manual II-2.3 Increment system
(Programming)
(B-63324EN)

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1.AXIS CONTROL B-63323EN-1/03

1.2.3 Rotation Axis Specification

General
Whether an axis is to be set as a linear axis or rotation axis can be
specified on an axis-by-axis basis with bit 0 (ROT) of parameter No.
1006. For an axis set as a rotation axis by ROT, the inch/metric
conversion function is disabled.
Whether a machine coordinate system for stroke checking and
automatic reference position return is to be of linear axis type or
rotation axis type can be specified on an axis-by-axis basis with bit 1
(ROS) of parameter No. 1006. When rotation axis type is specified, the
machine coordinate system is normalized within the angular
displacement per rotation specified in parameter No. 1260.

With the rotation axis roll-over function, displayed absolute coordinate

values can be rounded to the angular displacement per rotation
specified in parameter No. 1260 to prevent the rotation axis coordinate
values from overflowing. For details, see the description of the rotation
axis roll-over function.

Displayed relative coordinate values can be rounded to the angular

displacement per rotation only when the multi-rotary axis control
function is used. For details, see the description of the multi-rotary axis
control function.

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
1006 ROP ROS ROT

   

    

NOTE
After this parameter has been set, the power must be off turned off
then back on for the setting to become effective.

     56+  !" #$ $ $   7 !$8  !!%/ %&
' . 7 !$8  !!%/ %*  ,&
)' .% % 7 !$8  !!%/ %* % % ,&

- 10 -
B-63323EN-1/03 1.AXIS CONTROL

    ) 56  !" #$ $ $  !$ !%%     "%  %9 !$ !9
 % ! " ! %%   %  % % &
' : *  ,
)' 5% %* % % ,
;%   % % $  !$ !%%    %  < #$
$    !    % % !" "%     %&)1&
$!   % ! " ! %%  *=1>=-, "%  
$    !%    " ! %%   $
  !  % % ! -  &  .% $  %
    %&)1&
    1 56  !" #$ $ $  !$ !%%     % "% $
  !$ % !%  % %  % % &
' : *  ,
)' 5% %* % % ,
3$ $ !%%      % % %$   #$!$
!% %%% !! %"   !$ % !%  %  ! 4
 !" &  +$ %#!$!%  %%4  "%  "% !$
!%  %!! %"%$ $ -  &  .% $  %
    %&?1&

#7 #6 #5 #4 #3 #2 #1 #0
1009 ROL

   

    

    1 56:  !" #$ $ $  %%/ "!%"%   % %   ! &
' %  ! &
)' 2 ! &

NOTE
This bit is valid only for a rotation axis.

- 11 -
1.AXIS CONTROL B-63323EN-1/03

1260 Angular displacement about the rotation axis when the connected motor
rotates one turn

NOTE
After this parameter has been set, the power must be off turned off
then back on for the setting to become effective.

   

   5  

@%"   

(%"    %$ !   %"$    

     % %/ %"%"  * " %$   
     4 *,,
*3$ $ !   &A&,
 $    !   4%$  % % #$ $ !% ! 
%%  %  %  &

- 12 -
B-63323EN-1/03 1.AXIS CONTROL

5425 Angular displacement per rotation in rotation-axis pitch error compensation

NOTE
After this parameter has been set, the power must be off turned off
then back on for the setting to become effective.

[Input type] Parameter input

[Data type] Realaxis
[Unit of data] mm, inch, degree (machine unit)
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] See the description below.
For rotation-axis pitch error compensation (with bit 2 (ROP) of
parameter No. 1006 set to 1), set angular displacement per rotation
for each axis. The angular displacement per rotation need not
always be 360 degrees. The period in rotation-axis pitch error
compensation can be set.

The angular displacement per rotation, compensation interval, and

number of compensation points must satisfy the following equation:

Angular displacement per rotation = compensation interval x

number of compensation points

The sum of the compensation values per rotation must always be 0.

(Ex) Rotary-axis type pitch error compensation

Comp. point 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
Comp. value +1 +1 +2 -1 -2 -2 -2 -1 +2 +1 -2 -1 +1 +1 +2

In this case the set values are as follows.

Data no. 5420 5421 5422 5423 5424 5425

Value 10 1 25 1 24.0 360.

Reference item
Series15i/150i-MA Operator’s Manual II-19.7 Rotation axes roll over
(Programming) II-19.8 Multiple-axes rotary
(B-63324EN) axes control
Series15i/150i- Connection Manual 1.6.3 Rotation axes roll over
MODEL A (This manual) 11.9 Multiple-axes rotary
axes control

- 13 -
1.AXIS CONTROL B-63323EN-1/03

1.2.4 Controlled Axes Detach

General
These signals release the specified control axes from control.
When attachments are used (such as a detachable rotary table), these
signals are selected according to whether the attachments are mounted.
The signals can also be used for switching the C axis and spindle on
lathes.

When multiple rotary tables are used in turn, the tables must use motors
of the same model. Absolute pulse coders cannot be used.

Signal

Controlled axis detach signals

DTCH1<G64#7>, DTCH2<G68#7> , ...
[Classification] Input signal
[Function] These signals detach the control axes from control.
These signals are provided for each control axis; the affixed
number of the signal name shows the control axis number.

DTCHx
x: 1 ..... The 1st axis is detached.
2 ..... The 2nd axis is detached.
3 ..... The 3rd axis is detached.
: :
: :

[Operation] When the signals are 1, the control unit operates as follows:
(1) Position control is not executed at all. Servo motor excitation is
cut.
(2) Servo alarm on the axis is ignored.
(3) Axis interlock signal is assumed to be zero on the detached axis.
(4) A command for automatic or manual operation is effective for the
axis,
but do not execute the command. The command is accepted but
the operation is restrained, because the axis interlock is 0. In an
automatic operation, the execution may stop and hold at the block.
(5) Position display also displays the position of the detached axis.

- 14 -
B-63323EN-1/03 1.AXIS CONTROL

Controlled axis detach status signals

MDTCH1<F64#7>, MDTCH2<F68#7>, ...
[Classification] Output signal
[Function] These signals notify the PMC that the corresponding axes have been
released from control.
These signals are provided for each control axis; the affixed number of
the signal name shows the control axis number.

MDTCHx
x: 1 ..... The 1st axis is detached.
2 ..... The 2nd axis is detached.
3 ..... The 3rd axis is detached.
: :
: :

[Output condition] These signals are 1 in the following case:

- When the corresponding axes are released from controlThese
signals are 0 in the following case:
- When the corresponding axes are under control

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G064 DTCH1

F064 MDTCH1

The above addresses are the signal addresses for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the Appendix A.1.

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
0012 RMV

  

    

    B 5( ;%  !$  !" #$ $ %  !$$ $ "!% %%$
!% % &
' %%  !$&
)'   !$&
*27/  %$ !% %   !$ +0C)+0C1 %
%&,
2"" !/ #$ 5(*4B%"    %&), %)&

- 15 -
1.AXIS CONTROL B-63323EN-1/03

#7 #6 #5 #4 #3 #2 #1 #0
1005 RMB

   

    

    B 5( ;%  !$  !" #$ $ $ !% %   !$   
5(*4B%"    %&)1,/ &
' / &
)'  &

Caution
CAUTION
When a 2-axis or 3-axis amplifier is used, releasing
only one axis from control results in the output of
SV013 (V ready off). Use 1-axis amplifiers for those
axes to be released from control, e.g., by replacing
the rotary table.

Note
NOTE
1 Controlled axis detach signals DTCH1 <G64#7>,
DTCH2 <G68#7>, DTCH3 <G72#7>, 0 can be
changed from 1 to 0 or from 0 to 1 when the power is
first turned on or when no movement is being
executed along the corresponding axis. If these
signals are changed from 0 to 1 when the tool is
moving along the corresponding axis, the axis is
released from control upon completion of the
movement.
2 For these signals to be attached, parameter No.
1005#7 must be set, indicating the axes are
detachable.
3 Setting parameter No. 0012#7 from the MDI panel
detaches the axes in the same way as these signals.
4 Those axes that are released from control lose their
reference positions. Reference position return
must, therefore, be performed for the axes prior to
executing move commands for the axes. Specifying
a move command before reference position return
has been performed causes alarm PS181 to be
output (the alarm can be disabled by setting bit 0
(ZRN) of parameter 1005).

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B-63323EN-1/03 1.AXIS CONTROL

1.2.5 Outputting the Movement State of an Axis

General
The movement state of each axis can be output to the PMC.

Signal

Axis moving signals

MV1<F64#2>, MV2<F68#2>, ...
[Classification] Output signal
[Function] These signals indicate that a control axis is moving. The signals are
provided for each control axis, and the number in the signal name
corresponds to the control axis number.
MVx
x: 1 ..... The 1st axis is moving.
2 ..... The 2nd axis is moving.
3 ..... The 3rd axis is moving.
: :
: :
[Output condition] The signals turn to "1" in the following cases:
- The corresponding axis has started moving.
- In manual handle feed mode, the handle feed axis of the
corresponding axis has been selected.
The signals turn to "0" in the following case:
- When deceleration for the corresponding axis has been completed
and the axis is set to the in-position condition.
Axis moving direction signals
MD1<F64#3>, MD2<F68#3>, ...
[Classification] Output signal
[Function] These signals indicate the movement direction of control axis. They are
provided for each control axis, and the number in the signal name
corresponds to the control axis number.
MDx
x: 1 ..... The moving direction of the 1st axis is minus.
2 ..... The moving direction of the 2nd axis is minus.
3 ..... The moving direction of the 3rd axis is minus.
: :
: :
[Output condition] "1" indicates the corresponding axes are moving
in the minus direction, and "0" indicates they are moving in the plus
direction.

- 17 -
1.AXIS CONTROL B-63323EN-1/03

CAUTION
1 These signals maintain their existing condition during
a stop, indicating the direction of the axes’ movement
before being stopped.
2 In the case of manual handle interrupt and
simultaneous automatic and manual operation, the
direction depends on the sum of both move
commands.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F064 MD1 MV1

The above addresses are the signal addresses for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the Appendix A.1.

Caution
CAUTION
Axis moving signals and axis moving direction signals
are output in both automatic and manual operations.

- 18 -
B-63323EN-1/03 1.AXIS CONTROL

1.2.6 Mirror Image

General
Mirror image can be applied to each axis, either by signals or by
parameters (setting input is acceptable). All movement directions are
reversed during automatic operation along axes to which a mirror
image is applied.

X
B

A
B’ Y

0
When MI1 signal turned to "1" at point A

Mirror image

However, the following directions are not reversed:

- Direction of manual operation and direction of movement, from
the intermediate position to the reference position during
automatic reference position return
- Positioning in a machine coordinate system (G53)
- Approach direction for single direction positioning (G60) and
shift direction for boring cycles (G76 and G87)
Mirror image check signals indicate whether mirror image is applied to
each axis. System variable #3007 contains the same information (refer
to the Sec.II-17.2 in Operator’s Manual (Programming)).

Signal

Mirror image signal

MI1<G65#2>, MI2<G69#2>, ...
[Classification] Input signal
[Function] Apply mirror image to the specified axes.
[Operation] Apply mirror image to those axes for which the signals are 1. These
signals are provided for the controlled axes on a one-to-one basis. A
number appended to a signal represents the controlled axis number.
MIx
x: 1 ..... Applies mirror image to the 1st axis.
2 ..... Applies mirror image to the 2nd axis.
3 ..... Applies mirror image to the 3rd axis.
: :
The mirror image signal can be turned to "1" in the following cases:
(1) During offset cancel;
(2) When the CNC is in the automatic operation stop state and not in
the feed hold state.

- 19 -
1.AXIS CONTROL B-63323EN-1/03

Mirror image check signal

MMI1<F65#0>, MI2<F69#0>, ...
[Classification] Output signal
[Function] These signals indicate the mirror image condition of each axis. The
mirror image is set by taking the logical sum of the signal from the MDI
panel and the input signal of the machine tool, then relaying the
information to the machine tool.
These signals are provided for every control axis; the numeral in the
signal name indicates the relevant control axis number.
MMIx
x: 1 ..... Mirror image is applied to the 1st axis
2 ..... Mirror image is applied to the 2nd axis
3 ..... Mirror image is applied to the 3rd axis
: :
[Output condition] These signals turn to "1" when:
- Mirror image signal MIn of the corresponding axis is "1"; or
- Mirror image of the corresponding axis is turned on by setting
data from the MDI panel.
These signals turn to "0" when:
- Mirror image signal (MIn) of the corresponding axis is "0" and the
setting of the mirror image in the control unit is turned off.

- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G065 MI1

F065 MMI1

The above addresses are the signal addresses for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the Appendix A.1.

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
0012 MIR

  

    

     (5 ;%  !$  !" #$ $ %  %   &
' %%  %   *%  ,&
)' @  %   * % ,&

- 20 -
B-63323EN-1/03 1.AXIS CONTROL

Caution
CAUTION
1 When programmable mirror image and ordinary
mirror image are specified at the same time,
programmable mirror image is applied first.
2 No programmable mirror image affects mirror image
check signals.
3 Even when the mirror image is applied, commands
which do not actuate mirror image (such as automatic
reference position return and manual operation) do
not affect mirror image check signals

- 21 -
1.AXIS CONTROL B-63323EN-1/03

1.2.7 Follow-up

General
If the machine moves in the state in which position control on
controlled axes is disabled (during servo-off, emergency stop, or servo
alarm), feedback pulses are accumulated in the error counter. The
CNC reflects the machine movement corresponding to the error count
in the current position managed by the CNC. This operation is referred
to as follow-up. When follow-up is performed, the current position
managed by the CNC does not shift from the actual machine position.
You can select whether to perform follow-up for axes for which the
servo is turned off.
Follow-up is always performed during emergency stop or a servo
alarm.

- When follow-up is not performed for the axes for which the servo is turned off
When bit 2 (FVF) of parameter No. 1800 is set to 0, and bit 3 (FUP) of
parameter No. 1802 for the axis is set to 0,follow-up is not performed.
This means that pulses remain in the error counter as a servo error.
In this case, the machine moves to compensate for the error when the
servo off signal changes to 1.
In general, follow-up is not used if the machine is mechanically
clamped when position control is disabled for the controlled axes.

- When follow-up is performed for the axes for which the servo is turned off
When bit 2 (FVF) of parameter No. 1800 is set to 1, or bit 3 (FUP) of
parameter No. 1802 is set to 1, follow-up is performed.
This means that the issue of a command that matches the machine
movement is assumed, and the current position managed by the CNC is
moved so that the error counter becomes 0.
In this case, even when the servo off signal returns to 1, the machine
remains displaced, but the current position managed by the CNC moves
to match the machine position. So, the next absolute command causes
movement to the correct position.
In general, when the machine is moved by driving the motors with
mechanical handles, make a setting to perform follow-up.

- 22 -
B-63323EN-1/03 1.AXIS CONTROL

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1800 FVF

   

   

    1 ;;  !" #$ $ % "% "%%#$  /%%""% &

' % % "% "%%#* !$ ! ! $  /%%""% ,&
)' "% "%%#* !$ ! $  $  /%%""% ,&

#7 #6 #5 #4 #3 #2 #1 #0
1802 FUP

   

    

    - ;@ 3$ $ "%%# "%  "%  !$ #$ $  /%  %""

' % "%  &
)' "%  &
2"" !/ #$ ;;*41%"    %&)>,&

Reference item
Series15i/150i- Connection Manual 1.2.8 Servo off (mechanical
MODEL A (This manual) handle)

- 23 -
1.AXIS CONTROL B-63323EN-1/03

1.2.8 Servo Off (Mechanical handle)

General
Place the controlled axes in the servo off state; that is, they stop the
current to the servo motor, which disables position control. However,
the position detection feature functions continuously, so the current
position is not lost. These signals are used to prevent the servo motors
from overloading when the tools on the axes are mechanically clamped
under certain machining conditions on the machine, or to move the
machine by driving the motors by mechanical handles.

Signal

Servo off signal

*SVF1<G64#6>, *SVF2<G68#6>, ...
[Classification] Input signal
[Function] Select whether to place each axis in the servo off state.
These signals are provided for the controlled axes on a one-to-one
basis.
A number appended to a signal represents a controlled axis number.

*SVFx
x: 1 ..... Servo off for the first axis
2 ..... Servo off for the second axis
3 ..... Servo off for the third axis
: :
: :
[Operation] Resetting this signal to 0 specifies the servo-off state (no current is
supplied to the servo motor). Positioning control is disabled, but
position detection remains enabled; so the machine position is not lost.
This signal is valid only when parameter SVF (bit 1 of parameter No.
1802) is set to 1.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G064 *SVF1

The address above is the signal address for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the address table in Appendix A.

- 24 -
B-63323EN-1/03 1.AXIS CONTROL

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1802 SVF

   

    

    ) ;  !" #$ $ %/   $  /%%"" &

' % %/   $  /%%"" &
)'    $  /%%"" &

Caution
CAUTION
1 In general, interlock is applied to an axis while the
servo off signal for that axis is 0.
2 When one of these signals turns to "1", the servo
motor is turned off. The mechanical clamp is done
by using the auxiliary function. Set the timing for the
auxiliary function, mechanical clamp and servo off
signals as shown in the diagram below. The clamp
command auxiliary function should be executed only
after the distribution end signal (DEN) turned to "1".

0 !%  @! !% 

MF

( !$ ! 

*SVF1

 /%%"" 

FIN

Reference item
Series15i/150i- Connection Manual 1.2.7 Follow-up
MODEL A (This manual)

- 25 -
1.AXIS CONTROL B-63323EN-1/03

1.2.9 Position Switch

General
Position switch signals can be output to the PMC while the machine
coordinates along a controlled axes are within a specified ranges.
Using parameters, specify arbitrary controlled axes and machine
coordinate operating ranges for which position switch signals are
output.
Up to 10 position switch signals can be output.

Signal

Position switch signal

PSW01 to PSW10 <F164#0 to F164#7, F165#0, F165#1>
[Classification] Output signal
[Function] Notifies that the machine coordinates along the controlled axes
specified by parameters (5270 to 5279) are within the ranges specified
by parameters (5280 to 5289 and 5290 to 5299). Up to ten position
switch signals can be output.
The position switch signal corresponding to the n-th position switch
function is PSWn (n: 1 to 10)
[Output condition] These signals are 1 in the following case:
- When the machine coordinates along the controlled axes are
within the specified ranges.
These signals are 0 in the following case:
- When the machine coordinates along the controlled axes are not
within the specified ranges.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0

F164 PSW08 PSW07 PSW06 PSW05 PSW04 PSW03 PSW02 PSW01

F165 PSW10 PSW09

Parameter

- Enabling/disabling the position switch function

#7 #6 #5 #4 #3 #2 #1 #0
5200 POS

  

   

    ) 6  !" #$ $ %  4 $ %%#!$"!%&

'  4 &
)' 2 4 &

- 26 -
B-63323EN-1/03 1.AXIS CONTROL

- Setting the correspondence between position switch signals and controlled axes

5270 Controlled axis for which the tenth position switch function is performed
(PSWA01)

5271 Controlled axis for which the 2-nd position switch function is performed
(PSWA02)

5272 Controlled axis for which the 3-rd position switch function is performed
(PSWA03)

5273 Controlled axis for which the 4-th position switch function is performed
(PSWA04)

5274 Controlled axis for which the 5-th position switch function is performed
(PSWA05)

5275 Controlled axis for which the 6-th position switch function is performed
(PSWA06)

5276 Controlled axis for which the 7-th position switch function is performed
(PSWA07)

5277 Controlled axis for which the 8-th position switch function is performed
(PSWA08)

5278 Controlled axis for which the 9-th position switch function is performed
(PSWA09)

5279 Controlled axis for which the 10-th position switch function is performed
(PSWA10)

   

    

     (   
 $ !% %  4 !% %%% %"$ " % $
%%#!$"!%&  3$ $  !$ !%%   %"$
!% % #$       $ !% %
%%#!$ %%$  (0&  +$ %%#!$ 
!% %%$ $%%#!$"!% 3*')%),&

NOTE
The setting of 0 means that the position switch function of the
number is not used.

- 27 -
1.AXIS CONTROL B-63323EN-1/03

- Setting of position switch operating ranges

- Maximum value

5280 Maximum value of the operating range of the 1-st position switch (PSW101)

5281 Maximum value of the operating range of the 2-nd position switch (PSW102)

5282 Maximum value of the operating range of the 3-rd position switch (PSW103)

5283 Maximum value of the operating range of the 4-th position switch (PSW104)

5284 Maximum value of the operating range of the 5-th position switch (PSW105)

5285 Maximum value of the operating range of the 6-th position switch (PSW106)

5286 Maximum value of the operating range of the 7-th position switch (PSW107)

5287 Maximum value of the operating range of the 8-th position switch (PSW108)

5288 Maximum value of the operating range of the 9-th position switch (PSW109)

5289 Maximum value of the operating range of the tenth position switch (PSW110)

   

   5 

@%"  !$  * !$ ,

(%"    %$ !   %"$    

     %"%"  * " %      
 4 *.,,
*3$ $ !   &A&,
Set the maximum value of the operating range of the first to tenth position
switches.

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B-63323EN-1/03 1.AXIS CONTROL

- Minimum value
5290 Minimum value of the operating range of the 1-st position switch (PSW201)

5291 Minimum value of the operating range of the 2-nd position switch (PSW202)

5292 Minimum value of the operating range of the 3-rd position switch (PSW203)

5293 Minimum value of the operating range of the 4-th position switch (PSW204)

5294 Minimum value of the operating range of the 5-th position switch (PSW205)

5295 Minimum value of the operating range of the 6-th position switch (PSW206)

5296 Minimum value of the operating range of the 7-th position switch (PSW207)

5297 Minimum value of the operating range of the 8-th position switch (PSW208)

5298 Minimum value of the operating range of the 9-th position switch (PSW209)

5299 Minimum value of the operating range of the 10-th position switch (PSW210)

   

   5 

@%"  !$  * !$ ,

(%"    %$ !   %"$    

     %"%"  * " %      
 4 *.,,
*3$ $ !   &A&,
Set the minimum value of the operating range of the first to tenth position switches.

NOTE
1 For a diameter-specified axis, use radius values to specify the
parameters used to set the maximum and minimum values of an
operating range.
2 The position switch function is enabled upon completion of
reference position return.

- 29 -
1.AXIS CONTROL B-63323EN-1/03

1.2.10 Vertical Axis Drop Prevention Function

Overview
If the machine is brought to an emergency stop and the power for a
servo motor is turned off, the machine applies a brake to the axis
corresponding to the stopped servo motor. If the power for the servo
motor of a vertical axis is turned off before a brake is applied to it
sufficiently, the vertical axis will drop. To solve this problem, it is
possible to defer turning off the power until a brake is applied
sufficiently.

Parameters are used to specify the axis for which turning off the power
is to be deferred and how much to defer. This function can be used
when the machine is brought to an emergency stop and when a servo
alarm occurs on a nonvertical axis. If a servo alarm occurs on a vertical
axis, turning off the power for its servo motor will not be deferred.

Parameters
#7 #6 #5 #4 #3 #2 #1 #0
1883 BCL

   

    

     0:  !" #$ $ %  4 $ / !   % / %"!% 
"%%#'
0: Does not defer turning off the power (disable the function).
1: Defers turning off the power (enable the function).

1976 Power-off delay

   

      

@%"   !

     %)
 !" $%#!$% "  %""$ %# &

Limitations
If a vertical axis and a nonvertical axis are connected to the same
multiaxis amplifier, the multiaxis amplifier turns off the power for the
vertical axis at the same time that the power for the nonvertical axis is
turned off. This prevents the vertical axis drop prevention function
from functioning normally.
A vertical axis should be connected to a single-axis amplifier as much
as possible.
If it is impossible to use a single-axis amplifier for a vertical axis,
connect vertical axes having the same delay time to a multiaxis

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B-63323EN-1/03 1.AXIS CONTROL

amplifier. If a nonvertical axis and vertical axis are connected to the

same multiaxis amplifier, enable the vertical axis drop prevention
function even for the nonvertical axis, and set the nonvertical axis with
the same delay time as for the vertical axis.

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1.AXIS CONTROL B-63323EN-1/03

1.3 ERROR COMPENSATION

1.3.1 Stored Pitch Error Compensation

Overview
If pitch error compensation data is specified, pitch errors of each axis
can be compensated in detection unit per axis.
Pitch error compensation data is set for each compensation position at
the intervals specified for each axis. The origin of compensation is the
reference position to which the tool is returned.
Pitch error compensation data can be set with external devices such as
the
Handy File. Compensation data can also be set directly with the MDI
panel.
To specify the correspondence between compensation positions and
machine coordinates, the five parameters below must be set.
In the following example, 33 is set for the pitch error compensation
number at the reference position.

Pitch error compensation value (absolute value)

Compensation number for
Compensation number for the 3 the compensation position
reference position (No. 5420) having the largest value
(No. 5422)
2

31 32 33 34 35 36 37

Reference position
-1
Compensation magnification
parameter (No. 5423)
-2
Compensation number for the Compensation interval
compensation position having the parameter (No. 5424)
smallest value (No. 5421)
Compensation
position number 31 32 33 34 35 36 37
Compensation
value to be set +3 -1 -1 +1 +2 -1 -3

- Number of the pitch error compensation position at the reference

position (for each axis) Parameter (No.5420)
- Number of the pitch error compensation position having the
smallest value (for each axis) Parameter (No.5421)
- Number of the pitch error compensation position having the
largest value (for each axis) Parameter
(No.5422)
- Pitch error compensation magnification (for each axis)
Parameter (No.5423)
- Interval of the pitch error compensation positions (for each axis)
Parameter (No.5424)
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B-63323EN-1/03 1.AXIS CONTROL

Procedure for displaying and setting the pitch error compensation data
1 Set the following parameters:
- Number of the pitch error compensation position at the
reference position (for each axis): Parameter(No.5420)
- Number of the pitch error compensation position having the
smallest value (for each axis): Parameter(No.5421)
- Number of the pitch error compensation position having the
largest value (for each axis): Parameter(No.5422)
- Pitch error compensation magnification (for each axis):
Parameter(No.5423)
- Interval of the pitch error compensation positions (for each
axis): Parameter(No.5424)
2 Press function key SYSTEM
.
3 Press the continuous menu key , then press chapter selection
soft key [PITCH].
The following screen is displayed:

Fig. 1.4 (a)

4 Move the cursor to the compensation position number to be set in
either of the following ways:
- Enter the compensation position number and press the
[NO.SRH] soft key.
- Move the cursor to the compensation position number using
PAGE

the page keys, PAGE

and , and cursor keys,
, , , and .
5 Enter a value with numeric keys and press the [INPUT] soft key.

- 33 -
1.AXIS CONTROL B-63323EN-1/03

Explanation

- Specifying the compensation position

To assign the compensation positions for each axis, specify the positive
direction or the negative direction in reference to the compensation
position No. of the reference position. If the machine stroke exceeds
the specified range on either the positive direction or the negative
direction, the pitch error compensation does not apply beyond the
range.

- Compensation position number

1280 compensation positions from No. 0 to 1279 are available on the
pitch error setting screen. When a system with 11 or more controlled
axes is used, a total of 3072 points (from 0 to 3071) are available.
Assign arbitrary positions for each axis using parameters. The number
of the compensation position at the reference position (parameter 5420),
number of the compensation position having the smallest value
(parameter 5421), and number of the compensation position having the
largest value (parameter 5422) must be set for each axis.

Example

- For linear axis

- Machine stroke: -400 mm to +800 mm
- Interval between the pitch error compensation positions: 50 mm
- No. of the compensation position of the reference position: 40
If the above is specified, the No. of the farthest compensation position
in
the negative direction is as follows:
No. of the compensation position of the reference position- (Machine
stroke on the negative side/Interval between the compensation
positions) + 1= 40 - 400/50 + 1= 33
No. of the farthest compensation position in the positive direction is as
follows:
No. of the compensation position of the reference position +
(Machine stroke on the positive side/Interval between the
compensation positions)= 40 + 800/50= 56
The correspondence between the machine coordinate and the
compensation position
No. is as follows:

-400 -350 -100 -50 0 50 100 750 800

Machine
coordinate
(mm)
Compensati
on position
number. 33 39 40 41 42 56

Compensation values are output at the positions indicated by .

Therefore, set the parameters as follows:

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B-63323EN-1/03 1.AXIS CONTROL

Parameter Setting value

5420 : Compensation number for the reference position 40
5421 : Smallest compensation position number 33
5422 : Largest compensation position number 56
5423 : Compensation magnification 1

The compensation amount is output at the compensation position No.

corresponding to each section between the coordinates.
The following is an example of the compensation amounts.

No 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 56
Compensation
value +2 +1 +1 -2 0 -1 0 -1 +2 +1 0 -1 -1 -2 0 +1 +2 1

Pitch error compensation value

+4
+3
+2
+1
33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49
-400 -300 -200 -100 100 200 300 400 (mm)
-1
-2
Reference
position -3
-4

- For rotary axis

- Amount of movement per rotation: 360 deg
- Interval between pitch error compensation positions: 45 deg
- No. of the compensation position of the reference position: 60
If the above is specified, the No. of the farthest compensation position
in the negative direction for the rotating axis is always equal to the
compensation position No. of the reference position.
The No. of the farthest compensation position in the positive direction
is as follows:
No. of the compensation position of the reference position + (Move
amount per rotation/Interval between the compensation positions)
= 60 + 360/45= 68
The correspondence between the machine coordinate and the
compensation position
No. is as follows:

- 35 -
1.AXIS CONTROL B-63323EN-1/03

Reference position 0.0

45.0 315.0
(61) (68)
(60)

(62) (67)

(+)
90.0 270.0

(63) (66)

(64) (65)
135.0 225.0
Compensation values are output at the
180.0 positions indicated by .

Therefore, set the parameters as follows:

Parameter Setting value

5420 : Compensation number for the reference position 60
5421 : Smallest compensation position number 60
5422 : Largest compensation position number 68
5423 : Compensation magnification 1
5424 : Interval between pitch error compensation positions 45.000 deg

If the sum of the compensation values for positions 61 to 68 is not 0,

pitch error compensation values are accumulated for each rotation,
causing positional deviation.
The same value must be set for compensation positions 60 and 68.

The following is an example of compensation amounts.

No 60 61 62 63 64 65 66 67 68
Compensation
value +1 -2 +1 +3 -1 -1 -3 +2 +1

Pitch error compensation value

(absolute value)
+4
+3 Reference position

68 +2 68
(60)
(60)
+1
61 62 63 64 65 66 67 61 62 63 64 65 66 67 61 62
45 90 135 225 270315 0 45 90 135 225 315 0 45 90 (deg)
180 180 270
-1
-2
-3
-4

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B-63323EN-1/03 1.AXIS CONTROL

Parameter
5420 Number of pitch error compensation point of reference position for each axis

NOTE
After this parameter has been set, the power must be off turned off then
back on for the setting to become effective.

   

     

     
     !"
# $ $%&  $ $'%  $ 
      $   (    $ )
 * +
, $  $  $       
$      $ +

  -  $     )    

   .$$ -   $ / !  $
  +  $       $ -
   $ / !)     .0
-  , $    1+233! $  *  .  $
    $ $       
 $  *  .  $ -   $ / 
!
-  , $    1+23! $  $  $ 
  $ *  $   $ '4-
  5-  !+
-  , $    1+232!     
 '4  +

- 37 -
1.AXIS CONTROL B-63323EN-1/03

5421 Number of pitch error compensation point with the largest negative value for
each axis

NOTE
After this parameter has been set, the power must be off turned off then
back on for the setting to become effective.

   

     

     
     !"
# $ $%&  $ $'%  $ 
      $   (    $ )
 * +
Set the number of the pitch error compensation point with the largest negative value
for each axis.
In rotation-axis pitch error compensation, assign the number of the farthest
pitch error compensation point in the negative direction to a compensation point
positioned next to the 0-degree point in the positive direction. If the
reference position is at 0 degrees (machine zero point), the compensation point
for the 0-degree point can be set to the farthest compensation point in the
negative direction (that is, the same number as for the compensation point for
the reference position).

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B-63323EN-1/03 1.AXIS CONTROL

5422 Number of pitch error compensation point with the largest positive value for
each axis

NOTE
After this parameter has been set, the power must be off turned off then
back on for the setting to become effective.

   

     

     
     !"
# $ $%&  $ $'%  $ 
      $   (    $ )
 * +
Set the number of the pitch error compensation point with the largest positive
value for each axis.

NOTE
A value greater than the setting of parameter No. 5420 must be
set.

5423 Magnification of pitch error compensation for each axis

NOTE
After this parameter has been set, the power must be off turned off then
back on for the setting to become effective.

   

     

     -
, $    $       $ +
6$   $    $     )$ 
      $    $   +

- 39 -
1.AXIS CONTROL B-63323EN-1/03

5424 Interval of pitch error compensation points for each axis

NOTE
After this parameter has been set, the power must be off turned off
then back on for the setting to become effective.

[Input type] Parameter input

[Data type] Realaxis
[Unit of data] mm, inch, degree (machine unit)
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] See the following descriptions.
Pitch error compensation points are set at regular intervals. Set
this interval for each axis.

The minimum interval of pitch error compensation points is

determined from the following equation:
Minimum interval = maximum feedrate/7500
Unit
mm, inch, deg or mm, min, inch, min, degmin

Example: When the maximum feedrate is 15000 mm/min, the

minimum interval of pitch error compensation points is 2 mm.

- 40 -
B-63323EN-1/03 1.AXIS CONTROL

5425 Angular displacement per rotation in rotation-axis pitch error compensation

NOTE
After this parameter has been set, the power must be off turned off then
back on for the setting to become effective.

   

   7  

8  ) $)   $ !

9    $    $    

     , $ .  +
For rotation-axis pitch error compensation (with bit 2 (ROP) of parameter No. 1006
set to 1), set angular displacement per rotation for each axis. The angular
displacement per rotation need not always be 360 degrees. The period in rotation-
axis pitch error compensation can be set.

The angular displacement per rotation, compensation interval, and number of

compensation points must satisfy the following equation:

Angular displacement per rotation = compensation interval x number of

compensation points

The sum of the compensation values per rotation must always be 0.

- 41 -
1.AXIS CONTROL B-63323EN-1/03

Caution
CAUTION
- Compensation value range
Compensation values can be set within the range
from -7 x compensation magnification (detection unit)
to +7 x compensation magnification (detection unit).
The compensation magnification can be set for each
axis within the range from 0 to 100 in parameter
5423.
- Intervals of compensation positions
The pitch error compensation positions are arranged
with equally spaced. Set the space between two
adjacent positions for each axis to the parameter (No.
5424).
- Pitch error compensation of the rotary axis
For the rotating axis, the interval between the pitch
error compensation positions shall be set to one per
integer of the amount of movement (normally 360
deg) per rotation. The sum of all pitch error
compensation amounts per rotation must be made to
0. Also, set the same compensation value to a
position and the same position with one rotation.
- Conditions where pitch error compensation is not
performed
Note that the pitch error is not compensated in the
following cases:
- When the machine is not returned to the reference
position after turning on the power. This excludes
the case where an absolute position detector is
employed.
- If the interval between the pitch error compensation
positions is 0.
- If the compensation position Nos. on the positive or
negative direction do not fall within the range of 0 to
[128 x (number of control axes)-1].
- If the compensation position Nos. do not conform to
the following relationship:
Negative side ≤ Reference position < Positive side
(Except when, in rotation-axis pitch error
compensation, the number of the farthest pitch
error compensation point in the negative direction is
assigned to a compensation point positioned next
to the 0-degree point in the positive direction if the
reference position is at 0 degrees (machine zero
point))

- 42 -
B-63323EN-1/03 1.AXIS CONTROL

Reference item
Series15i/150i-MA Operator’s Manual II-9.7 Dipaly and setting the
(Operation) pitch error
(B-63324EN-1) compensation data

- 43 -
1.AXIS CONTROL B-63323EN-1/03

1.3.2 Backlash Compensation

General

- Backlash compensation
Function for compensating for lost motion on the machine. Set a
compensation value in parameter No. 1851, in detection units from 0 to
+-9999 pulses for each axis.
- Backlash compensation for each rapid traverse and cutting feed

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.
Change of Cutting Rapid Rapid Cutting
feedrate feed to traverse traverse feed to
cutting to rapid to cutting rapid
Change feed traverse feed traverse
of direction of
movement
Same direction 0 0 ±α ±(-α)
Opposite direction ±A ±B ±(B+α) ±(B+α)

Stopped during cutting feed Stopped during rapid traverse

α α
A → B →

α : Overrun

- α= (A-B)/2
- The positive or negative direction for compensating values is the
direction of movement.
- Assign the measured backlash at cutting feed (A) in parameter No.
1851 and that at rapid traverse (B) in parameter No. 1849.

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B-63323EN-1/03 1.AXIS CONTROL

Procedures for measuring the backlash compensation amounts during

cutting feed and rapid traverse

- Backlash compensation amount during cutting feed

1 Set the backlash compensation amount during cutting feed

(parameter No. 1851) to "0."
2 Move the machine to the measurement point by cutting feed.
Mount a dial gauge and set the pointer to "0."
G01 G90 X0 Ff ;
X100.0 ;

0 100 200 300

3 Move the machine in the same direction by cutting feed.

X200.0 ;

0 100 200 300

4 Return the machine to the measurement point.

Read the dial gauge.
X100.0 ;

0 100 200 300

A Cutting feed

A Backlash compensation during cutting feed

5 Convert the backlash compensation amount during cutting feed

into detection units and set the result for parameter No. 1851

- 45 -
1.AXIS CONTROL B-63323EN-1/03

- Backlash compensation amount during rapid traverse

1 Set the backlash compensation amount during rapid traverse
(parameter No. 1849) to "0."
2 Move the machine to the measurement point by rapid traverse.
Mount a dial gauge and set the pointer to "0."
G00 G90 X0 ;
X100.0 ;

0 100 200 300

3 Move the machine in the same direction by rapid traverse.

X200.0 ;

0 100 200 300

Rapid
traverse

4 Return the machine to the measurement point.

Read the dial gauge.

X100.0 ;

0 100 200 300

B Rapid
traverse

B Backlash compensation during rapid traverse

5 Convert the backlash compensation amount during rapid traverse

into detection units and set the result for parameter No. 1849.

- 46 -
B-63323EN-1/03 1.AXIS CONTROL

Operation examples
In these examples, the following are assumed:
Backlash compensation amount during cutting feed A = 40
Backlash compensation amount during rapid traverse B = 20
α = (A - B)/2 = 10
Initial backlash direction = Minus
• = Machine position.
1 Reference position return
0 100 200 300

Manual feed

Motor
2 Cutting feed followed by rapid traverse in the opposite direction
G00 G90 X100.0 ; Current compensation amount=+(B+α)=30
Accumulated compensation amount=30
0 100 200 300

Rapid traverse

30 Backlash compensation

3 Rapid traverse followed by rapid traverse in the same direction

G00 X200.0 ; Current compensation amount 0
Accumulated compensation amount 30
0 100 200 300

Rapid
traverse
30

- 47 -
1.AXIS CONTROL B-63323EN-1/03

4 Rapid traverse followed by rapid traverse in the opposite direction

G00 X100.0 ; Current compensation amount=-B=-20
Accumulated compensation amount=10
0 100 200 300

Rapid traverse

10

5 Rapid traverse followed by cutting feed in the opposite direction

G01 X200.0 Ff; Current compensation amount=(B+α)=30
Accumulated compensation amount=40
0 100 200 300

Cutting feed
40

6 Cutting feed followed by cutting feed in the same direction

G01 X300.0 Ff; Current compensation amount=0
Accumulated compensation amount=40
0 100 200 300

Cutting feed
40

- 48 -
B-63323EN-1/03 1.AXIS CONTROL

7 Cutting feed followed by cutting feed in the opposite direction

G01 X200.0 Ff; Current compensation amount=-A=-40
Accumulated compensation amount=0
0 100 200 300

Cutting feed

8 Cutting feed followed by rapid traverse in the same direction

G00 X100.0 ; Current compensation amount=-(-α)=10
Accumulated compensation amount=10
0 100 200 300

Rapid traverse
10

9 Rapid traverse followed by cutting feed in the same direction

G00 X0 ; Current compensation amount=-α=-10
Accumulated compensation amount=0
0 100 200 300

Cutting feed
0

- 49 -
1.AXIS CONTROL B-63323EN-1/03

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
1804 RBK

   

   : 
    ;4 7:< : = $             
 * 
0 1   
0   

1851 Backlash compensation for each axis

   

     

8    

     -&&&&-&&&&
, $  = $     $ +
6$   * $   $    
    . -)$   = $   
  +

1849 Backlash compensation amount used for rapid traverse for each axis

   

     

8    

     -&&&&-&&&&
Set the backlash compensation amount used in rapid traverse for each axis.
(This parameter is valid when RBK, #6 of parameter 1804, is set to 1.)

Caution
CAUTION
The backlash compensation for each rapid traverse
and cutting feed is not performed until the first
reference position return is completed after the power
is turned on. Under this state, the normal backlash
compensation is performed according to the value
specified in parameter No. 1851 irrespective of a
rapid traverse and a cutting feed.

- 50 -
B-63323EN-1/03 1.AXIS CONTROL

Note
NOTE
When backlash compensation is applied separately
for cutting feed and rapid traverse, jog feed is
regarded as cutting feed.

- 51 -
1.AXIS CONTROL B-63323EN-1/03

1.3.3 Straightness Compensation

General
For a machine tool with a long stroke, deviations in straightness
between axes may deteriorate machining accuracy. For this reason,
when an axis moves, other axes are compensated in detection units to
improve straightness. This improvement results in better machining
accuracy. When an axis (parameter Nos. 5481 to 5483) moves, the
corresponding compensation axis (parameter Nos. 5491 to 5493) is
compensated. That is, the compensation axis is compensated at the
pitch error compensation position (See 1.3.1) of the moving axis.

Explanation

- Pitch error compensation points on moving axis

0 1 2 3 60 61 126 127

... ...

Stored pitch error compensation points on

the travel axis

c
a

γ
α
... ...
ε
β
d
b
Compensation pulses that are output when the stored pitch error compensation on the
travel axis is output

a, b, c, d : Compensation position numbers of the moving axis

α, β, γ, ε : Compensation for compensation axis

From the current position on a travel axis, the compensation amount to

be output to the corresponding compensation axis is calculated.
Compensation is performed on the compensation axis when pitch error
compensation on the travel axis is output.
In the figure above, while the machine moves from compensation point
a to compensation point b on the travel axis, the compensation amount
(Beta - Alpha)/(b - a) is output to the compensation axis when the pitch
error compensation on the travel axis is output.

The amount of compensation is calculated for movement of the travel

axis from the current position to the corresponding compensation axis.
The compensation axis is corrected when the pitch error compensation
- 52 -
B-63323EN-1/03 1.AXIS CONTROL

on the travel axis is output. In the above figure, while the travel axis is
moving from compensation point a to compensation point b, the
compensation amount (Beta - Alpha)/(b - a) is output to the
compensation axis when the pitch error compensation on the travel axis
is output.

Parameter

5481 Axis number of straightness compensation move axis 1

5482 Axis number of straightness compensation move axis 2

5483 Axis number of straightness compensation move axis 3

[Input type] Parameter input

[Data type] Integer
[Valid data range] From 1 through the number of controlled axes
Set the axis number of a straightness compensation move axis.

NOTE
Compensation is not applied when 0 is specified.

5491 Axis number of compensation axis 1 for straightness compensation move

axis 1

5492 Axis number of compensation axis 2 for straightness compensation move

axis 2

5493 Axis number of compensation axis 3 for straightness compensation move

axis 3

[Input type] Parameter input

[Data type] Integer
[Valid data range] From 1 through the number of controlled axes
Set the axis number of a compensation axis.

NOTE
Compensation is not applied when 0 is specified.

5501 Compensation point number a of straightness compensation move axis 1

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5502 Compensation point number b of straightness compensation move axis 1

5503 Compensation point number c of straightness compensation move axis 1

5504 Compensation point number d of straightness compensation move axis 1

5511 Compensation point number a of straightness compensation move axis 2

5512 Compensation point number b of straightness compensation move axis 2

5513 Compensation point number c of straightness compensation move axis 2

5514 Compensation point number d of straightness compensation move axis 2

5521 Compensation point number a of straightness compensation move axis 3

5522 Compensation point number b of straightness compensation move axis 3

5523 Compensation point number c of straightness compensation move axis 3

5524 Compensation point number d of straightness compensation move axis 3

[Input type] Parameter input

[Data type] Integer
[Valid data range] 0 to [128×(Number of controlled axes)-1]
From 0 through 1279 or from 0 through 3071 depending on the
number of controlled axes is less than or equal to 10 or greater than
10, respectively.
Set a compensation point number in stored pitch error
compensation.
Fourth among the four compensation points set for each move axis.

5551 Compensation corresponding to compensation point number a of move axis 1

5552 Compensation corresponding to compensation point number b of move axis 1

5553 Compensation corresponding to compensation point number c of move axis 1

5554 Compensation corresponding to compensation point number d of move axis 1

5561 Compensation corresponding to compensation point number a of move axis 2

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5562 Compensation corresponding to compensation point number b of move axis 2

5563 Compensation corresponding to compensation point number c of move axis 2

5564 Compensation corresponding to compensation point number d of move axis 2

5571 Compensation corresponding to compensation point number a of move axis 3

5572 Compensation corresponding to compensation point number b of move axis 3

5573 Compensation corresponding to compensation point number c of move axis 3

5574 Compensation corresponding to compensation point number d of move axis

3

[Input type] Parameter input

[Data type] Integer
[Unit of data] detection unit
[Valid data range] -32767 - 32767
Note) Set a compensation for each compensation point.

Alarm and message

Number Message Contents

PW0100 ILLEGAL PARAMETER (S-COMP.) The parameter for setting slope compensation is incorrect.
This alarm occurs in the following cases:
• The axis number specified in the movable or
compensation axis parameter does not correspond to
any existing axis.
• When the number of pitch error compensation points on
the axis on which slope compensation is executed
exceeds 128 between the most negative side and most
positive side
• When the size relationship between the slope
compensation point Nos. is incorrect
• When the slope compensation point is not located
between the most negative side and most positive side of
pitch error compensation
• When the compensation per compensation point is too
small or too great.
SV0100 S-COMP. VALUE OVERFLOW The value set for straightness compensation has exceeded
maximum value 32,767.

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Note
NOTE
1 The straightness compensation function can be used
after a moving axis and its compensation axis have
returned to the reference position.
2 After setting parameters for straightness
compensation, be sure to turn off the NC power.
3 Set parameters for straightness compensation
according to the following conditions:
- The compensation at a compensation position
must be within the range -128 to 127.
- Compensation positions must be set so that "a≤b
≤c≤d" is satisfied.
- Compensation positions must exist between the
compensation position with the largest positive
value and that with the largest negative value in the
stored pitch error compensation data for each axis.
Four compensation positions can be set to 0 at a
time. In this case, compensation is not performed.
4 To add the straightness compensation function
option, the stored pitch error compensation option is
needed. In this case, the number of compensation
positions of each axis between the compensation
position with the largest positive value and that with
the largest negative value in the stored pitch error
compensation data must be equal to or less than 128.
5 Straightness compensation data is superposed on
stored pitch error compensation data and output.

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1.3.4 Interpolated straightness compensation

Compensation data, which is set using 128-point straightness

compensation data, is divided into parts at equal intervals in each
compensation point interval and output.

Explanation

- Compensation methods
With the 128-point straightness compensation method, the straightness
compensation amount at each compensation point is output to the
compensation axis, in the interval between that point and the next point
on the travel axis, as shown in the figure below.

Fig. 1.3.4 (a) 128-Point Straightness Compensation Method

With the interpolated straightness compensation method, the

straightness compensation amount at each compensation point is
divided into pulses at equal intervals in the interval between that point
and the next point on the travel axis, and output to the compensation
axis.

Fig. 1.3.4 (b) Interpolated Straightness Compensation Method

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- Compensation data
Compensation data is set using 128 straightness compensation points.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
5426 IPC

[Input type] Parameter input

[Data type] Bitaxis

#6 IPC Specifies whether to use the interpolating straightness compensation

function.
0: Do not use.
1: Use.
This parameter is valid only when it is set for those move axes
(controlled axis numbers set in parameter No. 5481 to No. 5485).

Alarm and message

Number Message Contents

The parameter for setting slope compensation is incorrect.
This alarm occurs in the following cases:
• The axis number specified in the movable or
compensation axis parameter does not correspond to
any existing axis.
• When the number of pitch error compensation points on
the axis on which slope compensation is executed
exceeds 128 between the most negative side and most
PW0100 ILLEGAL PARAMETER (S-COMP.)
positive side
• When the size relationship between the slope
compensation point Nos. is incorrect
• When the slope compensation point is not located
between the most negative side and most positive side of
pitch error compensation
• When the compensation per compensation point is too
small or too great.
The value set for straightness compensation has exceeded
SV0100 S-COMP. VALUE OVERFLOW
maximum value 32,767.

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WARNING
WARNING
1 If the feedrate is high, multiple compensation pulses may be output at one
time depending on the straightness compensation amount.
2 To use this function, the stored pitch error compensation option is
required in addition to this function option.
3 The compensation point interval is the same as that for stored pitch error
compensation. It is not possible to set another interval.
4 The compensation magnification can be set separately from that of stored
pitch error compensation.
5 The compensation amount corresponding to a compensation point on the
travel axis is superimposed on the stored pitch error compensation data
for the compensation axis.
6 To use this function, the number of pitch error compensation points on the
travel axis must not exceed 128.
7 After setting the straightness compensation parameters, turn the CNC off
then back on. (When the parameters are set, a "POWER MUST BE OFF"
alarm is generated.)
8 Interpolated straightness compensation and conventional straightness
compensation cannot be used at the same time for a single travel axis. It
is, however, possible to use interpolated straightness compensation and
conventional straightness compensation at the same time for different
travel axes.

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1.3.5 128 straightness compensation points

Overview

In straightness compensation, compensation data is set as the

compensation amounts at the individual compensation points, in the
same way as in stored pitch error compensation. This enables fine
compensation.
Up to five combinations of travel and compensation axes can be used in
the straightness compensation function.

1 Up to 128 compensation points can be set per axis.

2 The settings (a, b, ..., y, and z) at the individual compensation points
can be from -128 to +127.
3 The method of setting data and the compensation timing are the
same as those of pitch error compensation.
4 The number of straightness compensation points is the same as that
of stored pitch error compensation points on a travel axis.

Explanation

- Relationships between pitch error compensation points

and straightness compensation points on a travel axis

Stored pitch error compensation points on a travel axis

Straightness compensation points on a travel axis

α : Number of the most distant pitch error compensation point on

the - side of the travel axis(parameter No.5421)
β : Number of the most distant pitch error compensation point on
the + side of the travel axis(parameter No.5422)
γ : Number of the pitch error compensation point of the reference
position on the travel axis(parameter No.5422)
δ : Number of the straightness compensation point of the
reference position on the travel axis
φ : Number of the most distant straightness compensation point on
the - side of the travel axis(parameters No.5581-5585)
π : Number of the most distant straightness compensation point on
the + side of the travel axis
ω : Number of the start compensation point in 128-point
straightness compensation(1280 for a system with ten or more
controlled axes, 3072 for a system with 11 or more controlled
axes)

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The following relationships hold:

i δ = φ + (γ-α)
ii π = φ + (β-α)
and π, δ are automatically calculated from α, β, γ, and φ. Therefore, no
parameters need be set for them.

- Display and setting of straightness compensation data

The setting of 128-point straightness compensation data is supported
by the stored pitch error compensation data setting screen. From this
setting screen, set 128-point straightness compensation data above
compensation point number 1280 (3072 for a system with 11 or more
controlled axes).

- Input/output of straightness compensation data

The 128-point straightness compensation data is input and output in
parameter format, in the same way as stored pitch error compensation
data. A straightness compensation point number plus 10000 is equal to
the corresponding parameter number. (The format is the same as that
of pitch error compensation data.)
The input/output of 128-point straightness compensation data is
performed at the same time as stored pitch error compensation data. If
128-point straightness compensation data is input to a system that does
not have this function, alarm SR302 "Invalid data number" is
generated.

- Floppy directory display

When 128-point straightness compensation data is used, the file names
assumed when the compensation data is output to a floppy cassette are
as follows:
PITCH.TXT = Pitch error compensation data and straightness
compensation data
PARA-PCH.TXT = Parameters, pitch error compensation data, and
straightness compensation data

- Changing straightness compensation data with G10

Compensation data for the 128-straightness-compensation-set function
can be changed with G10 parameter input, in the same way as pitch
error compensation data. For a compensation data number, specify a
number equal to the data number plus 10000, in the same way as when
changing pitch error data.
This allows straightness compensation data to be changed during
automatic operation, without turning off the power. Note, however,
that data such as the compensation interval and compensation
magnification cannot be changed.

- Input/output of straightness compensation data using the NC window

Compensation data for 128 straightness compensation sets can be input
and output from PMC MMC, using the NC window function.

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Examples
The following explains the method of setting parameters for the travel
and compensation axes, as well as effective magnifications. The
parameters for travel and compensation axes can be set as follows.

1) A single compensation axis can be set for a single travel axis.

Table 1.3.5 (a) Example of Setting Parameters 1

Setting of the travel Setting of the
axis compensation axis
Effective magnification
Parameter Setting Parameter Setting
number number
5481 1 5491 2 Value set for parameter No. 5591
5482 3 5492 4 Value set for parameter No. 5592
5483 5 5493 6 Value set for parameter No. 5593
5484 7 5494 8 Value set for parameter No. 5594
5485 9 5495 10 Value set for parameter No. 5595

When the parameters are set as shown above, by moving the machine
along the first axis, compensation is applied to the second axis.
Similarly, by moving the machine along the third and fifth axes,
compensation is applied to the fourth and sixth axes, respectively.
The numbers of the parameters for the magnifications that are made
effective for the individual travel and compensation axis combinations
are as given in the table above.

2) Two or more compensation axes can be set for a single travel axis.

Table 1.3.5 (b) Example of Setting Parameters 2

Setting of the travel Setting of the
axis compensation axis
Effective magnification
Parameter Setting Parameter Setting
number number
5481 1 5491 2 Value set for parameter No. 5591
5482 1 5492 3 Value set for parameter No. 5592
5483 1 5493 4 Value set for parameter No. 5593
:

As described above, two or more compensation axes can be set for a

single travel axis.

3) A compensation axis can be set as a travel axis.

Table 1.3.5 (c) Example of Setting Parameters 3

Setting of the travel Setting of the
axis compensation axis
Effective magnification
Parameter Setting Parameter Setting
number number
5481 1 5491 2 Value set for parameter No. 5591
5482 2 5492 3 Value set for parameter No. 5592
5483 3 5493 4 Value set for parameter No. 5593
:

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As described above, a compensation axis can be set as a travel axis.

If a compensation axis is set as such, the amount of travel due to
compensation on the travel axis is not subject to compensation.

4) A single compensation axis cannot have two or more travel axes.

Table 1.3.5 (d) Example of Setting Parameters 4

Setting of the travel axis Setting of the
compensation axis
Parameter Setting Parameter Setting
number number
5481 1 5491 3
5482 2 5492 3
:

As described above, a single compensation axis cannot have two or

more travel axes.

Parameter

5481 Axis number of straightness compensation move axis 1

5482 Axis number of straightness compensation move axis 2

5483 Axis number of straightness compensation move axis 3

5484 Axis number of straightness compensation move axis 4

5485 Axis number of straightness compensation move axis 5

   

    

     # $ $$       
Set the axis number of a straightness compensation move axis.

NOTE
Compensation is not applied when 0 is specified.

5491 Axis number of compensation axis 1 for straightness compensation move

axis 1

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5492 Axis number of compensation axis 2 for straightness compensation move

axis 2

5493 Axis number of compensation axis 3 for straightness compensation move

axis 3

5494 Axis number of compensation axis 4 for straightness compensation move

axis 4

5495 Axis number of compensation axis 5 for straightness compensation move

axis 5

[Input type] Parameter input

[Data type] Integer
[Valid data range] From 1 through the number of controlled axes
Set the axis number of a compensation axis.

NOTE
Compensation is not applied when 0 is specified.

5581 Straightness compensation point number of most negative side of move

axis 1

5582 Straightness compensation point number of most negative side of move

axis 2

5583 Straightness compensation point number of most negative side of move

axis 3

5584 Straightness compensation point number of most negative side of move

axis 4

5585 Straightness compensation point number of most negative side of move

axis 5

[Input type] Parameter input

[Data type] Integer
[Valid data range] From 1280 through 1919 or from 3072 through 3711 depending on
the number of controlled axes is less than or equal to 10 or greater
than 10, respectively.
Specify the straightness compensation point number located at the
most negative position for each move axis.
When the value set in this parameter is out of the data range, an
alarm is issued, and compensation cannot be performed.

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5591 Straightness compensation multiplier of move axis 1

5592 Straightness compensation multiplier of move axis 2

5593 Straightness compensation multiplier of move axis 3

5594 Straightness compensation multiplier of move axis 4

5595 Straightness compensation multiplier of move axis 5

[Input type] Parameter input

[Data type] Integer
[Valid data range] 0 - 100
Specify a straightness compensation multiplier for each axis.
When the straightness compensation multiplier is set to 1, the unit
of compensation data is the same as the detection unit. When the
multiplier is set to 0, straightness compensation is not applied.

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#7 #6 #5 #4 #3 #2 #1 #0
5580 SMT

[Input type] Parameter input

[Data type] Bit

#1 SMT The parameters (No. 5591 to No. 5595) for straightness

compensation multiplier:
0: Are effective only for the first move axis when two or more move
axes are set using the same axis number.
1: Are effective for the respective move axes even when two or more
move axes set using the same axis number.
When the straightness compensation function is used, be sure to set
SCMT to 1.

Alarm and message

Number Message Contents

The parameter for setting slope compensation is incorrect.
This alarm occurs in the following cases:
• When the number of pitch error compensation points on
the axis on which slope compensation is executed
exceeds 128 between the most negative side and most
positive side
PW0100 ILLEGAL PARAMETER (S-COMP.) • When the size relationship between the slope
compensation point Nos. is incorrect
• When the slope compensation point is not located
between the most negative side and most positive side of
pitch error compensation
• When the compensation per compensation point is too
small or too great.
The value set for straightness compensation has exceeded
SV0100 S-COMP. VALUE OVERFLOW
maximum value 32,767.

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Caution
CAUTION
1 If the feedrate is high, multiple compensation pulses
may be output at the same time depending on the
straightness compensation amount.
2 To use this function, the stored pitch error
compensation option is required in addition to this
function option.
3 The compensation point interval is the same as that
for stored pitch error compensation. (Parameter No.
5424)
4 The compensation magnification can be set
separately from that of stored pitch error
compensation.
5 The compensation amount corresponding to a
compensation point on the travel axis is
superimposed on the stored pitch error
compensation data for the compensation axis.
6 To use this function, the number of pitch error
compensation points on the travel axis must not
exceed 128 points.
7 When setting the straightness compensation
parameters, turn the CNC off then back on. (When
the parameters are set, the "POWER MUST BE
OFF" alarm is generated.)

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1.3.6 Interpolated pitch error compensation

Overview
In stored pitch error compensation, the pitch error compensation pulse
at each pitch error compensation point is output in the interval between
that point and the next compensation point, as shown in the figure
below.

Fig. 1.4.6 (a) Stored Pitch Error Compensation

In interpolated pitch error compensation, the compensation amount at

each error compensation point is divided into pulses at equal intervals
in the interval between that point and the next point on the travel axis
and output, as shown in the figure below.

Fig. 1.4.6 (b) Interpolated Pitch Error Compensation Method

When interpolated pitch error compensation is used, the following

parameters are assigned the same values as those in stored pitch error
compensation.
- Number of the pitch error compensation point of the reference
position on each axis - - - - - No.5420

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- Number of the most distant pitch error compensation point on the

side of each axis - - - - - No.5421
- Number of the most distant pitch error compensation point on the
+ side of each axis - - - - - No.5422
- Pitch error compensation magnification for each axis - - - - -
No.5423
- Pitch error compensation point interval on each axis - - - - -
No.5424
- Amount of travel per rotation in rotation axis pitch error
compensation - - - - - No.5425

When cyclic second pitch error compensation is used at the same time,
the pitch error compensation amount is output in interpolated form in
each cyclic second pitch error compensation point interval.
If the feedrate is high, multiple compensation pulses may be output at
the same time. The minimum interval in which multiple compensation
pulses are not output at the same time is determined with the following
formula. The compensation point interval must be larger than the
distance calculated with the following formula.
Minimum pitch error compensation point interval =
(Fmax/7500)×(Pmax+1)
where Fmax: Maximum feedrate
Pmax: Maximum pitch error compensation amount

Example) If the maximum feedrate is 15000 mm/min and the

maximum pitch error compensation amount is equal to seven pulses,
the minimum compensation interval is 16 mm.

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
5426 IPP

[Input type] Parameter input

[Data type] Bitaxis

#7 IPP Specifies whether to use interpolating pitch error compensation.

0: Do not use.
1: Use.

WARNING
WARNING
Interpolated pitch error compensation cannot be used in
spindle positioning.

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1.3.7 Cyclic second pitch error compensation

Overview
When a rotary table is rotated using a gear, there are two cycles of the
occurrence of pitch errors: One cycle is the same as that of the rotation
of the rotary table while the other is the same as that of the rotation of
the gear for rotating the rotary table. To compensate for pitch errors of
these types, the compensation for the pitch error due to the rotation of
the gear is superimposed on the compensation for the pitch error per
rotation of the rotary table.

Explanation
If the gear between the rotary table and the servo motor is of a single
stage, as shown in Fig. 1.3.7 (a), stored pitch error compensation is
used for the compensation for the pitch error of toothed wheel A and
cyclic second pitch error compensation is used for the pitch error of
toothed wheel B.
If there is a multiple-stage gear, as shown in Fig. 1.3.7 (b), stored pitch
error compensation is used for toothed wheel A and cyclic second pitch
error compensation is used for the cyclic pitch error that occurs in each
pitch error compensation interval of toothed wheel A.

Rotary table

Motor
Toothed wheel A
Toothed wheel B

Fig. 1.3.7 (a) Cyclic Second Pitch Error Compensation for a Single-Stage Gear

Rotary table

Toothed wheel A

Motor

Fig. 1.3.7 (b) Cyclic Second Pitch Error Compensation for a Multiple-Stage Gear

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Although a rotary table is used as an example here, cyclic second pitch

error compensation can be used in the same way when the machine is
moved along a linear axis using a gear.
For example, in a configuration such as that shown in Fig. 1.3.7 (c),
stored pitch error compensation is used for the compensation for the
pitch error of the drilling hole and cyclic second pitch error
compensation is used for the compensation for the pitch error of
toothed wheel A.

Table Drilling screw

Toothed wheel Motor

Fig. 1.3.7 (c) Cyclic Second Pitch Error Compensation on a Linear Axis

Example
When a rotary table is rotated using a gear, a pitch error relative to the
cycle of the rotation of the rotary table occurs, as does a pitch error
relative to the cycle of the rotation of the gear for rotating the rotary
table. To compensate for these two types of pitch errors, the pitch error
relative to the cycle of the rotation of the gear is superimposed on the
pitch error relative to the cycle of the rotation of the rotary table.

- Pitch error relative to the cycle of the rotation of the gear

(if the rotary table rotates by 20° per rotation of the gear.)

0° 20°
2°

Fig. 1.3.7 (d)

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- Pitch error with a 360° cycle

180° ε

A
0° 360°

20°

Fig. 1.3.7 (e)

- Pitch error after superimposition in portion A

Pitch error with the cycle of the

rotation of the gear
ε : Pitch error in portion A

Fig. 1.3.7 (f) Synchronous Second Pitch Error

The above figure (Fig. 1.3.7 (f)) shows an example of cyclic second
pitch error compensation.
The compensation for the pitch error relative to the cycle of the rotation
of the gear is superimposed on each point of the compensation for the
pitch error with a 360° cycle.

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Parameter

5430 Number of the farthest second cyclical pitch error compensation point in
the negative direction for each axis

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] From 0 through 1279 or from 0 through 3071 depending on the
number of controlled axes is less than or equal to 10 or greater than
10, respectively.
The compensation point specified with this parameter is used as a
reference point for second cyclical pitch error compensation. This
reference point is used as a compensation point at the reference
position. The compensation value at the compensation reference
point must be 0.

5431 Number of the farthest second cyclical pitch error compensation point in
the positive direction for each axis

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] From 0 through 1279 or from 0 through 3071 depending on the
number of controlled axes is less than or equal to 10 or greater than
10, respectively.
Set the number of the farthest second cyclical pitch error
compensation point in the positive direction for each axis.

5432 Interval between second cyclical pitch error compensation points for each
axis

[Input type] Parameter input

[Data type] Realaxis
[Unit of data] mm, inch, degree (machine unit)
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] From 0 through the space between neiboring points of the pitch
error compensation (parameter no.5424).
Set the interval between second cyclical pitch error compensation
points for each axis.

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5433 Magnification for second cyclical pitch error compensation for each axis

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 0 - 100
Set a magnification for second cyclical pitch error compensation for
each axis.
When 1 is set as the magnification for second cyclical pitch error
compensation, the unit of compensation data is the same as the
detection unit.

Example
If the rotary table rotates by 20 degrees per rotation of the gear, the
parameters are as shown below.

Compensation 10 11 12 13 14 15
amount number
Compensation 0 +1 +2 -1 -1 -1
amount
In this case, the settings of the parameters are as follows:
Data number 5430 5431 5432
Setting 10 15 4.0 (deg)

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CAUTION
CAUTION
1 Using the appropriate parameters, set the number of
the most distant cyclic second pitch compensation
point on the - side of each axis and the number of
the most distant cyclic second pitch compensation
point on the + side of each axis. If the settings of
these two parameters are 0 or the same, cyclic
second pitch error compensation is not applied.
2 The number of compensation points that can be
used in pitch error compensation and cyclic second
pitch error compensation is 0 to 1279 for a system
with ten or fewer axes and 0 to 3071 for a system
with 11 or more axes. The number of compensation
points that can be used in pitch error compensation
decreases by the number of compensation points
used in cyclic second pitch error compensation.
3 When interpolated pitch error compensation is used,
the pitch error compensation amount is output in
interpolated form in each cyclic second pitch error
compensation interval.
4 Cyclic second pitch error compensation is
superimposed even on rotation axis pitch error
compensation,
5 The sum of the compensation amounts per rotation
must always be set to 0.
6 Cyclic second pitch error compensation cannot be
used for an axis for which spindle positioning is
performed.
7 Cyclic second pitch error compensation is enabled
after a reference position return.

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1.3.8 Gradient Compensation

Overview
By compensating for those errors in tools such as feed screws that
depend on the position of the machine system in detection units,
machining precision can be improved and mechanical life can be
prolonged. In gradient compensation, the compensation amount is
calculated at the compensation point intervals by setting four
representative points and the compensation amounts at these points, in
contrast to stored pitch error compensation, in which the compensation
amount is set for each compensation point. Using the four
compensation points specified for the parameters and the compensation
amounts at these points, three approximation curves are created.
Compensation is performed at the pitch error compensation point
intervals along these approximation curves. The gradient
compensation amount is superimposed on the stored pitch error
compensation amount.

Explanation
- Setting of gradient compensation and output of the compensation amount
0 1 2 3 60 61 126 127
(2)
... ...
(1) (3) (4)
Pitch error compensation point

c
a
γ
α
... ...
β ε

d
b
Output of gradient compensation amounts

Fig. 1.3.8 (a)

To perform gradient compensation, stored pitch error compensation

must be set for the axis subject to compensation.
(1) Number of the most distant pitch error compensation point on the
- side (parameter No. 5421)
(2) Pitch error compensation point interval (parameter No. 5421)
(3) Number of the pitch error compensation point of the reference
position (parameter No. 5421)
(4) Number of the most distant pitch error compensation point on the
+ side (parameter No. 5422)

Gradient compensation parameters must be set.

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a, b, c, d : Compensation point numbers. (Pitch error compensation

point numbers are used. Parameters Nos. 5461 to 5464)
α, β, γ, ε: Compensation amounts at compensation points a, b, c, and d
(parameters Nos. 5471 to 5474)

In Fig. 1.3.8 (a), a, b, c, and d are 1, 3, 60, and 126, respectively.

In Fig. 1.3.8 (a), the compensation amounts at the individual
compensation points located between points a and b are (β-α) / (b - a).

Parameter

5461 Gradient compensation point number a for each axis

5462 Gradient compensation point number b for each axis

5463 Gradient compensation point number c for each axis

5464 Gradient compensation point number d for each axis

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 0 to [128 * (number of control axes) – 1]
From 0 through 1279 or from 0 through 3071 depending on the
number of controlled axes is less than or equal to 10 or greater than
10, respectively.
Set a gradient compensation point. A compensation point to be set
becomes a compensation number in stored pitch error
compensation.

5471 Compensation α at gradient compensation point number a for each axis

5472 Compensation β at gradient compensation point number b for each axis

5473 Compensation γ at gradient compensation point number c for each axis

5474 Compensation δ at gradient compensation point number d for each axis

   

     

8    

     -'%4%-'%4%
Set a compensation for each compensation point.

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Alarm and message

Number Message Contents

PW0102 ILLEGAL PARAMETER (I-COMP.) The parameter for setting slope compensation is incorrect.
This alarm occurs in the following cases:
• When the number of pitch error compensation points on
the axis on which slope compensation is executed
exceeds 128 between the most negative side and most
positive side
• When the size relationship between the slope
compensation point Nos. is incorrect
• When the slope compensation point is not located
between the most negative side and most positive side of
pitch error compensation
• When the compensation per compensation point is too
small or too great.

Note
NOTE
1 Gradient compensation is enabled after the
reference position is established on the
compensation axis.
2 When the gradient compensation parameters are
set, turn the NC off then back on.
3 Parameters must satisfy the following conditions:
- The compensation amount at a compensation
point must be in the range of -128 to 127.
- Compensation points must satisfy the following
relationships: a =< b =< c =< d.
- Compensation points must be located between
the most distant compensation point in stored
pitch error compensation on the - side of each axis
and the most distant compensation point on the +
side. If all four points are equal to 0,
compensation is not performed.
4 To add the gradient compensation function option,
the stored pitch error compensation function option is
required.
The number of compensation points located between
the most distant compensation point on the + side of
each axis and the most distant compensation point
on the + side in stored pitch error compensation must
not exceed 128.
5 Gradient compensation is superimposed on the
stored pitch error compensation data.

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1.3.9 Bidirectional Pitch Error Compensation

Overview
In bidirectional pitch error compensation, different pitch error
compensation amounts can be set for travel in the positive direction and
that in the negative direction, so that pitch error compensation can be
performed differently in the two directions, in contrast to stored pitch
error compensation, which does not distinguish between the directions
of travel. In addition, when the direction of travel is reversed, the
compensation amount is automatically calculated from the pitch error
compensation data to perform compensation in the same way as in
backlash compensation. This reduces the difference between the paths
in the positive and negative directions.

Explanation

- Setting data
1. Setting parameters
Set the following parameters for each axis.

Table 1.3.9(a)
Data Description
number
5426#5 Bidirectional pitch error compensation, 1: Enabled/0: Disabled
5420 Number of the pitch error compensation point of the reference
position
5421 Number of the most distant pitch error compensation point on
the - side for travel in the positive direction
5422 Number of the most distant pitch error compensation point on
the + side for travel in the positive direction
5423 Pitch error compensation magnification
5424 Pitch error compensation point interval
5425 For a rotation axis, amount of travel per rotation in pitch error
compensation
5427 Number of the most distant pitch error compensation point on
the - side for travel in the negative direction
5428 Pitch error compensation amount (absolute value) at the
reference position when the machine moves to the reference
position in the direction opposite to that of a reference position
return

2. Pitch error compensation data

The compensation point numbers can be from 0 to 1279 and from
10000 to 11279 for a system with ten or fewer controlled axes and
from 0 to 3071 and from 10000 to 13071 for a system with 11 or
more controlled axes. This data may be used for both the positive
and negative directions. Note, however, that the set of
compensation data for a given axis cannot extend over 1279 (or
3071) and 10000.

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ParameterNo.5421 ParameterNo.5422
↓ ↓

Set of pitch error compensation data for

Set of n data items
the positive direction

ParameterNo.5427

Set of pitch error compensation data

Set of n data items
for the negative direction

↑
The pitch error compensation data numbers in this range are from 0 to
1279 (3071) or from 10000 to 11279 (13071).

Fig. 1.3.9 (a)

- Data setting example

If the direction of a manual reference position return is positive on an
axis (linear axis) having the pitch error amounts shown in the figure
below (Fig. 1.3.9 (b)), set the data given in the table below (Table 1.3.9
(b)).

Fig. 1.3.9 (b)

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B-63323EN-1/03 1.AXIS CONTROL

Table 1.3.9 (b) Positive-direction pitch error data

Compensation 20 21 22 23 24 25 26 27
point number
Compensation -1 +1 0 +1 +1 +2 -1 -1
amount to be set

As pitch error data, always set incremental values as viewed in the

negative direction (direction toward the left in Fig. 1.3.9 (b)).

Table 1.3.9 (c) Negative-direction pitch error data

Compensation 30 31 32 33 34 35 36 37
point number
Compensation -1 +1 -1 +2 -1 +2 -1 -2
amount to be set

Set negative-direction pitch error data for all the points for which
positive-direction pitch error data has been set.
As negative-direction pitch error data, always set incremental values as
viewed in the negative direction.

Table 1.3.9 (d)

Data Setting Description
number
5426#5 1 Bidirectional pitch error compensation, 1: Enabled/0:
Disabled
5420 23 Number of the pitch error compensation point for the
reference position
5421 20 Number of the most distant pitch error compensation
point on the - side for travel in the positive direction
5422 27 Number of the most distant pitch error compensation
point on the + side for travel in the positive direction
5423 1 Pitch error compensation magnification
5424 10000 Pitch error compensation point interval
5425 - For a rotation axis, amount of travel per rotation in pitch
error compensation
5427 30 Number of the most distant pitch error compensation
point on the - side for travel in the negative direction
5428 -2 Pitch error compensation amount (absolute value) at the
reference position when the machine moves to the
reference position in the direction opposite to that of the
reference position return
This example assumes that the direction of a manual reference position
return is positive. For parameter No. 5428, therefore, set -2, which is
the pitch error compensation amount (absolute value) at the reference
position when the machine moves to the reference position in the
negative direction.

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- Compensation example
If, in the setting example given in the previous section, the machine
moves
from 0.0 to 40.0,
from 40.0 to -40.0, and
from -40.0 to 0.0
for a manual reference position return,
pitch error compensation pulses are output as follows:

Machine coordinate 0.0 5.0 15.0 25.0 35.0 40.0

Compensation pulse - -1 -2 +1 +1 +5

Machine 35.0 25.0 15.0 5.0 -5.0 -15.0 -25.0 -35.0 -40.0
coordinate
Compensation -2 -1 +2 -1 +2 -1 +1 -1 -2
pulse

Machine coordinate -35.0 -25.0 -15.0 -5.0 0.0

Compensation pulse +1 -1 0 -1 -

When the travel direction changes from positive to negative at the

position of 40.0, the compensation for the reverse of the travel direction
is output.

A pulse of +5 is the result of the following calculation:

+5=-((-4)-(+1))

 $       .$ $
* -   *   $
3+

 $      .$$   * - 

 *   $ 3+

A pulse of +5 is the result of the following calculation:

A pulse of +5 is the result of the following calculation:
=-((-1)-(-3))

 $       .$ $
* -   *   $
3+

Pitch error associated with the negative-direction absolute value at the

position of 40.0

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Parameter
#7 #6 #5 #4 #3 #2 #1 #0
5426 BDP

[Input type] Parameter input

[Data type] Bitaxis

    ;2 : ,  .$ $     $     +

0  +
0 8 +

5420 Number of pitch error compensation point of reference position for each
axis

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] From 0 through 1279 (or from 10000 through 11279) or from 0
through 3071 (or from 10000 through 11371) depending on the
number of controlled axes is less than or equal to 10 or greater than
10, respectively.
Set the number of the pitch error compensation point corresponding
to the reference position for each axis.

5421 Number of pitch error compensation point with the largest negative value
for each axis

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] From 0 through 1279 (or from 10000 through 11279) or from 0
through 3071 (or from 10000 through 13071) depending on the
number of controlled axes is less than or equal to 10 or greater than
10, respectively.
Set the number of the pitch error compensation point with the
largest negative value for each axis.
In rotation-axis pitch error compensation, be sure to assign the
number of the farthest pitch error compensation point in the
negative direction to a compensation point positioned next to the 0-
degree point in the positive direction.

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5422 Number of pitch error compensation point with the largest positive value for
each axis

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] From 0 through 1279 (or from 10000 through 11279) or from 0
through 3071 (or from 10000 through 13071) depending on the
number of controlled axes is less than or equal to 10 or greater than
10, respectively.
Set the number of the pitch error compensation point with the
largest positive value for each axis.

5423 Magnification of pitch error compensation for each axis

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 0 - 100
Set the magnification of pitch error compensation for each axis.
When 1 is set as the magnification of pitch error compensation, the
unit for compensation data is the same as the detection unit.

5424 Interval of pitch error compensation points for each axis

[Input type] Parameter input

[Data type] Realaxis
[Unit of data] mm, inch, degree (machine unit)
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] See the following descriptions.
Pitch error compensation points are set at regular intervals. Set
this interval for each axis.

The minimum interval of pitch error compensation points is

determined from the following equation:
Minimum interval = maximum feedrate/7500
Unit
mm, inch, deg or mmmin, inch min, degmin

Example: When the maximum feedrate is 15000 mm/min, the

minimum interval of pitch error compensation points is 2 mm.

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5425 Angular displacement per rotation in rotation-axis pitch error compensation

[Input type] Parameter input

[Data type] Realaxis
[Unit of data] mm, inch, degree (machine unit)
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] See the following descriptions.
For rotation-axis pitch error compensation (with bit 2 (ROP) of
parameter No. 1006 set to 1), set angular displacement per rotation
for each axis. The angular displacement per rotation need not
always be 360 degrees. The period in rotation-axis pitch error
compensation can be set.
The angular displacement per rotation, compensation interval, and
number of compensation points must satisfy the following equation:
Angular displacement per rotation =
compensation interval × number of compensation points
The sum of the compensation values per rotation must always be 0.

5427 Number of the farthest bidirectional pitch error compensation point in the
negative direction (in the case of negative-direction movement)

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] From 0 through 1279 (or from 10000 through 11279) or from 0
through 3071 (or from 10000 through 13071) depending on the
number of controlled axes is less than or equal to 10 or greater than
10, respectively.
When using bidirectional pitch error compensation, set the number
of the farthest compensation point in the negative direction in the
case of negative-direction movement.

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5428 Pitch error compensation value at the reference position when a movement
is made to the reference position in the direction opposite to the reference
position return direction

[Input type] Parameter input

[Data type] Integeraxis
[Unit of data] detection unit
[Valid data range] -32768 - 32767
By using an absolute value, set a pitch error compensation value at
the reference position when a movement is made to the reference
position in the negative direction if the reference position return
direction (bit 5 (ZMI) of parameter No. 1006) is positive, or when a
movement is made to the reference position in the positive direction
if the reference position return direction is negative.

Caution
CAUTION
1 To use this function, the stored pitch error
compensation option is required.
2 This function is enabled after a manual reference
position return or an automatic reference position
return with the same sequence as that of a manual
reference position return is performed. When an
absolute position detector is used, however, the
function is enabled after the power is turned on.
3 When the machine moves to the reference position in
the reference position return direction, set the
absolute value of the pitch error compensation pulse
to 0.
4 When this function and backlash compensation are
used at the same time, the pulse resulting from
backlash compensation is superimposed on the
compensation pulse when the travel direction is
reversed.
5 When this function is used for a rotation axis, the sum
of the pitch error compensation amounts per rotation
about the rotation axis must be 0 for both the positive
and negative directions.
6 When the interpolated pitch error compensation
function is used, interpolated pitch error
compensation is applied to both the positive and
negative direction.

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1.3.10 Nano Interpolation Type Error Compensation

- Overview
This function enables the servo output of interpolation-type pitch error
compensation, third-dimensional error compensation, and
interpolation-type straightness compensation to be performed with a
detection unit of 1/1000.
It makes compensation smooth, so it is effective when nano
interpolation is used.

- Parameter

#7 #6 #5 #4 #3 #2 #1 #0
5426 HPE

[Input type] Parameter input

[Data type] Bitaxis

NOTE
After this parameter has been set, the power must
be off turned off then back on for the setting to
become effective.

#3 HPE Specifies the actual detection unit for the output of

interpolation-type pitch error compensation, third-dimensional
error compensation, and interpolation-type straightness
compensation as follows:
0: Detection unit
1: 1/1000 of detection unit (the same unit as for nano
interpolation)

NOTE
1 Even when this parameter is set to 1, the
measurement unit of already set compensation
data remains to be the detection unit. So, it is
unnecessary to change the compensation data.
2 Even when this function is enabled, the servo
output for the following functions remains to be
in the detection unit:Stored pitch error
compensation, gradient compensation,
straightness compensation, and 128-point
straightness compensation.

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- CAUTION

CAUTION
1 Even when this parameter is set to 1, the
measurement unit of already set compensation data
remains to be the detection unit. So, it is
unnecessary to change the compensation data.
2 Even when this function is enabled, the servo output
for the following functions remains to be in the
detection unit:
Stored pitch error compensation, gradient
compensation, straightness compensation, and 128-
point straightness compensation

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1.3.11 Smooth Backlash Compensation

Ordinary backlash compensation outputs all backlash compensation

pulses at a point where the direction of axis movement is reversed. (Fig.
1.3.11(a))

(Direction reversed) Axis movement

direction

Total amount of backlash compensation

after the direction is reversed

Parameter 1851

0
Amount of movement after the
direction of axis movement is
reversed

Fig. 1.3.11(a) Ordinary Backlash Compensation

The number of compensation pulses output by smooth backlash

compensation varies according to the distance form a point where the
direction of axis movement is reversed. So, backlash compensation can
be made precise and matches the characteristics of the machine. (Fig.
1.3.11(b))

Axis movement
(Direction reversed) direction

Total amount of backlash compensation

after the direction is reversed

B2 (parameter 1851)

B1 (parameter 1848)

0 L1 L2
Amount of movement
(Parameter (Parameter after the direction is
1846) 1847) reversed

Fig. 1.3.11(b) Smooth Backlash Compensation

This function is enabled by setting parameter SBL (bit 6 of parameter

No. 2603) to 1.

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1.AXIS CONTROL B-63323EN-1/03

- When ‘Smooth backlash compensation’ is required

Usually, relationship between motor position and actual machine
position can be shown as Fig.1.3.11(c). In this case, conventional
backlash compensation (compensation pulse is outputted at once when
direction changes) is enough to overcome this backlash.
Machine Position

Backlash
Motor Position

Fig. 1.3.11(c)

On the other hand, some machine has the characteristic that, torsion
between motor and machine is generated gradually after the change of
direction (Fig.1.3.11(d)). In this case, when current backlash
compensation is applied, compensation will be too much just after
reverse of direction.

Machine Position

Motor Position

Fig. 1.3.11(d)

In this case, when we apply current backlash compensation,

compensation becomes too much just after the direction change. With
circular cutting, cutting path will be shown in Fig.1.3.11(e).

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B-63323EN-1/03 1.AXIS CONTROL

Backlash compensation
is too much at this point

Fig. 1.3.11(e)

In order to avoid overcompensation just after change of direction, we

have developed smooth backlash compensation function, which
realizes to output backlash compensation value gradually, depending
on the distance from reverse point.

- Parameter setting A

R
Fig. 1.3.11(f)

δ is calculated as δ=R*(1-cos φ)

So, please set this δ value to L2(#1847), B2 is final backlash value ,L1
is usually 0, and when some protrusion appears at ‘A’ point, please set
that value to B1, of course which will be smaller than B2 value.

- First-stage backlash compensation output

First-stage backlash compensation output is carried out at a point where
the direction of axis movement is reversed.
The amount (B1) of first-stage backlash compensation is specified
using parameter No. 1848.

- Second-stage backlash compensation output

The output of second-stage backlash compensation begins at distance
L1 from a point where the direction of axis movement is reversed and
ends at distance L2 from that point. The total amount (B2) of backlash
compensation performed before the second-stage backlash
compensation output ends is the same as the backlash compensation
amount specified using parameter No. 1851. Distances L1 and L2 are
specified using parameter Nos. 1846 and 1847, respectively.

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If cutting-/rapid traverse-specific compensation is enabled (parameter

RBK (bit 6 of parameter No. 1804) = 1) is enabled, the total amount
(B2) of backlash compensation performed before the second-stage
backlash compensation output ends becomes equal to the backlash
compensation amount determined according to parameter No. 1849,
parameter No. 1851, the direction of axis movement after reversed, and
cutting/rapid traverse mode. However, the rate at which the second-
stage backlash compensation output increases remains to be the same
as that during cutting. (Expression 1)
Parameter No.1851 − B1
Ratio at which the second - stage backlash compensation output increases =
L −L
(1)
2 1

Shown below is an example where the direction of axis movement is

reversed by switching from cutting feed to rapid traverse. (Fig.
1.3.11(g))

Axis movement
(Direction reversed) direction

Total amount of backlash compensation

after the direction is reversed

B2 (parameter 1851)

B1 (parameter 1848)

0 L1 L2
Amount of movement
(Parameter (Parameter after the direction is
1846) 1847) reversed

Fig. 1.3.11(g) Switching from Cutting Feed to Rapid Traverse

Parameters
#7 #6 #5 #4 #3 #2 #1 #0
2603 SBL

[Input type] Parameter input

[Unit of data] Bit axis

#0 SBL Specifies whether to enable smooth backlash compensation as follows:

0: Disable.
1: Enable.

#7 #6 #5 #4 #3 #2 #1 #0
1804 RBK

[Input type] Parameter input

[Unit of data] Bit axis

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NOTE
Once this parameter is re-set, it is necessary to switch
the power off and on again.

#6 RBK Specifies whether to perform cutting-/rapid traverse-specific backlash

compensation as follows:
0: Do not perform.
1: Perform.

#7 #6 #5 #4 #3 #2 #1 #0
5426 HPE

[Input type] Parameter input

[Unit of data] Bit axis

NOTE
Once this parameter is re-set, it is necessary to switch
the power off and on again.

#3 HPE Specifies the actual detection unit for the output of interpolation-type
pitch error compensation, third-dimensional error compensation,
interpolation-type straightness compensation, and smooth backlash
compensation as follows:

0: Detection unit
1: 1/1000 of detection unit (the same unit as for nano interpolation)

NOTE
1. Even when this parameter is set to 1, the measurement
unit of already set compensation data remains to be
the detection unit. So, it is unnecessary to change the
compensation data.
2. Even when this function is enabled, the servo output
for the following functions remains to be in the
detection unit:
Stored pitch error compensation, gradient
compensation, straightness compensation, and 128-
point straightness compensation.

1846 Distance at which the second stage of smooth backlash compensation begins

[Input type] Parameter input

[Unit of data] Integer axis
[Valid data range] Detection unit
[Valid data range] 0 to 999999999

This parameter specifies the distance where the second stage of smooth
backlash compensation begins from a point where the direction of axis
movement is reversed for individual axes.
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1.AXIS CONTROL B-63323EN-1/03

1847 Distance at which the second stage of smooth backlash compensation ends

[Input type] Parameter input

[Unit of data] Integer axis
[Valid data range] Detection unit
[Valid data range] 0 to 999999999
This parameter specifies the distance where the second stage of smooth
backlash compensation ends from a point where the direction of axis
movement is reversed for individual axes.

1848 Amount of the first stage of smooth backlash compensation

[Input type] Parameter input

[Unit of data] Integer axis
[Valid data range] Detection unit
[Valid data range] -9999 to 9999
This parameter specifies the amount of the first stage of smooth
backlash compensation for individual axes.

1849 Amount of rapid traverse backlash compensation for an individual axis

[Input type] Parameter input

[Unit of data] Integer axis
[Valid data range] Detection unit
[Valid data range] -9999 to 9999
This parameter specifies the amount of rapid traverse backlash
compensation for an individual axis. (This function is enabled by
setting bit 6 (RBK) of parameter No. 1804 to 1.)
High-precision machining is realized by changing a backlash
compensation value depending on whether cutting feed or positioning
rapid traverse is carried out.
Letting the measured amount of backlash at cutting feed and the
measured amount of backlash at rapid traverse be A and B, respectively,
the backlash compensation value output becomes as listed below
depending on switching between cutting feed and rapid traverse and the
direction of axis movement.

Change in feeding
Cutting feed Rapid traverse Rapid traverse Cutting feed
↓ ↓ ↓ ↓
Change in axis
Cutting feed Rapid traverse Cutting feed Rapid traverse
movement direction
Same direction 0 0 ±α }(-α)
Opposite direction ±A ±B }(B+α) }(B+α)

NOTE
1 α=(A-B)/2
2 The algebraic sign (±) of each compensation value
matches the direction of axis movement.

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B-63323EN-1/03 1.AXIS CONTROL

1851 Amount of backlash compensation for an individual axis

[Input type] Parameter input

[Unit of data] Integer axis
[Valid data range] Detection unit
[Valid data range] -9999 to 9999
This parameter specifies the amount of backlash compensation for an
individual axis.
When the axis moves in the direction opposite to the direction for a
reference point return after the power is switched on, the first backlash
compensation is performed.

For smooth backlash compensation, this parameter specifies the

amount of backlash compensation performed when the second-stage
backlash compensation output ends.

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1.AXIS CONTROL B-63323EN-1/03

1.3.12 Addition of 5000 Pitch Error Compensation Points

- Overview
This function can add 5000 points for stored, interpolation-type,
bidirectional, and cyclic second pitch error compensation.
The added points are used as compensation point numbers 5000 to
9999.
The existing compensation points can be used without any
modification.
This function cannot be applied to the 128-point straightness
compensation and interpolation-type straightness compensation.

>  
8      


,  $     
  -  $     
:   $     
>    $     
%&'%!

'%!
- $    
  -  $    
&&'%!

 $     .$    

2
(   

,  $     

  -  $ 
  

:   $     
&&&&

>    $     



:   $     

%&'%!

Note: The compensation point numbers enclosed in parentheses are

used in a system having more than ten controlled axes.

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B-63323EN-1/03 1.AXIS CONTROL

- CAUTION

CAUTION
1 Stored pitch error compensation cannot be used
across a standard compensation point (numbers 0 to
1279 or, in a system having more than 10 controlled
axes, numbers 0 to 3071) and an expansion
compensation point (numbers 5000 to 9999) for the
same axis.
2 If the pitch error compensation point quantity
expansion function is used together with bidirectional
pitch error compensation, the last expansion
compensation point (number 9999) becomes
adjacent to the first point (number 10000) of the
second half of the bidirectional pitch error
compensation points. Compensation cannot be
done across these points for the same axis.

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1.AXIS CONTROL B-63323EN-1/03

1.3.13 Thermal Growth Compensation along Tool Vector

Outline
The thermal growth compensation along tool vector, in added to the
compensation is input by using the external data input signal.
The thermal growth compensation along tool vector is applied with
following 5 types.

(1) A-axis and C-axis, with the tool axis on the Z-axis
(2) B-axis and C-axis, with the tool axis on the Z-axis
(3) A-axis and B-axis, with the tool axis on the X-axis
(4) A-axis and B-axis, with the tool axis on the Z-axis,
and the B-axis used as the master
(5) A-axis and B-axis, with the tool axis on the Z-axis,
and the A-axis used as the master

: Thermal growth compensation along the tool vector

 
$ 

A A

C C
Z

C
A
Y
The thermal growth compensation along tool is X
changed by heat shrinkage.

Basic Procedure
Thermal growth compensation is input by following the method.

1. The PMC drives the start signal THML high and sets the Thermal
growth compensation data signals THD00 to THD15.
2. The PMC then drives the strobe signal THSTB high.
3. When THSTB goes high, the control unit reads the data signals.

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B-63323EN-1/03 1.AXIS CONTROL

4. After all the signals are read, the control unit drives the read end
signal THREND high.
5. When THREND goes high, the PMC drives the strobe signal
THSTB low.
6. When the strobe signal THSTB goes low, the control unit drives
the read end signal THREND low.

After completing the data input procedure, allowing another data input
procedure is
performed. The timing chart for the procedure above is shown below.

1. 2. 3. 4. 5. 6.
Start signal THML

Start signal MTHML

Date signal THD00 to THD15

Strobe signal THSTB

Thermal growth compensation Data read (NC)

Read end signal THREND

Data Handling
The thermal growth compensation is always an absolute value, so the
tool moves by the difference between a new specified compensation
value and previous value.
When the sign of the thermal growth compensation is positive, this
function is treated as an extension of tool length.
When the sign of the thermal growth compensation data is negative,
this function is treated as a reduction of tool length.
The input of this function is a thermal growth along tool axis data.
And, the thermal growth of each axis by the angle of the tool is
calculated, and the amount of the compensation in the opposite
direction is output with the direction of thermal growth.
The relation between thermal growth and actual thermal growth
compensation is as follow.
In the calculation of the tool direction, calculation for the rotation axis
of the first group is made first, then based on the calculation result,
calculation for the rotary axis for the second group is made.

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1.AXIS CONTROL B-63323EN-1/03

D : Thermal growth along tool axis data ( G178 to G179 )

ε : Amount of thermal growth compensation along tool axis

(1) When data is positive( D > 0 : When the tool length is an extension )

+Z εx ( along the X axis )

εz ( along the Z axis )

+X ε
D

( Direction of thermal growth ) ( Direction of compensation to axis )

(2) When data is negative( D < 0 : When the tool length is a reduction )

+Z
εx ( along the X axis )

εz ( along the Z axis )

+Xx D

( Direction of thermal growth ) ( Direction of compensation to axis )

Method of Compensation
This function calculates in real time.
And this function compensates the amount of compensation
corresponding to the inclination angle of the tool axis to the Cartesian
axis which composes the tool axis by using the compensation to the
direction of the tool axis.
The amount of the compensation, 9999 or more(-9999 or less) by using
the detection unit, cannot be output once for an axis.
i When the difference with the detection unit is 9999 or more(-9999
or less),
the alarm is generated. This alarm is cancelled by reset of CNC. j
If a large compensation amount is applied at one time, an alarm such as
an excessive error at stop time may be issued.
To apply a large compensation amount, divide it into several amounts
and input them separately.
This compensation amount is always absolute, and the amount by
which the machine moves at input is the difference from the previous
amount.

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B-63323EN-1/03 1.AXIS CONTROL

Signals

Thermal growth compensation start signal THML<G161#3>

[Classification] Input signal
[Function n Thermal growth compensation becomes effective
when this signal is turned on.
When this signal is turned off, thermal growth
compensation is stopped. This signal becomes
effective regardless of the mode, automatic
operation or manual operation.

Thermal growth compensation check signal MTHML<F170#3>

[Classification] Output signal
[Function n This signal is turned on and output to PMC when
the thermal growth compensation becomes
effective. This signal is turned off and output to
PMC when the thermal growth compensation is
stopped.

Strobe signal of the Thermal growth compensation along tool vector data
THSTB<G161#7>
[Classification] Input signal
[Function n When THSTB goes high, the control unit reads the
thermal growth compensation data.

Read end signal of Thermal growth compensation data

THREND<F170#7>
[Classification] Output signal
[Function n After all the Thermal growth compensation data
are read, the control unit drives the read end signal
THREND high.

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1.AXIS CONTROL B-63323EN-1/03

Thermal growth compensation data THD00 to THD15<G178,G179>

[Classification] Input signal
[Function n Compensation is applied to the corresponding axis,
and the tool moves.
An offset value in the range 0 to }9,999 is to be
specified in binary, using the detection unit.
This function is valid only for the same detection
of basic three axes.
The offset value is always an absolute value, so
the tool moves by the difference between a new
specified offset value and the previous value.
If a large compensation is applied at a time, an
excessive error will be occurred.
When the tool is stopped, then raising an alarm.
So, to apply a large compensation, the operation
must be divided into several input steps.

Signals address

#7 #6 #5 #4 #3 #2 #1 #0
G161 THML

F179 MTHML

G161 THSTB

F170 THREND

G178 THD07 THD06 THD05 THD04 THD03 THD02 THD01 THD00

G179 THD15 THD14 THD13 THD12 THD11 THD10 THD09 THD08

Parameter

6080 Rotation axis for three-dimensional cutter compensation and so forth (first
group)

6081 Linear axis 1 for three-dimensional cutter compensation and so forth (first
group)

6082 Linear axis 2 for three-dimensional cutter compensation and so forth (first
group)

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B-63323EN-1/03 1.AXIS CONTROL

6083 Linear axis 3 for three-dimensional cutter compensation and so forth (first
group)

   

    

     -9   
Set the rotation axis and linear axes to perform three-dimensional cutter
compensation/spindle unit compensation/inclined rotary head tool length
compensation/the thermal growth compensation along tool vector (first group).

6084 Angle of inclination for the rotation axis for three-dimensional cutter
compensation and so forth (first group)

   

   7 

8   

9    $    $     

     &          
  ?!!
6$ $    ,-:)-&&&&&&+&&&-@&&&&&&+&&&!
Set the angle of rotation for the rotation axis to perform three-dimensional cutter
compensation/spindle unit compensation/inclined rotary head tool length
compensation/the thermal growth compensation along tool vector (first group).

6085 Rotation axis for three-dimensional cutter compensation and so forth

(second group)

6086 Linear axis 1 for three-dimensional cutter compensation and so forth (second
group)

6087 Linear axis 2 for three-dimensional cutter compensation and so forth (second
group)

6088 Linear axis 3 for three-dimensional cutter compensation and so forth (second
group)

   

    

     -9   
Set the rotation axis and linear axes to perform three-dimensional cutter
compensation/spindle unit compensation/inclined rotary head tool length
compensation/the thermal growth compensation along tool vector (second group).

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1.AXIS CONTROL B-63323EN-1/03

6089 Angle of inclination for the rotation axis for three-dimensional cutter
compensation and so forth (second group)

   

   7 

8   

9    $    $     

     &          
  ?!!
6$ $    ,-:)-&&&&&&+&&&-@&&&&&&+&&&!
Set the angle of rotation for the rotation axis to perform three-dimensional cutter
compensation/spindle unit compensation/inclined rotary head tool length
compensation/the thermal growth compensation along tool vector (second group).

Parameter Nos. 6080 to 6089

First group Second group

Rotation axis 6080 6085
Linear axis 1 6081 6086
Linear axis 2 6082 6087
Linear axis 3 6083 6088
Angle of inclination 6084 6089

- These parameters set the relationship between the rotation axis and rotation
plane.
- Two groups can be set. Therefore, machines controlled with two rotation
axes are supported.
- In the calculation of the tool direction, calculation for the rotation axis of the
first group is made first, then based on the calculation result, calculation for the
rotation axis for the second group is made.
- When two rotation axes are used, the rotation plane may be changed by the
rotation of the other rotation axis. In this case, set the rotation plane obtained
when the rotation axis position is 0 degrees.
- When there is one rotation axis, set the rotation axis of the second group to 0.

- In general, the direction vector of a rotation axis has three direction components.
This function supports direction vectors with one direction component and two
direction components. In each case, set the following:
A) When the direction vecotor of a rotation axis has one direction component
(type A)
The rotation axis rotates about one of the basic three axes.
1) Set axis numbers for the rotation axis, linear axis 1, and linear axis 2.
2) Set the linear axis 3 and the angle of inclination to 0.
3) The rotation axis is defined as follows:

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B-63323EN-1/03 1.AXIS CONTROL

-The rotation axis rotates about an axis that perpendicularly intersects

the plane formed by linear axis 1 and linear axis 2.
-When the rotation axis rotates from the positive direction of linear
axis 1 to the positive direction of linear axis 2, the rotation axis is
said to rotate in the positive direction.
Z

C Y

B) When the direction vector of a rotation axis has two direction components
(type B)
The rotation axis rotates about an axis that lies in a plane formed by any
two of the basic three axes.
1) Set axis numbers for the rotation axis, linear axis 1, linear axis 2, and
linear axis 3.
2) The linear axes 1, 2, and 3 form a right-handed coordinate system in
this order.
3) The angle of inclination is defined as follows:
-Rotation is performed in the plane formed by linear axes 3 and 1.
-When the rotation axis rotates from the positive direction of linear
axis 3 to the positive direction of linear axis 1, the angle of
inclination is positive.
-When the rotation axis and linear axis 3 match, the angle of
inclination is 0 degrees.
4) When the angle of inclination is 0 degrees, the rotation axis is defined
as follows:
-The rotation axis rotates about an axis that perpendicularly intersects
the plane formed by linear axes 1 and 2.
-When the rotation axis rotates from the positive direction of linear
axis 1 to the positive direction of linear axis 2, the rotation axis is
said to rotate in the positive direction.
Z
B
Y
α
α: Angle of
inclination
X

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1.AXIS CONTROL B-63323EN-1/03

6104 Reference angle for the rotation axis for three-dimensional cutter
compensation and so forth (first group)

6105 Reference angle for the rotation axis for three-dimensional cutter
compensation and so forth (second group)

   

   7 

8   

9    $    $     

     &          
  ?!!
6$ $    ,-:)-&&&&&&+&&&-@&&&&&&+&&&!
Set a reference angle for the rotation axis to perform three-dimensional cutter
compensation/inclined rotary head tool length compensation/the thermal growth
compensation along tool vector.
Set an angle for the rotation axis assumed when a tool axis direction (parameter No.
6106 to No. 6107) is set.
Usually, set 0.0.

6106 Reference angle for the tool axis in the plane formed by linear axes 2 and 3
(RA)

6107 Reference angle for the tool axis in the plane formed by linear axes 3 and 1
(RB)

   

   7 

8   

9    $    $     

     &          
  ?!!
6$ $    ,-:)-&&&&&&+&&&-@&&&&&&+&&&!
Set the direction of each rotation axis to perform three-dimensional cutter
compensation/inclined rotary head tool length compensation/the thermal growth
compensation along tool vector by using angles RA and RB.

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B-63323EN-1/03 1.AXIS CONTROL

Parameter Nos. 6106 to 6107

The direction of a compensation vector is set by setting an angular displacement
(RA, RB) from the direction of linear axis 3.
RA: Rotation is performed in the plane formed by linear axis 2 and linear axis 3.
When rotation is performed from the positive direction of linear axis 2 to the
positive direction of linear axis 3, the direction of the rotation is positive.
RB: Rotation is performed in the plane formed by linear axis 3 and linear axis 1.
When rotation is performed from the positive direction of linear axis 3 to the
positive direction of linear axis 1, the direction of the rotation is positive.
Linear axes 1, 2, and 3 are set in parameter Nos. 6081 to 6083.

When tool axis and

linear axis 3 match Linear axis 3

Linear axis 2

RA = 0.0
RB = 0.0

Linear axis 1

When tool axis and

linear axis 1 match Linear axis 3

Linear axis 2
RA = 0.0
RB = 90.0

Linear axis 1

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1.AXIS CONTROL B-63323EN-1/03

7517 Offset value for angular displacement of a rotation axis

   

   7  

8   

9    $    $    

     &          
  ?!!
6$ $    ,-:)-&&&&&&+&&&-@&&&&&&+&&&!
An offset can be applied to the angular displacement of the three-dimensional
handle feed function or tool axis direction tool length compensation function or
the thermal growth compensation along tool vector to compensate for the move
direction.

7518 Origin offset value of a rotation axis

   

   7  

8   

9    $    $    

     &          
  ?!!
6$ $    ,-:)-&&&&&&+&&&-@&&&&&&+&&&!
Set an angular displacement shifted from the origin for a rotation axis when the
three-dimensional handle feed function or tool axis direction tool length
compensation function or the thermal growth compensation along tool vector is
used.

#7 #6 #5 #4 #3 #2 #1 #0
5426 HPE

   

   : 

NOTE
When this parameter is set, the power must be turned off before
operation is continued.

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B-63323EN-1/03 1.AXIS CONTROL

    ;' A B ,  $      $   -

 $     )$ -       
  -  $    ) $   .$
   *   .0
0: Detection unit
1: 1/1000 of detection unit (the same unit as for nano interpolation)

NOTE
1. Even when this parameter is set to 1, the measurement unit of
already set compensation data remains to be the detection unit.
So, it is unnecessary to change the compensation data.
2. Even when this function is enabled, the servo output for the
following functions remains to be in the detection unit:Stored pitch
error compensation, gradient compensation, straightness
compensation, and 128-point straightness compensation.

Notes

NOTE
1 The thermal growth compensation is not cancelled by
reset of CNC.
2 The amount of the compensation by this function
becomes invalid by the power down of the CNC.
3 In the calculation of the tool direction, calculation for
the rotary axis of the first group is made first, then
based on the calculation result, calculation for the
rotary axis for the second group is made.
4 This function is valid only for the same detection of
basic three axes.
5 The compensation by this function is kept intact even
if an axis is in the servo off by a servo off signal.
When an axis is in the servo off by a servo off signal,
the compensation input by this function is ignored.
6 When the control axis is compensated by this
function, the amount of the compensation is not
reflected in the machine coordinates value.
7 The tool head is supposed to be only one.
(Parallel axes is not available.)

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1.AXIS CONTROL B-63323EN-1/03

NOTE
8 Machine Zero Point Shift is available for the same or
different axis when this function is effective.
9 The positions of rotary axes which define the
direction of the tool axis are the positions on the
machine coordinates.
10 The thermal growth along tool axis data and its
compensation for each axis are displayed in
diagnosis screen.
11 If detaching of any axis is done by the axis detaching
signal, the thermal growth compensation must be
cancelled.
12 Parameter No.6080 to No.6089, No.6104 to
No.6107, No.7517, and No.7518 must not be
changed, while this function is valid.
13 Synchronous control is available for this function. As
for parameter No.5426#3, set same data to both the
master and the slave axis.
14 Tandem control is available for this function. As for
parameter No.5426#3, set same data to both the
master and the slave axis.
15 The compensation must be input with this function
after rotary axes have completed zero return.

Alarm

No. Message Description

OT930 THE THERMAL GROWTH This alarm is displayed when the data is over the range.
COMPENSATION DATA ERROR This alarm is cancelled by reset of CNC.
OT931 ILLEGAL AXIS DATA OF This alarm is cancelled when thermal growth compensation
PARAMETER (NO.6081 TO NO.6083, start signal (THML) is turn off and the reset is done.
NO.6086 TO NO.6088 AND
NO.5426#3) IS SET UP.
OT932 THE THERMAL GROWTH This alarm is cancelled when thermal growth compensation
COMPENSATION FEATURE start signal (THML) is turn off and the reset is done.
BECOMES VALID, SO PARAMETER
(NO.6080 TO NO.6089, NO.6104 TO
NO.6107, NO.7517, AND NO.7518)
AS AXES DATA CAN NOT BE
CHANGED.

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B-63323EN-1/03 1.AXIS CONTROL

1.4 THREE-DIMENSIONAL ERROR COMPENSATION

Overview
In ordinary pitch error compensation, compensation is applied to a
specified compensation axis (single axis) using the position
information for that axis. For example, pitch error compensation is
applied to the X-axis using the position information for the X-axis.
Three-dimensional error compensation is a function that adjusts the
current position by calculating compensation data (for three axes) from
the compensation amounts at surrounding compensation points (eight
points) on the basis of the interior division ratio in the compensation
area (rectangular parallelepiped) containing the current position on up
to three compensation axes.
It is possible to change data such as compensation data and
compensation magnifications from a part program, using the
programmable parameter input function (G10).

- Calculation of compensation
P8 P7

P
P5 P6

P4 P3

P1
x P2

Fig. 1.4 (a) Compensation Calculation Method

Let three compensation axes be X, Y, and Z (three basic axes) and the
coordinates of the current position be P (Px, Py, Pz). Consider a
compensation space (rectangular parallelepiped) containing P. Let its
vertexes be P1, P2, ..., and P8 and the compensation values for the
individual axes at the individual vertexes be Cnx, Cny, and CNz (where
n is a number between 1 and 8).
Let the interior division ratio on the X-axis at P be x. Here, x is
standardized in the range of 0 to 1 as follows:
| Px − P1x |
x=
| P 2 x − P1x |
Let three compensation axes be X, Y, and Z (three basic axes) and the
coordinates of the current position be P (Px, Py, Pz). Consider a
compensation space (rectangular parallelepiped) containing P. Let its
vertexes be P1, P2, ..., and P8 and the compensation values for the

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1.AXIS CONTROL B-63323EN-1/03

individual axes at the individual vertexes be Cnx, Cny, and CNz (where
n is a number between 1 and 8).
Let the interior division ratio on the X-axis at P be x. Here, x is
standardized in the range of 0 to 1 as follows:
Cx = C1x ⋅ (1 − x )(1 − y )(1 − z ) + C 2 x ⋅ x (1 − y )(1 − z )
+ C 3x ⋅ xy (1 − z ) + C 4 x ⋅ (1 − x ) y (1 − z )
+ C 5 x ⋅ (1 − x )(1 − y ) z + C 6 x ⋅ x (1 − y ) z
+ C 7 x ⋅ xyz + C 8 x ⋅ (1 − x ) yz
P1x and P2x are the X coordinates of P1 and P2. The interior division
ratios on the Y- and Z-axes are determined in the same way.
The compensation amount Cx for the X-axis at P is determined as
follows:
The actual compensation amounts are the calculated compensation
amounts multiplied by the compensation magnifications (parameters
Nos. 5449 to 5451).
- Number of compensation points
Up to 15625 compensation points (up to 25 points per axis) can be set.
The numbers of compensation points on the individual axes are set for
parameters Nos. 5443 to 5445. The ordering of the compensation point
numbers in the compensation space is as follows:

Max1 : Number of compensation points on the

Third compensation axis
first axis (up to 25)
Max2 : Second axis (up to 25)
Second compensation axis Max3 : Third axis (up to 25)
Max1×Max2×Max3
First compensation axis

Max1×Max2×3

Max1×Max2×2

Max1×Max2

Max1×Max2+1 Max1×3
Max1×2

1 2 3 Max1

Fig. 1.5 (b) Ordering of Compensation Point Numbers

- Input/output format
The three-dimensional error compensation screen allows output/input
(punching/reading) of compensation data. The command format is as
follows:
N......A1P....A2P....A3P....

N...... :Data number (compensation point number + 100000) as

represented with six digits
A1 :First compensation axis
A2 :Second compensation axis

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B-63323EN-1/03 1.AXIS CONTROL

A3 : Third compensation axis

P.... : Compensation data (-128 - 127)

(Example)
%
N100001A1P1A2P2A3P3
N100002A1P-2A2P3A3P4
N100003A1P0A2P0A3P0
…
N115624A1P0A2P0A3P0
N115625A1P0A2P0A3P0
%

- Input of compensation data using G10

Compensation data can be changed from a machining program, using
the programmable parameter input function.

- Command format
G10L51 ;
N...... P..R...
N...... P..R...
…
G11

G10L51:Three-dimensional error compensation data input mode

G11 :Cancellation of three-dimensional error compensation
data input mode
N..... :Compensation point number(1-15265)
P.. :Compensation axis number(1-3)
R... :Compensation data(-128-127)

NOTE
1 To input compensation data using G10, the
programmable parameter input function option is
required.
2 In three-dimensional error compensation data input
mode, no other NC statements can be issued.
3 The decimal point cannot be used in addresses N, P,
and R.

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 1.AXIS CONTROL B-63323EN-1/03

Three-dimensional error compensation screen

Compensation
amount

Compensation
amount (current)

- Compensation amount
Compensation point numbers are displayed, as well as compensation
data for the individual compensation axes.

- Compensation amount (current)

The error compensation amounts for the individual compensation axes
at the current position are displayed in units of data (detection units).

- Input of compensation data

(1) Place the system in MDI mode.
(2) Set 1 for parameter PWE (bit 0 of No. 8000).
(3) Select the compensation point number for which data is to be
PAGE
input, using the page keys PAGE , cursor keys or
soft key [Number search].
(4) Select the compensation axis for which data is to be input, using
the cursor keys
(5) Key in compensation data. The data can be in the range of -128 to
127. The units of data are the detection units.
(6) Click soft key [Input] or the INPUT key

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B-63323EN-1/03 1.AXIS CONTROL

- Punching of compensation data

(1) Place the system in EDIT mode.
(2) Click soft key [Punch].
(3) Enter the file number and name as required, according to the
specifications of the output device.
(4) Click soft key [Three-dimensional error compensation].
(5) The punching of data starts, with soft key [Stop] displayed. To
stop the punching of data, click soft key [Stop].

- Reading of compensation data

(1) Place the system in EDIT mode.
(2) Activate emergency stop.
(3) Click soft key [Read].
(4) Enter the file number and name as required, according to the
specifications of the input device.
(5) Click soft key [Three-dimensional error compensation].
(6) The reading of data starts, with soft key [Stop] displayed. To stop
the reading of data, click soft key [Stop].

Parameter

5440 Axis for which three-dimensional error compensation is performed (1-st axis)

5441 Axis for which three-dimensional error compensation is performed (2-nd axis)

5442 Axis for which three-dimensional error compensation is performed (third axis)

[Input type] Parameter input

[Data type] Integer
[Valid data range] 1 - Max axes
Set three axes for which three-dimensional error compensation is
performed.

5443 Number of three-dimensional error compensation points (1-st axis)

5444 Number of three-dimensional error compensation points (2-nd axis)

5445 Number of three-dimensional error compensation points (third axis)

   

    

     -2
, $  $ -       +

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1.AXIS CONTROL B-63323EN-1/03

5446 Number of the three-dimensional error compensation point at the reference

position (1-st axis)

5447 Number of the three-dimensional error compensation point at the reference

position (2-nd axis)

5448 Number of the three-dimensional error compensation point at the reference

position (third axis)

   

    

     # $ $$  $    
, $  $ $ -        $
  +

5449 Magnification for three-dimensional error compensation (1-st axis)

5450 Magnification for three-dimensional error compensation (2-nd axis)

5451 Magnification for three-dimensional error compensation (third axis)

   

    

     -
,     $ -       +

5452 Three-dimensional error compensation interval (1-st axis)

5453 Three-dimensional error compensation interval (2-nd axis)

5454 Three-dimensional error compensation interval (third axis)

   

   7 

8  ) $ $ !

9    $    $     

     &          
  ?!!
6$ $    ,-:)-&&&&&&+&&&-@&&&&&&+&&&!
,  $ -        * +

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B-63323EN-1/03 1.AXIS CONTROL

Caution
CAUTION
The setting of compensation data using
programmable parameter input (G10L51) must be
specified in canned cycle cancel mode, as with
ordinary programmable parameter input (G10L50).
(If the setting of data is specified in canned cycle
mode, a cyclic operation may be performed.)

Note
NOTE
1 The controlled axis on which three-dimensional error
compensation is to be applied must be a linear axis.
2 Three-dimensional error compensation cannot be
performed until a reference position return is
performed for the compensation axis.
3 The reference position is a compensation point. The
compensation amount at this position must be set to
0.
4 To set a synchronous controlled axis as a
compensation axis, set the master axis as a
compensation axis. In this case, compensation data
is output to its slave axes as well.
5 If the compensation axis is subject to parallel axis
control, compensation data is not output to other
parallel axes.

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1.AXIS CONTROL B-63323EN-1/03

1.5 SETTINGS RELATED TO SERVO CONTROLLED AXES

Typical units handled through the servo interface include:

- Digital controlled AC servo motor
- Motor feedback: Serial coder
(1) 1,000,000 pulses/rev absolute pulse coder
(2) 65,536 pulses/rev absolute pulse coder
(3) 10,000 pulses/rev incremental pulse coder
- Scale feedback: A/B/Z signal interface

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B-63323EN-1/03 1.AXIS CONTROL

1.5.1 Servo Parameter

Overview
This section explains the main servo parameters. For an explanation of
servo parameters not mentioned here, refer to the "AC Servo Motor α
series Parameter Manual (B-65150E)".

- Command multiply (CMR), detection multiply (DMR), and reference counter

capacity
Command +
pulse
× CMR Error counter DA To
Least conversion speed
command control
-
increment

Return pulse

× DMR Position
Reference detector
Detection unit
counter

Fig. 1.5.1 (a)

Set the CMR and DMR magnifications so that the weight of the pulses
of the + input to the error counter (commands from the CNC) is the
same as that of the pulses of the - input (return from the detector).

[Least command increment]/CMR = [Detection unit] = [Return

pulse unit]/DMR

The return pulse unit differs with the type of detector.

[Return pulse unit] = (Amount of travel per rotation of the pulse

coder)/(Number of pulses per rotation of the pulse coder)

For the reference counter capacity, specify the grid interval for a
reference position return of the grid method.

(Reference counter capacity) = (Grid interval)/[Detection unit]

(Grid interval) = (Amount of travel per rotation of the pulse coder

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1.AXIS CONTROL B-63323EN-1/03

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
1800 IVO SAK CIN CCI RFW FVF CVR

   

   

                  ! 
" #    !  " $
%&       $
&      $
'  ( $
    ) **       +  + $
%&    +,       -$
&  +,         -$

    . */       #       !     $

%&  #     $
& 0 #     $
'  (      #  ! 
   $  /     (      #
 !     $  1        (
!     !       !!$

- 120 -
B-63323EN-1/03 1.AXIS CONTROL

    2       #          !!

,!+     -$
%& 3    4)5(        $
& 3    4.4(  ! $
/  !#6     7   
! #6( #6          #6
 6$  1 !8      6
     ,   4.4-#      !
       ,   4)5-      $
*  7  (  !      #        (  
         ! $  1  
 ! ,! - ! ! $
1 #,#2-   4%%      
     6 $  / 
 6   (      7 $  *  7 
   9 (         4)5
 4.4$
/       #6     6  
!      +   +    4)5$  / 
! #6       7#6  ! (
 6   !    !+ 
   4.4:  7#6       (  (
 6   !     +   + 
   4)5$  *   (  ! #6   (
!+    4.4   #     6
!    7#6$  1  ##;   4%%$

    ; ' / ( '#     

!       !+     $
%& 3    7#6  ! $
& <   !    7#6$

    5 <=      !       ! < 
 ">**  ! ! <?   ">**
 ! !    7(<?($
%& 1   ! < ! %$
& 1   ! <    $

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1.AXIS CONTROL B-63323EN-1/03

    @ >           !       ! 

  ">**  ! ! # !$
%&        !    ">**  
! !  ! %$
&       !   $

NOTE
Even when the system is reset when the VRDY OFF alarm ignore
signal is at 1 and the motor is de-energized, the reset state can
be released.

#7 #6 #5 #4 #3 #2 #1 #0
1802 TQO FUP SVF

   

    7

     *          ! $

%&       ! $
&      ! $

    . *3 /  +      7     

%& '   $
&   $
0   **,#)   '$4%%-%$

    2 1A>       #   9   $

%&  #  $  ,%%B  -
& 0 #  $

#7 #6 #5 #4 #3 #2 #1 #0
1804 CNT RBK DGP PLC

[Input type] Parameter input

[Data type] Bitaxis

#0 PLC PLC01 Specifies whether the value set in parameter No. 1876
(number of speed feedback pulses) or parameter No. 1891 (number
of position feedback pulses) exceeds 32767.
0: The value set in parameter No. 1876 or No. 1891 does not exceed
32767.
1: The value set in parameter No. 1876 or No. 1891 exceeds 32767.
When this parameter is set to 1, set parameter No. 1876 or 1891 to
Y10 of the original value.

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B-63323EN-1/03 1.AXIS CONTROL

     C        !       
 +$
%&    !        $
&     !        $
/ # %       (  
 !           +$  1#
   +$

    5 =  6         !    

  
%& '  
&  

    @ '1              
     $
%&       $
&       $

#7 #6 #5 #4 #3 #2 #1 #0
1810 NAD

[Input type] Parameter input

[Data type] Bit

    5 '<       <8     

 $
%&  <8 $
&    <8 $

#7 #6 #5 #4 #3 #2 #1 #0
1815 APC APZ OPT

[Input type] Parameter input

[Data type] Bitaxis

     > 1                 $
%&         $
& 3       $

NOTE
Refer to PSL (bit 3 of parameter No. 1807).

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1.AXIS CONTROL B-63323EN-1/03

    2 < D         !    

# +        # +  
, #   -      $
%& ' 
&  
/   # +    &   #% 
   +  E      #      $
1    (     !  # +
  #!(  7  (       $
   !      # +
      < D7    $

    ; <           

%&        #    $
&  #    , #   -$

#7 #6 #5 #4 #3 #2 #1 #0
1816 ACM

[Input type] Parameter input

[Data type] Bitaxis

#1 to #3: DM1 to DM3 detection multiplier setting

Setting Detection
DM3 DM2 DM1 multiplier
0 0 0 1/2
0 0 1 1
0 1 0 3/2
0 1 1 2
1 0 0 5/2
1 0 1 3
1 1 0 7/2
1 1 1 4

NOTE
1 To use flexible feed gears, set the respective DMR numerators
and denominators in parameter No. 1977 and No. 1978.
2 Set DM3 to DM1 to 111 for those axes to be subjected to
spindle positioning.

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B-63323EN-1/03 1.AXIS CONTROL

    @ <F            8'$
%&      $
& 3    $
1#          
  $

1820 Command multiplier for each axis (CMR)

[Input type] Parameter input

[Data type] Integeraxis
[Unit of data] See the following descriptions.
[Valid data range] See the following descriptions.
i) When CMR = 0.5 to 48
Set ACM (bit 7 of parameter No. 1816) to 0.
Then specify the value given by the following expression.
Setting = CMR*2
Valid range: 1 to 96
ii) When CMR = 1/2 to 1/27
(An optional command multiplier (option) is required)
Set ACM (bit 7 of parameter No. 1816) to 1.
Then specify the value given by the following expression.
Setting = 1/CMR
Valid range: 1 to 27

1821 Value of the numerator of a command multiplier for each axis (optional
command multiplier)

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 0 - 9999
Specify the value of the numerator of a command multiplier for each
axis. The optional command multiplier is required.

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1.AXIS CONTROL B-63323EN-1/03

1822 Value of the denominator of a command multiplier for each axis (optional
command multiplier)

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 0 - 9999
Specify the value of the denominator of a command multiplier for
each axis. The optional command multiplier is required. To use the
optional command multiplier n/m (n: 1821, m: 1822), set a value
other than 0 in parameter No. 1821 and No. 1822.

1825 Servo loop gain for each axis

   

    ! 7

3  %$%8 

     ! +GGGG
   !    7$
*            ,!-(
         7 $  *     9 
!(     #       7 $  1
 !    ! ( !     $
 !  ! (   #   # $
1   #   !  ,  
     -      7   &
  !  H  8,5%I! -
  3&  !  ( (  !
*  8( 8(  !8
         ! 8 

1827 Valid area for each axis

   

    ! 7

3   

     ! %+GGGGGGGG
        7$
/           
, # !  -   7     (
          ( (
  $

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B-63323EN-1/03 1.AXIS CONTROL

1828 Positioning deviation limit for each axis while it is moving

   

    ! 7

3   

     ! %+GGGGGGGG
  !     7 !$
 !    7 7    7
!(             
,      ! -$
C  (     !   !  
     $

1829 Positioning deviation limit for each axis when it is stopped

   

    ! 7

3   

     ! %+GGGGGGGG
  !     7  $
 !    7 7    7
 (             
,      ! -$

1830 Positioning deviation limit for each axis in the servo off mode

   

    ! 7

3   

     ! %+GGGGGGGG
  !     7   $
 !      7 (
            ,    
 ! -$
C  (         !  
   7  $

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1.AXIS CONTROL B-63323EN-1/03

1832 Feed-stop position deviation for each axis

   

    ! 7

3   

     ! %+GGGGGGGG
   +     7$   !
   7 ! 7   +
    7(   #     8   
     $  /  !  
#      +  (   #
    8        $
1  +     !  
 !            $
C  (        #   !
   !   !  
   7          +
 $

1837 Positioning deviation limit while the tool is moving in the rigid tapping mode

   

    ! 7

3   

     ! %+GGGGGGGG
  !     ! 7  
!  !  ! $    !  ! (
!   ! 7        $
C  ( !    #  7   ! $
  !  ! (  ( !   ! 7
    !   $  1 !
    ! 7  !  !
 !      #    !  
   !         $

1843 Position deviation limit at torque limit skip

   

    ! 7

3   

     ! %+.)@5@%
      !  9 6  
 7$      7    (
   ,%%G-      $

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B-63323EN-1/03 1.AXIS CONTROL

1844 Grid shift amount of the reference position shift function

[Input type] Parameter input

[Data type] Integeraxis
[Unit of data] detection unit
[Valid data range] -999999999 - 999999999
Distance to the first grid point found since the deceleration dog is turned off when
the reference position shift amount (parameter No. 1850) is set to 0.

NOTE
When SFD (bit 4 of parameter No. 1008) is set to 1, the grid
amount (parameter No. 1844) is set to 0, and the reference
position shift amount (parameter No. 1850) is set to 0, a value is
automatically set. The automatically set value must not be
changed.

1849 Backlash compensation amount used for rapid traverse for each axis

   

    ! 7

3   

     ! +GGGG+GGGG
Set the backlash compensation amount used in rapid traverse for each axis.
(This parameter is valid when RBK, #6 of parameter 1804, is set to 1.)
More precise machining can be performed by changing the backlash
compensation amount depending on the feedrate, rapid traverse or the cutting feed
for positioning.
Let the measured backlash at cutting feed be A and the measured backlash at
rapid traverse be B. The backlash compensation amount is shown below
depending on the change of feedrate (cutting feed or rapid traverse) and the change
of the direction of movement.
Change of Cutting Rapid Rapid Cutting
feedrate feed to traverse traverse feed to
cutting to rapid to cutting rapid
Change feed traverse feed traverse
of direction of
movement
Same direction 0 0 ±α ±(-α)
Opposite direction ±A ±B ±(B+α) ±(B+α)
Note 1) α=(A-B)/2
Note 2) The signs (±) of compensation values indicate the same directions as those used for
indicating movement directions.

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1.AXIS CONTROL B-63323EN-1/03

1850 Grid shift/reference position shift for each axis

[Input type] Parameter input

[Data type] Integeraxis
[Unit of data] detection unit
[Valid data range] 0 - 99999999
Specify the grid shift for each axis.
The grid position can be shifted by the amount specified in the
parameter to move the reference position. The grid shift must not
exceed the reference counter capacity (RC1x to RC4x (bits 0 to 3 of
parameter No. 1816) or parameter No. 1896).

NOTE
When SFD (bit 4 of parameter No. 1008) is set to 1, this
parameter indicates the "reference position shift amount for each
axis." In this case, the valid range is:
-999999999 to 999999999.

1851 Backlash compensation for each axis

   

    ! 7

3   

     ! +GGGG+GGGG
  # 6      7$
/   7         
      +(  # 6   
 $

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B-63323EN-1/03 1.AXIS CONTROL

1.5.2 Absolute Position Detection

Overview
Even after the CNC is turned off, the pulse coder, which is backed up
by a battery, retains the position. This eliminates the need to perform a
reference position return when the CNC is turned on.

Signal

Absolute position detector battery low voltage alarm signal PBATL <F040#6>
[Classification] Output signal
[Function] Notifies the user that the battery for the absolute position detector is
running down.
[Operation] The signal is set to "1" if:
- The voltage of the battery for the absolute position detector falls
below a preset level. The battery must be replaced as soon as
possible.
The signal is set to "0" if:
- The voltage of the battery for the absolute position detector is
equal to or greater than the rated value.

Absolute position detector battery zero voltage alarm signal PBATZ <F040#5>
[Classification] Output signal
[Function] Notifies the user that the battery for the absolute position detector,
which retains the machine position even after the CNC is turned off,
has run down.
[Operation] The signal is set to "1" if:
- The voltage of the battery for the absolute position detector is
equal to 0V. The battery must be replaced before the CNC can be
turned off.
The signal is set to "0" if:
- The voltage of the battery for the absolute position detector is
equal to or greater than 0V.

Signal address

#7 #6 #5 #4 #3 #2 #1 #0
F040 PBATL PBATZ

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1.AXIS CONTROL B-63323EN-1/03

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
1815 APC APZ

[Input type] Parameter input

[Data type] Bitaxis

    2 < D         !    

# +        # +  
, #   -      $
%& ' 
&  
/   # +    &   #% 
   +  E      #      $
1    (     !  # +
  #!(  7  (       $
   !      # +
      < D7    $
    ; <           
%&        #    $
&  #    , #   -$

Alarm and message

Number Message Contents

OT0032 NEED ZRN(ABS PCDR) The reference position and the absolute pulse coder
counter value do not match.
Another alarm may be issued together with this alarm.
Should this occur, it is necessary to apply
countermeasures for the other alarm first. If this alarm is
issued, it is also necessary to set the zero point for the
absolute pulse coder.
OT0034 BATTERY ZERO(ABS PCDR) The battery voltage of the absolute position detector has
fallen to "0", or power is supplied to the pulse coder for the
first time.
If this alarm is issued, replace the battery without switching
off the power to the NC, then switch the power off then back
on. Then, set the zero point for the absolute pulse coder.
OT0035 IMPOSSIBLE ZRN(SERIAL) An attempt was made to create correspondence between
the reference position and the absolute position detector
when the origin cannot be established.
Rotate the motor through more than one turn manually,
then switch the power off then back on. Then, set the zero
point for the absolute pulse coder.

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B-63323EN-1/03 1.AXIS CONTROL

Number Message Contents

OT0036 BATTERY DOWN (ABS PCDR) Low absolute position detector battery voltage
Replace the battery without switching off the power to the
NC. Refer to PART III, "MAINTENANCE" in Operator’s
Manual (Operation) for an explanation of battery
replacement.
SV0101 DATA ERROR(ABS PCDR) A correct machine position cannot be obtained as the
absolute pulse coder has malfunctioned or the machine
moved too far during power ON.

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1.AXIS CONTROL B-63323EN-1/03

1.5.3 FSSB Setting

General
Connecting the CNC control section to servo amplifiers via a high-
speed serial bus (FANUC Serial Servo Bus, or FSSB), which uses only
one fiber optics cable, can significantly reduce the amount of cabling in
machine tool electrical sections.
In a system using the FSSB, it is necessary to set up the following
parameters to specify its axes. (The other parameters should be
specified as usual.)
- No.1023,1027,1028
- Nos. 1080 to 1089. (For a system with 11 or more controlled
axes, parameters Nos. 1100 to 1109 and 1110 to 1119 are
also available in addition to these parameters. In the
remainder of this manual, references to Nos. 1080 to 1089
are interpreted to include parameters Nos. 1100 to 1109 and
1110 to 1119 for a system with 11 or more controlled axes.
References to these numbers are omitted.)
- Nos. 1092 to 1097
These parameters can be specified using the following methods:

1. Default setting
The default axis settings are made in the order in which amplifiers
are connected. Parameter Nos. 1023, 1027, 1028, 1080 to 1089,
and 1092 to 1097 need not be set, nor are they automatically set.
Note that some functions cannot be used.
2. Automatic setting
By entering the relationships between axes and amplifiers from
the FSSB setting screen, parameter Nos. 1023, 1027, 1028, 1080
to 1089, and 1092 to 1097 are automatically set.
3. Manual setting
Parameter Nos. 1023, 1027, 1028, 1080 to 1089, and 1092 to 1097
are specified according to manually entered values. The user must
be totally familiar with the meaning of each parameter before
entering any values.

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B-63323EN-1/03 1.AXIS CONTROL

Explanation

- Slave
In an FSSB-based system, a fiber optics cable is used to connect the
CNC to
servo amplifiers and pulse modules. These amplifiers and pulse
modules are called slaves. The two-axis amplifier consists of two
slaves, and the three-axis amplifier consists of three slaves. The slaves
are numbered 1, 2, ..., 10 (slave number) sequentially, with that nearest
to the CNC starting at number 1.

Fig. 1.5.3 (a)

- Default setting
If the power is turned on when 0 is set for both parameters FMD (bit 0
of No. 1090) and ASE (bit 1 of No. 1090) because of, for example,
parameter initialization, default setting is performed. With default
setting, the servo axis numbers (parameter No. 1023) match the slave
numbers. For example, the axis for which the setting of parameter No.
1023 is 1 is connected to the amplifier with slave number 1 (amplifier
nearest the CNC)

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1.AXIS CONTROL B-63323EN-1/03

Fig. 1.5.3 (b)

With the default setting, several functional restrictions are imposed.

Usually, perform automatic setting from the FSSB setting screen
before operating the servo motor, since the default setting function is
for temporary setting during installation.

- Restrictions imposed on default setting

• Pulse modules cannot used. Thus, separate position detectors
cannot be used.
• The numbers set for parameter No. 1023 must be consecutive. For
example, it is not possible to set 3 for a certain axis without having
already set 2 for another axis.
• The following servo functions cannot be used:
- High-speed current loop
- High-speed interface axis
- Electronic gearbox (EGB)
- Tandem control

- Automatic setting
When 0 is set for both parameters FMD (bit 0 of No. 1090) and ASE
(bit 1 of No. 1090), automatic setting can be performed from the FSSB
setting screen.

Perform automatic setting from the FSSB setting screen, by applying

the following procedure:
1 On the amplifier setting screen, information for servo amplifiers
and pulse modules is displayed in order by slave number.
2 For each slave, set the axis control number to be connected. The
controlled axis name is displayed next to it (except for the pulse
modules).
3 Select the axis setting screen. For each controlled axis, set function
data such as the pulse module connector numbers.

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B-63323EN-1/03 1.AXIS CONTROL

4 Click soft key "Set" to perform automatic setting. If the settings are
invalid, a warning is generated. correct the settings.
By means of this operation, parameter Nos. 1023, 1027, 1028, 1080 to
1089, and 1092 to 1097 are automatically set. In addition, 1 is set for
the parameter ASE (bit 1 of No. 1090), which indicates that each
parameter has been set. When the power is turned off and then back on,
axis settings are made according to the parameters.

For details of the FSSB setting screen, see the procedures for
displaying and setting FSSB data, described later.

NOTE
1 To use the electronic gearbox (EGB), perform EGB
axis setting (parameter No. 1995#0 is set to 1) before
automatic setting on the FSSB setting screen.
Otherwise, automatic setting cannot be performed
correctly.
2 To use tandem control, set up the tandem controlled
axes (set 1 for bit 6 of parameter No. 1817, for
example) before automatic setting, as with the EGB
function.
3 To set spindle positioning and Cs contour control,
spindle parameters must be set in addition to axis
settings through automatic setting.

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1.AXIS CONTROL B-63323EN-1/03

- Manual setting
After 1 is set for parameter FMD (bit 0 of No. 1090) or after automatic
setting is performed (1 is set for parameter ASE (bit 1 of No. 1090),
FSSB setting parameter Nos. 1023, 1027, 1028, 1080 to 1089, and 1092
to 1097 can be set directly through MDI input from the parameter
screen. Use this function if special axis settings that are not possible
through automatic setting are required. Usually, use automatic setting.

No. 1090#0
FMD
1

No. 1080 1081 1082 1083 1084 1085 1086 1087 1088 1089
0 1 2 4 5 16 3 48 40 40

No. 1023 1093#0 1093#6 1093#7 1094 1095

FSL PM1 PM2
X 1 0 1 0 0 0
Y 3 0 0 1 0 2
Z 5 0 0 1 0 0
A 2 1 0 0 0 0
B 4 1 1 0 1 0
Z 6 1 0 1 0 1

Fig. 1.5.3 (c) Axis Configuration and Example of Setting Parameters

through Manual Setting
(For the meaning of each parameter, see the explanation of that
parameter.)

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B-63323EN-1/03 1.AXIS CONTROL

FSSB data display

The FSSB setting screen displays FSSB-based amplifier and axis
information. This information can also be specified by the operator.
1 Press the <SYSTEM> function key.
2 To display [FSSB], press the next menu page key several times.
3 Pressing the [FSSB] soft key causes the [AMPLIFIER SETTING]
screen (or the previously selected FSSB setting screen) to appear,
with the following soft keys displayed.
The FSSB setting screens include: [AMPLIFIER SETTING], [AXIS
SETTING], and [AMPLIFIER MAINTENANCE]
To switch between these screens, use the page switch key.

- Amplifier setting screen

The amplifier setting screen consists of two sections: the first section
displays
information about the amplifiers, while the second section displays
information
about the pulse modules. On this screen, set the axis number of a
controlled axis to be connected to each amplifier.

Fig. 1.5.3 (d)

The amplifier setting screen consists of the following items:

• slave number
The slave units connected to FSSB are assigned slave
numbers in order, starting with the one nearest the CNC. Up
to ten slave units can be connected (up to eight amplifiers
and up to two pulse modules). (For a system with 11 or more
controlled axes, up to 30 slave units can be connected, with
up to 24 amplifiers and up to six pulse modules).
• AMP
The amplifier type display consists of the letter A, which
stands for "amplifier", a number that indicates the placing of
the amplifier, as counted from that nearest to the CNC, and a

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1.AXIS CONTROL B-63323EN-1/03

letter such as L (first axis), M (second axis) or N (third axis)

indicating the placing of the axis in the amplifier.
• The following items are displayed as amplifier information:
- SERIES : servo amplifier series
- UNIT : servo amplifier unit type
- CUR. : maximum rating current
• AXIS
The axis number of each controlled axis specified in
parameters (Nos. 1080 to 1089) is displayed. If a number
specified in these parameters falls outside the range of
between 1 and the maximum number of controlled axes, 0 is
displayed. In automatic setting, the axis number of a
controlled axis connected to each servo amplifier is entered
in this field.
• NAME
The axis name assigned to a parameter (No. 1020)
corresponding to a particular controlled axis number is
displayed. If the controlled axis number is 0, - is displayed.
• The following items are displayed as pulse module
information:
- PULSE MOD.
This display consists of the letter M, which stands for
"pulse module", and a number indicating the placing of
the pulse module, as counted from that nearest to the
CNC.
- TYPE
This display is a letter indicating the type of the pulse
module.
- PCB ID
This display consists of four digits indicating the pulse
module ID (hexadecimal).
- Edition
The edition of the pulse module is displayed.
- Function
For a separate detector module (eight axes),
"DETECTOR (8AXES)" is displayed. For a separate
detector module (four axes), "DETECTOR (4AXES)"
is displayed.

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B-63323EN-1/03 1.AXIS CONTROL

- Axis setting screen

The axis setting screen displays the information shown below:

Fig. 1.5.3 (e)

The axis setting screen displays the following items:

• AXIS
This item is the placing of the NC controlled axis.
• NAME
This item indicates the name of the corresponding controlled
axis.
• AMP
type of the amplifier connected to each axis
• M1
This item is the number of the connector for pulse module 1,
specified in parameter No. 1094.
• M2
This item is the number of the connector for pulse module 2,
specified in parameter No. 1095.
• 1DSP
This item is the value specified in bit 0 (parameter 1DSP) of
parameter No. 1092. It is 1 for an axis (such as a learning
control axis, high-speed current loop axis, or high-speed
interface axis) that exclusively uses a DSP, which is usually
shared by two axes.
• SPOS
Parameter (No.1027) The value set in parameter No. 1027 is
displayed. A value other than 0 is displayed for a controlled
axis for spindle positioning.
• CS
This item is the value specified in parameter No. 1028. It is 1
for the Cs contour controlled axis.
• TNDM
This item is the number specified in parameter No. 1097.

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1.AXIS CONTROL B-63323EN-1/03

Consecutive odd and even numbers are displayed for the

master and slave axes for tandem control.
• EGB
The values set for parameter No. 1096 are displayed.
Consecutive odd and even numbers are displayed for the
slave and dummy axes that are assumed when the EGB
function is executed.

- Amplifier maintenance screen

The amplifier maintenance screen displays maintenance information
for servo amplifiers.

Fig. 1.5.3 (f)

The amplifier maintenance screen displays the following items:

• AXIS : controlled axis number
• NAME : controlled axis name
• AMP : type of amplifier connected to each axis
• SERIES : servo amplifier series of an amplifier connected to
each axis
• UNIT : unit type of a servo amplifier connected to each axis
• AXES : maximum number of axes controlled by an amplifier
connected to each axis
• CUR. : maximum rating current for amplifiers connected to
each axis
• EDITION : unit version number of an amplifier connected to
each axis
• TEST : date of test performed on an amplifier connected to
each axis
Example j990123 : January 23, 1999
• MEINTE-No. : engineering change number for an amplifier
connected to each axis

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B-63323EN-1/03 1.AXIS CONTROL

FSSB data setting procedure

On an FSSB setting screen (other than the amplifier maintenance
screen), pressing the [(OPRT)] soft key displays the following soft
keys:

Fig. 1.5.3 (g)

To enter data, place the machine in MDI mode or the emergency stop
state, position the cursor to the point where a desired item is to be input,
then enter the desired data and press the [INPUT] soft key (or the
<INPUT> key on the MDI panel).
If an entered value is correct, pressing the [AUTO SET] soft key
automatically sets the value in the parameter. If an entered value is
incorrect, a warning indicating that data is incorrect is issued.
To restore the previous value of a parameter if, for example, an entered
value is incorrect, press the [DATA RESET] soft key.
When the power is switched on, values are read from the parameters
and displayed on the screen.

- Amplifier setting screen

The amplifier setting screen allows the user to set the following item:
• Axis number c c cControlled axis number
Enter a controlled axis number ranging from 0 to the
maximum number of controlled axes. If a value that falls
outside the range is entered, a warning indicating that the
data is incorrect is issued. After entering data on the
amplifier setting screen, enter data on the axis setting screen.
If a duplicate controlled axis number is entered, a warning
indicating that the data is incorrect is issued when an attempt
is made to set the value in the parameter by pressing the
[AUTO SET] soft key. No duplicate controlled axis number
is set in the parameter.

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1.AXIS CONTROL B-63323EN-1/03

- Axis setting screen

On the axis setting screen, the following items can be specified:
• M1 : connector number for pulse module 1
For an axis that uses pulse module 1, enter a connector
number using a number in the range of between 1 and the
maximum number of axes for pulse module 1. When pulse
module 1 need not be used, enter 0. If a number that falls
outside the valid range is entered, the message FORMAT
ERROR is displayed.
• M2 : connector number for pulse module 2
For an axis that uses pulse module 2, enter a connector
number using a number in the range of between 1 and the
maximum number of axes for pulse module 2. When pulse
module 2 need not be used, enter 0. If a number that falls
outside the valid range is entered, the message FORMAT
ERROR is displayed.
• 1DSP
Enter 1 for the following axes, each of which exclusively
uses a DSP, which is usually shared by two axes. If a number
other than 0 or 1 is entered, the message FORMAT ERROR
is displayed.
- High-speed current loop axis
- High-speed interface axis
• SPOS
When setting a spindle positioning axis, enter a spindle
number from 1 to 4. If a number other than 0 to 4 is entered,
a warning indicating that the data falls outside the valid
range is issued.
• CS
Enter spindle number ( 1 to 4 ) for the Cs contour controlled
axis. If a number other than number other than 0 to 4 is
entered, the message FORMAT ERROR is displayed.
• TNDM
Enter odd and even numbers for the master and slave axes
for tandem control. These numbers must be consecutive and
in the range of between 1 and number of controlled axis. If a
number that falls outside the valid range is entered, the
message FORMAT ERROR is displayed.
• EGB
When using the EGB function, enter successive odd and
even numbers for the slave and dummy axes. Numbers from
1 to the number of controlled axes may be entered. If a
number that falls outside the range is entered, a warning
indicating that the data is not within the valid range is issued.
When the [AUTO SETING] soft key is pressed on the axis setting
screen after data entry, the message DATA IS OUT OF RANGE
is displayed if any of the following conditions is satisfied.
• Both M1 and M2 are nonzero for an axis.
• Any two of the 1-DSP, SPOS, CS, TNDM, and EGB are
nonzero for an axis.
• A duplicate value is specified for M1.
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B-63323EN-1/03 1.AXIS CONTROL

• A duplicate value is specified for M2.

• A duplicate value is specified for SPOS.
• A duplicate value is specified for CS.
• A duplicate value is specified for TNDM.
• An invalid master/slave axis pair is specified for TNDM.
• A duplicate value is specified for EGB.
• An invalid slave/dummy axis pair is specified for EGB.

Parameter

1080 Address conversion table value (ATR) for slave 1

1081 Address conversion table value (ATR) for slave 2

1082 Address conversion table value (ATR) for slave 3

1083 Address conversion table value (ATR) for slave 4

1084 Address conversion table value (ATR) for slave 5

1085 Address conversion table value (ATR) for slave 6

1086 Address conversion table value (ATR) for slave 7

1087 Address conversion table value (ATR) for slave 8

1088 Address conversion table value (ATR) for slave 9

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1.AXIS CONTROL B-63323EN-1/03

1089 Address conversion table value (ATR) for slave 10

NOTE
After this parameter has been set, the power must be off turned off then
back on for the setting to become effective.

   

    !

     ! * % !@ 5 2% 24
1          * ! 
    ! ,#%   '$%G% %-$
/       ! ,#%   '$%G%
 -(#           $

     #      %$

1     !            
   '  *  # $      !
# %(     '# ! ! $  <)+ 7
   (   .+ 7  
  $                  !
      7  ( 7(       
    ( &
+       &
     9   !   '$%).   7
   #  ! ($
+        &
 5      ,    '-  24
    ,      '-$
-       7&
-  2%

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B-63323EN-1/03 1.AXIS CONTROL

NOTE
1. When using the electronic gear box (EGB) function
Although EGB and dummy axes do not require amplifiers,
assume that they are connected to dummy amplifiers. Thus, as
the address conversion table value for an non-existing slave, set
the value equal to the setting of parameter No. 1023 for the EGB
axis minus 1, instead of “40.”
2. If the system has 11 or more controlled axes, parameter No. 1100
to No. 1109 and No. 1110 to No. 1119, as well as parameter No.
1080 to No. 1089, are added as its address conversion table
value parameters.These parameters are associated with slaves
as described below:
No. 1080 to No. 1089: The slaves are linked via an FSSB
optical fiber cable leading to the first axis card (on the main
board).
No. 1100 to No. 1109: The slaves are linked via an FSSB
optical fiber cable leading to the second axis card (on the first
additional-axis board)
No. 1110 to No. 1119: The slaves are linked via an FSSB
optical fiber cable leading to the third axis card (on the second
additional-axis board).

#7 #6 #5 #4 #3 #2 #1 #0
1090 ASE FMD

[Input type] Parameter input

[Data type] Bit

#0 FMD Specify the FSSB setting mode:

0: Automatic setting mode.
When the relationships between axes and amplifiers and other
information are entered from the FSSB setting screen and
automatic setting is performed, parameters Nos. 1023, 1027,
1028, 1080 to 1089, and 1092 to 1097 are automatically
specified.
1: Manual setting mode.
Parameters Nos. 1023,1027,1028, 1080 to 1089, and 1092 to
1097 must be specified manually.

     <0 /  * !     ! ,#%
   '$%G% %-(   !&
%& '  $
&   $
1#        !  $

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1.AXIS CONTROL B-63323EN-1/03

#7 #6 #5 #4 #3 #2 #1 #0
1092 DSP

[Input type] Parameter input

[Data type] Bitaxis

#0 DSP Usually, do not directly enter any value, because this parameter is
specified on the FSSB setting screen. This parameter need not be
specified in the manual setting mode.
0: Two axes use a single DSP. (Ordinary axes)
1: A single axis uses a single DSP exclusively.

#7 #6 #5 #4 #3 #2 #1 #0
1093 PM2 PM1 FSL

[Input type] Parameter input

[Data type] Bitaxis

    % *? 1    #           &

0: Fast type.
1: Slow type.
The servo data transfer interface is divided into two types, Fast and Slow. The
following conditions must be satisfied:
- When a 1-axis amplifier is used, either Fast or Slow type can be used.
- When a 2-axis amplifier is used, the Fast type cannot be used for both types.
The Slow type can be used for both axes.
- For a 3-axis amplifier, the condition for a 2-axis amplifier applies to its first and
second axes, while the condition for a 1-axis amplifier applies to its third axis.
- The Fast type must be used for an axis for which an odd number is set for
parameter No. 1023.
The Slow type can, however, be used for EGB workpiece axes, learning control
axes, high-speed current loop axes, and high-speed interface axes.
- Only the Slow type can be used for an axis for which an even number is set for
parameter No. 1023.
(Be sure to set this bit to 1.)

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B-63323EN-1/03 1.AXIS CONTROL

#6 PM1 Specifies whether to use the first pulse module.

0: Do not use.
1: Use.

#7 PM2 Specifies whether to use the second pulse module.

0: Do not use.
1: Use.

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1.AXIS CONTROL B-63323EN-1/03

1023 Servo axis number of each axis

NOTE
After this parameter has been set, the power must be off turned off
then back on for the setting to become effective.

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 0 - Max axes
Specify the number of the servo axis that corresponds to each
control axis. Normally, set each servo and control axis to the same
numbers.
The control axis number and servo axis number of an axis with an
absolute position detector must be the same.

- If FSSB setting mode is automatic setting mode (bit 0 of

parameter No. 1090 is set to 0), setting is made automatically by
inputting data to the FSSB setting screen. In manual setting
mode (bit 0 of parameter No. 1090 is set to 1), however, data
must be entered directly.
- The servo axes are associated with servo amplifiers by setting
parameter Nos. 1080 to 1089.
- For spindle motor axes such as the spindle positioning axis and
Cs contour control axis, 0 must be set.
- For axes under tandem control and electronic gear box (EGB)
control, a pair of two axes must be set. Set these axes as follows:
Tandem axis : Set 1, 3, 5, or 7 for the master axis. For the
slave axis to be used with the master axis, set
a value greater than the value set for the
master axis by one.
EGB axis : Set 1, 3, 5, or 7 for the slave axis. For the
dummy axis to be used with the slave axis, set
a value greater than the value set for the slave
axis.

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B-63323EN-1/03 1.AXIS CONTROL

1027 Spindle number of a spindle positioning

1028 Spindle number of a Cs contour control axis

   

    ! 7

     ! %+2
Set the axis attribute for each control axis, in combination with parameter No.
1023.
Specify the control axis on which to perform spindle positioning, by setting the
spindle number (not the motor number) for this parameter. The following
restrictions are imposed:
- Set 0 for those control axes on which spindle positioning is not to be performed.
- A single spindle cannot be allocated to multiple control axes.
- As many spindle positioning axes as the number of spindles can be set.
- A spindle positioning axis must be placed from the end of a control axis.

Example 1) Servo axis: X, Y, Z

Spindle positioning axis: C (S1)
Number of spindles: 1
Controlled- Parameter Parameter Parameter
axis number No. 1020 No. 1023 No. 1027
1 44,J- 1 0
2 89(Y) 2 0
3 90(Z) 3 0
4 67(C) 0 1

Example 2) Servo axis: X, Z

Spindle positioning axis: C(S1), B(S2)
Number of spindles: 2
Controlled- Parameter Parameter Parameter
axis number No. 1020 No. 1023 No. 1028
1 88(X) 1 0
2 90(Z) 2 0
3 67(C) 0 1
S 66(B) 0 2

NOTE
Note that this parameter is changed when automatic setting is
performed on the FSSB setting screen.

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1.AXIS CONTROL B-63323EN-1/03

1094 Connector number of the 1-st pulse module

1095 Connector number of the second pulse module

   

    ! 7

     ! %+@
This parameter is automatically specified when the FSSB setting mode is the
automatic setting mode (bit 0 of parameter No. 1090 is set to 0).
When the mode is the manual setting mode (bit 0 of parameter No. 1090 is set to
1), be sure to directly enter the desired value.

When using a pulse module, set the value equal to the connector number of the
pulse module used on the axis, minus 1. Thus, set 0 to 7 for connector numbers 1
to 8. In addition, bits 6 and 7 of parameter No. 1093 must be set separately. For
an axis on which a pulse module is not used, set 0.
Any connector can be used on an axis. Connector numbers must, however, be
used starting with the smallest one. For example, connector number 4 cannot be
used without using connector number 3.
Example)
Control First Second No.1094 No.1095 No.1093
ed axis connecter No. connecter No. (#7,#6)
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
B 2 Not used 1 0 0,1
C Not used 3 0 2 1,0

1096 Slave and dummy axis numbers for the EGB function (on the FSSB setting
screen only)

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 0-8
When using the EGB function, set consecutive odd and even
numbers for the slave and dummy axes.
Usually, do not directly enter any value, because this parameter is
specified on the FSSB setting screen. This parameter need not be
specified in the manual setting mode.

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B-63323EN-1/03 1.AXIS CONTROL

1097 Master and slave numbers for tandem control (on the FSSB setting screen
only)

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 0-8
When performing tandem control, set consecutive odd and even
numbers for the master and slave axes.
Usually, do not directly enter any value, because this parameter is
specified on the FSSB setting screen. This parameter need not be
specified in the manual setting mode.

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1.AXIS CONTROL B-63323EN-1/03

Example of axis configuration and parameter setting

- Example1

Fig. 1.5.3 (h)

Fig. 1.5.3 (i)

The connection of slaves (servo amplifiers) and controlled axes is

determined by parameter Nos. 1023 and 1080 to 1089. In the example
shown in Fig. 1.6.3. (h), slaves 2, 3, and 4 are connected to A, Y, and Z.
By changing parameter Nos. 1081 to 1083 from 1, 2, and 3 to 2, 3, and
1, they are connected to Y, Z, and A, as shown in Fig. 1.6.3 (i).

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B-63323EN-1/03 1.AXIS CONTROL

- Example2

Fig. 1.5.3 (j) Example of axis configuration and parameter setting when the simple
electronic gearbox (EGB) function is used
(EGB slave axis = C-axis; EGB dummy axis = C-axis

Although slave 8 does not exit, it is assumed that an ordinary amplifier

exists for the EGB dummy axis.

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1.AXIS CONTROL B-63323EN-1/03

Example3
If the system has 11 or more controlled axes, parameter No. 1110 to No.
1109 and No. 1110 to No. 1119 as well as parameter No. 1080 to No.
1089 are added as address conversion table value parameters.Shown
below are example parameter settings for the following configuration:

- There are three groups of eight parallel axes (X1 to X8, Y1 to Y8,
and Z1 to Z8)
- Each axis is provided with a scale feedback function.
- Each string of slaves consists of: 2-axis amplifier, 2-axis
amplifier, 2-axis amplifier, 2-axis amplifier, first pulse module,
and second pulse module
No. 1080 1081 1082 1083 1084 1085 1086 1087 1088 1089
Value 0 1 2 3 4 5 6 7 16 48

No. 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109
Value 0 1 2 3 4 5 6 7 16 48

No. 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119
Value 0 1 2 3 4 5 6 7 16 48

No. 1023 1093#0 1093#6 1093#7 1094 1095

FSL PM1 PM2
X1 1 0 1 0 0 0
X2 2 1 1 0 0 1
X3 3 0 1 0 0 2
X4 4 1 1 0 0 3
X5 5 0 0 1 0 0
X6 6 1 0 1 1 0
X7 7 0 0 1 2 0
X8 8 1 0 1 3 0
Y1 9 0 1 0 0 0
Y2 10 1 1 0 0 1
Y3 11 0 1 0 0 2
Y4 12 1 1 0 0 3
Y5 13 0 0 1 0 0
Y6 14 1 0 1 1 0
Y7 15 0 0 1 2 0
Y8 16 1 0 1 3 0
Z1 17 0 1 0 0 0
Z2 18 1 1 0 0 1
Z3 19 0 1 0 0 2
Z4 20 1 1 0 0 3
Z5 21 0 0 1 0 0
Z6 22 1 0 1 1 0
Z7 23 0 0 1 2 0
Z8 24 1 0 1 3 0

NOTE
1 Parameter No. 1094 and No. 1095 are set to the
connector number for each pulse module in each
string of slaves (linked to one optical cable) minus 1.
In the above example, two pulse modules that can
connect four axes are used.

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B-63323EN-1/03 1.AXIS CONTROL

Alarm and message

Number Message Contents

SV0060 FSSB:OPEN READY TIME OUT The FSSB was not in a ready to open state during
initialization.
A probable cause is an axis card malfunction.
SV0061 FSSB:ERROR MODE The FSSB entered the error mode.
Probable causes are an axis card or amplifier malfunction.
SV0062 FSSB:NUMBER OF AMP. IS The number of amplifiers identified by the FSSB is less
INSUFFICIENT than the number of controlled axes.
The set number of axes or the amplifier connection is
erroneous.
SV0063 FSSB:CONFIGURATION ERROR The FSSB configuration error occurred. Or, there is a
difference in the type of connected amplifier and FSSB
setting.
SV0064 FSSB:AXIS SETTING NOT Setting of axes was not completed in the automatic setting
COMPLETE mode.
SV0065 FSSB:OPEN TIME OUT FSSB did not open even though FSSB initialization was not
completed. Or, the connection between the CNC and
amplifier is incorrect.
SV0066 FSSB:ID DATA NOT READ Amplifier information cannot be read as FSSB is not
assigned. Or, the connection between the CNC and
amplifier is incorrect.
SV0067 FSSB:CONFIGURATION The FSSB configuration error occurred. (Detected in
ERROR(SOFT) software). Or, there is a difference in the type of connected
amplifier and FSSB setting.
SV0070 FSSB DISCONNECT FSSB communications was broken; the FSSB
communications cable was disconnected, or broken; the
amplifier power supply turned OFF; or, the low voltage
alarm occurred on the amplifier.
SV0071 ILLEGAL AMP. INTERFACE The axes of a 2-axis amplifier were assigned to a fast-type
interface; or, the axis setting was incorrect.
SV0072 SEND CNC DATA FAILED An FSSB communications error prevented correct data
from being sent or received by the slave.
SV0073 SEND SLAVE DATA FAILED An FSSB communications error prevented correct data
from being sent or received by the servo software.
SV0074 READ ID DATA FAILED Failed to read amplifier ID information during power ON.
SV0075 MOTOR/AMP. COMBINATION The maximum current of the motor is different from the
maximum current of the amplifier; the connection between
the axis and amplifier is incorrect; or, the parameter(No.
1788) setting is incorrect.
SV0076 ILLEGAL SETTING OF AXIS The setting is incorrect even though functions requiring
hardware for 2 axes are built into one axis.

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1.AXIS CONTROL B-63323EN-1/03

1.6 SETTINGS RELATED TO COORDINATE SYSTEMS

1.6.1 Machine Coordinate System

General
A machine coordinate system uses a machine-specific point as its
origin. The machine coordinate system is set so that the reference
position has the coordinates set in parameter No. 1240 when a
reference position return operation is performed. A desired coordinate
system can be selected using the G53 command, and the tool can be
moved to a position along the axes of the coordinate system by means
of rapid traverse.

Parameter

1240 Coordinates of the first reference position in the machine coordinate system

NOTE
After this parameter has been set, the power must be off turned off
then back on for the setting to become effective.

   

     

      

            

    !          
 " #
$     %&'&!!!!!!(!!!&)!!!!!!(!!!
%              
 (

Caution
CAUTION
Before G53 can be specified, a machine coordinate
system must be set. So, after the power is turned on,
manual reference position return or reference
position return based on G28 must be performed at
least once. This requirement, however, is not
applicable when an absolute-position detector is
mounted.

Reference item
Series15i/150i-MA Operator’s Manual II-7.1 Machine coordinate
(Programming) system
(B-63324EN)

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B-63323EN-1/03 1.AXIS CONTROL

1.6.2 Workpiece Coordinate System/Addition of Workpiece

Coordinate System Pair

General
A coordinate system used for machining a workpiece is referred to as a
workpiece coordinate system. A workpiece coordinate system is to be
set with the CNC beforehand (setting a workpiece coordinate system).
A machining program sets a workpiece coordinate system (selecting a
workpiece coordinate system). A set workpiece coordinate system can
be changed by shifting its origin (changing a workpiece coordinate
system).

Setting a workpiece coordinate system

A workpiece coordinate system can be set using one of three methods:
(1) Method using G92
A workpiece coordinate system is set by specifying a value after
G92 in the program.
(2) Method of using G54 to G59
Six workpiece coordinate systems are set in advance, using the
MDI panel, and the workpiece coordinate system to be used is
selected using program commands G54 to G59.

Selecting a workpiece coordinate system

The user can choose from set workpiece coordinate systems as
described below.
(1) Selecting a workpiece coordinate system set by G92
Once a workpiece coordinate system is selected, absolute
commands work with the workpiece coordinate system.
(2) Choosing from six workpiece coordinate systems set using the
MDI panel
By specifying a G code from G54 to G59, one of the workpiece
coordinate systems 1 to 6 can be selected.
G54 : Workpiece coordinate system 1
G55 : Workpiece coordinate system 2
G56 : Workpiece coordinate system 3
G57 : Workpiece coordinate system 4
G58 : Workpiece coordinate system 5
G59 : Workpiece coordinate system 6
Workpiece coordinate system 1 to 6 are established after
reference position return after the power is turned on. When the
power is turned on, G54 coordinate system is selected.

Changing workpiece coordinate system

The six workpiece coordinate systems specified with G54 to G59 can
be changed by changing an external workpiece zero point offset value
or workpiece zero point offset value.
Three methods are available to change an external workpiece zero
point offset value or workpiece zero point offset value.

(1) Inputting from the MDI panel

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1.AXIS CONTROL B-63323EN-1/03

(2) Programming by G10 or G92 (G50)

(3) Using external data input (refer to 15.2)

Workpiece coordinate Workpiece coordinate Workpiece coordinate Workpiece coordinate

system 1 (G54) system 2 (G55) system 3 (G56) system 4 (G57)

ZOFS2 ZOFS3
ZOFS4
ZOFS1
Workpiece coordinate
ZOFS5 system 5 (G58)

EXOFS
Machine zero point
ZOFS6 Workpiece coordinate
system 6 (G59)
EXOFS : External workpiece zero point offset value
ZOFS1-ZOFS6 : Workpiece zero point offset value

Fig. 1.6.2 Changing an external workpiece zero point offset value or workpiece zero point offset value

Addition of workpiece coordinate system pair

Besides the six workpiece coordinate systems (standard workpiece
coordinate systems) selectable with G54 to G59, 48 or 300 additional
workpiece coordinate systems (additional workpiece coordinate
systems) can be used.

Parameter

1220 Common offset from the workpiece reference point for all axes

 % 

     

    

            

    !          
 " #
$     %&'&!!!!!!(!!!&)!!!!!!(!!!
*           + ,
    -./-.!(  $     
+ ,         + ,    
    0    + ,    
 (  1         " 
         (

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B-63323EN-1/03 1.AXIS CONTROL

1221 Offset of the origin of workpiece coordinate system 1 (G54)

1222 Offset of the origin of workpiece coordinate system 2 (G55)

1223 Offset of the origin of workpiece coordinate system 3 (G56)

1224 Offset of the origin of workpiece coordinate system 4 (G57)

1225 Offset of the origin of workpiece coordinate system 5 (G58)

1226 Offset of the origin of workpiece coordinate system 6 (G59)

 % 

     

    

            

    !          
 " #
$     %&'&!!!!!!(!!!&)!!!!!!(!!!
%       + ,      2
3-./-.!(

Reference item
Series15i/150i-MA Operator’s Manual II-7.2 Workpiece coordinate
(Programming) system
(B-63324EN)

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1.AXIS CONTROL B-63323EN-1/03

1.6.3 Rotation Axis Roll-over

General
The roll-over function prevents coordinates for the rotation axis from
overflowing. The roll-over function is enabled by setting bit 2 of
parameter ROL 1009 to 1.
In the absolute mode, the specified value is converted to the remainder
obtained by dividing the specified value by 360 degrees. The
difference between the converted value and the current value indicates
the angular displacement. The movement by angular displacement is
always made in the shorter direction. That is, if the difference between
the converted value and the current value is greater than 180 degrees,
the movement to the specified position is made in the opposite
direction. If the difference is 180 degrees, the movement is made in the
normal direction. In the incremental mode, a specified value directly
indicates an angular displacement.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1006 ROP ROS ROT

[Input type] Parameter input

[Data type] Bitaxis

    45 6* %  +     7 8  0 (
59 # 7 8  0   (
29 #  7 8  0    (

    42 6% %  +            ,  ,
            (
59 :   
29     
;              < +
               1(2=35(
         -=>-?5   
             
       ?35  (  #   
   1(2=35(

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B-63323EN-1/03 1.AXIS CONTROL

    4= 6 %  +            
           (
59 :   
29     
$             +
             "
  (  * +  "     
     ?35  (  #   
   1(./=.(

#7 #6 #5 #4 #3 #2 #1 #0
1009 ROL

   

   ' 

    4= 6: %  +    &0         (
59 1   (
29 @  (

NOTE
This bit is valid only for a rotation axis.

1260 Movement of one rotation of a rotary axis

[Input type] Parameter input

[Data type] Realaxis
[Unit of data] degree
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] 0 or positive 9 digit of minimum unit of data (refer to the standard
parameter setting table (B))
(When the increment system is IS-B, 0.0 - +999999.999)
Set the value of movement of one rotation of a rotary axis.

Note
NOTE
1. This function is applicable only to rotation axes.
2. This function cannot be used together with the index
table indexing function and rotary axis control
function.

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1.AXIS CONTROL B-63323EN-1/03

Reference item
Series15i/150i-MA Operator’s Manual II-19.7 Rotation axes roll over
(Programming)
(B-63324EN)

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B-63323EN-1/03 1.AXIS CONTROL

1.6.4 Cutting/Rapid Traverse In-position Check

Overview
The cutting-/rapid traverse-specific in-position check enables an
effective area for the in-position check to be reduced for a cutting feed
block, in which a high precision is required.
It also enables the effective area to be increased in a rapid traverse
block, in which it is desirable to reduce the time required for
positioning the tool.

Function details
Setting parameter CCI (bit 4 of parameter No. 1800) to 1 enables an
effective area for cutting feed to be newly specified using parameter No.
1838.
In this case, both rapid traverse and cutting feed effective areas must be
specified for all axes. For axes that do not need this function, specify
the same effective area in parameter Nos. 1827 and 1838.

The following paragraphs explain the relationships between the in-

position check made using this function at the end of a block and the
next block.

1. When a rapid traverse block ends

An in-position check is made always using the effective area for
rapid traverse (parameter No. 1827).

Rapid traverse Rapid traverse

Rapid traverse effective area

Rapid traverse

Cutting feed

   Rapid traverse in-position check

Fig. 1.6.4(a) In-Position Check at the End of a Rapid Traverse Block

1. When a cutting feed block ends

(1) If the next block is a cutting feed block, an in-position check
is made using a cutting feed effective area (parameter No.
1838).

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1.AXIS CONTROL B-63323EN-1/03

Cutting feed

Cutting feed effective area

Cutting feed

     Cutting feed in-position check

Fig. 1.6.4(b) When the Next Block Is a Cutting Feed Block

(2) If the next block is a rapid traverse block, an in-position

check is made using one of the parameters described below.
1) If parameter CIN (bit 5 of parameter No. 1800) = 0
A rapid traverse effective area (parameter No. 1827) is
applied.

Cutting feed     Rapid traverse in-position check

Rapid traverse

Rapid traverse effective area

Fig. 1.6.4(c) When the Next Block Is a Rapid Traverse Block

(Parameter CIN = 0)

2) If parameter CIN (bit 5 of parameter No. 1800) = 1

A cutting feed effective area (parameter No. 1838) is
applied.

Cutting feed      Cutting feed in-position check

Rapid traverse

Cutting feed effective area

Fig. 1.6.4(d) When the Next Block Is a Rapid Traverse Block

(Parameter CIN = 1)

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B-63323EN-1/03 1.AXIS CONTROL

Parameters
#7 #6 #5 #4 #3 #2 #1 #0
1800 CIN CCI

[Input type] Parameter input

[Data type] Bit

#4 CCI Specifies what parameter is to be used to specify a cutting feed

effective area as follows:
0: Parameter common to rapid traverse (No. 1827)
1: Parameter dedicated to cutting feed (No. 1838)

It is possible to specify a cutting feed effective area (parameter No.

1838) separately from a rapid traverse effective area (parameter No.
1827).
Parameter CCI (bit 4 of parameter No. 1800) is used to determine
which (this function or the conventional in-position check) to select.
Once the function is enabled, it applies to all axes. If you do not want
to apply the function for a specific axis, set the same data in parameter
Nos. 1827 and 1838 for the axis.

#5 CIN Specifies a cutting feed effective area when the CCI is 1 as follows:
0: If the next block is a cutting feed block, the effective area
specified in parameter No. 1838 is used. If the next block is a
rapid traverse block, the effective area specified in parameter No.
1827 is used.
1: The effective area specified in the dedicated parameter (No. 1838)
is used regardless of what the next block is.

The following table lists the relationships between the cutting feed and
rapid traverse parameters.

Parameter CIN (bit 5 of parameter No. 1800)

0 1

Parameter CCI 0 Rapid traverse → rapid traverse No.1827 Rapid traverse → rapid traverse No.1827
(bit 4 of parameter
Rapid traverse → cutting feed No.1827 Rapid traverse → cutting feed No.1827
No. 1800)
Cutting feed → cutting feed No.1827 Cutting feed → cutting feed No.1827

Cutting → rapid traverse No.1827 Cutting → rapid traverse No.1827

1 Rapid traverse → rapid traverse No.1827 Rapid traverse → rapid traverse No.1827

Rapid traverse → cutting feed No.1827 Rapid traverse → cutting feed No.1827

Cutting feed → cutting feed No.1838 Cutting feed → cutting feed No.1838

Cutting → rapid traverse No.1827 Cutting → rapid traverse No.1838

Parameters CCI and CIN can also apply to the Cs axis.

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1.AXIS CONTROL B-63323EN-1/03

1827 Effective area for an individual axis

[Input type] Parameter input

[Data type] Integer axis
[Unit of data] Detection unit
[Valid data range] 0 to 99999999

This parameter specifies an effective area for an individual axis.

If a difference between the machine position and the specified position
(absolute value of the positional deviation) is smaller than the effective
area, it is assumed that the machine has reached the specified position,
that is, is in the effective area.
If parameter CCI (bit 4 of parameter No. 1800) = 1, a rapid traverse
effective area for an individual axis is used.

1838 Cutting feed effective area for an individual axis

[Input type] Parameter input

[Data type] Integer axis
[Unit of data] Detection unit
[Valid data range] 0 to 99999999

This parameter specifies a cutting feed effective area for an individual

axis.
It is used when parameter CCI (bit 4 of parameter No. 1800) = 1.

5879 Effective area for Cs contour control

[Input type] Parameter input

[Data type] Integer spindle
[Unit of data] Detection unit
[Valid data range] 0 to 99999999

This parameter specifies an effective area when Cs contour control is

performed.
When parameter CCI (bit 4 of parameter No. 1800) = 1, a rapid traverse
effective area for an individual axis is used.

5813 Cutting feed effective area for Cs contour control

[Input type] Parameter input

[Data type] Integer spindle
[Unit of data] Detection unit
[Valid data range] 0 to 99999999

This parameter specifies a cutting feed effective area when Cs contour

control is performed.
It is used when parameter CCI (bit 4 of parameter No. 1800) = 1.

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B-63323EN-1/03 1.AXIS CONTROL

1.7 PARALLEL AXIS CONTROL

General
When a machine tool is provided with multiple heads and multiple
tables, and multiple, identical workpieces are machined at the same
time, multiple controlled axes having the same axis name can be
operated at the same time by the use of a move command that specifies
only one program axis. This operation is called parallel operation.
Two or more axes which operate in parallel at the same time upon the
execution of a command that specifies only one program axis are called
parallel axes.
This function is useful for automatic operation, MDI operation, and
manual numeric commands. In manual operation, the parallel function
cannot be used. Each controlled axis operates independently.
In parallel operation, controlled axes related to one program axis
operate in the same way. With the use of an input signal sent from the
machine side, only the specified axis is selected among multiple
parallel axes and operated (parking).

Y2
Z2

Y1
Z1

Fig. 1.7 (a)

In the above figure, Y1 and Y2 are parallel axes and operate at the same
time with one address-Y command. Z1 and Z2 are also parallel axes
and operate at the same time with one address-Z command.
Parallel-axis movement has the following two conditions. One of the
two conditions is selected by the use of an input signal from the
machine side.
- Normal (parking off):
Operation is performed as specified by the command.
- Parking (parking on):
No operation is performed and the command is ignored.

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1.AXIS CONTROL B-63323EN-1/03

- Tool length compensation and tool offset in a parallel axis

To apply tool length compensation to each axis, specify a difference

between an H code number and the offset number assigned to the H
code number, namely, a bias, for each axis in a parameter. A tool offset
can also be specified in the same way.
Specify a bias for tool length compensation in parameter No. 6021.
Specify a bias for a tool offset in parameter No. 6020.

Head-1 tool Head-2 tool

ε1
ε2

Programmed position

Fig. 1.7 (b)

(Example)
Head Specified Bias Offset Offset
offset number to be
number used
Head 1 07 10 17 ε1
Head 2 07 20 27 ε2

When parallel operation is performed with the third and fourth axes
serving as the Z1 and Z2 axes, for example, assume that as a bias for
each axis, 10 and 20 are specified in parameter No. 6021 for the Z1 and
Z2 axes, respectively. When tool length compensation command
G43H07; is specified, tool length compensation is applied with the
value of the head-1 offset number 17 (= 07 + 10) serving as the offset
for the head-1 tool and the value of the head-2 offset number 27 (= 07 +
20) serving as the offset for the head-2 tool.

NOTE
The offset corresponding to offset number 00,
namely, H00, is always zero irrespective of the bias.

- Amounts of travel on parallel axes

The amounts of travel on parallel axes differ between an incremental
command and an absolute command, as follows:
(1) Incremental command
- Rapid traverse and linear interpolation
The amounts of travel on all parallel axes are the same.
- Circular interpolation and helical interpolation
The amounts of travel on all parallel axes are the same. In
other words, identical circles or arcs are interpolated at the
same time.

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B-63323EN-1/03 1.AXIS CONTROL

(2) Absolute command

- Rapid traverse and linear interpolation
The absolute coordinates of the end point are identical for all
parallel axes. In other words, if the start points differ, the
amounts of travel on the parallel axes differ.
- Circular interpolation and helical interpolation
Interpolation is performed using the data for the axis that has
the lowest number among the controlled axes and for which
parking is not specified. The same data as the interpolated
data is output for the other parallel axes.
In other words, even for an absolute command, if an axis
starts operating at a position different from that of the axis to
which interpolation is to be applied, the tool moves to a
position other than the specified end point.

- Feedrate calculation
In linear interpolation, a feedrate in parallel operation is calculated for
an axis along which the amount of travel is the longest among all the
parallel axes. The feedrate calculation does not reflect the data for the
other parallel axes.
Limitation
- Synchronization control and twin-table control
Among those parallel axes having the same axis name, that axis having
the lowest controlled-axis number is called the master axis of the
parallel axes.
Those axes other than the master axis are called slave axes.
When parallel axis control and synchronization control are used at the
same time, the following limitations apply.
(1) Synchronization control or twin-table control cannot be applied to
the slave axes of parallel axes.
(2) A slave axis to which synchronization control and twin-table
control are applied cannot serve as the master axis of the parallel
axes.

- Manual operation
In manual operation, even a parallel axis operates independently.
In a manual numeric command, parallel operation is performed in the
same way as in automatic operation.

- Cutter compensation
Cutter compensation cannot independently be applied to each parallel
axis. The same compensation is applied to all parallel axes.

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1.AXIS CONTROL B-63323EN-1/03

Signals

Parking signals
PK1<G65#4>, PK2<G69#4> , ...
[Classification] Input signals
[Function] Ignores a programmed command for a parallel axis to disable motion.
A parking signal is assigned to each controlled axis, with the number
suffixed to each signal name indicating the number of the controlled
axis.
PKx
x : 1 ..... Used for the parking the first axis
2 ..... Used for the parking the second axis
3 ..... Used for the parking the third axis
: :
: :
[Operation] In automatic operation, the operation of a parallel axis for which the
parking signal is set to 1 is disabled by ignoring the programmed
command. In manual operation, the parking signals are invalid. The
parking signals are valid, however, for a manual numeric command.

NOTE
1 The parking signals cannot be set to 1 for all the
parallel axes. That for the first axis must be set to 0.
2 In general, a parking signal can be switched from 1
to 0 or from 0 to 1 only when the control unit is reset.
To switch a parking signal with an M command
during automatic operation, the following conditions
must be satisfied:
1) Commands such as those for cutter
compensation, tool length compensation, and
tool coordinate system rotation must have
already been cancelled.
2) Those M codes that are to be used must have
been set as non-buffered M codes (parameter
No. 2411 to 2418).

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G065 PK1

The above addresses are the signal addresses for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the Appendix A.1.

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B-63323EN-1/03 1.AXIS CONTROL

Parameter

1021 Subscripts of the axis names of parallel, synchronization control, and

tandem control axes

   

     

    ; 5 ! 3. !5
To distinguish the axes controlled in parallel operation mode, synchronization
control mode, and tandem control mode, specify a suffix for each axis.

Setting Meaning
0 Set 0 for those axes not controlled in parallel
operation mode, synchronization control, or
tandem control.
1-9 A set number is used as a suffix.
65-90 A set alphabetic character (ASCII code) is used as
a suffix.

Example: For an axis whose axis name is X, the following will be indicated:

Setting Axis name indicated on screens such as position

display screen
0 X
1 X1
77 XM
83 XS

6020 Bias set for the tool offset number for each axis

 % 

     

    ; 5  "   
;      "    "    (
1   0            
"             
(

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1.AXIS CONTROL B-63323EN-1/03

6021 Bias set for the tool length compensation number for each axis

 % 

     

    ; 5  "   
For parallel operation, set a bias for the tool length compensation number for each
axis. Namely, the value set in this parameter is added to the specified offset
number, and the resultant offset data is used as the tool length compensation value
for the axis.

Alarm and message

Number Message Contents

PS0180 ALL PARALLEL AXES IN PARKING All of the axis specified for automatic operation are parked.

Note
NOTE
1 An independent signal specified for each axis, such
as an overtravel or interlock signal, functions
independently even for a parallel axis.
2 If the following commands are specified for an axis
in parking mode, they operate as if they had not
been specified and no processing is performed.
(Example) G92, G52, G53, G92.1, G10
ORIGIN/PRESET operation for coordinates on the
actual position screen
3 During automatic operation, a parking signal is
recognized only when a program is read (buffered),
so that parking signal switching during automatic
operation does not become effective immediately.
4 Specify, in parameter No. 1022, that each axis
serves as an axis in the basic coordinate system,
when circular interpolation or cutter compensation
is performed. Specify the same setting for the
parallel axes.
(Example)
Specify "1" in parameter No. 1022 for parallel
axes X1 and X2 when they function as the X
axis.

Reference item
Series15i/150i-MA Operator’s Manual II-19.6 Parallel axes control
(Programming)
(B-63324EN)

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B-63323EN-1/03 1.AXIS CONTROL

1.8 TANDEM CONTROL

General
If sufficient torque cannot be obtained with one motor (when driving a
large table, for example), two motors can be used to produce movement
along one axis.
The master axis alone is used for positioning, and the slave axis is used
only to generate torque.
With this function, double the amount of torque can be obtained.

Main motor
Table

Ball screw
Sub-motor

Tandem control is basically handled as involving the control of one

axis by the NC control unit. However, tandem control is handled as
involving the control of two axes in servo parameter management and
servo alarm monitoring.

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1.AXIS CONTROL B-63323EN-1/03

Master Slave
axis axis
Pulse Pulse
Power line coder Power line coder

Servo Servo
amplifier amplifier

PWM PWM
Rotor Rotor
Current position Current position
loop loop

PRM.1980 Velocity PRM.1980 Velocity

Preload (L) + feedback Preload (M) + feedback
+ +

Inverted? Inverted?

PRM. 1879 PRM. 1879

Velocity
loop PRM. 1952#2

Average?

-
+
Scale
Built-in Separate detector
Position detector
loop
PRM.1815#1

-
+

Command pulse

Tandem Control Block Diagram

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B-63323EN-1/03 1.AXIS CONTROL

Explanation
- Axis configuration in tandem control
The limitations below are imposed on axis configuration in tandem
control.

(1) Up to four sets of tandem control can be used.

(2) Tandem control is handled as involving two controlled axes, but is
handed as involving one axis in a programmed command and
manual feed.
(3) Tandem control is handled as involving two axes in servo
parameter management and servo alarm monitoring.
(4) The servo axis numbers (parameter No. 1023) of the master axis
and slave axis must be set so that an odd number and the
subsequent even number are assigned, respectively.
Example: When the servo axis number (parameter No. 1023) of
the master axis is 1, the servo axis number of the
slave axis must be 2. When the servo axis number
of the master axis is 3, the servo axis number of the
slave axis must be 4.
(5) For the slave axis, bit 6 (DSP) of parameter No. 1004 must be set
to 1 to disable position display.
(6) Assign the same axis name to the master axis and slave axis.
(7) A suffix can be assigned to an axis name; examples are X1, X2,
XM, and XS. By assigning a suffix to the same axis name, axes
that have the same axis name can be distinguished from each other
when displayed on the screen; in addition, when an axis-by-axis
alarm is issued, the axis in question can be identified.
Parameter No. 1021 is used to set a suffix.

An example of exercising tandem control on the X-axis and Y-axis

with a machine that involves five axes (X, Y, Z, A, and B) is given
below.

Number of controlled axes (optional parameter) = 7

Axis Axis name Axis name Suffix Servo axis Tandem axis
No. displayed (parameter (parameter number (Bit 6 of
No. 1020) No. 1021) (parameter parameter
No. 1023) No. 1817)
1 XM 88 77 1 1 Tandem control master axis
2 XS 88 83 2 1 Tandem control slave axis
3 YM 89 77 3 1 Tandem control master axis
4 YS 89 83 4 1 Tandem control slave axis
5 Z 90 0 5 0
6 A 65 0 6 0
7 B 66 0 7 0

- Preload function
By applying an offset to a torque controlled by position (velocity)
feedback, tension can be maintained at all times with opposing torques
applied to the master axis and slave axis. With this function, the effect
of backlash that occurs between the master axis and slave axis due to
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1.AXIS CONTROL B-63323EN-1/03

the tandem connection of two motors through a mechanism such as a

gear can be reduced. This function, however, does not reduce the
backlash inherent to a mechanical system, such as that between a ball
screw and table.
For example, by setting X for the master axis and -X for the slave axis
as preload values, tension is maintained by the preload torques even
during a stop.

Master axis Slave axis

X -X

CAUTION
1. Set as small a preload value as possible. Never set a
value that exceeds the rated torque. Otherwise, an
overload alarm is issued because a torque is output
even during a stop. Set a value that is slightly larger
than the friction value. As a guideline, set a torque
that is about one-third of the rated torque.
2. If the direction of one motor is opposite to that of the
other motor (if a value with the opposite sign is set in
parameter No. 1879), set a preload value with the
same sign.

- Velocity feedback averaging function

As can be seen from the tandem control block diagram, the motor of the
slave axis is not subject to velocity control. For this reason, the
operation of a machine with a large backlash may become unstable
because the slave axis vibrates, for example, due to gear backlash. In
this case, machine operation can be made stable by exercising velocity
control on the slave axis as well. This function is referred to as the
velocity feedback averaging function. This function is enabled by
setting bit 2 (VFB) of parameter No. 1952.

- Improvement in closed loop system stability

For a closed loop system employing a linear scale, for example, two
functions are available which can improve the system reliability and
which allow a higher position gain.
- Dual position feedback function
- Machine velocity feedback function
For details of these functions, refer to the "FANUC AC Servo Motor ?
series Parameter Manual (B-65150EN)."

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B-63323EN-1/03 1.AXIS CONTROL

- Notes on tandem control stability

The key to tandem control stability is that feedback capability is
available. The feedback capability allows the master to move the slave
or vice versa through the connected transmission mechanism. If this
capability is not available, machine operation becomes unstable. In
this case, machine adjustment is required.

- Axis-related signal connection

When DI/DO signals to be connected to each axis are to be connected
to tandem control axes, the signals need to be connected to the master
axis only. Connecting the signals to the slave axis has no effect.
However, the signals below must be connected as required.

(1) Controlled axis removal signal and servo-off signal

These signals must be connected so that the signals for both the
master axis and slave axis are entered at the same time.
(2) Overtravel limit signal
The overtravel limit signal for the slave axis must be set so that the
signal sends "1" at all times.
If a stroke limit needs to be detected on the slave axis as well, the signal
detected on the slave axis must be sent as the overtravel limit signal of
the master axis.

- Motor connection
When making a motor connection, follow the servo axis numbers.
Moreover, connect a feedback cable for the slave axis as well.

(Example of position feedback cable connection)

Axis control Master axis motor feedback cable

JF1

Slave axis motor feedback cable

JF2

Separate detector
adaptor Separate detector feedback cable
JF21

- Servo alarm
Servo-related alarms such as those for motor overload are displayed
separately for the master axis and slave axis.

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1.AXIS CONTROL B-63323EN-1/03

Parameter

- Setting data (parameter)

When set for tandem control axes, the parameters to be set for each axis
are divided into three types:
(1) Parameters in which the same data must be set for the master axis
and slave axis
(2) Parameters that must be set for the master axis only (Parameters,
if set for the slave axis, are not used.)
(3) Parameters in which different data may be set for the master axis
and slave axis

The classification of parameters is detailed later. In general, a

parameter that does not fall into these types must be assumed to be a
parameter of type (1), and the same data must be set for the master axis
and slave axis.

CAUTION
If different data is set for the master axis and slave
axis in a parameter of type (1), tandem control does
not function normally.

- Depending on the rotation directions of the master axis and slave

axis, care must be taken in specifying the following two servo
parameters:
Parameter No. 1879 Motor rotation direction
Parameter No. 1980 Preload value
In parameter No. 1879, specify the positive direction (111) or
negative direction (-111) as required.
When specifying parameter No. 1980, use the same sign if the
rotation direction of the master axis is opposite to that of the slave
axis, and use the opposite sign if the rotation direction of the
master axis is the same as that of the slave axis.

- When a separate pulse coder is used, the master axis must be set to
use the separate pulse coder, and the slave axis must be set to use
the built-in pulse coder. Care must be taken in specifying the
following parameters:
Bit 1 of parameter No. 1815 Separate pulse coder
Bits 6 to 4 of parameter No. 1816 Detection multiplier (DMR)
parameter No. 1891 Number of position detection feedback
pulses (PPLS)
Parameter No. 1896 Arbitrary reference counter size
Parameter No. 1977 Flexible feed gear numerator
Parameter No. 1978 Flexible feed gear denominator

For example, suppose that a motor with a serial A pulse coder is used
together with a linear scale for 1µm position detection, and that the
amount of machine travel per motor revolution is 4 mm. Then:

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B-63323EN-1/03 1.AXIS CONTROL

Master axis Slave axis

No.1815#1 1 0
No.1816 01110000 01110000
No.1891 4000 12500
No.1896 4000 4000
No.1977 0 4
No.1978 0 1000

- Parameters that need to be set for the master axis only

Parameter No. Description

0012#0 Mirror image
1004#2 Input multiplied by 10
1005#4 External deceleration in plus direction
1005#5 External deceleration in minus direction
1022 Parallel axis specification
1220 External workpiece coordinate shift
1221 G54 workpiece origin offset
1222 G55 workpiece origin offset
1223 G56 workpiece origin offset
1224 G57 workpiece origin offset
1225 G58 workpiece origin offset
1226 G59 workpiece origin offset
1423 Jog feedrate
1424 Rapid traverse rate
1425 FL feedrate for manual reference position return
1427 External deceleration in rapid traverse
1815#1 Separate pulse coder
1815#5 Absolute-position detector
1952#2 Velocity feedback averaging function
2020 Soft operator’s panel plus-direction button
2021 Soft operator’s panel minus-direction button

- Parameters in which different data may be set for the master axis and slave axis

Parameter No. Description

1004#6 Disable current position display
1021 Axis name suffix
1023 Servo axis number
1879 Motor rotation direction
1980 Preload value
1815#1 Separate pulse coder
1816#6-#4 Detection multiplier (DMR)
1891 Number of position detection feedback pulses (PPLS)
1896 Reference counter size
1977 Flexible feed gear numerator
1978 Flexible feed gear denominator

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1.AXIS CONTROL B-63323EN-1/03

- Parameters in which the same data is set for the master axis and slave axis

Parameter No. Description

1012#3-#0 Least command increment
1005#0 Whether to perform reference position return
1005#1 Reference position return method
1005#2 Reference position return performed at low speed each
time
1005#3 Coordinate system presetting at reference position
return
1006#0 Rotation axis
1006#1 Stroke check. The machine coordinate system for G28
is of rotation axis type.
1006#2 The coordinate system for pitch error compensation is
of rotation axis type.
1006#3 Diameter/radius specification
1006#5 Reference position return direction
1020 Axis name
1240 Reference position viewed from the machine zero point
1241 Second reference position coordinate
1242 Third reference position coordinate
1243 Fourth reference position coordinate
1260 Amount of movement per revolution about a rotation
axis
1420 Rapid traverse rate
1421 F0 for rapid traverse override
1600#0 Type of acceleration/deceleration for rapid traverse
1620 Time constant for linear acceleration/deceleration in
rapid traverse
1621 FL for acceleration/deceleration in rapid traverse
1622 Time constant for acceleration/deceleration in cutting
feed
1623 FL for acceleration/deceleration in cutting feed
1624 Time constant for acceleration/deceleration in jog feed
1625 FL for acceleration/deceleration in jog feed
1626 Time constant for acceleration/deceleration in a
threading cycle
1627 FL for acceleration/deceleration in a threading cycle
1628 Time constant for acceleration/deceleration in rapid
traverse of constant time type
1629 FL for acceleration/deceleration in rapid traverse of
constant time type
1802#1 Servo-off axis
1820 Command multiplier (CMR)
17XX Most digital servo related parameters
18XX Most digital servo related parameters
19XX Most digital servo related parameters
26XX Most digital servo related parameters
5210#0 Soft OT2
5210#1 Soft OT3
5220 First stroke limit on the plus side
5221 First stroke limit on the minus side
5222 Second stroke limit on the plus side
5223 Second stroke limit on the minus side

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B-63323EN-1/03 1.AXIS CONTROL

#7 #6 #5 #4 #3 #2 #1 #0
1817 TDM

[Input type] Parameter input

[Data type] Bitaxis

    43 * %  +  0      (

59  0      (
29      (
%     "    0   (

1875 Load-inertia ratio

   

     

    5&?=A3A
:   8   B=.3
;     
:   8   B=.38=
"      0  (

1879 Direction of the motor revolution

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] -111 - 111
Specify the direction of the motor revolution.
In the tandem control, switch over the revolution direction by this
parameter if it is different among the master axis and the slave axis.

#7 #6 #5 #4 #3 #2 #1 #0
1952 VFB

   

   ' 

    4= ;'       0  0  " ,

59 0 (
29 0 (
*   "       (

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1.AXIS CONTROL B-63323EN-1/03

1980 Pre-load value for each axis (Tcmd offset)

   

     

  # 8A=>=

    &2>=2&2>=2
          " , (
*  0  " "    (
# 0   28?    7 (

@  
     /5# +  
+?# 7 9

?8/58A=>=C./3
   C./3
% 0  C./3

Alarm and message

Number Message Contents

SV0055 ILLEGAL TANDEM AXIS The setting of parameter No. 1023 is illegal in tandem
control.
SV0056 ILLEGAL TANDEM PAIR The setting of parameter No. 1020 or TDM parameter No.
1817#6 is illegal in tandem control.

Reference item
Series15i/150i-MA Operator’s Manual II-19.4 Tandem control
(Programming)
(B-63324EN)

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B-63323EN-1/03 1.AXIS CONTROL

1.9 SYNCHRONOUS CONTROL

General
When one axis is driven by two servo motors as in the case of a large
gantry machine, a command for one axis can drive two motors
synchronously. Moreover, for synchronous error compensation,
feedback information from each motor allows a positional difference
(synchronous error) between the two motors to be detected. If a
synchronous error beyond a set value occurs, an alarm is issued to stop
movement along the axes.

An axis used as the reference for synchronous control is referred to as a

master axis (M-axis). An axis along which movement is made in
synchronism with the master axis is referred to as a slave axis(S-axis).

Z
Xs
(slave axis)

Xm
(master axis)

Fig. 1.9 (a) Example of Machine Where Xm and Xs Are Synchronous Axes

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1.AXIS CONTROL B-63323EN-1/03

1.9.1 Configuration of Synchronous Control Axes

Master axis and slave axis for synchronous control

An axis used as the reference for synchronous control is referred to as a
master axis (M-axis). An axis along which movement is made in
synchronization with the master axis is referred to as a slave axis.
A synchronous control axis configuration is determined by setting the
axis number of a master axis in parameter No. 7702 for a slave axis.

Synchronous operation and normal operation

Operation that involves a movement along a slave axis in
synchronization with the master axis with synchronous control turned
on is referred to as synchronous operation. Operation that involves
independent movement along the master axis and slave axis
respectively with synchronous control turned off is referred to as
normal operation.
Two methods of operation are supported. One method switches
between synchronous operation and normal operation by using an input
signal. The other method uses synchronous operation at all times. The
method to use is determined by bit 1 (SYN) of parameter No. 1817.

- Switching between synchronous operation and normal operation with an input

signal
When bit 1 (SYN) of parameter No. 1817 is set to 0 for the slave axis,
the SYNCx signal (with x representing a slave axis number) is used to
switch between synchronous operation and normal operation. When
SYNCx = 1, synchronous operation is selected. When SYNCx = 0,
normal operation is selected.
When this switching capability is used, synchronous error
compensation is disabled.

- Using synchronous operation at all times

When bit 1 (SYN) of parameter No. 1817 is set to 1 for the slave axis,
synchronous operation is selected at all times, regardless of the state of
the SYNCx signal.

Axis names of synchronous control axes

The same name or different names may be assigned to the master axis
and slave axis.

- Restrictions imposed when the same axis name is used for the master axis and
slave axis
If the same name is assigned to both the master axis and slave axis,
manual operation alone is possible in normal operation. Automatic
operation and the use of manual numeric commands are disabled.

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B-63323EN-1/03 1.AXIS CONTROL

- Assigning suffixes to axis names

A suffix can be assigned to an axis name; examples are X1, X2, XM,
and XS. By assigning a suffix to the same axis name, those axes that
have the same axis name can be distinguished from each other when
displayed on the screen; in addition, when an axis-by-axis alarm is
issued, the axis in question can be identified.
Parameter No. 1021 is used to set a suffix.

Setting multiple slave axes

One master axis can have multiple slave axes.

Example:
In the example below, the X1 and X2 axes are synchronized with the
XM axis.

Axis Controlled Axis Suffix Master axis Operation

name axis name No.1021 number
display number No.1020 No.7702
XM 1 88 77 0
Y 2 89 0 0
X1 3 88 1 1 Movement is made in
synchronization with
the XM axis.
X2 4 88 2 1 Movement is made in
synchronization with
the XM axis.

When multiple slave axes are involved, synchronous error

compensation, synchronization, synchronous error checking are
performed for each axis independently.

Combination with tandem control

Tandem control can be applied to both the master axis and slave axis.
The same axis arrangement restriction as that for normal tandem
control is applicable. There is no restriction specific to synchronous
control.

Axis selection for screen display

On a screen such as the current position display screen, a slave axis is
also displayed. The display for a slave axis can be disabled by setting
bit 6 (DSP) of parameter No. 1004 to 1 for the slave axis.

Axis selection in actual speed display

When bit 1 (SYN) of parameter No. 1817 is set to 1 to enable the use of
synchronous operation at all times, the slave axis is excluded from
calculation for actual speed display.
When bit 1 (SYN) of parameter No. 1817 is set to 0, a composite speed
involving the slave axis is displayed in the actual speed display. By
setting the axis selection signal for axis speed display *ACTFx to 1, the
slave axis can be excluded from calculation for actual speed display.

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1.AXIS CONTROL B-63323EN-1/03

1.9.2 Synchronous Error Compensation

If a synchronous error which is greater than the zero width value set in
parameter No. 1912 occurs, a compensation pulse calculation is made
to minimize the synchronous error, and the required pulses are added to
the command pulses for the slave axis. This compensation is not
applied in the servo off state, servo alarm state, follow-up, and
adjustment mode.
Compensation pulses are calculated by applying a compensation gain
to the synchronous error between the master axis and slave axis.
Before synchronous error compensation can be performed, bit 1 (SYN)
of parameter No. 1817 must be set to 1 to perform synchronous
operation at all times. Moreover, synchronization must have already
been established by a manual reference position return operation.

Master axis
machine position
+
Synchronization Compensation pulses
K1
error counter Added to the command
- Compensation gain for the slave axis
Slave axis
machine position Compensation
pulse counter

Synchronous error compensation smooth suppress function

In normal synchronous error compensation, if a synchronous error
larger than the synchronous error zero width set in parameter No. 1912
occurs, synchronous error compensation is performed using the gain
specified in parameter No. 1915, as shown in the figure below. When a
synchronous error smaller than the synchronous error zero width
occurs, the gain becomes 0, and synchronous error compensation is not
performed.

Synchronization error
compensation gain

Kd

0 A Synchronization error

A : Synchronous error zero width (parameter No. 1912)

Kd : Synchronous error compensation gain
(parameter No. 1915)

With this function, another set of the parameters for synchronous error
zero width and synchronous error compensation gain (B and Ks in the
figure below) can be specified for smooth synchronous error
suppression even when a smaller synchronous error occurs.
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B-63323EN-1/03 1.AXIS CONTROL

Synchronization error
compensation gain

Kd

Ks

0 B A Synchronization error

A : Synchronous error zero width (parameter No. 1912)

B : Synchronous error zero width 2 (parameter No. 1917)
(0 < B < A)
Kd : Synchronous error compensation gain (parameter No. 1915)
Ks : Synchronous error compensation gain (parameter No. 1918)
(0 < Ks < Kd)
Er : Current synchronous error between the master axis and slave
axis
K : Current synchronous error compensation gain corresponding
to Er

(1) When Er < B, compensation is not performed. (K = 0)

(2) When B < Er < A, compensation is performed using the
following gain:
( Er − B)( Kd − Ks)
K = Ks +
A−B
(3) When A < Er, compensation is performed using the gain K =
Kd.

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1.AXIS CONTROL B-63323EN-1/03

1.9.3 Synchronization Alignment

When the power is turned on, or the emergency stop state is canceled,
the master axis and slave axis under synchronous control are not
always placed in the same position. At this time, the synchronization
alignment function matches the position of the master axis with the
position of the slave axis.

Synchronization alignment method

The synchronization alignment method depends on whether to perform
synchronous error compensation.

- Synchronization alignment when synchronous error compensation is performed

When synchronous error compensation is performed (with bit 2 (CLP)
of parameter No. 1803 for the slave axis set to 0), synchronization is
established using the same method as that for synchronous error
compensation. This means that a positional difference between the
master axis and slave axis is regarded as being a synchronous error, and
the pulses matching the positional difference multiplied by the
synchronous error compensation gain are output to the slave axis. So,
if no synchronous error compensation gain is set in parameter No. 1915,
synchronization alignment is not performed.
If a synchronous error zero width is set in parameter No. 1912,
synchronization alignment is no longer performed when the positional
difference between the master axis and slave axis becomes equal to or
less than the synchronous error zero width.

- Synchronization alignment based on machine coordinates

To establish synchronization when synchronous error compensation is
not performed (with bit 2 (CLP) of parameter No. 1803 for the slave
axis set to 1), bit 0 (SYC) of parameter No. 1010 must be set to 1 so that
synchronization alignment based on the machine coordinates can be
enabled.
This method of synchronization alignment establishes synchronization
by outputting the command pulses for the slave axis that match the
machine coordinate difference between the master axis and slave axis.
The command pulses matching a machine coordinate difference are
output at one time, so that the machine makes a sudden large movement
if a large compensation value is involved. So, parameter No. 7724 is
used to set a maximum allowable compensation value used for
synchronization. Set such a maximum compensation value that a
sudden machine movement has no adverse effect. If a compensation
value greater than the setting of this parameter is specified, an alarm
(OT513) is issued, thus disabling synchronization alignment. When a
maximum compensation value of 0 is set, synchronization is not
established.

Synchronization alignment upon power-up

Synchronization upon power-up is established based on manual
reference position return or absolute position detection.
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B-63323EN-1/03 1.AXIS CONTROL

Until synchronization alignment is completed, synchronous error

compensation is not performed. However, a synchronous error alarm
check is made.

- Synchronization alignment based on manual reference position return

When a manual reference position return operation is performed on the
synchronous control axes, the master axis and slave axis are positioned
to their respective reference positions in the same sequence as the
normal reference position return sequence.
When synchronous error compensation is used, the synchronous error
counter is reset upon completion of reference position return operation
on both axes. Then synchronous error compensation starts.

(1) Grid method (not using the reference position proximity signal)
The sequence is the same as the normal grid method for only one
axis. However, only the master axis deceleration signal is used.
When the deceleration signal is set to 0, the movements on the
master axis and slave axis decelerate to stop, then an FL feedrate
is used. When the deceleration signal is set to 1, movement is
made on the master axis and slave axis to their respective grid
points, at which point they stop.

NOTE
If the positional difference between the master axis
and slave axis is large, a reference position shift
occurs.
In the example below, the slave axis involves a large
positional difference, so that the position one grid
from the actual reference position is regarded as
being a reference position. In this case, the
reference position proximity signal needs to be used.
(Example) When the reference position of the slave axis is shifted by one grid

*DEC

Master axis speed

Master axis grid

Actual reference
position
Slave axis speed

Slave axis grid

Actual reference Stop at the position

position shifted by one grid.

(2) Grid method (using the reference position proximity signal)

The same operation as that for the grid method that does not use
the reference position proximity signal is performed until an FL
feedrate is reached. After the deceleration signal is set to 1 during

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1.AXIS CONTROL B-63323EN-1/03

movement at the FL feedrate, the master axis and slave axis stop at
their first grid points detected after the reference position
proximity signal is set to 0. The reference position proximity
signal needs to be set for both the master axis and slave axis.

- Synchronization alignment based on absolute position detection

When an absolute-position detector is used for position detection, the
machine positions on the master axis and slave axis are found for
automatic synchronization alignment when the power is turned on.

Synchronization alignment after emergency stop cancellation, etc

Synchronization is also established when servo position control is
switched from off to on, such as upon emergency stop cancellation,
servo alarm cancellation, servo-off cancellation, and so forth. When
axis removal is canceled, however, synchronization is not established;
in this case, synchronization needs to be established by manual
reference position return operation as required when the power is
turned on.

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B-63323EN-1/03 1.AXIS CONTROL

1.9.4 Synchronous Error Check

A synchronous error is monitored at all times. If an error greater than a

certain limit is detected, an alarm is issued, and movement on the axis
is stopped.
When synchronous error compensation is applied, a check covering
positional deviations is also made.
When synchronous error compensation is not applied, a synchronous
error check based on machine coordinates is made.

Check covering positional deviations

When synchronous error compensation is applied, a check covering
positional deviations is also made. An actual machine position shift is
checked, taking servo positional deviations into consideration.
Depending on the magnitude of the synchronous error, an OT alarm for
causing a gradual stop or an SV alarm for immediately turning off the
servo system is issued. This check function is enabled when a value
other than 0 is set as a maximum allowable synchronous error in
parameter No. 1913 or No. 1914. When making a synchronous error
check by using this method, disable synchronous error check based on
machine coordinates (described later), by setting parameter No. 7723
to 0.

- Excessive synchronous error alarm 2 (SV24)

If a synchronous error greater than the value set in parameter No. 1913
is detected, synchronous control alarm 2 is issued.
Until synchronization is established at power-up, the value set in
parameter No. 1913 multiplied by the coefficient set in parameter No.
1910 is used for judgement. If synchronous control error alarm 2 is
issued, the motor stops immediately in the same way as for other servo
alarms. This means that a positional difference between the master
axis and slave axis remains unchanged, disabling alarm cancellation.
In such a case, the synchronous error needs to be corrected manually by
selecting adjustment mode, described later.

- Excessive synchronous error alarm 1 (OT30)

If a synchronous error greater than the value set in parameter No. 1914
is detected, synchronous control alarm 1 is issued.
If synchronous control alarm 1 is issued, the motor is decelerated and
stopped. At this point, synchronous error compensation has yet to be
enabled, so that the synchronous error is reduced by compensation. So,
when the synchronous error falls below the maximum allowable value,
the alarm can be reset. If the alarm cannot be reset, reduce the
synchronous error in adjustment mode as in the case of excessive
synchronous error alarm 2.

Synchronous error check based on machine coordinates

When synchronous error compensation is not applied, a synchronous
error check based on the machine coordinates is made.
The machine coordinates on the master axis are compared with those
on the slave axis. If the error between the master axis and slave axis is
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1.AXIS CONTROL B-63323EN-1/03

greater than the value set in parameter No. 7723, an OT513 alarm is
issued, and the machine is stopped.
This function can check for the machine position shift that can occur
when servo position control is turned off as in the case of an emergency
stop, servo alarm, or servo off.
When the input signal is used to switch between synchronous operation
and normal operation, a synchronous error check is made even in
normal operation. So, even if the synchronous control selection signal
(SYNCx) is set to 0 by mistake during synchronous operation, damage
to the machine can be avoided.

Synchronization error check based on positional deviation

The servo positional deviation for master and slave axes are monitored
during synchronization control. If the positional deviation exceeds a
limit specified in parameter No. 7799, alarm OT513 is issued, and a
synchronization control positional deviation error alarm signal
(F153.1) is output.
Alarm OT513 is issued for both master and slave axes.

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B-63323EN-1/03 1.AXIS CONTROL

1.9.5 Recovery from Excessive Synchronous Error Alarm

Two methods of recovery from an excessive synchronous error alarm

are available. One uses adjustment mode, and the other uses normal
operation.

If the input signal is used to switch between synchronous operation and

normal operation, only the method using normal operation is usable.
If synchronous operation is used at all times, only the method using the
adjustment mode is usable.

Synchronous error correction using adjustment mode

If the input signal is not used, but synchronous operation is used at all
times (with bit 1 (SYN) of parameter No. 1817 set to 1), this correction
method is used.
When the adjustment mode is used, a synchronous error can be
corrected by making a movement on the master axis or slave axis
independently with the synchronous error check capability temporarily
disabled.
In adjustment mode, synchronous error compensation is not performed,
and no error check is made. So, an alarm (OT31) is issued as a
warning.

(1) Select adjustment mode, then select an axis for master axis
manual feed.
Set parameter ADJ (bit 1 of parameter No. 1803) for either the
master axis or slave axis to 1 to place it in adjustment mode. This
enables movement of the axis for which this parameter is set to 1
for master axis manual feed.
Setting this parameter to 1 issues an OT31 (synchronous control
adjustment mode) alarm.

(2) Press the RESET button to reset the excessive synchronous error
alarm.
Under this condition, neither synchronous error compensation nor
error check is performed. Extreme care is required.

(3) Select a manual mode (jog, incremental feed, or handle).

(4) While checking the synchronous control error, move the master
axis or slave axis in whichever direction decreases the error. If
parameter MVB (bit 3 of parameter No. 1803) = 1, axis movement
in the direction that causes the synchronous control error to
increase is suppressed.

(5) If the synchronous control error settles within the alarm

permission value, return parameter ADJ (bit 1 of parameter No.
1803) to the previous state to switch the mode from adjustment to
normal synchronization. Synchronous error compensation and
synchronous control error check are resumed.

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1.AXIS CONTROL B-63323EN-1/03

(6) Press the RESET button to reset the adjustment mode alarm.

Recovery using normal operation

This method is used if the input signal is used to switch between

synchronous operation and normal operation.
When OT513 is issued, the procedure described below can be used for
recovery.

(1) Set SYNCx (with x representing a slave axis number) to 0 for

normal operation.

(2) In parameter No. 7723 for specifying a maximum allowable

synchronous error, set a value greater than the currently set value.
Then, cancel the alarm by issuing a reset.

(3) Make a movement on the master axis or slave axis by the manual
handle, for example, to match the machine coordinates of the
master axis with those of the slave axis as closely as possible.

(4) Return the maximum allowable synchronous error set in parameter

No. 7723 to the original value.

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B-63323EN-1/03 1.AXIS CONTROL

1.9.6 Torque Difference Alarm Detection for Synchronous Control

If the master and slave axes move independently under synchronous

control, the machine may be damaged. To prevent any possible
breakdown, an alarm can be issued if the torque command difference
between the axes becomes abnormal.

[System configuration]

Position gain Master axis torque

+ command
Velocity
Kp
control
Master axis -
position
command Master axis position
feedback

Torque command
+ difference Comparison to
threshold values
- Alarm detected
Position gain
+
Velocity
Kp
control
Slave axis Slave axis torque
-
position command
command

Slave axis position

feedback

Determine the threshold parameters according to the following

procedure.

1 Set the following parameters as stated.

Parameter No. 1716 = 14564:
The alarm detection threshold is set to the maximum.
Bit 3 of parameter No. 2208 = 1:
The Servo Free Data screen is displayed.

2 Set the following values on the Servo Free Data screen.

Data 1 parameter 1: 0
Parameter 2: 178
The absolute value of a torque difference between the two
synchronous axes is displayed in the decimal field for the master
axis.

3 Read the maximum torque difference absolute values while

normal operation is underway. Set the threshold parameter to a
value having a margin against the maximum torque difference
absolute value.

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1.AXIS CONTROL B-63323EN-1/03

If it is difficult to read the torque difference absolute value from

the Servo Tune screen, the following steps can be used to observe
the torque difference absolute value with an oscilloscope.

4 Set parameter Nos. 1726 and 1774 with 0 and 178 respectively.

5 Connect the check board to CH7 and set the rotary switch on the
check board to 1 to observe the channel.

6 A conversion formula for the observed value is 1 V = 410 (set

threshold setting). Read the maximum value during normal
operation, and set the parameter to a value incorporating a margin.

- Enabling/disabling alarm detection

Alarm detection is enabled when the time specified in the parameter

elapses after the servo ready signal SA <F000#6> becomes 1. It is
disabled when the input signal NSYNCA (G158.3) becomes 1.

[Timing chart]

SA<F000#6> 1
0

Alarm detection Enabled

Disabled
Value set in parameter No. 1842
(512 ms if the parameter has not been specified)

If the servo ready signal SA <F000#6> is 0, torque difference alarm

detection is not performed.

NOTE
A servo axis number combination for master and
slave axes must be, for example, (1, 2) or (3, 4), in
which the master axis is assigned an odd number and
the slave axis is assigned the even number that is
one greater than the master axis.

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B-63323EN-1/03 1.AXIS CONTROL

Signal

Synchronous control selection signal

SYNC1<G066#2>, SYNC2<G070#2>, ...
[Classification] Input signal
[Function] Notifies the control unit whether synchronous operation, independent
operation, or normal operation is selected under synchronous control
and twin table control.
Under synchronous control, this signal is valid only when bit 1 (SYN)
of parameter No. 1817 is set to 0.
[Operation] Depending on the combination of SYNCm and SYNCs, control is
exercised as indicated in the table below; m represents a master axis
number, and s represents a slave axis number.
SYNCm SYNCs Remarks
Synchronous operation 1 1 (*1)
Independent Independent 0 1 (*3)
operation slave axis
operation
Independent 0 0 (*2)
master axis
operation
Normal operation 0 0
*1 SYNCm may be set to 1 or 0 in manual operation under
synchronous control and twin table control.
*2 Independent master axis operation is exactly the same as normal
operation.
*3 Independent operation is not applicable in manual operation under
synchronous control and twin table control.

Synchronous control torque difference detection disable signal NSYNCA<G158#3>

[Classification] Input signal
[Function] This signal is intended to disable alarm detection when the
synchronous control torque difference alarm function being used.
[Operation] Setting this signal to 1 disables synchronous control torque difference
alarm detection.

Synchronization control positional deviation error alarm signal SYNER <F153#1>

[Classification] Output signal
[Function] This signal indicates to the outside that an alarm condition has occurred
when the synchronization error check based on positional deviation is
in use.
[Operation] The servo positional deviation for master and slave axes are monitored
during synchronization control. If the positional deviation exceeds a
limit specified in parameter No. 7799, alarm OT513 is issued, and a
synchronization control positional deviation error alarm signal
(F153.1) is set to "1".
Causing a reset clears the alarm condition, thus resulting in the signal
becoming "0".

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1.AXIS CONTROL B-63323EN-1/03

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G066 SYNC1

G067 *ACTF1

G158 NSYNCA

G384 *NZ1

The above addresses of SYNC1, *ACTF1, and *NZ1 are the signal
addresses for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the Appendix A.1.
For details of the reference position proximity signal *NZx, see Section
4.1, "Reference Position Return."

#7 #6 #5 #4 #3 #2 #1 #0
F153 SYNER

Handling axis-by-axis signals

Some axis-by-axis signals are input to and output from the master and
slave separately. The others are input to and output from the master
only. The following tables list the signal types.
- Input signal
Address bit Symbol Signal name Axis- Master
specific only
G064 0 *+Lx Overtravel signal

G064 1 *-Lx Overtravel signal

G064 2 *+EDx External deceleration signal

G064 3 *-EDx External deceleration signal

G064 4 *ITx Axis-by-axis interlock signal

G064 5 *DECx Deceleration signal for reference position return

G064 6 *SVFx Servo off signal
*1
G064 7 DTCHx Controlled-axis removal signal
*1
G065 0 +Jx Feed axis/direction select signal

G065 1 -Jx Feed axis/direction select signal

G065 2 MIx Mirror image signal

G065 3 MLKx Axis-by-axis machine lock signal

G065 4 PKx Parking signal

G066 0 +MITx +Minus direction manual feed interlock

G066 1 -MITx -Minus direction manual feed interlock

G066 2 SYNCx Synchronous control select signal

G066 3 PCAXx PMC axis control signal

G066 4 SBKx PMC axis Block stop signal

G066 5 STPx PMC axis Axis control halt signal

G066 6 RSTx PMC axis Reset signal

G066 7 PMCAx PMC axis control command read strobe signal

G067 2 RASTx Automatically set reference position number

signal
G067 3 DVALx V-ready off alarm invalidation signal
*1
G067 4 *ACTFx Actual cutting feedrate display axis select signal

- 200 -
B-63323EN-1/03 1.AXIS CONTROL

Address bit Symbol Signal name Axis- Master

specific only
G067 6 VCSKPx Velocity command skip signal

G067 7 SCNTRx Spindle contour control mode switching signal

G368 OVxX7-0 Override signal for PMC axis control on each axis

G384 0 +EXLx Axis-direction-by-axis-direction stored stroke limit

switching signal
G384 1 -EXLx Axis-direction-by-axis-direction stored stroke limit

switching signal
G384 2 +LMx Stroke limit externally setting signal

G384 3 -LMx Stroke limit externally setting signal

G384 4 *NZx Reference position proximity signal

G384 7 MSBKx Block stop inhibit signal

G385 CDxX7-0 PMC axis control command code signal

G386 FDxX15-0 PMC axis feedrate specification signal

G388 DTxX31-0 PMC axis control data signal

- Output signal
Address bit Symbol Signal name Axis- Master
specific only
F064 0 ZPx Reference position return completion signal

F064 1 ZP2x Second reference position return completion

signal
F064 2 MVx Axis travel in progress signal

F064 3 MDx Axis travel direction signal

F064 4 ZP3x Third reference position return completion signal

F064 5 ZP4x Forth reference position return completion signal

F064 6 INPx In-position signal

F064 7 MDTCHx Controlled-axis removal in progress signal

F065 0 MMIx Mirror image confirmation signal

F065 1 MMLKx Axis-by-axis machine lock confirmation signal

F065 2 ZRFx Reference position establishment signal

F065 5 FRPx Floating reference position return completion

signal
F066 0 TRQLx Torque limit reach signal output

F066 1 TRQMx Torque control mode signal

F066 2 AMRx Linear motor activation phase establishment

signal
F066 3 EGBMx EGB mode signal

F066 5 BUFx Buffer full signal

F066 6 DENx Distribution completion signal

F066 7 CNCAx Axis control command read completion signal

F067 7 MSCNTRx Spindle contour control mode switching

confirmation signal

NOTE
1 In synchronous mode, a signal indicated by *1 must
be turned on or off for the master and slave axes
simultaneously.
2 The above table presents the address for the first
axis only. For the addresses for the second and
other axes, refer to the signal table in the appendix.

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1.AXIS CONTROL B-63323EN-1/03

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1010 SYC

   

    

#0 SYC Specifies whether to use the synchronization function with machine

coordinates in the synchronous control function.
0: Not used
1: Used
This parameter can be set for a slave axis.
When using synchronous error compensation, set this parameter to
0.

1716 Torque command difference threshold for torque difference alarm detection
for synchronous control

   

     

     
     !" #  " " $ %"  %
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) %   #  "     #   "% ""
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 #  *" $  %     %" ! (
 #" ! %"! ""     #   !' % "
% ""  %" "! *"    *+*,-" +.*-*& % 
      "!    #    
  # !  "        ! (

- 202 -
B-63323EN-1/03 1.AXIS CONTROL

#7 #6 #5 #4 #3 #2 #1 #0
1803 MVB CLP ADJ

   

    

    / 0 ) %    "& % ""#  ' " 
% ""%" "(
1  "& % ""#  ' " (
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    /, 67 ) % &  "%"   " % "" " % ""
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1 6"   " % "" " (
1 " "%"   " % "" " (
+)  !""     (-

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 %""%  % "" "   ' " (
1 "  %" (
1     %" (
        #   * % % ""
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     "4*4    % ""#  
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"  #  *  "    "    ' " "(

- 203 -
1.AXIS CONTROL B-63323EN-1/03

#7 #6 #5 #4 #3 #2 #1 #0
1817 SYN

[Input type] Parameter input

[Data type] Bitaxis

    / );2 ) % &  "  % % ""%" "(

1 < % % ""%" "&  % ""%" "  %"
 );26"   #  4(4
1 &   % % ""%" "(
)     ""   #  (

1842 Torque difference alarm detection timer

   

    

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) %   "& ! "  ! "" $  %   
  %"" % ""%" "    #"  
+)
5/ -! %" (
    *,  (

1910 Multiplication of the maximum permissible synchronous error immediately

after power-on

[Input type] Parameter input

[Data type] Integer
[Valid data range] 1 - 100
Synchronous error alarm 2 is checked with the value equal to the
maximum permissible error (parameter No. 1913) multiplied by the
value of this parameter until synchronization is established
immediately after power-on.
If the value exceeds 32767, it is clamped to 32767.

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B-63323EN-1/03 1.AXIS CONTROL

1912 Dead zone for the synchronous error on each axis

   

     

9"    %"

     .,==
3  % "" " " " %   *"
%"   " (
) %    ""   #  (

1913 Maximum permissible synchronous error for synchronous error alarm 2

[Input type] Parameter input

[Data type] Integeraxis
[Unit of data] detection unit
[Valid data range] 1 - 32767
Specify the maximum permissible synchronous error for synchronous
error alarm 2.
Specify this parameter only for a slave axis.

1914 Maximum permissible synchronous error for synchronous error alarm 1

[Input type] Parameter input

[Data type] Integeraxis
[Unit of data] detection unit
[Valid data range] 1 - 32767
Specify the maximum permissible synchronous error for synchronous
error alarm 1.
Specify this parameter only for a slave axis.

1915 Compensation gain of the synchronous error for each axis

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 1 - 1024
The gain of synchronous error compensation is set.
As many pulses as the number of compensation pulses for every 8-msec
sampling period, obtained from the following equation, are output to
the slave axis.
This setting is made for the slave axis only.
Ci
Compensation pulses = synchronization error ×
1024
Ci: Compensation gain

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1.AXIS CONTROL B-63323EN-1/03

1917 Synchronous error zero width 2 for an individual axis

[Input type] Parameter input

[Data type] Integeraxis
[Unit of data] detection unit
[Valid data range] 0 - 32767
Specify the synchronous error zero width 2 for synchronous error
smoothing suppression.
Specify this parameter only for a slave axis.

The setting made for this parameter must be smaller than the value
specified in parameter No. 1912.

NOTE
The setting made for this parameter must be smaller than the
value specified in parameter No. 1912.

1918 Synchronous error compensation gain 2 for an individual axis

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 0 - 1024
Specify the synchronous error compensation gain 2 for synchronous
error smoothing suppression.

Specify this parameter only for a slave axis.

The setting made for this parameter must be smaller than the value
specified in parameter No. 1915.
NOTE
The setting made for this parameter must be smaller than the
value specified in parameter No. 1915.

#7 #6 #5 #4 #3 #2 #1 #0
1930 SMS

[Input type] Parameter input

[Data type] Bitaxis

#4 SMS Specifies whether to enable the synchronous error compensation

smoothing suppress function.
0: Disabled
1: Enabled
Specify this parameter only for a slave axis.

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#7 #6 #5 #4 #3 #2 #1 #0
7601 SRF

[Input type] Parameter input

[Data type] Bit

#4 SRF Specifies how the slave axis and master axis operate with G28, G30,
and G53 in synchronous control.
0: Independent movements are made to specified positions on the
slave axis and master axis.
1: The same operation is performed on the slave axis and master
axis.

7633 M code for turning off synchronization in synchronous control and twin table
control

[Input type] Parameter input

[Data type] Integer
[Valid data range] 1 - 999999999
Specify an M code for switching from synchronous operation to
independent operation or normal operation.
The M code set in this parameter is not buffered.

7634 M code for turning on synchronization in synchronous control and twin table
control

[Input type] Parameter input

[Data type] Integer
[Valid data range] 1 - 999999999
Specify the M code that causes switching from independent or normal
operation to synchronous operation.
The M code specified for this parameter is treated as an M code without
buffering.

7702 Master axis number in synchronous control or twin table control

NOTE
After this parameter has been set, the power must be
off turned off then back on for the setting to become
effective.

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 0 - Max axes
Select an axis that is to be synchronized in synchronous control or twin
table control.
Example: Assume the following controlled axis configuration:

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First axis : X-axis

Second axis : Y-axis
Third axis : Z-axis
Fourth axis : U-axis

To synchronize the U-axis with X-axis, set the parameters as follows:

X :0
Y :0
Z :0
U :1

7723 Maximum error in synchronous error checking based on machine

coordinates

[Input type] Parameter input

[Data type] Realaxis
[Unit of data] mm, inch, degree (machine unit)
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] 0 or positive 9 digit of minimum unit of data (refer to the standard
parameter setting table (B))
(When the increment system is IS-B, 0.0 - +999999.999)
This parameter sets the maximum allowable difference between the
master axis and the slave axis machine coordinate value when the
synchronous error check based on machine coordinates is used. If the
difference of machine coordinates exceeds the value specified in this
parameter, an alarm (OT513) is issued.
Set this parameter to the slave axis.

7724 Maximum compensation value in synchronization alignment based on

machine coordinates

[Input type] Parameter input

[Data type] Realaxis
[Unit of data] mm, inch, degree (machine unit)
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] 0 or positive 9 digit of minimum unit of data (refer to the standard
parameter setting table (B))
(When the increment system is IS-B, 0.0 - +999999.999)
This parameter sets the maximum compensation value for
synchronization alignment. If a compensation value exceeds the value
specified with this parameter, an alarm (OT513) is issued, and the
compensation alignment is not performed.
Set this parameter to the slave axis.

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7799 Limit value for synchronization error check based on

position deviation

[Input type] Parameter input

[Data type] Integeraxis
[Unit of data] detection unit
[Valid data range] 0 - 999999999
Alarm OT513 is issued if the absolute positional deviation difference
between the master axis and slave axis during synchronization control
exceeds the value specified in this parameter.
Set a desired value for the slave axis.

When 0 is set in this parameter, no check is made.

Notice related to axis-type parameter setting

Axis-type parameters for axes controlled in synchronization are
grouped into the following four categories:

(1) Parameters in which the same data must be set for both the master
axis and slave axis.
(2) Parameters in which data must be set only for the master axis (data
for the slave axis is not used).
(3) Parameters in which the data to be set may differ between the
master axis and slave axis.
(4) Parameters in which data must be set only for the slave axis (data
for the master axis is not used).

The category of each parameter is explained below. If the category of a

parameter is unknown, assume it to be in category (1), and set the
parameter with the same data for both the master axis and slave axis.

CAUTION
1 If different values are set in a type (1) parameter for
the master axis and slave axis, the axes may fail to
operate under synchronization control normally.
2 If the master and slave axis use different types of
motors or detectors, the type (1) parameters
indicated by *1 must be specified for individual axes
separately.
3 If a signal is used to switch between synchronous
operation and normal operation, type (2) parameters
must also be specified for the master axis and the
slave axis separately.

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(1) Parameters in which the same data must be specified for both the master axis and
slave axis
Number Meaning of parameter
12#7 Axis detach
1005#0 Reference position return function effective
1005#2 Automatic reference position return (G28) uses the same
sequence as manual reference position return
1005#3 Enables the presetting the workpiece coordinate system at a
manual reference position return.
1005#4 Enables an external deceleration signal in the positive direction
for an individual axis at cutting feed.
1005#5 Enables an external deceleration signal in the negative direction
for an individual axis at cutting feed.
1005#6 Enables a machine lock for an individual axis.
1005#7 Enables an controlled-axis removal signal for an individual axis.
1006#0 Specifies whether a specific axis is a rotation axis.
1006#1 A machine coordinate system for a stroke check and automatic
reference position return is a rotation axis type.
1006#2 A machine coordinate system for stored pitch error compensation
is a rotation axis type.
1006#3 Specifies that a diameter-programming be used for each axis
1006#5 Direction for a manual reference position return.
1007#6 Method of reference position setting without dogs
1007#7 Enables the reference position setting without dogs
1008#4 Enables the automatic reference position setting signal
1008#7 Linear scale with reference marks is used.
1009#3 A move command for an individual axis is based on diameter
programming
1009#7 Disables data input from the high-speed high-precision
machining setting screen
1012#3-0 Increment system for each axes
1013#0 Ten times least input increment
1027 Spindle number for the spindle position axis
1028 Spindle number for the Cs contour controlled axis
1029 Axis number for the linear axis to which a rotation axis belongs
1070 Axis controlled synchronously with an individual axis under PMC
axis control
1092#0 One axis occupies one DSP.
1093#6 *1 The first pulse module is used.
1093#7 *1 The second pulse module is used.
1097 *1 Master slave number for a tandem controlled axis (for FSSB
setting screen only)
1240 Coordinate data for the first reference position in the machine
coordinate system
1241 Coordinate data for the second reference position in the machine
coordinate system
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Number Meaning of parameter

1242 Coordinate data for the third reference position in the machine
coordinate system
1243 Coordinate data for the fourth reference position in the machine
coordinate system
1260 Travel distance per rotation of a rotation axis
1409#3 Follow-up is performed under torque control.
1420 Rapid traverse rate
1421 F0 feedrate
1522 Acceleration/deceleration after interpolation time constant (for
finishing)
1529 Feed-forward coefficient (for finishing)
1542 Acceleration/deceleration after interpolation time constant (for
semifinish machining)
1549 Feed-forward coefficient (for semifinish machining)
1562 Acceleration/deceleration after interpolation time constant (for
rough machining)
1569 Feed-forward coefficient (for rough machining)
1600#0 Rapid traverse acceleration/deceleration is a constant time type.
1600#4 Cutting feed and dry run acceleration/deceleration is an
exponential type.
1600#5 Jog feed acceleration/deceleration is an exponential type.
1600#7 Rapid traverse acceleration/deceleration of constant acceleration
time type
1604#0 Acceleration/deceleration type for manual handle interrupt or
simultaneous automatic/manual operation (interrupt type)
1620 Time constant for rapid traverse linear acceleration/deceleration
1621 FL feedrate for rapid traverse linear acceleration/deceleration
1622 Time constant for cutting feed acceleration/deceleration
1623 FL feedrate for cutting feed post-interpolation
acceleration/deceleration
1624 Time constant for jog feed acceleration/deceleration
1625 FL feedrate for jog feed acceleration/deceleration
1626 Acceleration/deceleration time constant for threading cycle
1627 FL feedrate for threading cycle acceleration/deceleration
1628 Time constant for fixed-time rapid traverse
acceleration/deceleration
1629 FL feedrate for fixed-time rapid traverse
acceleration/deceleration
1635 Time constant for cutting feed acceleration/deceleration after
interpolation in look-ahead acc/dec mode
1636 Time constant (T2) for rapid traverse bell-shaped
acceleration/deceleration
1644 Parameter 1 for setting acceleration/deceleration for feedrate
command for PMC axis control
1645 Parameter 2 for setting acceleration/deceleration for feedrate
command for PMC axis control
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Number Meaning of parameter

1660 Maximum allowable acceleration for acceleration/deceleration
before interpolation
1663 Allowable acceleration for each axis for the deceleration based on
acceleration of fine HPCC function
1665 Allowable acceleration for each axis for the deceleration based on
circular interpolation acceleration (for normal mode)
17XX *1 Servo-related parameters (excluding types (2), (3), and (4))
18XX *1
19XX *1
26XX *1
5210#0 Enables stored stroke check 2.
5220 Positive-direction coordinate data No.1 for stored stroke limit 1 for
an individual axis
5221 Negative-direction coordinate data No.1 for stored stroke limit 1
for an individual axis
5222 Positive-direction coordinate data No.1 for stored stroke limit 2 for
an individual axis
5223 Negative-direction coordinate data No.1 for stored stroke limit 2
for an individual axis
5226 Mark 2 interval for linear scale with reference marks
5227 Distance between the origin of the linear scale with reference
marks and the reference position
5260 Positive-direction coordinate data No.2 for stored stroke limit 1 for
an individual axis
5261 Negative-direction coordinate data No.2 for stored stroke limit 1
for an individual axis
5425 Amount of travel distance per rotation for rotation axis type pitch
error compensation
5426#5 Bidirectional pitch error compensation is used.
5426#6 Interpolation-type straightness compensation function is used.
5426#7 Interpolation-type pitch error compensation is used.
7767 Allowable total travel distance for torque control
7768 Cancellation limit for torque control

(2) Parameters that must be set up only for the master axis
Number Meaning of parameter
12#0 Sets a mirror image for an individual axis.
12#1 Enables scaling.
1006#6 Sets the normal-direction control function.
1007#0 Specifies whether to enable a fixture offset for an individual axis.
1007#2 Determines the direction of rotation according to the sign of a
specified value in an absolute command.
1007#3 Specifies that an absolute command always be used for a rotary
controlled axis.
1007#4 Rounds off the current position display of a controlled rotary axis
in a relative coordinate system to within one rotation.

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Number Meaning of parameter

1007#5 Selects the direction of rotation that corresponds to a shorter way
in G90 mode for rotary axis control
1008#1 More than one controlled rotary axis
1009#2 Enables rotation axis roll-over
1014#0 Uses the axis as a rotary axis for tool length compensation along
the tool axis, three-dimensional handle feed, and tool length
compensation in a specified direction.
1014#1 Specifies a rotary axis to be used for tool length compensation
along the tool axis, three-dimensional handle feed, and tool
length compensation in a specified direction.
1022 Specifies which individual axis corresponds to which axis in the
basic coordinate system.
1197 Maximum chopping feedrate
1220 Common workpiece origin offset for an individual axis
1221 Workpiece origin offset in workpiece coordinate system 1 (G54)
1222 Workpiece origin offset in workpiece coordinate system 2 (G55)
1223 Workpiece origin offset in workpiece coordinate system 3 (G56)
1224 Workpiece origin offset in workpiece coordinate system 4 (G57)
1225 Workpiece origin offset in workpiece coordinate system 5 (G58)
1226 Workpiece origin offset in workpiece coordinate system 6 (G59)
1409#1 Unit of data specified in cutting feed commands for PMC axis
control
1409#2 Method for specifying rapid traverse rate for PMC controlled axis
1409#5,6 Unit of feedrate data specified for feed per revolution under PMC
axis control.
1409#7 Unit of feedrate data specified for continuous feed under PMC
axis control.
1422 Maximum cutting feedrate
1423 Jog feed rate
1425 FL feedrate for a manual reference position return
1427 External deceleration rate for rapid traverse
1430 Upper-limit feedrate for feed per revolution of PMC axis control
1472 Rotation speed for normal-direction controlled axis
1478 Allowable feedrate difference in determining the feedrate
according to corner feedrate difference
1524 Corner feedrate difference (for finishing)
1534 Acceleration rate for acc/dec (for finishing)
1535 Max acceleration for deceleration based on acceleration (for
finishing)
1544 Corner feedrate difference (for semifinish machining)
1554 Acceleration rate for acc/dec (for semifinish machining)
1555 Max acceleration for deceleration based on acceleration (for
semifinish machining)
1564 Corner feedrate difference (for rough machining)

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Number Meaning of parameter

1574 Acceleration rate for acc/dec (for rough machining)
1575 Max acceleration for deceleration based on acceleration (for
rough machining)
2020 Positive-direction specification button on software operator’s
panel
2021 Negative-direction specification button on software operator’s
panel
2214#0 In three-dimensional handle interrupt mode, the manual interrupt
amount display is not updated.
2511 Allowable difference between the end point specified in spiral
interpolation or conical interpolation and the end point obtained
from an increment/decrement amount and count
4881 Coordinate data for the center of a drawing range
4882 Coordinate data for the upper end of a drawing range
4883 Coordinate data for the lower end of a drawing range
6020 Offset number bias for a tool position offset for an individual axis
6021 Offset number bias for tool length compensation for an individual
axis
6024 Distance (L) between the tool tip position of a standard tool and
the reference measurement plane
6240 Direction in which the tool is retracted after G76 or G87
orientation
6240 Direction in which the tool is retracted after G76 or G87
orientation
6240 Direction in which the tool is retracted after G86.1 or G87
orientation
6240 Direction in which the tool is retracted after G86.1 or G87
orientation
6421 Axis-by-axis scaling factor
6820 Direction and overtravel amount in single-direction positioning
(G60)
7110 Sequence of axes subjected to dry run at program restart
7516 Rotation angle for rotation axis
7517 Rotation angle offset for rotation axis
7518 Origin compensation amount for rotation axis
7543 Head for three-dimensional handle feed to which an individual
axis belongs under parallel axis control or twin table control.
7629 Retraction amount for tool retract and return
7703 Drawing axis selection
7716 Rotation axis rotation angle for head 2 under parallel axis control
or twin table control
7717 Rotation axis rotation angle offset for head 2 under parallel axis
control or twin table control
7718 Rotation axis origin compensation amount for head 2 under
parallel axis control or twin table control
7796 Retraction amount

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(3) Parameters in which the data to be set may differ between the master axis and
slave axis
Number Meaning of parameter
1004#6 Axis position is not displayed on the position and program check
screens.
1009#4 Set values are not displayed on the workpiece origin offset setting
screen.
1020 Programmed axis name
1021 Axis name subscript for parallel, synchronous, and tandem
controlled axes
1023 Servo axis number
1093#0 A slow-type interface is used between the servo amplifier and
servo software.
1094 Connector number for the first pulse module
1095 Connector number for the second pulse module
1803#1 Specifies an axis to be moved in adjustment mode for
synchronization control
1803#3 Under synchronization control, an axis can be moved in the
direction in which the error increases in adjustment mode.
1844 Grid shift amount for the reference position shift function
1849 Backlash compensation for rapid traverse
1850 Grid shift/reference position shift amount
1851 Backlash compensation amount
1879 Motor rotation direction
1980 Preload value for an individual axis (Tcmd offset)
5420 Pitch error compensation point number for reference position
5421 Number for the farthest pitch error compensation point on the
negative side
5422 Number for the farthest pitch error compensation point on the
positive side
5423 Pitch error compensation magnification
5424 Pitch error compensation point interval
5427 Number for the farthest both-way pitch error compensation point
on the negative side (for movement in the negative direction)
5428 Pitch error compensation value at the reference position when
the axis moves to it in a direction opposite to the origin return
direction
5430 Number for the farthest second cyclic pitch compensation point
on the negative side
5431 Number for the farthest second cyclic pitch compensation point
on the positive side
5432 Second cyclic pitch compensation point interval
5433 Second cyclic pitch error compensation magnification
5461-5464 Compensation point number for inclination compensation
5471-5474 Compensation amount for inclination compensation

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(4) Parameters in which data must be set only for the slave axis
Number Meaning of parameter
1010#0 Machine coordinate data-based synchronization function is used for
synchronization control.
1803#2 Disables synchronous error compensation.
1817#1 Always perform synchronization control.
1817#6 Specifies tandem controlled axes.
1912 Synchronous error zero width for an individual axis
1913 Maximum allowable synchronous error for excessive synchronization error
alarm 2
1914 Maximum allowable synchronous error for excessive synchronization error
alarm 1
1915 Compensation gain of the synchronous error for each axis
1917 Synchronous error zero width 2
1918 Synchronous error compensation gain 2
1930#4 The synchronous error smooth suppress function is enabled.
7702 Axis number for the master axis of synchronous control or twin table control
7723 Maximum allowable error for synchronous error check based on machine
coordinate data
7724 Maximum compensation amount for synchronous based on machine coordinate
data

Diagnostic data display

A synchronous error and synchronous error compensation value are
displayed on the diagnosis screen.

3500 Synchronous error compensation value for each axis

[Unit of data] Detection unit

[Meaning] The cumulative amount of compensation pulses (synchronous error
compensation value) output to the slave axis is displayed. This value is
displayed against a slave axis number.

3501 Synchronous error of each axis

[Unit of data] Detection unit

[Meaning] The positional difference between the master axis and slave axis
(synchronous error) is displayed. This value is displayed against a
slave axis number.

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Alarm and message

Number Message Contents
OT0030 SYNC EXCESS ERROR ALARM 1 The synchronous error amount is greater than the value set
to parameter No. 1914 by the synchronous error check.
OT0031 SYNCHRONIZE ADJUST MODE The system is in the synchronous control adjustment
mode.
OT0513 SYNC EXCESS ERROR (1) The difference in the machine coordinate value between
the synchronous axes is equal to or greater than the
synchronize error limit set in parameter No. 7723.
(2) The compensation value during synchronization based
on the machine coordinate values was equal to or
greater than the maximum compensation value set in
parameter No. 7724.
(3) A difference in positional deviation between the master
and slave axes has exceeded the limit value specified in
parameter No. 7799 when the synchronization error
check based on positional deviation is executed.
SV0024 SYNC EXCESS ERROR ALARM 2 The synchronous error amount is greater than the value set
to parameter No. 1913 by the synchronous error check.
When synchronization alignment has not completed after
the power is turned ON, this error is judged by the value
obtained of multiplying the value of parameter No. 1913 by
the value of parameter No. 1910.
SV0350 EXCESS SYNC TORQUE The master/slave axis torque command difference
exceeded the value set in parameter No. 1716 during
synchronous control.
This alarm is issued only for the master axis.

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Note
NOTE
1 During synchronous operation, the following
operation results according to the setting of bit 4
(SRF) of parameter No. 7601 when automatic
reference position return (G28), second, third, or
fourth reference position return (G30), or machine
coordinate system selection (G53) is specified:
1 The same movement as that for the master axis is
made on the slave axis.
2 Movement is made independently to a specified
position on the master axis and slave axis.
2 When a command involving no axis movement such
as a command for workpiece coordinate system
setting (G92) or local coordinate system setting (G52)
is specified, a coordinate system is set on the master
axis according to the programming for the master
axis.
3 During synchronous operation, axis-by-axis signals
such as those for external deceleration, interlock, and
machine lock are valid only for the master axis; those
signals for the slave axis are ignored.
Note, however, the feedrate axis selection signal
*ACTFx and the reference position proximity signal
*NZx are independently valid for each of the master
and slave axes.
4 Pitch error compensation and backlash
compensation are performed independently for each
of the master and slave axes.
5 When switching between synchronous control
selection signals SYNC1, SYNC2, and so forth from
the PMC by using a programmed M function, set the
M code in parameter No. 7633 and No. 7634 for
synchronous control switching M codes.

Reference item
Series15i/150i- Connection Manual 4.4 Reference position
MODEL A (This manual) return

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1.10 TWIN-TABLE CONTROL

General
In twin-table control, synchronization operation, single operation, and
normal operation can be switched for two or more specified axes by a
signal input from the machine side.
In synchronization operation, an axis for which a move command can
be issued is called the master axis, and an axis for which movement is
performed in synchronization with that for the master axis is called a
slave axis.
The following operations can be performed for a machine tool having
two tables, each of which is independently driven by a separate
controlled axis.

- Synchronization operation
Use this operation for situations such as when a large workpiece placed
over the two tables is machined.
According to a move command issued to one axis, the other axis can be
operated in synchronization.
In synchronization operation, a move command for the master axis is
given to the two servo motors of the master axis and a slave axis.
Synchronous error compensation is not performed, in which a
deviation between the two servo motors is always detected and the
servo motor of the slave axis is subject to compensation such that the
deviation becomes small. Any synchronous errors are not detected,
either.
Synchronization operation is possible with automatic operation, jog
feed, manual handle feed, and incremental feed. Synchronization
operation cannot be applied to manual reference position return.

- Single operation
Use this operation for cases in which a small workpiece is machined on
either table.
With the use of a move command for the master axis, movement for the
master axis alone or for the slave axis alone can be performed.
A single operation can be applied to automatic operation. To operate
the machine manually, use a synchronization operation or normal
operation.

- Normal operation
Use this operation for cases in which different workpieces are
machined on the tables. In the same way as in normal CNC control,
specify respective axis addresses for movement for the master axis and
for the slave axis. Move commands for the master axis and the slave
axis can be specified in the same block.
Automatic operation and manual operation are performed in the same
way as in normal CNC control.

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1.AXIS CONTROL B-63323EN-1/03

Signal

Synchronous control selection signal

SYNC1<G066#2>, SYNC2<G070#2>, ...
See the description of synchronous control.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7613 TWJ

[Input type] Parameter input

[Data type] Bit

#5 TWJ Specifies how the amount of manual interrupt is reflected in the slave
axis independent mode or synchronous mode of the twin table control
function.
0: The amount of manual interrupt of the master axis only is
reflected for the master axis and slave axis.
1: The amount of manual interrupt of the master axis is reflected for
the master axis, and the amount of manual interrupt of the slave
axis is reflected for the slave axis.

7633 M code for turning off synchronization in synchronous

control and twin table control

[Input type] Parameter input

[Data type] Integer
[Valid data range] 1 - 999999999
Specify an M code for switching from synchronous operation to
independent operation or normal operation.
The M code set in this parameter is not buffered.

7634 M code for turning on synchronization in synchronous

control and twin table control

[Input type] Parameter input

[Data type] Integer
[Valid data range] 1 - 999999999
Specify the M code that causes switching from independent or normal
operation to synchronous operation.
The M code specified for this parameter is treated as an M code
without buffering.

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B-63323EN-1/03 1.AXIS CONTROL

7642 M code that causes switching to independent operation

during twin table control

[Input type] Parameter input

[Data type] Integer
[Valid data range] 1 - 999999999
Specify the M code that causes switching from synchronous or
normal operation to independent operation.
The M code specified for this parameter is handled as an M code
without buffering.

7702 Master axis number in synchronous control or twin table

control

NOTE
After this parameter has been set, the power must
be off turned off then back on for the setting to
become effective.

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 0 - Max axes
Select an axis that is to be synchronized in synchronous control or
twin table control.
Example: Assume the following controlled axis configuration:
First axis : X-axis
Second axis : Y-axis
Third axis : Z-axis
Fourth axis : U-axis
To synchronize the U-axis with X-axis, set the parameters as
follows:
X :0
Y :0
Z :0
U :1

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Note
NOTE
1 In synchronization operation, reference position
return movement for the Y axis is also applied to the
V axis for an automatic reference position return
command (G28) and the second, third, and fourth
reference position return commands (G30). After
the return movement, when the tool is positioned to
the reference position along the V axis, a reference
position return completion signal for the V axis goes
on in the same way as for that for the Y axis.
In principle, specify the G28 and G30 commands for
normal operation.
2 In synchronization operation, the same movement is
performed along the Y and V axes for an automatic
reference position return check command (G27).
After the movement, when the tool reaches the
reference positions along the Y and V axes, the
respective reference position return completion
signals go on. If it is not located at the reference
positions, an alarm is indicated. In principle, specify
the G27 command for normal operation.
3 To specify the G28, G30, or G27 command, manual
reference position return must have been performed
after power on.
4 A command with no movement along an axis, such
as the workpiece coordinate system setting
command (G92) and the local coordinate system
setting command (G52), is applied to the master
axis in synchronization operation and the command
is applied to the slave axis in slave-axis single
operation by the use of a program command for the
master axis.
5 Perform manual reference position return in normal
operation.
6 Signals, such as an external deceleration signal, an
interlock signal, and a machine lock signal, are
effective only for the slave axis in slave-axis single
operation and are effective only for the master axis
in synchronization operation. The signals for the
other side in each case are ignored.

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NOTE
7 Pitch error compensation and backlash
compensation are applied to the master axis and
slave axis independently.
8 Synchronous control selection signals SYNC1,
SYNC2, SYNC3, ... can be switched from the PMC
side by the use of an M function of a program
command. In this case, specify an M code to be
used in parameters Nos. 7633, 7634 and 7642,
which are for the M code used for switching
synchronous control and twin table control.
9 A single operation cannot be applied when the
machine is operated manually.
To operate the machine manually, use a
synchronization operation or normal operation.

Reference item
Series15i/150i-MA Operator’s Manual II-19.2 Twin table control
(Programming)
(B-63324EN)

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1.AXIS CONTROL B-63323EN-1/03

1.10.1 Tool Length Compensation in Tool Axis Direction with Twin

Table Control

Overview
For a machine that applies twin table control to two heads, tool length
compensation along the tool axis can be performed simultaneously for
both heads (synchronous operation) or for each head (independent
operation).
In synchronous operation, the compensation value calculated using the
rotation axis positions of the master head is applied to the linear axes of
both the master and slave heads.
In independent operation, the compensation value calculated using the
rotation axis positions of the selected head is applied to the linear axes
of the selected head.

- Sample machine configuration

This function is explained using the following axis configuration as an
example.
Table 1.10 (a) Sample Axis Configuration
Axis Description
X Axis common to heads 1 and 2
Y Head 1 axis (master axis)
V Head 2 axis (slave axis of the Y axis)
Z Head 1 axis (master axis)
W Head 2 axis (slave axis of the Z axis)
B Head 1 axis (master axis)
J Head 2 axis (slave axis of the B axis)
C Head 1 axis (master axis)
K Head 2 axis (slave axis of the C axis)

Head 1 Z Head 2 W
Y V

C K

B J

Fig. 1.10 (a) Sample Machine Configuration

NOTE
When I, J, or K is used as an axis name, the
extended axis name option is required.

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B-63323EN-1/03 1.AXIS CONTROL

- Switching between synchronous and independent operation using

synchronization control select signals SYNCx
Use synchronization control select signals SYNCx to switch between
synchronous and independent operation.

Table 1.10 (b) Examples of Using Synchronization Control Select Signals

Axis Synchronization (1) Synchronous (2) Head 1 (3) Head 2
control select operation independent independent
signal operation operation
X SYNC1 0 0 0
Y SYNC2 1 0 or 1 (*) 0
V SYNC3 1 0 1
Z SYNC4 1 0 or 1 (*) 0
W SYNC5 1 0 1
B SYNC6 1 0 or 1 (*) 0
J SYNC7 1 0 1
C SYNC8 1 0 or 1 (*) 0
K SYNC9 1 0 1
(*) 0 may be specified.
SYNC1 is not used, because the X axis is common to heads 1 and 2.

(1) Synchronous operation

To simultaneously perform tool length compensation along the tool
axis for both heads, set SYNC2 to SYNC9 to "1" and specify tool
length compensation along the tool axis (G43.1).
The compensation value calculated using the positions of the master
rotation axes (B and C) is applied to the master linear axes (X, Y, and
Z) and slave linear axes (V and W).

(2) Independent operation

To perform tool length compensation along the tool axis for only one
head, set SYNC2, SYNC4, SYNC6, and SYNC8 (for head 1) or
SYNC3, SYNC5, SYNC7, and SYNC9 (for head 2) to "1" and specify
tool length compensation along the tool axis (G43.1).
When head 1 is selected, the compensation value calculated using the
positions of the head 1 rotation axes (B and C) is applied to the head 1
linear axes (X, Y, and Z).
When head 2 is selected, the compensation value calculated using the
positions of the head 2 rotation axes (J and K) is applied to the head 2
linear axes (X, V, and W).

- Switching between synchronous and independent operation using the

miscellaneous function
Specify the program command miscellaneous function in a single block
to switch between synchronous and independent operation. The PMC
checks the switching M code, then outputs synchronization select
signals SYNCx. Set an M code to be used in the corresponding
parameter, listed below.

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1.AXIS CONTROL B-63323EN-1/03

Table 1.10 (c) M Code Parameter Settings

Number Description
7633 M code which turns synchronization off (master axis Mmm
independent operation)
7634 M code which turns synchronization on (synchronous Mpp
operation)
7642 M code which switches to slave axis independent Mss
operation

[Sample program]
G43.1 X_ Y_ Z_ H_ B_ C_ When no M code is specified, tool length
: compensation is performed along the master
axes.
Mss Tool length compensation is performed along the
: slave axes.
Mmm Tool length compensation is performed along the
: master axes.
Mpp Tool length compensation is performed along the
: master and slave axes.

Restrictions

- Changing the tool length compensation value along the tool axis
The tool length compensation value along the tool axis can be changed
for both synchronous and independent operation by three-dimensional
handle interruption. In synchronous operation, the compensation value
for head 1 is used as the compensation value for head 2, however.
- Three-dimensional handle feed/interruption
To use tool length compensation along the tool axis together with
three-dimensional handle feed/interruption under twin table control,
consistently set three-dimensional handle feed/interruption master
head select signals TLHD1A, TLHD1B, TLHD2A, and TLHD2B and
synchronization control select signals SYNCx, as listed in the
following table.

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B-63323EN-1/03 1.AXIS CONTROL

Table 1.10 (d) Master Head Select Signals and Synchronization Control
Select Signals
Type of Synchronization
Master head select signal
operation TLHD2B TLHD2A TLHD1B TLHD1A control
Select signal
Head 1 0 0 0 1 (2) in Table 1.10
independent (b)
operation
Synchronous 0 1 0 1 (1) in Table 1.10
operation using (b)
head 1 as the
master head
Head 2 1 0 0 0 (3) in Table 1.10
independent (b)
operation
Synchronous 1 0 1 0 (*)
operation using
head 2 as the
master head
* For tool length compensation along the tool axis, synchronous
operation using head 2 as the master head is not supported.

Signals

Synchronization control select signals

SYNC1<G066#2>, SYNC2<G070#2>, ...
[Classification] Input signal
[Function] Notifies the control unit of synchronous, independent, or normal
operation selected under synchronization control or twin table
control.
Under synchronization control, these signals are valid only when
SYN (bit 1 of parameter No. 1817) is set to 0.
[Operation] Control is applied according to the combination of SYNCm and
SYNCs, as listed below.
Here, m indicates the axis number of the master axis while s indicates
the axis number of a slave axis.
SYNCm SYNCs Remarks
Synchronous operation 1 1 (*1)
Independent Slave axes 0 1 (*3)
operation Master axes 0 0 (*2)
Normal operation 0 0
*1 Under synchronization control or for manual operation under twin
table control, SYNCm may be set to "1" or "0."
*2 The settings for master axis independent operation are exactly the
same as those for normal operation.
*3 Under synchronization control or in manual operation under twin
table control, independent operation is not supported.

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1.AXIS CONTROL B-63323EN-1/03

Signal addresses
#7 #6 #5 #4 #3 #2 #1 #0
G066 SYNC1

The above address is the signal address of the first axis.

For the signal addresses of the second and subsequent axes, see
Appendix A.1

Parameters

- Parameter for enabling this function

#7 #6 #5 #4 #3 #2 #1 #0
7540 TWN

   

   

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""  %"  """  %"& & !
%" "(
0: Do not perform these operations.
1: Perform these operations.

- Parameters related to tool length compensation along the tool axis

Parameters set for each axis

Parameter number Data type Description

Bit 0 of 1014 Bitaxis Rotation axis selection

Bit 1 of 1014 Bitaxis Parameter axis selection
1029 Integeraxis Linear axis to be used as the center axis
of rotation of a rotation axis

Parameters set for each head

Parameter number Data type Description
Head 1 Head 2
7514 7714 Integer Tool axis direction
7515 7715 Integer Master rotation axis number
7516 7716 Realaxis Angular displacement of a rotation axis
7517 7717 Realaxis Offset for angular displacement of a
rotation axis
7518 7718 Realaxis Compensation value for the origin of a
rotation axis
7548 7760 Real Tool holder offset

For details of each parameter, refer to the following manual:

Parameter Manual, B-63330EN
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B-63323EN-1/03 1.AXIS CONTROL

Section 4.29, "Parameters Related to the Five-Axis Control

Function"
Set the parameters for head 2 in the same way as the parameters for
head 1.

- Parameters related to a twin table

Parameter number Data type Description

7702 Integeraxis Master axis number

7633 Integer M code for turning synchronization off
7634 Integer M code for turning synchronization on
7642 Integer M code for specifying independent
operation

For details of each parameter, refer to the following manual:

Parameter Manual, B-63330EN
Section 4.30, "Other Parameters"

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1.AXIS CONTROL B-63323EN-1/03

- Sample parameter settings

For the sample machine configuration shown in Fig. 1.10 (a), set the
parameters related to axes as listed below.

Parameters set for each axis

Parameter Settings Description
number
X Y V Z W B J C K Axis name
1 2 3 4 5 6 7 8 9 Axis number
Bit 0 of 1014 0 0 0 0 0 1 1 1 1 Rotation axis selection
Bit 1 of 1014 0 0 0 0 0 0 0 0 0 Parameter axis selection
1029 0 0 0 0 0 2 3 4 5 Linear axis to be used as the center axis
of rotation of the rotation axis
7702 0 0 2 0 4 0 6 0 8 Master axis number
1022 1 2 2 3 3 0 0 0 0 Basic coordinate system for each axis

Parameters for head 1

Parameter Data type Setting Description
number
7514 Integer 3 Tool axis direction
7515 Integer 0 Master rotation axis number
7516 Realaxis Set data for the B and C axes. Angular displacement of a rotation axis
7517 Realaxis Set data for the B and C axes. Offset value for angular displacement of
a rotation axis
7518 Realaxis Set data for the B and C axes. Compensation value for the origin of a
rotation axis
7548 Real Set data for head 1. Tool holder offset

Parameters for head 2

Parameter Data type Setting Description
number
7714 Integer 3 Tool axis direction
7715 Integer 0 Master rotation axis number
7716 Realaxis Set data for the J and K axes. Angular displacement of a rotation axis
7717 Realaxis Set data for the J and K axes. Offset for angular displacement of a
rotation axis
7718 Realaxis Set data for the J and K axes. Compensation value for the origin of a
rotation axis
7760 Real Set data for head 2. Tool holder offset

NOTE
1 If parameter settings conflict with each other, the
movement of the machine may differ from the
expected movement. Carefully read the explanation
of parameters and make valid settings. If the
parameter settings apparently conflict with each
other, an alarm (PS0361 or PS0362) occurs.

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B-63323EN-1/03 1.AXIS CONTROL

NOTE
2 Always turn the synchronization control select signals
for two rotation axes, contained in one head, on or off
simultaneously.
(Example)
Always turn the synchronization control select
signals for the B and C axes on or off simultaneously.
Always turn the synchronization control select
signals for the J and K axes on or off simultaneously.
3 Set the same value for either of the following
parameters for heads 1 and 2:
- Parameters 7514 and 7714 (tool axis direction
If different values are set, an alarm (PS0361) is
output.
4 Set values having the same meaning for either of the
following parameters for heads 1 and 2:
- Parameters 7515 and 7715 (master rotation axis
number)
If values having different meanings are set, an alarm
(PS0362) is output.
5 Different values can be set for each of the following
parameters for heads 1 and 2 but, in synchronous
operation, the parameters for head 2 are not used.
The compensation value for head 1 is used as the
compensation value for head 2.
In slave axis independent operation, the
compensation value is calculated using the
parameters for head 2.
- Parameters 7516 and 7716 (angular displacement of
a rotation axis)
- Parameters 7517 and 7717 (offset for angular
displacement of a rotation axis)
- Parameters 7518 and 7718 (compensation value for
the origin of a rotation axis)
- Parameters 7548 and 7760 (tool holder offset)

Reference item
FANUC Series Connection Manual 1.10 Twin Table Control
15i/150i-MA (Function) 3.5 Three-dimensional
(B-63323EA-1) Handle Feed
10.4.6 Tool length
compensation along the
tool axis

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1.AXIS CONTROL B-63323EN-1/03

1.11 CHOPPING FUNCTION

General
When contour grinding is performed, the chopping function can be
used to grind the side face of a workpiece. By means of this function,
while the grinding axis (the axis with the grinding wheel) is being
moved vertically, a contour program can be executed to instigate
movement along other axes.
The chopping function can be executed with a program command or by
setting the switches on the machine operator’s panel.

Format
G81.1 Z_Q_R_F_;
Z : Upper dead point
(When the axis for drinding is other than the Z-axis,
specify the axis address.)
Q : Distance between the upper dead point and lower
dead point
(Specify the distance as an incremental value,
relative to the upper dead point.)
R : Distance from the upper dead point to point R
(Specify the distance as an incremental value,
relative to the upper
dead point.)
F : Feedrate during chopping
The units of the Q and R commands are the same
as for the increment system of the grinding axis.
Specify the F command without using a decimal
point.
G80 ; Cancels chopping

Explanation

- Basic operation
Chopping operation is performed as follows:
(1) Movement is made by rapid traverse for positioning to point R.
(2) Movement is made to the lower dead point at the rapid traverse
rate specified in F.
(3) A return is made to the upper dead point at the feedrate specified
in F.
(4) Then, back and forth movement is made repeatedly between the
upper dead point and lower dead point at the chopping feedrate
specified in F. The switch on the machine operator’s panel can be
used to override the chopping feedrate.
Chopping continues even when the mode is switched to the manual
mode, or when automatic operation is stopped by the application of
feed hold. Chopping is stopped by specifying a G80 command or by a
reset, after which a return is made to point R. Chopping is stopped

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B-63323EN-1/03 1.AXIS CONTROL

immediately if an emergency stop is applied or if a servo alarm is

issued.

- Chopping activated by signal input

Before chopping can be started, the chopping axis, reference position,
upper dead point, lower dead point, and chopping feedrate must be set
using the parameter screen

- Feedrate up to point R
When chopping is started, the tool moves at the rapid traverse rate
(parameter No. 1420) up to point R.
For override, the chopping feedrate override signal is valid. When a
chopping feedrate override of 100% is specified, the feedrate is
clamped to 100%. Parameter CRO (bit 5 of parameter No. 1181) can be
used to enable rapid traverse override instead of chopping rate
override.

- Feedrate from point R

When chopping is started, the tool moves at the chopping feedrate
specified by the program or that specified for parameter No. 1195 from
point R until chopping is canceled. If the feedrate exceeds the
maximum chopping feedrate (parameter No. 1197), it is clamped to the
maximum chopping feedrate. If the maximum chopping feedrate is 0,
the chopping feedrate is clamped to the rapid traverse rate.
The chopping feedrate can be overridden over a range from 0% to
150%, using the chopping feedrate override signal.

- Setting chopping data

Set the following chopping data:
- Chopping axis: Parameter No.1191
- Reference point (point R) : Parameter No.1192
- Upper dead point: Parameter No.1193
- Lower dead point: Parameter No.1194
- Chopping feedrate: Parameter No.1195
- Maximum chopping feedrate: Parameter No.1197

- Chopping setting screen

A chopping axis, point R, top dead point, bottom dead point, and
chopping rate can be specified on the chopping screen. Point R, a top
dead point, bottom dead point, and chopping rate can be changed
during chopping. Parameter CAF (bit 7 of parameter No. 1001) can be
used to restrict chopping axis and chopping rate inputs. In addition,
input/output signals related to chopping can be monitored.

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1.AXIS CONTROL B-63323EN-1/03

- Modifying chopping data

During chopping, point R, the upper dead point, lower dead point, and
chopping feedrate can be modified by specifying a G81.1 command. In
this case, the chopping data set in the parameters is also updated.

- Chopping after the upper dead point or lower dead point has been changed
When the upper dead point or lower dead point is changed while
chopping is being performed, the tool moves to the position specified
by the old data. Then, chopping is continued using the new data.
Before movement is made according to the post-modification data, the
chopping delay compensation function cancels the compensation set
before the modification, and starts a new chopping delay compensation
operation.
The following describes the operations performed after the data has
been changed.
(1) When the upper dead point is changed during movement from the
upper dead point to the lower dead point

New upper dead point

Previous upper dead point

Changing the upper dead point

Previous lower dead point

The tool first moves to the lower dead point, then to the new upper
dead point.

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B-63323EN-1/03 1.AXIS CONTROL

Once movement to the lower dead point has been completed, the
previous chopping delay compensation is set to 0, and chopping
delay compensation is performed based on the new data.

(2) When the lower dead point is changed during movement from the
upper dead point to the lower dead point

Previous upper dead point

Changing the lower dead point

New lower dead point

Previous lower dead point

The tool first moves to the previous lower dead point, then to the
upper dead point, and finally to the new lower dead point.
Once movement to the upper dead point has been completed, the
previous chopping delay compensation is set to 0, and chopping
delay compensation is performed based on the new data.

(3) When the upper dead point is changed during movement from the
lower dead point to the upper dead point

New upper dead point

Changing the upper dead point

Previous lower dead point

The tool first moves to the previous upper dead point, then to the
lower dead point, and finally to the new upper dead point.
Once movement to the lower dead point has been completed, the
previous chopping delay compensation is set to 0, and chopping
delay compensation is performed based on the new data.

(4) When the lower dead point is changed during movement from the
lower dead point to the upper dead point

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1.AXIS CONTROL B-63323EN-1/03

Previous upper dead point

Changing the lower dead point

Previous lower dead point

New lower dead point

The tool first moves to the upper dead point, then to the new lower
dead point.
Once movement to the upper dead point has been completed, the
previous chopping delay compensation is set to 0, and chopping
delay compensation is performed based on the new data.

- Chopping delay compensation function

When high-speed chopping is performed with the grinding axis, a servo
delay and acceleration/deceleration delay occur. These delays prevent
the tool from actually reaching the specified position.
The CNC measures the difference between the specified position and
the actual tool position, and performs chopping delay compensation to
compensate for the difference.

To compensate for this displacement, an amount of travel equal to the

distance between the upper and lower dead points, plus an appropriate
compensation amount, is specified. When a chopping command is
specified, the feedrate is determined so that the chopping count per unit
time equals the specified count. When the difference between the
displacement of the tool from the upper dead point and the
displacement of the tool from the lower dead point becomes smaller
than the setting of parameter No. 1881, after the start of chopping, the
control unit performs compensation.
When compensation is applied, the chopping axis moves beyond the
specified upper dead point and lower dead point, and the chopping
feedrate increases gradually.
When the difference between the actual machine position and the
specified position becomes smaller than the effective area setting
(parameter No. 1827), the control unit no longer applies compensation,
allowing the tool to continue moving at its current feedrate.
A percent compensation amount for the displacement generated by the
servo delay incurred by chopping, and the delay incurred during
acceleration/deceleration, can be specified in parameter No. 1196.

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B-63323EN-1/03 1.AXIS CONTROL

Point R

Upper dead point

L2 L4 L6

L1 L3 L5
Lower dead point

Time

Displacement between the tool and the upper dead point: L2, L4, L6
Displacement between the tool and the lower dead point: L1, L3, L5

@Compensation starts when:

|L3 - L2| < (parameter No.1881)
Compensation value:
L3*(parameter No.1196)
@When the following condition is satisfied, compensation is no longer applied,
@and the tool continues to move at its current feedrate:
|L6| < effective area setting @(parameter No.1827)

- Bottom dead point overshoot damp control

Bottom dead point overshoot damp control is enabled when the
chopping rate (command-specified rate overridden with a certain value,
not including a portion increased due to chopping compensation)
exceeds a value specified in parameter No. 1198. If bottom dead point
overshoot damp control is enabled, changing of the override value,
changing of the command-specified rate, and interlocking are enabled
only in the range from the top dead point to the bottom dead point.
Bottom dead point overshoot damp control is not performed if
parameter No. 1198 is 0.

- Mode switching during chopping

If the mode is changed during chopping, chopping does not stop. In
manual mode, the chopping axis cannot be moved manually. It can,
however, be moved manually by means of the manual interrupt.

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1.AXIS CONTROL B-63323EN-1/03

- Reset during chopping

When a reset is performed during chopping, the tool immediately
moves to point R, after which chopping mode is canceled.
If an emergency stop or servo alarm occurs during chopping, mode is
canceled, and the tool stops immediately.

- Stopping chopping
The following table lists the operations and commands that can be used
to stop chopping, the positions at which chopping stops, and the
operation performed after chopping stops:

Operation/ Stop position Operation after

command chopping stops
G80 Point R Canceled
CHPST : “0” The tool moves to the lower Canceled
dead point, then to point R.
*CHLD : “0” Point R Restart after *CHLD
is turned “1”
Reset Point R Canceled
Emergency stop The tool stops immediately. Canceled
Servo alarm The tool stops immediately Canceled

- Single block signal

Even if the single block signal SBK is input during chopping, chopping
continues without stopping.

Limitation

- Move command during chopping

If, during chopping, an attempt is made to execute a move command on
the chopping axis, a P/S alarm (PS472) is issued.

- Canned cycle
During chopping, a canned cycle cannot be specified.

- Cutter compensation
When the chopping command (G81.1) or the cancel command (G80) is
specified, buffering (advanced read) is suppressed. So, note that when
these commands are specified in cutter compensation mode, the
method used to create a compensation vector may change.

- Three-dimensional coordinate conversion

This function does not operate in three-dimensional coordinate
conversion mode. So, cancel three-dimensional coordinate conversion
mode before starting this function.

- PMC axis
When a chopping axis is selected as a PMC axis, chopping cannot be
started.

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B-63323EN-1/03 1.AXIS CONTROL

- Look-ahead acceleration/deceleration before interpolation

For a chopping axis, look-ahead acceleration/deceleration before
interpolation is not applicable.

Example
G90 G81.1 Z100. Q-25. R10. F3000 ;
- Perform rapid traverse to position the tool to Z110. (point R).
- Then, perform reciprocating movement along the Z-axis
between Z100. (upper dead point) and Z75. (lower dead
point) at 3000 mm/min. Chopping override is enabled.

Point R
(Z110.)

Upper dead point

(Z100.)

Lower dead point

(Z75.)
Time

To cancel chopping, specify the following command:

G80 ;
- The tool stops at point R.

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1.AXIS CONTROL B-63323EN-1/03

Signals

Chopping hold signal*CHLD<G044#7>

[Classification] InputSignals
[Function] Stops chopping.
[Operation] When this signal is set to 0, the CNC operates as described below.
(1) When G81.1 is not specified, no operation is performed.
(2) When G81.1 is specified, chopping is stopped. The stop mode
depends on which part of the chopping operation is being
performed when this signal is set to 0.
(i) When this signal is set to 0 during movement from the upper
dead point to the lower dead point
Movement is first made to the upper dead point then to point
R before chopping is finally stopped.
(ii) When this signal is set to 0 during movement from the lower
dead point to the upper dead point
Movement is first made to the upper dead point then to the
lower dead point. Then, movement is made to point R before
chopping is finally stopped.
When this signal is set to 1, the CNC operates as described below.
(1) If chopping is currently stopped, chopping is restarted.
(2) If chopping operation is currently not stopped, no operation is
performed.

Chopping start signal CHPS<G044#6>

[Classification] Input signal
[Function] Starts and stops chopping.
[Operation] Setting this signal to 1 starts chopping. Again setting this signal to 0
during chopping causes chopping to be stopped.

NOTE
1 If an attempt to start chopping using chopping start
signal CHPST is ignored, set the signal to 0 then back
to 1.

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B-63323EN-1/03 1.AXIS CONTROL

Chopping feedrate override signals

*CHP1-*CHP8<G044#0-#3>
[Classification] Input signal
[Function] Overrides the chopping feedrate.
[Operation] The actual feedrate during chopping becomes the specified feedrate
multipled by the override value specified with this signal. The
following table lists the correspondence between the signal states and
the override value:
*CHP8 *CHP4 *CHP2 *CHP1 Override value
0 0 0 0 150%
0 0 0 1 140%
0 0 1 0 130%
0 0 1 1 120%
0 1 0 0 110%
0 1 0 1 100%
0 1 1 0 90%
0 1 1 1 80%
1 0 0 0 70%
1 0 0 1 60%
1 0 1 0 50%
1 0 1 1 40%
1 1 0 0 30%
1 1 0 1 20%
1 1 1 0 10%
1 1 1 1 0%

Chopping-in-progress signal CHPMD<F157#2>

[Classification] Output signal
[Function] Posts notification of chopping in progress.
[Operation] This signal is set to 1 in the following case:
- Upon chopping start signal CHPST being set to 1 to start chopping
This signal is set to 0 in the following cases:
- Upon chopping start signal CHPST being set to 0 to stop chopping
- Upon chopping being terminated by a reset.

Chopping cycle signal CHPCYL <F157#3>

[Classification] Output signal
[Function] Posts notification of a chopping cycle being performed between the
upper and lower dead pionts.
[Operation] This signal is set to 1 in the following case:
- Upon a chopping cycle being started between the upper and lower
dead pionts
This signal is set to 0 in the following cases:
- Once chopping has been stopped
- When the tool is stopped at the upper or lower dead point
- Upon chopping hold signal *CHLD being set to 0

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1.AXIS CONTROL B-63323EN-1/03

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G044 *CHLD CHPST *CHP8 *CHP4 *CHP2 *CHP1

F157 CHPCYL CHPMD

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1001 CAF

[Input type] Setting input

[Data type] Bit

#7 CAF Specifies whether to enable chopping axis and rate data to be set on
the setting screen, as follows:
0: Enables.
1: Disables.

#7 #6 #5 #4 #3 #2 #1 #0
1181 CRO

[Input type] Parameter input

[Data type] Bit

#5 CRO Specifies the type of override used within the range from the
chopping start position to point R, as follows:
0: Chopping override
1: Rapid traverse override

1191 Chopping axis

   

    

        
            !

1192 Chopping reference position (R position)

[Input type] Parameter input

[Data type] Real
[Unit of data] mm, inch, degree (input unit)
[Minimum unit of data] Depend on the increment system of the reference axis
[Valid data range] 9 digit of minimum unit of data (refer to standard parameter setting
table(A))
(When the increment system is IS-B, -999999.999 - +999999.999)
Set data in absolute coordinates.

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B-63323EN-1/03 1.AXIS CONTROL

1193 Upper limit for chopping

   

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         !

1194 Lower limit for chopping

   

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1195 Chopping rate

   

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1196 Chopping compensation coefficient

   

    

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     ...
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   !

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1.AXIS CONTROL B-63323EN-1/03

1197 Maximum feedrate during chopping

   

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1198 Chopping rate for enabling bottom dead point overshoot

damp control when the chopping rate is changed

[Input type] Parameter input

[Data type] Real
[Unit of data] mm/min, inch/min, degree/min (machine unit)
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] Refer to the standard parameter setting table (C)
(When the increment system is IS-B, 0.0 - +240000.0)
Bottom dead point overshoot damp control is enabled when the
chopping rate (command-specified rate overridden with a certain
value, not including a portion increased due to chopping
compensation) exceeds a value specified in this parameter.
Bottom dead point overshoot damp control is disabled if the
chopping rate is lower than the value specified in this parameter.
If bottom dead point overshoot damp control is enabled, changing
the override value, changing the command-specified rate, and
interlocking are enabled only within the range between the top dead
point and the bottom dead point. Any attempt to change them
within the range between the bottom dead point and the top dead
point is ignored.
This parameter can be specified only when chopping is canceled
(has not been started). Any attempt to change the parameter is
ignored during chopping.
If this parameter is 0, overshoot damp control is disabled for all
rates.

1881 Permissible error at start of chopping compensation

[Input type] Parameter input

[Data type] Integer
[Unit of data] detection unit
[Valid data range] 0 - 99999999
Chopping compensation is made when the difference between the
underrun amounts at the top and bottom dead centers due to the
servo position control delay is less than the setting. When 0 is
specified for this parameter, no compensation is made.
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Alarm and message

Number Message Contents
PS0472 ILL-COMMAND IN G81.1 MODE Either G81.1 was instructed again while in the chopping
mode, or a move instruction was issued to the chopping axis.
To change the chopping conditions, cancel G80 and specify
G81.1 again.

Reference item
Series15i/150i-MA Operator’s Manual II-19.5 Chopping function
(Programming)
(B-63324EN)

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1.12 ELECTRONIC GEAR BOX

Overview
This function rotates a workpiece in synchronization with a rotating
tool, or moves a tool in synchronization with a rotating workpiece to
enable the highly precise machining of gears and screws. The rate of
synchronization can be specified by a program. Up to two sets of
synchronous axes can be specified. With this function, in a gear
grinder, one axis serves as an axis for rotating the workpiece in
synchronization with a tool, while the other axis serves as an axis for
moving a dressing axis in synchronization with the tool.
The electronic gear box is hereinafter called an EGB function.
For examples of using the parameters for setting electronic gear box
axis configurations, see Section 1.5.3.

1.12.1 Command Description (G80.5, G81.5)

Format
Tt  βj 
G81.5  β0 Ll  ; Synchronization starts


 Pp  
Master-axis travel Slave-axis travel
G80.5 β0 ; Synchronization ends

Explanation
- Master axis and slave axis
A synchronization reference axis is called a master axis, and an axis on
which movement is made in synchronization with that on the master
axis is called a slave axis. On a hobbing machine, for example, in
which a workpiece moves in synchronization with a rotating tool, a tool
axis is called a master axis and a workpiece axis is called a slave axis.
The axes which serve as the master axis and slave axis depend on the
structure of the machine tool.

- Synchronization start
When the ratio of the master-axis travel to the slave-axis travel is
specified, synchronization starts.

Specify the master-axis travel in either of the following ways.

1. Master-axis speed
T t: Master-axis speed(1≤ t ≤1000)
2. Master-axis pulse count
P p : Master-axis pulse count(1≤p≤999999999)
Specify a pulse count on the condition that four pulses
correspond to one period in the A and B phases.

Specify the slave-axis travel in either of the following ways.

1. Slave-axis travel

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βj : Slave-axis address
j :Slave-axis travel indicated in units of the minimum
travel increments (the range of valid settings for usual
axis movement applies)
When j = 0, the specified command is regarded as being
a command for the slave-axis speed, described below.
In this case, if L is not specified, an alarm is output.
2. Slave-axis speed
β0 L±l : β :Slave-axis address
l :Slave axis speed (1≤ l ≤21)

CAUTION
1 A move command can be issued by a program to the
slave axis or other axes during synchronization. In
this case, the command shall be an incremental
command.
2 A G27, G28, G29, G30, G30.1, G33, or G53
command cannot be issued to the slave axis in
synchronization mode.
3 Controlled-axis removal cannot be used for the
master axis or the slave axis.

NOTE
1 A manual handle interruption can be issued to the
slave axis or other axes during synchronization.
2 The maximum feedrates for the master axis and the
slave axis are limited according to the position
detectors used.
3 An inch/metric conversion command (G20 or G21)
cannot be specified in synchronization mode.
4 Only the machine coordinates for the slave axis are
updated in synchronization mode.

- Synchronization end
1. Canceling synchronization for each axis by issuing a command
With a G80.5 0 command, synchronization is canceled.
is the address of the slave axis. Synchronization of the slave axis
specified by is canceled.
A cancellation command can be issued only for one axis in one
block.
When 0 is not specified, the synchronization of all currently
synchronized axes is canceled.
When a synchronization cancellation command is issued, the
absolute coordinates for the slave axis are updated according to
the amount of travel during synchronization.
For a rotation axis, the value obtained by rounding off the amount
of travel during synchronization to the nearest 360 degrees is
added to the absolute coordinates.

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2. Canceling synchronization by a reset

For an axis for which a parameter is set to allow synchronization
to be canceled by a reset, RSH, bit 0 of No. 7612, is set to 0,
allowing synchronization to be canceled by a reset. When a
manual absolute signal is on, the absolute coordinates are
updated.
3. Others
Synchronization is automatically canceled under the following
conditions.
(1) Emergency stop
(2) Servo alarm
(3) Overtravel (software or hardware) alarm for a slave
axis
(4) PW000 alarm (indicating that the power should be
turned off)
(5) IO alarm

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1.12.2 Description of Commands Compatible with Those for a

Hobbing Machine
A command compatible with that for a hobbing machine can be used as
a synchronization command.
Such a command cannot be used when a canned-cycle option is
provided.
During machining, the hobbing machine synchronizes a workpiece axis
(usually the C-axis) with the hobbing axis (spindle).
When two sets are in synchronization with EGB, specify which set
starts synchronization with such a command by using parameter No.
5995.

Format
G81 T_(L_)(Q_P_); Synchronization start
G80; Synchronization end

T : Number of teeth
(range of valid settings: 1-1000)
L : Number of hub threads
(range of valid settings: -21 to +21, excluding 0)
The sign of L determines the direction of rotation for
the workpiece axis.
When L is positive, the direction of rotation for the
workpiece axis is positive (+ direction).
When L is negative, the direction of rotation for the
workpiece axis is negative (- direction).
When L is not specified, the number of hob threads is
regarded as being 1.
Q : Module or diametral pitch
In metric input, specify a module
(unit : 0.00001 mm, range of valid settings : 0.1 - 25.0
mm).
In inch input, specify a diametral pitch
(unit : 0.00001 [1/inch], range of valid settings:
0.1-254.0 [1/inch])
P :Twisted angle of a gear
(unit: 0.00001 degrees, range of valid settings : -90.0
to 90.0 degrees)
* The decimal point can be specified in Q and P.

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Explanation

- Synchronization start
Specify P and Q to use helical gear compensation.
In this case, if only one of P and Q is specified, an alarm (PS0594) is
generated.

When a G81 command is issued to change to synchronization mode,

the EGB mode confirmation signal for the workpiece axis becomes "1"
and synchronization starts between the spindle and the workpiece axis.

During synchronization, control is performed such that the ratio of the

spindle speed to the workpiece-axis speed is the same as that of T
(number of teeth) to L (number of hob threads).
When a G81 command is again specified during synchronization
without canceling synchronization, if T and L are specified, the
synchronization coefficient is changed to that newly specified by T and
L. If T or L is not specified and only P and Q are specified, the
synchronization coefficient remains as is and helical gear
compensation is performed. With this operation, a helical gear and a
spur gear can be continuously machined.
NOTE
In a command compatible with that for a hobbing
machine, feed per revolution is performed according
to the speed of the synchronous slave axis.

- Synchronization end
Synchronization of all synchronized axes is canceled.
When a synchronization cancellation command is issued, the absolute
coordinates for the slave axis are updated according to the amount of
travel during synchronization.
For a rotation axis, the value obtained by rounding off the amount of
travel during synchronization to the nearest 360 degrees is added to the
absolute coordinates.
In a G80 block, do not specify addresses other than O or N.

- Helical gear compensation

For a helical gear, the workpiece axis is subjected to compensation for
movement along the Z axis (axial feed axis) according to the twisted
angle of the gear.
Helical gear compensation is performed with the following data.
Z × sin(P)
Compensation angle= × 360 (In metric input)
π×T×Q
Z × Q × sin(P)
Compensation angle= (In inch input)
π×T
Where,
Compensation angle : Absolute value with sign (degrees)
Z : Amount of travel along the Z axis after a G81 command is
issued (mm or inch)

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P : Twisted angle of the gear with sign (degrees)

π : Ratio of the circumference of a circle to its diameter
T : Number of teeth
Q : Module (mm) or diametral pitch (1/inch)
Use P, T, and Q specified in the G81 block.

NOTE
An axial feed axis refers to the rotation center axis for
a workpiece axis, and is usually represented by a Z
axis. In the specifications, it is called a Z axis for
convenience.
When an axis other than the Z axis is set to an axial
feed axis, specify the number of the axial feed axis in
parameter No. 5994.

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- Compensation direction in helical gear compensation

Parameter HDR (bit 2 of No. 7612)

When the HDR bit is set to 1

(a) (b) (c) (d)

+Z +C +C +C +C

C : +, Z : +, P : + C : +, Z : +, P : - C : +, Z : -, P : + C : +, Z : -, P : -
Compensation direction : + Compensation direction : - Compensation direction : - Compensation direction : +
-Z

(e) (f) (g) (h)

+Z :+ -C -C -C -C

C : -, Z : +, P : + C : -, Z : +, P : - C : -, Z : -, P : + C : -, Z : -, P : -
-Z Compensation direction : - Compensation direction : + Compensation direction : + Compensation direction : -

When the HDR bit is set to 0 ((a), (b), (c), and (d) are the same as when the HDR bit is set to 1)

(e) (f) (g) (h)

+Z -C -C -C -C

C : -, Z : +, P : + C : -, Z : +, P : - C : -, Z : -, P : + C : -, Z : -, P : -
-Z Compensation direction : + Compensation direction : - Compensation direction : - Compensation direction : +

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1.12.3 Configuration Examples of Controlled Axes

- Gear grinder
Spindle : EGB master axis serving as a tool axis
First axis : X
Second axis : Y
Third axis : C axis (EGB slave axis serving as a workpiece axis)
Fourth axis : C axis (EGB dummy axis, which cannot be used as a
usual controlled axis)
Fifth axis : V axis (EGB slave axis serving as a dressing axis)
Sixth axis : V axis (EGB dummy axis, which cannot be used as a
usual controlled axis)
CNC
Spindle (master axis) Spindle amplifier Motor Spindle Detector

First axis X (omitted) Tool axis

Second axis Y (omitted)

Third axis - Detector

Slave axis
Position control Speed/current control Servo amplifier Motor C-axis
C +
+
EGB Workpiece axis
K1
Fourth axis Synchronization switch
Dummy axis - K1:Synchronization factor
Follow-up
Error counter
+

Fifth axis - Detector

Slave axis Position control Speed/current control Servo amplifier Motor V-axis
V + +
Dressing axis
EGB
K2
Sixth axis Synchronization switch
Dummy axis - K2:Synchronization factor
Follow-up
Error counter
+

NOTE
A sampling period of 1 ms is applied when feedback
pulses are read from the master axis; the
synchronization pulses for a slave axis are calculated
according to synchronization coefficient K; and the
pulses are specified for position control of the slave
axis.

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- Dressing example
When the following configuration is used in a gear grinder

U axis
Rotating grinding wheel

V axis

V-axis
motor

Limit switch 1 Limit switch 2

O9500 ;
N01 G01 G91 U Q F100; Approach of dressing axis
N02 Maa S100; With Maa, the PMC rotates the grinding wheel in the positive
direction. The gear moves along the V axis in the + direction
accordingly. When the gear reaches the position of limit
switch 2 along the V axis, the PMC stops the grinding wheel
and returns FIN.
N02 U Q V Q; Movement to the next dressing position.
N03 Mbb S100; With Mbb, the PMC rotates the grinding wheel in the
negative direction. The gear moves along the V axis in the -
direction accordingly. When the gear reaches the position of
limit switch 1 along the V axis, the PMC stops the grinding
wheel and returns FIN.
N04 U Q V Q; Movement to the next dressing position.
Dressing is performed by repeating N02 to N04, if necessary.
..........
..........
M99 ;

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NOTE
If the V-axis (linear axis) is synchronized with the
spindle as in the case of dressing, the range of
movement of the V-axis is determined by the rotation
of the spindle. Accordingly, to perform dressing by
back and forth movement along the V-axis over a
certain range, the PMC must perform processing such
that when a certain position on the V-axis is reached,
the spindle is first stopped then reversed.

In the above example, limit switches are provided to

set the V-axis movement range, and control is applied
to the PMC to rotate a grinding wheel until the limit
switch positions on the V-axis are reached.

A position switch function is available to allow dressing

like that described above to be performed without
using mechanical limit switches. Moreover, by
rewriting parameter No. 5280 to No. 5299 for setting a
position switch operation range with the G10
programming parameter input function, a V-axis
movement range can be specified.

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1.12.4 Retraction Function

- Retraction function caused by an external signal

When retract signal RTRCT is set to 1 (on the rising edge of the signal),
retraction is performed according to the retract value set in parameter
No. 7796 and the feedrate set in parameter No. 7795.
The tool does not move along an axis for which the amount of
retraction is set to 0.
After retraction, retraction completion signal RTRCTF is output.

- Retraction function caused by a servo or spindle alarm

When a CNC alarm is issued as a result of a servo axis or spindle axis
error, retraction is performed according to the retract value set in
parameter No. 7796 and the feedrate set in parameter No. 7795.
This function prevents the tool and the workpiece from being damaged
when a servo alarm is issued.

CAUTION
1 Feedhold is invalid for movement during retraction.
2 Feedrate override is invalid for movement during
retraction.

NOTE
1 When a retract signal is set to "1" during automatic
operation, retraction is performed and automatic
operation is stopped.
2 Automatic operation cannot be performed during
retraction.
When cycle start is performed, a warning, "START
REJECT(RETRACT EXECUTING)," is indicated.
3 Retraction movement is performed by linear-
interpolation positioning.
4 Servo position control is stopped 400 ms after
retraction is performed by a servo alarm.
5 Retract completion signal RTRCTF is set to 0 when a
move command is specified for an axis after
retraction on all axes has been completed.

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- Flowchart of retraction function processing by a servo or spindle alarm

Servo axis out of order Spindle out of order

Servo amplifier error Spindle amplifier out of order

Start deceleration stop Start deceleration stop for

for spindle : PMC spindle : spindle amplifier

Stop movement for all

servo axes : CNC

Is the
NO
retraction-amount
parameter No.7796
specified?
YES

NO Is EGB in
synchronization
mode?
YES
Is an
erroneous axis being used YES
as a synchronization
axis?
NO
Maintain EGB Stop EGB synchronization
synchronization : CNC : CNC

Is an
YES erroneous axis being
used as a retraction
axis?
NO
Execute retraction : CNC
Feedrate=parameter No.7795

Output retraction completion

signal RTRCTF : CNC

Is a servo axis
out of order? NO
Is a servo amplifier
erroneous?
YES
Stop position control Do not stop position
of servo. : CNC control of servo. : CNC

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1.12.5 Automatic phase matching function with electronic gear box

In the EGB (electronic gear box), when synchronization start or

cancellation is specified, synchronization is not started or canceled
immediately. Instead, acceleration/deceleration is executed first.
Therefore, synchronization can be started or canceled while the spindle
is rotating.
At synchronization start, automatic phase matching is performed such
that the workpiece-axis position matches the position corresponding to
the spindle one-rotation signal. With this matching, the same operation
is performed as synchronization start caused by a one-rotation signal in
hobbing synchronization when using the conventional functions of a
hobbing machine.
The spindle corresponds to the EGB master axis and the workpiece axis
corresponds to an EGB slave axis.

Format
- Acceleration/deceleration type
G81 T_ L_ R1; Synchronization start
G80 R1; Synchronization end

T : Number of teeth (range of valid settings: 1-1000)

L : Number of hub threads (range of valid settings: -21 to
+21, excluding 0)
When L is positive, the direction of rotation about the
workpiece axis is positive (+ direction).
When L is negative, the direction of rotation about the
workpiece axis is negative (- direction).

- Acceleration/deceleration plus automatic phase matching type

G81 T_ L_ R1; Synchronization start
G80 R2; Synchronization end

T : Number of teeth (range of valid settings: 1-1000)

L : Number of hub threads (range of valid settings: -21 to
+21, excluding 0)
When L is positive, the direction of rotation about the
workpiece axis is positive (+ direction).
When L is negative, the direction of rotation about the
workpiece axis is negative (- direction).

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Explanation
- Acceleration/deceleration type

Spindle
speed

Synchronization
Synchronization start command cancellation command
Workpiece
-axis
speed

Synchronization
Acceleration state Deceleration

G81R1 command
execution

Acceleration

Synchronization-set

G80R1 command execution

Deceleration

1. Specify G81R1 to start synchronization.

When G81R1 is specified, acceleration is performed on the
workpiece axis (slave axis). Once the synchronization feedrate is
reached, EGB mode check signal EGBMn is set to 1, and the
G81R1 block is terminated.
2. For cancellation, specify G80R1 while the tool is moved away
from the workpiece.
3. When G80R1 is specified, the EGB mode check signal is set to 0,
and deceleration is started immediately. When the speed is
reduced to 0, the G80R1 block is terminated.
NOTE
1 inear acceleration/deceleration applies.
2 In automatic synchronization cancellation due to the
following causes, deceleration is executed and
synchronization is canceled.
(1) Reset
(2) PW000(POWER MUST BE OFF)
(3) IO alarm

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1.AXIS CONTROL B-63323EN-1/03

- Acceleration/deceleration plus automatic phase matching type

Spindle
speed

Synchronization
Synchronization start command cancellation command

Workpiece
-axis
speed

Synchro- Synchro-
Acceleration nization nization Deceleration
state state

G81R2 command
execution

Acceleration

Automatic phase synchronization

Synchronization-set signal

G80R2 command execution

Deceleration

1. Move the workpiece axis to the position that corresponds to that

of the one-rotation signal of the spindle.
2. Specify G81R2 to start synchronization.
Specify G81R2 to start synchronization. When G81R2 is
specified, the workpiece axis is accelerated. When the
synchronization speed is reached, phase synchronization is
performed automatically. Upon the completion of phase
synchronization, EGB mode check signal EGBMn is set to 1, and
the G81R2 block is terminated.
3. For cancellation, specify G80R2 while the tool is moved away
from the workpiece.
4. When G80R2 is specified, the EGB mode check signal is set to 0,
and deceleration is started immediately.
When the speed is reduced to 0, the G80R2 block is terminated.

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CAUTION
Automatic phase matching, specify the speed in
parameter No. 5984 and the movement direction in
parameter PHD, bit 1 of No. 7712.
In phase matching, rapid-traverse linear
acceleration/deceleration (with the time constant
specified in parameter No. 1620) is performed.
The workpiece-axis speed is obtained by
superposing the speed in automatic phase matching
onto the speed corresponding to spindle rotation.
In consideration of this superposition, specify a
position deviation limit in parameter No. 1828.

NOTE
1 The one-rotation signal used for automatic phase
synchronization is issued not by the spindle position
coder but by the separate pulse coder attached to the
spindle and used to collect EGB feedback
information. This means that the orientation position
based on the one-rotation signal issued by the
spindle position coder does not match the position
used as the reference for the workpiece axis when
establishing phase synchronization for automatic
phase synchronization based on G81R2.
Moreover, the one-rotation signal of the separate
pulse coder must be turned on for each rotation of the
spindle.
2 With the use of parameter No. 5985, the position at
which the phase of the workpiece axis is matched can
be shifted from the position corresponding to the
one-rotation signal in automatic phase matching.
3 When a synchronization command is issued again in
a synchronization state, movement about the
workpiece axis is performed in automatic phase
matching such that the position corresponding to the
one-rotation signal of the spindle matches the
position about the workpiece axis specified in the
G81R2 synchronization start command executed
first.
4 In automatic phase matching, movement is
performed about the workpiece axis from the current
position to the nearest phase position in the phase
matching movement direction specified by the
parameter.
5 Linear acceleration/deceleration applies to
synchronization start/cancellation.

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1.AXIS CONTROL B-63323EN-1/03

NOTE
6 The acceleration/deceleration plus automatic phase
matching type can be executed by the PHS
parameter, bit 0 of No. 7712, without specifying an
R2 command in a G81 or G80 block.
7 In automatic synchronization cancellation due to the
following causes, deceleration is performed and
synchronization is canceled.
(1) Reset
(2) PW000(POWER MUST BE OFF)
(3) IO Alarm

Signal
Retract signal
RTRCT<G042#4>
[Classification] Input signal
[Function] Retracts along the axis specified in the parameter.
[Operation] When this signal is set to "1," the CNC operates in the following way.
At the rising edge of this signal, retraction can be performed for the
axis for which a retract value is set in parameter No. 7796. The retract
value and retract feedrate set in parameter No. 7796 and No. 7795 are
used. Upon the completion of retraction, retract completion signal
RTRCTF is output.The retract signal is valid in either automatic
operation mode (MEM, MDI, etc.) or manual operation mode (H, JOG,
etc.). When the retract signal is set to "1" during automatic operation,
retraction is performed and automatic operation is stopped.

Retraction completion signal

RTRCTF<F041#4>
[Classification] Output signal
[Function] Reports that retraction is finished.
[Operation] This signal is set to "1" in the following case.
- When retraction is finished (movement is finished)
This signal is set to "0" in the following case.
- After retraction is finished, when a move command is issued

NOTE
When the retraction completion signal is "1," the
retract signal is not accepted.

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EGB mode confirmation signal

EGBM1<F066#3>, EGBM 2< F070#3>, ...
[Classification] Output signal
[Function] Reports that synchronization is being executed by EGB. This signal is
output to a slave axis.
EGBMx
x : 1 ..... First axis synchronized by EGB
2 ..... Second axis synchronized by EGB
3 ..... Third axis synchronized by EGB
: :
: :
[Operation] This signal is set to "1" in the following case.
- During synchronization caused by EGB
This signal is set to "0" in the following case.
- When synchronization caused by EGB is released

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G042 RTRCT

F041 RTRCTF

F066 EGBM1

The above EGBM1 address corresponds to the first-axis signal address.

For details of the signal addresses for the second and subsequent axes,
see Appendix A.1 Address List.

Parameter
The following table lists the parameters related to EGB.

Data Description
number
1004 # 6 The current position is not indicated for an axis for which this parameter is set to 1.
Since the current position for an EGB dummy axis has no meaning, set this parameter to 1 to delete
the current position indication for the axis from the CRT screen.
1006 # 0 To specify a speed with L in a slave-axis amount of travel in a synchronization command, the slave
1006 # 1 axis needs to be set to a rotation axis (a parameter ROT, bit 0 of No. 1006, and a parameter ROS,
bit 1 of No. 1006, need to be set to 1).
1023 Specify on the FSSB setting screen. In FSSB manual setting, specify one of the following cases for
EGB axes.

Cases (1) (2) (3) (4) (5)

EGB slave axis 1 3 5 7 9
EGB dummy axis 2 4 6 8 10

1955 # 0 Specify an axis to be synchronized.

Specify 1 for both an EGB slave axis and EGB dummy axis.
7612 # 0 Specify whether synchronization mode is canceled by a reset.
7612 # 2 Compensation direction for helical gear compensation

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1.AXIS CONTROL B-63323EN-1/03

Data Description
number
7712 # 0 Specify whether acceleration/deceleration is performed in EGB synchronization start/cancellation
if an R command is not specified in a G81/G80 block. In synchronization start, when
acceleration/deceleration is performed, automatic phase matching is performed after acceleration.
7712 # 1 Movement direction in automatic phase matching
7613 # 4 Specify whether the retraction function is made valid by a servo or spindle alarm.
7711 # 6 Specify whether feed-forward control is made valid for the axial feed axis in helical compensation
5996 Pulse count of position detector per rotation about EGB master axis
5997 Pulse count of position detector per rotation about EGB slave axis
5994 Number of the axial feed axis in helical compensation
5995 Number of axis to be synchronized in a command compatible with that for a hobbing machine
5998 Controlled axis number of master axis
7795 Retraction speed
7796 Retraction amount
5984 Workpiece-axis speed in automatic phase matching
5985 Shift angle from the spindle position (that corresponding to one-rotation signal), which serves as a
reference to which the phase is matched for the workpiece axis
7729 Acceleration/deceleration value for the workpiece axis
*) For details, see 1.5.3 FSSB setting.

Note the following points when specifying parameters for the

electronic gear box.
1. Arrange the controlled axes such that a slave axis appears before a
dummy axis.
(Example)
Example of incorrect setting Example of correct setting
Servo axis Servo axis
Axis name number Axis name number
(No.1023) (No.1023)
X 1 X 1
Y 2 Y 2
C(dummy axis) 3 C (slave axis) 3
C(slave axis) 4 C (dummy axis) 4

2. Specify an axis that is not used or the same name as that for a slave
axis for the name of a dummy axis. Do not use a name which is
usually not allowed to be used as an axis address, such as D.
3. Specify the same values for an EGB slave axis and an EGB
dummy axis in the following parameters.
1013#0 Increment system (0.01 mm)
1013#1 Increment system (0.0001 mm)
1013#2 Ten times minimum input increment
1006#0 Inch/metric switching (rotation axis/linear axis)
1006#1 Shape of machine coordinate system (rotation
axis/linear axis)
1006#2 Shape of machine coordinate system for pitch error
compensation (rotation axis/linear axis)
1006#3 Diameter/radius setting
1420 Rapid traverse rate
1421 Rapid-traverse override F0 speed
1820 Command multiplication

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B-63323EN-1/03 1.AXIS CONTROL

4. Specify the amount of travel per rotation about a rotation axis for
a slave axis in a parameter No. 1260.
5. Make the specification for a dummy axis in the following way.
1816#4, #5, #6 Detection multiplication (DMR)
Set bit 4, bit 5, and bit 6 of No. 1816 to 1 (DMR=4)
1807#3, 1815#1 Whether to use separate detectors.
Although an EGB dummy axis uses the interface of a
separate detector, set these parameters to 0.
1890 Set to 0.
6. If the following parameters are not specified, an alarm (SV0027
servo parameter invalid) may be generated. In such a case, make
the specification as described below.
18XX Specify the same value for both a slave axis and
a dummy axis.
1977, 1978 Flexible feed gear.
Set parameters Nos. 1977 and 1978 to 1 for the
dummy axis.
7. Specify as large a feed-forward coefficient as possible to reduce
the synchronization error.For details of parameter setting, see
Feed-forward setting of Geometric error suppression function in
FANUC AC SERVO MOTOR a Series Parameter Manual (B-
65150).

#7 #6 #5 #4 #3 #2 #1 #0
1004 DSP

   

   * 

    78    4       

    9 !
.:   !
:   !

NOTE
When using the electronic gear box function (EGB), specify 1 for
the dummy axis of the EGB to disable position display.

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1.AXIS CONTROL B-63323EN-1/03

1023 Servo axis number of each axis

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 0 - Max axes
Specify the number of the servo axis that corresponds to each
control axis. Normally, set each servo and control axis to the same
numbers.
The control axis number and servo axis number of an axis with an
absolute position detector must be the same.
- If FSSB setting mode is automatic setting mode (bit 0 of
parameter No. 1090 is set to 0), setting is made automatically by
inputting data to the FSSB setting screen. In manual setting
mode (bit 0 of parameter No. 1090 is set to 1), however, data
must be entered directly.
- The servo axes are associated with servo amplifiers by setting
parameter Nos. 1080 to 1089.
- For spindle motor axes such as the spindle positioning axis and
Cs contour control axis, 0 must be set.
- For axes under tandem control and electronic gear box (EGB)
control, a pair of two axes must be set. Set these axes as
follows:

EGB axis: Set 1, 3, 5, or 7 for the slave axis. For the dummy

axis to be used with the slave axis, set a value

greater than the value set for the slave axis.

#7 #6 #5 #4 #3 #2 #1 #0
1955 EGB

   

   * 

    7. ;<*     4     = 4 
     %;<*&!
.: (4     = 4 ;<*!
: 6  4     = 4 ;<*!
   ;<*     !

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B-63323EN-1/03 1.AXIS CONTROL

#7 #6 #5 #4 #3 #2 #1 #0
7612 HDR RSH

   

   *

    7. ">   4        %<?$<?!@&4 
     %;<*& !
.: -    !
:     !  2       
<?. <?.!@  !

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1.AXIS CONTROL B-63323EN-1/03

#2 HDR Helical gear compensation direction (Usually, set 1.)

Example: When the rotation direction of the C-axis is the negative (-) direction, and a
left-twisted helical gear is cut:
0: Set a negative (-) value in P.
1: Set a positive (+) value in P.

When the HDR bit is set to 1

(a) (b) (c) (d)

+Z +C +C +C +C

C : +, Z : +, P : + C : +, Z : +, P : - C : +, Z : -, P : + C : +, Z : -, P : -
Compensation direction : + Compensation direction : - Compensation direction : - Compensation direction : +
-Z

(e) (f) (g) (h)

+Z -C -C -C -C

C : -, Z : +, P : + C : -, Z : +, P : - C : -, Z : -, P : + C : -, Z : -, P : -
-Z Compensation direction : - Compensation direction : + Compensation direction : + Compensation direction : -

When the HDR bit is set to 0 ((a), (b), (c), and (d) are the same as when the HDR bit is set to 1)

(e) (f) (g) (h)

+Z -C -C -C -C

C : -, Z : +, P : + C : -, Z : +, P : - C : -, Z : -, P : + C : -, Z : -, P : -
-Z Compensation direction : + Compensation direction : - Compensation direction : - Compensation direction : +

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B-63323EN-1/03 1.AXIS CONTROL

#7 #6 #5 #4 #3 #2 #1 #0
7712 PHD PHS

   

   *

    7. >   4      ,  4 ;<*

  =        "  
<?,<?. 9!
.:     ,  4 ;<*  = 
      !
:    ,  4 ;<*  = 4 
;<*  =       $    
          4   = 
 !

    7 >               !
.:  %+& 
: 6   %& 

#7 #6 #5 #4 #3 #2 #1 #0
7613 ART

   

   *

    70 ("2   4             

 !
.: 6 !
:  !

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1.AXIS CONTROL B-63323EN-1/03

#7 #6 #5 #4 #3 #2 #1 #0
7711 EHF

   

   *

    78 ;>A   4    4          

         = 
  <?!
.:    !
:        =    <?!
# $ .!
A  4        !  ) 
    $4  $  4       
            = 
   <?      !
) B%"A)&   6!?.. $  4   
 $      !

5996 Number of pulses from the position detector per EGB master axis rotation

   

     

     '''''''''
          ;<*   
 !
    4   3  (,*     !

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B-63323EN-1/03 1.AXIS CONTROL

5997 Number of pulses from the position detector per EGB slave axis rotation

   

     

#    

     '''''''''
Set the number of pulses from the position detector per EGB slave axis rotation.
Specify the number of pulses output by the detection unit.
Example 1: When th EGB master axis is the spindle, and the EGB slave axis is the
C-axis

CNC
n/m
α p/rev
Command pulse Detector
Slave axis ×CMR Error Speed/current Motor
counter control
Least command increment
Detection unit Gear ratio C-axis
0.001 deg
A

Synchronization Detector β p/rev

Synchronous switch coefficient

Dummy Follow-up ×CMR Error Gear ratio B

axis counter Spindle

Spindle-to-detector gear ratio B: 1/1 (The spindle and detector are connected
directly.)
Number of pulses from the detector of the spindle : 80000 pulses/rev
(calculated assuming that four pulses are generated in one A/B phase cycle)
C-axis gear ratio A: 1/36 (The C-axis rotates one turn while the motor rotates 36
turns.)
Number of pulses from the detector of the C-axis ¿: 1,000,000 pulses/rev
C-axis CMR: 1
Flexible feed gear n/m: 1/100
In this case, the number of pulses per spindle rotation is obtained as follows:
80000×1/1 = 80000
So, set 80000 in parameter No. 5996.
The number of pulses per C-axis rotation by the detection unit is obtained as
follows:
1000000÷1/36×1/100 = 360000
In parameter No. 5997, set 360000.

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1.AXIS CONTROL B-63323EN-1/03

(Example 2) If the spindle-to-detector gear ratio is changed to 2/3

in the above example (three spindle rotations for two detector
rotations)
In this case, the number of pulses per spindle rotation is:
 
 × 



There is a remainder. In this case, change the setting of parameter
No. 5997 so that the ratio between parameter No. 5996 and No.
5997 becomes the desired value.


   
 


   × 

Therefore, it is only necessary to set No. 5996 = 160000 and No.
5997 = 1080000.
With this method, stress is placed on the correct ratio between the
two parameters. So the value of the ratio can be reduced, and the
resulting numerator and denominator can be set as the respective
parameters. In this case, it is possible to set No. 5996 = 16 and No.
5997 = 108.
If the ratio between the number of pulses for the master axis and
that for the slave axis is adjusted, but the actual number of pulses
does not match the corresponding parameter (for example, if the
ratio is modified because the number of pulses is indivisible
because of a gear ratio between the master and slave axes, as in
example 2), it is impossible to specify the following G81.5
commands.

G81.5 T_ C_: If a number of rotations is specified for the master

axis, and an amount of travel is specified for the slave axis

G81.5 P_ C0 L_: If a number of pulses is specified for the master

axis, and a number of rotations is specified for the slave axis

G81.5 X_ C0 L_: If an amount of travel is specified for the master

axis, and a number of rotations is specified for the slave axis

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B-63323EN-1/03 1.AXIS CONTROL

5994 Axial-feed axis number in helical compensation

   

    

     .   
               !

NOTE
When this parameter is set to 0, the Z-axis is set as the axial-feed
axis.
When there are two or more parallel Z-axes, use this parameter
to specify which Z-axis is to be used as the axial-feed axis.

5995 Axis number of an axis to be synchronized using the method of command

specification for a hobbing machine

[Input type] Parameter input

[Data type] Integer
[Valid data range] 1 - Max axes
When there are several groups of axes subject to synchronization
control (the axes for which bit 0 (SYN) of parameter No. 1955 is set
to 1), an axis with which to start synchronization is specified using
the following command (for a hobbing machine):

G81 T t L ± l ;
t: Spindle speed (1 ≤ t ≤ 1000)

l: Number of synchronized axis rotations (1≤ l ≤ 21)
Synchronization between the spindle and a specified axis is
established with the ratio of  l rotations about the synchronized
axis to t spindle rotations
t and l correspond to the number of teeth and the number of
threads on the hobbing machine, respectively.
If the above command is specified without setting this parameter
when there are multiple groups of axes to be synchronized, alarm
PS593 is issued.
When only one group of axes is to be synchronized, this parameter
is ignored.

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1.AXIS CONTROL B-63323EN-1/03

7795 Retract feedrate

   

   " 

#  ,$ ,$  ,%  &

             

     "           %-&
%)     *$.!.+/0....!.&
           !

7796 Retract amount

   

   "  

#  $ $  %  &

            

     '  %        
  %(&&
%)     *$''''''!'''+''''''!'''&
        !

5984 Speed for workpiece-axis automatic phase alignment

   

   " 

#    ,

            

     "           %-&
%)     *$''''''!'''C''''''!'''&
    4 9         !

5985 Angle deviation from the spindle position (position of the one-rotation
signal) used as a reference for workpiece-axis phase alignment

   

   " 

#   

            

     '  %        
  %(&&
%)     *$''''''!'''+''''''!'''&
         %  
  &       4 9      !

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B-63323EN-1/03 1.AXIS CONTROL

7729 Acceleration for workpiece axis acceleration/deceleration

   

   "  

#    , ,

            

     "           %&
%)         $.!.+.....!.!) 
     $  $.!.+....!.&
       4 9    ,  !

Alarm and message

Number Message Contents
PS0593 EGB PARAMETER SETTING Erroneous EGB parameter setting
ERROR (1) The setting of SYN parameter No. 1955#0 is incorrect.
(2) The slave axes set by the G81 code are not set to rotary axes.
(ROT and ROS parameter Nos. 1006#0, #1)
(3) The number of pulses (parameter Nos. 5596, 5597) per rotation
is not set.
(4) Parameter No. 5995 is not set by the hobbing machine
compatible instruction.
PS0594 EGB FORMAT ERROR Format error in the block in which EGB was specified
(1) Nothing is specified to the master axis or slave axes in the G81.5
block.
(2) Out of range data is specified to the master axis or slave axes in
the G81.5 block.
(3) Number of threads T is not specified in the G81 block.
(4) Out of range data is specified by one of T, L, P or Q codes in the
G81 block.
(5) Only one of P or Q codes is specified in the G81 block.
PS0595 ILL-COMMAND IN EGB An illegal instruction was issued during synchronization by EGB.
MODE (1) Slave axis was specified by G27, G28, G29, G30, G30.1, G33
and G53 G codes.
(2) Inch/metric conversion was specified by G20 or G21 G codes.
PS0596 EGB OVERFLOW An overflow occurred during calculation of the synchronization
coefficient.
PS0597 EGB AUTO PHASE FORMAT Format error in block in which G80 or G81 was specified by EGB
ERROR automatic phase alignment
(1) R is data outside of the instruction range.
PS0598 EGB AUTO PHASE Erroneous parameter settings relating to EGB automatic phase
PARAMETER SETTING alignment
ERROR (1) The acceleration/deceleration parameter is invalid.
(2) The automatic phase alignment parameter is invalid.

Reference item
Series15i/150i-MA Operator’s Manual II-19.9 Electronic gear box
(Programming) G80,G81,G80.5,G81.5
(B-63324EN)

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1.AXIS CONTROL B-63323EN-1/03

1.13 EGB AXIS SKIP FUNCTION

General
In the synchronization mode supported by an electronic gear box
(EGB), this function enables a skip signal or high-speed skip signal
(both referred to as a skip signal) for an EGB slave axis. This function
has the following features:
1. If a skip signal is input while a block of the EGB axis skip
command is being executed, the function does not terminate the
block before the specified number of skip signals is input.
2. Even if a skip signal is input while a block of the EGB axis skip
command is being executed, the function does not stop the
movement on the EGB slave axis and instead continues the
movement in synchronization mode.
3. The machine coordinates when a skip signal is input and the
number of input skip signals are stored in specified custom macro
variables.

Format
G81 T_ L_ ; EGB mode on
G31.8 G91 α0 P_ Q_ ( R_ ) ; EGB skip command

α : Specifies an EGB slave axis. The value must

always be 0.
P : First variable number of the custom macro
variables which store the machine coordinates
when the skip signal is input
Q : Number of skip signals that can be input while
G31.8 is being executed (valid data range: 1 to
900)
R : Variable number of the custom macro variable
which stores the number of input skip signals. This
number is specified to check the signal input count.

Explanation
G31.8 is a one-shot G code.
When G31.8 is executed, the machine coordinates when the number of
skip signals specified in Q are written in custom macro variables
starting from the variable number specified in P are written at the end
of the skip command block.

The number of input skip signals is written in the custom macro

variable specified in R each time a skip signal is input.

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B-63323EN-1/03 1.AXIS CONTROL

NOTE
1 Only a single EGB slave axis may be specified for this
function. If no axis is specified or if two or more axes
are specified, alarm PS152 is output.
2 If P is omitted, alarm PS152 is output.
3 If R is omitted, the number of input skip signals is not
written in the custom macro variable.
4 The custom macro variable number of an existing
variable must be specified in P or R. If the variable
number of a non-existing variable is specified, alarm
PS114 is raised.
A shortage of variables also causes alarm PS114 to
be output.
5 Whether to use the conventional skip signal or high-
speed skip signal for this function is specified with the
HSS bit (bit 4 of parameter 7200). When the use of
the high-speed skip signal is selected, the high-speed
signal to be enabled is specified by the 9S1 to 9S4
bits (bits 0 to 3 of parameter 7210).
6 If the EGB master axis is not the spindle but another
controlled axis, the master axis must be an axis of
movement by PMC axis control.
7 A skip position is calculated from the feedback pulse
of the machine. The value is not affected by
acceleration/deceleration or by a servo system delay.

Signal
For the skip signal, see Section 14.5.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7200 HSS

   

   *

#4 HSS Specifies whether to use the high-speed skip signal when the skip
function or multistage skip function is used.
0: Not used. (The skip signal of the conventional type is used.)
1: Used. (The skip signal of the conventional type is disabled.)

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1.AXIS CONTROL B-63323EN-1/03

#7 #6 #5 #4 #3 #2 #1 #0
7210 9S8 9S7 9S6 9S5 9S4 9S3 9S2 9S1

   

   *

9S1 to 9S8 A skip signal to be used for G31.8 (EGB skip command) is set.
Corresponding skip signal
Parameter High-speed skip signal DI signal
( HSS(No.7200#4)=1) ( HSS(No.7200#4)=0)
9S1 HDI0 SKIP1
9S2 HDI1 SKIP2
9S3 HDI2 SKIP3
9S4 HDI3 SKIP4
9S5 HDI4
9S6 HDI5
9S7 HDI6
9S8 HDI7
0: A corresponding skip signal is invalid.
1: A corresponding skip signal is valid.

7220 Time width from input of a skip signal until the input of the next skip signal
is enabled when the EGB skip function is used

[Input type] Parameter input

[Data type] Integer
[Unit of data] 8msec
[Valid data range] From 3 through 127. Other values are taken as 3.
Set the time width from input of a skip signal until the input of the next skip signal
is enabled (becomes acceptable) when the EGB skip function is used.
Set a value in steps of 8 msec.
Example: When 10 is set, 80 msec is assumed.
This parameter is set to prevent the system from accepting a skip signal mistakenly.

Parameter-set time

Skip (1) (2) (3)

signal

After skip signal (1), skip signal (2) is ignored because it is input within the
parameter-set time. Skip signal (3) is valid.

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B-63323EN-1/03 1.AXIS CONTROL

Alarm and message

Number Message Contents
PS0114 VARIABLE NO. OUT OF RANGE An illegal No. was specified in a local variable, common
variable or a system variable in a custom macro.
A non-existent custom macro variable No. was specified in
the EGB axis skip function (G31.8), or there are not enough
custom macro variables for storing the skip position.
PS0152 G31.9/G31.8 FORMAT ERROR The format of the G31.9 or G31.8 block is erroneous in the
following cases:
• The axis was not specified in the G31.9 or G31.8 block.
• Multiple axes were specified in the G31.9 or G31.8 block.
• The P code was specified in the G31.9 or G31.8 block.

Reference item
Series15i/150i-MA Operator’s Manual II-19.9 Electronic gear box
(Programming)
(B-63324EN)
Series15i/150i- Connection Manual 14.5.1 Skip function
MODEL A (This manual)

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1.AXIS CONTROL B-63323EN-1/03

1.14 TURNING MODE AND COMPENSATION CLAMP OF DUAL

POSITION FEEDBACK

Overview
For axes controlled by the dual position feedback function, turning
mode and compensation clamp are newly available. For details on the
dual position feedback function, refer to the "FANUC AC SERVO
MOTOR α Series Parameter Manual" (B-65150E).

ETurning mode
When the dual position feedback turning mode select signal is input to
the CNC, it selects turning mode. In turning mode, the feedback in the
closed loop for the axis set by bit 0 (STH) of parameter No. 1930 is
ignored. When a move command is issued in turning mode, only
semi-closed loop control is provided.

This function is used to switch the control method depending on the

situation; for example, a certain axis may be placed under position
control by the servo motor or may be controlled as a spindle by the
spindle motor.

In turning mode, feedback in the closed loop is ignored, which allows

all the coordinates (machine coordinates, workpiece coordinates, and
local coordinates) to be shifted by the amount of movement performed
in turning mode. Therefore, once turning mode has terminated,
reference position return is required to match the coordinates. If an
attempt is made to perform automatic operation without first
performing reference position return, alarm PS0181 is issued.

NOTE
For an axis for which turning mode is to be used, an
absolute-position detector cannot be used.

ECompensation clamp
When the dual position feedback compensation clamp signal is input to
the CNC, it stops dual position feedback compensation. As the
compensation stops, the feedback in the closed loop is halted, and
operation is performed in the semi-closed loop. Whenever the axis
subjected to dual position feedback is to be clamped mechanically,
compensation clamp must be applied. This function works on the axis
for which bit 2 (HYB) of parameter No. 1817 is set to 1.

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B-63323EN-1/03 1.AXIS CONTROL

Signals

Dual position feedback turning mode select signal

HBTRN <G008#4>
[Classification] Input signal
[Function] Selects turning mode.
[Operation] When this signal is set to 1, turning mode of dual position feedback is
entered.

Dual position feedback compensation clamp signal

*CL1 <G065#5>, *CL2 <G069#5>, ...
[Classification] Input signal
[Function] Stops dual position feedback compensation.
[Operation] When this signal is set to 0, dual position feedback compensation is
stopped. This signal is valid only when bit 2 (HYB) of parameter No.
1817 is 1.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G008 HBTRN

G065 *CL1

Parameters

#7 #6 #5 #4 #3 #2 #1 #0
1817 HYB

   

   * 

NOTE
After this parameter has been set, the power must be turned off then
back on for the setting to become effective.

    7/ >D*    9     :

0: Not performed.
1: Performed.

NOTE
With the FANUC Series 15i, the use of a function equivalent to
FANUC Series 15B hybrid control requires the dual position
feedback function. When the compensation clamp function of
dual position feedback is used, therefore, a setting to enable dual
position feedback is required in addition to the setting of this bit.

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1.AXIS CONTROL B-63323EN-1/03

#7 #6 #5 #4 #3 #2 #1 #0
1930 STH

   

   * 

    7. 2> 2     9:

0: Disabled.
1: Enabled.

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B-63323EN-1/03 1.AXIS CONTROL

1.15 DECELERATION STOP AT POWER FAILURE

Overview
If a power failure occurs during axis movement, this function
decelerates and stops the tool according to a certain acceleration value
set for each axis in parameter No. 1670 to prevent the machine from
being damaged by an overrun.

Description
- Deceleration method
In either cutting or rapid traverse, linear deceleration is performed at a
constant acceleration.
- Example of deceleration
When the feedrate along the X-axis differs from that along the Y-axis

Power failure detected

Power failure
deceleration signal
PWFL

Feedrate along X-axis

Decelerated at acceleration
set in parameter No. 1670

Feedrate along Y-axis

NOTE
1 Once deceleration has been completed after the
power failure deceleration signal is set to 1, any
movement along an axis is disabled.
2 To perform axis movement, turn the power off then
back on.
3 The torque control axis in PMC axis control, feedrate
control axis, Cs contour control axis, spindle
positioning axis, and EGB axis are not subjected to
deceleration by this function.
4 Some measures are required on the PMC ladder and
machine sides to prevent emergency stop from
occurring before deceleration is completed.

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1.AXIS CONTROL B-63323EN-1/03

Signal

Power failure deceleration signal PWFL <G159#3>

[Classification] Input signal
[Function] Posts the detection of a power failure.
[Operation] When this signal is set to 1, the control unit operates an follows:
Immediately performs deceleration stop according to an acceleration
value set in parameter No. 1670.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G159 PWFL

Parameter
1670 Acceleration for each axis for deceleration stop at power failure

   

   "   

#  , , $ , , $  , , %  &

  2      3 4 !

               %&!
%A     $.!.+.....!.!  A    $.!.
+....!.&
Set an acceleration value by which deceleration stop is to be performed for the
target axis at power failure.
If this parameter is set to 0 for an axis, deceleration is not performed for that axis
upon a power failure.

In synchronization control and tandem control, set the same parameter value for
both the master and slave axes.

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B-63323EN-1/03 1.AXIS CONTROL

1.16 HIGH SPEED HRV MODE

Overview
Higher speed and higher precision HIGH SPEED HRV control can be
performed by using the servo control card, the servo amplifier, and
Separate Detector I/F Unit supporting HIGH SPEED HRV control.

Format
G05.4 Q1 ; Turns HIGH SPEED HRV mode on.
G05.4 Q0 ; Turns HIGH SPEED HRV mode off.

For details of HIGH SPEED HRV mode, refer to the "FANUC AC

SERVO MOTOR α series PARAMETER MANUAL (B-65150E)."

- Sample program

O12345678
:
G00 X...
G05.1 Q1 Turn fine HPCC mode on.
G01 X...Y...F...
G01 X...Y...
G00 X...Y...
G05.4 Q1 Turn HIGH SPEED HRV mode on.
G01 X...Y...
G02 I...J...R...
G00 X...Y...
G01 X...Y...
:
G05.4 Q0 Turn HIGH SPEED HRV mode off.
G01 X...Y...
:
G05.1 Q0 Turn fine HPCC mode off.

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1.AXIS CONTROL B-63323EN-1/03

Restrictions
HIGH SPEED HRV mode is disabled under any of the following
conditions, even if an attempt is made to turn it on:
- Automatic operation is stopped
- PMC axis control axis
- Axis on which a chopping operation is in progress
- Axis for which the setup type of the simultaneous auto/manual
operation is selected

NOTE
1 While automatic operation is stopped, HIGH
SPEED HRV mode is disabled. When automatic
operation is resumed without a reset, the mode is
enabled again.
If a reset is performed, HIGH SPEED HRV mode
remains disabled until G5.4Q1 is issued.
2 If the servo is in the HIGH SPEED HRV disabled
state (as determined with the status of the servo
software, servo control card, servo amplifier, and
Separate Detector I/F Unit), issuing G05.4Q1
causes "PS0010 invalid G code" alarm to be issued.
To determine whether HIGH SPEED HRV is
enabled, check bit 1 (HIGH SPEED HRVOK) of the
following numbers displayed on the diagnosis
screen:
First axis: Number 3022
Second axis: Number 3042
Third axis: Number 3062
(n-th axis: 3022 + 20 x (n - 1 j

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1707 HR3

   

   * 

    7. >"B ><> ;;>" 

0: Disabled.
1: Enabled.
Refer to the "FANUC AC SERVO MOTOR
Series PARAMETER MANUAL
(B-65150E)" for details.

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B-63323EN-1/03 1.AXIS CONTROL

Diagnosis
- HIGH SPEED HRV status
The HIGH SPEED HRV status can be checked using diagnostic data.

#7 #6 #5 #4 #3 #2 #1 #0
3022 HRVOK HRVON

A  :  B.//

  :  B.0/
2  :  B.8/
    % :  B.//+/.%&
* 6       4 55  
7. >"E6 2     ><> ;;>" !
7 >"EF )     >"B%6!G.G7.& HI$
><> ;;>"   %    4
    4 $    $
   $       ,A#&!

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1.AXIS CONTROL B-63323EN-1/03

1.17 SETUP OF FSSBs IF USING HIGH SPEED HRV CONTROL

It is possible to use HIGH SPEED HRV control for up to eight axes (24
axes for systems having 11 or more controlled axes) by using the servo
control card supporting HIGH SPEED HRV control and the slave
(servo amplifier, Separate Detector I/F Units) supporting HIGH
SPEED HRV control.

If the servo control card supporting HIGH SPEED HRV control is to be

used, the following parameters must be specified in addition to
conventional FSSB setup parameters. (Specify other parameters as
usual.)
- Nos. 1120 to 1129. (For systems having 11 or more
controlled axes, parameters Nos. 1130 to 1139 and 1140 to
1149 are provided in addition to the above parameters.
In the remainder of this manual, "Nos. 1120 to 1129" are
interpreted to include Nos. 1130 to 1139 and 1140 to 1149
for systems having 11 or more controlled axes.)
Except for the following description, these parameters can be specified
in the same way as conventional FSSB setup parameters.

Axis configuration and parameter specification examples

- Example 1 (using a single FSSB: HIGH SPEED HRV control can be used if the
number of controlled axes is four or less.)
If an optical fiber cable is connected to only the first FSSB, the settings
are as shown in the figure below.
CNC
Parameter
Slave No. Nos. 1080 to
1084 Axis
Controlled Programmed Servo

axis No. axis name axis No.

1-1 0 X
2-axis amp.
1 X 1 1-2 1 Y

2 Y 2 1-3 2 Z
2-axis amp.
3 Z 3 1-4 3 C
M1
4 C 4 1-5 16 (M1)

Parameter Nos. 1120 to 1129 and

Nos. 1085 to 1089 are all 40.

Fig.1.17 (a) If using a single FSSB

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B-63323EN-1/03 1.AXIS CONTROL

NOTE
If the number of controlled axes is four or less, it is
available to use HIGH SPEED HRV control with one
Separate Detector I/F Unit. In this case, the
Requirements for performing HIGH SPEED HRV control
must be satisfied. For these requirements, refer to
“NOTES” of the end of chapter.

- Example 2 (using two FSSBs: HIGH SPEED HRV control can be used if the number
of controlled axes is eight or less.)

If two optical fiber cables are connected to the first and second FSSBs
separately, the settings are as shown in the figure below.

Slave No. Parameter Parameter

Nos. 1080 to Nos. 1085 Axis
1084 ‘1089
CNC

Controlled Programmed Servo axis 1-1 0 40 X

axis No. axis name No. 1-2 1 40 Y

2-axis amp.
1-3 2 40 B
1 X 1 1-4 3 40 C
2 Y 2 1-5 16 40
2-axis amp. (M1)
3 Z 8
M1
4 U 5
Slave No. Parameter Parameter
1- axis amp. Nos. 1120 to Nos. 1125 to Axis
5 V 6 1124 1129

6 W 7 1- axis amp.
2-1 4 40 U
7 B 3 1- axis amp.
2-2 5 40 V
8 C 4
1-axis amp. 2-3 6 40 W

M2 2-4 7 40 Z
2-5 48 40 (M2)

Fig.1.17 (b) If using two FSSBs

NOTE
In example 2, HIGH SPEED HRV control can be used
for all eight axes.

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1.AXIS CONTROL B-63323EN-1/03

Display of FSSB data

The slave numbers on the amplifier setup screen each consist of a
number that indicates an FSSB (either 1 or 2), a hyphen (-), and the
number of the slave unit connected to that FSSB. The slave numbers
are listed, starting with that of the slave unit closest to the CNC.

Fig.1.17 (c) If using a single FSSB

If slaves are connected to the second FSSB, the second slave numbers
are displayed after the first slave numbers.

Fig.1.17 (d) If using two FSSBs

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B-63323EN-1/03 1.AXIS CONTROL

Parameters

1120 Address translation table value (ATR) for slave 1 (second FSSB)

1121 Address translation table value (ATR) for slave 2 (second FSSB)

1122 Address translation table value (ATR) for slave 3 (second FSSB)

1123 Address translation table value (ATR) for slave 4 (second FSSB)

1124 Address translation table value (ATR) for slave 5 (second FSSB)

1125 Address translation table value (ATR) for slave 6 (second FSSB)

1126 Address translation table value (ATR) for slave 7 (second FSSB)

1127 Address translation table value (ATR) for slave 8 (second FSSB)

1128 Address translation table value (ATR) for slave 9 (second FSSB)

1129 Address translation table value (ATR) for slave 10 (second FSSB)

NOTE
After specifying these parameters, turn the power off and
then on again for the new settings to take effect.

   

    

     .G$8$0.$0?
If the servo control card supporting HIGH SPEED HRV control is to be used, these
parameters must be specified in addition to conventional FSSB setup parameters.
If the FSSB setup mode is automatic setting (bit 0 of parameter No. 1090 is 0),
these parameters are automatically specified. Be sure to specify the parameters if
the mode is manual setting (bit 0 of parameter no. 1090 is 1).

Set the address translation table values for slaves 1 to 10 of the second FSSB.
For details of the settings and restrictions, see the description of parameters Nos.
1080 to 1089.

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1.AXIS CONTROL B-63323EN-1/03

NOTE
1 A total of up to ten slave units (eight amplifiers and two Separate Detector
I/F Units) can be connected to the first and second FSSBs. (For systems
having 11 or more controlled axes, a total of up to 30 slave units, 24
amplifiers and six Separate Detector I/F Units, can be connected,.)
2 For systems having 11 or more controlled axes, the parameters for the
address translation table values for the second FSSB, Nos. 1130 to 1139
and 1140 to 1149, are provided, in addition to parameters Nos. 1120 to
1129.
The usage of the parameters is summarized below:
Nos. 1120 to 1129: Slaves connected to the second FSSB of the first
servo control card (on the main board)
Nos. 1130 to 1139: Slaves connected to the second FSSB of the second
servo control card (first servo control card on the
additional axis board)
Nos.1140 to 1149: Slaves connected to the second FSSB of the third
servo control card (second servo control card on the
additional axis board)

Alarms and messages

Number Message Description

SV0456 ILLEGAL CURRENT LOOP The specified current loop is illegal. The system does not satisfy the
requirements for performing HIGH SPEED HRV control.
SV0457 ILLEGAL HI HRV (250US) An attempt was made to set up HIGH SPEED HRV control for use
when the current loop was set to 250 us.
SV0458 CURRENT LOOP ERROR The specified current loop differs from the actual current loop.
SV0459 HI HRV SETTING ERROR For two axes whose servo axis numbers (parameter No. 1023) are
consecutively even and odd numbers, HIGH SPEED HRV control is
possible for one axis and impossible for the other.
SV0468 HI HRV SETTING ERROR(AMP) An attempt was made to set up HIGH SPEED HRV control for use
with the controlled axis of an amplifier for which HIGH SPEED HRV
control could not be used.
SV5311 FSSB FILLEGAL CONNECTION 1. This alarm is issued if axes, whose servo axis numbers (parameter
No. 1023) are even and odd numbers, are allocated to the amplifiers
connected to the FSSBs of different paths.
2. This alarm is issued if an attempt is made to set up for use of the
Separate Detector I/F Units connected to the FSSBs of different
paths. And the system did not satisfy the requirements for performing
HIGH SPEED HRV control.

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B-63323EN-1/03 1.AXIS CONTROL

Notes

NOTE
Requirements for performing HIGH SPEED HRV control
If HIGH SPEED HRV control is to be used, the system must satisfy the following
requirements, such as the required number of slaves, type, and connection
method:

1 If five slaves (amplifiers for four axes, and one Separate Detector I/F Unit) are
connected to a single FSSB and used with HIGH SPEED HRV control, all
five of these slaves must support HIGH SPEED HRV control. In addition,
the Separate Detector I/F Unit must be the fifth slave. If these requirements
are not satisfied, and an attempt is made to set up HIGH SPEED HRV
control for use, alarm SV0456, "ILLEGAL CURRENT LOOP," is issued.

2 The connection of the slaves must satisfy the requirements shown in the
examples below. If these requirements are not satisfied, and an attempt is
made to set up HIGH SPEED HRV control for use, alarm SV0456, "ILLEGAL
CURRENT LOOP," is issued.
<Valid example 1>
FSSB1 - AMP - AMP - AMP - PM - PM
FSSB2 - AMP - AMP - AMP - AMP
<Valid example 2>
FSSB1 - PM - AMP - AMP - AMP
FSSB2 - PM - AMP - AMP - AMP
<Valid example 3>
FSSB1 - AMP - AMP - AMP - AMP - PM
FSSB2 - AMP - AMP - AMP - AMP - PM

<Invalid example 1>

FSSB1 - AMP - AMP - AMP - PM - PM
FSSB2 - AMP - AMP - AMP - AMP - AMP
<Invalid example 2>
FSSB1 - PM - AMP - AMP - AMP - AMP
FSSB2 - PM - AMP - AMP - AMP - AMP
where
AMP: Servo amplifier
PM: Separate Detector I/F Unit
3 For details of HIGH SPEED HRV control, refer to the "FANUC AC SERVO
MOTOR α series PARAMETER MANUAL (B-65150E)."

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1.AXIS CONTROL B-63323EN-1/03

1.18 LOADING OF MULTIPLE SERVO PROGRAMS

Overview
This function allows two or more servo programs of a standard and
application series to be stored in FROM at the same time and is used for
different servo DSPs.
Using this function, it is possible to load a standard series program for
one servo DSP and an application series program for another on a
single CNC.

Parameter

1043 Series name of the servo program used

NOTE
After specifying this parameter, turn the power off, and then on again, for the
new setting to take effect.

   

      

     .?
If using two or more different servo programs, set the last digit of the series name of the
servo program to be used for each axis (n in 90Bn).
For a set of axes whose servo axis numbers (settings of parameter No. 1023) are
consecutive such as (1, 2) or (3, 4), set the same value for this parameter.
Example:
If using servo program 90B0 for controlled axes 1 and 3 (servo axes 1 and 2) and
servo program 90B3 for controlled axes 2 and 4 (servo axes 3 and 4)
-        
 ./B     .0B
P  '.*. .
Q B '.*B B
R / '.*. .
S 0 '.*B B

NOTE
This parameter is required if two or more servo programs 90B0 or
later are to be used. If using only one servo program, set 0 for
this parameter for all axes.
If the setting for an odd-numbered servo axis differs from that for
the succeeding axis, alarm SV0455 is issued.
If the servo program specified for this parameter does not exist in
FROM, alarm SV0455 is issued.

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B-63323EN-1/03 1.AXIS CONTROL

Alarm and message

Number Message Description

SV0455 SERVO SOFTWARE NOT FOUND The specified servo program cannot be found.
The setting of parameter No. 1043 is not correct, or the
servo program does not exist.

Reference item
FANUC AC SERVO MOTOR α series PARAMETER B-65150E
MANUAL

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2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

2 PREAPARATIONS FOR OPERATION

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B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

2.1 EMERGENCY STOP

If you press Emergency Stop button on the machine operator’s panel,

the machine movement stops in a moment.

Red

EMERGENCY STOP

Figure 2.1 (a) Emergency stop

For how to use the emergency stop button, see the manual provided by
the machine tool builder.

Signal

Emergency stop
*ESP<G000#4>
[Classification] Input signal
[Function] Movement of machine is stopped in emergency status.
[Operation] When this signal is set to 0, the CNC operates as described below.
1) Movement on a controlled axis is stopped immediately only when
deceleration by dynamic braking is applied.
2) After a stop, a reset occurs, and the reset in-progress signal is set to
1. See NOTE below.
3) While the *ESP signal is 0, servo control (position control) is not
applied. Therefore, servo ready signal SA is set to 0. The distance
moved by the machine during this time is reflected in the current
position of the CNC, so that the position data is not lost (follow-
up). After emergency stop clearance, operation can be restarted
without having to perform reference position return again.
4) While the *ESP signal is 0, automatic operation and manual
operation cannot be performed.

NOTE
By setting bit 0 (ENR) of parameter No. 2001, an
alarm can be issued instead of performing reset
based on the emergency stop signal. In this case,
operation 2 (reset) is not performed. An emergency
stop is cleared when the reset key on the MDI panel
is pressed or another reset signal (ERS, RRW) is set
to 1 after the emergency stop signal is reset to 1.
Even if the emergency stop signal is reset to 1, the
emergency stop signal is assumed to be 0 until a
reset is applied by some other means.

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2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

Reset caused by an emergency stop

*ESP

Emergency stop

Reset

SA

Alarm issued upon an emergency

*ESP

*ESP, RRW, reset key

Emergency stop

Reset

SA

Fig. 2.1(b) Differences between the Causing of a Reset by an Emergency

Stop and the Issue of an Alarm upon an Emergency Stop

NOTE
For this signal, the CNC monitors not only input from
the PMC to the NC but also the interface between the
machine and the PMC. This means that the
interface (connector pins) between the machine and
PMC cannot be changed.

An overtravel is detected with the stored stroke check function. To

prevent the machine from moving beyond a software limit if a servo
feedback system error occurs, set the stroke end limit switches as
shown in Fig. 2.1(c).

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B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

Emergency stop limit switch

+X -X +Y -Y +Z -Z +4 -4

Relay power Emergency stop

EMG

SK

Spark killer

Fig. 2.1 (c) Connection of emergency stop limit switch

The distance from the position where the dynamic brake is applied to
that where the tool stops moving is given in the "AC Servo Motor
Descriptions."

WARNING
Software limit setting point and operating point of limit
switch for emergency stop
The stop point by the software limit goes beyond the
setting point by as much as the following distance.
R
(mm) R : Rapid traverse rate (mm/min)
7,500
The actual stopping point may exceed the position
set by a parameter (Nos.5220 and 5221) by as much
as R/7500 (mm). Set the limit switch for emergency
stop including the allowance for the above value.

Software limit setting point

Stroke end direction

R
7,500

The machine stops in this Set the limit switch for emergency stop in
this range.

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2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G000 *ESP

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2001 ENR

[Input type] Parameter input

[Data type] Bit


  



 


 
 



 




 





 





  

Alarm and message

Number Message Contents
SV0030 EMERGENCY STOP Emergency stop occurred.
Whether or not this alarm is generated is determined by
ENR parameter No. 2001#0).
1: The control is reset by an emergency stop.
0: This alarm is generated without reset by an emergency
stop.
An emergency stop is canceled by resetting the control.

Reference item
FANUC AC SERVO MOTOR alpha series B-65142E
DESCRIPTIONS

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B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

2.2 READY SIGNALS

Overview
The ready signals are set to 1 when the power to the CNC is turned on
and operation is ready.

Signal

CNC Ready Signal

MA<F000#7>
[Classification] Output signal
[Function] The CNC ready signal reports that the CNC is ready.
[Output condition] When the CNC is turned on and becomes ready for operation, the signal
is set to 1. Normally, it takes several seconds to establish this state after
the power is turned on. If a system alarm is issued, the signal is set to 0.
The signal remains set to 1, however, when an emergency stop or a
similar operation is performed.

Servo Ready Signal

SA<F000#6>
[Classification] Output signal
[Function] Indicates that the servo system is ready to start normal operation. If this
signal is not sent, servo control (position control) is not applied.
[Output condition] This signal is set to 1 in any of the following cases:
- When servo system diagnosis has been completed after the power
to the control unit is turned on
- When a servo alarm is cleared by a reset
- When an emergency stop is cleared
This signal is set to 0 in any of the following cases:
- When the power to the control unit is turned off
- When a servo alarm is detected
- When an emergency stop is caused
- When an error in the control unit such as a CPU or memory error
is detected

For those machine axes that are subject to braking, disable the brake
while this signal is set to 1, and enable the brake while this signal is set
to 0. Fig. 2.2(a) shows the timing chart of this signal.

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2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

Power on Power off

Ready signal (MA)

60 to 100 msec

Servo ready
signal (SA)

Brake on

Servo alarm Servo alarm

(Overload)
Reset
Reset Emergency stop
1 to 2 seconds About 1 second

Fig. 2.2 (a) Time chart for servo ready signal

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F000 MA SA

NOTE
In the servo off state, the servo system is not
operating, that is, position control is not applied. In
the servo off state, SA remains set to 1 until another
condition that sets SA to 0 occurs.

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B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

2.3 OVERTRAVEL CHECK

2.3.1 Overtravel Signal

Overview
When the tool tries to move beyond the stroke end set by the machine
tool limit switch, the tool decelerates and stops because of working the
limit switch and an OVER TRAVEL is displayed.

Signal

Overtravel signal
*+L1<G64#0>, *+L2<G68#0>, ...
*-L1<G64#1>, *-L2<G68#1>, ...
[Classification] Input signal
[Function] Indicates that the control axis has reached its stroke limit. There are
signals for every direction in every control axis. The +/- in the signal
name indicates the direction and the number corresponds to the control
axis.
+Lx
x : 1 ..... Movement in the + direction on the first axis has reached the
stroke limit.
2 ..... Movement in the + direction on the second axis has reached
the stroke limit.
3 ..... Movement in the + direction on the third axis has reached the
stroke limit.
: :

-Lx
x: 1 ..... Movement in the - direction on the first axis has reached the
stroke limit.
2 ..... Movement in the - direction on the second axis has reached
the stroke limit.
3 ..... Movement in the - direction on the third axis has reached the
stroke limit.
: :

[Operation] When it is "0" , the control unit operates as given below.

- In automatic operation, if even one axis overtravel signal turns to
"0", all axes are decelerated to stop, an alarm is given and
operation is halted.
- In manual operation, only the axis whose movement signal has
turned to "0" is decelerated to a stop, and the axis can be moved in
the opposite direction.
- Once the axis overtravel signal has turned to "0", the axis
direction is registered. Even if the signal returns to "1", it is not
possible to move that axis in that direction until the alarm is
cleared.

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2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

The following shows the deceleration distance at overtravel.

(i) Rapid traverse

V Command pulse
deceleration Servo system
delay

VR
t

*+Lα limit
switch t1 t2 TR

L1=VR(t1+t2+TR/2+TS)-1/6000 kmm, inch l................... (1)

L1 : Deceleration distance
VR : Rapid traverse speed (mm/min or inch/min)
t1 : Limit switch signal delay time (from limit switch operation to
*+La signal turn off (ms))
t2 : Receiver delay time 30ms
TR : Rapid traverse acceleration/deceleration time constant (ms)
TS : Servo system time constant (ms)

NOTE
Servo system time constant TS is 33 msec when the
servo unit is adjusted to the standard setting.

(ii) Cutting feed

V Command pulse
deceleration Servo system
delay

Vc
t

*+Lα limit
switch t1 t2 TR

VC : Maximum feedrate (mm/min or inch/min)

L2 : Deceleration distance
L2, t2, Same as (i).
L2=VC(t1+t2+TR/2+TS)-1/6000 kmm, inch l...................(2)

- Releasing overtravel
Press the reset button to reset the alarm after moving the tool to the
safety direction by manual operation.

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B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G064 *-L1 *+L1

The above is the signal address of the first axis. For the signal
addresses of the second and subsequent axes, see the address table of
the BMI interface for the Series 15i in Section A.1.

Alarm and message

Number Message Contents
OT0007 + OVERTRAVEL ( HARD ) The stroke limit switch in the positive direction was triggered.
This alarm is generated when the machine reaches the stroke end.
When this alarm is not generated, feed of all axes is stopped during
automatic operation.
During manual operation, only the feed of the axis on which the alarm
occurred is stopped.
Clearing the alarm
1. When an invalid origin is set for the coordinate system
=> Correct the program.
2. When the program contains an error
=> Correct the program.
Manually move the movable parts of the machine in the opposite
direction (toward the safe side), such that they are well away from the
limit switch. Then, press the RESET button on the MDI panel.
OT0008 - OVERTRAVEL ( HARD ) The stroke limit switch in the negative direction was triggered.
This alarm is generated when the machine reaches the stroke end.
When this alarm is not generated, feed of all axes is stopped during
automatic operation.
During manual operation, only the feed of the axis on which the alarm
occurred is stopped.
Clearing the alarm
1. When an invalid origin is set for the coordinate system
=> Correct the program.
2. When the program contains an error
=> Correct the program.
Manually move the movable parts of the machine in the opposite
direction (toward the safe side), such that they are well away from the
limit switch. Then, press the RESET button on the MDI panel.

Reference item
Series15i/150i-MA Operator’s Manual II-6.2 Over travel
(Operation)
(B-63324EN-1)

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2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

2.3.2 Stored Stroke Check 1

General
When the tool tries to exceed a stored stroke check, an alarm is
displayed and the tool is decelerated and stopped.
When the tool enters a forbidden area and an alarm is generated, the
tool can be moved in the reverse direction from which the tool came.
Parameters (Nos. 5220, 5221 or Nos. 5260, 5261) set boundary.
Outside the area of the set checks is a forbidden area. The machine tool
builder usually sets this area as the maximum stroke.
Signal

Stored stroke check select signal EXLM<G172#0>

[Classification] Input signal
[Function] Selects stroke check 1-I (parameter Nos. 5220 and 5221) or stroke
check 1-II (parameter Nos. 5260 and 5261).
[Operation] When this signal is set to 1, stroke limit 1 is checked using parameter
No. 5260 and No. 5261 instead of No. 5220 and No. 5221. Stored
stroke limit switching is performed for all axes at the same time. This
signal is valid only when bit 3 (LMS) of parameter No. 5201 is set to 1.

Axis direction dependent stored stroke limit switch signal

+EXL1<G384#0>, +EXL2<G392#0>, ...
-EXL1<G384#1>, -EXL2<G392#1>, ...
[Classification] Input signal
[Function] Switches between stroke limit 1-I (parameter No. 5220 and No. 5221)
and stroke limit 1-II (parameter No. 5260 and No. 5261) for each axis
direction.
[Operation] When this signal is set to 1, the CNC operates as described below.
(1) {EXL1, +EXL2, ...
Stroke limit 1 (+ side) is checked using parameter No. 5260
instead of No. 5220.
(2) -EXL1, -EXL2, ...
Stroke limit 1 (- side) is checked using parameter No. 5261 instead
of No. 5221.

Stroke check external setting signals

+LM1<G384#2>, +LM2<G392#2>, ...
-LM1<G384#3>, -LM2<G392#3>, ...
[Classification] Input signal
[Function] Change the values of the parameters governing the stroke check (5220
and 5221).
[Operation] When this signal is set to 1, the CNC operates as described below.
(1) {LM1, +LM2, ...
Parameter No. 5220 is rewritten to set the machine coordinates
existing at signal input time as stroke limit values.
(2) -LM1, -LM2, ...
Parameter No. 5221 is rewritten to set the machine coordinates
existing at signal input time as stroke limit values.

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B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

Stroke check release signal RLSOT<G172#1>

[Classification] Input signal
[Function] Selects whether the stored stroke check 1 are checked.
[Operation] When this signal is set to 1, stroke limit 1 is not checked.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G384 -LM1 +LM1 -EXL1 +EXL1

The above address is the signal address for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the address table in Appendix A.1.

#7 #6 #5 #4 #3 #2 #1 #0
G172 RLSOT EXLM

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
5201 DLM LMS

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- 307 -
2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

5220 Positive (+) direction coordinate of stored stroke limit 1 of each axis I

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5221 Negative (-) direction coordinate of stored stroke limit 1 of each axis I

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5260 Coordinate II along each axis in the plus direction of stored stroke limit 1.

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- 308 -
B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

5261 Coordinate II along each axis in the minus direction of stored stroke limit 1

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Alarm and message

Number Message Contents
OT0001 + OVERTRAVEL ( SOFT 1 ) The tool entered the prohibited area of stored stroke check
1 during movement in the positive direction.
OT0002 - OVERTRAVEL ( SOFT 1 ) The tool entered the prohibited area of stored stroke check
1 during movement in the negative direction.

Caution
CAUTION
In setting a forbidden area, if two points to be set are
the same, all area is forbidden in check 1.
Note
NOTE
1 Each check is enabled after the power is turned on
and a reference position return is performed either
manually or by using G28. If an absolute-position
detector is used, and a reference position is already
established when the power is turned on, however, a
stored stroke check is made immediately after the
power is turned on.
2 The +LMx, -LMx, and RLSOT signals are valid only
when the optional stroke limit external set function is
selected.
3 Stored stroke check 1 causes a stop immediately
before the tool enters the forbidden area.

Reference item
Series15i/150i-MA Operator’s Manual II-6.3 Stroke check
(Operation)
(B-63324EN-1)

- 309 -
2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

2.3.3 Stroke Check 2

General
Three areas which the tool cannot enter can be specified with stored
stroke check 1, stored stroke check 2, and stored stroke check 3.

(X,Y,Z)

(I,J,K)
(1) Forbidden area is inside.

(X,Y,Z)

(I,J,K)

(2) Forbidden area is outside

: Forbidden area for the tool

Figure 2.3.3 (a) Stroke check

When the tool exceeds a stored stroke limit, an alarm is displayed and
the tool is decelerated and stopped.
When the tool enters a forbidden area and an alarm is generated, the
tool can be moved in the reverse direction from which the tool came.

Stored stroke check 2 (G22, G23)

Parameters (Nos. 5222, 5223) or commands set these boundaries.
Inside or outside the area of the limit can be set as the forbidden area.
Parameter OUT (No. 5200#0) selects either inside or outside as the
forbidden area.
In case of program command a G22 command forbids the tool to enter
the forbidden area, and a G23 command permits the tool to enter the
forbidden area. Each of G22; and G23; should be commanded
independently of another commands in a block.
The command below creates or changes the forbidden area:

- 310 -
B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

G 22X_ Y_ Z_ I_ J_ K_ ;
(X,Y,Z)

(I,J,K)
X>I, Y>J, Z>K
X-I>ζ
Y-J>ζ
Z-K>ζ

ζ : Movement value / 8 msec

2.0mm when speed is 15m/min.

Fig. 2.3.3 (b) Creating or changing the forbidden area using a program

When setting the area by parameters, points A and B in the figure

below must be set.

A (X1,Y1,Z1)

B
(X2,Y2,Z2)
X1>X2, Y1>Y2, Z1>Z2
X1-X2>ζ
Y1-Y2>ζ
Z1-Z2>ζ

ζ : Movement value / 8 msec

2.0mm when speed is 15m/min.

Fig.2.3.3(c) Creating or changing the forbidden area using a parameters

In stored stroke check 2, even if you mistake the order of the coordinate
value of the two points, a rectangular, with the two points being the
apexes, will be set as the area.
When you set the forbidden area through parameters (Nos. 5222, 5223),
the data should be specified by the distance from the machine
coordinate system in the least command increment. (Output increment)
If it is set by a G22 command, specify the data by the distance from the
machine coordinate system in the least input increment (Input
increment.)
The programmed data are then converted into the numerical values in
the least command increment, and the values are set as the parameters.

- Checkpoint for the forbidden area

Confirm the checking position (the top of the tool or the tool chuck)
before programming the forbidden area.
If point A (The top of the tool) is checked in Fig. 2.3.3 (d) , the distance
"a" should be set as the data for the stored stroke limit function. If point
B (The tool chuck) is checked, the distance "b" must be set. When
checking the tool tip (like point A), and if the tool length varies for each

- 311 -
2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

tool, setting the forbidden area for the longest tool requires no re-
setting and results in safe operation.

The position of the B

tool after reference
position return

A a
Area boundary

Fig. 2.3.3 (d) Setting the forbidden area

- Forbidden area over lapping

Area can be set in piles.

Forbidden area of
stroke limit check 1

Forbidden area of
stroke limit check 2

Fig. 2.3.3 (e) Setting the forbidden area over lapping

Unnecessary limits should be set beyond the machine stroke.

- Stop position with stored stroke limit

With stored stroke check 1, the tool stops a maximum of L mm before a
set forbidden area. (Lmm = F/7500, where F denotes the rapid traverse
rate (mm/min).) Therefore, the tool does not enter the forbidden area.
With stored stroke check 2, the tool overruns a maximum of L mm.
The tool enters a set forbidden area by a maximum of L mm.

- Effective time for a forbidden area

Each limit becomes valid when reference position return has been
performed manually or by G28 after power-up. If an absolute-position
detector is used, and a reference position has already been established
when the power is turned on, however, a stored stroke check is
performed immediately after the power is turned on.
After the power is turned on, if the reference position is in the
forbidden
area of each limit, an alarm is generated immediately. (Only in G22
mode for stored stroke limit 2).

- 312 -
B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

- Releasing the alarms

If the enters a forbidden area and an alarm is generated, the tool can be
moved only in the backward direction. To cancel the alarm, move the
tool backward until it is outside the forbidden area and reset the system.
When the alarm is canceled, the tool can be moved both backward and
forward.

- Change from G23 to G22 in a forbidden area

When G23 is switched to G22 in the forbidden area, the following
results.
(1) When the forbidden area is inside, an alarm is informed in the next
move.
(2) When the forbidden area is outside, an alarm is informed
immediately.
If the tool cannot be moved out of the forbidden area, press the
emergency stop button then release it, set G23 to retract the tool,
correct the setting error, if any, then perform reference position
return again.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
5200 OUT

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If OUT (bit 0) of parameter No. 5200 is set to 1, stored stroke limit
2 is checked for all the controlled axes.

- 313 -
2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

5222 Positive (+) direction coordinate of stored stroke limit 2 of each axis

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Alarm and message

Number Message Contents

OT0003 + OVERTRAVEL ( SOFT 2 ) The tool entered the prohibited area of stored stroke check
2 during movement in the positive direction.
OT0004 - OVERTRAVEL ( SOFT 2 ) The tool entered the prohibited area of stored stroke check
1 during movement in the negative direction.

Caution
CAUTION
When the reference position return function is not
provided for an axis, no forbidden area is set for that
axis, so no forbidden-area alarm is generated for the
axis.

- 314 -
B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

Note
NOTE
1 In setting a forbidden area, if the two points to be set
are the same, the area is as follows:
(1) When the forbidden area is stored stroke check
1, all areas are forbidden areas.
(2) When the forbidden area is stored stroke check
2 or stored stroke check 3, all areas are movable
areas.
2 Only the three basic axes can be specified in G22.

Reference item
Series15i/150i-MA Operator’s Manual II-6.3 Stroke check
(Operation)
(B-63324EN-1)

- 315 -
2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

2.3.4 Stroke Limit Check Prior to Performing Movement

General
During automatic operation, before the movement specified by a given
block is started, whether the tool enters the inhibited area defined by
stored stroke limit 1 or 2 is checked by determining the position of the
end point from the current position of the machine and a specified
amount of travel. If the tool is found to enter the inhibited area defined
by a stored stroke limit, the tool is stopped immediately upon the start
of movement for that block, and an alarm is displayed.

WARNING
Whether the coordinates of the end point, reached as
a result of traversing the distance specified in each
block, are in a inhibited area is checked. In this case,
the path followed by a move command is not
checked. However, if the tool enters the inhibited
area defined by stored stroke limit 1 or 2, an alarm is
issued. (See the examples below.)
Example 1)
Inhibited area defined by
stored stroke limit 1 or 2

End point

The tool stops at point a according to stored

stroke limit 1 or 2.

Inhibited area defined by

stored stroke limit 1 or 2

End point

before movement.
Immediately upon movement commencing
from the start point, the tool is stopped to
enable a stroke limit check to be performed

- 316 -
B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

Example 2)

Inhibited area defined by End point

stored stroke limit 2

The tool is stopped at point a according

Start point to stored stroke limit 2.

Inhibited area defined by

stored stroke limit 2
End point

Immediately upon movement commencing

from the start point, the tool is stopped to
enable a stroke limit check to be performed
before movement.

Limitations

- Manual numeric command

For manual numeric commands, no stroke limit check is made before
movement.

- Machine lock
If machine lock is applied at the start of movement, no stroke limit
check made before movement is performed.

- G23
When stored stroke limit 2 is disabled (G23 mode), no check is made to
determine whether the tool enters the inhibited area defined by stored
stroke limit 2.

- A block consisting of multiple operations

If a block consisting of multiple operations (such as a canned cycle and
Cutter Compensation) is executed, an alarm is issued at the start point
of any operation whose end point falls within a inhibited area.

- 317 -
2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

- Polar coordinate interpolation mode

In polar coordinate interpolation mode, no check is made.

- Three-dimensional coordinate conversion

In three-dimensional coordinate conversion mode, no check is made.

- PMC axis control

No check is made for a movement based on PMC axis control.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
5200 PLC

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This parameter is valid only when the pre-move stroke option is
provided.

Alarm and message

Number Message Contents

OT0021 + OVERTRAVEL ( PRE-CHECK ) The tool exceeded the limit in the negative direction during
the stroke check before movement.
OT0022 - OVERTRAVEL ( PRE-CHECK ) The tool exceeded the limit in the positive direction during
the stroke check before movement.

- 318 -
B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

2.4 ALARM SIGNALS

Overview
When the CNC placed in the alarm state, an alarm is displayed on the
screen, and the alarm-on signal is set to 1. The alarm type signal
corresponding to the type of an issued alarm is set to 1.
The speed control servo alarm ignore signal causes the CNC to ignore a
speed control servo alarm if issued.
If the voltage of the battery used to maintain the contents of memory
falls below a specified value while the power to the CNC is off, the
battery alarm signal is set to 1. When the battery used for the
absolute-position detector is approaching the end of its service life, the
absolute-position detector battery voltage decrease alarm signal is set
to 1. Once the battery reaches the end of its service life, the absolute-
position detector battery voltage zero alarm signal is set to 1.

Signal

Alarm-on signal
AL<F000#1>
[Classification] Output signal
[Function] Reports that the CNC is in the alarm state.
[Output condition] This signal is set to 1 in the following case:
- When the CNC is placed in alarm state.
This signal is set to 0 in the following case:
- When the alarm is released by a CNC reset or alarm cancellation.
After some alarms are released by a CNC reset or alarm
cancellation, the alarm state may occur again, and AL is issued if
the causes of the alarms are not corrected. In such a case, AL may
be set to 0 momentarily.

Alarm type signal

OTALM<F006#3>, OHALM<F006#2>, SVALM <F006#1>, PSALM <F006#0>, SYALM<F006#4>
[Classification] Output signal
[Function] Posts the type of an issued alarm. The following signals are assigned to
the alarm types.

Type of alarm Signal output

Overtravel alarm OTALM
Overheat alarm OHALM
Servo alarm SVALM
Program/mishandling alarm PSALM
Control unit alarm SYALM

[Output condition] A signal is set to 1 in the following case:

- When the CNC is placed in the corresponding alarm state.
A signal is set to 0 in the following case:
- 319 -
2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

- When the corresponding alarm is released by a CNC reset or

alarm cancellation

All-axis VRDY OFF alarm ignore signal

DVAL<G026#1>
See the description of the VRDY OFF alarm ignore signal in Section
2.8.

Battery voltage drop alarm signal

BATL<F040#7>
[Classification] Output signal
Function] Reports that the voltage of the battery used to preserve the contents of
memory while the power to the CNC is off has fallen below a specified
value.
In general, this signal is used for turning on the lamp to issue a warning
to the operator.
[Output condition] This signal is set to 1 in the following case:
- When the battery voltage has fallen below a specified value
The battery needs to be replaced soon.
This signal is set to 0 in the following case:
- When the battery voltage is above a specified value

Absolute-position detector battery voltage decrease alarm signal

PBATL<F040#6>
See the description of the absolute-position detector in Section 1.5.2.

Absolute-position detector battery voltage zero alarm signal

PBATZ<F040#5>
See the description of the absolute-position detector in Section 1.5.2.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F000 AL

F006 SYALM OTALM OHALM SVALM PSALM

G026 DVAL

F040 BATL PBATL PBATZ

- 320 -
B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
8000 NAP

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Reference item
Series15i/150i- Connection Manual 2.8 VRDY OFF alarm
MODEL A (This manual) ignored signal
1.5.2 Absolute position
detection

- 321 -
2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

2.5 INTERLOCK

General
This signal disables machine movement along axes. When this signal
is input during movement along axes, the tool movement is decelerated,
then stopped.

Signal

All axes Interlock signal

*IT<G000#0>
[Classification] Input signal
[Function] This signal is used to inhibit the machine from moving, and is effective
regardless of the selected mode.
[Operation] When the *IT signal is set to 0, movement along the axes is decelerated
and stopped, regardless of the mode that is set. During automatic
operation, however, this stop state occurs without changing the
automatic operation mode (with the STL signal set to 1, and the SPL
signal set to 0).

Command read

Axis move

*IT

Fig. 2.5 (a) Block containing only axis move command

(manual and automatic operation)

Command read

MF/SF/TF/BF

FIN

*IT

Fig. 2.5 (b) Block containing auxiliary functions only

(automatic operation)

- 322 -
B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

NOTE
The overtravel amount of the motor after turning *IT
to "0" is represented by the following formula.
Qmax = Fm ~1/60 ~(A/1000+Tc/1000+Ts/1000)
Qmax : Overtravel quantity (mm or inch)
Fm : Feedrate (mm/min or inch/min)
Tc : Cutting time constant (ms)
Ts : Servo time constant (Ts = 33ms normally)
A : Processing time of CNC
A = 50ms

When acceleration/deceleration before look-ahead

interpolation is used, the distance required for
deceleration based on acceleration/deceleration
before interpolation is added to the above formula.

Automatic operation all-axis interlock signal

*AIT<G001#0>
[Classification] Input signal
[Function] Disables feed for all controlled axes in automatic operation mode.
[Operation] While this signal is set to 0, feed for all controlled axes is disabled by
reducing the speeds specified for all axes involved in the automatic
operation to 0. Movement on an axis is decelerated and stopped. When
this signal is set to 1 again, the execution of all the move commands is
resumed. Manual operation is not affected by this signal. The M, S, T,
and B commands are handled in the same way as the all-axis interlock
signal. Commands other than move commands are not affected by this
signal.
Interlock signal for each axis
*IT1<G64#4>, *IT2< G68#4>, ...
[Classification] Input signal
[Function] Stops feed on each axis used for automatic or manual operation.
A separate interlock signal is provided for each controlled axis. The
number at the end of each signal name denotes the number of the
corresponding controlled axis.
*ITx
x : 1 ..... Interlock for the first axis
2 ..... Interlock for the second axis
3 ..... Interlock for the third axis
: :
: :
[Operation] (a) In manual operation (other than manual arbitrary direction feed)
The movement of an interlocked axis is inhibited, but the other
axes are movable. If an axis is interlocked during movement, it
stops after being decelerated, and it starts moving again when it is
released from interlock.
(b) In automatic operation (MEM DNC or MDI mode)(Manual
arbitrary direction feed)

- 323 -
2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

If an axis is interlocked while its movement is being commanded

(the move amount is not 0, inclusive of the tool offset), all axes
movements are prevented.
If a moving axis is interlocked, all axes stop moving after being
decelerated, and they start moving again when it is released from
being interlocked.
The M, S, T, and B commands are handled in the same way as the
all-axis interlock signal.
This function is effective during dry run.
(c) When an axis is controlled with the PMC
This signal can be enabled with bit 1 (DIT) of parameter No.
2005.
The movement of an interlocked axis is inhibited, but the other
axes are movable. If an axis is interlocked during movement, it
stops after being decelerated, and it starts moving again when it is
released from interlock.

Block start interlock signal

*BSL<G001#1>
[Classification] Input signal
[Function] Disables the start of the next block in automatic operation.
[Operation] While this signal is set to 0, the next block to be executed in automatic
operation mode is not executed. A block currently being executed is
executed up to its completion. Automatic operation is not stopped.
The command in the next block is placed as a valid command in the
wait state; the execution of the command is restarted immediately when
the signal is set to 1.

NOTE
When cyclic operation blocks are internally created in
a canned cycle, for example, usually only the first
block is interlocked by this signal. The other blocks
are executed even if this signal is set to 0. By setting
bit 6 (SBC) of parameter No. 0010, however, this
signal can be made effective for all blocks, including
a block in a cycle.

- 324 -
B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

Cutting block start interlock signal

*CSL<G000#1>
[Classification] Input signal
[Function] Disables the start of the execution of move command blocks other than
positioning blocks in automatic operation.
[Operation] While this signal is set to 0, the execution of move command blocks
other than positioning blocks in automatic operation is not started. A
block currently being executed is executed up to its completion.
Automatic operation is not stopped. The command in the next block is
placed as a valid command in the wait state; the execution of the
command is restarted immediately when the signal is set to 1.
[Usage] When the spindle is started or the spindle speed is changed, the next
cutting block can be executed at a desired spindle speed by setting this
signal to 0 until the desired spindle speed is reached.

NOTE
This signal is valid for all blocks including internally
created cyclic operation blocks in, for example, a
canned cycle.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G000 *CSL *IT

G001 *BSL *AIT

G064 *IT1

The above addresses are the signal addresses for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the Appendix A.1.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0010 SBC

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- 325 -
2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

#7 #6 #5 #4 #3 #2 #1 #0
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- 326 -
B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

2.6 MODE SELECTION

Overview
The mode selection signals set the basic operation modes of the control
unit. The mode selection signals include input signals used by an
external device to notify the control unit of a desired operation mode,
and output signals used for the control unit to notify an external device
of the currently selected operation mode.

Output
Mode Input signal
signal
Manual data input D MD
Automatic DNC operation T MT
operation Memory operation MEM MMEM
Program editing EDT MEDT
Manual handle feed H MH
Manual Incremental feed S MS
operation Jog feed J MJ
Manual arbitrary-direction feed AGJ MAGJ
Simultaneous automatic and manual
MOVL MMOVL
operation

Explanations

- Operation mode selection

When an input signal is set to 1, the corresponding operation mode is
selected. While a mode is selected, the corresponding output signal is
set to 1. As indicated in the table below, two or more operation modes
can be selected at any one time.

Mode selection input signal

Mode
T D MEM EDT MOVL H S J AGJ
Automatic operation One of these signals is set to 1. 0 0 0 0 0
One of these signals is set to 1, J and
Manual operation 0 0 0 0 0
H are set to 1, or S and H are set to 1.
One of these signals is set
Simultaneous automatic
One of these signals is set to 1 1 to 1, J and H are set to 1, or 0
and manual operation
S and H are set to 1.
One of these signals is set to 1. 1 1 0 0 0
(0:Signal set to 0, 1:Signal set to 1)

This means that, by setting the MOVL signal to 1, manual operation is

enabled even during automatic operation. By setting the J or S signals,
and H to 1 at the same time, jog feed or incremental feed, and manual
handle feed can be used without mode switching.
Background editing is possible from the MDI panel, regardless of
whether any of the above modes is set.

- 327 -
2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

If a combination of selection signals not listed in the table above is

entered, the previous operation mode remains set for a certain period
(T1) after input of the combination. After time T1, the state in which
neither automatic operation mode nor manual operation mode is
selected results. If another combination of selection signals is entered
within T1, the corresponding operation mode is selected.
When all the selection signals are set to 0, one of the following can be
selected by parameter setting:
a. The previously selected operation mode remains as is.
b. The previous mode remains set for a certain period (T0). After
time T0, the state in which neither automatic operation mode nor
manual operation mode is selected results. If another
combination of selection signals is entered within T0, the
corresponding operation mode is selected.

Times T0 and T1 are set in parameter No. 2014 and No. 2015,
respectively. A value from 0 to 2 seconds can be specified as T0 and
T1.

- Operation upon operation mode switching

Upon a transition from one operation mode to another, the control unit
usually performs one of the operations below.
a. Immediate switching: Operation is stopped immediately to
switch
to a new mode.
b. Switching upon the completion of block execution: Operation is
continued until execution of the block being executed is
completed. Next, operation is stopped, then is resumed in a new
mode.
c. Operation continuation: The operation being executed is
continued. At the same time, operation in a new mode is
performed.
When operation is stopped for operation mode switching, all
movements on axes are decelerated and stopped. The type of operation
that is performed depends on the newly selected mode and the previous
mode, as indicated in the table below.

Newly selected operation mode

Simultaneous
Automatic operation Manual operation automatic and
manual operation
Switching upon
Previous operation

Automatic operation completion of block Immediate switching Operation continuation

execution
mode

Manual operation Immediate switching Immediate switching Immediate switching

Simultaneous
Simultaneous automatic
automatic and manual Immediate switching
and manual operation
operation

The selection of a new mode is not assumed while movement based on

a move command is being decelerated according to immediate
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B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

switching, or while the previous operation is being continued after

switching upon the completion of block execution. So, during that
period, the signal output to confirm the selection mode continues to
post in the previous operation mode.

Signals

Manual data input selection signal

D <G003#3>
[Classification] Input signal
[Function] Selects manual data input mode.
Automatic operation is performed according to data input from the
MDI panel or an external device or according to programmed
commands entered from the MDI panel.
[Operation] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.

DNC operation selection signal

T <G003#4>
[Classification] Input signal
[Function] Selects DNC operation mode. Automatic operation is performed
according to programmed commands entered from an external device.
[Operation] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.

Memory operation selection signal

MEM <G003#5>
[Classification] Input signal
[Function] Selects memory operation mode.
Automatic operation is performed according to programmed
commands stored in memory.
[Operation] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.

Program edit selection signal

EDT <G003#6>
[Classification] Input signal
[Function] Selects program editing mode.
Programmed commands are stored in memory from an external device,
programmed commands stored in memory are edited, programmed
commands are output from memory to an external device, and so forth.
[Operation] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.

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2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

Jog feed selection signal

J <G003#2>
[Classification] Input signal
[Function] Selects jog feed mode.
Manual operation such as jog feed, manual reference position return,
and manual numeric value specification is performed.
[Operation] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.
Increment feed selection signal
S <G003#0>
[Classification] Input signal
[Function] Selects incremental feed mode. Incremental feed is performed.
[Operation] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.

Manual handle feed selection signal

H <G003#1>
[Classification] Input signal
[Function] Selects manual handle feed mode. Manual handle feed is performed.
[Operation] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.

Manual arbitrary-direction feed selection signal

AGJ <G003#7>
[Classification] Input signal
[Function] Selects manual arbitrary-direction feed mode. Manual arbitrary-
direction feed is performed.
[Operation] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.

Simultaneous automatic and manual operation selection signal

MOVL <G002#4>
[Classification] Input signal
[Function] Selects simultaneous automatic and manual mode. The operation mode
being applied in each of automatic operation mode and manual
operation mode depends on the mode selection signal settings.
[Operation] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.

Manual data input selection confirmation signal

MD <F003#3>
[Classification] Output signal
[Function] Indicates that manual data input mode is selected.
[Output condition] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.

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B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

DNC operation selection confirmation signal

MT <F003#4>
[Classification] Output signal
[Function] Indicates that DNC operation mode is selected.
[Output condition] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.

Memory operation selection confirmation signal

MMEM <F003#5>
[Classification] Output signal
[Function] Indicates that memory operation mode is selected.
[Output condition] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.

Program edit selection confirmation signal

MEDT <F003#6>
[Classification] Output signal
[Function] Indicates that program editing mode is selected.
[Output condition] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.

Jog feed selection confirmation signal

MJ <F003#2>
[Classification] Output signal
[Function] Indicates that jog feed mode is selected.
[Output condition] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.

Increment feed selection confirmation signal

MS <F003#0>
[Classification] Output signal
[Function] Indicates that incremental feed mode is selected.
[Output condition] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.

Manual handle feed selection confirmation signal

MH <F003#1>
[Classification] Output signal
[Function] Indicates that manual handle feed mode is selected.
[Output condition] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.

Manual arbitrary-direction feed selection confirmation signal

MAGJ <F003#7>
[Classification] Output signal
[Function] Indicates that manual arbitrary-direction feed mode is selected.
[Output condition] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.

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2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

Simultaneous automatic and manual operation selection confirmation signal

MMOVL<F002#4>
[Classification] Output signal
[Function] Indicates that simultaneous automatic and manual operation mode is
selected.
[Output condition] See "Operation mode selection method" and "Operation at the time of
operation mode switching," above.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G002 MOVL

G003 AGJ EDT MEM T D J H S

F002 MMOVL

F003 MAGJ MEDT MMEM MT MD MJ MH MS

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
2001 MOC

[Input type] Parameter input

[Data type] Bit


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- 332 -
B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

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2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

2.7 STATUS OUTPUT SIGNAL

General
The table below lists the status output signals for notifying the state of
the CNC. See the sections listed in the table for details of each signal.

Signal name Symbol Reference item

Alarm signal AL 2.4
Battery alarm signal BATL 2.4
Reset signal RST 5.2
Rewinding signal RWD 5.2
Tapping signal TAP 11.7
Moving signal MV1, MV2, ... 1.2.5
Moving direction signals MD1, MD2, ... 1.2.5
In-position signals INP1, INP2, ... 7.2.6.1
Rapid traverse in-progress signal RPD 2.7(This section)
Threading in-progress signal THRD 6.4.1
Constant surface speed in-progress CSS 9.5
signal
Inch input signal INCH 11.4

Signal

Rapid traversing signal

RPD<F001#5>
[Classification] Output signal
[Function] This signal indicates that a move command is executed at rapid traverse
[Output condition]"1" indicates an axis starts moving after rapid traverse has been selected;
"0" indicates that an axis starts moving after a feedrate other than rapid
traverse has been selected. This holds true for both automatic and
manual operation modes.

NOTE
1 The rapid traverse in automatic operation includes all
rapid traverses in canned cycle positioning,
automatic reference point return, etc., as well as the
move command G00. The rapid traverse in manual
operation also includes the rapid traverse in
reference position return.
2 Once rapid traverse has been selected, this signal
remains "1", including during a stop, until another
feedrate has been selected and movement is started.
3 In simultaneous automatic and manual operation, the
setting of this signal depends on whether rapid
traverse is used in automatic operation. This signal is
not affected by manual feed.

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B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F001 RPD

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2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

2.8 VRDY OFF ALARM IGNORE SIGNAL

General
The German VDE safety standard requires that the motor be
deactivated when the safety guard is opened. By using the VRDY OFF
alarm ignore signal, however, the CNC can be restarted without
resetting, even if the safety guard has been opened.

Signal

All-Axis VRDY OFF Alarm Ignore Signal

DVAL <G026#1>
[Classification] Input signal
[Function] Disables the detection of servo alarm SV0013, VRDY OFF, for all
axes.
[Operation] When this signal is set to logical 1, the control unit operates as follows:
- The control unit does not issue servo alarm SV0013, VRDY OFF,
even when the servo amplifier ready signal goes off. The control
unit, however, sets servo ready signal SA to 0. The SA signal can
remain set to 1, depending on the setting of SAK, bit 6 of
parameter No. 1800.

Each-Axis VRDY OFF Alarm Ignore Signal

DVAL1 <G67#3>, DVAL2<G71#3>, ...
[Classification] Input signal
[Function] Disables the detection of servo alarm SV0013, VRDY OFF, for the
corresponding axis. These signals correspond to the controlled axes.
The suffixed number of each signal corresponds to the number of the
controlled axis.
[Operation] When this signal is set to logical 1, the control unit operates as follows:
- The control unit does not issue servo alarm SV0013, VRDY OFF,
even when the servo amplifier ready signal for the corresponding
axis goes off. The servo ready signal SA, however, is set to 0. The
SA signal, however, can remain set to 1 depending on the setting
of SAK, bit 6 of parameter No. 1800.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G026 DVAL

G067 DVAL1
The above addresses are the signal addresses for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the Appendix A.1.

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B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1800 IVO SAK

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Even when the system is reset when the VRDY OFF alarm ignore
signal is at 1 and the motor is de-energized, the reset state can
be released.

Alarm and message

Number Message Contents

SV0013 IMPROPER V_READY OFF The speed control ready signal (VRDY) turned OFF even
though the position control ready signal (PRDY) was ON.

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2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

Caution
CAUTION
1 If a reset is caused while DVALn or DVAL is set to 1
when bit 7 (IVO) of parameter No. 1800 is set to 0,
the reset state is not cleared until DVALn or DVAL is
set to 1. To exit from the reset state in this case, set
bit 7 (IVO) of parameter No. 1800 to 1.
2 When the VRDY OFF alarm ignore signal is set to 1
and the servo amplifier ready signal is set to off, the
motor is freed from the drive, but follow up is not
performed. To perform follow-up, enable the follow-
up function by setting the following parameters for
setting the servo-off state: Bit 1 (SVF) of parameter
No. 1802 = 1
Servo-off signal *SVFn (G64.6, G68.6, ...) = 0
Bit 2 (FVF) of parameter No. 1800 = 1,
or Bit 3 (FUP) of parameter No. 1802 = 1
3 With this function, it is impossible to stop the spindle
motor. To stop the spindle, cause the PMC to issue a
stop command for the spindle.
4 Never turn the motor while the MCC is off.
Otherwise, a servo alarm may be issued when the
MCC is turned on. Use the servo-off signals (SVF1
and up) to prevent the servo alarm from being issued.
5 If the power to the NC is turned on while the VRDY
OFF alarm ignore signal is set to 1, servo position
control is not turned on until the VRDY OFF alarm
ignore signal is set to 0.
6 While DVALn or DVAL is set to 1, and the servo MCC
is off, manual operation (jog feed, handle feed, step
feed) cannot be performed.

Note
NOTE
While the VRDY OFF alarm ignore signal is set to 1,
and a servo alarm other than alarm SV0013 occurs,
the control unit detects the alarm.

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B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

2.9 ABNORMAL LOAD DETECTION

Overview
When the machine collides, or if a defective or damaged tool is used, a
load torque greater than that applied in normal feed and cutting is
applied to the servo and spindle motors. This function detects the load
torque applied to the motors, and passes the load torque as an estimated
load torque to the PMC through the CNC. Moreover, when a torque
greater than a parameter-set value is detected, this function stops the
servo and spindle motors as soon as possible or rotates the motors by an
appropriate parameter-set amount in the direction opposite to the
forward direction to minimize damage to the machine. (The function
for rotating a motor by an appropriate amount in the opposite direction
is enabled for the servo motors only.)
This function is divided into two functions, as described below.

(1) Estimated load torque output function

The CNC calculates an estimated load torque, excluding the
motor torque, required for acceleration/deceleration at all times.
When the estimated load torque output function is enabled, the
data can be read from the PMC with the window function.

(2) Abnormal load detection alarm function

If a load torque greater than the parameter-set value is detected, this

function stops the motor, or rotates the motor in the direction opposite
to the forward direction by the amount specified in the parameter, and
causes the CNC to issue an alarm. (The function for rotating the motor
in the direction opposite to the forward direction is enabled only for
servo motors.)

NOTE
The abnormal load detection function for the spindle
motor is usable with a serial spindle only. This
function is not usable with an analog spindle.

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2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

Parameter setting
The method of setting the parameters to use the abnormal load
detection function is described below.

(1) Servo axis

The abnormal load detection
function is available.

Is the abnormal load Bit 0 (ABD) of parameter

detection function used? No No. 1958 = 0
Yes

Bit 0 (ABD) of parameter No. 1958 = 1

Is the abnormal load detection Only the estimated load

alarm function used? torque output function is
No enabled.
Yes

Set bit 5 (TDO) of parameter No. 1957

to 1, then monitor load torque.

<Adjustment>

Set parameter No. 1738, No. 1862, No. 1863, No. 1996, and No. 1997.

Reset bit 5 (TDO) of parameter No. 1957 to 0.

The estimated load torque output function and the

abnormal load detection alarm function are enabled.

(2) Spindle axis (Only a serial spindle is usable.)

The abnormal load detection
function is available.

Set parameter No. 3247, No. 3248, No. 3249, and 3250.

Is the abnormal load detection Only the estimated load

alarm function used? torque output function is
No enabled.
Yes

Set parameter No. 3341.

The estimated load torque output function and the

abnormal load detection alarm function are enabled.

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B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

Signal
Servo axis abnormal load detection signal AQSV<F155#3>
[Classification] Output signal
[Function] Notifies the PMC of an abnormal load detected on the servo axis.
[Output condition] This signal is set to 1 in the following case:
- When an abnormal load is detected on the servo axis, Cs axis,
spindle positioning axis, or spindle axis during rigid tapping

First spindle abnormal load detection signal AQSP1<F155#6>

[Classification] Output signal
[Function] Notifies the PMC of the detection of an abnormal load on the first
spindle.
[Output condition] This signal is set to 1 in the following case:
- When an abnormal load is detected on the first spindle subject to
speed control

Second spindle abnormal load detection signal AQSP2<F155#7>

[Classification] Output signal
[Function] Notifies the PMC of the detection of an abnormal load on the second
spindle.
[Output condition] This signal is set to 1 in the following case:
- When an abnormal load is detected on the second spindle subject
to speed control

Third spindle abnormal load detection signal AQSP3<F154#2>

[Classification] Output signal
[Function] Notifies the PMC of the detection of an abnormal load on the third
spindle.
[Output condition] This signal is set to 1 in the following case:
- When an abnormal load is detected on the third spindle subject to
speed control

Fourth spindle abnormal load detection signal AQSP4<F154#3>

[Classification] Output signal
[Function] Notifies the PMC of the detection of an abnormal load on the fourth
spindle.
[Output condition] This signal is set to 1 in the following case:
- When an abnormal load is detected on the fourth spindle subject
to speed control

The functions output the following alarms and signals:

Signal output Alarm
AQSV AQSPn SV0409 SV0119/0120/
(n=1-4) 0127/0128
Servo axis O _ O _
Cs contour control axis O _ O _
Spindle positioning axis O _ O _
Rigid tapping O _ _ O
Spindle axis under _ O _ O
speed control

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2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

NOTE
No spindle axis subject to speed control can be
stopped from the CNC.
If necessary, stop a spindle axis subject to speed
control from the PMC by using output signal AQSPn
(n = 1 to 4).

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F155 AQSP2 AQSP1 AQSV

F154 AQSP4 AQSP3

Parameter
Parameter common to the servo axis and spindle

1738 Abnormal load detection alarm timer

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1862 Velocity control observer

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- 342 -
B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

#7 #6 #5 #4 #3 #2 #1 #0
1957 TDO

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2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

1996 Retract amount on detecting an irregular load

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If an abnormal load is detected, the direction of the motor rotation can be reversed.
This parameter sets the amount of reverse motor rotation. When a specified
feedrate is not higher than the feedrate listed below, and so the motor turns at a
low speed, the motor stops immediately without reversing the motor rotation.
This is to prevent the motor from turning in the reverse direction excessively.

Let A be this parameter value. When the feedrate is higher than the feedrate
indicated below in the detection unit used, the motor turns in the reverse direction
by A from the point at which an abnormal load is detected, then stops.

Detection unit Feedrate

10 A/ 0.8 mm/ min
1 A/ 8 mm/min
0.1 A/ 80 mm/min
0.01 A / 800 mm/min
0.001 A / 8000 mm/ min

If this parameter is set to 0, the motor rotation will not reversed, but it will stop
immediately when an abnormal load is detected.
See “AC Servo Motor α series Parameter Manual (B-65150E)” for details.

1997 Threshold value for the detection of an irregular load

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The irregular load alarm is generated when the load for a servo axis exceeds this
value.
The set value should be bigger than the maximum value of the load torque
observed in the setting of the paramete TDO (no.1957#5) =1. The set value 7282
corresponds 4.4V of the observed value.
See “AC Servo Motor α series Parameter Manual (B-65150E)” for details.

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B-63323EN-1/03 2.PREAPARATIONS FOR OPERATION

Spindle parameter
#7 #6 #5 #4 #3 #2 #1 #0
3015 SPM

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3247 Time constant for the magnetic flax compensation in monitoring the spindle
load (for the high speed characteristics of the main side)

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- 345 -
2.PREAPARATIONS FOR OPERATION B-63323EN-1/03

3250 Observer gain 2 for monitoring the spindle load (for the main side)

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(1) Servo axis

Number Message Contents

SV0409 DETECT ABNORMAL TORQUE An abnormal load was detected on the servo motor, or
during Cs axis or spindle positioning.

(2) Spindle

Number Message Contents

SV0119 ABNORMAL TORQUE(1ST SPDL) An abnormal load was detected at the No. 1 spindle motor.
This alarm is canceled by resetting the control.
SV0120 ABNORMAL TORQUE(2ND SPDL) An abnormal load was detected at the No. 2 spindle motor.
This alarm is canceled by resetting the control.
SV0127 ABNORMAL TORQUE(3RD SPDL) An abnormal load was detected at the No. 3 spindle motor.
This alarm is canceled by resetting the control.
SV0128 ABNORMAL TORQUE(4TH SPDL) An abnormal load was detected at the No. 4 spindle motor.
This alarm is canceled by resetting the control.

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B-63323EN-1/03 3.MANUAL OPERATION

3 MANUAL OPERATION

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3.MANUAL OPERATION B-63323EN-1/03

3.1 JOG FEED/INCREMENTAL FEED

General

- Jog feed
In the jog mode, turning a feed axis and direction selection signal to "1"
on the machine operator’s panel continuously moves the tool along the
selected axis in the selected direction.

- Incremental feed
In the incremental feed mode, turning a feed axis and direction
selection signal to "1" on the machine operator’s panel moves the tool
one step along the selected axis in the selected direction. Increment
feed travel distance selection signal DISTn is used to set an amount of
travel. A value from 0 to 99,999,999 can be specified.

The jog feedrate is specified in a parameter (No.1423)

The jog feedrate can be adjusted with the jog feedrate override dial.
With the rapid traverse selection switch the tool can be moved at the
rapid traverse rate regardless of the jog feedrate override signal.

Signal
The following signals determine the way in which jog feed or
incremental feed is executed.

Selection Jog feed Incremental feed

Mode selection J, MJ S, MS
Selection of the axis to move +J1, -J1, +J2, -J2, +J3, -J3, ...
Selection of the direction to move the axis
Selection of the move amount DIST0-DIST26
Selection of feedrate *JV0-*JV15, RT, ROV1, ROV2

The only difference between jog feed and incremental feed is the
method of selecting the feed distance. In jog feed, the tool continues to
be fed while the following signals selecting the feed axis and direction
are "1": +J1, -J1, +J2, -J2, +J3, -J3, etc. In incremental feed, the tool is
fed by one step.
The distance of the step is selected by the manual handle feed move
distance select signal DIST0 to DIST26.
For the signals selecting the mode, see Section 2.6, "Mode Selection
Signals." For rapid traverse override signals ROV1 and ROV2, see
Section 7.1.7.1, "Feedrate Override Signals."
Other signals are described below.

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B-63323EN-1/03 3.MANUAL OPERATION

Feed Axis and Direction Selection Signal

+J1<G65#0>, +J2<G69#0>, ... , -J1<G65#1>, -J2<G69#1>, ...
[Classification] Input signal
[Function] Selects a desired feed axis and direction in jog feed or incremental feed.
The sign (+ or -) in the signal name indicates the feed direction. The
number following J indicates the number of the control axis.
xJy
x : + ..... Feed in positive direction
- ..... Feed in negative direction
y : 1 ..... First axis is fed
2 ..... Second axis is fed
3 ..... Third axis is fed
: :
[Operation] When the signal is high, the control unit operates as described below.
- When jog feed or incremental feed is allowed, the control unit
moves the specified axis in the specified direction.
- In jog feed, the control unit continues to feed the axis while the
signal is "1".

Jog mode
+J1
1st axis move

- In incremental feed, the control unit feeds the specified axis by the
step distance which is specified by the manual handle feed move
distance selection signals DIST0 to DIST26. Then the control
unit stops it. Even if the signal is set to "0" while the axis is being
fed, the control unit does not stop feeding it.
To feed the axis again, set the signal to "0", then set it to "1" again.
Incremental feed mode

+J1
1st axis move

NOTE
1 If both the positive direction and negative direction
signals of the same axis are simultaneously set to
"1", neither the positive direction nor the negative
direction is selected. The control unit assumes that
both these signals are set to "0".
2 If the feed axis and direction selection signals are
set to "1" before the jog feed mode or incremental
feed mode is selected, these signals are invalidated.
After the jog feed mode or incremental feed mode is
selected, set these signal to "0", then set them to "1"
again.

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3.MANUAL OPERATION B-63323EN-1/03

Jog mode
or incremental feed mode

+J1
1st axis

+J1 is Axis is fed again after signals

ineffectiv have turned to "0" once.
e during

NOTE
3 If the control unit is reset while the feed axis and
direction selection signals are set to "1" or if a feed
axis and direction signal turns to "1" while the control
unit is in the reset state, the signal cannot be
validated by releasing the reset state. After the reset
state is released, set these signals to "0", then set
them to "1" again.

Incremental feed mode

(TEACH IN HANDLE mode)

Reset
+J1
1st axis move J1 is
ineffective
during this
period.
Axis is fed again after
Move is stopped signals have turned to "0"
by resetting once.

Manual Feedrate Override Signal *JV0-*JV15 <G014, G015>

[Classification] Input signal
[Function] Selects a feedrate in jog feed or incremental feed. These signals are
sixteen binary code signals, which correspond to the override values as
follows:
15
Override value (%) @= 0.01 × ∑ {2
i =0
i
× Vi }

where
Vi = 0 when the *JVi signal is "1"
Vi = 1 when the *JVi signal is "0"
The override value is assumed to be zero when all of the signals, (*JV0
to *JV15) are set to "1" or "0". When this occurs, the feed is stopped.
The override value can be specified in the range of 0% to 655.34% in
units of 0.01%. Some examples are listed below.

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B-63323EN-1/03 3.MANUAL OPERATION

*JV0-*JV15 Override value

12 8 4 0 (%)
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0.01
1 1 1 1 1 1 1 1 1 1 1 1 0 1 0 1 0.10
1 1 1 1 1 1 1 1 1 0 0 1 1 0 1 1 1.00
1 1 1 1 1 1 0 0 0 0 0 1 0 1 1 1 10.00
1 1 0 1 1 0 0 0 1 1 1 0 1 1 1 1 100.00
0 1 1 0 0 0 1 1 1 0 1 1 1 1 1 1 400.00
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 655.34
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

[Operation] If rapid traverse selection signal RT is "0" during jog feed or

incremental feed, the manual feedrate specified by the parameter (no.
1423) is overridden by the value specified by the JVi signal.

NOTE
The JVi signals also serve as the override signals
during dry run in automatic operation mode.

Manual rapid traverse selection signal <G006#7>

[Classification] Input signal
[Function] Selects a rapid traverse rate for jog feed or incremental feed.
[Operation] When the signal turns to "1", the control unit operates as described
below:
- The control unit executes the jog feed or incremental feed at a
rapid traverse rate. The rapid traverse override is validated.
- When the signal is switched from "1" to "0" or vice versa during
jog feed or incremental feed, the feedrate is decelerated until it
reaches zero, then increased to the specified value. During
acceleration and deceleration, the feed axis and direction
selection signal can be kept "1".

Jog feed mode

or incremental feed mode

+J1

RT

1st axis move

Rapid traverse rate

Feedrate selected by manual feedrate override signal

- 351 -
3.MANUAL OPERATION B-63323EN-1/03

WARNING
After the power is turned on, the stroke limit function
does not work until the reference position return is
completed. During this period, the control unit
ignores the RT signal, if it is set to "1", and keeps
moving the tool at a feedrate selected by the manual
feedrate override signal. A parameter RPD (No.
1400#2) can be specified so that the rapid traverse
is validated before the reference position return is
completed.

Incremental feed amount selection signal DIST0-DIST26<G020-G023>

[Classification] Input signal
[Function] Selects a feed amount per incremental feed step. This signal is a 27-
point binary signal, and is related to a feed amount as follows:

26
Feed amount =  
 
 × ∑{2 i × Vi }
i =0
where, Vi = 0 when DISTi is 0
Vi = 1 when DISTi is 1

A value from 0 to 99,999,999 can be selected. If a value that falls

outside this range is specified, 0 is assumed.
[Operation] Each time one step is fed by increment feed (with the feed axis
direction selection signal set to 1 after being set to 0), the tool is fed by
the feed amount specified by this signal.

NOTE
1 The least input increment is used for specification.
This means that the same specified value represents
a different feed amount, depending on whether
metric input or inch input is used. When a different
increment system is used for each axis, the same
specified value does not represent the same feed
amount.
2 With bit 3 (MPN) of parameter No. 2001, an
increment feed amount can be specified using
manual handle feed amount selection signals MP1,
MP2, and MP4, instead of specifying an arbitrary
value with this signal. See Section 3.2, "Manual
Handle Feed."

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B-63323EN-1/03 3.MANUAL OPERATION

Signal address

#7 #6 #5 #4 #3 #2 #1 #0
G006 RT

G014 *JV7 *JV6 *JV5 *JV4 *JV3 *JV2 *JV1 *JV0

G015 *JV15 *JV14 *JV13 *JV12 *JV11 *JV10 *JV9 *JV8

G020 DIST7 DIST6 DIST5 DIST4 DIST3 DIST2 DIST1 DIST0

G021 DIST15 DIST14 DIST13 DIST12 DIST11 DIST10 DIST9 DIST8

G022 DIST23 DIST22 DIST21 DIST20 DIST19 DIST18 DIST17 DIST16

G023 DIST26 DIST25 DIST24

#7 #6 #5 #4 #3 #2 #1 #0
G065 -J1 +J1
The above addresses are the signal addresses for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the Appendix A.1.

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3.MANUAL OPERATION B-63323EN-1/03

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1400 RPD

     
 

    


       

   
      
!

    

 "
#$ %    "
&$ %   "

1423 Jogging feedrate for each axis

     
 

      '

(
    )
*
)
*!)
+ 
 
,
-

  
      
    
 '

. 
   !        
! +%,
+/
  
0*#"#012####"#,
3 !!
!    '
 3 ! 


  &##4"

#7 #6 #5 #4 #3 #2 #1 #0
1600 JGE

     
 

    
 '

    5 678  

     
) 
  
!3 !!
!"

#$
   
) 

 "  9 *0
   
) 
 

 *0  
 
) 

 "
&$ 8' 
  
) 


1624 Jog acceleration/deceleration time constant for each axis

     
 

    ! '

(
     
. 
   ! #02###
:   '
* 
       
) 

 
!3 !"

- 354 -
B-63323EN-1/03 3.MANUAL OPERATION

1625 FL feedrate for each axis for acceleration/deceleration during jog feed

     
 

      '

(
    )
*
)
*!)
+ 
 
,
-

  
      
    
 '

. 
   !        
! +%,
+/
  
0*#"#012####"#,
:   '
* :      
) 

 
!3 !"

#7 #6 #5 #4 #3 #2 #1 #0
2001 MPN

[Input type] Parameter input

[Data type] Bit

    ; -<  

 
 
 



 

 

!  =# => 
   


!  -&*-* -2"
#$  



  

!  =#
=>"
&$  


    

!  -&*-*
-2"

2016 Manual feedrate override clamp value

     
 

    !
(
    #"#&4
. 
   ! #0>55;2
=
   

          

  
   !    

    

 "  =
  
 
 

 

 +-,
 "

Caution
CAUTION
For incremental feeding along an axis under
diameter programming, the tool moves in units of the
diameter.

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3.MANUAL OPERATION B-63323EN-1/03

Note
NOTE
Time constant and method of automatic
acceleration/ deceleration for manual rapid traverse
are the same as G00 in programmed command.

Reference item
Series15i/150i-MA Operator’s Manual II-3.2 Jog feed
(Operation) II-3.3 Incremental feed
(B-63324EN-1)

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B-63323EN-1/03 3.MANUAL OPERATION

3.2 MANUAL HANDLE FEED

General
In the manual handle feed mode, the tool can be minutely moved by
rotating the manual pulse generator. Select the axis along which the
tool is to be moved with the handle feed axis selection signal.
The minimum distance the tool is moved when the manual pulse
generator is rotated by one graduation is equal to the least input
increment. Or the distance the tool is moved when the manual pulse
generator is rotated by one graduation can be magnified by 10 times or
by one of the two magnifications specified by parameters (No. 1414
and 1418).
The handle magnifications can be selected by the manual handle feed
move distance selection signal.
Up to three manual pulse generators can be connected.

- A command to the MPG exceeding rapid traverse rate

The feedrate is clamped at the rapid traverse rate and generated pulses
exceeding the rapid traverse rate are not ignored but accumulated in the
CNC.(No longer rotating the handle does not immediately stop the tool.
The tool is moved by the pulses accumulated in the CNC before it
stops.)
Signal

Manual Handle Feed Axis Selection Signals

HS1A-HS1D<G011#0-#3>, HS2A-HS2D<G011#4-#7>, HS3A-HS3D<G010#0-#3>
[Classification] Input signal
[Function] Selects the axis of manual handle feed. A set of four code signals, A, B,
C, and D is provided for each manual pulse generator. (Up to three
generators can be used.) (For two-path, these signals are provided for
each manual pulse generator and each path.) The number in the signal
name indicates the number of the manual pulse generator to be used.
HSyA
y : 1 ..... First manual pulse generator
2 ..... Second manual pulse generator
3 ..... Third manual pulse generator (M series)
Code signals A, B, C, and D correspond to the feed axes as listed in the
following table:

- 357 -
3.MANUAL OPERATION B-63323EN-1/03

Manual handle feed axis selection Feed axis

HSnD HSnC HSnB HSnA

0 0 0 0 No selection (None of axis is fed)

0 0 0 1 1st axis
0 0 1 0 2nd axis
0 0 1 1 3rd axis
0 1 0 0 4th axis
0 1 0 1 5th axis
0 1 1 0 6th axis
0 1 1 1 7th axis
1 0 0 0 8th axis
1 0 0 1 9th axis
1 0 1 0 10th axis
1 0 1 1 11th axis
1 1 0 0 12th axis
1 1 0 1 13th axis
1 1 1 0 14th axis
1 1 1 1 15th axis

Manual Handle Feed Amount Selection Signal

MP1, MP2, MP4 <G006#2-#4>
(Incremental Feed Signal)
[Classification] Input signal
[Function] This signal selects the distance traveled per pulse from the manual
pulse generator during the manual handle feed or manual handle
interrupt.
The table below lists the signal-to-distance correspondence.

Travel distance select signal for Distance traveled

manual handle feed (Manual handle feed ^interrupt)
MP4 MP2 MP1
0 0 0 Least input increment ~1
0 0 1 Least input increment ~10
0 1 0 Least input increment ~m 1
0 1 1 Least input increment ~n*2
1 0 0 Least input increment ~n
1 0 1 Least input increment ~n
1 1 0 Least input increment ~n
1 1 1 Least input increment ~n

*1 @ Scale factors m is specified using parameter No 1414.

*2 @ Scale factors m is specified using parameter No 1418.
By setting bit 3 of parameter No. 2002, MP1, MP2, and MP4 can be
used to specify an incremental feed amount. In this case, feed amounts
are set as indicated below.

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B-63323EN-1/03 3.MANUAL OPERATION

Manual handle feed amount Distance traveled (increment feed)

selection signal
MP4 MP2 MP1
0 0 0 Least input increment x 1
0 0 1 Least input increment x 10
0 1 0 Least input increment x 100
0 1 1 Least input increment x 1000
1 0 0 Least input increment x 10000
1 0 1 Least input increment x 100000
1 1 0 Least input increment x 100000
1 1 1 Least input increment x 100000

CAUTION
Because the least input increment is used as the
units for manual handle and incremental feed, the
same value represents a different distance
depending on whether the metric or inch input
system is used.
For an axis under diameter programming, the tool
moves by the diameter value.

NOTE
See Section 3.4, "Manual Handle Interrupt" for
manual handle interrupts, and Section 3.1, "Jog
Feed/Incremental Feed" for incremental feed.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G006 MP4 MP2 MP1

G010 HS3D HS3C HS3B HS3A

G011 HS2D HS2C HS2B HS2A HS1D HS1C HS1B HS1A

- 359 -
3.MANUAL OPERATION B-63323EN-1/03

Parameter

1413 Maximum number of buffered manual handle feed pulses

[Input type] Parameter input

[Data type] Integer
[Valid data range] 0-4
The permissible flow amount is set. If such a handle feed that
momentarily exceeds the rapid traverse rate is specified, the handle
pulses for the excess of the rapid traverse rate are not discarded,
but are accumulated according to the setting.
( setting )
( rapid traverse rate ) × 
Permissible flow amount =
?5##
Normally, 0 may be set.

1414 Magnification m of manual handle feed

     
 

    !
. 
   ! #0###
Set the magnification m for when movement selection signals MP1 and MP2 for
manual handle feed are 0 and 1, respectively.

Travel amount select signal Amount of travel

MP4 MP2 MP1 (manual handle feed)
0 0 0 Least input increment×1
0 0 1 Least input increment×
-1
0 1 0 Least input increment×m
-2
0 1 1 Least input increment×n
*1 To be set in parameter No.1414.
*2 To be set in parameter No.1418.

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B-63323EN-1/03 3.MANUAL OPERATION

1418 Magnification n of manual handle feed

     
 

    !
. 
   ! #0###
Set the magnification rate for when movement selection signals MP1 and MP2 for
manual handle feed are 1.

Travel amount select signal Amount of travel

MP4 MP2 MP1 (manual handle feed)
0 0 0 Least input increment ~1
0 0 1 Least input increment ~10
1
0 1 0 Least input increment ~m
2
0 1 1 Least input increment ~n
*1 To be set in parameter No.1414.
*2 To be set in parameter No.1418.

Warning
WARNING
Rotating the handle quickly with a large
magnification such as x100 moves the tool too fast
or the tool may not stop immediately after the handle
is no longer rotated or the distance the tool moves
may not match the graduations on the manual pulse
generator. The feedrate is clamped at the rapid
traverse rate.

Caution
CAUTION
Rotate the manual pulse generator at a rate of five
rotations per second or lower.

Reference item
Series15i/150i-MA Operator’s Manual II-3.4 Manual handle feed
(Operation)
(B-63324EN-1)

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3.MANUAL OPERATION B-63323EN-1/03

3.3 MANUAL HANDLE CONNECTED TO I/O LINK

General
Instead of an ordinary manual handle connected to the main CPU board,
a manual handle connected to the I/O Link (operator’s panel unit,
distributed I/O) can be used.

- Method of setting I/O-Link-connected manual handles

The method of setting I/O-Link-connected manual handles is described
below.

(1) Select an interface for each handle by using the corresponding

parameter as indicated below.

0 1
ParameterIH1 The first manual handle is The first manual handle is
(No.2070#0) connected as usual. connected to the I/O Link.
ParameterIH2 The second manual handle The second manual handle
(No.2070#1) is connected as usual. is connected to the I/O Link.
ParameterIH3 The third manual handle is The third manual handle is
(No.2070#2) connected as usual. connected to the I/O Link.

(2) Set the address value (PMC X address) of each manual handle in
the corresponding parameter (No. 2071 through No. 2073).

(3) Turn on the power again.

The I/O-Link-connected manual handles are enabled.
If an incorrect address is specified in step (2), 0 is automatically
set for interface selection in bits 0 to 2 of parameter No. 2070, and
-1 is automatically set as the address value in parameter No. 2071
to No. 2073. Thus, the use of the I/O-Link-connected manual
handles is disabled.

CAUTION
If I/O-Link-connected manual handles cannot be
enabled when the power is turned on again, check
whether bits 0 to 2 of parameter No. 2070, and
parameter Nos. 2071 to No. 2073 are set correctly.

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B-63323EN-1/03 3.MANUAL OPERATION

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
2070 IH3 IH2 IH1

[Input type] Parameter input

[Data type] Bit

    # 9&  

    )@0
A0     

    "
#$ <  "  +B 
    
 ",
&$ ( "

NOTE
When this parameter is set to "1" and the power is turned off and
then on again, if the appropriate address value is not set for
parameter No. 2071, this parameter is automatically set to "0" so
that the I/O-Link-connected manual handle cannot be used.

    & 9  

    )@0
A0     
    "
#$ <  "  +B 
    
 ",
&$ ( "

NOTE
When this parameter is set to "1" and the power is turned off and
then on again, if the appropriate address value is not set for
parameter No. 2072, this parameter is automatically set to "0" so
that the I/O-Link-connected manual handle cannot be used.

     9;  

    )@0
A0     

   "
#$ <  "  +B 
    
 ",
&$ ( "

NOTE
When this parameter is set to "1" and the power is turned off and
then on again, if the appropriate address value is not set for
parameter No. 2073, this parameter is automatically set to "0" so
that the I/O-Link-connected manual handle cannot be used.

- 363 -
3.MANUAL OPERATION B-63323EN-1/03

2071 Address value of the first I/O-Link-connected manual handle

NOTE
After this parameter has been set, the power must be off turned off then
back on for the setting to become effective.

     
 

    !
. 
   ! #0&?
 

     +C   -%, 
 )@0
A0
    "

NOTE
When an I/O-Link-connected manual handle is specified for the
first manual handle, but the specified address value is not
appropriate, this parameter is automatically set to -1.

2072 Address value of the second I/O-Link-connected manual handle

NOTE
After this parameter has been set, the power must be off turned off then
back on for the setting to become effective.

     
 

    !
. 
   ! #0&?
 

     +C   -%,   )@0

A0    "

NOTE
When an I/O-Link-connected manual handle is specified for the
second manual handle, but the specified address value is not
appropriate, this parameter is automatically set to -1.

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B-63323EN-1/03 3.MANUAL OPERATION

2073 Address value of the third I/O-Link-connected manual handle

NOTE
After this parameter has been set, the power must be off turned off then
back on for the setting to become effective.

     
 

    !
. 
   ! #0&?
 

     +C   -%, 
)@0

A0    "

NOTE
When an I/O-Link-connected manual handle is specified for the
third manual handle, but the specified address value is not
appropriate, this parameter is automatically set to -1.

Warning
WARNING
When an I/O-Link-connected manual handle is
used, the assigned address specified in the
parameter is used as the manual handle interface.
So, if an incorrect address is specified, and the value
of the address changes, it is assumed that the
handle is moved, thus resulting in movement along
the axis.

Reference item
Series15i/150i-MA Operator’s Manual II-3.4 Manual handle feed
(Operation)
(B-63324EN-1)

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3.MANUAL OPERATION B-63323EN-1/03

3.4 MANUAL HANDLE INTERRUPTION

General
Rotating the manual pulse generator during automatic operation can
increase the distance traveled by the amount corresponding to the
handle feed. The axis to which the handle interrupt is applied is
selected using the manual handle interrupt axis select signal. The
minimum travel distance per graduation is the least command
increment.
The minimum travel distance can be increased by tenfold or by two
scale factors (parameter Nos. 7113 and 7114). Each scale factor can be
selected using the manual handle travel distance select signal (Section
3.2, "Manual Handle Feed").

Warning
WARNING
The travel distance by handle interruption is
determined according to the amount by which the
manual pulse generator is turned and the handle feed
magnification (x1, x10, xm, xn (m and n are set by
parameter Nos.1414 and 1418)) Since this
movement is not accelerated or decelerated, it is very
dangerous to use a large magnification value for
handle interruption.

Note
NOTE
1 No handle interrupt can be used in manual operation
mode (for example, job feed mode and manual
handle feed mode).
2 Handle interruption is disabled when the machine is
locked or interlocked.

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B-63323EN-1/03 3.MANUAL OPERATION

3.5 THREE-DIMENSIONAL HANDLE FEED

Three-dimensional handle feed includes three special handle feed

modes, a function for changing the tool length compensation in the
longitudinal direction of the tool, and two screen display functions. The
three-dimensional handle feed function is used to execute special
handle feed for a five-axis diesinking machine. These handle feed
modes function even during manual handle interrupt.
- Special handle feed modes
1 Mode of handle feed in the longitudinal direction of the tool
2 Mode of handle feed in the transverse direction of the tool
3 Mode of rotational handle feed around the center of the tool
tip
* These three modes are called as special handle feed modes.
- Function for changing the tool length compensation in
- the longitudinal direction of the tool
- Screen display functions
1 Function that displays the coordinate of the tool tip
2 Function that displays the number of pulses in a manual
interrupt and the traveled distance
The following variables are used in expressions described in the
subsequent sections:
Xp, Yp, Zp : Number of handle feed pulses for the axes (integrated
value)
Hp : Number of specified handle feed pulses (integrated
value)
A, B, C : Machine coordinate of the A-, B-, and C-axes
L : Distance from the center of rotation of the tool to the tool
tip

- 367 -
3.MANUAL OPERATION B-63323EN-1/03

Handle feed interruption in the longitudinal direction of the tool

In tool axis direction handle feed, the tool is moved in the tool axis
direction by the rotation of the manual pulse generator.

B
C
Longitndinal direction
of the tool

Z
Workpiecie C
B
Y

Tool axis direction handle feed is enabled when the following four
conditions are satisfied:
(1) Handle mode is selected.
(2) Tool axis direction handle feed mode signal ALNGH is set to 1.
(3) In parameter No. 7553, the axis number of the first manual pulse
generator is set as the axis for tool axis direction handle feed
mode.
(4) A manual handle feed axis is selected for the axis number set in
parameter No. 7553.
- Pulses distributed to each axis
When handle feed/interruption in the longitudinal direction of the tool
is performed, pulses are distributed to the axes according to the
machine configuration as explained below.

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B-63323EN-1/03 3.MANUAL OPERATION

- Rotary axes B and C (with the Z-axis representing the tool axis)

Zp

Hp
B

Yp
Y

Xp
C

Xp=Hp×sin(B)×cos(C)
Yp=Hp×sin(B)×sin(C)
Zp=Hp×cos(B)

- Rotary axes A and C (with the Z-axis representing the tool axis)

Hp

Zp

A
Yp

Xp

Y
C

Xp=Hp×sin(A)×sin(C)
Yp=-Hp×sin(A)×cos(C)
Zp=Hp×cos(A)

- 369 -
3.MANUAL OPERATION B-63323EN-1/03

- Rotary axes A and B (with the X-axis representing the tool axis)

Xp

Hp
B

Zp
Z

Yp
A

Xp=Hp×cos(B)
Yp=Hp×sin(B)×sin(A)
Zp= -Hp×sin(B)×cos(A)

-Rotary axes A and B (with the A-axis being the master and the Z-axis representing
the tool axis)

Hpz

A
HPzb

Zp
Y

Xp
X

Yp

Hpz : Hp when the machine position of the A-axis is 0 and the machine position of the B-axis is 0
Hpzb: Hp when rotation is performed about the B-axis only

Xp=Hp×sin(B)
Yp=-Hp×cos(B)×sin(A)
Zp=Hp×cos(B)×cos(A)

- 370 -
B-63323EN-1/03 3.MANUAL OPERATION

-Rotation axes A and B (with the B-axis being the master axis and the Z-axis
representing the tool axis)

A
Hpz
B
Hpza

Zp

X Xp

Yp

Hpz : Hp when the machine position of the A-axis is 0 and the machine position of the B-axis is 0
Hpza: Hp when rotation is performed about the B-axis only

Xp=Hp×cos(A)×sin(B)
Yp=-Hp×sin(A)
Zp=Hp×cos(A)×cos(B)

Tool axis right-angle direction handle feed

In tool axis right-angle direction handle feed, the tool is moved at right
angles to the tool axis by the rotation of the manual pulse generator.

B
C
Longitudinal devection
of the tool

Workpiece
Z
C
B
Y

Tool axis right-angle direction handle feed is enabled when the

following four conditions are satisfied:
(1) Handle mode is selected.
(2) Tool axis right-angle direction handle feed mode signal RGHTH
is set to 1.

- 371 -
3.MANUAL OPERATION B-63323EN-1/03

(3) In parameter No. 7551 and No. 7552, the axis numbers of the first
manual pulse generator are set as the axes for tool axis right-angle
direction handle feed mode.
(4) Manual handle feed axes are selected for the axis numbers set in
parameter No. 7551 and No. 7552.

- Pulses distributed to each axis

When handle feed/interruption in the transverse direction of the tool is
performed, pulses are distributed to the axes according to the machine
configuration as explained below.

- Rotation axes B and C (with the Z-axis representing the tool axis)
- When handle feed is performed in the transverse direction of the
tool (in the X-axis direction)
Z

Hp (X direction)

Zp
C
Yp

Xp

Xp=Hp×cos(B)×cos(C)
Yp=Hp×cos(B)×sin(C)
Zp=-Hp×sin(B)

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B-63323EN-1/03 3.MANUAL OPERATION

- When handle feed is performed in the transverse direction of the tool (in the Y-axis
direction)
Z
HP (Y direction)

Xp

Yp

X
C

When three-dimensional handle feed in the transverse direction of the tool (in the Y-axis direction) is
performed with the B- and C-axes set, the tool moves in the X-Y plane since no Z-axis movement is
generated.

Xp=-Hp×sin(C)
Yp=Hp×cos(C)
Zp=0

- Rotation axes A and C (with the Z-axis representing the tool axis)
- When handle feed is performed in the transverse direction of the
tool (in the X-axis direction)

Hp (X direction)

Yp

Xp Y

When three-dimensional handle feed in the transverse direction of the tool (in the X-axis direction) is
performed with the A- and C-axes set, the tool moves in the X-Y plane since no Z-axis movement is
generated.

Xp=Hp×cos(C)
Yp=Hp×sin(C)
Zp=0

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3.MANUAL OPERATION B-63323EN-1/03

- When handle feed is performed in the transverse direction of the tool (in the Y-axis
direction)

Hp (Y direction)

C
Zp

Yp

Xp

Xp=-Hp×cos(A)×sin(C)
Yp=Hp×cos(A)×cos(C)
Zp=Hp×sin(A)

- Rotation axes A and B (with the X-axis representing the tool axis)
- When handle feed is performed in the transverse direction of the
tool (in the Y-axis direction)

Hp(Y direction)

Zp

Yp Z

When three-dimensional handle feed in the transverse direction of the tool (in the Y-axis direction) is
performed with the A- and B-axes set, the tool moves in the Y-Z plane since no X-axis movement is
generated.

Xp=0
Yp=Hp×cos(A)
Zp=Hp×sin(A)

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B-63323EN-1/03 3.MANUAL OPERATION

- When handle feed is performed in the transverse direction of the tool (in the Z-axis
direction)

Hp(Z direction)

A
Xp

Zp

Yp

Xp=Hp×sin(B)
Yp=-Hp×cos(B)×sin(A)
Zp=Hp×cos(B)×cos(A)

Rotational Handle Feed Around the Center of the Tool Tip

Select the mode of rotational handle feed around the center of the tool
tip and rotate the handle of the manual pulse generator. When the
rotation axis (A-, B-, or C-axis) is moved, the X-, Y-, and Z-axes are
adjusted so that the movement of the rotation axis does not shift the tool
tip.
If this mode is selected in the manual handle interrupt mode in
automatic operation, rotation around the center of the tool tip by the
manual pulse generator is superimposed on the movement by automatic
operation.

O1 (Tool rotation center)

With the relative relationship between the

tool tip position (P1) and workpiece held as
is, the rotation axis is turned while the X-, Y-,
and Z-axes are adjusted so that the tool
rotation center moves from 01 to 02.
O2

P1 (Tool tip position)

Workpiece

Tool tip center rotation handle feed is enabled when the following four
conditions are satisfied:
(1) Handle mode is selected.
(2) Tool tip center rotation handle feed mode signal RNDH is set to 1.
(3) In parameter No. 7554 and No. 7555, the axis numbers of the first
manual pulse generator are set as the axes for tool tip center
rotation handle feed mode.
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3.MANUAL OPERATION B-63323EN-1/03

(4) Manual handle feed axes are selected for the axis numbers set in
parameter No. 7554 and No. 7555.

- Pulse distribution to basic axes

In the case of rotation around tool tip, linear axis movement (Xp, Yp,
Zp) calculated by the equation below is output simultaneously with
rotation of the rotary axis. As a result, the tool tip position hardly
moves. (The tool tip may move when the rotary axis is rotated at high
speed.) The pulse distribution to basic axes by rotational handle
feed/interruption around tool tip is as follows according to your
machine tool confirmation:

- Rotation axes B and C (with the Z-axis representing the tool axis)

Z
Bp

Zp T1

Yp

T2
B

Xp C

X Cp

T1 :Tool rotation center position

T2 :Tool rotation center position after movement
Bp, Bp, Cp :Angular displacement of the rotation axis

Movement amount of linear axis

Xp=L× [sin(B+Bp) ×cos(C+Cp)-sin(B)×cos(C)]
Yp=L× [sin(B+Bp) ×sin(C+Cp)-sin(B)×sin(C)]
Zp=L× [cos(B+Bp)-cos(B)]

Angular displacement of the rotation axis

Bp=Hp or Cp=Hp

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B-63323EN-1/03 3.MANUAL OPERATION

- Rotation axes A and C (with the Z-axis representing the tool axis)

Z
Ap

Zp T1

Yp

T2
A

C
Xp

X Cp

T1 : Tool rotation center position

T2 : Tool rotation center position after movement
Ap, Cp : Angular displacement of the rotation axis

Movement amount of linear axis

Xp=L× [sin(A+Ap)×sin(C+Cp)-sin(A)×sin(C)]
Yp=L× [sin(A+Ap)×cos(C+Cp)-sin(A)×cos(C)]
Zp=L× [cos(A+Ap)-cos(A)]

Angular displacement of the rotation axis

Ap=Hp or Cp=Hp

- Rotation axes A and B (with the X-axis representing the tool axis)

X
Bp

Xp T1

Zp

T2
B

A
Yp

Y Ap

T1 : Tool rotation center position

T2 : Tool rotation center position after movement
Ap, Bp : Angular displacement of the rotation axis

- 377 -
3.MANUAL OPERATION B-63323EN-1/03

Movement amount of linear axis

Xp=L× [cos(B+Bp)-cos(B)]
Yp=L× [sin(B+Bp)×sin(A+Ap)-sin(B)×sin(A)]
Zp=-L× [sin(B+Bp)×cos(A+Ap)-sin(B)×cos(A)]

Angular displacement of the rotation axis

Ap=Hp or Bp=Hp

Changing tool length compensation in the longitudinal direction of the tool

Select the mode of changing the tool length compensation in the
longitudinal direction of tool when both the following modes are
selected: Mode of tool length compensation in the longitudinal
direction of the tool (G43.1) and mode of manual handle interrupt
(MOVL and H are on). Then rotate the handle of the manual pulse
generator. The tool length compensation is changed in the longitudinal
direction of the tool.
The change is cleared to zero when a reset or the G49 command is
executed or when the offset number is changed.

Tool axis direction tool length compensation value modification mode

is enabled when the following five conditions are satisfied:
(1) Manual handle interrupt mode is selected.
(2) Tool axis direction tool length compensation mode (G43.1) is set.
(3) Tool axis direction tool length compensation mode (G43.1) is set.
(4) In parameter No. 7556, the axis number of the first manual pulse
generator is set as the axis for tool axis direction tool length
compensation value modification mode.
(5) A manual handle feed axis is selected for the axis number set in
parameter No. 7556.

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B-63323EN-1/03 3.MANUAL OPERATION

Tool holder offset

The length unique to the machine tool from the rotation center of a
rotary axis (A and B axes, A and C axes, B and C axes) around which
the tool axis rotates to the tool mounting position is called the "tool
holder offset." This tool holder offset can be set in parameter No. 7548
in addition to the tool length offset.

Tool holder off set

Tool length of f set

When bit 6 (DTH) of parameter No. 7540 is set to 1, a tool holder offset
added to the tool tip coordinate can be displayed.

Parameter-based rotation axis rotation angle setting

The component of each axis in three-dimensional handle feed/interrupt
is found from the machine coordinates on the rotation axis that are used
to control the direction of the tool axis. In some machine
configurations, however, the tool axis is inclined using a fixed
attachment. In such a case, the rotation angle of the rotation axis can be
set by parameter setting. By setting bit 1 (RAP) of parameter No. 1014,
the value set in parameter No. 7516 can be used as the rotation angle of
the rotation axis.

Rotation axis reference position compensation and rotation axis offset

- Rotation axis reference position compensation

A slight displacement of the rotation axis reference position due to
thermal displacement, for example, can be compensated for using
parameter No. 7518. Three-dimensional handle feed calculation is
performed using the rotation angle incorporating a parameter-set
reference position compensation value for the rotation axis rotation
angle.

- Rotation axis offset

For compensation, an offset for the rotation axis rotation angle is set in
parameter No. 7517. Three-dimensional handle feed calculation is
performed using the rotation angle incorporating a parameter-set offset
for the rotation axis rotation angle.
Rotation axis rotation angle = (rotation axis angle in the machine
coordinate system) - [parameter No. 7517 + parameter No. 7518]

- 379 -
3.MANUAL OPERATION B-63323EN-1/03

Precautions during 3-dimensional handle feed / interruption function

(1) Interruption by 3-dimensional handle feed/interruption function is
effective when manual handle interruption is added on at the same
time.
(2) When performing interruption by the 3-dimensional handle,
rotary axis commands must not be in execution during automatic
operation.
(3) The following axis configurations are supported on the machine
tool as described in the "Tool direction handle feed/Interruption"
item.

(1) Tool direction Z axis, rotary axes A and C axes

A C

Workpiece C
A
Y
X

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B-63323EN-1/03 3.MANUAL OPERATION

(2) Tool direction Z axis, rotary axes B and C axes

B C

Z
Workpiece C
B
Y

(3) Tool direction X axis, rotary axes A and B axes

A Workpiece
X

B
Y

- 381 -
3.MANUAL OPERATION B-63323EN-1/03

(4) Tool direction Z axis, rotary axes A and B axes (A-axis master)

Y
B
Workpiece

X
A

(5) Tool direction Z axis, rotary axes A and B axes (B-axis master)

Workpiece B X
Y

(4) Only the first manual pulse generator can be used in the 3-
dimensional handle feed/interruption mode.
(5) Tool feed directions by tool direction handle feed /interruption
and by tool normal direction handle feed /interruption are
determined when the 3-dimensional handle feed/interruption
mode is selected. So, operation of rotary axes by which the tool
direction is determined must be completed before you select the
3-dimensional handle feed/interruption mode. Even if the rotary
axes are moved after the 3-dimensional handle feed /interruption
mode is entered, and the tool direction is changed, operation along
the changed tool direction is not performed.
- 382 -
B-63323EN-1/03 3.MANUAL OPERATION

(6) Do not change parameters relating to the 3-dimensional handle

feed/interruption in the 3-dimensional handle feed/interruption
mode.
(7) 3-dimensional handle interruption is not possible in the high-
precision contour control mode.

Three-dimensional handle feed/interrupt in parallel axis control and twin table

control

- Procedure for three-dimensional handle feed/interrupt on a machine that controls

two heads/tables
When three-dimensional handle feed/interrupt operation is to be
performed on a machine that controls two heads/tables, the two
heads/tables to which the controlled axes belong must be set in a
parameter, and the three-dimensional handle mode selection state of
each head/table must be set in another parameter. For actual operation,
the three-dimensional handle mode signal, handle axis selection signal,
and head selection signal must be entered to operate the manual handle
pulse generator.

In the explanation below, we assume that two heads are used. When
two tables are used, the word head(s) should be read as table(s).

When three-dimensional handle feed/interrupt operation is to be

performed using two heads according to the procedure below in twin
table control, set the synchronization control selection signal (SYNCx)
to 0. When this signal is set to 1, three-dimensional handle
feed/interrupt operation cannot be performed.

The setting procedure is as follows:

(1) Set bit 1 (PHH) of parameter No. 7540 to 1 to enable the three-
dimensional handle feed/interrupt function on the machine that is
to control two heads.
(2) In parameter No. 7543, set the two heads used for three-
dimensional handle feed/interrupt to which each controlled axis
belongs. A combination of axes in each selected head should be
set with a combination of linear axes and rotation axes for normal
three-dimensional handle feed/interrupt. If an invalid
combination of linear axes and rotation axes is used, three-
dimensional handle feed/interrupt operation is not performed.

Setting example 1) For parallel axis control

Axis name Parameter(No.7543)
X1 1
X2 2
Y1 1
Y2 2
Z1 1
Z2 2
A1 1

- 383 -
3.MANUAL OPERATION B-63323EN-1/03

Axis name Parameter(No.7543)

A2 2
B1 1
B2 2
Setting
0: Axis that does not belong to any head
1: Axis that belongs to the head of the first combination
2: Axis that belongs to the head of the second combination
3: Axis that belongs to the heads of both of the first and
second combinations

First combination Second combination

Z1
Z2

Y1 Y2
A1 A2

B2
B1

X1 X2

Setting example 2) For twin table control

Axis name Parameter(No.7543)

X 3
Y 1
V 2
W 2
Z 1
I 0
B 1
J 2
C 1
K 2

First combination Second combination

Z K

C V

J
Y

X B

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B-63323EN-1/03 3.MANUAL OPERATION

(3) In the parameters, set the first handle feed axis selection signal
values for performing three-dimensional handle feed/interrupt
operation.

Three-dimensional handle feed/interrupt setting for the head of the first

combination

Parameter Type of three-dimensional handle feed/interrupt

7551 Tool axis right-angle direction handle feed/interrupt, first axis
direction
7552 Tool axis right-angle direction handle feed/interrupt, second
axis direction
7553 Tool axis direction handle feed/interrupt
7554 Tool tip center rotation handle feed/interrupt, tool axis rotation
7555 Tool tip center rotation handle feed/interrupt, other than tool
axis rotation

Three-dimensional handle feed/interrupt setting for the head of the

second combination
Parameter Type of three-dimensional handle feed/interrupt
7753 Tool axis right-angle direction handle feed/interrupt, first axis
direction
7754 Tool axis right-angle direction handle feed/interrupt, second
axis direction
7755 Tool axis direction handle feed/interrupt
7756 Tool tip center rotation handle feed/interrupt, tool axis rotation
7757 Tool tip center rotation handle feed/interrupt, other than tool
axis rotation

(4) With the master head selection signals (MH1A, MH1B, MH2A,
MH2B), select a master head used for three-dimensional handle
feed/interrupt.

MH2B MH2A MH1B MH1A Parallel axis control/twin table control

1 0 0 0 0 No selection (stop)
2 0 0 0 1 Independent operation with head 1
3 0 1 0 1 Synchronous operation with head 1 used as
the master head
4 1 0 0 0 Independent operation with head 2
5 1 0 1 0 Synchronous operation with head 2 used as
the master head
6 1 1 1 1 No selection (stop)

(5) Conditions that must be satisfied to enable three-dimensional

handle feed/interrupt operation
(1) The special handle mode selection signals (ALNGH,
RGHTH, RNDL) are set to 1
(2) The first handle selection signals conform to the selection
state of each parameter-set special handle mode.
If manual handle feed is performed when the two conditions above are
satisfied, three-dimensional handle feed is performed. If the following

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3.MANUAL OPERATION B-63323EN-1/03

condition is also satisfied, three-dimensional handle interrupt operation

is performed.
(1) The manual handle interrupt function is enabled.
(The simultaneous automatic and manual operation selection
signal (MOVL) is set to 1, and a cutting mode is set.)

- Parallel axis control and twin table control operations

[Case 1] When three-dimensional handle feed/interrupt is performed
with the two heads synchronized with each other
(1) Select synchronous operation with the master head selection
signal.
(2) Set the first handle axis selection signal to the three-
dimensional handle feed mode set with the parameter on the
master head side.
(3) Rotate the first manual handle pulse generator. From the
machine coordinates of the rotation axis of the master head, a
handle feed/interrupt move amount is calculated, and the
same number of pulses are output to both the master head
and slave head.
[Case 2] When three-dimensional handle feed/interrupt operation is
performed with one head only
(1) Select independent operation with the master head selection
signal.
(2) Set the first handle axis selection signal to the three-
dimensional handle feed mode set with the parameter on the
selected head side.
(3) Rotate the first manual handle pulse generator. From the
machine coordinates of the rotation axis of the table, a
handle feed/interrupt move amount is calculated, and pulses
are output to the selected head only.

- Notes
(1) During twin table control, tool axis direction tool length
compensation can be performed for both the master and slave
heads. However, a modification to a tool axis direction tool
length compensation value based on the three-dimensional handle
feed/interrupt function can be made only in independent operation
using head 1 or head 2.
(2) During parallel axis control, a tool axis direction tool length
compensation value based on the three-dimensional handle
feed/interrupt function cannot be modified.
(3) During parallel axis control or twin table control, three-
dimensional handle feed/interrupt operation can be performed
with up to two axis combinations (heads).
(4) When the master head selection signal of each head is set for
nonselection, three-dimensional handle feed/interrupt operation is
not performed.
(5) In three-dimensional handle feed/interrupt operation during
parallel axis control, no axis can be selected for operation using
the parking signal. Using the master head selection signal, select a
head for operation.

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B-63323EN-1/03 3.MANUAL OPERATION

(6) During twin table control, independent operation with the slave
axis based on the three-dimensional handle feed/interrupt
function is possible.

Signal

Tool axis direction handle feed mode signal ALNGH <G156#0>

[Classification] Input signal
[Function] This signal selects tool axis direction handle feed mode.
[Operation] If this signal is set to 1 when the following conditions are satisfied, tool
axis direction handle feed mode is set:
1. Handle mode is set.
2. The axis selection signal of the first manual pulse generator
is set to the value set in parameter No. 7553.
If this signal is set to 1 when the following conditions are satisfied, tool
axis direction handle interrupt mode is set:
1. Manual handle interrupt mode is set.
2. A cutting mode (such as G01, G02, or G03) is set.
3. The axis selection signal of the first manual pulse generator
is set to the value set in parameter No. 7553.

Tool axis normal direction handle mode signal RGHTH<G156#1>

[Classification] Input signal
[Function] Selects tool axis normal direction handle mode.
[Operation] If this signal is set to 1 when the following conditions are satisfied, tool
axis normal direction handle feed mode is set:
1. Handle mode is set.
2. The axis selection signal of the first manual pulse generator
is set to the value set in the parameter (No. 7551, No. 7552).
If this signal is set to 1 when the following conditions are satisfied, tool
axis normal direction handle interrupt mode is set:
1. Manual handle interrupt mode is set.
2. A cutting feed mode (such as G01, G02, or G03) is set.
3. The axis selection signal of the first manual pulse generator
is set to the value set in the parameter (No. 7551, No. 7552).

Tool tip center rotation handle mode signal RNDH<G156#2>

[Classification] Input signal
[Function] Selects tool tip center rotation handle mode.
[Operation] If this signal is set to 1 when the following conditions are satisfied, tool
tip center rotation handle mode is set:
1. Handle mode is set.
2. The axis selection signal for the first manual pulse generator
is set to the value set in the parameter (No. 7554, No. 7555).
If this signal is set to 1 when the following conditions are satisfied, tool
tip center rotation handle interrupt mode is set:
1. Manual handle interrupt mode is set.
2. A cutting feed mode (such as G01, G02, or G03) is set.
3. The axis selection signal of the first manual pulse generator
is set to the value set in the parameter (No. 7554, No. 7555).

- 387 -
3.MANUAL OPERATION B-63323EN-1/03

Tool axis direction tool length compensation amount modification handle mode signal
CNGTL<G156#3>
[Classification] Input signal
[Function] Selects tool axis direction tool length compensation amount
modification handle mode.
[Operation] If this signal is set to 1 when the following conditions are satisfied, tool
axis direction tool length compensation amount modification handle
mode is set:
1. Manual handle interrupt mode is set.
2. Tool axis direction tool length compensation mode (G43.1)
is set.
3. The axis selection signal of the first manual pulse generator
is set to the value set in the parameter (No. 7556).

NOTE
If more than one of the tool axis direction handle
mode signal (ALNGH), tool axis right-angle direction
handle mode signal (RGHTH), tool tip center rotation
handle mode signal (RNDH), and tool axis direction
tool length compensation value modification mode
signal (CNGTL) are set to 1, none of these modes are
set. Instead, normal handle feed mode is set.

Three-dimensional handle feed/interrupt master head selection signal

TLHD1A,TLHD1B,TLHD2A,TLHD2B<G156#4-#7>
[Classification] Input signal
[Function] Selects a head for three-dimensional handle feed on a machine that
controls two heads in parallel axis control and twin table control.

TLHD2B TLHD2A TLHD1B TLHD1A Parallel axis control/twin table control

operation
0 0 0 0 No selection (stop)
0 0 0 1 Independent operation with head 1
0 1 0 1 Synchronous operation with head 1 used as
the master head
1 0 0 0 Independent operation with head 2
1 0 1 0 Synchronous operation with head 2 used as
the master head
1 1 1 1 No selection (stop)

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G156 TLHD2B TLHD2A TLHD1B TLHD1A CNGTL RNDH RGHTH ALNGH

- 388 -
B-63323EN-1/03 3.MANUAL OPERATION

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1014 RAP RAM

   

    

                    
  !  " #       " 
!    !  $
% &      $
'% (      $
      !            
      $

- 389 -
3.MANUAL OPERATION B-63323EN-1/03

#1 RAP Specifies whether the rotation axis used for tool axis direction tool
length compensation, three-dimensional handle feed, and
designation direction tool length compensation is an ordinary
rotation axis.
0: Ordinary rotation axis.
1: Parameter axis. The rotation axis is not controlled in designation
direction tool length compensation.
If this bit is set to 0, absolute coordinates are used as the
coordinates of rotation axes in tool axis direction tool length
compensation mode, and machine coordinates are used in three-
dimentional handle feed mode. If this bit is set to 1, the value set in
parameter No. 7516 is used as the coordinates of the rotation axes.
When there is no rotation axis in the controlled axes, or when there
is only one rotation axis in the controlled axes, set 1 in bit 0 (RAM)
and bit 1 (RAP) of parameter No. 1014 for the linear axes to which
non-existent rotation axes belong, and set an angular displacement
in parameter No. 7516.

(Example 1)
There are linear axes X, Y, and Z, and rotation axes A, B, and C
which rotate about the X-, Y-, and Z-axes, respectively. The tool axis
direction is controlled with the rotation axes A and C.
RAM(No.1014#0)
X 0
Y 0
Z 0
A 1
B 0
C 1

(Example 2)
The controlled axes include only the linear axes X, Y, and Z. By
using the tool attachment, the tool axis is tilted in the same tool axis
direction as when the A- and C-axes are rotated.
RAM(No.1014#0) RAP(No.1014#1) Angle(No.7516)
X 1 1 45.0
Y 0 0 0.0
Z 1 1 30.0

- 390 -
B-63323EN-1/03 3.MANUAL OPERATION

1029 Axis number of the linear axis to which a rotation axis belongs

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 0 - Max axes
When a rotation axis turns about a linear axis, the linear axis is
referred to as an axis to which the rotation axis belongs, and is set
using this parameter. For a rotation axis that belongs to no linear
axis, or for a linear axis, 0 is set.

Example:
Axis configuration: X, Y, Z, C, A
Linear axis: X, Y, Z
Rotation axis: A (turning about the X-axis), C (turning about
the Z-axis)
In the above case, set the following:

Axis number Axis name Setting

1 X 0
2 Z 0
3 Y 0
4 C 2
5 A 1

#7 #6 #5 #4 #3 #2 #1 #0
1604 MNJ

   

    

     &)     *!    +     ,!

  +            
    #   -  .$
% !    +     ,!
  +      $
'% /!    +   0  "  ,!
  +   0  $

- 391 -
3.MANUAL OPERATION B-63323EN-1/03

#7 #6 #5 #4 #3 #2 #1 #0
2202 DTL

   

   

    1 23            *    
 42      0  * !  +
 !     $
% 2       0  $
'% 2        0  $  -2 
  *  !     $.
5 ! #      0 " *'$

#7 #6 #5 #4 #3 #2 #1 #0
2214 3HN

   

    

     67&              !
 #        $
% (  $
'% &  $

7514 Tool axis direction

[Input type] Parameter input

[Data type] Integer
[Valid data range] 1-3
Enter the tool axis direction when the two rotation axes are set at 0
degree.

Data Tool axis direction

1 X-axis
2 Y-axis
3 Z-axis

- 392 -
B-63323EN-1/03 3.MANUAL OPERATION

7515 Master rotation axis number

[Input type] Parameter input

[Data type] Integer
[Valid data range] 0 - Max axes
When a machine does not have the rotation axis that turns about
the tool axis, the axis number of a rotation axis used as the master
axis is set. For machines not using the master-axis configuration, 0
is set.
When the tool axis direction is controlled by two rotation axes,
neither of which turns about the tool axis, one of the rotation axes
is mounted on the other rotation axis as shown in the figure below.
In this case, the rotation axis on which the other rotation axis is
mounted is called the master axis.

A- and B-axes (The tool axis is the Z-axis, and the B-axis is the master.)

Rotation center

Tool axis direction

Workpiece

A- and B-axes (The tool axis is the Z-axis, and the A-axis is the master.)

Rotation center

Tool axis direction

Workpiece

Example for setting parameters that determine the machine

configuration
Tool axis direction: Z-axis
Axis configuration: W, X, Y, Z, A, B
Rotation axes: A-axis (axis rotating about the X-axis), B-
axis (axis rotating about the Y-axis)
Master axis: A-axis

- 393 -
3.MANUAL OPERATION B-63323EN-1/03

Data No. Data

1029 W X Y Z A B
0 0 0 0 2 3
7514 3
7515 5

7516 Angular displacement of a rotation axis

   

     

(  !

             

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5 !  #         
  !  "     
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 "  * 4&4$  2   
 *    * "   !  !*'- .  
&$'';$

7517 Offset value for angular displacement of a rotation axis

   

     

(  !

             

8     ! 9 !  -        !
 * -..
-5     #"#999999$999#:999999$999.
  *     !       #
           !
       0   $

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B-63323EN-1/03 3.MANUAL OPERATION

7518 Origin offset value of a rotation axis

   

     

(  !

             

8     ! 9 !  -        !
 * -..
-5     #"#999999$999#:999999$999.
   !         !     
   #           
 !   $

#7 #6 #5 #4 #3 #2 #1 #0
7540 ETH DTH

   

   

    < 27            0  
   !        $
% = $
'%  $

    > =27           
 !      !  $
% & $
'% ( $

7548 Tool holder offset for tool axis direction tool length compensation

   

    

(  "-  .

              

8     ! 9 !  -        !
 * -..
-5     #"#999999$999#:999999$999.
   0  -  0  .    # 
            !
      !  
 $

- 395 -
3.MANUAL OPERATION B-63323EN-1/03

#7 #6 #5 #4 #3 #2 #1 #0
7550 CLR

   

   

    < 43        0    * #   

      $
%  $
'% 4 $

7551 Value set for the manual handle feed axis selection signals for the first
manual handle pulse generator in the first axis direction in tool axis normal
direction handle feed/interrupt

   

    !

8     ! #1;
In a plane perpendicular to the tool axis direction set in parameter No. 7514 among
the basic three axes, a movement along the first axis (the axis encountered first
when the axes are arranged in the order of X, Y, and Z) may be made. In this case,
this parameter sets the status of the manual handle feed axis selection signals
(HS1A to HS1E) for the first manual handle pulse generator.

Example: When the tool axis is the Z-axis, and this parameter is set to 5
The axes perpendicular to the tool axis are the X- and Y-axes, and the first
axis is the X-axis. When the first manual handle pulse generator is
turned with 5 set as the status of the manual handle feed axis selection
signals for the first manual handle pulse generator, a movement along the
X-axis is made.

<Parameter setting and corresponding manual handle feed axis selection signal
status>
The following table shows the correspondence between the parameter setting and
the status of the manual handle feed axis selection signals for the first manual
handle pulse generator. When the first manual handle pulse generator is turned
with the signals set according to the parameter setting, operation is performed in
specified mode.

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B-63323EN-1/03 3.MANUAL OPERATION

HS1E HS1D HS1C HS1B HS1A Setting

0 0 0 0 1 1
0 0 0 1 0 2
0 0 0 1 1 3
0 0 1 0 0 4
0 0 1 0 1 5
0 0 1 1 0 6
0 0 1 1 1 7
0 1 0 0 0 8
0 1 0 0 1 9
0 1 0 1 0 10
0 1 0 1 1 11
0 1 1 0 0 12
0 1 1 0 1 13
0 1 1 1 0 14
0 1 1 1 1 15
1 0 0 0 0 16
1 0 0 0 1 17
1 0 0 1 0 18
1 0 0 1 1 19
1 0 1 0 0 20
1 0 1 0 1 21
1 0 1 1 0 22
1 0 1 1 1 23
1 1 0 0 0 24

7552 Value set for the manual handle feed axis selection signals for the first
manual handle pulse generator in the second axis direction in tool axis
normal direction handle feed/interrupt

   

    !

8     ! #1;
              ! -7'
7'=.         !     0  
        -    ?@
A.             
   &$>B'; !  *   $  -   * 
             ! 
   &$>BB'$.

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3.MANUAL OPERATION B-63323EN-1/03

7553 Value set for the manual handle feed axis selection signals for the first
manual handle pulse generator in tool axis direction handle feed/interrupt

   

    !

8     ! #1;
              ! -7'
7'=.         !       
    + $  -   *    
         !    &$>BB'$.

7554 Value set for the manual handle feed axis selection signals for the first
manual handle pulse generator for rotation in the tool axis direction in tool
tip center rotation handle feed/interrupt

   

    !

8     ! #1;
              ! -7'
7'=.         !       
     !        
       $  -   *    
         !    &$>BB'$.

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B-63323EN-1/03 3.MANUAL OPERATION

7555 Value set for the manual handle feed axis selection signals for the first
manual handle pulse generator for rotation in a direction other than the tool
axis direction in tool tip center rotation handle feed/interrupt

[Input type] Parameter input

[Data type] Integer
[Valid data range] 0 - 24
When tool tip center rotation handle feed/interrupt is performed,
this parameter sets the status of the manual handle feed axis
selection signals (HS1A to HS1E) for the first manual handle pulse
generator to perform rotation about one of the two rotation axes
that is not in the tool axis direction. (See the table showing the
correspondence between the parameter setting and the manual
handle feed axis selection signals in the description of parameter
No. 7551.)
The following table lists the axes subject to axis movement in
parameter Nos. 7554 and 7555 in different machine configurations.
Tool axis direction Rotation axis configuration 7554 7555
Z A, C C A
Z B, C C B
X A, B A B

7556 Value set for the manual handle feed axis selection signals for the first
manual handle pulse generator for tool axis direction tool length
compensation value modification

   

    !

8     ! #1;
    !  0   *   *
 ! !   !  !    
         !        
 !   "   !        !  
     !   -C;6$'.$  
    0     *   $  -   * 
             ! 
   &$>BB'$.

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3.MANUAL OPERATION B-63323EN-1/03

7557 Distance from the center of tool rotation to the tool tip

  !

    

(  "-  .

              

8     ! 9 !  -        !
 * -..
-5     #"#999999$999#:999999$999.
             
        +     $

#7 #6 #5 #4 #3 #2 #1 #0
7558 HSS

   

   

    < 7    0       !   

  * #          !   
    $
%     0    *   
!    $
'%    $

#7 #6 #5 #4 #3 #2 #1 #0
7611 DLT

  !

   

    > 32    ! ! *     
   0             
 !  0   ! $
% 5      *D* *  
'% =      !    

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B-63323EN-1/03 3.MANUAL OPERATION

- Parameters under parallel axis control and twin table control

#7 #6 #5 #4 #3 #2 #1 #0
7540 PHH

   

   

    ' 77       #  #       

       *  $
%   $
'%  $
5     '"*      &$>B;6$

7543 Three-dimensional handle feed head to which each axis belongs in parallel
axis control and twin table control

   

    ! 

8     ! #6
%  & #        
'%  2 #         '
1%  2 #         1
6%  2 #         6

NOTE
Set 0 when parallel axis control and twin table control are not
used.

When parallel axis control and twin table control are applied, the
following parameters must be set for each head.

Data No. Description

Head 1 Head 2
7514 7714 Tool axis direction
7515 7715 Axis number of a master rotation axis
7516 7716 Angular displacement of a rotation axis used for three-
dimensional handle feed and tool axis direction tool
length compensation
7517 7717 Offset value for the angular displacement of a rotation
axis used for three-dimensional handle feed and tool
axis direction tool length compensation
7518 7718 Origin offset value of a rotation axis used for three-
dimensional handle feed and tool axis direction tool
length compensation
7548 7760 Tool holder offset value for tool axis direction tool length
compensation

- 401 -
3.MANUAL OPERATION B-63323EN-1/03

Data No. Description

Head 1 Head 2
7551 7753 Value set for the manual handle feed axis selection
signals for the first manual pulse generator in the first
axis direction in tool axis normal direction handle
feed/interrupt
7552 7754 Value set for the manual handle feed axis selection
signals for the first manual pulse generator in the
second axis direction in tool axis normal direction
handle feed/interrupt
7553 7755 Value set for the manual handle feed axis selection
signals for the first manual pulse generator in tool axis
direction handle feed/interrupt
7554 7756 Value set for the manual handle feed axis selection
signals for the first manual pulse generator for rotation
about the tool direction axis in tool tip center rotation
handle feed/interrupt
7555 7757 Value set for the manual handle feed axis selection
signals for the first manual pulse generator for rotation
about an axis other than the tool direction axis in tool tip
center rotation handle feed/interrupt
7556 7758 Value set for the manual handle feed axis selection
signals for the first manual pulse generator for tool axis
direction tool length compensation amount modification
7557 7759 Distance from the tool rotation center to tool tip

7714 Direction of the tool axis of head 2 in parallel axis control and twin table
control

[Input type] Parameter input

[Data type] Integer
[Valid data range] 0-3
Enter the direction of the tool axis when the two rotation axes are at
0-degree position.

Data Tool axis direction

1 X-axis
2 Y-axis
3 Z-axis

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B-63323EN-1/03 3.MANUAL OPERATION

7715 Master axis number of the rotation axis of head 2 in parallel axis control and
twin table control

   

    !

8     ! #   
5   !  0       
 "   *       
   $          !  
00    $  E    *    " 
    &$>B'B$

7716 Angular displacement of the rotation axis of head 2 in parallel axis control
and twin table control

   

     

(  !

             

8     ! 9 !  -        !
 * -..
-5     #"#999999$999#:999999$999.
5   #          
  !   "     
   " !          
  "  * 4&4$  2   
 *    * "   !  !*'- .  
&$'';$

7717 Offset value for the angular displacement of the rotation axis of head 2 in
parallel axis control and twin table control

   

     

(  !

             

8     ! 9 !  -        !
 * -..
-5     #"#999999$999#:999999$999.
  *     !       #
            !
     0  $

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3.MANUAL OPERATION B-63323EN-1/03

7718 Origin offset value of the rotation axis of head 2 in parallel axis control and
twin table control

   

     

(  !

             

8     ! 9 !  -        !
 * -..
-5     #"#999999$999#:999999$999.
         !    
  #            
 !   $

7753 Value to be set for the manual handle feed axis selection signals for the first
manual handle pulse generator in the first axis direction for tool axis normal
direction handle feed/interrupt of head 2 in parallel axis control and twin
table control

   

    !

8     ! #1;
5  0   *         - 
 !?-(."@-8."  A-5. .    
         " !  * 
 "    &$>>';"       
       ! -7'7'=.     
    !   $  -   *    
         !    &$>BB'$.

NOTE
When 0 is set, tool axis normal direction handle feed is disabled.
However, set 0 in this parameter when parallel axis control and
twin table control are not used.

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B-63323EN-1/03 3.MANUAL OPERATION

7754 Value to be set for the handle feed axis selection signals for the first manual
handle pulse generator in the second axis direction for tool axis normal
direction handle feed/interrupt of head 2 in parallel axis control and twin
table control

   

    !

8     ! #1;
5  0   *          
-    !?-(."@-8."  A-5. .
            " !
 *   "    &$>>';"    
         ! -7'7'=.   
      !   $  -   *    
          !    &$>BB'$.

NOTE
When 0 is set, tool axis normal direction handle feed is disabled.
However, set 0 in this parameter when parallel axis control and
twin table control are not used.

7755 Value to be set for the handle feed axis selection signals for the first manual
handle pulse generator for tool axis direction handle feed/interrupt of head 2
in parallel axis control and twin table control

   

    !

8     ! #1;
              ! -7'
7'=.         !     
        $  5         
  !          !    
        #        "
 !        !      
      $  -   *    
          !    &$>BB'$.

NOTE
When 0 is set, tool axis direction handle feed is disabled.
However, set 0 in this parameter when parallel axis control and
twin table control are not used.

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3.MANUAL OPERATION B-63323EN-1/03

7756 Value to be set for the handle feed axis selection signals for the first manual
handle pulse generator for tool axis direction rotation of the tool tip center of
head 2 in parallel axis control and twin table control

   

    !

8     ! #1;
              ! -7'
7'=.         !      
    1       $  -   *
             ! 
   &$>BB'$.

NOTE
When 0 is set, tool tip center rotation handle feed is disabled.
However, set 0 in this parameter when parallel axis control and
twin table control are not used.

7757 Value to be set for the handle feed axis selection signals for the first manual
handle pulse generator for rotation in a direction other than the tool axis
direction of the tool tip center of head 2 in parallel axis control and twin
table control

[Input type] Parameter input

[Data type] Integer
[Valid data range] 0 - 24
When rotation is performed about one of the two rotation axes of
head 2 that is not in the tool axis direction, this parameter sets the
status of the manual handle feed axis selection signals (HS1A to
HS1E). (See the table showing the correspondence between the
parameter setting and the manual handle feed axis selection signals
in the description of parameter No. 7551.)
The following table lists the axes subject to axis movement in
parameter Nos. 7756 and 7757 in different machine configurations.

Tool axis direction Rotation axis configuration 7756 7757

Z A,C C A
Z B,C C B
X A,B A B

NOTE
When 0 is set, tool tip center rotation handle feed is disabled.
However, set 0 in this parameter when parallel axis control and
twin table control are not used.

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B-63323EN-1/03 3.MANUAL OPERATION

7758 Value to be set for the manual handle feed axis selection signals for the first
manual handle pulse generator for modification to the tool axis direction tool
length compensation value of head 2 in parallel axis control and twin table
control

   

    !

8     ! #1;
     !   -C;6$'." 
!   !  !       
       !         
!   "          !   $  2 
   !  0     $  2
    0     *   $  -   * 
             ! 
   &$>BB'$.

NOTE
When 0 is set, tool axis direction tool length compensation value
modification is disabled.
However, set 0 in this parameter when parallel axis control and
twin table control are not used.

7759 Distance from the tool rotation center of head 2 to the tool tip in parallel axis
control and twin table control

  !

    

(  "-  .

              

8     ! 9 !  -        !
 * -..
-5     #"#999999$999#:999999$999.
             
        +     $

- 407 -
3.MANUAL OPERATION B-63323EN-1/03

7760 Tool holder offset value for tool axis direction tool length compensation of
head 2 in parallel axis control and twin table control

   

    

(  "-  .

              

8     ! 9 !  -        !
 * -..
-5     #"#999999$999#:999999$999.
   0  -  0  .    # 
            !
      !  
 $

Reference item
Series15i/150i-MA Operator’s Manual II-3.9 Three dimensional
(Operation) handle feed
(B-63324EN-1)

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B-63323EN-1/03 3.MANUAL OPERATION

3.6 MANUAL INTERRUPTION FUNCTION FOR THREE-

DIMENSIONAL COORDINATE CONVERSION

When the handle of the manual pulse generator is rotated in the three-
dimensional coordinate conversion mode, this function adds the travel
distance specified by the manual pulse generator to the travel distance
during automatic operation.
This addition is performed for the new (converted) three-dimensional
coordinate component (programmed coordinate system) in the
direction of the axis selected for manual feed using the manual pulse
generator.

Z Z Z’

Y Y

X’ Y’
X X

Coordinate system Converted coordinate system

to be converted
(When the Z-axis is selected, the travel
distance is added to the Z’-axis as shown
in the figure above.)

Fig. 3.6 (a) For the three basic axes

Explanations

- Interruption
This function performs interruption only when all the conditions in 1 to
8 are met.
1 During simultaneous manual and automatic operation mode
(including manual interruption using the manual pulse generator)
2 During three-dimensional coordinate conversion (i.e. while
blocks G68 to G69 are being executed.)
3 During cutting mode (i.e. while blocks from a G code for cutting,
such as G01, G02, or G03, to G00 are being executed.)
4 When parking along the feed axis is not enabled (i.e. when PKn
for the feed axis is “0”.)
5 When the machine moves along the three axes selected for three-
dimensional coordinate conversion
6 When the axis for which the function performs interruption is a
master axis under parallel axis control (in this case, no slave axes
are converted).

- 409 -
3.MANUAL OPERATION B-63323EN-1/03

7 When feed in the tool axis direction or the direction perpendicular

to the tool axis or rotation around the tool tip center is not selected
for the manual operation or the manual interruption using the
manual pulse generator when the ALNGH, RGHTH, and RNDH
input signals are all “0”.
8 While the playback function is not being executed

The result of adding the feedrate in the three-dimensional coordinate

conversion mode is not permitted to exceed the maximum cutting speed
for each axis.

- Manual interruption and the coordinate system

When this function is effective, the current position in the workpiece
coordinate system does not depend on the travel distance specified
during manual interruption using the manual pulse generator. The
current position is therefore not updated even when the manual pulse
generator is rotated. Each current position in the machine coordinate
system and in the relative coordinate system depends on the travel
distance specified during manual interruption. As shown in Fig. 3.6(a),
the travel distance is added along the Z'-axis. The travel distance is
displayed using the X, Y, and Z coordinates of the coordinate system to
be converted. The travel distance specified by this function can be
monitored on the manual overlap screen. The bit 0 (DMK( bit of
parameter 2208 specifies whether the travel distance is displayed on
the manual overlap screen using the coordinate system before (X, Y,
Z)or after (X’, Y’, Z’) three-dimensional coordinate conversion.

Signal

Three-dimensional coordinate conversion manual interrupt enable/disable switch signal

NOT3DM<G157#7>
[Classification] Input signal
[Function] Enables or disables the three-dimensional coordinate conversion
manual interrupt function.
[Operation] When this signal is set to 0, the three-dimensional coordinate
conversion manual interrupt function is enabled. When this signal is
set to 1, the three-dimensional coordinate conversion manual interrupt
function is disabled.

Three-dimensional coordinate conversion manual interrupt mode in-progress signal

3DMI<F157#5>
[Classification] Output signal
[Function] Posts notification of the three-dimensional coordinate conversion
manual interrupt state.
[Output condition] This signal is set to 1 when all of the following conditions are satisfied:
1. Simultaneous automatic and manual operation mode
(including handle interrupt) is set.
2. Three-dimensional coordinate conversion mode (that is,
from execution of a G68 block to execution of a G69 block)
is set.

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B-63323EN-1/03 3.MANUAL OPERATION

3. A cutting mode (G code mode for cutting such as G01, G02,

or G03) is set.
4. None of the tool axis direction, tool axis right-angle direction,
and tool tip center rotation three-dimensional handle
feed/interrupt functions is selected.
5. Playback is not being performed.
6. Three-dimensional coordinate conversion manual interrupt
enable/disable switch signal NOT3DM is set to 0.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G157 NOT3DM

F157 D3MI

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
2208 DMK

   

   

     F        0      
 !       D      $
% !     -      0 .
'% 5 D      -    *  0 .

Reference item
Series15i/150i-MA Operator’s Manual II-3.16 Three dimensional
(Operation) coordinate manual
(B-63324EN-1) handle feed

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3.MANUAL OPERATION B-63323EN-1/03

3.7 MANUAL NUMERIC COMMAND

General
The manual numeric command function allows data programmed by
MDI to be executed in the jog mode. Whenever the system is ready for
jog feed, a manual numeric command can be executed. The following
eight functions are supported:
(1) Positioning (G00)
(2) Linear interpolation (G01)
(3) Automatic reference position return (G28)
(4) 2nd, 3rd or 4th reference position return (G30)
(5) M codes (miscellaneous functions)
(6) S codes (spindle functions)
(7) T codes (tool functions)
(8) B codes (second auxiliary function)

Explanation
- Positioning
The amount of travel is given as a numeric value, preceded by an
address such as X, Y or Z. This is always regarded as being an
incremental command, regardless of whether G90 or G91 is specified.
The tool moves along each axis independently at the rapid traverse rate.
Linear interpolation type positioning (when the tool path is linear) can
also be performed by setting bit 4 (LRP) of parameter No. 1400.
Manual rapid traverse selection switch
OFF ON
Feedrate Jog feedrate for each axis Rapid traverse for each
(parameter) (No. 1423) axis (No. 1420)
Exponential acceleration/ Linear acceleration/
Automatic
deceleration in jog feed for deceleration in rapid
acceleration/deceler
each axis traverse for each axis
ation (parameter)
(No. 1624) (No. 1620)
Override Manual feed override Rapid traverse override

NOTE
When manual rapid traverse selection signal RT is
set to 0, the jog feedrate along each axis is clamped
to the feedrate set in each of the following
parameters according to the setting of bit 4 (LRP) of
parameter No.1400:
When bit 4 (LRP) of parameter No. 1400 = 0: Jog
feedrate along each axis (parameter No. 1423)
When bit 4 (LRP) of parameter No. 1400 = 1: Rapid
traverse rate along each axis (parameter No. 1420)

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B-63323EN-1/03 3.MANUAL OPERATION

- Linear interpolation (G01)

The amount of travel is given as a numeric value, preceded by an
address such as X, Y or Z. This is always regarded as being an
incremental command, regardless of whether G90 or G91 is specified.
Axial movements are always performed in the incremental mode even
during scaling or polar coordinate interpolation. In addition, movement
is always performed in feed per minute mode, regardless of whether
G94 or G95 is specified.

Feedrate (parameter) Dry run speed (No. 1410)

Exponential acceleration/
Automatic acceleration/
deceleration in cutting feed for each
deceleration (parameter)
axis (No. 1622)
Override Manual feed override

NOTE
Since the feedrate is always set to the dry run feedrate,
regardless of the setting of the dry run switch, the
feedrate cannot be specified using F.
The feedrate is clamped so that the maximum cutting
feedrate, set in parameter No. 1422, is not exceeded.

- Automatic reference position return (G28)

The tool returns directly to the reference position without passing
through any intermediate points, regardless of the specified amount of
travel. For axes for which no move command is specified, however, a
return operation is not performed.

Feedrate (parameter) Rapid traverse rate (No. 1420)

Linear acceleration/
Automatic acceleration/
deceleration in rapid traverse for
deceleration (parameter)
each axis (No. 1620)
Override Rapid traverse override

- 2nd, 3rd or 4th reference position return (G30)

The tool returns directly to the 2nd, 3rd or 4th reference position
without passing through any intermediate points, regardless of the
specified amount of travel. To select a reference point, specify P2, P3
or P4 in address P. If address P is omitted, a return to the 2nd reference
position is performed.

Feedrate (parameter) Rapid traverse rate (No. 1420)

Linear acceleration/
Automatic acceleration/
deceleration in rapid traverse for
deceleration (parameter)
each axis (No. 1620)
Override Rapid traverse override

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3.MANUAL OPERATION B-63323EN-1/03

NOTE
The 2nd, 3rd or 4th reference position return
function is optional. If this option is not selected, the
warning "FORMAT ERROR" is generated, and G30
cannot be entered. If neither of P2, P3 or P4 are
specified in address P when this option is selected, a
"START IMPOSSIBLE" warning is generated, and
the entered data cannot be executed.

- M codes (miscellaneous functions)

After address M, specify a numeric value of no more than the number
of digits specified by parameter No. 2030.
NOTE
Neither subprogram calls nor custom macro calls can
be performed using M codes.

- S codes (spindle functions)

After address S, specify a numeric value of no more than the number of
digits specified by parameter No. 2031.
NOTE
Subprogram calls cannot be performed using S codes.

- T codes (tool functions)

After address T, specify a numeric value of no more than the number of
digits specified by parameter No. 2032.
NOTE
Subprogram calls cannot be performed using S codes.

- B codes (second auxiliary functions)

After address B, specify a numeric value of no more than the number of
digits specified by parameter No. 2033.

- Constant surface speed control

S codes cannot be specified in the constant surface speed control mode.

- M, S, T, B functions
Manual numeric commands can be executed while automatic operation
is halted. In the following cases, however, a "START IMPOSSIBLE"
warning is output, and command execution is disabled.
(1) When an M, S, T or B function is already being executed, a
manual numeric command containing an M, S, T or B function
cannot be executed.
(2) When an M, S, T or B function is already being executed, and that
function alone is specified or a block specifying that function also
contains another function (such as a move command or dwell
function) which has already been executed, a manual numeric
command cannot be executed.

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B-63323EN-1/03 3.MANUAL OPERATION

- Jog feed
When a manual numeric command is specified while the tool is being
moved along an axis by using a feed axis and direction selection switch,
the axial movement is interrupted, and the manual numeric command is
executed. For this reason, the tool cannot be moved along an axis by
using a feed axis and direction selection switch during execution of a
manual numeric command.

- Mirror image
Mirror image cannot be applied in the direction of the specified axis
movement.

- Indexing of the index table and chopping

Commands cannot be specified for an axis along which operation is
being performed during indexing or chopping.
If such an axis is specified for execution, a "START IMPOSSIBLE"
warning is generated.

Reference item
Series15i/150i-MA Operator’s Manual II-3.6 Manual numeric
(Operation) command
(B-63324EN-1)

- 415 -
3.MANUAL OPERATION B-63323EN-1/03

3.8 MANUAL ARBITRARY-ANGLE FEED

This function allows a tool to be manually moved in any direction in

any plane. Since the feedrate, feed direction, and feed plane can be
changed at any time, simple surface cutting can be performed
manually.

Explanation
- Selecting a plane
The first and second axes of a plane of manual arbitrary-angle feed are
specified by signals input from external devices.

- Specifying a feed direction

The direction of manual arbitrary-angle feed is specified by a signal
input from external devices. The feed direction can be specified within
a range of 0 to 360 degrees in units of 1/16 degrees. The angle is
specified as shown below. If an angle greater than 360 degrees is
specified, the CNC internally normalizes the angle to an equivalent
angle of up to 360 degrees. The feed direction can be freely changed
during manual arbitrary-angle feed. When the feed direction is
changed, a move command of the new direction is executed
immediately without performing an in-position check.

Positive direction
of the second axis

90°

Positive direction
of the first axis
180° 0°

270°

- Specifying a feedrate
A feedrate for manual arbitrary-angle feed (speed in the tangential
direction) is specified by means of a jog feedrate setting dial. The
feedrate corresponding to the 100% position of the dial is specified in
parameter 1411.

- Starting and stopping manual arbitrary-angle feed

While a manual arbitrary-angle feed signal is held at 1, manual
arbitrary-angle feed is performed. Two types of manual arbitrary-angle
feed signals are supported. One signal causes movement in a specified
direction, while the other signal causes movement in the opposite
direction (180 degrees removed from the specified direction).

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B-63323EN-1/03 3.MANUAL OPERATION

Signal
The signals listed below are used with manual arbitrary-angle feed.

Type of selection Signal symbol

Mode selection AGJ, MAGJ
Selection of axes along which the tool is to AJP1A, AJP1B, AJP1C, AJP1D,
be moved AJP2A, AJP2B, AJP2C, AJP2D
Selection of tool movement direction AJSTB, AJA0-AJA12
Selection of tool movement orientation +AJ, -AJ
Selection of a travel distance
Selection of feedrate *JV0-*JV15

For the mode selection signals, see Section 2.6. A feedrate can be
selected in the same way as for jog feed and increment feed. See
Section 3.1.

Manual arbitrary-angle feed axis selection signal

AJP1A, AJP1B, AJP1C, AJP1D, AJP2A, AJP2B, AJP2C, AJP2D<G18>
[Classification] Input signal
[Function] Selects axes (plane) along which the tool is moved by manual
arbitrary-angle feed. Manual arbitrary-angle feed can be performed on
a plane determined by two arbitrary axes. Select the two axes that
define a desired plane.
To select the first and second axes, two combinations of signals are
used; each combination consists of code signals A, B, C, and D. A
number after AJP of a selection signal name indicates whether the
signal is used for selection of the first plane axis or second plane axis.

AJPxA
x: 1 .. Selection of the first plane axis for manual arbitrary-angle feed
2 .. Selection of the second plane axis for manual arbitrary-angle
feed
: :

An axis is selected according to codes A, B, C, and D, as indicated

below.

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3.MANUAL OPERATION B-63323EN-1/03

Manual arbitrary-angle feed axis selection Axis

AJPnD AJPnC AJPnB AJPnA
0 0 0 0 (Use prohibited)
0 0 0 1 First axis
0 0 1 0 Second axis
0 0 1 1 Third axis
0 1 0 0 Fourth axis
0 1 0 1 Fifth axis
0 1 1 0 Sixth axis
0 1 1 1 Seventh axis
1 0 0 0 Eighth axis
1 0 0 1 Ninth axis
1 0 1 0 Tenth axis
1 0 1 1 Eleventh axis
1 1 0 0 Twelfth
1 1 0 1 Thirteenth
1 1 1 0 Fourteenth
1 1 1 1 Fifteenth

To perform manual arbitrary-angle feed on the XY plane (X-axis: First

controlled axis, Y-axis: Second controlled axis), for example, make
the following selection:

AJP2D AJP2C AJP2B AJP2A AJP1D AJP1C AJP1B AJP1A

0 0 1 0 0 0 0 1
Second plane axis = Second controlled First plane axis = First controlled axis (X)
axis (Y)

Manual arbitrary-angle feed direction selection signal

AJSTB<G017#7>, AJA0-AJA12 <G016, G017#0-#4>
[Classification] Input signal
[Function] Selects the direction of manual arbitrary-angle feed. Specify an
absolute (not incremental) angle ( ), assuming that the + direction of the
first plane axis to be 0 degrees, the + direction of the second axis to be
90 degrees, the - direction of the first axis to be 180 degrees, and the -
direction of the second axis to be 270 degrees.
This input signal consists of code signals (AJA0 to AJA12) used for
angle specification, and a strobe signal (AJSTB) used for reporting that
the code signal is valid. The code signals for angle selection are related
to a selected angle as follows:
12
Angle (degrees) @= 1 / 16 × ∑{2i =0
i
× Vi }

When AJAi is set to 0, Vi equals 0.

When AJAi is set to 1, Vi equals 1.
This means that each signal has a weight as indicated below.

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B-63323EN-1/03 3.MANUAL OPERATION

Signal Weight (degrees)

AJA0 1/16
AJA1 1/8
AJA2 1/4
AJA3 1/2
AJA4 1
AJA5 2
AJA6 4
AJA7 8
AJA8 16
AJA9 32
AJA10 64
AJA11 128
AJA12 256

[Operation] The CNC reads an angle when strobe signal AJSTB is set to 1. After
being read, an angle is held until AJSTB is set to 1 again. During
manual arbitrary-angle feed in a given direction, the direction may be
changed. If a new angle is specified, the direction is changed according
to the new angle.

NOTE
If an angle greater than 360.0 degrees is specified,
the angle determined by subtracting 360.0 from the
specified angle is assumed.

Manual arbitrary-angle feed signal +AJ<G017#5>, -AJ<G017#6>

[Classification] Input signal
[Function] Moves the tool by manual arbitrary-angle feed. The +AJ signal feeds
the tool in the direction selected with the direction selection signal.
The -AJ signal feeds the tool in the direction opposite (by 180 degrees)
to the direction selected with the direction selection signal.
[Operation] When this signal is set to 1, the CNC operates as described below.
- If manual arbitrary-angle feed is possible, the tool is fed along the
two axes selected with the axis selection signals in the direction
(+JA) selected with the direction selection signal, or in the
opposite direction (-JA).
- While the feed signal is 1, the tool is fed. When the feed signal is
set to 0, the tool is stopped.
- A feedrate selected by overriding the jog feedrate is used. If rapid
traverse selection signal RT is set to 1, the maximum manual
feedrate is set; rapid traverse is not performed.

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3.MANUAL OPERATION B-63323EN-1/03

NOTE
1 If +AJ and -AJ are set to 1 at the same time, both are
ignored.
2 If the feed signal is set to 1 before the manual
arbitrary-angle feed mode is selected, the signal is
ignored. After manual arbitrary-angle feed mode is
set, the signal must be set to 0 and then back to 1.
3 If a reset occurs when the feed signal is 1, or if the
feed signal is set to 1 during a reset, the feed signal is
ignored even after the reset is cleared. After the
reset is cleared, the feed signal must be set to 0 and
then back to 1,

Signal address

#7 #6 #5 #4 #3 #2 #1 #0
G016 AJA7 AJA6 AJA5 AJA4 AJA3 AJA2 AJA1 AJA0

G017 AJSTB -AJ +AJ AJA12 AJA11 AJA10 AJA9 AJA8

G018 AJP2D AJP2C AJP2B AJP2A AJP1D AJP1C AJP1B AJP1A

Parameter

1411 Arbitrary manual angle feedrate

   

    

(  +"+-  .

              

8     !          ! * -4.
-5     #"$#:1;$.
   *    !      ,!!! 
   'G$  2         
  *   $

Reference item
Series15i/150i-MA Operator’s Manual II-3.5 Manual arbitrary angle
(Operation) feed
(B-63324EN-1)

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

4 REFERENCE POSITION ESTABLISHMENT

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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

4.1 MANUAL REFERENCE POSITION RETURN

General
The tool is moved in the direction specified in parameter ZMI (bit 5 of
No.
1006) for each axis by turning the feed axis and direction select signal
to
"1" in the manual reference position return mode, and is returned to the
reference position.

Manual reference position return is performed by using a grid method.

The reference position is based on an electrical grid, using on one-
rotation signals received from the position detector.

The following signals relate with the manual reference position return:
Mode selection J
Selection of reference position return ZRN, MZRN
Selection of axis to be moved
+J1, -J1, +J2, -J2, +J3, -J3, ...
Selection of direction to be moved
Selection of speed to be moved ROV1, ROV2
Deceleration signal for reference *DEC1, *DEC2, *DEC3, ...
position return
Reference position nearly signal *NZ1, *NZ2, *NZ3, ...
Completion signal for reference ZP1, ZP2, ZP3, ...
position return
Reference position establishment ZRF1, ZRF2, ZRF3, ...
signal
Second, Third and Fourth reference ZP21, ZP22, ZP23, ...
position return end signals ZP31, ZP32, ZP33, ...
ZP41, ZP42, ZP43, ...

Basic Procedure for Manual Reference Position Return

(1) Select the JOG mode or TEACH IN JOG mode, and set the
manual reference position return selection signal ZRN to "1".
(2) Feed a target axis toward the reference position by making an
appropriate feed axis and direction selection signal (+J1, -J1, +J2,
-J2,0) "1".
(3) While the feed axis and direction selection signal is "1", rapid
traverse takes place along that axis. Although the rapid traverse
override signals (ROV1, ROV2) are valid, the override is
generally set to 100%.
(4) When the reference position is approached, a limit switch
installed on the machine is turned on, making the deceleration
signal (*DEC1, *DEC2, *DEC3,0) for reference position
deceleration "0". Consequently, the feedrate is decelerated to 0,
then the tool is fed at a constant low speed (reference position
return FL feedrate specified by parameter (No. 1425) setting).
(5) When the deceleration signal turns to "1" again after the limit
switch for deceleration is passed, the tool is fed with the feedrate
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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

unchanged, then the tool stops at the first grid point (electric grid
point).
(6) Upon confirmation that the current position is in the in-position
area, the reference position return end signal (ZP1, ZP2, ZP3,0)
and the reference position establishment signal (ZRF1, ZRF2,
ZRF3,0) turn to "1".

If the feed axis direction selection signal (+J1, -J1, +J2, -J2,0) turns to
"0" between step (2) and (5) , the tool is stopped at once, and reference
position return is assumed to be canceled. If the signal turn to "1" again,
operation resumes from step (3) (rapid traverse).

The timing charts for the basic procedures are given below.

JOG mode

ZRN

+J1

*DEC1

Grid












 
 
 
 

ZP1

ZRF1

Feedrate

Rapid traverse rate FL rate

Fig. 4.1 (a)

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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

JOG mode

ZRN

+J1

*DEC1

*NZ1

Grid












 
 
 
 
 
ZP1

ZRF1

Feedrate

Rapid traverse rate FL rate

Fig. 4.1 (b)

Installation conditions for deceleration limit switch

When installing the deceleration limit switch for manual reference
position return, ensure that following conditions are satisfied:

Deceleration limit Deceleration limit

operation position release position Reference position

LDA LDW

*DEC1

Grid












  
  
    
 

Feedrate

FL rate
Rapid traverse (VL)
rate (VR)

(1) LDW: Deceleration dog width (mm or inch)

T 
VR  R + 30 + TS  + 4VL × TS
L DW >
 2 
60 × 1000
VR: Rapid traverse (mm/min or inch/min)
TR: Rapid traverse time constant (ms)
TS: Servo time constant (ms)
VL: FL speed for reference position return (mm/min or inch
/min)
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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

(2) LDA: Distance between deceleration limit switch released

position and reference position
LDA: Move amount of 1/2 revolution of motor
Since the above conditions do not include the limit switch operation
variations, this point must also be considered at installation.

Servo position error and one-rotation signal

To perform manual reference position return when the reference
position has not yet been established, the tool must be fed, in manual
reference position return mode, in the reference position return
direction at a speed so that the servo position error exceeds the value
set in parameter No. 1836. At this time, the tool must cross the grid line
corresponding to a one-rotation signal from the position detector.
The servo position error is calculated from the following formula:
F × 1000 1 1
Servo position error amount = × ×
60 G U
F: Feedrate
G: Servo loop gain [s-1]
U: Detection unit [mm]
(Example)
When the tool is fed at a feedrate F of 6000 mm/min with a servo
loop gain G of 30 s-1 and a detection unit U of 1 mm, the servo
position error is calculated as follows:
60 × 1000 1 1
Servo position error = × ×
60 30 1
= 3,333
By reversing the formula above, the following formula gives the
feedrate F needed to set the servo position error to 128 when the servo
loop gain G is 30 s-1 and the detection unit U is 1 mm:
128 × 60
F= × 30
1000
= 230 [mm/min]
Therefore, when the servo loop gain is 30 s-1, the detection unit is 1
mm, and parameter No. 1841 is set to 128, the tool must be fed in the
reference position return direction at a speed of at least 230 mm/min
before manual reference position return.

Grid shift
The grid can be shifted by the distance set in parameter 1850, thus
shifting the reference position. The grid shift to be set in the parameter
must not exceed the reference counter capacity (parameter Nos.
1816#0 to 3 or 1896) (grid interval).

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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

Signal

Manual reference position return selection signal

ZRN <G002#7>

[Classification] Input Signal

[Function] This signal selects manual reference position return.
Manual reference position return is a kind of jog feed. Therefor, to
select manual reference position return, it is required that the jog mode
be selected and that the manual reference position return selection
signal be set to "1".
[Operation] When the manual reference position return selection signal is set to "1",
the control unit becomes as described below.
- If jog feed mode is not selected, the control unit ignores the
manual reference position return selection signal.
- If jog mode is selected, manual reference position return is
enabled. In this case, manual reference position return selection
check signal MREF turns to "1".

NOTE
If the ZRN status changes from "0" to "1" or "1" to "0"
during jog feed, the feedrate is decelerated to 0.
Then, to make reference position return or jog feed,
turn feed axis and direction selection signal to "0"
then set it to "1".

Manual reference position return selection check signal

MZRN <F002#7>
[Classification] Output Signal
[Function] This signal reports that manual reference position return has been
selected once.
[Output condition] This signal turns to "1" when:
- Manual reference position return has been selected.
The signal turns to "0" when:
- The selection of manual reference position return has terminated.

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

Feed Axis and Direction Selection Signal

For details about this signal, see "Feed Axis and Direction Selection
Signal" in Sec. 3.1. Here, only notes on use of reference position return
are given.

NOTE
1 The direction of reference position return is
predetermined for each axis by parameter ZMI (No.
1006#5). If the tool is fed in the opposite direction to
the predetermined direction in manual reference
position return, the deceleration signal for reference
position return turns to "0", and the tool is returned to
the point at which the deceleration signal turns to "1"
again (that is, the point where the deceleration limit
switch would be encountered if the tool were fed in
the predetermined direction). Then reference
position return is performed automatically in the
predetermined direction.

JOG

ZRN

-J1

*DEC1

Grid















 
 
 
 

ZP1

ZRF1

Feedrate

FL rate
Rapid traverse Rapid
traverse
rate rate

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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

NOTE
2 When reference position return is selected, an axis
whose reference position return end signal is
already "1" or an axis whose reference position
return end signal was set "1" upon completion of
reference position return is locked, and movement
along that axis is disabled while the reference
position return selection signal (ZRN) is "1". To
perform movement along such an axis, ZRN must
be set "0", and the feed axis and direction selection
signal must be set "0" then set "1" again.

Reference position return deceleration signals

*DEC1<G64#5>, *DEC2<G68#5>, ...
[Classification] Input Signal
[Function] These signals decelerate the feedrate for manual reference position
return so that the reference position is approached at a low feedrate.
The deceleration signals are provided for axes in a one-to-one
correspondence. A number appended to a deceleration signal
represents a controlled axis number.
*DECx
x : 1 : Reference position return deceleration signal for the first axis
2 : Reference position return deceleration signal for the second axis
3 : Reference position return deceleration signal for the third axis
:
:
[Operation] For the operation of the control unit in response to the deceleration
signal, see the description of the basic procedure for manual reference
position return.

Reference position proximity signal

*NZ1 <G384#4>, *NZ2<G392#4>, ...
[Classification] Input Signal
[Function] Indicates that a reference position is near in a reference position return
operation. When this signal is set to 0, the next grid becomes the
reference position. If this signal is not used, set this signal to 0 at all
times. In this case, the first grid after the deceleration signal (*DEC)
changes from 0 to 1 becomes the reference position.
[Operation] For information about reference position return operation using the
reference position proximity signal, see the description of the basic
procedure for the reference position return operation.

NOTE
With 15B, this signal is not entered through the PMC
but instead is directly entered into the CNC. With
15i, however, this signal is entered through the
PMC.

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

Reference position return end signals

ZP1<F64#0>, ZP2<F68#0>, ...
[Classification] Output Signal
[Function] These signals report that the tool is at the reference position on a
controlled axis.
These signals are provided for axes in a one-to-one correspondence.
A number appended to a signal represents a controlled axis number.
ZPx
x : 1 - - - Reference position return end signal for the first axis
2 - - - Reference position return end signal for the second axis
3 - - - Reference position return end signal for the third axis
:
:
[Output condition] These signals turn to "1" when:
- Manual reference position returns is completed, and the current
position is in the in-position area.
- Automatic reference position return (G28) is completed, and the
current position is in the in-position area.
- Reference position return check (G27) is completed, and the
current position is in the in-position area.
These signals turn to "0"when:
- The tool has moved from the reference position.
- An emergency stop is applied.
- A servo alarm is raised.

Reference position establishment signal

ZRF1<F65#2>, ZRF2<F69#2>, ...
[Classification] Output Signal
[Function] Notify the system that the reference position has been established.
A reference position establishment signal is provided for each axis.
The number appended to each signal name indicates the number of the
controlled axis.
ZRFx
x : 1 - - - 1st-axis reference position establishment signal
2 - - - 2nd-axis reference position establishment signal
3 - - - 3rd-axis reference position establishment signal
:
:
[Output condition] Each signal is set to 1 when a reference position is established along the
corresponding axis upon the completion of reference position return.
Each signal remains set to 1 until the CNC loses the reference position.

- 429 -
4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

Second reference position return end signals ZP21<F64#1>, ZP22<F68#1>, ...

Third reference position return end signals ZP31<F64#4>, ZP32<F68#4>, ...
Fourth reference position return end signals ZP41<F64#5>, ZP42<F68#5>, ...
[Classification] Output Signal
[Function] The second, third, and fourth reference position end signals report the
tool is at the second, third, and fourth reference positions on a
controlled axis, respectively. These signals are provided for axes in a
one-to -one correspondence. A numeric character appended to the end
of a signal represents a controlled axis number, and a numeric character
immediately following ZP represents a reference position number.

ZPxy
y: 1 Return end signal for the first axis
2 Return end signal for the second axis
3 Return end signal for the third axis
:
:
x: 2 Second reference position return
3 Third reference position return
4 Fourth reference position return

[Output condition] These signals turn to "1" when:

- The second, third, or fourth reference position return (G30) is
completed, and the current position is in the in-position area.
These signals turn to "0" when:
- The tool moved from the reference position.
- An emergency stop is applied.
- A servo alarm is raised.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G002 ZRN

F002 MZRN

#7 #6 #5 #4 #3 #2 #1 #0
G064 *DEC1

G384 *NZ1

F064 ZP41 ZP31 ZP21 ZP1

F065 ZRF1

The address above (*DEC1, *NZ1, ZP1, ZP21, ZP31, ZP41, ZRF1) is
the signal address for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the address table in Appendix A.1.

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1005 PLZ ALZ ZRN

     
     

                   

!   "  # "    "    
 "$ $%$     &'("%
   

)    *+ ,(,-.-/0./12-+3

,)    !     

    ' 45     "        *&'(3

)      %%* " $  3

      !   "  #6
  "%      7       
 

,) 0       7         
 

0 6 !

    8 5    "  % 9"     
         "

)         *
%
. % 3

,) 4   

  6!'    
':'6   

#7 #6 #5 #4 #3 #2 #1 #0
1006 ZMI ROS

[Input type] Parameter input

[Data type] Bitaxis

    , .        "     "9  9
"          

) 5 *   3
,)  *  3
1   6   "     ; "
  % "       "    
,'<

  6       *&'(6&83  "
   "          "
% "   "   "8<" % 
  4    
    
,'<

- 431 -
4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

    = >    "        

) $ " 
,)  % $ " 

#7 #6 #5 #4 #3 #2 #1 #0
1200 NZA

     
    

    < 4        ,(,      9
           ! "6 " $
 "  "   %     
   "

)    

,)    

#7 #6 #5 #4 #3 #2 #1 #0
1404 POV PRO

     
    

    , .       ! $ "  " $  6    
 6 "%   "     
!  >?

)  ! $ "

,) - ! $ "

    ' .@    $ " %   !  " " $  6
     6 "%   " 
    !  >?

) .@, ".@'6@@<*% ??  3
,) .@,- ".@'-*%  >?   3

- 432 -
B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

1417 Rapid traverse ratio during the period from the power on to manual
reference position return

     
     % 
0"  A
@ ""   % #,
   " $     !   
  /
  "      $  " $   " 
"%         

* " $   "  3B* "       
,:'3*$ 
     3C,
D  6  "    "! ,A

1425 FL feedrate for each axis for manual reference position return

     
     
0"  C6C6" % C*  3
>"    "         " 
@ ""   %     " "     % ! *?3
*D      #6
#E':
3

1841 Servo error amount with which reference position return assumed possible

     
     %  
0"  "  
@ ""   % #8'F<F
   $       
 "!

0 6 
  * $   7    6 % " "
! ,'(
3

6"%     6  "     "   "

 $     "!      $   
"   * "   % -?  "+,+36
 ' "

- 433 -
4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

Alarm And message

Number Message Contents

PS0181 ZERO RETURN NOT FINISHED A move instruction was issued to an axis in which the zero
return instruction was instructed once after the power was
turned ON.
Execute operation after zero return by manual operation or
the G28 code.
This alarm can be suppressed for the machine-locked axis
by setting parameter No. 1200#6 is set to "1".
PS0194 ZERO RETURN END NOT ON REF The axis specified in automatic zero return was not at the
correct zero point when positioning was completed.
Perform zero return from a point whose distance from the
zero return start position to the zero point is 2 or more
revolutions of the motor.
Other probable causes are:
- The positional deviation after triggering the deceleration
dog is less than 128.
- Insufficient voltage or malfunctioning pulse coder.
PS0200 PULSCODER INVALID ZERO The grid position could not be calculated during grid
RETURN reference position return using the grid system as the
one-revolution signal was not received before leaving the
deceleration dog.
This alarm is also generated when the tool does not reach a
feedrate that exceeds the servo error amount preset to
parameter No. 1841 before the deceleration limit switch is
left (deceleration signal *DEC returns to "1").

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

4.2 SETTING THE REFERENCE POSITION WITHOUT DOGS

General
On a machine tool equipped with an absolute-position detector, this
function makes a movement by jog feed to a point near a reference
position specified for each axis, then sets a machine reference position
in reference position return mode without using the deceleration signal
for reference position return.
With this function, the machine reference position can be set at a given
position without installing the limit switch for deceleration for
reference position return.

Basic Procedure for Setting the Reference Position Without Dogs

(1) Feed the tool, along the axis for which the reference position is to
be set, by manual continuous feed in the reference position return
direction. Stop the tool near the reference position, but do not
exceed the reference position.
(2) Enter manual reference position return mode, then set 1 for the
feed axis direction selection signal (for the positive or negative
direction) for the axis.
(3) The CNC positions the tool to the nearest grid line (based on
one-rotation signals from the position detector) in the reference
position return direction specified with bit 5 (ZMI) of parameter
No. 1006. If parameter GRD (bit 6 of parameter No. 1006) is 1,
parameter APZ (bit 4 of parameter No. 1815) automatically
becomes 1, causing the absolute-position detector to memorize
that point as the reference position. A reference position, once set,
is held even if the power is turned off, so that reference position
setting need not be repeated when the power is turned on next.
(4) The CNC checks that the tool is positioned to within the in-
position area, then sets the completion signal for reference
position return and the reference position establishment signal to
1.
The timing chart for the basic elements constituting steps (2) to (4) is
shown below.

- 435 -
4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

Manual reference position

return mode

+J1 or -J1

Grid
# # # # # #
ZP1

Feedrate

FL rate

Fig. 4.2 (a)

The following figure shows the positional relation between the

reference position and the point to which the tool is positioned by
manual continuous feed.

- direction + direction
×

Grid A Position B
after jog feed
A: Reference position for reference position return in the negative
direction
B: Reference position for reference position return in the positive
direction

Servo position error and one-rotation signal

To set the reference position without dogs, when the reference position
has not yet been established, the tool must be fed, in manual continuous
feed mode, in the reference position return direction at such a speed
that the servo position error exceeds the value set in parameter No.
1841. The tool must cross the grid line corresponding to a one-rotation
signal from the position detector.
Section 4.1 explains how to calculate the servo position error.

Grid shift
To shift the reference position, the grid can be shifted by the distance
set in parameter No. 1850. The grid shift to be set in the parameter
must not exceed the reference counter capacity (parameter Nos.
1816#0 to 3 or 1896).

Reference position return

When the feed axis and direction selection signal is set to 1 in manual
reference position return mode after the reference position has been
established, the tool is positioned to the reference position regardless of

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

the direction specified with the feed axis and direction selection signal.
The completion signal for reference position return is then set to 1.

Reference position resetting

The controlled axis for which parameter GRD (bit 6 of parameter No.
1007) is 0 can be used to set up the reference position any number of
times without turning the power off and on again after positioning to
the grid point is performed in reference position return mode.
1. Place the machine in jog feed mode, then make a movement to a
position near but before a reference position in the direction set by
bit 5 (ZMI) of parameter No. 1006.
2. In reference position return mode, set the feed axis direction
selection signal (+ direction or - direction) for the axis to 1.
3. The grid nearest to the current point is selected, and the absolute-
position detector regards this position as being the reference
position. To prevent the absolute-position detector from storing the
grid as a reference position, set the feed axis direction signal (+
direction or - direction) to 1 again to select the next grid. After a
reference position has been established, set bit 1 (APZ) of parameter
No. 1815 for the absolute-position detector to 1 in MDI mode so that
the absolute-position detector stores the reference position.
4. After step 3, reference position return can be performed by rapid
traverse with the feed axis direction selection signal (+ direction or -
direction) for the axis in the reference position return mode.

Reference position preservation

By using an absolute-position detector (absolute pulse coder), a
reference position, once set, is maintained even if the power is turned
off.

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
1007 DOG GRD

     
     

    < & %#      %

)  "  

,)   "  

    F .&         "

) %#      %" ! "

,) %#      %  ! "

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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

Alarm And message

Number Message Contents
PS0181 ZERO RETURN NOT FINISHED A move instruction was issued to an axis in which the zero
return instruction was instructed once after the power was
turned ON.
Execute operation after zero return by manual operation or
the G28 code.
This alarm can be suppressed for the machine-locked axis
by setting parameter No. 1200#6 is set to "1".
PS0194 ZERO RETURN END NOT ON REF The axis specified in automatic zero return was not at the
correct zero point when positioning was completed.
Perform zero return from a point whose distance from the
zero return start position to the zero point is 2 or more
revolutions of the motor.
Other probable causes are:
- The positional deviation after triggering the deceleration
dog is less than 128.
- Insufficient voltage or malfunctioning pulse coder.
PS0200 PULSCODER INVALID ZERO The grid position could not be calculated during grid
RETURN reference position return using the grid system as the
one-revolution signal was not received before leaving the
deceleration dog.
This alarm is also generated when the tool does not reach a
feedrate that exceeds the servo error amount preset to
parameter No. 1841 before the deceleration limit switch is
left (deceleration signal *DEC returns to "1").

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4.3 REFERENCE POSITION SHIFT

General
When reference position return is performed using a grid method, the
reference position can be shifted by a parameter-set distance without
having to move the deceleration dog.
This function is enabled by setting bit 4 of parameter No. 1008 (SFD)
to 1. When distance LSFT, shown below, is set in parameter No. 1850,
the reference position can be shifted.
Finally, the grid shift amount for the axis that has returned to the
reference position, as shown in the figure below, is saved automatically
with parameter No. 1844.

Direction of reference
position return

Stop position (reference position shift amount=0)

Deceleration dog Reference position

Grid shift amount Reference position shift amount

Grid point

Grid shift amount: Distance to the first grid point after the deceleration dog is
turned off when the reference position shift amount is 0

How to adjust the reference position

Two reference position shift adjustment procedures are supported.
One procedure uses the reference position adjustment signal, while the
other does not use the reference position adjustment signal.

- Adjustment procedure not using the reference position adjustment signal

1 Set the parameters below. After setting these parameters, turn the
power off then back on to make the settings effective.
Bit 4 (SFD) of parameter No. 1008 = 1
Grid shift amount (parameter No. 1844) = 0
Reference position shift amount (parameter No. 1850) = 0
2 Perform reference position return. The machine stops at the first
grid point after leaving the deceleration dog. A grid shift amount is
set automatically, and is indicated in diagnosis No. 3008.
3 Find the distance from the stop position to the reference position
(reference position shift amount), then set the distance in parameter
No. 1850. Then, turn off the power before operation is continued.
This completes reference position adjustment.

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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

4 In subsequent reference position return, the machine stops at the

reference position.

Direction of reference
position return

Stop position (reference position shift amount=0)

Deceleration dog Reference position

Grid point Grid shift amount Reference position shift amount

- Adjustment procedure using the reference position adjustment signal

1 Set the parameters below. After setting these parameters, turn the
power off then back on to make the settings effective.
Bit 4 (SFD) of parameter No. 1008 = 1
Grid shift amount (parameter No. 1844) = 0
Reference position shift amount (parameter No. 1850) = 0
2 Perform reference position return. The machine stops at the first
grid point after leaving the deceleration dog. A grid shift amount is
set automatically, and is indicated in diagnosis No. 3008.

Direction of reference
position return

Stop position (reference position shift amount)

=0 Reference position
Deceleration dog

Manually moved distance

Grid point Grid shift amount (Reference position shift amount)

3 Set reference position adjustment signal RASTn to 1, then perform

manual movement from the stop position to the reference position.
Next, set the reference position adjustment signal to 0 at that
position. Then, the manually moved distance is automatically set
in parameter No. 1850 (reference position shift amount). Then,
turn off the power before continuing the operation. This completes
reference position adjustment.
4 In subsequent reference position returns, the machine stops at the
reference position.

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

Signal

Reference position adjustment signal

RAST1<G67#2>, RAST2<G71#2>, ...
[Classification] Input Signal
[Function] Automatically sets a reference position shift amount in grid-based
reference position return so that a position reached by manual
movement after reference position return represents a reference
position.
RASTn
n = 1 ..... Reference position adjustment signal for the first axis
n = 2 ..... Reference position adjustment signal for the second axis
n = 3 ..... Reference position adjustment signal for the third axis
: :
[Operation] If, with the reference position return completion signal (ZPn) set to 1,
this signal is set to 0 after the reference position is reached by manual
movement by setting this signal to 1, a reference position shift amount
is automatically set in the parameter so that the current position is the
stop position at the time of reference position return.

Reference position adjustment mode signal

RASM<F032#2>
[Classification] Output Signal
[Function] Reports that automatic reference position adjustment mode is set.
[Output condition] This signal is set to 1 when all of the conditions below are satisfied:
- The reference position adjustment signal RASTn is set to 1.
- Reference position return completion signal ZPn is set to 1.
- An automatic operation mode (EDT, MEM, T, D) is set to 0.
- Jog feed mode (J) or manual handle mode (H) is set to 1.
- The three-dimensional coordinate conversion manual intervention
switch signal (D3MAN) is set to 0.
- Parameter No. 1850 = 0 (reference position shift)
This signal is set to 0 in any of the following cases:
- Upon a reset
- When reference position adjustment signal RASTn is set to 0

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G067 RAST1
The address above is the signal address for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the address table in Appendix A.1.

#7 #6 #5 #4 #3 #2 #1 #0
F032 RASM

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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
1008 SFD

[Input type] Parameter input

[Data type] Bitaxis

    : 1       !      

      %" "

)  !  

,) - !  

1844 Grid shift amount of the reference position shift function

[Input type] Parameter input

[Data type] Integeraxis
[Unit of data] detection unit
[Valid data range] -999999999 - 999999999
Distance to the first grid point found since the deceleration dog is
turned off when the reference position shift amount (parameter No.
1850) is set to 0.

NOTE
When SFD (bit 4 of parameter No. 1008) is set to 1, the grid
amount (parameter No. 1844) is set to 0, and the reference
position shift amount (parameter No. 1850) is set to 0, a value is
automatically set. The automatically set value must not be
changed.

1850 Grid shift/reference position shift for each axis

[Input type] Parameter input

[Data type] Integeraxis
[Unit of data] detection unit
[Valid data range] 0 - 99999999
Specify the reference position shift for each axis.

NOTE
When SFD (bit 4 of parameter No. 1008) is set to 0, this
parameter indicates the "grid shift for each axis."
The grid shift must not exceed the reference counter capacity
(RC1x to RC4x (bits 0 to 3 of parameter No. 1816) or parameter
No. 1896).

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

Alarm And message

- Diagnosis display
3008 Display of the distance to the first grid point
after the deceleration dog is turned off
[Data type] Real axis
[Unit of data] machine unit

Caution
CAUTION
1 The reference position shift function is enabled only
for grid-based reference position return.
2 A reference position shift amount is used for shifting
the reference position in the reference position return
direction. This means that the sign of a reference
position shift amount must match that of a reference
position return direction.
(a) Reference position return direction: +

Reference
Deceleration dog

Grid point Reference position shift amount (+)amount (+)

(b) Reference position return direction: - direction

Reference
Deceleration dog

Reference position shift amount (-)

3 When an absolute-position detector (absolute pulse

coder) is used as a position detector, set bit 4 (APZ)
of parameter No. 1815 to 0.
4 Set a deceleration dog so that the position at which
the deceleration dog is turned off is distanced from
the reference position by more than half of the grid
interval.
5 The automatic reference position shift amount setting
function based on the reference position adjustment
signal (RASTn) is enabled only if the reference
position adjustment signal is set to 0 after being set to
1 with the reference position return completion signal
(ZPn) set to 1.
6 A grid shift amount (parameter No. 1844) is
automatically set. Never modify an automatically set
value.

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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

4.4 REFERENCE POSITION RETURN

General
The G28 command positions the tool to the reference position, via the
specified intermediate point, along the specified axis, then sets the
completion signal for reference position return (see Section 4.1) to 1.
The reference position must be set in parameter No. 1240 with the
coordinates specified in the machine coordinate system, before issuing
the G28 command.
The tool moves to the intermediate point or reference position at the
rapid traverse rate.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1005 ALZ

     
     

    ' 45     "        *&'(3

)      %%* " $  3

      !   "  #6
  "%      7       
 

,) 0       7         
 

0 6 !

#7 #6 #5 #4 #3 #2 #1 #0
1006 ZMI

[Input type] Parameter input

[Data type] Bitaxis

    = >    "        

) $ " 
,)  % $ " 

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

1240 Coordinates of the first reference position in the machine coordinate system

[Input type] Parameter input

[Data type] Realaxis
[Unit of data] mm, inch, degree (machine unit)
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] 9 digit of minimum unit of data (refer to standard parameter setting
table(A))
(When the increment system is IS-B, -999999.999 - +999999.999)
Set the coordinates of the reference position in the machine
coordinate system.

Alarm and message

Number Message Contents

PS0194 ZERO RETURN END The axis specified in automatic zero return was not at the correct zero point
NOT ON REF when positioning was completed.
Perform zero return from a point whose distance from the zero return start
position to the zero point is 2 or more revolutions of the motor.
Other probable causes are:
- The positional deviation after triggering the deceleration dog is less than
128.
- Insufficient voltage or malfunctioning pulse coder.

Caution
CAUTION
1 The tool leaves the intermediate point in the
reference position return direction specified with bit
5 (ZMIx) of parameter No. 1006. The intermediate
point must therefore be specified at a position from
which reference position return is possible.
2 If the G28 command is issued in the machine lock
status, the completion signal for reference position
return is not set to 1.
3 If millimeter input is selected for an inch-system
machine, the completion signal for reference
position return may be set to 1, even when the
programmed tool position deviates from the
reference position by the least input increment. This
is because the least input increment is smaller than
the least command increment for the machine.

Reference item
Series15i/150i-MA Operator’s Manual II-6 Reference position
(Programming)
(B-63324EN)

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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

4.5 2ND REFERENCE POSITION RETURN/3RD, 4TH

REFERENCE POSITION RETURN

General
The G30 command positions the tool to the 2nd, 3rd, or 4th reference
position, via the specified intermediate point, along the specified axis.
Then, it sets the completion signal for 2nd, 3rd, or 4th reference
position return to 1.
The 2nd, 3rd, or 4th reference position must be set in parameter No.
1241, 1242, or 1243 with coordinates in the machine coordinate system,
before issuing the G30 command.
The tool moves to the intermediate point or 2nd, 3rd, or 4th reference
position at the rapid traverse rate.
Return to the 2nd, 3rd, or 4th reference position can be performed only
after the reference position has been established.

Signal

Second reference position return end signals

ZP21<F64#1>, ZP22<F68#1>, ...
Third reference position return end signals
ZP31<F64#4>, ZP32<F68#4>, ...
Fourth reference position return end signals ZP41 to ZP48
ZP41<F64#5>, ZP42<F68#5>, ...
[Classification] Output signal
[Function] The second, third, and fourth reference position end signals report the
tool is at the second, third, and fourth reference positions on a
controlled axis, respectively. These signals are provided for axes in a
one-to -one correspondence. A numeric character appended to the end
of a signal represents a controlled axis number, and a numeric character
immediately following ZP represents a reference position number.
ZPxy
x: 2 Second reference position return
3 Third reference position return
4 Fourth reference position return
y: 1 Return end signal for the first axis
2 Return end signal for the second axis
3 Return end signal for the third axis
: :
[Output condition] These signals turn to "1" when:
- The second, third, or fourth reference position return (G30) is
completed, and the current position is in the in-position area.
These signals turn to "0" when:
- The tool moved from the reference position.
- An emergency stop is applied.
- A servo alarm is raised.

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F064 ZP41 ZP31 ZP21
The address above is the signal address for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the address table in Appendix A.1.

Parameter
1241 Coordinates of the second reference position
in the machine coordinate system

     
     
0"  66" % *  3
>"    "         " 
@ ""   % G"%"  *   " "     %
 ! *433
*D      #6#GGGGGG
GGG#EGGGGGG
GGG3
  "    "      
"    

1242 Coordinates of the third reference position

in the machine coordinate system

     
     
0"  66" % *  3
>"    "         " 
@ ""   % G"%"  *   " "     %
 ! *433
*D      #6#GGGGGG
GGG#EGGGGGG
GGG3
  "   "      
"    

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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

1243 Coordinates of the fourth reference position

in the machine coordinate system

     
     
0"  66" % *  3
>"    "         " 
@ ""   % G"%"  *   " "     %
 ! *433
*D      #6#GGGGGG
GGG#EGGGGGG
GGG3
  "         
"    

Caution
CAUTION
1 If the G30 command is issued in machine lock
status, the completion signal for 2nd, 3rd, or 4th
reference position return is not set to 1.
2 If millimeter input is selected for an inch-system
machine, the completion signal for 2nd, 3rd, or 4th
reference position return may be set to 1, even when
the programmed tool position deviates from the 2nd,
3rd, or 4th reference position by the least input
increment. This is because the least input increment
is smaller than the least command increment for the
machine.

Reference item
Series15i/150i-MA Operator’s Manual II-6 Reference position
(Programming)
(B-63324EN)

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

4.6 FLOATING REFERENCE POSITION RETURN

General
It is possible to return the tool to the floating reference position by
commanding the G30.1.
The floating reference position is located on the machine and can be a
reference position of some sort of machine operation. It is not always a
fixed position but may vary in some cases. The floating reference
position can be set using the soft keys of MDI and can be memorized
even if the power is turned off.
Generally, the position where the tools can be replace on machining
center or milling machine is a set position on the machinery. The tools
cannot be replaced at any position. Normally the tool change position
is at any of the No. 1 to No. 4 reference position. The tool can be
restored to these positions easily by G28 or G30 command. However,
depending on the machine, the tools can be replaced at any position as
long as it does not contact the workpiece.
In lathes, the tool can generally be changed at any position unless it
touches the workpiece or tailstock.
For machinery such as these, in order to reduce the cycle time, it is
advantageous to replace tools at a position as close as possible to the
workpiece. For this purpose, change position should be changed for
each workpiece and this feature can be easily realized by this function.
Namely, the tool change position which is suitable for workpieces can
be memorized as the floating reference position and it is possible to
return the tool to the tool change position easily by commanding the
G30.1.
When the G30.1 is commanded, the axis commanded goes to the
specified intermediate position with rapid traverse at first and then goes
to the floating reference position from the intermediate point with rapid
traverse. The positioning to the intermediate position or to the floating
reference position is performed at rapid traverse for each axis (non-
linear positioning). The floating reference position return completion
signal turns to "1" after completing the floating reference position
return.

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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

Signal

Floating reference position return end signal

FRP1<F65#5>, FRP2<F69#5>, ...
[Classification] Output signal
[Function] Notify the system that the tool is at the floating reference position on a
controlled axis.
A floating reference position return end signal is provided for each axis.
The number appended to each signal name indicates the number of the
controlled axis.
FRPx
x : 1 ..... Floating reference position return end signal of 1st axis
2 ..... Floating reference position return end signal of 2nd axis
3 ..... Floating reference position return end signal of 3rd axis
: @ @ @ @ @:
[Output condition] The signals are set to 1 in the following case:
- When the tool is positioned to within the in-position area after
floating reference position return (G30.1)
These signals are set to "0" when:
- The tool is moved from the floating reference position
- An emergency stop is applied.
- An emergency stop is applied.

- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F065 FRP1

The above addresses are the signal addresses for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the Appendix A.1.

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
1200 FPC

     
    

    , 1 ?         $ " ;  
  %     %    9

)  * $ "    % "3

,)  

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

1244 Floating reference position in G30.1

     
     
0"  66" % *  3
>"    "         " 
@ ""   % G"%"  *   " "     %
 ! *433
*D      #6#GGGGGG
GGG#EGGGGGG
GGG3
  "     %      
"    

Reference item
Series15i/150i-MA Operator’s Manual II-6.2 Floating reference
(Programming) position return
(B-63324EN)
Operator’s Manual II-9.15 Setting the floating
(Operation) reference position return
(B-63324EN-1)

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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

4.7 LINEAR SCALE WITH REFERENCE MARKS

General
A scale having reference marks at constantly varying intervals can be
created by combining two virtual scales with different one-rotation
signal intervals. The created scale is referred to as a linear scale with
reference marks. An absolute position on the linear scale with
reference marks can be determined if the reference mark intervals of at
least three adjacent points are detected and if a correlation between the
intervals and the current position is found.
This function measures reference mark intervals by making small
movements on each axis and calculates the absolute position.
Accordingly, a reference position can be established with no axial
movement to the reference position.

8.0 42.0 8.2 41.8 8.4 41.6 8.6

Reference
mark

50.0 50.0 50.0

Scale 1

50.2 50.2 50.2

Scale 2

Fig. 4.7 (a) Sample Linear Scale with Reference Marks

Basic procedure for establishing a reference position

1. Select jog mode. Set manual reference position return selection
signal IZRN to 1.
2. Perform movement toward the reference position along a desired
axis by setting the corresponding feed axis direction selection
signal (+J1, -J1, +J2, -J2, etc.) to 1.
3. Axial movement is made at the reference position return FL
feedrate (parameter 1425).
4. When a reference mark on the linear scale is detected, the
movement is temporarily stopped and resumed at the reference
position return FL feedrate.
5. Step 4 is repeated until three or four reference marks on the linear
scale are detected. When the absolute position is calculated, the
reference position establishment signal (ZRF1, ZRF2, ZRF3, etc.)
goes to 1.

The timing chart for the basic procedure is shown below:

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

J O G m o d e

Z R N

+ J 1

R e fe re n c e m a rk

Z R F 1

F e e d ra te

F L s p e e d

Fig. 4.7 (b) Timing Chart of Operation for Establishing a Reference Position

Procedure for establishing a reference position through automatic operation

If an automatic reference position return (G28) is specified before a
reference position is established, steps 3 to 5 above are performed
automatically. After the reference position is established, the
automatic reference position return is performed.

Stopping the operation for establishing a reference position

The operation for establishing a reference position is stopped if any of
the following operations is performed in steps 3 to 5, described above.
- Reset
- Setting the feed axis direction selection signal (+J1, -J1, +J2, -J2,
etc.) to 0
- Setting the interlock signal (*IT, *IT1, *IT2, etc.) to 0
- Setting the controlled axis detach signal (DTCH1, DTCH2, etc.)
to 1
- Setting the servo off signal (*SVF1, *SVF2, etc.) to 0

If any of the following operations is performed during the operation of

automatic reference position return (G28) before a reference position is
established, the operation for establishing a reference position stops:
- Reset
- Performing feed hold during movement from an intermediate
point to a reference position
- Setting the interlock signal (*AIT, *IT, *IT1, *IT2, etc.) to 0
- Setting the controlled axis detach signal (DTCH1, DTCH2, etc.)
to 1
- Setting the servo off signal (*SVF1, *SVF2, etc.) to 0
If the operation for establishing a reference position is stopped by an
operation other than a reset, the operation for establishing a reference
position must be reset and resumed.

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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

Signal

Reference position establishment signals

ZRF1<F65#2>, ZRF2<F69#2>, ...
[Classification] Output signal
[Function] The signal indicates whether a reference position of the corresponding
axis has been established by a reference position return. Independent
signals are provided for each different axis. The number at the end of
the signal name indicates the corresponding controlled axis number. If
a linear scale with reference marks is used, this signal is output when a
reference position is established from three or four reference marks
detected after the operation for establishing a reference position starts.
ZRFx
x: 1 : First-axis reference position establishment signal
2 : Second-axis reference position establishment signal
3 : Third-axis reference position establishment signal
:
:
[Output condition] The signal goes to 1 when the reference position of the corresponding
axis is established by a reference position return. The signal is held at 1
until the CNC loses the reference position.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F065 ZRF1

The above addresses are the signal addresses for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the Appendix A.1.

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
1002 DC4

[Input type] Parameter input

[Data type] Bit

    8 ?:     !           $%

     9

) 4 !    !  "! "  %    
 9

,) 4 !    !  "! "  %     9

#7 #6 #5 #4 #3 #2 #1 #0
1008 DCL

[Input type] Parameter input

[Data type] Bitaxis

    F ?5           $%     9 

    "  

)       $%     9

,) 0      $%     9

#7 #6 #5 #4 #3 #2 #1 #0
1815 OPT

[Input type] Parameter input

[Data type] Bitaxis

    , . /             "   "  

)           " 

,) 0        " 

*D  "  " "  "6 H,I    
3

NOTE
Refer to PSL (bit 3 of parameter No. 1807).

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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

1896 Capacity of the reference counter for each axis

[Input type] Parameter input

[Data type] Integeraxis
[Unit of data] detection unit
[Valid data range] 0 - 999999999
In case of using a distance coded linear scale, specifies the mark 1
interval for a distance coded linear scale.
Specifies a desired reference counter capacity. When 0 is specified
for this parameter, the standard setting (data No. 1816) is used.
Even when PLC01 of data No. 1804 is set to 1, the unit of data is
not multiplied by 10.
Turn the power on again after specifying this parameter.

5226 Mark 2 interval for a distance coded linear scale

     
     %  
0"  "  
@ ""   % #GGGGGGGGG
    9' $  "  " "   

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

5227 Distance between the origin of the linear scale having reference marks and
the reference position

     
     %  
0"  "  
@ ""   % #GGGGGGGGG#GGGGGGGGG
Specifies the distance between the origin of the distance coded linear scale and the
reference position. The "scale origin" here is that point where mark 1 coincides
with mark 2. Usually, this point does not physical exist on the scale.

Scale zero point Reference position

Scale end Scale

Mark 1 = mark Mark 1 Mark 2 Mark 1 Mark 2

8.0 42.0 8.2 41.8

Parameter No. 1896

Parameter No. 5226

Parameter No. 5227

If the reference position is on the positive side when viewed from the scale zero
point, a positive value is set in this parameter. If the reference position is on the
negative side when viewed from the scale zero point, a negative value is set in this
parameter.

[Example] In case of the scale shown in following figure for a millimeter machine
with IS-B.

Scale zero point Reference position +

A B
Mark1=Mark2 Mark1 Mark2 Mark1 Mark1 Mark2 Mark1 Mark2 Mark1 Mark2 Mark1

20.000 19.980 9.940 10.060 9.960 10.040 9.980 10.020

0.020 5.000 20.000

9960/(20020-20000) * 20000+5000 = 9965000 20.020

Parameter No.1896 (interval of the mark1) = 20000
Parameter No.5226 (interval of the mark2) = 20020
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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

Parameter No.5227 (reference position) = Position of A + 5.0

= {(Distance of position A and position B)/(Interval of the mark1 –
Interval of the mark2)} * (Interval of the mark1) + 5.0
= 9965000

[Setting of parameterNo.5227] Following procedure can be used if it is difficult to measure the

distance from the scale zero point to the reference position (parameter
No.5227).

1) Enable this function by parameter No.1815 and parameter

DCL(No.1008#7).
Set appropriate values to parameter No.1896 and 5226.
Set the 1-st reference position in the machine coordinate frame
(parameter No.1240) to 0.
Set parameter No.5227 to 0.
2) Establish the reference position at an appropriate position by the
method described in “Basic procedure to establish the reference
position”. (This makes the machine coordinate equal to the
distance from the scale zero point to the current position.)
3) Position the machine exactly at the reference position by the jog
feed or the handle feed.
4) Get the machine coordinate in the detection unit (multiply CMR)
and set it to parameter No.5227.
5) Set parameter No.1240 if necessary.

Alarm And message

Number Message Contents

PS0449 ILLEGAL TOOL LIFE DATA Tool life management data is damaged for some reason.
Reload the tool group and the corresponding tool data by
G10 L3; or MDI input.

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

Caution

CAUTION
1 In the following cases, the operation for establishing a reference position is not
performed, but movement to the reference position occurs:

- If axial movement is made in REF mode after the reference position is established

- If an automatic reference position return (G28) is specified after the reference

position is established

2 Because the axial movement continues until three or four reference marks are
detected, start the operation for establishing a reference position from a position
sufficiently distant from a scale end. If the operation starts from a position close to a
scale end, the axial movement will not stop until an overtravel is detected.2

Scale end Reference mark

Start point (not recommended)

Start point (recommended)

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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

Note
NOTE
1 If an automatic reference position return (G28) is
specified before a reference position is established,
the operation for establishing a reference position is
performed as described above. Then, reference
position return is performed.
2 Alarm OT0450 occurs if:
- The actual reference mark interval does not
match the reference mark interval set in a
parameter.
3 This function cannot be used for an axis for which any
of the following functions is used:
- PMC axis control
- Synchronization control
- Three-dimensional error correction
- Straightness correction
4 This function is disabled if any of the following
conditions is satisfied:
- Either parameter 1896 (mark-1 interval) or
parameter 5226 (mark-2 interval) is set to 0.
- Parameters 1896 and 5226 have identical
settings.
- The difference between the settings made for
parameters 1896 and 5226 is greater than or
equal to twice either setting.
- Rotation axis
- The absolute-position detection function is
enabled.
5 If axial movement is made in the direction opposite to
that of reference position return, the movement is
reversed to the direction of reference position return
after three or four reference marks have been
detected. Steps 3 to 5 of the basic procedure for
establishing a reference position are carried out to
establish the reference position.

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

4.7.1 Enhancement of Distance Coded Linear Scale

Overview
The distance coded linear scale interface can now be used for the
following controlled axes:

Rotation axis
Synchronization control axis
PMC control axis

In addition, the range of parameter No. 5227 that sets the distance from
the scale zero point to a reference position has been expanded.

- Distance coded rotary encoder

At a joint on the circle of a distance coded rotary encoder, the intervals

between reference marks and the settings in parameter Nos. 1896 and
5226 do not match. Accordingly, in movement passing this joint, a
reference position cannot be established (between a and b in Fig. 1)
Therefore, when the distance coded rotary encoder is used, and
reference position return is started from point A in the following figure
toward point B, a reference position is established again automatically
after point B is reached, then movement to point C takes place to
establish a reference position.
Power failure detected

Power failure deceleration

signal PWFL

Feedrate
along X-axis Decelerated at acceleration set
in parameter No. 1670

Feedrate
along Y-axis

Fig.4.7.1 (a) Distance Coded Rotary Encoder

When the distance coded rotary encoder is used, and bit 1 (ROS) of
parameter No. 1006 is set to 1 (the machine coordinate system of the
rotation axis is of the rotation axis type), the reference position
established by this function is obtained from the travel amount per
rotation of the rotation axis even if the machine rotates through more
than one turn.

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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

- Requirements when this function is used with synchronization control axes

When this function is used with synchronization control axes, the
distance coded linear scale used for the master axis and that used for
the slave axis must have reference marks placed at identical intervals.
(Set identical values in parameter Nos. 1896 and 5226 for both the
master and slave axes.)
This function does not work unless the use of this function is specified
for both the master and slave axes (bit 7 (DCL) of parameter No. 1008
is 1).
Also, in all parameters related to this function, except parameter No.
5227 (distance from the scale zero point to reference position), set
identical values for both the master and slave axes.
If a parameter value for the master axis differs from the corresponding
parameter value for the slave axis, alarm SV0051 is issued.

NOTE
1 When this function is used with synchronization control
axes for which the operation mode is switched between
synchronization operation and normal operation, this
function is enabled only if the synchronization select
signal (SYNC1, SYNC2, ...) is 1. (During establishment
of a reference position, the synchronization select
signal status must be maintained.)
2 This function is disabled if the master or slave axis
satisfies one of the following conditions:
- Zero is set in parameter No.1896 (mark-1 interval) or
parameter No. 5226 (mark-2 interval).
- The value set in parameter No.1896 is greater than or
equal to the value set in parameter No. 5226.
- The value set in parameter No. 5226 is at least twice
as large as the value set in parameter No. 1896.
- An absolute-position detector is used.

- Reference position establishment with synchronization control axes

With synchronization control axes, a reference position is established

as follows. When a reference mark for the master or slave axis is
detected, a stop takes place temporarily. Then, a feed operation is
performed again at the reference position return FL feedrate. This
sequence is repeated until a reference mark is detected three or four
times for both the master and slave axes. Then the absolute position is
calculated for both the master and slave axes, and the reference
position establish signals (ZRF1, ZRF2, ...) are set to 1.
After the reference position has been established by the above
operation, a synchronization error is corrected. (Checking for
excessive synchronization error alarm 2 is made even during reference
position establishment.)

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

Scale end
Reference mark

Master

axis
*,3      *'3      *83

Start point End point

Slave axis

J,K   J'K    J8K

Fig. 4.7.1 (b) Example of Measuring Three Points

In the above example, the reference mark (1) for the master axis is
detected first, a stop takes place at (1) temporarily, movement is
performed at the FL feedrate, then a stop takes place again at the
position where the reference mark <1> for the slave axis is detected.
Movement starts again at the FL feedrate. Then, each time a reference
mark is detected in the order from master axis (2) to slave axis <2> to
master axis (3), stop and movement at the FL feedrate are repeated.
When the third reference mark <3> for the slave axis has been detected
last, reference position establishment for both axes terminates.

- PMC control axis

In PMC axis control, if the reference position return command (axis
control command code 05H) is issued for an axis having a distance
coded linear scale, reference position return is performed according to
the reference position return sequence for the distance coded linear
scale. Specifically, the following operations take place:

Before reference position The reference position is established by

establishment detecting three or four reference marks.
Movement to the reference position is not
performed.
After reference position Positioning at the reference position is
establishment performed.

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4.REFERENCE POSITION ESTABLISHMENT B-63323EN-1/03

Parameter

5228 Distance 2 from the zero point of the distance coded linear scale to reference
position

     
     %  
0"    
@ ""   % #GGGGGG
This parameter is used when the distance from the zero point of the distance coded
linear scale to the reference position exceeds the range set in parameter No. 5227.
The distance from the scale zero point to reference position is obtained from the
following expression:
Distance from the scale zero point to reference position =
(value in parameter No. 5228) × 1,000,000,000 + (value in parameter No. 5227)
The scale zero point is the point at which mark 1 and mark 2 match. Normally,
this point is a virtual point that does not physically exist on the scale.
NOTE
1 Set parameter Nos. 5227 and 5228 so that the distance from the
scale zero point to the reference position is within the range from
-999,999,999,999 to +999,999,999,999 If a value exceeding
the range is set, the alarm OT0448 occur.
2 The scale body can not cross the scale zero point¥. The scale
range must be within the range from scale zero point to next
scale zero point.

Scale zero point Reference position

Scale end Scale body

Mark 1 = mark 2 Mark 1 Mark 2 Mark 1 Mark 2

8.0 42.0 8.2 41.8

Parameter No. 1896

Parameter No. 5226

Parameter No. 5228×1,000,000,000+parameter No. 5227

If the reference position is on the positive side when viewed from the scale zero
point, a positive value is set in this parameter. If the reference position is on the
negative side when viewed from the scale zero point, a negative value is set. For
details, refer to "Distance coded linear scale" in the connection manual (function).

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B-63323EN-1/03 4.REFERENCE POSITION ESTABLISHMENT

Alarm

No. Message Description

SV0051 ILLEGAL SYNCHRONOUS AXIS An illegal parameter is set for a synchronization control axis
using a distance coded linear axis.
OT0448 ILLEGAL PARAMETER (D.C.S.) An illegal parameter is set for an axis using a distance
coded linear axis.

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5.AUTOMATIC OPERATION B-63323EN-1/03

5 AUTOMATIC OPERATION

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B-63323EN-1/02 5.AUTOMATIC OPERATION

5.1 CYCLE START/FEED HOLD

General

- Start of automatic operation (cycle start)

When automatic operation start signal ST is set to 1 then 0 in which
memory (MEM) mode, DNC operation mode (DNC), or manual data
input (MDI) mode, the CNC enters the automatic operation start state
then starts operating.

Signal ST, however, is ignored in the following cases:

1. When the mode is other than MEM, DNC, or MDI
2. When the feed hold signal (*SP) is set to 0
3. When the emergency stop signal (*ESP) is set to 0
4. When the external reset signal (ERS) is set to 1
5. When the reset and rewind signal (RRW) is set to 1
6. When MDI RESET key is pressed
7. When the CNC is in the alarm state
8. When automatic operation is starting
9. When the program restart signal (SRN) is 1
10. When the CNC is searching for a sequence number.

The CNC enters the feed hold state and stops operation in the following
cases during automatic operation:
1. When the feed hold signal (*SP) is set to 0
2. When the mode is changed to manual operation mode (JOG, INC,
HND, REF, TJOG, or THND).

The CNC enters the automatic operation stop state and stops operating
in the following cases during automatic operation:
1. When a single command block is completed during a single block
operation
2. When operation in manual data input (MDI) mode has been
completed
3. When an alarm occurs in the CNC
4. When a single command block is completed after the mode is
changed to other automatic operation mode or memory edit
(EDIT)

The CNC enters the reset state and stops operating in the following
cases during automatic operation:
1. When the emergency stop signal (*ESP) is set to 0
2. When the external reset signal (ERS) is set to 1
3. When the external reset signal (ERS) is set to 1
4. When MDI <RESET> key is pressed

The state of the CNC (automatic operation start, feed hold , automatic
operation stop, or reset) is posted to the PMC with status output signals
OP, SPL, and STL. See the table in the "Signal" section for details.

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5.AUTOMATIC OPERATION B-63323EN-1/03

- Halt of automatic operation (feed hold)

When the feed hold signal *SP is set to 0 during automatic operation,
the CNC enters the feed hold state and stops operation. At the same
time, cycle start lamp signal STL is set to 0 and feed hold lamp signal
SPL is set to 1. Re-setting signal *SP to 1 in itself will not restart
automatic operation. To restart automatic operation, first set signal
*SP to 1, then set signal ST to 1 and then to 0.

1 M, S, T, B block
When signal *SP is set to 0 during the execution of a block
containing only the M, S, T, or B function, signal STL is
immediately set to 0, signal SPL is set to 1, and the CNC enters the
feed hold state. If the FIN signal is subsequently sent from the
PMC, the CNC executes processing up until the end of the block
that has been halted. Upon the completion of that block, signal
SPL is set to 0 (signal STL remains set to 0) and the CNC enters
the automatic operation stop state.

2 Thread cutting
When signal *SP is set to 0 during threading, the CNC enters the
feed hold state after executing a non-threading block after the
threading blocks. If, however, the *SP signal remains set to 0,
automatic operation is held at the start point of a block for which
threading is not specified.

3 Tapping in a canned cycle

When signal *SP is set to 0 during tapping in a canned cycle (G84),
signal SPL is immediately set to 1 but operation continues until
the tool returns to the initial level or R point level after the
completion of tapping.

4 Macro instruction
Operation stops after the currently executing macro instruction
has been completed.

5 When a macro instruction sets a system variable for disabling feed

hold
The automatic operation hold state is set when the block
immediately after the system variable for disabling feed hold is
cleared has been executed. If the *SP signal remains set to 0,
however, the automatic operation hold state is set at the start point
of the block.

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B-63323EN-1/02 5.AUTOMATIC OPERATION

Signal
Cycle start signal
ST<G005#0>
[Classification] Input signal
[Function] Starts automatic operation.
[Operation] When signal ST is set to 1 then 0 in memory (MEM) mode, DNC
operation mode (DNC) or manual data input (MDI) mode, the CNC
enters the cycle start state and starts operation.

ST

Start

Automatic
operation

Feed hold signal

*SP<G000#5>
[Classification] Input signal
[Function] Halts automatic operation.
[Operation] When signal *SP is set to 0 during automatic operation, the CNC enters
the feed hold state and stops operation. Automatic operation cannot be
started when signal *SP is set to 0.

ST

Ignored

*SP

Start Start
Feed hold
Automatic
operation

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5.AUTOMATIC OPERATION B-63323EN-1/03

Automatic operation signal OP<F000#5>

Cycle start lamp signal STL<F000#4>
Feed hold lamp signal SPL<F000#3>
[Classification] Output signal
[Function] Posts the operation state of the NC.
[Output condition] This signal is set to 1 or 0, according to the state of the CNC, as listed in
Table 1.1(a).

Table. 5.1 (a) Status of Operation

Signal name Automatic Cycle start lamp Feed hold lamp
operation lamp STL SPL
State of
OP
the operation
Cycle start state 1 1 0
Feed hold state 1 0 1
Automatic operation 1 0 0
stop state
Reset state 0 0 0

1. Cycle start state

In this state, the CNC performs automatic operation.
2. Feed hold state
In this state, the CNC is stopped during execution of a block.
3. Automatic operation stop state
In this state, the CNC is stopped after the completion of block
execution.
4. Reset state
In this state, the CNC is stopped after the completion of program
execution.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G000 *SP

G005 ST

F000 OP STL SPL

Alarm and message

- Self-diagnosis
Even when no alarm is issued, the operation may appear to have
stopped. In such a case, the system may be performing some
processing. Diagnosis No. 1000 to 1010 on the self-diagnosis screen
can be used to check the state.

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B-63323EN-1/02 5.AUTOMATIC OPERATION

Reference item
Series15i/150i-MA Operator’s Manual II-4.2 Memory operation
(Operation) II-4.3 MDI operation
(B-63324EN-1) II-4.1 DNC operation
II-7.1 Check on the diagnosis
function
Series15i/150i- Maintenance Manual 1.3 Diagnosis function
MODEL A (B-63325EN)

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5.AUTOMATIC OPERATION B-63323EN-1/03

5.2 RESET AND REWIND

General

- RESET
The CNC is reset and enters the reset state in the following cases:
1. When the emergency stop signal (*ESP) is set to 0 by setting bit 0
(ENR) of parameter No. 2001
2. When the external reset signal (ERS) is set to 1
3. When the reset and rewind signal (RRW) is set to 1
4. When MDI RESET key is pressed

Upon a reset, the reset in-progress signal (RST) is set to 1. The reset
in-progress signal (RST) remains set to 1 for at least one second or until
conditions 1 through 4 above are cleared.

Less than one second More than one second

Reset condition

Reset execution

RST

One second More than one second

By setting bit 0 (RSD) of parameter No. 2000, the reset in-progress

signal is handled so that the signal is set to 1 when only condition 4 is
set to 1. It is set to 0 when all the reset conditions are cleared.
If a reset occurs during automatic operation, that automatic operation is
stopped. Signals MF, SF, TF, and BF are all set to 0. Movement along
controlled axes is decelerated and stopped. (An emergency stop is
applied when the emergency stop signal (*ESP) is set to 0.)
By using the parameters listed in the table below, the user can choose
whether to clear the CNC internal data (such as modal G codes) upon a
reset. For details of such data, see the description of each function.

Data Parameter
Modal G codes, F, H, S, and T codes NCM(No.2401#7)
Spindle positioning mode IOR(No.5605#4)
Macro common variables #100 to #199 CLV(No.7000#6)
EGB synchronous mode RSH(No.7612#0)

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B-63323EN-1/02 5.AUTOMATIC OPERATION

- Reset & rewind

When the reset signal and rewind signal RRW are set to 1, a reset
occurs, and rewind processing (search for the start of the currently
selected main program) is performed. By setting bit 1 (RWM) of
parameter No. 2000, the user can choose whether to output rewind in-
progress signal RWD.

Signal

External reset signal

ERS<G000#7>
[Classification] Input signal
[Function] Reset the CNC.
[Operation] Turning the signal ERS to 1 resets the CNC and enters the reset state.
While the CNC is reset, the resetting signal RST turns to

Reset & rewind signal

RRW<G000#6>
[Classification] Input signal
[Function] Resets the CNC, and rewinds the currently selected NC program.
[Operation] See the description of "Reset and rewind," above.

Resetting signal
RST<F000#2>
[Classification] Output signal
[Function] Reports that the CNC is performing reset processing.
[Output condition] See the description of "Reset and rewind," above.

Rewinding signal
RWD<F000#0>
[Classification] Output signal
[Function] Reports that the CNC is performing rewind processing.
[Output condition] See the description of "Reset and rewind," above.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G000 ERS RRW

F000 RST RWD

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5.AUTOMATIC OPERATION B-63323EN-1/03

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2000 RWM RSD

   

   

          

       !
" #$    %  & '  !

#1 RWM The rewinding signal (RWD) is output:

0: Only while the tape is rewound in the tape reader by the reset
and rewind signal.
1: While the tape is rewound in the tape reader or the reset and
rewind signal searches memory for the beginning of a program.

#7 #6 #5 #4 #3 #2 #1 #0
2001 ENR

   

   

#0 ENR At emergency stop:

0: The system is reset.
1: The system is not reset, but an alarm is raised. When the
system is reset, the emergency stop state is released.

#7 #6 #5 #4 #3 #2 #1 #0
2401 NCM

   

   

    ( )*'  +, $   ,$& ,  + &%  

 * &
" )+ &% &!
--./-"(-"0/-"(!"/-0.-01/-02-0(/-0-0"/3
+& /+& / &+& 

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B-63323EN-1/02 5.AUTOMATIC OPERATION

#7 #6 #5 #4 #3 #2 #1 #0
5605 IOR

   

   &

#4 IOR Specifies whether to cancel the spindle positioning mode upon reset.
0: Do not cancel.
1: Cancel.

#7 #6 #5 #4 #3 #2 #1 #0
7000 CLV

   

   

#6 CLV Specifies whether to clear custom macro common variables #100

through #199 (cleared when the power is turned off) upon reset.
0: Do not clear.
1: Clear to null.

#7 #6 #5 #4 #3 #2 #1 #0
7612 RSH

   

   

     4  +, $  + +  + & -5"/-5"!1$ 
 + + %6,+7- &!
 * +   !
" + +   !   + & + +  &%
-5 -5!1+& !

Reference item
Series15i/150i-MA Operator’s Manual II-3 Properatry function
(Programming) II-9.3 Spindle positionning
(B-63324EN) II-17 Custom macro
II-19.9 Electric gear box

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5.AUTOMATIC OPERATION B-63323EN-1/03

5.3 TESTING A PROGRAM

Before machining is started, the automatic running check can be

executed. It checks whether the created program can operate the
machine as desired. This check can be accomplished by running the
machine actually or viewing the position display change without
running the machine.

5.3.1 Machine Lock

General
The change of the position display can be monitored without moving
the machine.
When all-axis machine lock signal MLK or axis-by-axis machine lock
signal MLKx is set to 1, only command pulse output to the servo motor
is stopped. Modal G codes, coordinate system setting, M, S, T codes,
secondary auxiliary functions, and so forth are executed as usual, so
that the positions in the absolute coordinate system and the relative
coordinate system are updated. So, from the indicated positions, the
user can check if the command is correct.

Signal

All-axis machine lock signal

MLK<G004#7>
[Classification] Input signal
[Function] Places all controlled axes in the machine lock state.
[Operation] When all-axis machine lock signal MLK is set to 1, the output of
command pulses for all axes to the servo motor is disabled. This signal
sets the machine lock state in automatic operation, manual operation,
and simultaneous automatic and manual operation mode.

Each-axis machine lock signals

MLK1<G065#3>,MLK2<G069#3>,...
[Classification] Input signal
[Function] Place the corresponding controlled axes in the machine lock state.
These signals are provided for each controlled axis. The signal number
corresponds to the number of the controlled axis.
MLKx
x : 1 - - - Machine lock for the 1st axis
x : 2 - - - Machine lock for the 2nd axis
x : 3 - - - Machine lock for the 3rd axis
:
[Operation] When axis-by-axis machine lock signal MLKx is set to 1, the command
pulses for the corresponding axis are not output to the servo motor.
1. In both automatic and manual operation, the corresponding axis is
placed in the machine lock state.

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B-63323EN-1/02 5.AUTOMATIC OPERATION

2. In simultaneous automatic and manual operation

a) Command pulses are not output for automatic operation.
b) Command pulses are output for manual operation.

This signal is valid when bit 6 (MLE) of parameter No. 1005 is set to 1.

All-axis machine lock check signal

MMLK<F004#7>
[Classification] Output signal
[Function] Reports the state of the all-axis machine lock signal.
[Output condition] This signal is set to 1 in the following case:
- When all-axis machine lock signal MLK is set to 1
This signal is set to 0 in the following case:
- When all-axis machine lock signal MLK is set to 0

Machine lock check signal for each axis

MMLK1<F065#1>, MMLK2<F069#1>,...
[Classification] Output signal
[Function] Reports the state of each axis-by-axis machine lock signal.
MMLKx
x : 1 -State of the axis-by-axis machine lock signal for the first axis
x : 2 -State of the axis-by-axis machine lock signal for the second axis
x : 3 -State of the axis-by-axis machine lock signal for the third axis
:
[Output condition] This signal is set to 1 in the following case:
- When all-axis machine lock signal MMLKx is set to 1
This signal is set to 0 in the following case:
- When all-axis machine lock signal MMLKx is set to 0

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G004 MLK

F004 MMLK

#7 #6 #5 #4 #3 #2 #1 #0
G065 MLK1

F065 MMLK1

The address above is the signal address for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the address table in Appendix A.1.

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5.AUTOMATIC OPERATION B-63323EN-1/03

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1005 MLE

   

    6

    2 '87  +, $   + +9 &,  + 6!

  &!
" : &!

Note
NOTE
1 Reference point return during machine lock.
In a machine lock state, the reference position return
(G28), second to fourth reference position return
(G30), or floating reference position return (G30.1)
commands cannot issue reference position return
completed signal ZPx.The reference position return
check (G27) command is ignored.
2 Machine lock signal turned on/off during movement
along axes
If machine lock is applied to movement along an axis
that is performed with the machine lock state not set,
movement is decelerated and stopped. Similarly, if
machine lock applied to movement along an axis
being made with the machine lock state set is
cleared, move command output immediately starts.
In the case as well, acceleration/deceleration is
applied to ensure smooth acceleration.

Reference item
Series15i/150i-MA Operator’s Manual II-5.1 Machine lock and
(Operation) miscellaneous function
(B-63324EN-1)

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B-63323EN-1/02 5.AUTOMATIC OPERATION

5.3.2 Dry Run

General
A cutting command in the program is executed using the feedrate
specified in a parameter. This function is used, for example, to check
only the movement of the tool with no workpiece mounted. By
parameter setting, the user can choose whether to use the dry run
feedrate for the rapid traverse, threading, and tapping commands as
well as cutting commands. The tables below indicate the dry run
feedrates that are actually used.

Table. 5.3.2 (a) Cutting Feed

Manual rapid traverse selection Feedrate parameter (*1)
1 Parameter(No.1410) ~JVmax
0 Parameter(No.1410) ~JV

Table. 5.3.2 (b) Rapid Traverse

Manual rapid Positioning (LRP) Feedrate parameter
traverse selection
1 0/1 Parameter(No.1420)
0 0 Parameter(No.1423)
1 Parameter(No.1410) ~JV *1

Manual rapid :Manual rapid traverse signal RT<G006#7>

traverse selection
Positioning (LRP) :LRP (bit 4 of parameter No. 1400)
Rapid traverse :RDR (bit 0 of parameter No. 1400)
(RDR)
JVmax :Parameter No. 2016
JV :Jog feedrate override *JV0 - JV15<G014, G015>

*1 Clamped by max. cutting feedrate (parameter No. 1422).

Signal

Dry run signal

DRN<G004#1>
[Classification] Input signal
[Function] Enables dry run.
[Operation] When this signal is set to 1, the tool is moved at the feedrate specified
for dry run.

CAUTION
When the dry run signal is changed from 0 to 1 or 1
to 0 during the movement of the tool, the feedrate of
the tool is first decelerated to 0 before being
accelerated to the specified feedrate.

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5.AUTOMATIC OPERATION B-63323EN-1/03

Dry run check signal

MDRN<F004#1>
[Classification] Output signal
[Function] Reports the state of the dry run signal.
[Output condition] This signal is set to 1 in the following case:
- When dry run signal DRN is set to 1
This signal is set to 0 in the following case:
- When dry run signal DRN is set to 0

- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G004 DRN

F004 MDRN

Parameter
1410 Dry run feedrate

[Input type] Parameter input

[Data type] Real
[Unit of data] mm/min, inch/min, degree/min (machine unit)
[Minimum unit of data] Depend on the increment system of the reference axis
[Valid data range] Refer to the standard parameter setting table (C)
(0.0 to +240000.0 in the IS-B)
Set the dry run feedrate when the jog feedrate dial is set to 100%.
The unit of data depends on the increment system of the reference
axis.

#7 #6 #5 #4 #3 #2 #1 #0
1400 LRP TDR RDR

   

   

       +, $  &  + %  ,  &,   & 
+ &!
 * %  ,  &!
" * %  ,  &!
    "   +, $  &  + %  ,  &,    & &
+ &!
 * %  ,  &!
" * %  ,  &!

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B-63323EN-1/02 5.AUTOMATIC OPERATION

    ; 8   +  & &, -!

 )<     &  &    &
      + 6!
" 8      !
  <&  + &  + / "!

1420 Rapid traverse rate along each axis

[Input type] Parameter input

[Data type] Realaxis
[Unit of data] mm/min, inch/min, degree/min (machine unit)
[Minimum unit of data] Depend on the increment system of the applicable axis
[Valid data range] Refer to the standard parameter setting table (C)
(0.0 to +240000.0 in the IS-B)
Set the rapid traverse rate for each axis when rapid traverse override
is set to 100%.

1422 Maximum cutting feedrate for each axis

[Input type] Parameter input

[Data type] Realaxis
[Unit of data] mm/min, inch/min, degree/min (machine unit)
[Minimum unit of data] Depend on the increment system of the applicable axis
[Valid data range] Refer to the standard parameter setting table (C)
(0.0 to +240000.0 in the IS-B)
Set the maximum cutting feedrate for each axis.

1423 Jog feedrate for each axis

[Input type] Parameter input

[Data type] Realaxis
[Unit of data] mm/min, inch/min, degree/min (machine unit)
[Minimum unit of data]
[Valid data range]
Set the jog feedrate for each axis when the jog feedrate dial is set to
100%.

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2016 Jog feedrate override clamp value

[Input type] Parameter input

[Data type] Integer
[Unit of data] (Undefined)
[Valid data range] 0-0
If an override value greater than the jog feedrate override clamp value
is input, it is clamped to this value.

Reference item
Series15i/150i-MA Operator’s Manual II-5.2 Dry run
(Operation)
(B-63324EN-1)

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5.3.3 Single Block

General
When single block signal SBK is set to 1 during automatic operation,
automatic operation is stopped after execution of the block currently
being executed. Then, each time automatic operation is started, a
single block is executed. Normal automatic operation is resumed by
starting automatic operation after setting single block signal SBK to 0.

The state of single block signal SBK is always checked at the end of a
block. This means that even if the signal is turned on/off in the middle
of a block being executed, that operation is ignored. If the
acceleration/deceleration before interpolation function is used,
however, the feedrate may change. If a system variable for disabling
the single block function is set in a custom macro, the signal is not
checked.

Usually, the specifications below do not cause a single block stop in

each block. By setting parameters, however, a single block stop can be
caused in each block.
1 Custom macro statement
A single block stop does not occur until the NC statement
specified after a custom macro statement is reached.

2 Canned cycle, rigid tapping

A single block stop occurs at the end points of operations 1, 2, and
5.
B point
Initial
(1)

(2) (5)

R point B
(3) (4)

B
Z point

3 Cutter compensation
A single block stop does not occur in move blocks that are
internally generated for compensation.

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Signal

Single block signal

SBK<G004#3>
[Classification] Input signal
[Function] Enables single block operation.
[Operation] When this signal is set to 1, single block operation is performed. When
this signal is set to 0, normal operation is performed.

Single block check signal

MSBK<F004#3>
[Classification] Output signal
[Function] Notifies the PMC of the state of the single block signal.
[Output condition] This signal is set to 1 in the following case:
- When single block signal SBK is set to 1
This signal is set to 0 in the following case:
- When single block signal SBK is set to 0

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G004 SBK

F004 MSBK

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0010 SBO SBC SBM SB8 SB7

  

   

    . (  +, $   ,  +%+9,+ +    

  #(#(000!
  ,  +%+9!
"  ,  +%+9!
) 
% &+ +9  #(#(000+ +
 +    !

    ; 5  +, $   ,  +%+9,+ +    

  #5#5000!
  ,  +%+9!
"  ,  +%+9!
) 
% &+ +9  #5#5000+ +
 +    !

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B-63323EN-1/02 5.AUTOMATIC OPERATION

    1 '  +, $   ,  +%+9,+ +    

  !
  ,  +%+9!  4$ /$  +, &
( 5/$++     ,, + &% 
   !
"  ,  +%+9!
) 
% &+ +9   + + + 
   !
    2 *  +, $   ,  +& +  &++ 
  ,  +++ !
"  ,  +++ !
% &+ +9  + +  &++ !

    ( #  +, $   ,  +%+9      &,

+  <  &+  
  ,  +%+9!
"  ,  +%+9!
) 
% &+ +9  + +  <  &
+  !

Reference item
Series15i/150i-MA Operator’s Manual II-5.3 Sigle block
(Operation)
(B-63324EN-1)

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5.4 MANUAL ABSOLUTE ON/OFF

General
When performing manual operation (such as jog feed and manual
handle feed), the user can choose whether to reflect a moved distance in
the absolute coordinate system.

- When manual absolute turns on

If manual intervention is performed during automatic operation, the
distance moved by manual intervention is reflected in the absolute
coordinate system. This means that no displacement occurs between
the absolute coordinate system and machine coordinate system before
and after manual intervention. The tool path after manual intervention
is determined by bit 3 (ABS) of parameter No. 2409, as shown below.

When bit 3 (ABS) of parameter No. 2409 is set to 0, and an incremental

command is specified, the shifted path is followed.

Manual
Intervention

Programmed tool
path
When an absolute command is specified, or when bit
3 (ABS) of parameter No. 2409 is set to 1 and an
incremental command is specified, the path returns to
the programmed path.

- When manual absolute turns off

In automatic operation, a distance moved is reflected in an absolute
position indication. If a reset is performed after manual operation, or if
operation is started in automatic operation mode, however, the absolute
position indication represents the position before manual intervention,
and the absolute coordinate system after manual intervention is shifted
from the machine coordinate system by the distance moved by manual
intervention. So, the tool path after manual intervention is as shown
below.

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B-63323EN-1/02 5.AUTOMATIC OPERATION

The tool moves along this path, regardress of absolute

command or incremental command

Manual
Intervention

Program tool path

Signal

Manual absolute Signal

ABS<G004#5>
[Classification] Input signal
[Function] Turns off the manual absolute function.
[Operation] When this signal is set to 1, the control unit operates as follows:
Turns off the manual absolute function.

Manual absolute check Signal

MABSM<F004#5>
[Classification] Output signal
[Function] Notifies the PMC of the state of the manual absolute
signal.
[Output condition] This signal is set to 1 in the following case:
- When the manual absolute signal *ABS is set to 0
This signal is set to 0 in the following case:
- When manual absolute signal *ABSM is set to 1

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G004 ABS

F004 MABS

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5.AUTOMATIC OPERATION B-63323EN-1/03

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2409 ABS

   

   

    . = =,    %   % /% +, 

$    + & ,  % -0 &, +   
-0"    !

 ,, 
"    ,  % 

Reference item
Series15i/150i-MA Operator’s Manual II-5.3 Single block
(Operation)
(B-63324EN-1)

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B-63323EN-1/02 5.AUTOMATIC OPERATION

5.5 OPTIONAL BLOCK SKIP/ADDITION OF OPTIONAL BLOCK

SKIP

General
When a slash followed by a number (/n, where n = 1 to 9) is specified at
the head of a block, and optional block skip signals BDT1 to BDT9 are
set to 1 during automatic operation, the information contained in the
block for which /n, corresponding to signal BDTn, is specified is
ignored (from /n to the end of the block).

Input signal Code specified at the head of a block

BDT1 / or /1(NOTE)
BDT2 /2
BDT3 /3
BDT4 /4
BDT5 /5
BDT6 /6
BDT7 /7
BDT8 /8
BDT9 /9

NOTE
1 Number 1 for /1 can be omitted. However, when two
or more optional block skip switches are used in one
block, number 1 for /1 cannot be omitted.

(Example)
/ /3 N123 X100. Y200. ; Invalid
/1 /3 N123 X100. Y200. ; Valid

The following figures show the relationship between the timing, when
optional
block skip signals (BDT1 to BDT9) are set to 1, and the ignored
information:

1. When BDTn is set to 1 before the CNC starts reading a block

containing /n, the block is ignored.

BDTn "1"
"0"

Reading by CNC?. . . . . . ; /n N123 X100. Y200. ; N234 . . . . . .

Ignored

2. When BDTn is set to 1 while the CNC is reading a block

containing /n, the block is not ignored.

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5.AUTOMATIC OPERATION B-63323EN-1/03

BDTn "1"
"0"

Reading by CNC?. . . . . . ; /n N123 X100. Y200. ; N234 . . . . . .

Ignored

3. When BDTn, currently set to 1, is set to 0 while the CNC is

reading a block containing /n, the block is ignored.

BDTn "1"
"0"

Reading by CNC?. . . . . . ; /n N123 X100. Y200.; N234. . . . . .

Ignored

4. When two or more optional block skip switches are specified in a

block and BDTn, corresponding to one of them, is set to 1, the
block is ignored.

BDT3 "1"
"0"

Reading by CNC?. . . . . . ; /1 /3 /5 N123 X100. Y200. ; N234 . . . . .

Ignored

Signal

Optional block skip Signal

BDT1<G004#2>,BDT2-BDT9<G007>
[Classification] Input signal
[Function] Select whether a block containing /n is to be executed or ignored.
[Operation] During automatic operation, a block containing /n in the program is
ignored when the corresponding optional block skip signal is set to 1. It
is executed normally when the signal is set to 0.

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B-63323EN-1/02 5.AUTOMATIC OPERATION

Optional block skip check Signals

<MBDT1<F004#2>, MBDT2-MBDT9<F005>
[Classification] Output signal
[Function] Notify the PMC of the states of the optional block skip signals BDT1 to
BDT9. Nine signals are provided, corresponding to the nine optional
block skip signals. Signal MBDTn corresponds to signal BDTn.
[Output condition] Signal MBDTn is set to 1 in the following case:
- When the corresponding optional block skip signal (BDTn) is set
to 1
Signal MBDTn is set to 0 in the following case:
- When the corresponding optional block skip signal (BDTn) is set
to 0

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G004 BDT1

G007 BDT9 BDT8 BDT7 BDT6 BDT5 BDT4 BDT3 BDT2

F004 MBDT1

F005 MBDT9 MBDT8 MBDT7 MBDT6 MBDT5 MBDT4 MBDT3 MBDT2

Note
NOTE
1 This function is ignored when programs are loaded
into memory. Blocks containing /n are also stored in
memory, regardless of how the optional block skip
signal is set.
2 Position of a slash
A slash (/) must be specified at the head of a block. If
a slash is placed elsewhere, the information from the
slash to immediately before the EOB code is
ignored.
3 TV and TH check
When an optional block skip signal is "1". TH and TV
checks are made for the skipped portions in the
same way as when the optional block skip switch is
"0".
4 A slash (/) must be specified at the head of a block.
If a slash is placed elsewhere, the commands
following the slash are ignored.
Reference item
Series15i/150i-MA Operator’s Manual II-12.1 Configuration of the
(Programming) program
(B-63324EN)

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5.AUTOMATIC OPERATION B-63323EN-1/03

5.6 SEQUENCE NUMBER COMPARISON AND STOP

General
During program execution, this function causes a single block stop
right after
a block with a specified sequence number is executed.

Parameter

7681 Sequence number for stoppage upon matching

  

    

: &&    "<00000000
   > + %       & 
   6 +/ %+9    ,  %+9
6 + &!  +    +  ,   /   + &
!

NOTE
1. When 0 is set, stoppage upon matching is disabled. This
means that even when there is a block of N0, single block stop
state does not occur with the block.
2. If a match is found with the sequence number of a block
processed internally within the CNC only (such as a macro
statement, M98, or M99), stoppage upon matching is not
performed.
3. If a match is found with the sequence number of a block that
specifies the number of repeats (such as L specification in a
canned cycle), operation stops after the specified number of
repeats are performed.
4. If the sequence number set in this parameter appears more than
once in the program, operation stops after the first matching
block in the execution flow is executed.

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B-63323EN-1/02 5.AUTOMATIC OPERATION

5.7 PROGRAM RESTART

General
A program may be restarted at a block by specifying the sequence
number of the block, after automatic operation is stopped because of a
broken tool or for holidays. This function can also be used as a high-
speed program check function.
There are two types of restart methods.
P type: Restart after a tool is broken down
Q type: Restart after holidays

Program restart screen

When a block to be restarted is found, the screen display switches to the
program restart screen.

Fig. 5.7 (a)

DESTINATION shows the position where machining is to restart.
DISTANCE TO GO shows the distance from the current tool
position to the position where machining is to restart.
BC: The block number
M: 35 most recently specified M codes However, note that
only 2-digit M codes are displayed. If M codes
comprising three or more digits are displayed, M codes
are displayed only up to as far as possible.
T: Two most recently specified T codes
S: Most recently specified S code
B: (second auxiliary function address) Most recently
specified second auxiliary (in this case, a B code)
Codes are displayed in the order in which they are specified.
All codes are cleared by a program restart command or cycle start
in the reset state.

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5.AUTOMATIC OPERATION B-63323EN-1/03

Output of M, S, T, and B (second auxiliary function) codes for program restart

After a block to be restarted is found, M, S, T, and B (second auxiliary

function) codes can be output by setting bit 3 (MOP) of parameter No.
7602.

1. Before moving to the machining restart position

(1) The final M, S, T and B codes can be automatically output to
the PMC. If the final S code is specified to the same block
containing an G92, that S code is output as the maximum
spindle speed. Other S codes are output as the programmed
spindle speed. However, note that only the final programmed
S code is displayed in the program restart screen regardless
of whether it is specified in the same block as G92.
(2) All sampled M codes and the final S, T and B codes can be
automatically output to the PMC during searching of the
program execution restart block. However, note that only up
to 35 M codes can be sampled. If the number of M codes to
be sampled exceeds 35, the latest 35 M codes are output to
the PMC.
Whether (1) or (2) is to be performed is switched by bit 6 (BOA)
parameter No. 7620.

2. Until arrival at the machining restart position

You can specify M, S, T and B codes in the program restart screen
from the MDI panel in the MEMORY or TAPE modes.

Signal

Program Restart Signal SRN <G002#5>

[Classification] Input signal
[Function] Selects program restart.
[Operation] When the program restart signal is set to 1, and a block to be restarted is
found by specifying its sequence number or the number of blocks (from
the start of the program to the block to be restarted), the screen display
switches to the program restart screen. When the program restart signal
is set to "0", and automatic operation is activated, the tool is moved
back to the machining restart point at dry run speed along the axes one
by one in the sequence specified in parameter No. 7110. When the tool
is set to the restart point, machining restarts.

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B-63323EN-1/02 5.AUTOMATIC OPERATION

Program restart under way Signal MSRN <F002#5>

[Classification] Output signal
[Function] Indicates the program is being restarted.
[Output condition] The program restart under way signal becomes "1" when:
- The program restart signal is set to "0" after the LCD screen
changes to the program restart screen.
The signal is set to "0" when:
- The program restart sequence ends (the tool has been moved to the
restart point on all controlled axes).

Signal address

#7 #6 #5 #4 #3 #2 #1 #0
G002 SRN

F002 MSRN

Parameter

7110 Order in which the tool moves at the dry run feedrate
sequentially along axes at program restart

[Input type] Setting input

[Data type] Integeraxis
[Valid data range] 0 - (number of controlled axes)
Specifies the number of each axis along which the tool is to move to the
restart position at the dry run feedrate after the start of program restart
in the desired order.
If a value greater than the number of controlled axes is input, an alarm
occurs upon program restart.
(Example)
When 2 is set for the first axis, 3 for the second axis, 4 for the third axis,
and 1 for the fourth axis, the tool moves to the restart position
sequentially along the fourth, first, second, and third axes in that order.
This parameter must also be set for an axis along which the tool need
not move to the restart position at program restart.

#7 #6 #5 #4 #3 #2 #1 #0
7130 NBK

[Input type] Parameter input

[Data type] Bit

#0 NBK Specifies whether to count blocks in a subprogram or macro

program which is not displayed during execution at program
restart.
0: Count blocks.
1: Do not count blocks.

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5.AUTOMATIC OPERATION B-63323EN-1/03

#7 #6 #5 #4 #3 #2 #1 #0
7620 MOA MOP

   

   

#3 MOP Specifies whether to output M, S, T, and B codes before the tool is

moved to the machining restart position after a block to be restarted is
found at program restart.
0: Do not output M, S, T, and B codes (overstore mode is disabled).
1: Output M, S, T, and B codes (overstore mode is enabled).

#6 MOA Specifies the codes to be output before the tool is moved to the
machining restart position upon program restart.
0: Last M, S, T, and B codes.
1: All M codes and the last S, T, and B codes.
This bit is valid only when parameter MOP is set to 1.

Alarm and message

Number Message Contents

SR0592 END OF RECORD The EOR (End of Record) code is specified in the middle of
a block.
This alarm is also generated when the percentage at the
end of the NC program is read.
This alarm is also generated when the specified block is not
found by the program restart function.
SR0600 PARAMETER OF RESTART ERROR An illegal value is set to parameter No. 7110 that specifies
the order in which axes move when machining is restarted
in the dry run.
The setting range is 1 to the number of controlled axes.

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B-63323EN-1/02 5.AUTOMATIC OPERATION

Warning
WARNING
As a rule, the tool cannot be returned to a correct
position under the following conditions. Special care
must be taken in the following cases since none of
them cause
- Manual operation is performed when the manual
absolute mode is OFF
- Manual operation is performed with the machine
locked.
- When the mirror image function based on setting
input or signal input (When programmable mirror
image code G50.1 or G51.1 is used, return
movement can be made to the restart position as
usual.)
- When manual operation is performed in the course
of axis movement for returning operation
- When the program restart is commanded for a block
between the block for skip cutting and subsequent
absolute command block
- When program restart specified for an intermediate
block for a multiple repetitive canned cycle

Caution
CAUTION
1 Cautions for program restart for a program using a
macro variable
- Common variable
At program restart, the previous value is used as
each common variable value and the common
variable value is not automatically preset. For this
reason, initialize each common variable value to the
value existing at the start of the previous automatic
operation immediately before program restart (if
required)
- Signals input from and output to the PMC (DI/DO)
During program restart, DI can be read using system
variables, but DO cannot be output
- Clock
During program restart, the clock time can be
checked using the system variable, but the time
cannot be preset.
- Tool offset value and workpiece origin offset value
At program restart, the offset values can be read
using the system variables, but can be changed only
for the Q type

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5.AUTOMATIC OPERATION B-63323EN-1/03

CAUTION
2 The M, S, T, and B (second auxiliary function) codes
specified in overstore mode are not displayed on the
program restart screen.
3 Overstore mode is not canceled when the operation
mode is changed to a mode other than the MEM or
DNC mode, but no value can be input to an
overstore item.

Reference item
Series15i/150i-MA Operator’s Manual II-4.7 Program restart
(Operation)
(B-63324EN-1)

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B-63323EN-1/02 5.AUTOMATIC OPERATION

5.8 BLOCK RESTART

General
The block restart function enables automatic operation to be restarted
from the start or an intermediate point of a block if automatic operation
has been interrupted in that block due to an abnormality such as a
broken tool.

Manual operation with the block return switch turned on

Move the tool in the continuous manual feed mode toward the start
point of
the interrupted block while the block return switch is on. The tool
automatically stops at the start point. When the start point is reached
for all axes, the message RSTR disappears from the bottom of the
screen.

If the block return switch is turned on in the continuous manual feed

(JOG) mode, the distance between the current position of the tool and
the start point of the interrupted block is calculated. The start point of
the interrupted block refers to the point calculated as follows:

Absolute coordinate of the programmed start point

+
Previously compensated tool value
+
Newly calculated tool length compensation value
=
Newly calculated cutter compensation value perpendicular to the
interrupted block at the start point

If the tool offset value is changed, new compensation values (vectors)

for the tool length compensation (G43 and G44) for the fixed
compensation axis (bit 4 (LXY) of parameter No. 6000 is set to 0) and
the cutter compensation (G41 and G42) are calculated based on the
new offset value. However, the compensation values for the tool length
compensation for an arbitrary compensation axis (bit 4 (LXY) of
parameter No. 6000 is set to 1) and the tool offset (G45 to G48) remain
unchanged.

The calculated distance to the start point is displayed by pressing the

[BLOCK RESTRT] soft key on the position display screen. Normally,
when the block return switch is turned on in jog feed (JOG) mode, this
screen (called the restart display) appears automatically. On the restart
display screen, the following values are indicated.

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5.AUTOMATIC OPERATION B-63323EN-1/03

Block restart screen

On the restart display screen, the following values are indicated.

Fig.5.8 (a)

(i) (DESTINATION): Absolute coordinates of the tool center at the

start point of the interrupted block
(ii) (DISTANCE TO GO): Distance from the current position
(ABSOLUTE) of the tool to the start point
(DESTINATION) of the interrupted block
(iii) Status of RSTR display

Various conditions RSTR is displayed

(mode, cutter compensation, etc.) continuously.
Continuous manual feed (JOG) mode RSTR blinks.
When the outer corner is being
Automatic operation compensated in the cutter RSTR blinks.
(MEMORY, TAPE, compensation mode.
or MDI) Other than the above RSTR is displayed
continuously.
RSTR does not appear
regardless
Reset state
of what the current
mode is.

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B-63323EN-1/02 5.AUTOMATIC OPERATION

Restart of automatic operation with the block return switch turned on

If the cycle start button is pressed while the block return switch is on,
the tool length compensation value and the cutter compensation value
are recalculated, and automatic operation is restarted toward the
compensated end point from the current position.

The tool is retracted to this

Path after automatic
position so the tool can be
operation is restarted
replaced.
Newly calculated end point
Target end point prior
to interruption

Path prior to interruption

Fig. 5.8 (b)

The tool moves toward the recalculated end point from its current
position regardless of whether it has been returned to the start point of
or an arbitrary point in the interrupted block prior to pushing the cycle
start button.

- Block restart interference check

The block restart interference check is made based on the value (d:
permissible block restart interference check value) set in parameter No.
7651. The interference check issues an alarm unless the distance
between the normal path and the block restart point is within d.

Manual operation
Point at which automatic
Point at which operation is interrupted
automatic operation Normal path
End point of
is to be restarted.
interrupted
block

The workpiece may be cut when

automatic operation is restarted.

Programmed path
Tool center path

Fig. 5.8 (c)

The block restart interference check function can be enabled and

disabled using bit 7 of parameter No. 7605. However, the interference
check is not performed in the following cases even if it has been
enabled:

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5.AUTOMATIC OPERATION B-63323EN-1/03

- When the tool is moved manually to the start point of the

interrupted block while the block return switch is on.
- When the interrupted automatic operation is restarted with the
cutter compensation mode canceled.
- When no vector is available for cutter compensation at the start
point of the block in which the tool movement was interrupted.
(Start up of cutter compensation)

Signal

Block restart signal BRN <G002#6>

[Classification] Input signal
[Function] Selects block restart (block return switch).
[Operation] See the descriptions of "Manual operation when the block return switch
is on" and "Restart of automatic operation when the program return
switch is on," above.

Signal address

#7 #6 #5 #4 #3 #2 #1 #0
G002 BRN

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
7605 NBC

   

   

#7 NBC Specifies whether to check for interference when a block is restarted.

0: Check.
1: Do not check.

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B-63323EN-1/02 5.AUTOMATIC OPERATION

7651 Interference allowance when the block is restarted (d)

  

    

?,&  /+

',&    & +   ,   & 6

: &&    0&,,&   ,  & &    
 % =
  +   </<000000!000<@000000!000
   $ % & + % $      , +
+   & %+9  !
, & + % $      &   > 
    &/ $  % , +  &  +
  +!

Limitation

- Automatic reference position return

The command for automatic reference point return (G28 and G30) in
the cutter compensation mode does not return the tool to the correct
position even when the restart operation is performed within the block.

- Dwell
The restart operation cannot be performed in the block for which a
dwell (G04) has been specified.

- Setting a compensation value

The compensation value must be set prior to turning on the block return
switch.

- In three-dimensional cutter compensation mode

In the three-dimensional cutter compensation mode with zero value,
suppose the tool movement is interrupted, the compensation value is
changed, and the operation is restarted. In this case, the vector for the
cutter compensation is not recalculated.
Note that if the compensation values are changed excessively, the
accuracy for vector calculation may deteriorate.

- Cycle start ignored

When the block return switch is on, if the message RSTR does not
appear on the CRT screen, the cycle start command is ignored.

- When the block return switch status is changed

Operating the block return switch during continuous manual feed stops
the tool.

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5.AUTOMATIC OPERATION B-63323EN-1/03

- Block containing no move command

Operation must not be restarted in a block without a move command.

- Restart after single-block stop

After a single-block is stopped, operation is restarted at the block after
the block that has already been executed by the single-block function.

Caution
Caution
1 The tool may cut the workpiece when it is being moved
toward the end point of the interrupted block. In this
case, an alarm is displayed and the tool is inhibited
from moving to the end point. This function is referred
to as the block restart interference check.

Point at which automatic Manual operation

operation is
restarted Point at which automatic
operation is interrupted
End point of
Correct path interrupted
block

The workpiece will be cut when

automatic operation is restarted

Tool center Programmed path

path
If the tool will cut the workpiece when automatic
operation is restarted, press the cancel <CAN> key to
reset the alarm. Move the tool to an appropriate
position while observing the movement of the tool.
Then, perform the block restart operation again from
step 1 of procedure 3.
2 If the reset state is set by pressing the reset or
emergency stop button, block restart cannot be
performed.

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B-63323EN-1/02 5.AUTOMATIC OPERATION

CAUTION
3 When returning the tool to the start point of the block by
a manual operation using the block restart function, the
tool is returned to the tip of the vector vertical to the
block at its start point. Therefore, if the start point of
the interrupted block is inside the corner, the workpiece
may be cut when the tool returns to the start point.

Manual operation

Automatic operation is
stopped at this point.

Programmed path

When the tool moves to the The tool should be returned

start point, it may cut the manually to an arbitrary
workpiece point in the block.

In this case, return the tool to an appropriate position

while watching it, rather than to the start point.

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5.AUTOMATIC OPERATION B-63323EN-1/03

CAUTION
4 When the tool movement is interrupted during a
canned drilling cycle, after which block restart is
performed, the tool does not return to the point at
which tool movement was interrupted as shown in the
figures below. In either case, care must be exercised
since no alarm is issued.

i) Interruption occurs in the middle of the first drilling operation

The point to which the tool is returned by

the block restart function, regardless of
whether the current mode is the initial level
Initial point return (G98) mode or point-R level return
(G99) mode

Point R

Point of interruption

Point Z

ii) Interruption occurs in the middle of the second or subsequent

drilling operations

Initial point
Point returned to by the
block restart function

Point R Point R

Point of interruption Point of interruption

Point Z Point Z
For initial level return For Point-R level return
(G98 mode) (G99 mode)

On the second or subsequent drilling cycle, the tool

returns to either of the above two positions according
to the G98 or G99 mode.

Reference item
Series15i/150i-MA Operator’s Manual II-4.9 Block restart
(Operation)
(B-63324EN-1)

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B-63323EN-1/03 5.AUTOMATIC OPERATION

5.9 RETRACE

General
A tool can retrace the tool path along which the tool has moved. This
operation is referred to as retrace. In addition, a tool can move forward
again along the path that the tool has retraced. This operation is
referred to as re-forward.

1. Retrace signal RVS "1"

2. Retrace start
4. Retrace end, re-forwarding start
3. Retrace signal RVS "0"

The tool can then resume machining according to the program when it
returns to the position where it started retrace.
By using the retrace signal RVS, which is an input signal from the PMC
to the control unit, retrace and re-forward can be performed. Retrace is
performed when the retrace signal RVS turns to "1". Re-forward
operation is performed when the retrace signal turns to "0". In retrace, a
tool can retrace blocks that have been executed in the automatic
operation mode (memory command, tape command, manual data input),
but a limit is imposed on the number of blocks that can be retraced. For
detailed information, refer to the operator’s manual.
Whether to use the same federate as specified for normal operation or
use a feedrate dedicated to retrace can be determined by setting
parameter No. 1494.

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5.AUTOMATIC OPERATION B-63323EN-1/03

Signal

Retrace signal RVS <G029#4>

[Classification] Input signal
[Function] Directs the control unit to retrace the tool along the path which the tool
was moved in automatic operation (DNC operation and MDI operation
<except memory operation and binary operation>).
[Operation] When RVS turns to "1" while the tool is being moved
forward (hereafter referred to as forward), the tool retraces the tool
path along which it was moved. Note, however, that the tool does not
start retrace immediately after this signal turns to "1" ; the tool starts
retrace after the block performing the current forward operation is
executed. When RVS turns to "0" while retrace is in progress, the tool
switches from retrace operation to re-forward. In this case also, the tool
does not start re-forward to resume machining immediately after this
signal turns to "0" retrace; the tool starts re-forward after retracing all
commands of the block currently subject to retrace.
The movement of a tool can be immediately switched from forward to
retrace or from retrace to re-forward. For this purpose, first turn the
feed hold signal *SP to "0" to stop automatic operation. Then, change
the state of RVS after the automatic operation start in-progress signal
STL turns to "0" and the automatic operation stop state is set. And the
feed hold lamp SPL turns to "1". Next, turn feed hold signal *SP the
automatic operation start signal ST from "1" to "0" to start automatic
operation. Then, the tool can switch its movement to retrace or re-
forward during execution of a block.

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B-63323EN-1/03 5.AUTOMATIC OPERATION

Retrace-in-progress signal RVSL<F044#2>

[Classification] Output signal
[Function] Notifies the PMC that retrace is in progress.
[Operation] This signal turns to "1"when:
- Tool is in retrace with the retrace signal RVS turned to "1".
This signal turns to "0"
- The tool is in forward or re-forward with the retrace signal RVS
turned to "0".
- The tool is at stop because of no block to retrace during retracing.

Miscellaneous function is outputted when retrace

Retrace end
(Retrace signal RVS “1”)
Block including moving command and miscellaneous function

Retrace end Miscellaneous function is outputted when

Re-forwarding start forwarding
(Retrace signal RVS
“0”)

When the tool is in retrace, the M functions, S functions, T functions,

and second auxiliary functions are executed in the same way as when
the tool is moving forward. During retrace, this signal can be used on
the PMC, if required, to prevent these functions from being executed in
the same way as when the tool is moving forward.
Particularly when an M function, S function, T function, or second
auxiliary function is specified in a block containing a move command,
the positions where the code signals and strobe signal are output differ,
depending on whether the tool is in forward (or re-forward) or retrace.
So, take action on the PMC by using this signal and distribution end
signal DEN as required.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G029 RVS

F044 RVSL

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5.AUTOMATIC OPERATION B-63323EN-1/03

Parameter
1494 Feedrate during reverse movement

[Input type] Parameter input

[Data type] Real
[Unit of data] mm/min, inch/min, degree/min (machine unit)
[Minimum unit of data] Depend on the increment system of the reference axis
[Valid data range] Refer to the standard parameter setting table (C)
(When the increment system is IS-B, 0.0 - +999999.999)
Set the feedrate to use during reverse movement. When set to 0,
reverse movement is performed at the feedrate specified in the
program.

NOTE
This parameter is not effective to blocks in rapid traverse during
reverse movement.

4824 Color indicating reverse operation in tool path drawing

[Input type] Parameter input

[Data type] Integer
[Valid data range] 0-7
Specify the color used to indicate the path of reverse operation in
tool path drawing.
0: White 1: Red 2: Green 3: Yellow
4: Blue 5: Violet 6: Light blue 7: White

Alarm and message

While a tool is in retrace, the retrace-in-progress signal RVSL is sent,
and the character string RVRS blinks on the CRT screen to signal that
the tool is currently in retrace. When a tool is in re-forward, the
character string RTRY blinks to signal that the tool is currently in re-
forward. The indication of RTRY continues until the tool returns to the
block where retrace was started, that is, until forward movement is
resumed. When there are no more retraceable blocks, the character
string RVED blinks to signal that no further retrace can take place.

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B-63323EN-1/03 5.AUTOMATIC OPERATION

Warning

WARNING
Positioning (G00)
When the tool is positioned based on nonlinear interpolation by setting bit 4
(LRP) of parameter No. 1400 to 0, the path followed by the tool for reverse
movement does not match that for forward movement. The path for forward
return movement is the same as that for forward movement.
When the tool is positioned based on linear interpolation by setting bit 4
(LRP) of parameter No. 1400 to 1, the path of the tool for reverse movement
matches the path for forward movement.

Positioning based on nonlinear

interpolation (LRP = 0)

Y
Forward movement
Reverse movement
X Forward return movement

Reference item
Series15i/150i-MA Operator’s Manual II-4.11 Retrace
(Operation)
(B-63324EN-1)

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5.AUTOMATIC OPERATION B-63323EN-1/03

5.10 WITHDRAWING AND RETURNING A TOOL

General
To replace a tool damaged in machining or to check the machining
status, the tool can be withdrawn from a workpiece. Further, the tool
can be efficiently repositioned to resume the machining.

: Position at which a tool withdrawal signal is input

: Programmed escape position

: Position stored in manual operation

: Retract

: Withdraw

: Return

: Repositioning
Z

Fig. 5.10 (a) Path of Tool Withdrawal and Return

- Basic procedure for tool withdrawal and return

(1) When the tool withdrawal signal TRESC, entered from the PMC,
is set to 1 while automatic operation with a retract axis or retract
amount specified by the program command G10.6 IP_ is being
performed, or if it is stopped or held, retraction by the specified
amount is performed. This operation is referred to as retraction.
The position at which retraction is completed is referred to as the
retraction position.
If a point at which TRESC is set to 1 while automatic operation is
being performed is in the middle of a block, the execution of the
block is stopped immediately, then retraction is performed. After
retraction is completed, automatic operation is held. If program
command G10.6 is not specified, retraction is not performed.
If program command G10.6 is not specified, retraction is not
performed, and block execution is suspended, resulting in
automatic operation being put at pause or stop. A retract amount
can also be specified with parameter No. 7629. The mode of

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B-63323EN-1/03 5.AUTOMATIC OPERATION

operation from the tool withdrawal signal TRESC being set to 1 to

the same signal being set to 0 is referred to as tool withdrawal
mode.
Tool withdrawal mode includes all the retraction, withdrawal, and
repositioning operations.
When tool withdrawal mode is set, tool withdrawal mode in-
progress signal TRACT is set to 1, to indicate to the PMC that tool
withdrawal mode is set.
During movement for retraction, the tool withdrawal axis move
in-progress signal TRMTN is set to 1. Upon positioning to the
retraction position, TRMTN is set to 0, and tool withdrawal and
return completion signal TRSPS is set to 1.
During movement

(MEM, D, T)
Tool withdrawal signal
(TRESC)
Tool withdrawal mode in-progress
(TRACT)

Movement for retraction

Tool withdrawal axis move in-progress signal
(TRMTN)
Tool withdrawal and return completion signal

(TRSPS)

Fig. 5.10 (b) Timing Chart for Retraction (Involving Movement)

(2) After the mode is switched to manual mode, the tool can be moved
for tool change operation by manual operation (jog feed,
incremental feed, manual handle feed, or manual numeric
command). This operation is referred to as withdrawal. A tool
withdrawal path is automatically stored by the CNC. Up to ten
tool withdrawal paths are stored automatically.
When manual withdrawal is performed, TRSPS is set to 1. During
manual movement along an axis, TRMTN is set to 1.
Automatic operation mode

(MEM, D, T)

Manual operation mode

(J, H, S)
Tool withdrawal mode in-progress signal
1 with the retract state maintained
(TRACT)
Movement for retraction along an axis

Tool withdrawal axis move

in-progress signal

(TRMTN)
Tool withdrawal and return completion signal
(TRSPS)
Fig. 5.10 (c) Timing Chart for Withdrawal

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5.AUTOMATIC OPERATION B-63323EN-1/03

(3) When the mode is returned to automatic operation mode, and tool
return signal TRRTN is set to 1 and then back to 0, the CNC
returns the tool to the retraction position by tracing back along the
manual operation path.
This operation is referred to as return. When movement is started
with a return operation, TRMTN is set to 1.
Upon the completion of return to the retraction position, TRSPS is
set to 1.

Automatic operation mode

(MEM, D, T)

Tool return signal

(J, H, S)

Tool return signal

(TRRTN)

Return operation

Tool withdrawal axis move in-progress

iTRMTN)

Tool return completion signal

(TRSPS)

Fig. 5.10 (d) Timing Chart for Return (When the Tool Is Returned to the
Retraction Position without Single Block Stop or Feed Hold during
Return Operation)

(4) When the cycle start button is pressed while the tool is in the
retraction position, the tool first moves to the position at which
tool withdrawal signal TRESC was set to 1. This operation is
referred to as repositioning. Upon the completion of repositioning,
tool withdrawal mode in-progress signal TRACT is set to 0,
notifying the PMC that tool withdrawal mode has ended. The
operations performed after the completion of repositioning
depends on the automatic operation state existing when tool
withdrawal mode was set.
(1) When tool withdrawal mode is set during automatic
operation, automatic operation is resumed after the
completion of repositioning.
(2) When tool withdrawal mode is set with automatic operation
held or stopped, the original automatic operation hold or stop
state is set after the completion of repositioning. When the
cycle button is pressed again, automatic operation is
resumed.

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B-63323EN-1/03 5.AUTOMATIC OPERATION

Automatic operation mode

(MEM, D, T)

Tool withdrawal mode in-progress

(TRACT)
Tool withdrawal and return
completion signal
(TRSPS)
Automatic operation start signal
(ST)
Movement for repositioning

Tool withdrawal axis move

in-progress signal
(TRMTN)

Fig. 5.10 (e) Timing Chart for Repositioning (Involving Movements)

Signal

Tool withdrawal signal

TRESC<G031#0>
[Classification] Input signal
[Function] Selects tool withdrawal mode and retracts the tool.
[Operation] When the signal is set to 1, the CNC:
- Retracts the tool by a programmed distance.

Tool withdrawal mode in-progress signal

TRACT<F044#3>
[Classification] Output signal
[Function] Used to post notification that the CNC is in tool withdrawal mode. If
the CNC is reset while this signal is held to 1, the signal goes to 0, thus
canceling tool withdrawal mode.
[Output condition] The signal is held to 1 when:
- The CNC is in tool withdrawal mode.
The signal is held to 0 when:
- The CNC is not in tool withdrawal mode.

Tool return signal

TRRTN<G031#1>
[Classification] Input signal
[Function] Makes a return to the retract position on an axis on which the tool was
manually withdrawn in tool withdrawal mode.
[Operation] When the signal is set to 1, the CNC:
- Automatically returns the tool to the retract position in the path of
the manual movement in reverse.

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5.AUTOMATIC OPERATION B-63323EN-1/03

Tool withdrawal axis move in-progress signal

TRMTN<F044#4>
[Classification] Output signal
[Function] Used to post notification that an axial movement is in progress in tool
withdrawal mode.
[Output condition] The signal is held to 1 when:
- Movement is in progress along any axis in tool withdrawal mode.
The signal is held to 0 when:
- No axial movement is made in tool withdrawal mode.

Tool withdrawal and return completion signal

TRSPS<F044#5>
[Classification] Output signal
[Function] Used to post notification that the tool is in the retract position in tool
withdrawal mode. When the signal is held to 0, repositioning cannot be
performed by a cycle start.
[Output condition] The signal goes to 1 when:
- Retraction is completed.
- The tool is returned to the retract position.
The signal is held to 0 when:
- The tool is not in the retract position in tool withdrawal mode.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G031 TRRTN TRESC

F044 TRMTN TRACT

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7614 TRS TRI

   

   

#0 TRI Specifies whether the specification of the G10.6 code for tool
withdrawal and return follows the absolute/incremental mode
specification or is an incremental command.
0: Follow the absolute/increment mode specification.
1: Incremental command at all times.
#1 TRS Specifies operation to be performed upon completion of repositioning
in tool withdrawal and return operation.
0: Automatic operation restarts.
1: Operation stops if the single block switch is on. Automatic
operation restarts when the cycle start button is pressed.

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B-63323EN-1/03 5.AUTOMATIC OPERATION

#7 #6 #5 #4 #3 #2 #1 #0
7630 TRC RPS

   

   

                    

  !  "!#$  %#
0: Do not perform retraction.
1: Perform retraction using the setting of parameter No. 7629 as the incremental
amount of retraction.
    !               
  !  "!#$  %#
0: Do not perform retraction.
1: Perform retraction using the setting of parameter No. 7629 as the incremental
amount of retraction.

7629 The amount of retraction in tool withdrawal and return

  

     &

'%  ()*

+%    %       % &

, %%    -%%  )   % %    
 . )/**
)0     1(1------#---12------#---*
      "!#$  %   %
   %#   3      
 %     3      #  %  3 %
 .) *   4#5$6 !#

Warning
WARNING
The retract axis and related travel distance specified
with G10.6 must be changed in an appropriate
block, according to the machining figure. If an
invalid retract distance is specified, the workpiece,
machine, or tool may be damaged. Great care is
required.

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5.AUTOMATIC OPERATION B-63323EN-1/03

Alarm and message

Number Message Contents
OT0132 NOT ON RETURN_POINT The tool did not arrive at the stored return position along the
axis, or the position may have deviated by machine lock or
mirror image operation during zero return.
Reset the machine, and rerun from an appropriate machine
position.
PS0215 ILLEGAL COMMAND IN G10.6 The retract command was specified in the long axis for
threading when retract was started by the threading block.
If the tool is to be retracted in a threading block, modify the
G10.6 command in such a way that retraction is not
specified for a longer threading axis.

Reference item
Series15i/150i-MA Operator’s Manual II-4.10 Withdrawing and
(Operation) returning a tool
(B-63324EN-1)

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B-63323EN-1/03 5.AUTOMATIC OPERATION

5.11 ACTIVE BLOCK CANCEL

General
Automatic operation can be stopped by inputting block cancel signal
BCAN into the control unit during automatic operation. After
automatic operation has been halted, automatic operation starting
signal STL and automatic operation in progress signal OP also go to 0.
All modal information is stored.
This operation accompanies the following:
1) If the machine was performing a movement, the movement is
decelerated to a stop. The remaining amount of travel is cancelled.
2) If the machine was in the dwell status, the dwell command is
cancelled.
3) If the miscellaneous function, spindle function, tool function, or
second miscellaneous function was in progress, corresponding
strobe signal MF, SF, TF, or BF goes to 0, and the block
terminates. If a high-speed M/S/T/B interface is used, strobe
signal MF, SF, TF, or BF does not change its status, but the block
terminates. Accordingly, completion signal MFIN, SFIN, TFIN,
or BFIN must be set to the same logic level as the strobe signal
before the operation is resumed.
When a cycle start is made, automatic operation is resumed from the
block immediately after the cancelled block.

- Resumed operation
G90/G91
When an operation is resumed, the command for the block after the
cancelled block determines the operation to be resumed. If the block
has an absolute command, the operation is resumed from the position at
which it was stopped and made toward the end point of the next block.
If the block has an incremental command, the operation is resumed
from the position at which it was stopped and performed in incremental
mode.
Programmed path

Next block
Position where the operation
was stopped by signal input

When the next When the next

block contains block contains
G91 G90
Fig. 5.11 (a) G90/G91

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5.AUTOMATIC OPERATION B-63323EN-1/03

Cutter compensation
The path after compensation is re-calculated from two consecutive
blocks after the position where the operation was stopped. The figure
below shows the movement performed when cutter compensation is
resumed:

Position at which the

Path after cutter compensation operation was stopped
by signal input

Position in
which the tool
is stopped by
Programmed path signal input
(before cutter
compensation
is applied)

Fig. 5.11 (b) Cutter Compensation

Canned cycle
If a block is cancelled in a canned cycle, the canned cycle is cancelled.
When the program is resumed, the operation is resumed from the next
block.
Example
N10 G84 G91 X_ Y_ Z_ R_ L3;
N20 G00 G90 X_ Y_ Z_
N10
N20

Position at which the operation

was stopped by signal input

Fig. 5.11 (c) Canned Cycle

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B-63323EN-1/03 5.AUTOMATIC OPERATION

Signal

Block cancel signal BCAN <G157#6>

[Classification] Input signal
[Function] Cancels the current block in progress.
[Operation] When the signal goes to 1 during automatic operation, the block being
executed is cancelled, and the automatic operation stops.

Block cancel acknowledgement signal MBCAN <F157#4>

[Classification] Output signal
[Function] Posts notification that the block cancel signal has been received.
[Output condition] When block cancel signal BCAN goes to 1 during automatic operation
and when the cancel operation starts, this acknowledgement signal also
goes to 1. When the block cancel operation terminates, when the
automatic operation stops, and when block cancel signal BCAN goes to
0, this acknowledgement signal goes to 0.

Timing chart for block cancel operation

        

        
      

           


       

              !

Fig. 5.11 (d) Timing Chart

If the block cancel signal is set to 1 while the miscellaneous function,

spindle function, tool function, or second miscellaneous function is
being executed, the corresponding strobe signal (MF, SF, TF, or BF)
goes to 0. If the high-speed M/S/T/B interface is used, the status of the
strobe signal does not change. The corresponding completion signal
(MFIN, SFIN, TFIN, or BFIN) should be set to the same logic level as
the strobe signal.
Fig. 5.11 (e)-Fig. 5.11 (g) j

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5.AUTOMATIC OPERATION B-63323EN-1/03

Automatic operation in progress signal OP

Automatic operation starting signal STL

Block cancel signal BCAN

Block cancel acknowledgement signal MBCAN

Miscellaneous function strobe signal MF

Miscellaneous function completion signal MFIN

Fig. 5.11 (e) Canceling a Block while the Miscellaneous Function is

Being Executed

Automatic operation in progress signal OP

Automatic operation starting signal STL

Block cancel signal BCAN

Block cancel acknowledgement signal MBCAN

Miscellaneous function strobe signal MF

Miscellaneous function completion signal MFIN

Fig. 5.11 (f) Canceling a Block while the Miscellaneous Function is Being
Executed with High-Speed MSTB Interface (when MF is held to 0 and
MFIN is held to 1)

Automatic operation in progress signal OP

Automatic operation starting signal STL

Block cancel signal BCAN

Block cancel acknowledgement signal MBCAN

Miscellaneous function strobe signal MF

Miscellaneous function completion signal MFIN

Fig. 5.11 (g) Canceling a Block while the Miscellaneous Function is

Being Executed with High-Speed MSTB Interface (when MF is held to 1
and MFIN is held to 0)

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G157 BCAN

F157 MBCAN

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B-63323EN-1/03 5.AUTOMATIC OPERATION

Caution
CAUTION
Before resuming the operation, check that the tool
path and workpiece do not interfere with each other.

Reference item
Series15i/150i-MA Operator’s Manual II-4.12 Active block cancel
(Operation)
(B-63324EN-1)

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5.AUTOMATIC OPERATION B-63323EN-1/03

5.12 EXACT STOP/EXACT STOP MODE/TAPPING

MODE/CUTTING MODE

General
NC commands can be used to control a feedrate in continuous cutting
feed blocks as described below.

- Exact stop (G09)

The tool is decelerated in a block specifying G09, and an in-position
check (*1) is performed. When the feed motor falls in-position, the
tool is moved by the next block. This function may be used to produce
a sharp edge at the corner of a workpiece.

NOTE
An in-position check is performed to confirm that the
specified feedrate falls to 0 (producing no
acceleration/deceleration delay) upon deceleration.
Moreover, by setting bit 0 (CIP) of parameter No.
1000, the user can choose whether to check if the
machine position has reached a specified position
(that is, if the positional deviation is within a certain
range).

- Exact Stop Mode (G61)

When G61 is commanded, deceleration of cutting feed command at the
end point and in-position check is performed per block thereafter. This
G61 is valid till G62 (automatic corner override), G63 (tapping mode),
or G64 (cutting mode), is commanded.

- Tapping Mode (G63)

When G63 is commanded, feed rate override is ignored (always
regarded as 100%), and feed hold also becomes invalid. Cutting feed
does not decelerate at the end of block to transfer to the next block.
This G63 is valid till G61 (exact stop mode), G62 (automatic corner
override), or G64 (cutting mode) is commanded.

- Cutting Mode (G64)

When G64 is commanded, deceleration at the end point of each block
thereafter is not performed and cutting goes on to the next block. This
command is valid till G61 (exact stop mode), G62 (automatic corner
override), or G63 (tapping mode) is commanded.

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B-63323EN-1/03 5.AUTOMATIC OPERATION

Y In-position check
(2)
Tool path in the exact stop mode
(1)
Tool path in the cutting mode or tapping
mode
0
X
Fig. 5.12 (a) Tool paths from block (1) to block (2)

- 525 -
5.AUTOMATIC OPERATION B-63323EN-1/03

5.13 DNC OPERATION

General
In DNC operation, automatic operation is performed by reading a
program from an external I/O device through the interface.
When a floppy-type external I/O device (such as a Handy File, Floppy
Cassette, or FA Card) is connected, the user can select the programs to
read, and specify an execution sequence and the number of times
automatic operation is to be performed.
Before DNC operation can be performed, the communication settings
must be made on the communication setting screen. For details of the
communication settings, see Section 9.17 in Part II.

Signal

DNC Operation Select Signal

T<G003#4>
[Classification] Input signal
[Function] Selects DNC mode.
[Operation] When this signal is set to 1, the CNC operates as described below.
- When automatic operation mode is set
Operation is stopped once execution of the block being executed
is completed. Then, the mode switches to DNC mode.
- When manual operation mode is set
Operation is stopped immediately, and the mode switches to DNC
mode immediately.
- When automatic operation is performed in simultaneous
automatic and manual operation mode
In DNC operation, operation is continued, and the mode switches
to DNC mode. For an operation other than DNC operation, the
mode switches to DNC mode after the operation is stopped upon
the completion of the execution of the block being executed.
- When manual operation is performed in simultaneous automatic
and manual operation mode
Operation is stopped immediately, and the mode switches to DNC
mode.

DNC Operation selection confirm Signal

MT<F003#4>
[Classification] Output signal
[Function] Indicates that the DNC operation mode has been selected.
[Output condition] The DNC operation selection confirm signal becomes “1” when:
The DNC operation mode is selected.
The DNC operation selection confirm signal becomes “0” ehen:
The DNC operation mode is not selected.

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B-63323EN-1/03 5.AUTOMATIC OPERATION

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G003 T

#7 #6 #5 #4 #3 #2 #1 #0
F003 MT

Alarm and message

Number Message Contents

PS0017 ILLEGAL MODE FOR A GOTO statement or WHILE-DO statement was found in
GOTO/WHILE/DO the main program in the MDI or DNC mode.
PS0081 EXT DEVICE SUB PROGRAM CALL The external device subprogram call is not possible in this
MODE ERROR mode.
SR0820 DR OFF(1) The data set ready input signal DR of the I/O device
connected to reader/punch interface 1 turned OFF.
SR0830 DR OFF(2) The data set ready input signal DR of the I/O device
connected to reader/punch interface 2 turned OFF.
SR0840 DR OFF(3) The data set ready input signal DR of the I/O device
connected to reader/punch interface 3 turned OFF.
SR0850 DR OFF(4) The data set ready input signal DR of the I/O device
connected to reader/punch interface 4 turned OFF.

Reference item
Series15i/150i-MA Operator’s Manual II-4.1 DNC operation
(Operation) II-9.17. Communication setting
(B-63324EN-1) screen

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5.AUTOMATIC OPERATION B-63323EN-1/03

5.14 REGAINING A MANUAL INTERVENTION AMOUNT DURING

AUTOMATIC OPERATION

General
A manual intervention amount can be regained even during automatic
operation, without stopping automatic operation. When a manual
intervention amount regain request signal is input, the manual
intervention amounts for all axes are regained according to the manual
absolute switch at the end of a block of a non-buffering command (M
code).
Thus, a manual intervention amount regained during automatic
operation can be reflected in the next move command to be executed.

w w
+  /. /. 0  / )/
 %    %    %    .  %  7(
! 7 3    %  
.  %    %#*

$8 78 !8

88 !8 8 0  /

+3  2!  
.   )+3   %
98 8  3    
.
 %  !#*




"-:8#+&&;
  "-:!8# )4 &.=*
<41. .=
 %

NOTE
1 The amount of interrupt by manual handle interrupt
cannot be regained.
2 If the manual intervention amount regain request
signal is entered in a block that does not specify a
non-buffering command, a PS059 alarm is issued.

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B-63323EN-1/03 5.AUTOMATIC OPERATION

Basic procedure for regaining a manual intervention amount during automatic

operation

During automatic operation, a manual intervention amount can be

regained each time an M code for non-buffering is executed. The
sequence for regaining a manual intervention amount during automatic
operation is explained below, using an example that specifies such an
M code and a move command.
(1) Assume that G00 G91 Z-50.Mxxx is executed. (Mxxx must be
registered in advance as an M code for non-buffering.)
(2) Code signals M0 to M31 are output, and strobe signal MF is set to
1 at the same time. Moreover, Z-axis distribution is started.
(3) The PMC must read the code signals when the strobe signal is set
to 1, and the corresponding operation (which may be manual
intervention) must be performed. If the corresponding operation
should be performed after the completion of the move command
specified in the same block, wait for the distribution completion
signal DEN or IPEN to be set to 1. (The figure below shows an
example of waiting for the completion signal.)
(4) After completion of the corresponding operation, the PMC must
select absolute switch signal ABS and set manual intervention
amount regain request signal MIGET to 1 to regain a manual
intervention amount. Moreover, if functions such as a spindle-
speed function, tool function, and second auxiliary function are
specified at the same time, completion signal FIN must be set to 1
upon the completion of all of these functions.
(5) If the FIN signal is set to 1 for a minimum of a certain preset
period, the control unit sets strobe signal MF to 0 to post the
reception of the FIN signal.
(6) The PMC must set completion signal FIN to 0 when the strobe
signal is set to 0. At this time, the states of absolute switch signal
ABS and manual intervention amount regain request signal
MIGET must not be changed.
(7) When the FIN signal is set to 0, the auxiliary function sequence is
completed. Then, the control unit performs manual intervention
amount regain processing, then sets manual intervention amount
regain completion signal MIFIN to 1.
(8) To post the reception of the MIFIN signal, the PMC must set
manual intervention amount regain request signal MIGET to 0
when manual intervention amount regain completion signal
MIFIN is set to 1.
(9) The control unit sets manual intervention amount regain
completion signal MIFIN to 0 when manual intervention amount
regain request signal MIGET is set to 0. This completes the
manual intervention amount regain sequence during automatic
operation.
(10) The control unit starts reading the CNC command of the next
block.
An example of the manual intervention amount regain sequence during
the automatic operation described above is illustrated using a timing
chart, below.

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5.AUTOMATIC OPERATION B-63323EN-1/03

)!*)7* )6* )9* )8* )$* )5* )>*)-*)!*

M command M

Move command

Code signals M0-M31

Strobe signal MF

Distribution completion signal DEN, IPEN

PMC operation

ABS switch ABS

Manual intervention amount regain request signal MIGET

Manual intervention amount regain completion signal

MIFIN

Completion signal FIN

1?4

Signals

Manual intervention amount regain request signal

MIGET<G46#7>
[Classification] Input signal
[Function] Issues a manual intervention amount regain request during automatic
operation.
[Operation] When this signal is set to 1 during automatic operation, manual
intervention amount regain processing is performed after the
distribution operation currently being performed is terminated, and
completion signal FIN of an M code for non-buffering is received.
When the CNC completes manual intervention amount regain
processing, the manual intervention amount regain completion signal
MIFIN is output. Upon confirming that this output signal has been set
to 1, reset MIGET to 0. After confirming that MIGET has been set to 0,
the CNC resets the manual intervention amount regain completion
signal MIFIN to 0. The above sequence completes its processing, then
the CNC starts reading the next block.

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B-63323EN-1/03 5.AUTOMATIC OPERATION

NOTE
1 Before the completion signal of an M code for non-
buffering is returned, an absolute switch signal
selection must be made, and MIGET must be set to
1.
2 In the reset state or initial automatic operation state,
the MIGET signal must be set to 0.
3 When manual intervention amount regain request
signal is set to 1, a PS059 alarm is issued if there is
a block already buffered (that is, if an M code for
non-buffering is not being executed).

Manual intervention amount regain completion signal

MIFIN <F46#3>
[Classification] Output signal
[Function] Reports that manual intervention amount regain processing during
automatic operation has been completed.
[Output condition] This signal is set to 1 when manual intervention amount regain
processing based on manual intervention amount regain request signal
MIGET is completed. Then, this signal is set to 0 upon confirmation of
the manual intervention amount regain request signal MIGET being set
to 0.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G064 MIGET

#7 #6 #5 #4 #3 #2 #1 #0
F064 MIFIN

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2409 ABS

   

   

#3 ABS After manual intervention by manual absolute on, this bit specifies
whether the travel command path for absolute (G90) and for
incremental (G91) are the same.
0: Different
1: Same (path for absolute)

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5.AUTOMATIC OPERATION B-63323EN-1/03

2411 M code 1 which does not put the following block in the buffer register

2412 M code 2 which does not put the following block in the buffer register

2413 M code 3 which does not put the following block in the buffer register

2414 M code 4 which does not put the following block in the buffer register

2415 M code 5 which does not put the following block in the buffer register

2416 M code 6 which does not put the following block in the buffer register

2417 M code 7 which does not put the following block in the buffer register

2418 M code 8 which does not put the following block in the buffer register

2419 M code 9 which does not put the following block in the buffer register

2420 M code 10 which does not put the following block in the buffer register

[Input type] Parameter input

[Data type] Integer
[Valid data range] 0 - 999999999
Specify M codes that do not put the following block in the buffer
register.

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B-63323EN-1/03 5.AUTOMATIC OPERATION

2450 Range of M codes without buffering (1) (lower limit)

2451 Range of M codes without buffering (1) (upper limit)

2452 Range of M codes without buffering (2) (lower limit)

2453 Range of M codes without buffering (2) (upper limit)

   

    

, %%    61--------
    % +% . #  
  %  %  %.  . (
 %    3 %  %#

&  *
 +!+!- %+-+-------- +% 
. (  @
4#798!A!
4#7987A!-
4#7986A-
4#7989A--------

NOTE
M00, M01, M02, and M30 are treated as M codes without
buffering even if they are not contained in the parameter limits.
M98, M99, the M codes set for parameters Nos. 7071 to 7089,
and those defined by parameters Nos. 7096, 7098, 7099, and
7101 are not treated as M codes without buffering even if they are
contained in the parameter limits.

Alarm and message

Number Message Contents

PS0059 COMMAND IN BUFFERING MODE The manual intervention compensation request signal
MIGET became "1" when a SAKIYOMI block was found
during automatic operation.
To input the manual intervention compensation during
automatic operation, a sequence for manipulating the
manual intervention compensation request signal MIGET is
required in an M code instruction without buffering.

- 533 -
5.AUTOMATIC OPERATION B-63323EN-1/03

5.15 SIMULTANEOUS AUTOMATIC AND MANUAL OPERATION

General
Simultaneous automatic and manual operation enables manual
operation to be performed during automatic operation. Manual
operation during simultaneous automatic and manual operation is made
possible by manual feed interrupt during automatic operation. Two
types of interrupt operation are available.
i) Cutting axis interrupt type
This type interrupts cutting feed along an axis to enable manual
feed. The manual operations enabled by this type of interrupt
include jog feed, incremental feed, and manual handle feed. For
example, cutting feed along an axis during automatic operation
can be interrupted to allow for manual operation that uses a
different depth of cut. Whether to enable this type of interrupt can
be chosen by setting bit 6 (EMI) of parameter No. 1000.
ii) Setup interrupt type
During automatic operation, this type enables manual operation
along an axis that disables movement (with the parking signal set
to 1). The manual operations enabled by this type of interrupt
include jog feed, incremental feed, and manual handle feed.
Whether to use the cutting axis interrupt type or setup interrupt type
can be chosen on an axis-by-axis basis by using the parking signals
(PK1, PK2, PK3, and so forth) entered from the PMC.

Explanation

- Selection of simultaneous automatic and manual operation mode

The table below indicates the combinations of mode selection input
signals for simultaneous automatic and manual operation.

Mode selection input signal

T D MEM EDT MOVL H S J AGJ
Simultaneous One of these signals is set
automatic and One of these signals is set to 1. 1 to 1, J and H are set to 1, or 0
manual operation S and H are set to 1.
(0: Signal set to 0, 1: Signal set to 1)

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B-63323EN-1/03 5.AUTOMATIC OPERATION

An example of switching to simultaneous automatic and manual

operation starting with a block during automatic operation is given
below
1. Assume that program command Mxx; is used to switch from
automatic operation to simultaneous automatic and manual
operation, and that M ; is used to return from simultaneous
automatic and manual operation to automatic operation. Mxx and
M are to be set in parameters as M codes that do not buffer the
next block.

Automatic
operation
N10 Mxx ;

Simultaneous automatic and manual operation

N20 Mxx ;

Automatic
operation

2. The following timing chart shows the procedure for the Mxx;
block.

M command Mxx ; Next block

Code signals M0 to M31

Strobe signal MF

Simultaneous automatic and manual

operation selection signal MOVL

Manual mode selection signal H/J/S

Completion signal FIN

Simultaneous automatic and manual operation selection signal

MOVL and the signal (H, J, or S) for manual mode selection must
be set to 1 at the same time. Alternatively, after MOVL is set to 1,
the signal for manual mode selection must be set to 1.

The above procedure selects simultaneous automatic and manual

operation mode. Whether the cutting axis interrupt type or setup
interrupt type is used to enable manual operation for each axis is
determined by the state of the parking signal for each axis present

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5.AUTOMATIC OPERATION B-63323EN-1/03

when the simultaneous automatic and manual operation mode is

selected.
So, first specify the parking signal of each axis to select a desired
interrupt type, then set the MOVL signal and the signal for manual
mode selection to 1.

3. The following timing chart shows the procedure for an M ; block

for switching from simultaneous automatic and manual operation
to automatic operation.

M command Mxx ; Next block

Code signals M0 to M31

Strobe signal MF

Simultaneous automatic and manual

operation selection signal MOVL
Manual mode selection signal H/J/S

Completion signal FIN

The MOVL signal and a signal for manual mode selection must be
set to 0 at the same time. Alternatively, after a signal for manual
mode selection is set to 0, the MOVL signal must be set to 0.

MDI

DNC operation Incremental feed

Memory operation Manual reference position return

Program editing Manual handle feed

ON OFF

Z-axis manual handle interrupt

The user may wish to provide a switch named "manual handle

interrupt" on the machine operator’s panel, and superimpose
manual handle feed on cutting being performed by the operator
along an axis, thus changing the depth of cut. In such an
application, the sequence based on the timing chart shown below
immediately switches the operation mode from automatic
operation to simultaneous automatic and manual operation to
enable manual feed based on the cutting axis interrupt type.

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B-63323EN-1/03 5.AUTOMATIC OPERATION

Memory operation selection signal MEM

Z-axis manual handle interrupt switch

Z-axis parking signal PK3

Simultaneous automatic and manual operation selection signal MOVL

Manual handle feed selection signal H

- Switching between the interrupt types

Whether the cutting axis interrupt type or setup interrupt type is
selected is determined by the states of the parking signals (PK1, PK2,
PK3, and so forth) when simultaneous automatic and manual operation
mode is selected. That is,
When PKi is set to 0: The cutting axis interrupt type is selected
for the i-th axis.
When PKi is set to 1: The setup interrupt type is selected for the
i-th axis.
When switching between the interrupt types during simultaneous
automatic and manual operation, note that the interrupt type switch
timing differs, depending on whether the automatic operation is single
block operation or continuous operation.

1. When simultaneous automatic and manual operation mode is

selected
The interrupt type is switched according to the states of the
parking signals when simultaneous automatic and manual
operation mode is selected.
2. When the parking signals are changed
[In single block operation]
The interrupt type is switched, starting with the block after
the currently executed block
[In continuous operation]
The block where the interrupt type is switched depends on
the execution state of automatic operation. Never change the
states of the parking signals during continuous operation.
[Upon a reset]
The interrupt type is switched according to the states of the
parking signals at reset time.

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5.AUTOMATIC OPERATION B-63323EN-1/03

- Manual operation in simultaneous automatic and manual operation

Automatic operation during simultaneous automatic and manual
operation is the same as normal automatic operation. So, manual
operation in simultaneous automatic and manual operation is explained
here.
1) States allowing interrupt (relative to automatic operation)
The table below indicates the states that allow manual interrupt.
Cutting axis interrupt Setup interrupt type
type
In positioning mode Impossible Possible
In cutting mode Possible Possible
In threading mode Possible Possible
As can be seen from the table above, the setup interrupt type is not
affected by automatic operation. The cutting axis interrupt type is
allowed in a mode other than the positioning mode.

2) Interrupt type and movement

The table below indicates the relationships between the interrupt
types, travel distance, feedrate, and time constant.
Cutting interrupt type Setup interrupt type
Travel distance Same as for normal Same as for normal
manual operation manual operation
Feedrate (*1) Same as for normal
manual operation
Time constant Time constant selected for Same as for normal
automatic operation manual operation
*1 When the cutting axis type is used, the feedrate along an axis is a
feedrate for manual interrupt superimposed on a feedrate for
automatic operation. If the resulting feedrate along an axis
exceeds the maximum cutting feedrate, the feedrate is clamped to
the maximum cutting feedrate for the axis.

3) Interrupt types and signals

The table below indicates the relationships between the interrupt
types and signals.

Cutting axis interrupt Setup interrupt type

type
Absolute on/off Not affected. Affected.
(The signal is always off.)
Interlock Affected. Disabled when the signal is off.
Machine lock Affected. Disabled when the signal is off.
Mirror image Not affected. Even when the signal is on, a command
for movement in the positive direction moves the
machine in the positive direction.

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B-63323EN-1/03 5.AUTOMATIC OPERATION

4) Interrupt types and indication

The table below indicates the relationships between the interrupt
types and coordinates.
Cutting axis interrupt Setup interrupt type
type
Absolute coordinates Not updated Updated
Relative coordinates Updated Updated
Machine coordinate Updated Updated

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1000 EMI EHM

   

   

    8 B+   %  %  3 %#

0: When in G01, G02, or G03 mode, handle interruption is valid during automatic
operation startup, stopping, and holding.
1: Handle interruption is only valid for G01, G02, and G03 blocks during
automatic operation startup.

    $ +   3 %    %    
%     1   #
0: Manual interrupts are invalid and manual setup operations are valid.
1: Manual interrupts and manual setup operations are valid.

#7 #6 #5 #4 #3 #2 #1 #0
1200 MNS

   

   

    7 +4      %    %    
  3  .    %  .   %.
   #
0: Shift all workpiece coordinate systems and local coordinate systems.
1: Do not shift any workpiece coordinate system or local coordinate system.
(This is the same operation as that specified by the "cancel" soft key on the
manual-interrupt-distance screen.)

- 539 -
5.AUTOMATIC OPERATION B-63323EN-1/03

#7 #6 #5 #4 #3 #2 #1 #0
1604 MNJ

   

    &

     +4C     . %   D%    %E %

  D%      %   %  
    1   )  *#
0: Both cutting feed acceleration/deceleration and jog feed
acceleration/deceleration are applied.
1: Only cutting feed acceleration/deceleration is valid, and jog feed
acceleration/deceleration is invalid.

Note
NOTE
1 When the parking signal is set to 1 during manual
feed based on the cutting axis interrupt type,
manual feed stops automatically.
2 When the cutting axis interrupt type is selected, and
automatic operation is switched from cutting to
rapid traverse or from rapid traverse to cutting,
manual feed stops automatically.
3 When the cutting axis interrupt type is selected, and
acceleration/deceleration before interpolation is
used, or operation is switched from threading to
cutting or from cutting to threading, manual feed
stops automatically.
4 When the cutting axis interrupt type is selected, and
single block operation is performed, feed by
automatic operation stops, but manual feed does
not stop. So, to start the next block, manual
operation must be stopped.
5 To use the simultaneous automatic and manual
operation function for manual handle feed as well,
the manual handle interrupt option is required.

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B-63323EN-1/03 5.AUTOMATIC OPERATION

5.16 DNC OPERATION FROM OPEN CNC SELECTING SIGNAL

Overview
In DNC operation mode (DNC) or memory operation mode (MEM),
setting the DNC operation select signal from the open CNC to "1"
enables DNC operation and external memory subprogram calls from
the open CNC when parameter No. 0020 remains set to 16.
In other words, to use the open CNC, the foreground input device
setting using parameter No. 0020 has normally been required to switch
between 15 (for DNC operation) and 16 (for downloading). The use of
this signal enables DNC operation when parameter No. 0020 remains
set to 16 (download interface).

Signal

DNC operation select signal from the open CNC

DMMC<F042#7>
[Classification] Input signal
[Function] Specifies DNC operation and external memory subprogram calls from
the open CNC.
[Operation] When this signal is set to "1," the control unit operates as follows:
- Performs CNC operation from the open CNC when the CNC is in
DNC operation mode (DNC).
- Performs external memory subprogram calls from the open CNC
when the CNC is in memory operation mode (MEM).
To use this signal, set parameter No. 0020 to 16 (download interface
from the open CNC). If a value other than 16 is set, the input device is
selected according to the parameter setting.
When a mode other than DNC operation mode (DNC) or memory
operation mode (MEM) is selected, set this signal to "0."

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G042 DMMC

- 541 -
5.AUTOMATIC OPERATION B-63323EN-1/03

Parameter

0020 Foreground input device interface number

[Input type] Setting input

[Data type] Integer
[Valid data range] 0 - 16
Set a foreground input device interface number.

Reference item
Series 15i/150I- Connection Manual 2.6 Mode Selection
MODEL A (this manual) 5.13 DNC Operation

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B-63323EN-1/03 5.AUTOMATIC OPERATION

5.17 DNC OPERATION FROM MEMORY CARD INTERFACE

A file on a memory card can be specified for DNC operation.

A file on a memory card can also be called and executed as a
subprogram using the external device subprogram call function.

Screen display

Memory card screen

The memory card screen displays a list of files on a memory card, the
amount of unused space on the card, the card status, the DNC operation
file name, and other information.

- Displaying the memory card screen

(1) Click soft key [OFFSETSETING].
(2) Click soft key [CHAPTER].
(3) Click soft key [MEMCARD].

Fig. 5.17 (a) Memory Card Screen

- Selecting a DNC operation file PAGE

Position the cursor on the list screen to the target PAGE
file name for DNC operation using the cursor
and page keys.
In the status field, click [DNC SET].
The specified file name appears in the DNC FILE NAME field.

- 543 -
5.AUTOMATIC OPERATION B-63323EN-1/03

Parameters
0020 Foreground input device interface number

  

    

, %%    1!$
    %% 3    . #
  4     &  % 3 .    
   %( >#

#7 #6 #5 #4 #3 #2 #1 #0
2404 SFL

[Input type] Parameter input

[Data type] Bit

    8 ?F         .   .  
%%      &  % 3 .   #
@     . #
!@    . #
       %( #

#7 #6 #5 #4 #3 #2 #1 #0
5042 MNC

   

   

NOTE
After setting this parameter, turn the power off then back on.

     +4       4   % &  % 3
.        %#
@      #
!@     #

- 544 -
B-63323EN-1/03 5.AUTOMATIC OPERATION

#7 #6 #5 #4 #3 #2 #1 #0
7616 EXT

   

   

NOTE
After setting this parameter, turn the power off then back on.

    6 :        &  % 3 .   #
@    &  % 3 .   #
!@   &  % 3 .   #
0   3  %   &  % 3 .   
.    %(+!->  %    +% #

Notes
- External device subprogram call
To perform external device subprogram calls, set a value to specify a
program number for the address P format. SFL (bit 5 of parameter No.
2404) = 0

The following tables list the specified P values and corresponding

called file names.

P1 to P9999 : "O" + 4-digit number (without zero suppression)

Examples)
Program command Called file name
P1 O0001
P12 O0012
P123 O0123
P1234 O1234

P10000 to P9999999: "O" + 7-digit number (without zero suppression)

Examples)
Program command Called file name
P10000 O0010000
P1234567 O1234567

P10000000 to P99999999: 8-digit number (without zero suppression)

Examples)
Program command Called file name
P10000000 10000000

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6.INTERPOLATION FUNCTION B-63323EN-1/03

6 INTERPOLATION FUNCTION

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B-63323EN-1/03 6.INTERPOLATION FUNCTION

6.1 POSITIONING

General
The G00 command moves a tool to the position in the workpiece system
specified with an absolute or an incremental command at a rapid traverse
rate.
In the absolute command, coordinate value of the end point is
programmed.
In the incremental command the distance the tool moves is programmed.

Either of the following tool paths can be selected according to bit 4 of

parameter LRP No. 1401.
- Nonlinear interpolation positioning
The tool is positioned with the rapid traverse rate for each axis
separately. The tool path is normally straight.
- Linear interpolation positioning
The tool path is the same as in linear interpolation (G01). The tool is
positioned within the shortest possible time at a speed that is not more
than the rapid traverse rate for each axis.

Linear interpolation positioning Start position

End position
Non linear interpolation positioning

Fig.6.1 (a) Tool path

The rapid traverse rate in G00 command is set to the parameter No. 1420
for each axis independently by the machine tool builder. In the
posiitioning mode actuated by G00, the tool is accelerated to a
predetermined speed at the start of a block and is decelerated at the end
of a block. Execution proceeds to the next block after confirming the
in-position.
"In-position " means that the feed motor is within the specified range.
This range is determined by the machine tool builder by setting to
parameter (No. 1827).
In-position check for each block can be disabled by setting bit 0 (CIP) of
parameter No.1000 accordingly.

- 547 -
6.INTERPOLATION FUNCTION B-63323EN-1/03

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1400 LRP

   

   

             !!"#

!$ %&     '(       
 (     "
)$      "
*  &     ( + )#

1420 Rapid traverse feedrate along each axis

   

     '

,  -+-+  -  "

.            '

/               0 1"
*     &+!#!&2333333#333"
    (        ' 4   ( 
(  )!!5#
Note
NOTE
1 The specification of a feedrate by programming
address F is not allowed.
2 The in-position state is that state in which the feed
motor has reached a location within a certain width
(parameter No. 1827) from a specified end point.

Reference item
Series15i/150i-MA Operator’s Manual II-4.1 Positioning
(Programming)
(B-63324EN)

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B-63323EN-1/03 6.INTERPOLATION FUNCTION

6.2 LINEAR INTERPOLATION

General
Tools can move along a line

A tools move along a line to the specified position at the feedrate

specified in F. The feedrate specified in F is effective until a new value is
specified. It need not be specified for each block.
- The feedrate commanded by the F code is measured along the tool
path. If the F code is not commanded, the feedrate is regarded as
zero.
- The feedrate of each axis direction is as follows.

G01 αα β β γγ ζζ Ff ;
α
Feed rate of ¿ axis direction : Fα = ×f
L
β
Feed rate of axis direction : Fβ = ×f
L
γ
Feed rate of ` axis direction : Fγ= ×f
L
ζ
Feed rate of ˜ axis direction : Fζ = ×f
L

L = α 2 + β2 + γ 2 + ζ 2

- The feed rate of the rotary axis is commanded in the unit of deg/min
(the unit is decimal point position).
- When the straight line axis ¿(such as X, Y, or Z) and the rotating
axis (such as A, B, or C) are linearly interpolated, the feed rate is
that in which the tangential feed rate in the α and β Cartesian
coordinate system is commanded by F(mm/min).
β-axis feedrate is obtained ; at first, the time required for
distribution is calculated by using the above formula, then the -
axis feedrate unit is changed to deg/min.

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6.INTERPOLATION FUNCTION B-63323EN-1/03

(Example)
G91 G01 X20.0 C40.0 F300.0 G
This changes the unit of the C axis from 40.0 deg to
40mm with metric input.
The time required for distribution is calculated as
follows:
20 2 + 40 2
≅ 0 . 14907 min
300
The feed rate for the C axis is
40 deg
≅ 268.3deg / min
0.14907 min

- In simultaneous 3 axes control, the feed rate is calculated the same

way as in 2 axes control.

Parameter
1493 Cutting feedrate

NOTE
After this parameter has been set, the power must be off turned
off then back on for the setting to become effective.

  

    

,  -+-+  -"

.             '

/               0 1"
*     &+!#!&26!!!!#!"
            
7         #  
   +   8 " 0   
%1   #
1422 Maximum cutting feedrate for each axis

   

     '

,  -+-+  -  "

.            '

/               0 1"
*     &+!#!&26!!!!#!"
   '      '#

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B-63323EN-1/03 6.INTERPOLATION FUNCTION

#7 #6 #5 #4 #3 #2 #1 #0
2401 G01

   

   

#0 G01 Mode at power on and in clear status

0: G00 mode (positioning)
1: G01 mode (linear interpolation)

Alarm and message

Number Message Contents

PS0187 FEED ZERO ( COMMAND ) The cutting feedrate instructed by an F code has been set
to 0.
This alarm is also generated if the F code instructed for the
S code is set extremely small in a rigid tapping instruction
as the tool cannot cut at the programmed lead.
PS0188 PARAMETER ZERO (DRY RUN) The dry run feedrate parameter No. 1410 or maximum
cutting feedrate parameter No. 1422 for each axis has been
set to 0.
PS0190 PARAMETER ZERO (CUT MAX) The maximum cutting feedrate parameter No. 1422 has
been set to 0.

Reference item
Series15i/150i-MA Operator’s Manual II-4.3 Linear interpolation
(Programming)
(B-63324EN)

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6.INTERPOLATION FUNCTION B-63323EN-1/03

6.3 CIRCULAR INTERPOLATION

General
The command below will move a tool along a circular arc.
"Clockwise"(G02) and "counterclockwise"(G03) on the XpYp plane
(ZpXp plane or YpZp plane) are defined when the XpYp plane is viewed
in the positive-to-negative direction of the Zp axis (Yp axis or Xp axis,
respectively) in the Cartesian coordinate system. See the figure below.

Yp Xp Zp

G03 G03 G03

G02 G02 G02

Xp Zp Yp
G17 G18 G19

Fig.6.3 (a) Direction of the circular interpolation

- Distance moved on an arc

The end point of an arc is specified by address Xp, Yp or Zp, and is
expressed as an absolute or incremental value according to G90 or G91.
For the incremental value, the distance of the end point which is viewed
from the start point of the arc is specified.
- Distance from the start point to the center of arc
The arc center is specified by addresses I, J, and K for the Xp, Yp, and Zp
axes, respectively. The numerical value following I, J, or K, however, is
a vector component in which the arc center is seen from the start point,
and is always specified as an incremental value irrespective of G90 and
G91, as shown below.
I, J, and K must be signed according to the direction.

End point (x,y) End point (z,x) End point (y,z)

Y X Z
X Z Y
i Start point k Start point Start point
j
j i k
Center Center Center

Fig.6.3 (b) Distance from the start point to the center of arc

I0,J0, and K0 can be omitted.

When Xp, Yp , and Zp are omitted (the end point is the same as the start
point) and the center is specified with I, J, and K, a 360° arc (circle) is
specified.
G02 I_ ; Command for a circle

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B-63323EN-1/03 6.INTERPOLATION FUNCTION

If the difference between the radius at the start point and that at the end
point exceeds the permitted value in a parameter (No.2410), an P/S alarm
(No.191) occurs.

The distance between an arc and the center of a circle that contains the
arc can be specified using the radius, R, of the circle instead of I, J, and
K.
In this case, one arc is less than 180 , and the other is more than 180 are
considered. When an arc exceeding 180 is commanded, the radius must
be specified with a negative value. If Xp, Yp, and Zp are all omitted, if
the end point is located at the same position as the start point and when R
is used, an arc of 05 is programmed G02R ; (The cutter does not move.)
(Example)
For arc (1) (less than 180°)
G91 G02 X60.0 Y20.0 R50.0 F300.0 :

For arc (2) (greater than 180°)

G91 G02 X60.0 Y20.0 R-50.0 F300.0 :

(2)
r =50mm

End point

(1)

Start point
r =50mm
Y

Fig.6.3 (c) Arc radius

The feedrate in circular interpolation is equal to the feed rate specified by

the F code, and the feedrate along the arc (the tangential feedrate of the
arc) is controlled to be the specified feedrate.
When an end point does not lie on the arc, a spiral results, as shown
below.

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6.INTERPOLATION FUNCTION B-63323EN-1/03

End point

γe
γ(t)
(γe − γs) ( t )
γ(t) = γs +
Start point θ(t) θ

γs Center
radius

Start point
γs

γe End point

Center θ
θ
Fig.6.3 (d) Case Where a Spiral Is Produced

The arc radius changes linearly with the center angle (t). Spiral
interpolation is performed using a circular command that specifies one
arc radius for the start point and another arc radius for the end point. To
use spiral interpolation, set a large value in parameter No. 2410, used to
specify the limit on the arc radius error.

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B-63323EN-1/03 6.INTERPOLATION FUNCTION

Parameter
1022 Designation of each axis in relation to the basic coordinate system

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 0-7
Planes selected for circular interpolation, cutter compensation, and
so forth
G17: Xp-Yp plane
G18: Zp-Xp plane
G19: Yp-Zp plane
Set each controlled axis to one of the basic three axes X, Y, and Z of
the basic coordinate system or an axis parallel to one of the basic
axes.
The basic three axes X, Y, and Z can each be set for just one
controlled axis.
Two or more controlled axes can be set as axes parallel to the same
basic axis.

Setting Meaning
0 Rotation axis (neither the basic three axes
nor their parallel axes)
1 X-axis of the basic three axes
2 Y-axis of the basic three axes
3 Z-axis of the basic three axes
5 Axis parallel to the X-axis
6 Axis parallel to the Y-axis
7 Axis parallel to the Z-axis

#7 #6 #5 #4 #3 #2 #1 #0
2401 G18

   

   

    9 ): .  4    

!$ );
)$ ):

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6.INTERPOLATION FUNCTION B-63323EN-1/03

2410 Arc radius error limit value

[Input type] Setting input

[Data type] Real
[Unit of data] mm, inch (input unit)
[Minimum unit of data] Depend on the increment system of the reference axis
[Valid data range] 0 - 999999999
Specify a valid limit value as the difference between the radius value
at the start and end points for circular interpolation command.
Standard setting: 20

Alarm and message

Number Message Contents

PS0182 CIRCLE CUT IN RAPID (F0) F0 (rapid traverse in inverse feed or feed specified by an F
code with 1-digit number) was specified during circular
interpolation (G02, G03) or involute interpolation (G02.2,
G03.2).
PS0186 ILLEGAL PLANE SELECT The plane selection instructions G17 to G19 are in error.
Reprogram so that same 3 basic parallel axes are not
specified simultaneously.
This alarm is also generated when an axis that should not
be specified for plane machining is specified, for example,
for circular interpolation or involute interpolation.
To enable programming of 3 or more axes, the helical
interpolation option must be added to each of the relevant
axes.
PS0187 FEED ZERO ( COMMAND ) The cutting feedrate instructed by an F code has been set
to 0.
This alarm is also generated if the F code instructed for the
S code is set extremely small in a rigid tapping instruction
as the tool cannot cut at the programmed lead.
PS0188 PARAMETER ZERO (DRY RUN) The dry run feedrate parameter No. 1410 or maximum
cutting feedrate parameter No. 1422 for each axis has been
set to 0.
PS0190 PARAMETER ZERO (CUT MAX) The maximum cutting feedrate parameter No. 1422 has
been set to 0.
PS0191 OVER TOLERANCE OF RADIUS An arc was specified for which the difference in the radius
at the start and end points exceeds the value set in
parameter No. 2410.
Check arc center codes I, J and K in the program.
The tool path when parameter No. 2410 is set to a large
value is spiral.

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B-63323EN-1/03 6.INTERPOLATION FUNCTION

Note
NOTE
1 If I, J, K, and R are specified simultaneously, the
specification by R is used and the others are ignored.
2 If an axis not comprising the specified plane is
specified, an alarm occurs. For example, if axes X
and U parallel to axis X are specified when plane ZX
is specified using G code system B or C, P/S alarm
No. 0186 occurs.

Reference item
Series15i/150i-MA Operator’s Manual II-4.4 Circular interpolation
(Programming)
(B-63324EN)

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6.INTERPOLATION FUNCTION B-63323EN-1/03

6.4 THREADING

6.4.1 Threading

Overview
A thread can be cut by moving a tool in synchronization with the rotating
spindle.
The spindle speed is sequentially read from the position coder mounted
on the spindle and is converted into a feedrate of cutting feed per minute,
according to which the tool is moved.

L
L: @Lead
L L

Straight thread Tapered thread Stoke thread

Fig. 6.4 (a) Thread Forms

Generally, threading consists of a range of processes from roughing to

finishing, with a single path being repeatedly followed to form a single
thread.
Each threading sequence starts after a one-rotation signal is detected
from the position coder mounted on the spindle. Therefore, threading
can be repeated with the same cutting start point on the circumference of
the workpiece and the same tool path. The spindle speed must be kept
constant from roughing through finishing. Any variation in the spindle
speed may result in a slight deviation of the thread.

Signal

Threading in progress signal THRD<F001#6>

[Classification] Output signal
[Function] Notifies that threading is in progress.
[Output condition] The signal is held to 1 when:
- The CNC is in threading mode.
- A threading cycle for turning is in progress.
The signal is held to 0 when the CNC is not in threading mode and when
a threading cycle is not in progress.

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B-63323EN-1/03 6.INTERPOLATION FUNCTION

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F001 THRD

Parameter

#7 #6 #5 #4 #3 #2 #1 #0
1400 TDR

   

   

    ) <   4     0        
  #
!$ 1 0    #
)$ 1 0    #

5611 Number of samples of sampling data for obtaining the mean spindle speed

   

     

/     !&
<  (          +
   (+       
    #   4      
7 0   #
!$  ) 
)$  6  
6$    
=$  :  
$  )>  

NOTE
Usually, set this parameter to 2.

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6.INTERPOLATION FUNCTION B-63323EN-1/03

Warning
WARNING
If the feed is stopped during threading, without
stopping the spindle, the depth of cut increases
dangerously. Therefore, the feed hold function is
disabled during threading. If an attempt to apply
feed hold is made during threading, an operation like
a single block stop is made after the first non-
threading block following the end of the threading
mode is executed. The feed hold lamp (SPL lamp),
however, lights when the feed hold button (machine
operator’s panel) is pressed. When a stop is made,
the feed hold lamp goes off (the CNC enters the
single-block stop state).

Caution
CAUTION
1 During threading, the feedrate override function is
disabled, and the override value is held to 100%.
2 If the feed hold button is pressed again in the first
non-threading block after the threading mode (or if
the button is kept pressed), a stop is immediately
made at the beginning of the non-threading block.
3 If threading is performed in the single block state, a
stop is made after a non-threading block is
executed.
4 If two threading blocks are successively executed,
the second block does not begin with the detection
of a one-rotation signal. Instead it starts the
specified movement immediately.
5 During a dry run, the feedrate is set so that the
longitudinal speed matches the dry run speed.

Reference item
Series15i/150i-MA Operator’s Manual II-4.16 Thread cutting
(Programming)
(B-63324EN)

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B-63323EN-1/03 6.INTERPOLATION FUNCTION

6.4.2 Threading Based on an Arbitrary Spindle Gear Ratio

Overview
This function sets M:N as the gear ratio between the spindle and position
coder for threading. M and N can be represented using an arbitrary
integer from 1 to 9999.

Threading
To perform threading, the one-rotation signal of the spindle is required
for synchronization between the spindle and Z-axis. So, to perform
threading based on an arbitrary gear ratio by using a motor with a built-
in position coder, the one-rotation signal of the spindle must be sent to
the CNC as shown in Fig. 6.4.2(a). (Fig. 6.4.2(a) shows an example
where a FANUC spindle motor and spindle amplifier are used.)

CNC

Position coder signal

Signal converter Spindle

circuit amplifier

Feedback (P) One-rotation

signal
Position
detector
Spindle One-rotation signal
motor detector
M FN Spindle

¢Z

Tool L

Workpiece

Fig. 6.4.2 (a) Threading Based on an Arbitrary Gear Ratio

- 561 -
6.INTERPOLATION FUNCTION B-63323EN-1/03

M : Number of gear teeth on the position coder [teeth]

N : Number of gear teeth on the spindle [teeth]
L : Thread pitch [machine/rev]
P : Number of pulses received by the position coder [pulses]
∆Z:Tool travel distance
Then, ∆Z is represented as follows:
L M
∆Z = ×P× . . . . . . Expression
4096 N

Error in threading
A threading error is explained below.
Under the following conditions:
- The spindle rotates at a constant speed with no rotation error.
- There is no error caused by the servo system and
acceleration/deceleration.
- There is no machine system error.
the following maximum error per pitch occurs:
L M
× [mm/rev] L:Thread pitch [machine/rev]
4096 N
(This expression is derived when P in Expression is 1.)
This error can be reduced by smoothing (setting the number of samples
in parameter No. 5611). (This error is reduced by a factor of 1/16 when
parameter No. 5611 = 4.) This error is a maximum error; errors do not
accumulate.

Setting M:N
(1) Using parameters
Parameter No. 5847 and No. 5848 are used.
(2) Using custom macros
The parameters of (1) above can be read from and written to by
using the following custom macro system variables:
#3013 :Parameter No. 5847
#3014 :Parameter No. 5848
With these system variables, a gear ratio can be sent from the PMC
to the CNC through the PMC window.
When changing the gear ratio from the PMC, observe the timing
chart of Fig. 6.4.2(b).

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B-63323EN-1/03 6.INTERPOLATION FUNCTION

(1) 1 For automatic operation

M code for spindle gear

ratio modification

MF

FIN

Spindle gear ratio

modification

Writing a gear ratio through

the window (ACT)

Transfer completion
information (W1)

(2) For manual operation

Gear ratio modification instruction

Spindle gear ratio

modification

Writing a gear ratio through

the window (ACT)

Transfer completion information (W1)

Fig. 6.4.2 (b) Timing Chart for Gear Ratio Modification from the PMC

- 563 -
6.INTERPOLATION FUNCTION B-63323EN-1/03

Parameter
5611 Number of samples of sampling data for obtaining the mean spindle speed

   

     

/     !&
<  (          +
   (+       
    #   4      
7 0   #
!$  ) 
)$  6  
6$    
=$  :  
$  )>  

NOTE
Usually, set this parameter to 2.

5847 Number of teeth on the position coder gear in speed control (feed per
revolution, threading, and so forth)

   

     

/     )&3333
Set the number of teeth on the position coder gear in speed control (feed per
revolution, threading, and so forth).

5848 Number of teeth on the spindle gear in speed control (feed per revolution,
threading, and so forth)

   

     

/     )&3333
Set the number of teeth on the spindle gear in speed control (feed per revolution,
threading, and so forth).

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B-63323EN-1/03 6.INTERPOLATION FUNCTION

Caution
CAUTION
1 Never modify the values of the parameters used to
set a gear ratio, during machining such as threading.
2 When 0 is set in parameter No. 5847 and No. 5848,
the setting of 1 is assumed.

Note
NOTE
1 This function cannot be used with the spindle
positioning function.
2 When the method shown in Fig. 6.4.2(a) is used, the
position of the one-rotation signal of the spindle is
shifted by the following amount:
360÷4096÷780×S idegree j
-1
S : Spindle speed [min ]

Reference item
Series15i/150i- Connection Manual 9.3 Spindle control
MODEL A (This manual)

- 565 -
6.INTERPOLATION FUNCTION B-63323EN-1/03

6.5 SINGLE DIRECTION POSITIONING

General
For accurate positioning without play of the machine (backlash), final
positioning from one direction is available.

Overrun

Start position

Start position

End position Temporary stop

Fig.6.5 (a) Direction positioning process

An overrun and a positioning direction are set by the parameter (No.

6820).
Even when a commanded positioning direction coincides with that set by
the parameter, the tool stops once before the end point.
G60, which is an one-shot G-code, can be used as a modal G-code in
group 01 by setting 1 to the parameter (No. 7616 bit 0 G60).
This setting can eliminate specifying a G60 command for every block.
Other specifications are the same as those for an one-shot G60 command.
When an one-shot G code is specified in the single direction positioning
mode, the one-shot G command is effective like G codes in group 01.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7616 G60

   

   

    ! >!   4    >!   "  &
 !! "    !) "#
!$ ? &  !! "
)$ .   !) "

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B-63323EN-1/03 6.INTERPOLATION FUNCTION

6820 Overrun distance and direction of unidirectional positioning (G60)

   

     '

,  ++    "

.            '

/     &=6;>;&=6;>;
8   '+  (       
 >!"#  <     0 
       +  (      
0 (         #

?(   @!$   ( 2"#

?(   A!$     ( &"#
?(   B!$  ,     #

Overrun distance

| {

Positioning direction (positive)

Fig. 6.5 (b) Overrun distance

Reference item
Series15i/150i-MA Operator’s Manual II-4.2 Single direction
(Programming) positioning
(B-63324EN)

- 567 -
6.INTERPOLATION FUNCTION B-63323EN-1/03

6.6 HELICAL INTERPOLATION

General
Helical interpolation which moved helically is enabled by specifying up
to two other axes which move synchronously with the circular
interpolation by circular commands.
As the feedrate, either a feedrate tangent to an arc or a tangential feedrate
determined by also considering movement along the linear axes can be
specified. The feedrate to be specified can be selected by setting bit 2
(HTG) of parameter No. 1401. If HTG is set to 0, a feedrate along an arc
is specified by an F command. Therefore, the feedrate on a linear axis is
as follows:
Length of linear axis
F×
Length of circular arc
Determine the feedrate so that the linear axis feedrate does not exceed
any of the limit values.

Tool path

X Y

The feedrate along the circumference of two

circular interpolated axes is the specified feedrate.

Fig.6.6 (a) Feedrate When Parameter HTG = 0

When bit 2 (HTG) of parameter No. 1401 is set to 1, the speed command
specifies the feedrate along the actual tool path, including movement
along the linear axis.
In this case, the feedrate along the arc on the plane is:
Length of circular arc
F×
( Length of circular arc) 2 + ( Length of linear axis ) 2
The feedrate along the linear axis is:
Length of linear axis
F×
( Length of circular arc) 2 + ( Length of linear axis ) 2

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B-63323EN-1/03 6.INTERPOLATION FUNCTION

Tool path

X Y

The speed command specifies the

feedrate along the tool path.

Fig.6.6 (b) Feedrate When Parameter HTG = 1

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1401 HTG

   

   

    6 C<   4           (
  #
!$             (  ( #
)$           '   ' #

Reference item
Series15i/150i-MA Operator’s Manual II-4.5 Helical interpolation
(Programming)
(B-63324EN)

- 569 -
6.INTERPOLATION FUNCTION B-63323EN-1/03

6.7 HELICAL INTERPOLATION B

General
With the speed command for helical interpolation B, parameter HTG (bit
2 of parameter No. 1401) can be used to specify either a feedrate
tangential to an arc or a tangential feedrate that includes movement along
the linear axis. If HTG is set to 0, a feedrate along an arc is specified by
an F command. Therefore, the feedrate on a linear axis is as follows:
Length of linear axis
F×
Length of circular arc
Determine the feedrate so that the linear axis feedrate does not exceed
any of the limit values.

Tool path

X Y

The feedrate along the circumference of two

circular interpolated axes is the specified feedrate.

Fig.6.7 (a) Feedrate When Parameter HTG = 0

When bit 2 (HTG) of parameter No. 1401 is set to 1, the speed command
specifies the feedrate along the actual tool path, including movement
along the linear axis.
In this case, the feedrate along the arc on the plane is:
Length of circular arc
F×
( Length of circular arc) 2 + ( Length of linear axis ) 2
The feedrate along the linear axis is:
Length of linear axis
F×
( Length of circular arc) 2 + ( Length of linear axis ) 2

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B-63323EN-1/03 6.INTERPOLATION FUNCTION

Tool path

X Y

The speed command specifies the

feedrate along the tool path.

Fig.6.7 (b) Feedrate When Parameter HTG = 1

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1401 HTG

   

   

    6 C<   4           (
  #
!$             (  ( #
)$           '   ' #

Reference item
Series15i/150i-MA Operator’s Manual II-4.5 Helical interpolation
(Programming) II-4.6 Helical interpolation B
(B-63324EN)

- 571 -
6.INTERPOLATION FUNCTION B-63323EN-1/03

6.8 INVOLUTE INTERPOLATION

General
An involute curve can be machined using involute interpolation. Cutter
compensation C can also be used. The use of involute interpolation
eliminates the need to approximate an involute curve with very small
straight lines or arcs. This means that pulse distribution in high-speed
operation based on small blocks is not discontinued, thus enabling
smooth high-speed operation. Moreover, a machining tape can be
created more easily, plus it can be made shorter.

The function for automatic velocity control during involute interpolation

automatically applies either of the following two overrides to the
programmed speed during involute interpolation. With this function, a
surface can be cut with high precision:
- Override in cutter compensation mode
- Override in the vicinity of a base circle

Parameter

2510 Involute interpolation allowable error limit

   

    

,  +"

.             '

/     ! ( 3       
     0 ""
*     &+!#!&2333333#333"
  (   4   0 4  (  (
      (  (   
  #
D  ( (     0 (  #

- 572 -
B-63323EN-1/03 6.INTERPOLATION FUNCTION

1483 Lower feedrate limit for the deceleration function based on the acceleration
of fine HPCC

   

    

,  -+-+  -  "

.             '

/               0 1"
*     &+!#!&26!!!!#!"
<    0       C 11
           
   #
      +        0  ( 
4#
 + (      0 4+
       0 4        0
  #
+4 ( + (  0    0  
   0 +     0  4   4
   #
< 4       0       
         C 11  0
      %#)3)#

NOTE
During involute interpolation, this parameter is applied to the
lower feedrate limit for the "acceleration clamp in the vicinity of
the basic circle" of involute interpolation automatic feedrate
control.

- 573 -
6.INTERPOLATION FUNCTION B-63323EN-1/03

1491 Lower feedrate limit for the deceleration function based on the acceleration
during circular interpolation (for normal mode)

   

    

,  -+-+  -  "

.             '

/               0 1"
*     &+!#!&26!!!!#!"
<    0        
             
        (   
      '   4 0    
      %#)>>9#
   (  +        0  ( 
4#
 + (      0 4+
       4        
 0   #
< 4         0  
   C 11  0       %#):=#

NOTE
During involute interpolation, this parameter is applied to the
lower feedrate limit for the "acceleration clamp in the vicinity of
the basic circle" of involute interpolation automatic feedrate
control.

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B-63323EN-1/03 6.INTERPOLATION FUNCTION

1663 Allowable acceleration in the deceleration function based on the

acceleration of fine HPCC for each axis

   

     '

,  - - +- - +  - -   "

.            '

/               0 "
*        +!#!&2)!!!!!#!#* 
    +  +!#!&2)!!!!#!"
   4 0          
  ( #
8   ' 4    !+    
0       0 #  !    ' +   
   0      #
 )9+     '     %#)66"
4      %#)>=   4 0    #  
)9+   +        
   #

NOTE
During involute interpolation, this parameter is applied to the
allowable acceleration for the "acceleration clamp in the vicinity
of the basic circle" of involute interpolation automatic feedrate
control.

- 575 -
6.INTERPOLATION FUNCTION B-63323EN-1/03

1665 Allowable acceleration in the deceleration function based on the

acceleration during circular interpolation for each axis (for normal mode)

   

     '

,  - - +- - +  - -   "

.            '

/               0 "
*        +!#!&2)!!!!!#!#* 
    +  +!#!&2)!!!!#!"
   4 0        0  
            '#
<               
   (        ' 
 (     #
8   ' 4!     +    
0       0 #
 (           ' +
      0   4       
4   ' #
<     ( 4  C 11    
 "#   C 11 +   %#)>>= #
< E   0        
  E 7(   E    4   E
 )9#
 )9+     +4    +   
4       %#)3!)36#       
0       )9+  4 0     
   #

NOTE
During involute interpolation, this parameter is applied to the
allowable acceleration for the "acceleration clamp in the vicinity
of the basic circle" of involute interpolation automatic feedrate
control.

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B-63323EN-1/03 6.INTERPOLATION FUNCTION

6630 Lower override limit of automatic velocity control during involute

interpolation

   

    

,  5

/     !&)!!
*  (        
(     (  +     
   0     '  4 (   0    
      #  <(+  4 (  
   #
<+             0 4
      (  0 4 (   
   #

NOTE
When 0 or a value not within the specifiable range is set, involute
interpolation automatic velocity control (override in the cutter
compensation mode and acceleration/deceleration clamping
near a base circle) is disabled.

Alarm and message

Number Message Contents

PS0935 ILLEGAL FORMAT IN G02.2/G03.2 The end point of an involute curve on the currently selected
plane, or the center coordinate instruction I, J or K of the
corresponding basic circle, or basic circle radius R was not
specified.
PS0936 ILLEGAL COMMAND IN G02.2/G03.2 An illegal value was specified in the involute curve.
The coordinate instruction I, J or K of the basic circle on the
currently selected plane or the basic circle radius R is "0",
or the start and end points are not inside the basic circle.
PS0937 OVER TOLERANCE OF END POINT The end point is not positioned on the involute curve that
passes through the start point, and this error exceeds the
permissible error limit (parameter No. 2510).

Reference item
Series15i/150i-MA Operator’s Manual II-4.12 Involute interpolation
(Programming) II-5.6.1 Involute interpolation
(B-63324EN) automatic speed control

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6.INTERPOLATION FUNCTION B-63323EN-1/03

6.9 SPLINE INTERPOLATION

General
Helical interpolation which moved helically is enabled by specifying up
to two other axes which move synchronously with the circular
interpolation by circular commands.

Alarm and message

Number Message Contents

PS0990 SPL:ILLEGAL AXIS COMMAND An illegal axis was specified for spline interpolation or
smooth interpolation.
This alarm is also generated when an axis other than those
used for spline interpolation is specified. An "axis used for
spline interpolation" refers to the axis specified in the block
following the block in which the G06.1 G code is specified.
When smooth interpolation is executed, the axis specified
by the G5.1Q2 G code is illegal.
PS0991 SPL:ILLEGAL COMMAND PS0991
A G06.1 code was specified in a G code mode in which the
instruction is not supported.
PS0992 SPL:ILLEGAL AXIS MOVING Movement was specified for an axis other than those used
for spline interpolation.
This alarm is also generated, for example, when movement
is specified along the Z-axis when spline interpolation
along the 2 axes, X and Y, is executed in the 3-dimensional
tool offset mode in which the 3 axes, X, Y and Z, are set as
the offset vector components.
PS0993 SPL:CAN’T MAKE VECTOR A 3-dimensional tool offset vector cannot be generated.
• In generation of the 3-dimensional tool offset vector from
P2 onwards, the previous point and the following point are
on the same line, and that line is parallel with the 3-
dimensional tool offset vector for the previous point.
• The end point and the 2 previous point are the same in
generation of the 3-dimensional tool offset vector by the
end point for smooth interpolation and spline interpolation.

Reference item
Series15i/150i-MA Operator’s Manual II-4.14 Spline interpolation
(Programming)
(B-63324EN)

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B-63323EN-1/03 6.INTERPOLATION FUNCTION

6.10 POLAR COORDINATE INTERPOLATION

General
A command programmed in the Cartesian coordinate system is converted
into movement along a linear axis (movement of a tool) and movement
around a rotation axis (rotation of a workpiece), while contour control is
performed accordingly. This function is useful for grinding a cam shaft,
for instance.

Explanation
When G12.1 is specified, the CNC enters polar coordinate interpolation
mode, and a plane of polar coordinate interpolation is selected (Fig. 6.10
(a)). Polar coordinate interpolation is performed in the plane.

- Plane of polar coordinate interpolation

Rotation axis(virtual axis)

(Unit Fmm or inch)

Linear axis
(Unit Fmm or inch)

Origin of local coordinate system (command G52)

(Origin of the workpiece coordinate system if G52 is not specified)

Fig. 6.10 (a) Plane of Polar Coordinate Interpolation

At power-up or upon a reset, the CNC enters polar coordinate

interpolation cancel mode (G13.1).
The linear axis and rotation axis used for polar coordinate interpolation
must be set in parameters 1032 and 1033.

- Automatic polar coordinate interpolation speed control

The automatic polar coordinate interpolation speed control function
automatically exercises speed control to prevent a rotation axis excess
speed alarm from being issued.

- 579 -
6.INTERPOLATION FUNCTION B-63323EN-1/03

Parameter

1032 Designation of axis (linear axis) used for polar coordinate interpolation

   

    

/     )&. ' ' 
  0     '     
  #

1033 Destination of axis (rotation axis) used for polar coordinate interpolation

   

    

/     )&. ' ' 
  0      '     
  #

1056 Automatic override tolerance ratio for polar coordinate interpolation

   

    

,  5

/     !&)!!
<  $  3!5   3!54  !"
             
  '   (        #

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B-63323EN-1/03 6.INTERPOLATION FUNCTION

Alarm and message

Number Message Contents

PS0213 ILLEGAL USE OF G12.1/G13.1 The axis No. of plane selection parameter No. 1032 (linear
axis) and No. 1033 (axis of rotation) in the polar coordinate
interpolation mode is out of range (1 to number of controlled
axes).
PS0214 ILLEGAL USE OF G-CODE The modal G code group contains an illegal G code in the
polar coordinate interpolation mode or when a mode was
canceled.
Only the following G codes are allowed:
G40, G50, G69.1
An illegal G code was specified while in the polar coordinate
interpolation mode.
The following C codes are not allowed:
G27, G28, G30, G30.1, G31 to G31.4, G37 to G387.3, G52,
G92, G53, G17 to G19, G81 to G89, G68
In the 01 group, G codes other than G01, G02, G03, G02.2
and G03.2 cannot be specified.

Reference item
Series15i/150i-MA Operator’s Manual II-4.8 Polar coordinate
(Programming) interpolation
(B-63324EN) II-5.6.2 Polar coordinate
interpolation automatic
speed control

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6.NTERPOLATION FUNCTION B-63323EN-1/03

6.11 CYLINDRICAL INTERPOLATION

General
An amount of travel around a rotation axis specified as an angle is
internally converted into an amount of travel along a linear axis on the
circumference, and linear interpolation or circular interpolation is
performed accordingly on another axis. After the interpolation, the
distance is converted back into an amount of travel around a rotation
axis.
The cylindrical interpolation function allows a movement on a curved
surface of a cylinder to be programmed in an expanded view. With this
function, a program for grooving a cylindrical cam can be created
easily.

- Plane selection (G17, G18, G19)

Whether the rotation axis corresponds to the X-axis, Y-axis, Z-axis, or
an axis parallel to one of the three axes is set in Parameter 1022. A G
code for selecting a plane must be specified, assuming that the rotation
axis is a specified linear axis.
For example, if the rotation axis is an axis parallel to the X-axis, G17
selects a plane determined by this axis and the Y-axis or an axis parallel
to the Y-axis (Xp-Yp plane).
Only a single rotation axis can be set for cylindrical interpolation.
- Feedrate
A feedrate specified in cylindrical interpolation mode is a speed on the
expanded side surface of the cylinder.

- Circular interpolation (G02, G03)

In cylindrical interpolation mode, circular interpolation using the
rotation axis and another linear axis can be performed. This
interpolation can be programmed using the same format as the circular
interpolation in which radius R is specified, as in 6.3. The radius value,
however, is specified in millimeters (metric input) or inches (inch
input), not as an angle.
Example) Circular interpolation on the Z-axis and C-axis
Set the fifth axis (axis parallel to the X-axis) as the C-axis in
parameter 1022.
Then, circular interpolation can be programmed as follows:
G18 Z_ C_;
G02(G03) Z_ C_ R_;
The sixth axis (axis parallel to the Y-axis) may also be set as the
C-axis in parameter 1022.
Then, circular interpolation is programmed as follows:
G19 C_ Z_;
G02(G03) Z_ C_ R_;

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B-63323EN-1/03 6.NTERPOLATION FUNCTION

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1006 DIA ROT

   

    

                 !  "
# $     !  %&  '"
(# $)       !  %    '"

      &)  &  &    ("

    * $ + !   )      ),#

#  )   
(#       

-.% /'    0 "(((1$   && , ,#

  &      1  1 ),  )  ),#
#  )   
(#       

      &)  &  &    ("

- 583 -
6.NTERPOLATION FUNCTION B-63323EN-1/03

1022 Designation of each axis in relation to the basic coordinate system

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 0-7
Planes selected for circular interpolation, cutter compensation, and
so forth
G17: Xp-Yp plane
G18: Zp-Xp plane
G19: Yp-Zp plane
Set each controlled axis to one of the basic three axes X, Y, and Z of
the basic coordinate system or an axis parallel to one of the basic
axes.
The basic three axes X, Y, and Z can each be set for just one
controlled axis.
Two or more controlled axes can be set as axes parallel to the same
basic axis.

Setting Meaning
0 Rotation axis (neither the basic three
axes nor their parallel axes)
1 X-axis of the basic three axes
2 Y-axis of the basic three axes
3 Z-axis of the basic three axes
5 Axis parallel to the X-axis
6 Axis parallel to the Y-axis
7 Axis parallel to the Z-axis

1260 Movement of one rotation of a rotary axis

[Input type] Parameter input

[Data type] Realaxis
[Unit of data] degree
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] 0 or positive 9 digit of minimum unit of data (refer to the standard
parameter setting table (B))
(When the increment system is IS-B, 0.0 - +999999.999)
Set the value of movement of one rotation of a rotary axis.

For the rotary axis of the cylindrical interpolation, 360.0 must be

set.

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B-63323EN-1/03 6.NTERPOLATION FUNCTION

Alarm and message

Number Message Contents

PS0610 ILLEGAL G07.1 AXIS An axis which cannot perform cylindrical interpolation was
specified.
More than one axis was specified in a G07.1 block. An
attempt was made to cancel cylindrical interpolation for an
axis that was not in the cylindrical interpolation mode.
For the cylindrical interpolation axis, set not "0" but one of
5, 6 or 7 (parallel axis specification) to parameter No. 1022
to instruct the arc with axis of rotation (ROT parameter No.
1006#1 is set to "1" and parameter No. 1260 is set) ON.
PS0611 ILLEGAL G-CODE USE A G code was specified that cannot be specified in the
(G07.1 MODE) cylindrical interpolation mode.
This alarm also is generated when an 01 group G code was
in the G00 mode or code G00 was instructed.
Cancel the cylindrical interpolation mode before instructing
code G00.

Reference item
Series15i/150i-MA Operator’s Manual II-4.9 Cylindrical interpolation
(Programming)
(B-63324EN)

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6.NTERPOLATION FUNCTION B-63323EN-1/03

6.12 CYLINDRICAL INTERPOLATION CUTTING POINT

CONTROL

Overview
The conventional cylindrical interpolation controls the tool center in
such a manner that the axis of the tool moving along the path
programmed on the curved surface of a cylinder is always directed to
the rotation axis of the workpiece (central axis of the cylinder). The
cylindrical interpolation cutting point control function, however,
controls the tool in such a manner that the line perpendicular to the
cutting surface of an irregular figure at the cutting point passes through
the center of rotation of the workpiece.
As shown in Fig. 6.12 (a), the function controls the tool in the direction
of the offset axis (Y-axis), which is perpendicular to the central axis of
the tool and the central axis of rotation of the workpiece.

Center of rotation Center of rotation

Workpiece

Tool

Y-axis Y-axis

Tool center

Conventional cylindrical interpolation Cylindrical interpolation by this function

Fig. 6.12 (a) Comparison with Conventional Interpolation

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B-63323EN-1/03 6.NTERPOLATION FUNCTION

Parameters
#7 #6 #5 #4 #3 #2 #1 #0
1006 DIA ROT

[Input type] Parameter input

[Data type] Bitaxis

#0 ROT Specifies whether the axis requires inch/metric conversion.

0: Axis requires inch/metric conversion (linear axis).
1: Axis does not require inch/metric conversion (rotation axis).

Set the rotary axis of the cylindrical interpolation to 1.

#3 DIA Move commands for each axis are specified using:

0: Radius specification
1: Diameter specification

Set the rotary axis of the cylindrical interpolation to 0.

- 587 -
6.NTERPOLATION FUNCTION B-63323EN-1/03

1022 Designation of each axis in relation to the basic coordinate system

[Input type] Parameter input

[Data type] Integeraxis
[Valid data range] 0-7
Planes selected for circular interpolation, cutter compensation, and
so forth
G17: Xp-Yp plane
G18: Zp-Xp plane
G19: Yp-Zp plane
Set each controlled axis to one of the basic three axes X, Y, and Z of
the basic coordinate system or an axis parallel to one of the basic
axes.
The basic three axes X, Y, and Z can each be set for just one
controlled axis.
Two or more controlled axes can be set as axes parallel to the same
basic axis.

Setting Meaning
0 Rotation axis (neither the basic three
axes nor their parallel axes)
1 X-axis of the basic three axes
2 Y-axis of the basic three axes
3 Z-axis of the basic three axes
5 Axis parallel to the X-axis
6 Axis parallel to the Y-axis
7 Axis parallel to the Z-axis

1260 Movement of one rotation of a rotary axis

[Input type] Parameter input

[Data type] Realaxis
[Unit of data] degree
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] 0 or positive 9 digit of minimum unit of data (refer to the standard
parameter setting table (B))
(When the increment system is IS-B, 0.0 - +999999.999)
Set the value of movement of one rotation of a rotary axis.

The rotary axis of the cylindrical interpolation must be 360.0.

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B-63323EN-1/03 6.NTERPOLATION FUNCTION

#7 #6 #5 #4 #3 #2 #1 #0
6004 CYS CYA

   

   

    . /2$        &)  &  &  , 

    "
#  "
(#     "

    3 /2       &)  &  &  , 
      )1,        )
-  -& 4  ,   -& 4 !   , 
    ! & &    ,    0 "3((5"
#   )-  -& 4"
(#   ) ,   -& 4 !   , 
    ! & &    ,    0 "3((5"

6109 Tool offset axis number for the XY plane

6110 Tool offset number for the ZX plane

6111 Tool offset axis number for the YZ plane

   

    ,

6 &))   , (7+   
Specify a tool offset axis that intersects the cylindrical rotation axis at
perpendicular angle.

- 589 -
6.NTERPOLATION FUNCTION B-63323EN-1/03

6112 Limit for changing cylindrical interpolation cutting point compensation in a

single block

   

    &

8 )  1%'

+ )    )           

6 &))   , (7999999999
The following operation is performed, depending on the setting of parameter No.
6004:
1) When CYS = 0
If the amount of cylindrical interpolation cutting point compensation is smaller
than the value set in this parameter, cylindrical interpolation cutting point
compensation is not performed. Instead, this ignored amount of cylindrical
interpolation cutting point compensation is added to the next amount of cylindrical
interpolation cutting point compensation to determine whether to perform
cylindrical interpolation cutting point compensation.
2) When CYS = 1
If the amount of cylindrical interpolation cutting point compensation is smaller
than the value set in this parameter, cylindrical interpolation cutting point
compensation is performed together with the movement of the specified block.

NOTE
Set this parameter as follows:
Setting > (setting for a rotation axis in parameter No. 1422)*4/3
where 4/3 is a constant for internal processing.

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B-63323EN-1/03 6.NTERPOLATION FUNCTION

6113 Limit of travel distance moved with the cylindrical interpolation cutting
point compensation in the previous block unchanged.

[Input type] Parameter input

[Data type] Real
[Unit of data] mm, inch (input unit)
[Minimum unit of data] Depend on the increment system of the reference axis
[Valid data range] 1 - 999999999
The following operation is performed, depending on the type of
interpolation:
1) For linear interpolation
If the travel distance in a specified block is smaller than the value
set in this parameter, machining is performed without changing the
cylindrical interpolation cutting point compensation in the previous
block.
2) For circular interpolation
If the diameter of a specified arc is smaller than the value set in this
parameter, machining is performed without changing the cylindrical
interpolation cutting point compensation in the previous block.
Cylindrical interpolation cutting point compensation is not
performed according to a circular movement.

Alarm and message

Number Message Contents

PS0183 TOO MANY SIMULTANEOUS A move command was specified for more axes than can be
AXES controlled by simultaneous axis control.
Either add on the simultaneous axis control extension option, or
divide the number of programmed move axes into two blocks.
PS0610 ILLEGAL G07.1 AXIS An axis which cannot perform cylindrical interpolation was
specified.
More than one axis was specified in a G07.1 block. An attempt
was made to cancel cylindrical interpolation for an axis that was
not in the cylindrical interpolation mode.
For the cylindrical interpolation axis, set not "0" but one of 5, 6 or
7 (parallel axis specification) to parameter No. 1022 to instruct
the arc with axis of rotation (ROT parameter No. 1006#1 is set to
"1" and parameter No. 1260 is set) ON.
PS0611 ILLEGAL G-CODE USE A G code was specified that cannot be specified in the
(G07.1 MODE) cylindrical interpolation mode.
This alarm also is generated when an 01 group G code was in
the G00 mode or code G00 was instructed.
Cancel the cylindrical interpolation mode before instructing
code G00.

- 591 -
6.NTERPOLATION FUNCTION B-63323EN-1/03

Reference item
Series15i/150i-MA Operator’s Manual II-4.9 Cylindrical interpolation
(Programming)
(B-63324EN)

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B-63323EN-1/03 6.NTERPOLATION FUNCTION

6.13 NORMAL DIRECTION CONTROL

General
While a tool for which orientation is determined about the rotation axis
(C-axis) is moving in the XY plane, the normal direction control
function controls the C-axis so that the orientation of the tool is always
perpendicular to the moving direction of the tool iFig. 6.13
(a) j.Between blocks in normal direction control mode, movement on
the C-axis is automatically inserted so that, as the move direction
changes, the tool is oriented in the direction perpendicular to the move
direction at the start point of each block.

Programmed path

C-axis

C-axis

Tool

Tool

Normal direction(moving direction)

Fig. 6.13 (a) Example of Tool Operation

The movement about the C-axis inserted at the beginning of each block
is carried out at the feedrate specified in parameter 1472. In dry run
mode, the dry run speed is used. If rapid traverse (G00) is specified for
movement along the X-axis and Y-axis, the rapid traverse rate is used.
If the C-axis feedrate exceeds the maximum C-axis cutting speed
specified in parameter 1422, the feedrate on each axis is clamped so
that the maximum C-axis cutting speed will not be exceeded.

- 593 -
6.NTERPOLATION FUNCTION B-63323EN-1/03

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1006 NDC

[Input type] Parameter input

[Data type] Bitaxis

    3 0/      &)    & "

0: Not normal direction control axis
1: Normal direction control axis
Only one axis can be specified as the normal direction control axis.

1472 Feedrate when the normal-direction control axis swivels

[Input type] Parameter input

[Data type] Realaxis
[Unit of data] degree/min
[Minimum unit of data]
[Valid data range] 1 - 15000
Set the feedrate used when the normal-direction control axis
swivels.

7793 Limit for normal-direction control axis rotation

[Input type] Parameter input

[Data type] Real
[Unit of data] degree
[Minimum unit of data] Depend on the increment system of the reference axis
[Valid data range] 1 - 999999999
When the angular displacement calculated in normal-direction
control is less than the limit specified in this parameter, the block
that specifies the calculated angular displacement is not inserted
in the program. The ignored angular displacement is added to
the angular displacement to be calculated next, which in turn is
compared with the parameter value.
Note)
- When an angle of 360 degrees or larger is specified in this
parameter, the block that specifies the angular displacement
is not inserted in the program.
- When an angle of 180 degrees or larger is specified in this
parameter, the block that specifies the angular displacement
is not inserted in the program unless circular interpolation is
performed with an angle of 180 degrees or larger.

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B-63323EN-1/03 6.NTERPOLATION FUNCTION

7794 Limit of the travel distance moved using the normal-direction angle in the
previous block

   

    &

8 )  1%'

+ )    )           

6 &))   , (7999999999
  &   ! &)   ! ),   &7)  
,&    ! -& 4  )  "

Tool orientation N2 Linear travel

If the amount of travel of N2 in the left
figure is smaller than the setting, the tool
N3 orientation in N1 is not changed in the N2
N1
block.

Amount of travel
Programmed path

N2 Circular travel
Tool orientation If the diameter of the arc of N2 in the left
Programmed path figure is smaller than the setting, the
normal direction in N1 is kept in the circular
travel of N2.
During circular travel, the axis of normal
direction is not controlled to direct the tool
to the normal direction.
Diameter

Fig. 6.13 (b)

Alarm and message

Number Message Contents
PS0470 G40.1-G42.1 PARAMETER MISS The normal line direction control axes parameter settings
are erroneous.
• Set the normal line direction control axis setting in NDC
parameter No. 1006#6. Only one axis can be set to "1"; this
is not possible for multiple axes.
• Set the axis for which NDC parameter No. 1006#6 is set to
"1" to axis of rotation (ROT parameter No. 1006#0=1, and
parameter No. 1022=0).
• Set the feedrate when rotation of the normal line direction
control axis is set to parameter No. 1472 within the range 1
to 15000 degrees/min.

- 595 -
6.NTERPOLATION FUNCTION B-63323EN-1/03

Reference item
Series15i/150i-MA Operator’s Manual II-13.8 Normal direction control
(Programming)
(B-63324EN)

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B-63323EN-1/03 6.NTERPOLATION FUNCTION

6.14 EXPONENTIAL INTERPOLATION

General
Exponential interpolation exponentially changes the rotation of a
workpiece in the movement about the rotation axis. The function also
performs linear interpolation with another axis. This enables a tapered
groove to be formed with a constant helix angle (constant helix
tapering). This function is very useful for grinding and grooving tools
such as an end mill.

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7610 CBK

   

   

    : /;          0 ":3<.  )) ;  

  &  )! % ! & '    &  &  "
# 8    0 ":3<."
(# 8  )) ; ,   =5"5=*"* ) "

7636 Number of a linear axis for which exponential interpolation is performed

   

    ,

6 &))   , (7+   
   ) &  && ) -   &   
   &  &     )"

7637 Number of a rotation axis for which exponential interpolation is performed

   

    ,

6 &))   , (7+   
   ) &  && ) -        
   &  &     )"

- 597 -
6.NTERPOLATION FUNCTION B-63323EN-1/03

7685 Interval in exponential interpolation for a linear axis (span value)

  ,

    &

8 )  1%  '

+ )    )           

6 &))   , 7999999999
> -:%/;'    0 ":3(  1   ! &
   &  &    &  "

Alarm and message

Number Message Contents

PS0895 ILLEGAL PARAMETER IN The parameter setting that specifies the axis on which to
G02.3/G03.3 execute exponential interpolation is incorrect.
Parameter No. 7636: Linear axis No. on which exponential
interpolation is executed
Parameter No. 7637: Axis of rotation No. on which
exponential interpolation is executed
The setting is 1 to the number of controlled axes. The same
axis Nos. must not be set.
PS0896 ILLEGAL FORMAT IN G02.3/G03.3 The format for specifying exponential interpolation is
incorrect.
Addresses I slope angle, J excessive torsion and setting R
in exponential interpolation are not specified, or are set to
"0".
The setting ranges for I and J are -89.0 to +89.0 (excluding
"0"). This alarm is also generated when addresses I and J
are outside of this range.
When CBK parameter No. 7610#7 is set to "0", the linear
axis span value is assigned by parameter No. 7685. When
the CBK parameter is set to "1", the span value is specified
by address K in the G02.3/G03.3 block.
This alarm is also generated when these span values are
"0".
PS0897 ILLEGAL COMMAND IN G02.3/G03.3 An illegal value was specified in exponential interpolation.
The natural logarithm parameter fell to less than "0" during
exponential interpolation calculation. Review the
exponential interpolation instruction.

Reference item
Series15i/150i-MA Operator’s Manual II-4.11 Exponential
(Programming) interpolation
(B-63324EN)

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B-63323EN-1/03 6.NTERPOLATION FUNCTION

6.15 SMOOTH INTERPOLATION

General
Either of two types of machining can be selected, depending on the
program command.
1) For those portions where the accuracy of the figure is critical,
such as at corners, machining is performed exactly as specified by
the program command.
2) For those portions having a large radius of curvature where a
smooth figure must be created, points along the machining path
are interpolated with a smooth curve, calculated from the
polygonal lines specified with the program command (smooth
interpolation).

Parameter

7672 Maximum travel of a block executed with smooth interpolation

  ,

    &

8 )  1%'

+ )    )           "

6 &))   , 0 ),  &   %  ) )  
 , -& %$'"'
%? 717999999"999 @999999"999'
Set the length specified in each block that is to be checked as a condition for
performing smooth interpolation. When the length specified in a block is longer
than this setting, the block is executed without smooth interpolation.

7673 Angle for which smooth interpolation is not performed

  ,

    &

8 )  ) ,

+ )    )           "

6 &))   , 79
Set the angle to be checked as a condition for performing smooth interpolation.
Smooth interpolation is not performed for a point at which the difference in the
angle is greater than this setting.

- 599 -
6.NTERPOLATION FUNCTION B-63323EN-1/03

7675 Minimum travel of a block executed with smooth interpolation

  ,

    &

8 )  1%'

+ )    )           "

6 &))   , 0 ),  &   %  ) )  
 , -& %$'"'
%? 717999999"999 @999999"999'
Set the length specified in each block that is to be checked for a condition for
performing smooth interpolation. When the length specified in a block is shorter
than this setting, the block is executed without smooth interpolation.

7676 Maximum tolerance of a block executed with smooth interpolation

  ,

    &

8 )  1%'

+ )    )           "

6 &))   , 0 ),  &   %  ) )    ,
 -& %$'"'
%? 717999999"999 @999999"999'
Set the tolerance to be checked as a condition for performing smooth interpolation.
When the tolerance specified in a block is larger than this setting, the block is
executed without smooth interpolation.
When a value of 0 is set for this parameter, the tolerance is not checked.

The tolerance means a distance between a curve-C and a line-L.

Curve-C

Command
Line-L point

Tolerance

- 600 -
B-63323EN-1/03 6.NTERPOLATION FUNCTION

7677 Minimum tolerance of a block executed with smooth interpolation

  ,

    &

8 )  1%'

+ )    )           "

6 &))   , 0 ),  &   %  ) )    ,
 -& %$'"'
%? 717999999"999 @999999"999'
Set the tolerance to be checked as a condition for performing smooth interpolation.
When the tolerance specified in a block is smaller than this setting, the block is
executed without smooth interpolation.
Normally, set a value near one-tenth of the maximum tolerance (parameter No.
7676). When a value of 0.0 is set, the minimum tolerance is assumed to be one-
tenth of the maximum tolerance (parameter No. 7676). When a negative value is
set, the minimum tolerance is assumed to be 0.0.

Alarm and message

Number Message Contents
PS0990 SPL:ILLEGAL AXIS COMMAND An illegal axis was specified for spline interpolation or
smooth interpolation.
This alarm is also generated when an axis other than those
used for spline interpolation is specified. An "axis used for
spline interpolation" refers to the axis specified in the block
following the block in which the G06.1 G code is specified.
When smooth interpolation is executed, the axis specified
by the G5.1Q2 G code is illegal.
PS0993 SPL:CAN’T MAKE VECTOR A 3-dimensional tool offset vector cannot be generated.
• In generation of the 3-dimensional tool offset vector from
P2 onwards, the previous point and the following point are
on the same line, and that line is parallel with the 3-
dimensional tool offset vector for the previous point.
• The end point and the 2 previous point are the same in
generation of the 3-dimensional tool offset vector by the
end point for smooth interpolation and spline interpolation.

Reference item
Series15i/150i-MA Operator’s Manual II-4.16 Smooth interpolation
(Programming)
(B-63324EN)

- 601 -
6.NTERPOLATION FUNCTION B-63323EN-1/03

6.16 HYPOTHETICAL AXIS INTERPOLATION

General
Sinusoidal interpolation can be performed by using a circular
interpolation axis of helical interpolation as a hypothetical axis and
distributing pulses.
By using a circular interpolation axis as a hypothetical axis and
distributing pulses, the travel speed about the remaining axis can be
changed sinusoidally. If the longitudinal axis of threading (axis of the
greatest travel amount) is set as a hypothetical axis, a fractional thread
can be formed. The axis to be set as the hypothetical axis is specified
by G07.

0 Z


4
l

Fig. 6.16 Sinusoidal Interpolation

Reference item
Series15i/150i-MA Operator’s Manual II-4.7 Hypothetical axis
(Programming) interpolation
(B-63324EN)

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B-63323EN-1/03 6.NTERPOLATION FUNCTION

6.17 SPIRAL INTERPOLATION, CONICAL INTERPOLATION

General
Spiral interpolation is enabled by specifying the circular interpolation
command together with a desired number of revolutions or a desired
increment (decrement) for the radius per revolution.
Conical interpolation is enabled by specifying the spiral interpolation
command together with one or two additional axes of movement, as
well as a desired increment (decrement) for the position along the
additional axes per spiral revolution.

- Spiral interpolation

+Y

+X

Fig. 6.17 (a) Spiral interpolation

- 603 -
6.NTERPOLATION FUNCTION B-63323EN-1/03

- Conical interpolation

+Z

+Y

+X

Fig. 6.17 (b) Conical interpolation

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B-63323EN-1/03 6.NTERPOLATION FUNCTION

Parameter

2440 Minimum radius to which a specified feedrate is kept in spiral interpolation

or conical interpolation

   

    &

8 )  1%'

+ )    )           

6 &))   , %   71 (" ,999999"999  ) ("
 ,99999"9999 '

         , 1  ) 

! &  )   ,   )"   &  &  
)  &  &  1  )   &&4   "  > 
  )   &-    &&       &1
  ! 1   ), ,& ! &  -   ! ,"  
 !    ,1  4   ,& ! & 
     )   &   ! &   )
   1 &, &  ! &  -  "

2511 Permissible difference between the positions of the specified end point and
the end point calculated from the increment or decrement and number of
circles in spiral or conical interpolation

   

    & 

8 )  1%'

+ )    )        & ) 

6 &))   , 7999999999
    -& )  % - & ! & '-  
       ) ) )  )  &&  ) 
    )    )-   &  &   &
  &  "

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6.NTERPOLATION FUNCTION B-63323EN-1/03

Alarm and message

Number Message Contents

PS0280 ILLEGAL COMMAND IN SPIRAL R was specified in the program block; 4 or more axes were
specified in the program block; or the direction of the
acceleration/deceleration vector on the specified radius is
opposite to the direction of the end point.
PS0281 OVER TOLERANCE OF END POINT The distance between the positions of the specified end
IN SPIRAL point and the end point calculated from the programmed
block exceeds the value set to parameter No. 2511.
Either change the end point to be specified, or set a larger
value to parameter No. 2511.

Reference item
Series15i/150i-MA Operator’s Manual II-4.15 Spiral interpolation,
(Programming) conical interpolation
(B-63324EN)

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B-63323EN-1/03 6.NTERPOLATION FUNCTION

6.18 NURBS INTERPOLATION

General
Many computer-aided design (CAD) systems used to design metal dies
for automobiles utilize non-uniform rational B-spline (NURBS) to
express a sculptured surface or curve for the metal dies.
This function enables NURBS curve expression to be directly specified
to the CNC. This eliminates the need for approximating the NURBS
curve with minute line segments. This offers the following advantages:
1.No error due to approximation of a NURBS curve by small line
segments
2.Short part program
3.No break between blocks when small blocks are executed at high
speed
4.No need for high-speed transfer from the host computer to the CNC
When this function is used, a computer-aided machining (CAM)
system creates a NURBS curve according to the NURBS expression
output from the CAD system, after compensating for the length of the
tool holder, tool diameter, and other tool elements. The NURBS curve
is programmed in the NC format by using these three defining
parameters: control point, weight and knot.

CAD (designing a metal die)

Generating a metal die surface

(NURBS surface or curve)

CAM (creating an NC part program)

Studying the machining

method, etc.

Tool compensation file

NC part program after tool compensation

(NURBS curve)

NURBS curve (control point, weight, knot)

CNC Machine tool

Fig.6.18 (a) NC part program for machining a metal die according to a

NURBS curve
The CNC executes NURBS interpolation while smoothly accelerating
or decelerating the movement so that the acceleration on each axis will

- 607 -
6.NTERPOLATION FUNCTION B-63323EN-1/03

not exceed the allowable maximum acceleration of the machine. In this

way, the CNC automatically controls the speed in order to prevent
excessive strain being imposed on the machine.

Parameter

1478 Allowable speed difference for automatic corner deceleration

   

    & 

8 )  11) , %  '

+ )    )        & ) 

6 &))   ,      ) )    , -& %/'
%>     71"7@5A"'
When a function for determining the feedrate based on the corner feedrate
difference is used, if a change in a feedrate component on each axis at a boundary
between blocks is about to exceed the value set in this parameter,
acceleration/deceleration before interpolation is applied to reduce the feedrate to
the value obtained for that purpose. This reduces the impact on the machine
around corners and the machining error.

1663 Allowable acceleration in the deceleration function based on the

acceleration of fine HPCC for each axis

   

    & 

8 )    1  1) ,   %  '

+ )    )        & ) 

6 &))   ,      ) )    , -& %'
%>        1"7@(""> 
    1  1"7@("'
Specify the allowable acceleration that may occur due to changes in the direction of
tool travel.
For an axis for which this parameter is set to 0, the deceleration function based on
the acceleration is disabled. If 0 is set for all axes, the feedrate is not determined
based on the acceleration.
In the 15B, the time for the maximum cutting rate (parameter No. 1422) was set for
parameter No. 1643 to set the allowable acceleration. In the 15i, on the other hand,
the acceleration is directly specified for this parameter.

- 608 -
B-63323EN-1/03 6.NTERPOLATION FUNCTION

Alarm and message

Number Message Contents

PS1001 ILLEGAL ORDER (NURBS) The specified number of levels is incorrect.
PS1002 NO KNOT COMMAND (NURBS) Knot has not been specified, or a block not related to
NURBS interpolation was specified in the NURBS
interpolation mode.
PS1003 ILLEGAL AXIS COMMAND (NURBS) An axis not specified as a control point was specified in the
No. 1 block.
PS1004 ILLEGAL KNOT There is an insufficient number of knot individual blocks.
PS1005 ILLEGAL CANCEL (NURBS) The NURBS interpolation mode was turned OFF even
though NURBS interpolation was not completed.
PS1006 ILLEGAL MODE (NURBS) A mode that cannot be paired with the NURBS interpolation
mode was specified.
PS1007 ILLEGAL MULTI-KNOT Nested knots for each level can be specified for the start
and end points.
PS1008 ILLEGAL KNOT VALUE (NURBS) Knot is not increased TANCHO.
PS1009 ILLEGAL 1ST CONTROL POINT The No. 1 control point is erroneous, or there is no
(NURBS) continuity with the previous block.
PS1010 ILLEGAL RESTART (NURBS) An attempt was made to resume NURBS interpolation after
manual intervention with manual absolute ON.

Note
NOTE
If the axis name expansion function uses address K as
an axis name, it is impossible to perform NURBS
interpolation. (Alarm PS1002 is issued.)

Reference item
Series15i/150i-MA Operator’s Manual II-4.17 NURBS interpolation
(Programming)
(B-63324EN)

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6.NTERPOLATION FUNCTION B-63323EN-1/03

6.18.1 NURBS Interpolation Additional Functions

The following functions are added to the NURBS interpolation for the
FANUC Series 15i.

- Parametric velocity control

The maximum speed of each segment is determined by the specified
speed and acceleration. For consecutive segments, the segment start
speed and end speed are determined as stated below to allow the speed
to change continuously during movement from the start point to the end
point. This function is valid only for NURBS interpolation when
parameter FDI (bit 5 of parameter No. 8412) is 1.

- High-precision knot command

When parameter HIK (bit 1 of parameter No. 8412) = 1, it is possible to
use the knot command in a range between 12 digits to the left of the
decimal point and 12 decimal places. This function is valid only for a
floating-point knot command (address K) during NURBS
interpolation.

- Simplified start command

When parameter EST (bit 0 of parameter No. 8412) is 1, it is possible to
omit a control point command for the first control point. Because the
first and second blocks have the same knot value, a knot command for
the first block can also be omitted.

- Supporting maximum cutting feedrate for individual axes

With the conventional specification, the speed F specified during
NURBS interpolation is clamped at the minimum of the maximum
cutting feedrates (parameter No. 1422) of each axis, using the
following expression:

F ≤ Min( Fmax ( X ), Fmax (Y ), Fmax ( Z ), Fmax ( A), Fmax ( B ))

If the maximum cutting feedrate Fmax for a rotation axis is low, the
speed F specified during NURBS interpolation is clamped at Fmax,
resulting in an increased machining time.

This function uses a different method of clamping the specified speed F,

as described below.

The specified speed F is clamped in such a way that the each axis
component of the F will not exceed the maximum cutting feedrate
(parameter No. 1422) for the target axis. (Fig. 6.18.1(a))

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B-63323EN-1/03 6.NTERPOLATION FUNCTION

?%('

( , 
?
?%'
?

?%'

Fig. 6.18.1(a)

- Supporting roll-over
If a control point command is issued to a rotation axis to be subjected to
roll-over in absolute (G90) mode, a change made due to short-cutting to
the relative position of the control point is calculated after roll-over is
performed on the control point.

- Supporting inverse-time feed

Issuing G93 during NURBS interpolation puts the machine in inverse-
time (G93) mode. The inverse time (FRN) is specified using an F code.
The inverse time (FRN) for NURBS interpolation is represented using
the following expression:

FRN = Speed/Distance

Speed: mm/min (metric input) or inch/min (inch input)

Distance: mm (metric input) or inch (inch input)
(Distance of movement along the NURBS curve. It is not
necessarily the distance moved if a rotation axis is involved.)

- 611 -
6.NTERPOLATION FUNCTION B-63323EN-1/03

Parameters

#7 #6 #5 #4 #3 #2 #1 #0
8412 FDI HIK EST

   

   

     B          -&    & )     )   08

  &  1  && #
0: Disable.
1: Enable.

    ( C;        -&  ,7  4   ) 08
  &    && #
0: Disable.
1: Enable.

    . ?          -&      ! &    &   08

  &  1  && #
0: Disable.
1: Enable.

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B-63323EN-1/03 6.NTERPOLATION FUNCTION

6.19 3-DIMENSIONAL CIRCULAR INTERPOLATION (G02.4 AND

G03.4)
Specifying an intermediate and end point on an arc enables circular
interpolation in a 3-dimensional space.

An arc in a 3-dimensional space is uniquely defined with its start point

(current position) and a specified intermediate point and end point, as
shown below. Two command blocks are used to define this arc. The
first command block specifies the tool path between the start point and
intermediate point. The second command block specifies the tool path
between the intermediate point and end point.

X Mid-point
(X1,Y1,Z1)

Y
Z

Start point End point

(X2,Y2,Z2)

Fig. 6.19 Start, Mid, and End Points

Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1401 HTG

   

   

    5 C=       )    ) ! &   )
 & &  &  1 & &! &   &  1 ) 7
)   & &   &  1  && #
#  ! &   )   ),  ,  & )  
 &   &  1! &   &  1 ) 7)   &
 &   &  "
(#  ! &   )   ),  ,  & )   &
  &  % 1  7)   & &   &  1
  )      &   &   '"

- 613 -
6.NTERPOLATION FUNCTION B-63323EN-1/03

Alarms and messages

Number Message Contents

PS0710 ILLEGAL COMMAND IN 3-D CIR A three-dimensional circular interpolation command
(G02.4/G03.4) was issued in a modal state in which no
three-dimensional circular interpolation can be used.
PS0712 G02.4/G03.4 FORMAT ERROR The specified three-dimensional circular interpolation
command (G02.4/G03.4) is incorrect.
PS0713 MANUAL INTERVENTION IN In three-dimensional circular interpolation mode
G02.4/G03.4 (ABS ON) (G02.4/G03.4), manual intervention was attempted with the
manual absolute switch turned on.

- 614 -
B-63323EN-1/03 INDEX

INDEX
NOTE
Volume 1 : Up to 614 / Volume 2 : Page 615 – 1174 / Volume 3 : Page 1175 or later

Brightness Adjustment Screen for Monochrome Display

<Number>
Unit with Graphic Function ................................................ 1236
128 straightness compensation points................................. 60
2-LCD-unit Connection Function....................................... 1243 <C>
2ND REFERENCE POSITION RETURN/3RD, 4TH CANNED CYCLE SPINDLE CONTROL......................... 1125
REFERENCE POSITION RETURN ................................. 446 CHANGING ACTIVE OFFSET VALUE WITH
3-DIMENSIONAL CIRCULAR INTERPOLATION MANUAL MOVE .............................................................. 1317
(G02.4 AND G03.4) ........................................................... 613 Changing Blinking Displays in G05.1 Q1 Mode ................ 1246
CHOPPING FUNCTION ................................................... 232
<A>
CIRCULAR INTERPOLATION........................................ 552
ABNORMAL LOAD DETECTION................................... 339
Clock Function ................................................................... 1176
Absolute Position Detection ............................................... 131
CNC to PMC ...................................................................... 1423
ACCELERATION AND DECELERATION CONTROL.. 677
Command Description (G80.5, G81.5)............................... 246
Acceleration/Deceleration before Interpolation of Linear
Configuration Examples of Controlled Axes ...................... 253
Type Rapid Traverse........................................................... 708
Configuration of Synchronous Control Axes...................... 186
ACTIVE BLOCK CANCEL .............................................. 519
CONSTANT SURFACE SPEED CONTROL.................... 787
ACTUAL SPINDLE SPEED OUTPUT ............................. 794
Control Point Compensation of Tool Length Compensation
Addition of 5000 Pitch Error Compensation Points ........... 96
Along Tool Axis ................................................................. 1061
ADDRESS LIST................................................................. 1402
Controlled Axes Detach...................................................... 14
Advanced Preview Control................................................. 651
COORDINATE SYSTEM ROTATION (G68,G69)........... 1154
Alarm Display..................................................................... 1179
Corner Control.................................................................... 704
ALARM SIGNALS ............................................................ 319
Cs CONTOUR CONTROL ................................................ 855
Automatic Corner Override ................................................ 638
CUSTOM MACRO ............................................................ 1099
Automatic Feedrate Control by Area .................................. 672
Custom Macro .................................................................... 1099
AUTOMATIC OPERATION ............................................. 466
Cutter Compensation .......................................................... 982
Automatic phase matching function with electronic gear
Cutter Compensation for Rotary Table ............................... 1080
box...................................................................................... 258
Cutting Feedrate Clamp ...................................................... 620
Automatic Sequence Number Insertion .............................. 1259
Cutting/Rapid Traverse In-position Check ......................... 165
AUTOMATIC TOOL LENGTH MEASUREMENT (G37)1288
CYCLE START/FEED HOLD........................................... 467
AUXILIARY FUNCTION LOCK ..................................... 725
Cyclic second pitch error compensation ............................. 70
AXIS CONTROL ............................................................... 1
CYLINDRICAL INTERPOLATION ................................. 582
AXIS INTERCHANGE...................................................... 1165
CYLINDRICAL INTERPOLATION CUTTING POINT
Axis Name .......................................................................... 3
CONTROL ......................................................................... 586
<B>
<D>
Background Editing............................................................ 1256
Deceleration Based on Acceleration during Circular
Backlash Compensation...................................................... 44
Interpolation ....................................................................... 646
Bidirectional Pitch Error Compensation............................. 79
DECELERATION STOP AT POWER FAILURE............. 283
BLOCK RESTART ............................................................ 499

i-1
INDEX B-63323EN-1/03

NOTE
Volume 1 : Up to 614 / Volume 2 : Page 615 – 1174 / Volume 3 : Page 1175 or later

DECIMAL POINT PROGRAMMING/POCKET FEEDRATE CONTROL .................................................... 616

CALCULATOR TYPE DECIMAL POINT FEEDRATE CONTROL/ACCELERATION AND
PROGRAMMING.............................................................. 1089 DECELERATION CONTROL........................................... 615
Description of Commands Compatible with Those for a Feedrate Inverse Time Specification................................... 629
Hobbing Machine ............................................................... 249 Feedrate Specification on a Virtual Circle for a Rotary
Designation Direction Tool Length Compensation ............ 1041 Axis..................................................................................... 668
DI/DO Monitor Function.................................................... 1231 Fine HPCC.......................................................................... 653
DIAMETER SPECIFICATION AND RADIUS Fine Torque Sensing........................................................... 1238
SPECIFICATION............................................................... 1097 FLOATING REFERENCE POSITION RETURN ............. 449
DISPLAY/SET/EDIT ......................................................... 1175 Follow-up ........................................................................... 22
DISPLEY/SET ................................................................... 1176 FSSB Setting ...................................................................... 134
DNC OPERATION ............................................................ 526
<G>
DNC OPERATION FROM MEMORY CARD
Gradient Compensation ...................................................... 76
INTERFACE ...................................................................... 543
Grinding Wheel Wear Compensation ................................. 1069
DNC OPERATION FROM OPEN CNC SELECTING
SIGNAL.............................................................................. 541 <H>
DO Signal Output by Soft Key ........................................... 1261 Hardware/Software System Configuration Screen.............. 1186
Dry Run .............................................................................. 479 HELICAL INTERPOLATION ........................................... 568
HELICAL INTERPOLATION B ....................................... 570
<E>
HIGH SPEED HRV MODE ............................................... 285
EDITING............................................................................ 1249
High-speed High-precision Machining Setting Screen....... 1217
Editing a Running Program ................................................ 1260
HIGH-SPEED M/S/T/B INTERFACE ............................... 730
EGB AXIS SKIP FUNCTION ........................................... 276
High-speed Measuring Position Reached Signal ................ 1295
ELECTRONIC GEAR BOX .............................................. 246
High-speed Skip Signal ...................................................... 1302
EMERGENCY STOP......................................................... 297
HYPOTHETICAL AXIS INTERPOLATION.................... 602
Enhancement of Distance Coded Linear Scale ................... 461
ERROR COMPENSATION............................................... 32 <I>
EXACT STOP/EXACT STOP MODE/TAPPING INCH/METRIC CONVERSION........................................ 1094
MODE/CUTTING MODE ................................................. 524 Increment System................................................................ 6
EXPONENTIAL INTERPOLATION ................................ 597 INDEX TABLE INDEXING FUNCTION......................... 1138
EXTERNAL DATA INPUT............................................... 1377 INTERFACE BETWEEN CNC AND PMC....................... 1401
External Deceleration ......................................................... 643 INTERLOCK...................................................................... 322
EXTERNAL MOTION FUNCTION ................................. 1136 Interpolated pitch error compensation ................................ 68
EXTERNAL WORKPIECE NUMBER SEARCH............. 1393 Interpolated straightness compensation .............................. 57
INTERPOLATION FUNCTION........................................ 546
<F>
Interruption Type Custom Macro ....................................... 1122
F1-digit Feed ...................................................................... 625
INVOLUTE INTERPOLATION........................................ 572
Feed Forward in Rapid Traverse......................................... 707
Feed Per Minute ................................................................. 621 <J>
Feed Per Revolution/Feed Per Revolution Without Position JOG FEED/INCREMENTAL FEED.................................. 348
Coder .................................................................................. 623
<K>
Feed Stop Function............................................................. 645
KEY INPUT FROM PMC.................................................. 1397

i-2
B-63323EN-1/03 INDEX

NOTE
Volume 1 : Up to 614 / Volume 2 : Page 615 – 1174 / Volume 3 : Page 1175 or later

Number of Programs Stored ............................................... 1250

<L>
NURBS INTERPOLATION............................................... 607
LINEAR INTERPOLATION ............................................. 549
NURBS Interpolation Additional Functions....................... 610
LINEAR SCALE WITH REFERENCE MARKS .............. 452
LOADING OF MULTIPLE SERVO PROGRAMS........... 294 <O>
Look-ahead Acceleration/Deceleration Before OILING SIGNAL (CANNED CYCLE) ............................. 1170
interpolation........................................................................ 687 Operating Monitor Screen .................................................. 1193
Operation/Alarm History Screen......................................... 1177
<M>
Operator Message Display.................................................. 1181
Machine Coordinate System............................................... 158
OPTIONAL BLOCK SKIP/ADDITION OF OPTIONAL
Machine Lock..................................................................... 476
BLOCK SKIP ..................................................................... 489
Machined Part Count and Operation Time Display............ 1187
Outputting the Movement State of an Axis......................... 17
Machining Time Stamp ...................................................... 1194
Override .............................................................................. 630
Machining type in HPCC screen programming .................. 667
OVERTRAVEL CHECK ................................................... 303
Maintenance Information Screen........................................ 1216
Overtravel Signal ................................................................ 303
MANUAL ABSOLUTE ON/OFF ...................................... 486
MANUAL ARBITRARY-ANGLE FEED.......................... 416 <P>
MANUAL HANDLE CONNECTED TO I/O LINK.......... 362 PARALLEL AXIS CONTROL .......................................... 169
MANUAL HANDLE FEED............................................... 357 Periodic Maintenance Screen.............................................. 1214
MANUAL HANDLE INTERRUPTION............................ 366 Pitch Error Compensation Screen....................................... 1220
MANUAL INTERRUPTION FUNCTION FOR THREE- Playback.............................................................................. 1257
DIMENSIONAL COORDINATE CONVERSION............ 409 PMC AXIS CONTROL...................................................... 1327
MANUAL NUMERIC COMMAND ................................. 412 PMC CONTROL FUNCTION ........................................... 1326
MANUAL OPERATION ................................................... 347 PMC to NC ......................................................................... 1402
MANUAL REFERENCE POSITION RETURN ............... 422 POLAR COORDINATE INTERPOLATION .................... 579
MEASUREMENT.............................................................. 1279 Position Switch................................................................... 26
Memory Protection Keys .................................................... 1251 POSITIONING ................................................................... 547
Menu Switches ................................................................... 1196 Post-interpolation Automatic Acceleration/Deceleration ... 677
Mirror Image....................................................................... 19 Power Mate CNC Manager Function ................................. 1222
MISCELLANEOUS FUNCTION ...................................... 712 PREAPARATIONS FOR OPERATION............................ 296
MISCELLANEOUS FUNCTION/2ND AUXILIARY PROGRAM COMMAND .................................................. 1088
FUNCTION ........................................................................ 713 PROGRAM CONFIGURATION ....................................... 1091
MODE SELECTION.......................................................... 327 Program Encryption............................................................ 1252
MULTIPLE M COMMANDS IN A SIGLE BLOCK ........ 726 PROGRAM RESTART ...................................................... 493
MULTIPLE ROTARY CONTROL AXIS FUNCTION..... 1148
<R>
Multi-step Skip ................................................................... 1303
Rapid Traverse Rate............................................................ 617
<N> READER/PUNCHER INTERFACE .................................. 1269
Nano Interpolation.............................................................. 652 READY SIGNALS............................................................. 301
Nano Interpolation Type Error Compensation.................... 87 Recovery from Excessive Synchronous Error Alarm.......... 195
National Language Display................................................. 1206 REFERENCE POSITION ESTABLISHMENT ................. 421
NORMAL DIRECTION CONTROL ................................. 593 REFERENCE POSITION RETURN.................................. 444
NUMBER OF CONTROLLED AXES .............................. 2 REFERENCE POSITION SHIFT ...................................... 439

i-3
INDEX B-63323EN-1/03

NOTE
Volume 1 : Up to 614 / Volume 2 : Page 615 – 1174 / Volume 3 : Page 1175 or later

REGAINING A MANUAL INTERVENTION AMOUNT Spindle Adjustment Screen................................................. 1183

DURING AUTOMATIC OPERATION............................. 528 SPINDLE CONTROL ........................................................ 766
RESET AND REWIND...................................................... 472 SPINDLE FUNCTION....................................................... 734
RETRACE .......................................................................... 507 SPINDLE ORIENTATION ................................................ 937
Retraction Function ............................................................ 256 SPINDLE OUTPUT SWITCHING .................................... 940
RIGID TAPPING ............................................................... 874 SPINDLE POSITIONING.................................................. 796
Rigid Tapping Additional Function.................................... 934 SPINDLE SERIAL OUTPUT/SPINDLE ANALOG
Rotary Table Dynamic Fixture Offset................................. 1019 OUTPUT ............................................................................ 737
Rotation Axis Roll-over...................................................... 162 SPINDLE SPEED FLUCTUATION DETECTION ........... 941
Rotation Axis Specification ................................................ 10 SPINDLE SPEED FUNCTION (S CODE OUTPUT)........ 735
SPIRAL INTERPOLATION, CONICAL
<S>
INTERPOLATION............................................................. 603
SCALING........................................................................... 1150
SPLINE INTERPOLATION .............................................. 578
Screen Clear Function and Automatic Screen Clear
STATUS OUTPUT SIGNAL ............................................. 334
Function.............................................................................. 1207
Stored Pitch Error Compensation ....................................... 32
Self-diagnosis ..................................................................... 1185
Stored Stroke Check 1 ........................................................ 306
SEQUENCE NUMBER COMPARISON AND STOP ...... 492
Straightness Compensation................................................. 52
Servo Adjustment Screen.................................................... 1182
Stroke Check 2.................................................................... 310
Servo Off (Mechanical handle)........................................... 24
Stroke Limit Check Prior to Performing Movement........... 316
Servo Parameter.................................................................. 119
Synchronization Alignment ................................................ 190
SETTING EACH AXIS...................................................... 3
SYNCHRONOUS CONTROL........................................... 185
SETTING THE REFERENCE POSITION WITHOUT
Synchronous Error Check................................................... 193
DOGS ................................................................................. 435
Synchronous Error Compensation ...................................... 188
SETTINGS RELATED TO COORDINATE SYSTEMS ... 158
SETTINGS RELATED TO SERVO CONTROLLED <T>
AXES.................................................................................. 118 TANDEM CONTROL........................................................ 175
SETUP OF FSSBs IF USING HIGH SPEED HRV Tape Length for Part Program Storage ............................... 1249
CONTROL ......................................................................... 288 TESTING A PROGRAM ................................................... 476
SIGNAL LIST .................................................................... 1444 Thermal Growth Compensation along tool vector .............. 98
Signal List (In Order of Address) ....................................... 1516 THREADING ..................................................................... 558
Signal List (In Order of Symbol) ........................................ 1444 Threading............................................................................ 558
SIMULTANEOUS AUTOMATIC AND MANUAL Threading Based on an Arbitrary Spindle Gear Ratio ........ 561
OPERATION...................................................................... 534 THREE-DIMENSIONAL COORDINATE
Single Block ....................................................................... 483 CONVERSION .................................................................. 1157
SINGLE DIRECTION POSITIONING.............................. 566 Three-dimensional Cutter Compensation ........................... 1026
SKIP FUNCTION .............................................................. 1297 THREE-DIMENSIONAL ERROR COMPENSATION..... 111
Skip Function ..................................................................... 1297 THREE-DIMENSIONAL HANDLE FEED....................... 367
Smooth Backlash Compensation ........................................ 89 Three-dimensional Tool Compensation.............................. 991
SMOOTH INTERPOLATION ........................................... 599 Tool Axis Direction Tool Length Compensation................ 1008
Software Operator’s Panel................................................... 1197 Tool Center Point Control .................................................. 1052
Specification of Diameter Entry for Tool Compensation TOOL COMPENSATION FUNCTION............................. 975
Value .................................................................................. 956

i-4
B-63323EN-1/03 INDEX

NOTE
Volume 1 : Up to 614 / Volume 2 : Page 615 – 1174 / Volume 3 : Page 1175 or later

TOOL COMPENSATION VALUE/TOOL

COMPENSATION NUMBER/TOOL COMPENSATION
MEMORY .......................................................................... 952
TOOL FUNCTION............................................................. 949
TOOL FUNCTION............................................................. 950
Tool Length Compensation in Tool Axis Direction with
Twin Table Control ............................................................ 224
TOOL LENGTH MANUAL MEASUREMENT................ 1280
Tool Length Offset ............................................................. 975
TOOL LENGTH/WORKPIECE ORIGIN
MEASUREMENT.............................................................. 1282
TOOL LIFE MANAGEMENT FUNCTION...................... 957
Tool Offset.......................................................................... 979
Tool Offsets Based on Tool Numbers................................. 997
Tool Path Drawing and Background Drawing.................... 1191
Torque Difference Alarm Detection for Synchronous
Control................................................................................ 197
Torque Limit Skip .............................................................. 1311
Touch Panel........................................................................ 1210
TURNING MODE AND COMPENSATION CLAMP OF
DUAL POSITION FEEDBACK ........................................ 280
TWIN-TABLE CONTROL ................................................ 219

<V>
Vertical Axis Drop Prevention Function ............................ 30
VRDY OFF ALARM IGNORE SIGNAL .......................... 336

<W>
Waveform Diagnosis Display ............................................. 1184
WITHDRAWING AND RETURNING A TOOL .............. 512
Workpiece Coordinate System/Addition of Workpiece
Coordinate System Pair ...................................................... 159
WORKPIECE ORIGIN MANUAL SETTING................... 1281

i-5
 Revision Record
FANUC Series 15i/150i-MODEL A CONNECTION MANUAL (FUNCTION) (B-63323EN-1)

Following functions (STEP 4 to 6) were added :

Nano interpolation type error compensation, Smooth
backlash compensation, Addition of 5000 pitch error
compensation points, Thermal growth compensation
along tool vector, Cutting/rapid traverse in-position check
turning mode and compensation clamp of dual position
feedback, Deceleration stop at power failure, High speed
HRV mode, Setup of FSSBs if using high speed HRV
control, Loading of multiple servo programs, NURBS
interpolation additional functions, Feedrate specification
on a virtual circle for a rotary axis, Automatic feedrate
03 Oct., 2000 control by area, Acceleration/deceleration before
interpolation of linear type rapid traverse, Rigid tapping
additional function, Specification of diameter entry for tool
compensation value, Tool center point control, Control
point compensation of tool length compensation along
tool axis, Grinding wheel wear compensation, Cutter
compensation for rotary table, Oiling signal (canned
cycle), Fine torque sensing, 2-LCD-unit connection
function, Changing blinking displays in G05.1 Q1 mode,
Do signal output by soft key, and Changing active offset
value with manual move

Following functions (STEP 2 and 3) were added :

- Power Mate CNC manager

Feb., 2000 - 3-dimensional circular interpolation

02
- Spindle speed fluctuation detection
- DNC Operation from Memory card interface
- Enhancement of Smooth interpolation

01 Feb., 1999

Edition Date Contents Edition Date Contents

· No part of this manual may be
reproduced in any form.

· All specifications and designs

are subject to change without
notice.