� Rapid traverse linear acceleration/deceleration � Cutting feed exponential acceleration/deceleration
To prevent a mechanical shock, acceleration/deceleration is automatically applied when the tool starts and ends its movement (Fig.7.2.1 (a)).
FR
Rapid traverse rate
Time
TR TR
FR : Rapid traverse rate
: Acceleration/ deceleration time constant for rapid traverse rate
�
Time
Feed rate
FCFC
�
TC TC
TR
TC
: Feedrate
: Acceleration/ deceleration time constant for a cutting feedrate
Fig.7.2.1 (a) Automatic acceleration/deceleration (example)
Acceleration and deceleration is performed when starting and ending movement, resulting in smooth start and stop. Automatic acceleration/deceleration is also performed when feedrate changes, so change in speed is also smoothly done. It is not necessary to take acceleration/deceleration into consideration when programming.
Rapid traverse:Linear acceleration/deceleration (time constant per axis is set by parameters 0522 to 0525)
Cutting feed: Exponential acceleration/deceleration (time constant per axis is set by parameter 0529)
7.2 ACCELERATION/ DECELERATION CONTROL
7.2.1 Automatic Acceleration/ Deceleration
General
� Automatic acceleration/ deceleration
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Jog feed : Exponential acceleration/deceleration (time constant per axis is set by parameters 0601 – 0604)
CNC command
Pulse distribution (interpolation)
Rate after interpolation Rate after acceleration/deceleration Servo motor
Acceleration/ deceleraton control
Acceleraton/ deceleration control
Servo control
Servo control
#7 0045
#6 #5 #4 #3 LSUP
#2 #1 #0
[Data type] Bit axis
LSUP Acceleration/deceleration in cutting feed including feed in dry run 0 : Exponential acceleration/deceleration is applied. 1 : Linear acceleration/deceleration after interpolation is applied.
NOTE If the optional function of linear acceleration/deceleration after interpolation in cutting feed is not provided, exponential acceleration/deceleration is used irrespective of this setting.
#7 0065
#6 #5 G92ZAX
#4 #3 #2 #1 #0 (T series)
G92ZAX Parameters for the Z–axis time constant and acceleration/deceleration lower limit (FL) in threading (G92): 0 : Parameters common to all axes 1 : Parameters 0627 and 0628
0522–0525 Time constant used for linear acceleration/deceleration or bell–shaped acceleration/deceleration in rapid traverse
[Data type] Word
[Unit of data] ms
[Valid data range] 0 to 4000
Specify a time constant used for linear acceleration/deceleration in rapid traverse. When the optional function of bell–shaped acceleration/decel- eration in rapid traverse is provided, bell–shaped acceleration/decelera- tion is applied in rapid traverse. If the function is not provided, linear ac- celeration/deceleration is applied.
Parameter
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(1)When the function is provided, set this parameter to time constant T1 used in bell–shaped acceleration/deceleration in rapid traverse, and set parameter Nos. 0952 to 0955 to time constant T2.
(2)When the function is not provided, specify a time constant used in linear acceleration/deceleration.
NOTE When parameter Nos. 0952 to 0955 (time constant T2 used for bell–shaped acceleration/deceleration in rapid traverse) is set to 0, linear acceleration/deceleration is applied in rapid traverse even if the function is provided. In this case, this parameter stands for a time constant used in linear acceleration/deceleration in rapid traverse.
0526 Time constant of exponential acceleration/deceleration at X axis in thread cutting cycle
(T series)
0627 Time constant of exponential acceleration/deceleration at Z axis in thread cutting cycle
(T series)
[Data type] Word
[Unit of data] ms
[Valid data range] 0 to 4000
Set the time constant used for exponential acceleration/deceleration in thread cutting cycle (G76, G78 (G92 in G code system A)).
0528 FL rate of exponential acceleration/deceleration at X axis in thread cutting cycle (T series)
0628 FL rate of exponential acceleration/deceleration at Z axis in thread cutting cycle (T series)
[Data type] Word
��������� ������ ��� �� ���
��� ��� �����
��������� ������ ��� �� ���
����� ���� ����
Millimeter machine 1 mm/min 6 to 15000 6 to 12000
Inch machine 0.1 inch/min 6 to 6000 6 to 4800
Rotaion axis 1 deg/min 6 to 15000 6 to 12000
Set the lower limit (FL rate) of exponential acceleration/deceleration in thread cutting cycle (G76, G78 (G92 in G code system A)).
0529 Time constant of exponential acceleration/deceleration in cutting feed
[Data type] Word
[Unit of data] ms
[Valid data range] 0 to 4000
Set the time constant used for exponential acceleration/deceleration in cutting feed.
[Unit of data]
[Valid data range]
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0530 FL rate of exponential acceleration/deceleration in cutting feed
[Data type] Word
��������� ������ ��� �� ���
��� ��� �����
��������� ������ ��� �� ���
����� ���� ����
Millimeter machine � ������ 6 to 15000 6 to 12000
Inch machine 0.1 inch/min 6 to 6000 6 to 4800
Rotaion axis 1 deg/min 6 to 15000 6 to 12000
Set the lower limit (FL rate) of exponential acceleration/deceleration in cutting feed.
0555 Rapid traverse feedrate reduction ratio for overlapping rapid traverse blocks (T series)
0379 Rapid traverse feedrate reduction ratio for overlapping rapid traverse blocks (M series)
[Data type] Byte
[Unit of data] %
[Valid data range] 0 to 100
This parameter is used when rapid traverse blocks are arranged successively, or when a rapid traverse block is followed by a block that does not cause movement. When the feedrate for each axis of a block is reduced to the ratio set in this parameter, the execution of the next block is started.
NOTE This parameter is effective when parameter SMZCT (No.0050#4 (T)/No.0048#4 (M)) is set to 1.
(Example)
N1 G00 X- - ; N2 G00 X- - ;
Fh: Rapid traverse feedrate α: Setting of parameter No.0555 (T)/No.0379 (M)
(feedrate reduction ratio)
Fd: Feedrate where deceleration is terminated: = Fh×α/ 100
Fh
Fd
X–axis feedrate
t
When the function of overlapping rapid traverse blocks is disabled
When the function of overlapping rapid traverse blocks is enabled
[Unit of data]
[Valid data range]
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Time constant of exponential acceleration/deceleration in jog feed0601 – 0604
[Data type] Word
[Unit of data] ms
[Valid data range] 0 to 4000
Set the time constant used for exponential acceleration/deceleration in jog feed.
FL rate of exponential acceleration/deceleration in jog feed0605 – 0608
[Data type] Word
��������� ������ ��� �� ���
��� ��� �����
��������� ������ ��� �� ���
����� ���� ����
Millimeter machine 1 mm/min 6 to 15000 6 to 12000
Inch machine 0.1 inch/min 6 to 6000 6 to 4800
Rotaion axis 1 deg/min 6 to 15000 6 to 12000
Set the lower limit (FL rate) of exponential acceleration/deceleration in jog feed for each axis.
[Unit of data]
[Valid data range]
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Bell–shaped acceleration/deceleration for rapid traverse smoothly increases or decreases the rapid traverse rate, reducing the stress and strain imposed on the machine due to the variation in the acceleration with changes in the feedrate. As the time constant for bell–shaped acceleration/deceleration can be smaller than that for linear acceleration/deceleration, the time needed for acceleration/deceleration can be reduced.
<Linear acceleration/deceleration for rapid traverse> <Bell–shaped acceleration/deceleration for rapid traverse>
Feedrate
Time
Acceleration
0
0 Time
Acceleration
Time
Time
Feedrate
This function is enabled when the time constants for bell–shaped acceleration/deceleration for rapid traverse T1 and T2 are specified in parameter Nos. 0522 to 0525 and 0952 to 0955, respectively.
7.2.2 Bell–shaped Acceleration/ Deceleration for Rapid Traverse (M Series)
General
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<Rapid traverese linear acceleration/deceleration>
Speed
Rapid traverse rate
Time T: Time constant for linear acceleration/deceleration� �
������ �������� ��� � ���� � ������������ ����������
�����
����� �������� ����
TIme
T2/2
T2
T1 T2/2
T1: Set a time constant used for lin- ear acceleration/deceleration
T2: Set a time for rounding.
Total time=T1 + T2 Time for linear=T1 – T2 Time for rounding part=T2
Set a time when rapid traverse override is 100% . When it is less than 100%, the total time is reduced (constant acceleration method).
Value of T1 is determined from motor torque. Set a value of T2 to 24 ms or 32 ms.
0522–0525 Time constant T1 used in linear acceleration/deceleration or bell–shaped acceleration/deceleration in rapid traverse for each axis
[Data type] Word
[Unit of data] ms
[Valid data range] 0 to 4000
Specify a time constant used for acceleration/deceleration in rapid tra- verse. When the optional function of bell–shaped acceleration/decelera- tion in rapid traverse is provided, bell–shaped acceleration/deceleration is applied in rapid traverse. If the function is not provided, linear accelera- tion/deceleration is applied. � When the function is provided, set this parameter to time constant T1
used in bell–shaped acceleration/deceleration in rapid traverse, and set parameter Nos. 0952 to 0955 to time constant T2.
Parameter
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� When the function is not provided, specify a time constant used for linear acceleration/deceleration.
NOTE When parameter Nos.0952 to 0955 (time constant T2 used for bell–shaped acceleration/deceleration in rapid traverse) is set to 0, linear acceleration/deceleration is applied in rapid traverse even if the function is provided. In this case, this parameter stands for a time constant used for linear acceleration/deceleration in rapid traverse.
(M series)0952–0955 Time constant T2 used for bell–shaped acceleration/deceleration in rapid traverse
[Data type] Word
[Unit of data] ms
[Valid data range] 0 to 512
Specify time constant T2 used for bell–shaped acceleration/deceleration in rapid traverse for each axis.
NOTE 1 This parameter is effective when the function of
bell–shaped acceleration/deceleration in rapid traverse is provided. Set parameter Nos. 0522 to 0525 to time constant T1 used for bell–shaped acceleration/deceleration in rapid traverse, and set this parameter to time constant T2. For details of time constants T1 and T2, see the description of General of this section.
2 When this parameter is set to 0, linear acceleration/deceleration is applied in rapid traverse. The setting in parameter Nos. 0522 to 0525 is used as a time constant in linear acceleration/deceleration.
CONNECTION MANUAL (This manual)
7.2.1 Automatic Acceleration/Deceleration
Reference item
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If linear acceleration/deceleration after interpolation for cutting feed is enabled (bit 3 of parameter No. 0045, LSUP), acceleration/deceleration is performed as follows:
Cutting feed: Linear acceleration/deceleration (constant acceleration time)
Specify the acceleration/deceleration time constant for each axis in parameter No. 0635.
Jog feed: Exponential or linear acceleration/deceleration (constant acceleration time)
Specify the acceleration/deceleration time constant for each axis in parameter Nos. 0601 to 0604
If an identical time constant is specified, linear acceleration/deceleration can halve the delay relative to the programmed time, in comparison with exponential acceleration/deceleration, thus reducing the time needed for acceleration and deceleration. If circular interpolation is performed, especially when high–speed cutting is being performed, the actual tool path created after acceleration/deceleration will deviate from the programmed arc in the radial direction. This deviation can also be reduced, in comparison with exponential acceleration/deceleration, by applying linear acceleration/deceleration.
Feedrate
Acceleration/ deceleration circuit
Time
t : Time constant
Feedrate
Time
Feedrate
Time
Feedrate
Time
� �
� �
⇒
⇒ ⇒
⇒
Acceleration/ deceleration circuit
7.2.3 Linear Acceleration/ Deceleration after Interpolation for Cutting Feed
General
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Linear acceleration/deceleration after interpolation for cutting feed is an optional function. This function is enabled when the LSUP bit (bit 3 of parameter No. 0045) is specified. The time constants for cutting feed and jog feed are specified in parameter Nos. 0635 and 0601 to 0604 respectively. The values specified for the FL feedrate for cutting feed (parameter No. 0530) and the FL feedrate for jog feed (parameter No. 0548) are ignored (always assumed to be 0).
#7 0045
#6 #5 #4 #3 LSUP
#2 #1 #0
[Data type] Bit
LSUP Acceleration/deceleration in cutting feed including feed in dry run 0 : Exponential acceleration/deceleration is applied. 1 : Linear acceleration/deceleration after interpolation is applied.
Time constant of exponential acceleration/deceleration in jog feed0601–0604
[Data type] Word
[Unit of data] ms
[Valid data range] 0 to 4000
Set the time constant used for exponential acceleration/deceleration in jog feed.
0635 Time constant of exponential acceleration/deceleration, linear accelera- tion/deceleration after interpolation or bell–shaped acceleration/decelera- tion after interpolation, in cutting feed
[Data type] Word
[Unit of data] ms
[Valid data range] 0 to 4000
Set the time constant used for linear acceleration/deceleration after interpolation in cutting feed.
Parameter
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If the optional function for linear acceleration/deceleration after interpolation for cutting feed is not provided, exponential acceleration/deceleration is always selected, irrespective of the setting.
NOTE 1 If linear acceleration/deceleration after interpolation for
cutting feed is enabled, linear acceleration/deceleration is executed during cutting feed and during a dry run.
2 In circular interpolation especially when circular cutting is executed at high speed, the actual path of the accelerated or decelerated tool deviates from the specified arc in the direction of the radius.
The maximum error in the radial direction (∆r) can be approximated by the following expressions:
If the error caused by the time constant of the servo loop is excluded, the error cause by linear acceleration/ deceleration or bell shaped acceleration/deceleration after interpolation is 1/12 of that caused by exponential acceleration/deceleration.
3 Linear acceleration/deceleration can be executed both for cutting feed and for jog feed along a PMC axis. Acceleration/deceleration for cutting feed is executed even if acceleration/deceleration for jog feed is selected. In jog feed along the PMC axis, the time constant for cutting feed is used instead of that for jog feed.
�r :Maximum radius error (mm)
v :Feedrate (mm/s)
r :Radius of arc (mm)
T1 :Acceleration/deceleration time constant (s)
T2 :Time constant of servo loop (s)
(Reciprocal of position loop gain)
Y
X
r
�r Specified path
Actual path
� r = � T12+ T22 � …Exponential acceleration/deceleration
� r = � T12+ T22 � …Linear acceleration/deceleration or bell shaped acceleration /deceleration after interpolation
2
24
1 2 1
2 11
v2
r
v2
r
Note
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A specified cutting feedrate can be linearly increased or decreased before interpolation. This function eliminates machining profile errors caused by the delay occurring in acceleration or deceleration. The time required for acceleration or deceleration by this function is significantly shorter than that by the function of exponential acceleration/deceleration.
CNC command
Servo control
Servo motor
Feedrate
Speed
Time
�
�
Feedrate command
Move data
F: Value of feedrate command
Pulse distribution (interpolation) Servo control
Linear accel- eration/decel- eration before interpolation
The function of linear acceleration/deceleration before interpolation in- creases or decreases the feedrate specified in the tangential direction.
If the feedrate command is changed
� Type A Acceleration/deceleration is started in the block in which a new feedrate command is specified.
� Type B (Set the FWB TYP bit (bit 6 of parameter No. 0395) to 1.)
Deceleration: Deceleration is started in a prior block such that decel- eration is completed before the beginning of the block in which a new feedrate command is specified.
Acceleration: Acceleration is started in the block in which a new fee- drate command is specified.
7.2.4 Linear Acceleration/ Deceleration of Cutting Feed before Interpolation (M Series)
General
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B type
A type
�� � ������ ��� �� � �� � ������ ���� � �
Command feedrate
Feedrate after accel- eration/deceleration before interpolation
Command feedrate
Feedrate after accel- eration/deceleration before interpolation
Feedrate
����� �
Time
F3
F2
F1 N1 N2
Feedrate
Time
F3
F2
F1 N1 N2
With B type, to decelerate from F3 to F2, deceleration must start with point P.
#7 0395
#6 FWBTYP
#5 #4 #3 #2 #1 #0
[Data type] Bit
FWBTYP Linear acceleration/deceleration of cutting feed before interpolation 0 : Type A of acceleration/deceleration before interpolation is used. 1 : Type B of acceleration/deceleration before interpolation is used.
0480 Parameter 1 for setting an acceleration for linear acceleration/deceleration before interpolation (maximum machining feedrate during linear acceleration/decelera- tion before interpolation)
[Data type] Word
��������� ������ ��� �� ���
��� ��� �����
��������� ������ ��� �� ���
����� ���� ����
Millimeter machine 1 mm/min 6 to 240000 6 to 100000
Inch machine 0.1 inch/min 6 to 96000 6 to 48000
This parameter is used to set an acceleration for linear acceleration/decel- eration before interpolation. In this parameter, set a maximum machining feedrate during linear acceleration/deceleration before interpolation. In parameter No. 0481, set a time used to reach the maximum machining fee- drate.
Parameter
[Unit of data]
[Valid data range]
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Feedrate
Parameter 1
�� ��� � � ����
Parameter 1: Parameter No. 0480 Parameter 2: Parameter No. 0481
NOTE 1 When 0 is set in parameter No. 0480 or parameter No. 0481,
linear acceleration/deceleration before interpolation is disabled.
2 In the advanced preview control mode, parameter No. 0485 and parameter No. 0486 are valid.
0481 Parameter 2 for setting an acceleration for linear acceleration/deceleration before interpolation (time used to reach the maximum machining feedrate during linear acceleration/deceleration before interpolation.)
[Data type] Word
[Unit of data] 1 ms
[Valid data range] 0 to 4000
This parameter is used to set an acceleration for linear acceleration/decel- eration before interpolation. In this parameter, set the time (time constant) used to reach the feedrate set in parameter No. 0480.
NOTE 1 When 0 is set in parameter No. 0480 or parameter No. 0481,
linear acceleration/deceleration before interpolation is disabled.
2 In parameter Nos. 0480 and 0481, set values that satisfy the following:
3 In the look–ahead control mode, parameter No. 0485 and parameter No. 0486 are valid.
Parameter No. 0480 Parameter No. 0481
� 5
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NOTE 1 If a block without a move command is found during
acceleration/deceleration before interpolation, the movement is decelerated and temporarily stopped in the previous block.
2 If a one–shot G code is specified during acceleration/ deceleration before interpolation, the movement is decelerated and temporarily stopped in the previous block.
3 If an M, S, or T code is specified in a block containing a move command during acceleration/deceleration before interpolation, the movement is decelerated and temporarily stopped in that block.
4 Even during acceleration/deceleration before interpolation, the block of G31 (skip function) is not subjected to acceleration/deceleration.
5 During acceleration/deceleration before interpolation, automatic corner override is enabled only when the internal circular cutting feedrate is changed.
6 Even during acceleration/deceleration before interpolation, acceleration/deceleration after interpolation can be executed. So that acceleration/deceleration is executed only before interpolation, set the time constant for acceleration/deceleration after interpolation to zero.
7 In acceleration/deceleration before interpolation of type B, deceleration is started if preprocessing for the next block has not been completed before the remaining distance of the current block becomes less than that needed to decelerate and stop the movement.
8 If inch input system in used, avoid specifying a command for simultaneous movement on two axes, including a rotation axis during acceleration/deceleration before interpolation.
Note
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Whether the position of the servo motor is within a specified range is checked.
If the in–position check function is enabled, the CNC checks the position during deceleration. If the position is found to exceed the specified range, the CNC does not execute the next block.
NOTE The purpose of in–position check is to check that the servo motor has reached within a specified range (specified with parameter Nos.500 – 503).
[Classification] Output signal
[Function] These signals indicate that the control axes are set to the in-position condition. They are provided for each control axis, and the number in the signal name corresponds to the control axis number.
 The 1st axis is set to the in-position condition.
2 . . . . The 2nd axis is set to the in-position condition.
3 . . . . The 3rd axis is set to the in-position condition.
4 . . . . The 4rd axis is set to the in-position condition.
[Output condition] These signals turn to “1” in the following case : ⋅ The acceleration/deceleration delay of the corresponding control axis
is zero and the servo error is within the specified allowance.
These signals turn to “0” in the following cases :
⋅ The acceleration/deceleration delay of the corresponding control axis is not zero.
⋅ The servo error of the corresponding control axis exceeds the specified allowance
7.2.5 Corner Control
<IP_ADDRESS> In–position check
General
Signal
In–position signals INP1 to INP4 <F184#0 to #3>
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#7 F184
#6 #5 #4 #3 INP4
#2 INP3
#1 INP2
#0 INP1
#7 0020
#6 #5 NCIPS
#4 #3 #2 #1 #0
[Data type] Bit
NCIPS Inposition check at deceleration 0 : Performed 1 : Not performed
In–position width0500 – 0503
[Data type] Word
[Unit of data] Detection unit
[Valid data range] 0 to 32767
The in–position width is set.
When the deviation of the machine position from the specified position (the absolute value of the positioning deviation) is smaller than the in–position width, the machine is assumed to have reached the specified position.
NOTE 1 The in–position signals may turn to “1” even during the
movement if the axis is fed at very low speed. 2 The in–position check function is enabled, at the interface
between two cutting blocks, in the following cases:
M series When the exact stop command (G09) or exact stop mode com- mand (G61) is specified
T series When the error detect signal is on
Signal address
Parameter
Note
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If separate in–position check for cutting feed and rapid traverse is executed, a small in–position check range can be specified between those cutting feed blocks that require a high degree of precision. A large in–position check range can be specified between those rapid traverse blocks that require quick positioning.
See Subsection <IP_ADDRESS>.
#7 0020
#6 #5 NCIPS
#4 #3 #2 #1 #0
[Data type] Bit
NCIPS Inposition check at deceleration 0 : Performed 1 : Not performed
#7 0045
#6 #5 #4 CCINP
#3 #2 #1 #0
[Data type] Bit
CCINP The in–position area for cutting feed is: 0 : Set in parameter Nos.0500 – 0503 (same as for rapid traverse). 1 : Set in bit 4 (CINPS) of parameter No.0399.
#7 0399
#6 #5 #4 CINPS
#3 #2 #1 #0
[Data type] Bit
CINPS When bit 4 (CCINP) of parameter No.0045 = 1, the in–position area for cutting feed is: 0 : Use value in parameter Nos.0609 to 0612 if the next block is also for
cutting feed, or use value in parameter Nos.500 to 503 if the next block is for rapid traverse.
1 : Use value in parameter Nos.0609 to 0612, regardless of the next block. (The setting of parameter Nos.500 to 503 is used for rapid traverse, and the setting of parameter Nos.0609 to 0612 is used for cutting feed.)
<IP_ADDRESS> In–position check independently of feed/rapid traverse (M series)
General
Signal
Parameter
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Parameter CINPS (No.0399#4)
0 1
Rapid→Rapid Nos.0500 to 0503
Rapid→Rapid Nos.0500 to 0503
0
Rapid→Feed Nos.0500 to 0503
Rapid→Feed Nos.0500 to 0503
0 Feed→Feed Nos.0500
to 0503 Feed→Feed Nos.0500
to 0503
Parameter CCINP
Feed→Rapid Nos.0500 to 0503
Feed→Rapid Nos.0500 to 0503
CCINP (No.0045#4) Rapid→Rapid Nos.0500
to 0503 Rapid→Rapid Nos.0500
to 0503
1
Rapid→Feed Nos.0500 to 0503
Rapid→Feed Nos.0500 to 0503
1 Feed→Feed Nos.0609
to 0612 Feed→Feed Nos.0609
to 0612
Feed→Rapid Nos.0500 to 0503
Feed→Rapid Nos.0609 to 0612
In–position width0500 – 0503
[Data type] Word
[Unit of data] Detection unit
[Valid data range] 0 to 32767
The in–position width is set for each axis.
When the deviation of the machine position from the specified position (the absolute value of the positioning deviation) is smaller than the in–position width, the machine is assumed to have reached the specified position.
In–position width in cutting feed for each axis0609 – 0612
[Data type] Word
[Unit of data] Detection unit
[Valid data range] 0 to 32767
Set an in–position width for each axis in cutting feed. This parameter is valid when bit 4 (CCINP) of parameter No.0045=1.
NOTE If the NCIPS bit (bit 5 of parameter No.0020) is set to 1, so that position check is not performed during deceleration, this function is invalid. The system starts execution of the next block as soon as deceleration has been completed, without checking whether the servo position error is within the specified range.
Note
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Generally, the CNC does not zero the feedrate at the interface of two blocks during cutting feed. Because of this, a corner of a tool path may be rounded.
Feedrate
Time
This part causes the corner of the tool path to be rounded.
Programmed tool path
Actual tool–center path
If the error detect signal is used, it is possible to specify that a block not be started until the acceleration/deceleration of the previous block has been completed.
Time
Feedrate
[Classification] Input signal
[Function] Enables error detection.
[Operation] If the signal is set to 1, the control unit operates as follows: � At the interface of two blocks during cutting feed, the control unit waits
until the acceleration/deceleration of the first block has been completed. Only then does the control unit execute the next block. The setting of the SMZ signal determines whether, at the interface of two cutting blocks, the control unit waits until the acceleration/decel- eration of the previous block has been completed.
#7 G126
#6 SMZ
#5 #4 #3 #2 #1 #0
<IP_ADDRESS> Error detect (T series)
General
Signal
Error detect signal SMZ <G126#6>
Signal address
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NOTE If the error detect signal is on, a cutting block is not executed until the acceleration/deceleration of the previous cutting block has been completed. This function alone cannot prevent corner rounding due to delay caused by the servo motor, however. To prevent corner rounding due to delay caused by the servo motor, use the in–position check function together with this function.
After servo motor delay
Time
Range of in–position check
After acceleration/ deceleration
Feedrate
When a programmed value after linear acceleration/deceleration by rapid traverse exceeds the value (percentage) specified in the corresponding parameter, a signal is output.
Programmed speed
Command After acceleration/deceleration
Signal
?%
Note
<IP_ADDRESS> Signals output according to the speed of travel along an axis (M series)
General
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[Function] The signal reports that the speed programmed for any of the first to the fourth axes in direct acceleration/deceleration exceeds the value specified in the corresponding parameter.
#7 F189
#6 #5 #4 #3 SPDS4
#2 SPDS3
#1 SPDS2
#0 SPDS1
0243 SPDSP
SPDSP Set a reference speed in %, to enable the function to output a signal according to the speed of travel along an axis. If a value exceeding the range indicated below is set, no signal is output. Valid data range: 0% to 99%
#7 0394
#6 #5 #4 #3 #2 #1 SPDS
#0
SPDS The function used to output a signal according to the speed of travel along an axis is: 1 : Enabled. 0 : Disabled.
CAUTION This function is enabled in 1st to 4th axis . (This function is disabled in 5th and 6th axis)
NOTE 1 The signal is output in rapid traverse mode only. 2 Identical values are set for acceleration and deceleration.
Signal
Signals output according to the speed of travel along an axis SPDS1 to SPDS4 <G189#0 to #3>
Signal address
Parameter
Caution
Note
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Feed–forward control can be performed even during rapid traverse. In this case, the servo position error is reduced, thus reducing the time required for positioning to within the specified range.
#7 0395
#6 FDFFEN
#5 #4 #3 #2 #1 #0
[Data type] Bit
FDFFEN Feed–forward control is enabled for 0 : Cutting feed only 1 : Cutting feed and rapid traverse
For details of this function, refer to the “FANUC AC SERVO AMPLIFIER Maintenance Manual (B–65005E)” or the “FANUC CONTROL MOTOR� series Maintenance Manual (B–65165E).
7.2.6 Feed Forward in Rapid Traverse (M series)
General
Parameter
Reference item
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8 AUXILIARY FUNCTION
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When a numeral of up to 8 digits is specified following address M, code signal and a strobe signal are sent to the machine. The machine uses these signals to turn on or off its functions. Usually, only one M code can be specified in one block. In some cases, however, up to three M codes can be specified for some types of machine tools (see 8.3 “Multiple M code per Block”)
When three or six digits (M series) / eight digits (T series) are specified after address B, a code signal and strobe signal are sent. These signals are used to index the rotation axis of the machine. The code signal is retained until another B code is specified.
In each block, a single B code can be specified. BCD output is performed for the M series while binary output is performed for the T series.
–99999999 to +99999999
1.A decimal point can be used for input by setting AUX (bit 0 of parameter No. 3405).
Command Output value B10. 10000 B10 10
2.It is possible to change over the scale factor of B output, 1000 or 1 when the decimal point input is omitted, using the parameter CPRD (No.0015#7). Command Output value When CPRD is 1: B1 1000 When CPRD is 0: B1 1
3.It is possible to change over the scale factor of B output 1000 or 10000 when the decimal point input is omitted in the inch input system, using the parameter BLIN (No.0032#5). When DPI=1. Command Output value When BLIN is 1: B1 10000 When BLIN is 0: B1 1000
8.1 MISCELLANEOUS FUNCTION/2ND AUXILIARY FUNCTION
General
� Miscellaneous Function (M code)
� 2nd Auxiliary Function (B code)
� Command Format of 2nd Auxiliary Function (T series)
� Command range
� Command method
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The following signals are used with these functions. (For details of the spindle–speed function and tool function, see Chapters 9 and 10.)
Program Output signal Input signal
Function Program address
Code signal Strobe signal Distribution endsignal Completion
signal
Miscellaneous function
M M11 to M38 MF
Spindle–speed func- tion
S S11 to S28 SF
DEN FIN Tool function T T11 to T28 (T)
T11 to T48 (M) TF
DEN FIN
Secondary auxiliary function
B B0 to B31 (T) B11 to B38 (M)
BF
Each function uses different program addresses and different signals, but they all input and output signals in the same way, as described below. (A sample procedure for the miscellaneous function is described below. The procedures for the spindle–speed function, tool function, and secondary auxiliary function, are obtained simply by substituting S, T, or B in place of M.)
(1)Suppose that Mxxx is specified in a program.
(2)Code signal M11 to M38 is sent. After period TMF, specified in parameter No.0009#4 – #7 (standard value: 16 msec), strobe signal MF is set to 1. The code signal is the binary representation or BCD of the programmed value xxx.(*1) If the move, dwell, spindle–speed, or another function is specified at the same time as the miscellaneous function, the execution of the other function is started when the code signal of the miscellaneous function is sent.
(3)When the strobe signal is set to 1, the PMC reads the code signal and performs the corresponding operation.
(4)To execute an operation after the completion of the move, dwell or other function specified in the block, wait until distribution end signal DEN is set to 1.
(5)Upon completion of the operation, the PMC sets completion signal FIN to 1. The completion signal is used by the miscellaneous function, spindle–speed function, tool function, secondary auxiliary function, external operation function described later, and other functions. If any of these functions are executed simultaneously, the completion signal must be set to 1 upon completion of all the functions.
(6) If the completion signal remains set to 1 for longer than period TFIN, specified in parameter No.0009#0 – #3 (standard value: 16 msec), the CNC sets the strobe signal to 0 and reports that the completion signal has been received.
(7)When the strobe signal is set to 0, set the completion signal to 0 in the PMC.
(8)When the completion signal is set to 0, the CNC sets all code signals to 0 and completes all sequences of the miscellaneous function.(*2)
Basic procedure
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(9)Once all other commands in the same block have been completed, the CNC executes the next block.
*1 When the tool function is executed, the programmed tool number is sent as the code signal (T series).
*2 When the spindle–speed function, tool function, or secondary miscellaneous function is executed, the code signal is maintained until a new code for the corresponding function is specified.
The timing diagram is shown below:
������� � ��� �� ��� ��������� ��� ���� ��� ���� �� � ��� �
(1)(2) (3)
(*2)
TMF TFIN
M command (independent) Mxxx Code signals M11 to M38
Strobe signals MF
PMC side action
End signal FIN
Distribution end signals DEN
(5) (6) (7)(8) (9)
������� � ���� ����� �� ��� ��������� ��� ���� �� ��� ���� ��� � a. Execution of a miscellaneous function without waiting for move command completion
(1)(2) (3)
(*2)
TMF TFIN
M command (independent) Mxxx
Move command
Code signals M11 to M38
Strobe signal MF
PMC side action
End signal FIN
Distribution end signals DEN
(5) (6) (7) (8) (9)
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b. Execution of a miscellaneous function after move command completion
(1)(2) (3)
(*2)
TMF TFIN
M command (independent) Mxx
Move command
Code signals M11 to M38
Strobe signal MF
PMC side action
End signal FIN
Distribution end signals DEN
(4) (5) (6)(7)(8) (9)
[Classification] Output signal
[Function] These signals report the specification of miscellaneous functions.
[Output condition] For the output conditions and procedure, see the description of “Basic procedure” above.
NOTE 1 The following miscellaneous functions are only processed
internally by the control unit; they are not subject to output even when specified: · M98, M99, M198 · M code that calls a sub program (parameter Nos.0240 to
0242) · M code that calls a custom macro (parameter Nos.0230
to 0239) 2 Decode signals as well as the code signals and strobe
signal are output for the miscellaneous functions listed below. (only for M series) M00, M01, M02, M30
Signal
Miscellaneous function code signals M11 to M38 <F151, F157#0 to #3> Miscellaneous function strobe signal MF<F150#0>
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[Classification] Output signal
[Function] These signals report particular miscellaneous functions are specified. The miscellaneous functions in a command program correspond to output signals as indicated below.
Command program Output signal
M00 M01 M02 M30
M00 M01 M02 M30
[Output condition] A decode M signal goes “1” when:
· The corresponding miscellaneous function is specified, and any move commands and dwell commands specified in the same block are completed. These signals are not output when the end signal of the miscellaneous function is returned before completion of such move commands and dwell commands.
A decode M signal goes “0” when:
· The FIN signal goes “1”
· Reset occurs
Decode M signals (M series) M00<F154#7>, M01<F154#6>, M02<F154#5>, M30<F154#4>
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[Classification] Output signal
[Function] These signals report that spindle speed functions have been specified.
[Output condition] For the output conditions and procedure, see the description of “Basic procedure” above.
[Classification] Output signal
[Function] These signals report that tool functions have been specified.
[Output condition] For the output conditions and procedure, see the description of “Basic procedure” above.
[Classification] Output signal
[Function] These signals report that second auxiliary functions have been specified.
[Output condition] For the output conditions and procedure, see the description of “Basic procedure” above.
Spindle–speed code signals S11 to S28 <F152> Spindle–speed strobe signal SF<F150#2>
Tool function code signals T11 to T48<F153#0 to #7, F156#0 to #7>(M series)/ T11 to T28 <F153#0 to #7>(T series) Tool function strobe signal TF<F150#3>
Second auxiliary function code signals B11 to B38<F155#0 to #7, F154#0 to #3>(M series) B0 to B31 <F276 to F279> (T series) Second auxiliary function strobe signal BF1, BF2<F150#7, #6> (M series) BF<150#7>(T series)
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[Classification] Input signal
[Function] This signal reports the completion of a miscellaneous function, spindle–speed function, tool function, second auxiliary function, or external operation function.
[Operation] For the control unit operation and procedure when this signal goes “1”, see the description of “Basic procedure” above. The FIN signal must remain “1” for a certain time (TFIN, which is set by a parameter No.0009#0 to #3) or longer. The FIN signal driven “1” is ignored if the FIN signal goes “0” before TFIN elapses.
WARNING Only one end signal is used for all functions above. The end signal must go “1” after all functions are completed.
[Classification] Output signal
[Function] These signals report that all commands (such as move commands and dwell) are completed except those miscellaneous functions, spindle functions, tool functions, and so forth that are contained in the same block and have been sent to the PMC. They also report that the end signal from the PMC is being awaited.
[Output condition] The DEN signal turns to “1” when:
· The completion of miscellaneous functions, spindle–speed functions, tool functions, and so forth is being awaited, all other commands in the same block are completed, and the current position is in the in–position.
The DEN signal turns to “0” when:
· The execution of one block is completed
NOTE A parameter can specify, whether to only check if an acceleration/deceleration delay is eliminated, or to also check if a servo delay (error) has been reduced to within a certain range.
End signal FIN<G120#3>
Distribution end signals DEN<F149#3>
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[Classification] Output signal
[Function] The signal indicates that the position specified by the passing point signal output function has been reached.
[Output condition] The DEN2 signal becomes 1 when: � The specified position is passed.
The DEN2 signal becomes 0 when:
� Miscellaneous function completion signal FIN is returned.
#7 G120
#6 #5 #4 #3 FIN
#2 #1 #0
F149 DEN2 DEN #7 #6 #5 #4 #3 #2 #1 #0
BFF150 TF SF MF (T series)
BF1F150 BF2 TF SF MF (M series)
M28F151 M24 M22 M21 M18 M14 M12 M11
S28F152 S24 S22 S21 S18 S14 S12 S11
T28F153 T24 T22 T21 T18 T14 T12 T11
M00F154 M01 M02 M30 B38 B34 B32 B31 (M series)
B28F155 B24 B22 B21 B18 B14 B12 B11 (M series)
T48F156 T44 T42 T41 T38 T34 T32 T31 (M series)
F157 M38 M34 M32 M31
B7F276 B6 B5 B4 B3 B2 B1 B0 (T series)
B15F277 B14 B13 B12 B11 B10 B9 B8 (T series)
B23F278 B22 B21 B20 B19 B18 B17 B16 (T series)
B31F279 B30 B29 B28 B27 B26 B25 B24 (T series)
Passing point signal (T series) DEN2<F150#6>
Signal address
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#7 TMF0009
#6 #5 #4 #3 #2 #1 #0 TFIN
[Data type] Bit
[Unit of data] 16[msec]
[Valid data range] 1 to 6 (16[msec] to 256[msec])
TFIN Set a time range within which the miscellaneous, spindle–speed, or tool function completion signal FIN (G120, #3) can be accepted.
TMF Set a period starting from when an M, S, or T code is sent until the miscellaneous function code read signal MF (F150, #0), spindle–speed function code read signal SF (F150, #2), or tool function code read signal TF (F150, #3) is sent.
Setting value
TMF TFIN #3 #7
#2 #6
#1 #5
#0 #4
16msec 16msec or more 0 0 0 0
32msec 32msec or more 0 0 0 1
48msec 48msec or more 0 0 1 0
64msec 64msec or more 0 0 1 1
80msec 80msec or more 0 1 0 0
96msec 96msec or more 0 1 0 1
112msec 112msec or more 0 1 1 0
128msec 128msec or more 0 1 1 1
144msec 144msec or more 1 0 0 0
160msec 160msec or more 1 0 0 1
176msec 176msec or more 1 0 1 0
192msec 192msec or more 1 0 1 1
208msec 208msec or more 1 1 0 0
224msec 224msec or more 1 1 0 1
240msec 240msec or more 1 1 1 0
256msec 256msec or more 1 1 1 1
M, S, T, B code
MF, SF, TF, BF,
signal
Delay time
Parameter
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M, S, T, B code
MF, SF, TF, BF
signal
FIN sigal
Ignored be- cause shorter than min. signal width
Valid because longer than min. signal width
TFIN
#7 CPRD0015
#6 #5 #4 #3 #2 #1 #0
[Data type] Bit
CPRD When a decimal point is omitted in an address that can include a decimal point 0 : The least input increment is assumed. 1 : The unit of mm, inches, or second is assumed. (Pocket calculator type
decimal point input)
#7 0019
#6 #5 M02NR
#4 #3 #2 #1 #0
[Data type] Bit
M02NR When M02 is specified in memory operation 0 : M02 is sent to the machine, and the head of the program is automati-
cally searched for. So, when the end signal FIN is returned and a reset or reset and rewind operation is not performed, the program is executed, starting from the beginning.
1 : M02 is sent to the machine, but the head of the program is not searched for. (The head of the program is searched for by the reset and rewind signal.)
#7 0020
#6 #5 #4 BCD3
#3 #2 #1 #0 (M series)
[Data type] Bit
BCD3 The B code is output using: 1 : Three digits. 0 : Six digits.
When a B command is programmed for automatic or MDI operation, the value of the B command is sent to the PMC as a BCD code. The B function can output the BCD code of the B command using three or six digits (BCD3 bit, bit 4 of parameter 0020). When six–digit BCD code output is selected, the three high–order digits and three low–order digits of the BCD code are output separately. The B function outputs the code at the same timing as the miscellaneous function, spindle–speed
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function, and tool function. The B function uses the same FIN signal as the miscellaneous function, spindle–speed function, and tool function. For details, see the relevant section.
(1)Output timing of the three–digit BCD code (when the BCD3 bit (bit 4 of parameter 0020) is set to 1)
B command read Next command
B function BCD output
BF1
FIN
B
Three disits
Three disits
TMF
TFIN
Output for B11 to B18
Output for B21 to B28
Output for B31 to B38
(2)Output timing of the six–digit BCD code (when the BCD3 bit (bit 4 of parameter 0020) is set to 0)
B command read Next command
B function BCD output
BF2
FIN
B
TMF
TFIN
Output for B11 to B18
Output for B21 to B28
Output for B31 to B38
BF1
TMF
TFIN
Three high–order digits
Three high–order digits
Three low–order digits
Three low–order digits
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#7 0032
#6 #5 BLIN
#4 #3 #2 #1 #0 (T series)
[Data type] Bit
BLIN The least increment of the command of the second miscellaneous function specified with a decimal point 0 : Assumed to be 0.001 1 : Depending on the input increment. (For input in mm, 0.001 is
assumed, or for input in inches, 0.0001 is assumed.)
#7 M3B0065
#6 #5 #4 #3 #2 #1 #0
[Data type] Bit
M3B In a single block, 0: Up to three M codes can be specified. 1: Only one M code can be specified.
0111 M code preventing buffering 1
0112 M code preventing buffering 2
[Data type] Byte
[Valid data range] 0 to 255
Set M codes that prevent buffering the following blocks. If processing directed by an M code must be performed by the machine without buffering the following block, specify the M code.
M00, M01, M02, and M30 always prevent buffering even when they are not specified in these parameters.
#7 0393
#6 #5 #4 #3 M3RQNG
#2 #1 #0
M3RQNG The command for the three–digit M code is: 1 : Disabled (P/S 003). 0 : Enabled.
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NOTE 1 When a move command and miscellaneous function are
specified in the same block, the commands are executed in one of the following two ways: i) Simultaneous execution of the move command and
miscellaneous function commands. ii) Executing miscellaneous function commands upon
completion of move command execution.
The selection of either sequence depends on the sequence of PMC.
2 If the second miscellaneous function is provided, B cannot be used as an axis address.
3 The block following M00, M01, M02 and M30, is not read into the input buffer register, if present. Similarly, ten M codes which do not buffer can be set by parameters (Nos. 0111 to 0112).
4 For M00 and M01 only, miscellaneous function code signal, auxiliary function strobe signal, and M decode signals are sent; the control of program stop and optional stop shall be designed on the PMC side.
5 When the automatic operation is stopped by M02 or M30, it is necessary to send the external reset signal from the machine side to the CNC, instead of the FIN signal, When the external reset signal is returned against the M02 or M30, the control returns to the top of the program recently executed and enters the reset state. When the FIN signal is returned, the control returns to the beginning of the program recently executed and executes it from the top..
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
II.11.1 AUXILIARY FUNCTION (M FUNCTION)
(B–61404E) II.11.3 THE SECOND AXILIARY FUNC-
TIONS (B CODE)
OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.11.1 AUXILIARY FUNCTION (M FUNCTION)
(B–61394E) II.11.3 THE SECOND AXILIARY FUNC-
TIONS (B CODE)
Note
Reference item
8. AUXILIARY FUNCTION B–61393E–2/02
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Inhibits execution of a specified M, S, T and B function. That is, code signals and strobe signals are not issued. This function is used to check a program.
[Classification] Input signal
[Function] This signal selects auxiliary function lock. That is, this signal disables the execution of specified M, S, T, and B functions.
[Operation] When this signal turns to “1”, the control unit functions as described below.
(1)The control unit does not execute M, S, T, and B functions specified for memory operation or MDI operation. That is, the control unit stops the output of code signals and strobe signals (MF, SF, TF, BF).
(2) If this signal turns to “1” after code signal output, the output operation is executed in the ordinary manner until its completion (that is, until the FIN signal is received, and the strobe signal turns to “0”).
(3)Among the miscellaneous functions, M00, M01, M02, and M30 are executed even when this signal is “1”. All code signals, strobe signals, decode signals (for M series only) are output in the ordinary manner.
(4)Among the miscellaneous functions, even when this signal is “1”, those functions (M98 and M99) that are executed in the control unit without outputting their execution results are executed in the ordinary manner.
WARNING Even when this signal is “1”, spindle analog output or spindle serial output is executed.
#7 AFLG103
#6 #5 #4 #3 #2 #1 #0
8.2 AUXILIARY FUNCTION LOCK
General
Signal
Auxiliary function lock signal AFL<G103#7>
Signal address
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OPERATOR’S MANUAL (For Machining Center) (B–61404E)
III.5.1 MACHINE LOCK AND AUXILIARY FUNCTION LOCK
OPERATOR’S MANUAL (For Lathe) (B–61394E)
III.5.1 MACHINE LOCK AND AUXILIARY FUNCTION LOCK
Reference item
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So far, one block has been able to contain only one M code. However, this function allows up to three M codes to be contained in one block. Up to three M codes specified in a block are simultaneously output to the machine. This means that compared with the conventional method of a single M command in a single block, a shorter cycle time can be realized in machining.
(Example)
One M command in a single block
Multiple M commands in a single block
M40 ; M50 ; M60 ;
G28G91X0Y0Z0 ; : : :
M40M50M60 ; G28G91X0Y0Z0 ;
: : : : :
(1)Assume that “MaaMbbMcc;” was commanded by the program.
(2)The 1st M command (Maa) sends the code signals M11 to M38 in a manner similar to the conventional one-block single command. The strobe signal MF is set to “1” after a time TMF set by parameter No.0009#4 – #7 (Standard setting: 16 msec). The second M command (Mbb) sends the code signal M211-M238, the third M command (Mcc) sends the code signal M311-M338, and their respective strobe signals MF2 and MF3 are set to “1”. Furthermore, the three code signals are sent simultaneously. The strobe signals MF, MF2, and MF3 become “1” at the same time. The code signal is a binary notation of the program command aa, bb and cc.
(3)On the PMC side, the code signals corresponding to the respective strobe signals are read when the strobe signals become “1”, and the appropriate operations are performed.
(4)When the operation of all M commands ends on the PMC side, the end signal (FIN) is set to “1”.
(5)When the completion signal stays “1” for a time (TFIN) set by parameter No.0009#0 – #3 (Standard: 16 msec), all strobe signals (MF, MF2 and MF3) are set to “0” at the same time and the reception of completion signal is reported.
(6)On the PMC side, when MF, MF2 and MF3 are set to “0”, the completion signal is set to “0”.
8.3 MULTIPLE M COMMANDS IN A SINGLE BLOCK
General
Basic procedure
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A time chart for this procedure is shown below:
TFINTMF
M command (MaaMbbMcc;)
Code signal M11 to M38 Strobe signal MF
PMC side operation
Code signal M211 to M238 Strobe signal MF2
PMC side operation
Code signal M311 to M338 Strobe signal MF3 PMC side operation
End signal FIN
[Classification] Output signal
[Function] Indicates that second and third auxiliary functions have been issued.
[Output condition] The output conditions and procedures are the same as that described in “Basic procedure”.
#7 F157
#6 #5 MF3
#4 MF2
#3 #2 #1 #0
M228F193 M224 M222 M221 M218 M214 M212 M211
M318F194 M314 M312 M311 M238 M234 M232 M231
M338F195 M334 M332 M331 M328 M324 M322 M321
Signal
2nd, 3rd M function code signal M211 to M238 <F193#0 to F194#3> M311 to M338 <F194#4 to F195#7> 2nd, 3rd M Function strobe signal MF2<F157#4> MF3<F157#5>
Signal address
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#7 M3B0065
#6 #5 #4 #3 #2 #1 #0
[Data type] Bit
M3B The number of M codes that can be specified in one block 0 : One 1 : Up to three
CAUTION 1 M00, M01, M02, M30, M98, M99, or M198 must not be
specified together with another M code. 2 Some M codes other than M00, M01, M02, M30, M98, M99,
and M198 cannot be specified together with other M codes; each of those M codes must be specified in a single block. Such M codes include these which direct the CNC to perform internal operations in addition to sending the M codes themselves to the PMC. To be specified, such M codes are M codes for calling program numbers 9001 to 9003 and M codes for disabling advance reading (buffering) of subsequent blocks. The M codes which can be specified in a single block must be those which the CNC send only the M code signals to the PMC side.
3 In MDI operation of type A, only a single M code can be specified.
NOTE CNC allows up to three M codes to be specified in one block. However, some M codes cannot be specified at the same time due to mechanical operation restrictions. For example, M42 can be specified only after the mechanical operation of M41 is completed.
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
II.11.2 MULTIPLE M COMMANDS IN A SINGLE BLOCK
OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.11.2 MULTIPLE M COMMANDS IN A SINGLE BLOCK
Parameter
Caution
Note
Reference item
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To accelerate M/S/T/B function execution, the high–speed M/S/T/B interface has simplified the transfer of the strobe and completion signals of the M/S/T/B functions.
Whether to use the usual system or high–speed system for strobe signal and completion signal handling can be specified by parameter HSIF (No.0045#7).
The description below uses the miscellaneous functions (M code commands) as an example. The same description applies to the spindle–speed function (S code), tool function (T code) and 2nd auxiliary function (B code).
(1) Assume that the following program is given: Mxx; Myy;
(2) In response to an M command, the NC system sends out the code signals M11 to M38. After the expiration of the time set with bits 4 to 7 of parameter 0009, the system inverts the logic level of strobe signal MF. That is, the MF signal is brought to 1 from 0, or to 0 from 1.
(3)The CNC system inverts the strobe signal, then when the logical level of the auxiliary function completion signal MFIN becomes the same as the strobe signal, the CNC assumes the completion of PMC sequence.
With the usual method, the operation is assumed to be completed when a falling edge (“1” to “0”) of the M/S/T/B completion signal FIN is received after a rising edge (“0” to “1”) of the FIN signal is detected. This new system, on the other hand, assumes the operation has been completed upon detection of only one transition of the completion signal. In addition , the usual system uses only one completion signal (FIN) common to the M/S/T/B functions. This new system uses a different completion signal for each of the M, S, T, and B functions; the completion signals for the M, S, T, and B functions are MFIN, SFIN, TFIN, and BFIN, respectively. The Fig.8.4 (a) 1 below shows the timing chart of these signals with the new system. For comparison, Fig.8.4 (b) shows the timing chart of the conventional system.
8.4 HIGH–SPEED M/S/T/B INTERFACE
General
Basic procedure
8. AUXILIARY FUNCTION B–61393E–2/02
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Mxx Myy
Next block
Code signal
Strobe signal MF
PMC side operation
Auxiliary function completion signal MFIN
Fig. 8.4 (a) Timing Chart of the High–Speed System
Mxx Myy
Next block
Code signal
Strobe signal MF
PMC side operation
Completion signal FIN
Fig. 8.4 (b) Timing Chart of the Usual System
A high–speed interface can also be used for multiple M commands issued for one block. This interface provides separate completion signals for each M code. They are called MFIN (the same name as for the single M command per block function), MFIN2, and MFIN3, respectively. The signal transfer sequence for multiple M codes per block is the same as that for a single M code per block.
The high–speed interface can also be used for the external operation function. In this case, special external operation signal EFD and completion signal EFIN are used. The procedure for sending and receiving these signals is identical to that for sending and receiving the strobe and completion signals of the miscellaneous function (M series).
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[Classification] Input signal
[Function] Reports that the execution of a miscellaneous function using the high– speed M/S/T/B interface is completed.
[Operation] For the operation and aprocedure of the contol unit when this signal turns to “1” and “0”, see the description of “Basic procedure” above.
[Classification] Input signal
[Function] Reports that the execution of a spindle speed function using the high–speed M/S/T/B interface is completed.
[Operation] For the operation and procedure of the control unit when this signal turns to “1” and “0”, see the description of “Basic procedure” above.
[Classification] Input signal
[Function] Reports that the execution of a tool function using the high–speed M/S/T/B interface is completed.
[Operation] For the operation and procedure of the control unit when this signal turns to “1” and “0”, see the description of “Basic procedure” above.
[Classification] Input signal
[Function] Reports that the execution of a second auxiliary function using the high–speed M/S/T/B interface is completed.
[Operation] For the operation and procedure of the control unit when this signal turns to “1” and “0”, see the description of “Basic procedure” above.
Signal
Miscellaneous function completion signal MFIN<G115#0>
Spindle function completion signal SFIN<G115#2>
Tool function completion signal TFIN<G115#3>
2nd auxiliary function completion signal BFIN<G115#7>(Tseries) BFIN1, BFIN2 <G115#6, #7>(M series)
8. AUXILIARY FUNCTION B–61393E–2/02
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[Classification] Input signal
[Function] Indicate that when the high–speed interface is used for multiple M com- mands per block, the second or third M function have been completed.
[Operation] See “Basic procedure” for how the control unit operates and what it per- forms when the signal turns to “1” and “0”.
[Classification] Output signal
[Function] Indicates that positioning for the external operation function has been completed for the high–speed M, S, T, or B interface, and that another external operation is required.
[Operation] Refer to the description of the output conditions and procedure described in “Basic procedure”.
[Classification] Input signal
[Function] Indicates that the external operation function has been completed for the high–speed M, S, T, or B interface.
[Operation] The “Basic procedure” describes the procedure and operation of the control unit when the signal is set to 1 or 0.
#7 BFING115
#6 #5 #4 #3 TFIN
#2 SFIN
#1 #0 MFIN (T series)
BFIN1G115 BFIN2 TFIN SFIN EFIN MFIN (M series)
G134 MFIN3 MFIN2
F150 EF (M series) #7 #6 #5 #4 #3 #2 #1 #0
2nd, 3rd M function completion signals MFIN2, MFIN3 <G134#4, #5>
External operation signal for high–speed interface (M series) EF<F150#1>
External operation function completion signal (M series) EFIN<G115#1>
Signal address
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#7 HSIF0045
#6 #5 #4 #3 #2 #1 #0
[Data type] Bit
HSIF Exchange of strobe and completion signals for the M, S, T, and B codes 0 : Normal 1 : High–speed
NOTE 1 The strobe signals MF, SF, TF, and BF are “0” when the
power is turned on. 2 When the control unit is reset, MF, SF, TF, and BF are set
to “0”.
CONNECTION MANUAL (This manual)
8.1 MISCELLANEOUS FUNC- TION/2ND AUXILIARY FUNCTION
8.3 MULTIPLE M COMMANDS IN A BLOCK
11.9 EXTERNAL OPERATION FUNC- TION
Parameter
Note
Reference item
8. AUXILIARY FUNCTION B–61393E–2/02
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Control based on M codes is used to cause one tool post to wait for the other during machining. By specifying an M code in a machining program for each tool post, the two tool posts can wait for each other at a specified block. When an M code for waiting is specified in a block for one tool post during automatic operation, the other tool post waits for the same M code to be specified before staring the execution of the next block. A range of M codes used as M codes for waiting is to be set in the parameters (Nos. 0047#4 and 0243) beforehand.
[Classification] Input signal
[Function] Specifies whether to synchronize the tool posts by the waiting M code.
[Operation] When this signal turns to “1” the paths are not synchronized by the M code. The M code for waiting specified in a machining program is ignored. When this signal turns to “0”, the tool posts are synchronized by the M code. When the M code for waiting is specified for one tool post, the CNC waits for the corresponding M code of another tool post to be issued, then starts executing the next block.
[Classification] Output signal
[Function] Indicates that the CNC is waiting for the M code of either tool post 1 or 2.
[Operation] This signal is “1” as long as: (i) One tool post is waiting for another tool post. That is, the signal stays
“1” for the period from when the M code for waiting is issued to one tool post to when the corresponding M code is issued to another tool post.
This signal is “0” as long as:
(ii)Neither of the tool posts are waiting for the other.
8.5 WAITING M CODE (0–TTC)
General
Signal
No–wait signal NOWT <G133#1>
Waiting signal WATO <F160#6>
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#7 G133
#6 #5 #4 #3 #2 #1 NOWT
#0
#7 F160
#6 WATO
#5 #4 #3 #2 #1 #0 #1
#7 0047
#6 #5 #4 M3LMT
#3 #2 #1 #0
M3LMT The range of the waiting M codes to be used with the 0–TTC is determined by value α specified in parameter 0243, as indicated below: 1: M( α � 100) to M999. 0: M( α � 100) to M( α � 100 + 99).
0243 Third (hundreds) digit of the waiting M code
[Valid data range] 1 to 9
[Description] Set the waiting M codes for tool posts 1 and 2 of the FANUC Series 0–TTC. Specify the third (hundreds) digit.
Example Specifying 3
When the M3LMT bit (bit 4 of parameter 0047) is set to 0
Normal M codes: M000 to M299, M401 to M999 Waiting M codes: M300 to M399
When the M3LMT bit (bit 4 of parameter 0047) is set to 1
Normal M codes: M000 to M299 Waiting M codes: M300 to M999
NOTE In this parameter, set identical values for both tool posts.
������ Message Description
160 MISMATCH WAITING M– CODE
Different M code is commanded in tool post 1 and 2 as waiting M code. Modify the program.
CAUTION The waiting M code, unlike other M codes, does not issue code signal nor strobe signal.
Signal address
Parameter
Alarm and message
Caution
8. AUXILIARY FUNCTION B–61393E–2/02
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OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.24.2 WAITING FOR TOOL POST
Reference item
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9 SPINDLE SPEED FUNCTION
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When up to five digits are specified after address S, code and strobe signals are sent out and used to control the spindle speed. The code signals are retained until another S code is issued.
One S code is used for each block.
Refer to 8.1.
NOTE 1 When a move command and miscellaneous function are
specified in the same block, the commands are executed in one of the following two ways: i) Simultaneous execution of the move command and
miscellaneous function commands. ii) Executing miscellaneous function commands upon
completion of move command execution. The selection of either sequence depends on the PMC processing sequence.
2 For S code output when the spindle serial output/analog spindle output is used, refer to 9.3.
9.1 SPINDLE SPEED FUNCTION (S CODE OUTPUT)
General
Signal
Note
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There are two types of spindle motor control interfaces, spindle serial output and spindle analog output.
The table below lists the relationships between the spindle control interfaces and the configuration of the spindle.
Spindle serial output
Spindle analog output
First spindle Second spindle Third spindle
� × First serial spindle The PC can be used.
Second serial spindle The PC can be used. (*)
Analog spindle The PC cannot be used.
� × Serial spindle The PC can be used.
First analog spindle The PC can be used. (*)
Second analog spindle The PC can not be used.
× � First analog spindle The PC can be used.
Second analog spindle The PC can not be used. (*)
Third andlog spindle The PC can not be used.
× × See Section 9.1. ⇒ Controlled by the PMC using an external interface.
· PC = position coder
· (*) The multispindle function is necessary to use the position coder of the second spindle (T series only).
· See section 15.4 or 9.10 for how to control the speed of the second and third spindles.
9.2 SPINDLE SERIAL OUTPUT/SPINDLE ANALOG OUTPUT
9.2.1 General
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The table below lists the relationship between the spindles and functions.
��Available ×�Unavailable
Spindle Serial spindle Analog spindle
Spindle Function First serial
spindle Second serial
spindle
When used as the first spindle (with
no serial SP)
When used as the third spindle
(with a serial SP)
Thread cutting/feed per rotation (synchronous feed)
� � (*1) � ×
Constant surface speed control � � (*1) � ×
Spindle speed fluctuation detection � � (*1) � ×
Actual spindle speed output (T series)
� � (*1) � ×
Spindle positioning (T series) � × � ×
Cs contour control � × × ×
Multispindle (T series) (*2) �
(First spindle)
�
(Second spindle) ×
�
(Third spindle)
Rigid tapping � � (*1) � ×
Spindle synchronization � Master (*3) � Slave (*3) × ×
Spindle control unit functions (*4), such as spindle orientation, spindle output switch, and other types of spindle switching
� � � �
Polygon turning (T series) � � (*1) � ×
Spindle output control using PMC � � � �
NOTE 1(*1) The multispindle function (T series) is necessary. The
function cannot be used for the first and second spindles simultaneously.
2(*2) The multispindle function can control the speed of three spindles and switch the feedback signal between two position coders. It also can work without the second or third spindle.
3(*3) For 0–TTC, the first spindle on tool post 1 is the master, and the first spindle on tool post 2 is the slave. The second spindle of either tool post cannot be used in spindle synchronization.
4(*4) These functions belong to the spindle control unit. They cannot be used unless the spindle control unit supports those functions.
The signals and parameters for spindle speed control are common to both spindle serial output and spindle analog output. (See Section 9.3.)
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The table below lists the differences related to direct control of the spindle control unit.
Spindle control unit for spindle serial output inter-
face
Spindle control unit for spindle analog output in-
terface
Parameters for the spindle con- trol unit
Specified as CNC parame- ters (6000 to 6888/S1, S2) Used after being transferred to the spindle control unit
Directly specified for the spindle control unit
Control signal for the spindle con- trol unit
Connected to the PMC via the CNC G229 to G232 and F281 to F284: Addresses for the first spindle G233 to G236 and F285 to F288: Addresses for the second spindle
Connected to the PMC via an external contact
Spindle speed command inter- face
Digital data in a range from 0 to � maximum spindle motor speed
Analog voltage from 0 to �10 V (excluding portion for offset voltage adjust- ment)
Position coder interface
Connected to the CNC via the spindle control unit
Connected directly to the CNC
· Spindle control unit signals for the serial spindle
<G229 to G232> (input), <F281 to F284> → for the first serial spindle
<G233 to G236> (input), <F285 to F288> → for the second serial spindle
These addresses are on the CNC. Actually, however, they are input/output signals for the spindle control unit for the serial spindle.
For details of the signals belonging to these addresses, refer to the manuals for the serial spindle:
FANUC AC SPINDLE MOTOR series (Serial Interface) Descriptions (B–65042E) FANUC AC SPINDLE SERVO UNIT Serial Interface S series Maintenance Manual (B–65045E) FANUC SERVO AMPLIFIER� series Descriptions (B–65162E)
Signal
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#7 MRDYAG229
#6 ORCMA
#5 SFRA
#4 SRVA
#3 CTH1A
#2 CTH2A
#1 TLMHA
#0 TLMLA
RCHAG230 RSLA INTGA SOCNA MCFNA SPSLA *ESPA ARSTA
G231 NRROA ROTAA INDXA
#7 ORARAF281
#6 TLMA
#5 LDT2A
#4 LDT1A
#3 SARA
#2 SDTA
#1 SSTA
#0 ALMA
F282 PCFNA PCHPA CFINA CHPA
#7 MRDYBG233
#6 ORCMB
#5 SFRB
#4 SRVB
#3 CTH1B
#2 CTH2B
#1 TLMHB
#0 TLMLB
RCHBG234 RSLB INTGB SOCNB MCFNB SPSLB *ESPB ARSTB
G235 NRROB ROTAB INDXB
#7 ORARBF285
#6 TLMB
#5 LDT2B
#4 LDT1B
#3 SARB
#2 SDTB
#1 SSTB
#0 ALMB
F286 PCFNB PCHPB CFINB CHPB
#7 0071
#6 #5 #4 SRLS2P
#3 #2 #1 #0
[Data type] Bit
SRLS2P The number of connections in serial spindle control 0 : 1 1 : 2
NOTE To connect two serial spindles, set jumper S1 on the 1st serial spindle control unit to B.
Nos.6500 – 6635: S1→ For 1st serieal spindle Nos.6640 – 6775: S2→ For 2nd serial spindle
The above parameters are on the CNC, but actually they are used for the spindle control unit of serial spindle. For details of these parameters, refer to the following manual:
FANUC AC SPINDLE MOTOR� series PARAMETER MANUAL (B–65160E)
FANUC AC SPINDLE SERVO UNIT Serial Interface S series Maintenance Manual (B–65045E)
Signal address � For 1st SERIAL SPINDLE
� For 2ND SERIAL SPINDLE
Parameter � Connection of serial
spindle control unit
� Parameters of serial spindle control unit
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Number Message Description
408 SPINDLE SERIAL LINK START FAULT
This alarm is generated when the spindle con- trol unit is not ready for starting correctly when the power is turned on in the system with the serial spindle. The four reasons can be considered as fol- lows:
1) An improperly connected optic cable, or the spindle control unit’s power is OFF.
2) When the NC power was turned on under alarm conditions other than SU–01 or AL–24 which are shown on the LED dis- play of the spindle control unit. In this case, turn the spindle amplifier power off once and perform startup again.
3) Other reasons (improper combination of hardware)
4) The second spindle (when SRL2SP, bit 4 of parameter No.0071, is 1) is in one of the above conditions 1) to 3).
Note) This alarm does not occur after the system including the spindle control unit is activated.
409 SPINDLE ALARM DETEC- TION
A spindle amplifier alarm occurred in a system with a serial spindle. The alarm is indicated as “AL–XX” (where XX is a number) on the display of the spindle amplifier. For details, see Manuals for Serial spindle. Setting bit 7 of parameter No.0397 causes the spindle ampli- fier alarm number to appear on the screen.
750 First serial spindle: Load meter reading (%)
751 First serial spindle: Speed meter reading (rpm)
752 Second serial spindle: Load meter reading (%)
753 Second serial spindle: Speed meter reading (rpm)
To display the load and speed meter readings, the following parameters must be specified correctly. Maximum motor speed:
Parameter Nos.6520 and 6660 (main)/Nos.6160 and 6340 (sub) Load meter reading at maximum output:
Parameter Nos.6627 and 6767 (main)/Nos.6238 and 6418 (sub)
NOTE The spindle switch function is used for main/sub switching. Select main if the spindle switch function is not used.
Alarm and message
DIAGNOSIS SCREEN � Load and speed meter
readings for the serial spindle
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754 Master spindle motion error during spindle synchronization
755 Slave spindle motion error during spindle synchronization
756 Absolute value of synchronization error during spindle synchronization
The display for parameter Nos. 754 to 756 are in pulse units (one pulse = 360/4096 degrees)
� Position error display during spindle synchronization
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This section describes spindle speed control. It also explains the position coder and the spindle speed arrival signal (SAR).
9.3 SPINDLE SPEED CONTROL
General
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The following chart summarizes spindle speed control.
Output to the PMC (used for ladders)
Switching in the machine
←From the PMC
Machining program, etc. ↓
⋅ Processing for gear change (S command → spindle motor speed con- version) Clamp the speed according to parameters.
⋅ Command output to the spindle, spindle enable sig- nal output, gain, and offset
Gear select signal output (M series) (GR3O, GR2O, GR1O)
⋅ Spindle stop signal/spindle orientation signal
⋅ Spindle override signal (*SSTP/SOR, SPA to SPC (M), SPA to SPD (T))
Input the gear select signal (GR1, GR2).
CNC output specification (result of speed conversion) S12 bit code output (R12O to R01O)
Specify output polarity in the CNC. (M03/M04 and parameter TCW, CMM (No.0013#6, #7))
Thread cutting, feed per rotation, etc.
⋅ Position coder feedback signal
SensorsInput the spindle amplifier control signal from the PMC, etc.
⋅ S command
⋅ S code/SF signal output .
⋅ Determine the output. (Selected by the SIND signal)
← Output specification by the PMC (set to R12I to R01I)
⋅ Determination of output polarity (Selected by the SSIN signal)
← Polarity specification by the PMC (set to SGN)
⋅ Control over the start of cutting feed.
Input the spindle speed arrival signal (SAR).
Monitor the arrival spindle speed
Spindle amplifier
Spindle motor
Position coder
Gear change mechanism
Spindle
Mechanical section of the machine
CNC PMC and machine
Output to the PMC (to change the machine gear).
Output to the PMC (to be used for ladders).
←From the PMC
←From the PMC
←
Command flow of spindle speed control
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The S command specifies the spindle speed entered from machining programs, etc. for the CNC.
For constant surface speed control (during G96 mode), the CNC converts the specified surface speed to the spindle speed.
In the M series without the constant surface speed control option, the CNC specifies the gear stage for the desired spindle speed to the PMC according to parameter Nos. 3741, 3742, and 3743, and the S command.
(GR3O, GR2O, GR1O <F152#2, #1, #0>)
With the spindle serial output or spindle analog output option, the spindle control function in the CNC converts the S command value to the output value for the spindle motor. Unlike a system without such options, the system with the options responds to the S command with the S code/SF signals as follows to enable gear change and constant surface speed control:
M series→ Outputs the S code. The SF signal is output only when the CNC directs the PMC to change the gear.
T series→ Outputs neither S code nor SF signal. (This is because the S code is not always the spindle speed when the constant surface speed control option is used.)
This signal sets the S command value in the CNC to 0. If the CNC has the spindle output specified (see descriptions on the SIND signal), this signal sets the speed command for the spindle to 0.
Even if the function of the spindle stop signal is not used, the signal must be set to logical 1 for the CNC to perform spindle speed control.
If the spindle orientation signal is logical 1 and the spindle stop signal is logical 0, the spindle rotates in the direction specified by bit 5 (ORCW) of parameter No.0013 at a constant speed specified by parameter No.0108.
Because the spindle rotates at a constant speed regardless of the gear stage, this signal can be used to rotate the spindle to drive the stopper or pin during mechanical spindle positioning.
In the M series, specifying bit 5 (GST) of parameter No.0003 causes the spindle motor to rotate at constant speed. This function can be used for gear shifting because it maintains a constant speed of the gear change mechanism.
This signal specifies an override of 50% to 200% (T series)/50% to 120% (M series) for the specified S value for spindle control.
However, the spindle speed override function is disabled when the CNC is in the following state:
Tapping cycle (G84, G74) for the M series Thread cutting (G32, G92, G76) for the T series
When the spindle speed control is performed but the spindle speed override is not used, set the override value to 100%.
� S command
� S code/SF signal output
� Spindle stop signal (*SSTP)
� Spindle orientation signal (SOR)
� Spindle speed override signal (SPA to SPD (T series)/ SPA to SPC (M series))
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Although the S command contains the spindle speed, the object that is actually controlled is the spindle motor. Therefore, the CNC must have some provision to detect the gear stage between the speed and spindle motor. There are two types of gear selection methods:
M type The CNC selects a gear stage according to the range of speed for each gear stage previously specified in a parameter, as directed by the S command, and informs the PMC of the selected gear stage (one of the three gear stages ) using the gear select signal output (GR3O, GR2O, GR1O). Also, the CNC outputs the spindle speed based on the selected gear stage (output as the gear select signal).
T type The gear stage (one of the four gear stages ) being currently used by the machine is input in response to the gear select signal inputs (GR1, GR2). The machine determines which gear to use. The CNC outputs the spindle speed that corresponds to the gear stage input.
The M series system can use either M or T type.
M type ← Without constant surface speed control option. T type ← With constant surface speed control.
The T series system can use only T type.
By specifying from S0 to S99999 in memory or MDI operation, the CNC outputs a command corresponding to the spindle speed. There is a two-speed (GR1O and GR2O) or three-speed range (GR1O, GR2O, GR3O), set by parameter nos. 0541, 0539, and 0555, and the gear selection signal is output simultaneously. When the gear selection signal is changed, the SF signal is output at the same time (parameter SFOUT no. 0020#7). The meaning of the gear signals is shown below:
Gear 2–stage Gear 3–state Remarks
GR1O Low Low Low :Low Gear
GR2O High Middle Middle :Middle Gear
Hi h Hi h G GR3O High
High :High Gear
The speed commands output to the spindle motor are as follows:
⋅ For the serial spindle, the speed commands are processed as values 0 to 16383 between the CNC and spindle control unit.
⋅ For the analog spindle, the speed commands are output to the analog voltage signal SVC as analog voltages 0 to 10 V.
The following descriptions exemplify the analog spindle. However, they can be applied to the serial spindle on the assumption that spindle motor speed with analog voltage 10 V corresponds to the maximum spindle motor speed.
� Processing for gear changing
� Selection of gear change system
� Details of M type (Output of GR1O, GR2O, GR3O)
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� M type gear change method A (Fig. 9.3.1 (a))
(GR3O)GR2O (GR2O)GR1O
(GR1O)
10V
A B
C
C× Vmax
4095 B×
Vmax
4095 A×
Vmax
4095 A×
Vmin
4095
Spindle motor speed command (Analog voltage command)
Upper limit of spindle speed (Vc)
Spindle speed command (S code input)
For gear 2-stage
( ) for gear 3-stage
Fig.9.3.1 (a) S code input and output voltage
Set the following values as parameters:
· Constant Vmax: for upper limit of spindle speed (parameter No.0542)
Vmax=4095× Upper limit of spindle speed
Spindle speed at command voltage 10V
· Constant Vmin; for lower limit of spindle speed (parameter No.0543)
Vmin=4095× Lower limit of spindle speed
Spindle speed at command voltage 10V
· Spindle speed A (rpm) ; at command voltage 10V and low gear (parameter No.0541)
· Spindle speed B (rpm) ; at command voltage 10V and high gear (or middle-high gear) (parameter No.0539)
· Spindle speed C (rpm) ; at command voltage 10V and high gear (parameter No.0555) (for gear 3–stage)
NOTE If a specified voltage of 10 V is already higher than the acceptable input voltage for the spindle drive system, calculate the spindle speed that corresponds to 10 V using a proportional calculation method and use it instead. Now, in response to the specified S code, the speed command and gear select commands (G3O, G2O, G1O) are output to the spindle motor as shown in Fig.9.3.1 (a).
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� Gear change point during tapping cycle mode (G84, G74)
In case of G84 (tapping cycle) or G74 (counter tapping cycle) the gear shift speed is changed by parameter G84S (No.0012#6). In this case, gear shift (high–speed/low–speed) is performed at the speed set by parameter Nos.0540 and 0556 (Fig. 9.3.1 (b)).
D : Gear shift point (parameter No.0540) for low/high speed change (or low/medium speed change) (set by parameter as rpm value) during tapping.
E : Gear shift point (parameter No.0556) (3-stage gear) for medium/high speed change (set by parameter as rpm value) during tapping.
GR2O
GR1O
10V
A B CD E
Spindle motor speed command (analog voltage output)
Upper limit voltage of spindle motor speed (Vc)
Spindle speed command (S code input)
Fig.9.3.1 (b) S code input and output analog voltage (in tapping)
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� M type gear change method B (M series) (Fig. 9.3.1 (c))
The speed (rpm) at which the low-speed and the high-speed gears are changed over can be set as a parameter (No.0585) by setting parameter LGCM No.0035#6. When a 3-step gear is used, it is possible to set the speeds (rpm) for switching low-speed and medium-speed gears, and medium-speed and high-speed gears, using parameters Nos.0585, 0586.
GR3O
GR2OGR1O
10V
VC
VH
VL
A B C
Spindle speed command (S code input)
A× Vmin
4095 C×
Vmax
4095 B×
Vmaxh
4095 A×
Vmaxl
4095
VC: Voltage corresponding to the upper limit of output value to spindle motor.
VH: Voltage corresponding to the upper limit of output value to spindle motor with high-speed gears (medium speed gear for 3-step gear)
VL: Voltage corresponding to the upper limit of output value to spindle motor at low-speed gear
Spindle motor speed command (analog voltage output)
Fig.9.3.1 (c) M type gear change B
When using this function, set the following parameters:
· Constant Vmax (Parameter No.0542) related to the upper limit of spindle motor speed (rpm)
Upper limit of spindle motor speed (rpm)
Spindle motor speed (rpm) when the command voltage is 10V Vmax = 4095×
· Constant Vmin (Parameter No.0543) related to the lower limit of spindle motor speed (rpm)
Vmin = 4095× Lower limit of spindle motor speed (rpm)
Spindle motor speed (rpm) when the command voltage is 10V
· Constant Vmaxl (Parameter No.0585) related to the upper limit of spindle motor speed (rpm) with low-speed gears
Vmaxl = 4095× Upper limit of spindle motor speed (rpm) with low-speed gears
Spindle motor speed (rpm) when the command voltage is 10V
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· Constant Vmaxh (Parameter No.0586) related to the upper limit of spindle motor speed (rpm) with high-speed gears (medium-speed gear for 3-step gear)
Vmaxh = 4095× Upper limit of spindle motor speed (rpm) with high-speed gears (medium-speed gear for 3-step gear)
Spindle motor speed (rpm) when the command voltage is 10V
· Spindle speed A (Parameter No.0541) (rpm) with low-speed gears when the command voltage is 10V
· Spindle speed B (Parameter No.0539) (rpm) with high-speed gears when the command voltage is 10V (medium-speed gear for 3-step)
· Spindle speed C (Parameter No.0555) (rpm) with high-speed gears when the command voltage is 10V (3-step gear)
Spindle motor speed commands (0 to 10V) and gear selecting signals (GR1O, GR2O, GR3O) are issued on each S code command as shown in the figure:
CAUTION 1 In a tapping cycle when parameter G84S (No.0012#6) is
set, the gears are changed over at the gear changing point for tapping.
2 For this function (parameter LGCM=1 (No.0035#6)), when only one-step gear is used, the voltage corresponding to the upper limit value to the spindle motor is calculated using Vmaxl, and when 2-step gear is used, it is calculated according to Vmaxh. Therefore, set Vmaxl when only one-step gear is used, Vmaxl and Vmaxh when 2-step gear is used.
When S code is commanded, the I/O signal time chart is :
� When Gear select signal does not change
To next block
S code read
VL
Spindle speed command output
0V
VH
Fig. 9.3.1 (d) Time chart when gear select signal does not change
In this case, the SF signal is not output and the CNC advances to the next block automatically after the next spindle speed command is output.
� Time chart
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� When Gear select signal change
Gear select signal
SF
S code read
0V
TFIN
TMF
TMF
To next block
FIN
VL
Spindle speed command VH
GR3O /GR2O /GR1O
Fig.9.3.1 (e) Time chart when gear select signal changes
In this case, the gear select signal is output; after elapse of the time constant set by parameter (TMF), the SF signal is output. After another TMF elapse, the spindle speed command is output. On the PMC side, change the gears by this signal, and return the FIN signal after the end of gear change. The time chart for SF and FIN signals is the same as in S code output. TMF, set by parameter No.0009#4 to #7, is common to M, S and T functions.
Moreover, specifying bit 7 (SFOUT) of parameter No.0020 can specify that the SF signal be output even if no gear change is used.
To perform the T type gear changing, the maximum spindle speed for each gear select signal issued from the PMC side must be set by parameter Nos. 0540 – 0543. The gear select signal is a 2 bit code signal (GR1, GR2). The relationship between the signal and gear number is :
GR1 GR2 Gear No. Parameter No. for max.spindle speed
0 0 1 No.0540
1 0 2 No.0541
0 1 3 No.0542
1 1 4 No.0543
The following descriptions exemplify the analog spindle. Like the descriptions of the M type, they also apply to the serial spindle on the assumption that spindle motor speed with analog voltage 10 V corresponds to the maximum spindle motor speed.
� Details of T type (Input of GR1, GR2)
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In addition, for the speed command output to the spindle motor, analog voltages 0 to 10 V for analog spindle control correspond to digital data 0 to 16383 for serial spindle control. However, it might be easier if you consider them code signals from 0 to 4095 for convenience sake without distinguishing between serial and analog spindles.
Assume that gear switching is two stage switching. If the spindle speed with the output voltage 10 V is 1000 rpm for the low speed gear (G1) and 2000 rpm for the high speed gear (G2), set these speeds by the parameter Nos.0540, 0541. In this case, the analog voltage has the linear relationship shown below.
When gear 2 selected
When gear 1 selected
Volt 0 V2 V1 10
600rpm
1000rpm
2000rpm N
When spindle speed S=600 is given, V1 (for G1) or V2 (for G2) is calculated inside the CNC and output to the machine side.
V1: 6(V) V2: 3(V)
The value of output voltage V is calculated automatically from the following equations:
V= 10N
R
R: Spindle speed at 10V output voltage
N: Spindle speed given by S5-digits
This is equivalent to the G97 mode for constant surface speed control.
See Section 9.4 for operations during the constant surface speed control mode (G96).
In addition, parameter No.0556 (upper limit to the spindle speed) can specify speed clamping for all gear positions.
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(Reference) Block Diagram for Analog Voltage Output
rpm/10V
X–axis pres- ent value
Power magnetics cabinet
Gear change command
Speed control
D-A converter
Constant surface speed control
Motor speed conversion
Full scale conversion
Gear change
r
[Surface speed]
S(m/min) M code
CNC
GR1, GR2
gear select signal
(�������)
Spindle motor
SF signal is not sent.
Parameter
SVC
G96 G97
S (rpm)
With the constant surface speed control option equipped.
Spindle speed command
Using the above processing for gear change, the CNC calculates the speed command output to the spindle motor that is necessary to obtain the specified spindle speed with the gear.
For either serial spindle or analog spindle control, the calculation results are output as the S12 bit code signal from 0 to 4095 to the PMC.
(R01O to R12O<F172#0 to F173#3>)
After the calculation results are received, the SIND signal <G125#7> determines which is to be used, the speed command output calculated by the CNC or the data specified in the PMC. Thus speed command output control for the spindle motor is determined. (See also Section 15.4.)
The speed command output to the spindle motor is determined as described above, but the actually used output polarity is determined by the CNC as follows:
⋅ If bit 7 (TCW) of parameter No.0013 = 0 → Determined according to bit 6 (CWM) of parameter No.0013
⋅ If bit 7 (TCW) of parameter No.0013 = 1 → Determined according to bit 6 (CWM) of parameter No.0013 and
M03/M04 given to the CNC
After that, the SSIN signal <G125#6> determines which is to be used, the output polarity calculated by the CNC or the polarity specified in the PMC. In this way, the output polarity of the speed command output to the spindle motor is determined. (See also Section 15.4.)
Keep in mind the following: Even with bit 7 (TCW) of parameter No.0013 = 1, the CNC cannot determine the output polarity if it has not issued M03/M04, and therefore, actual output does not work even if the speed command output has been specified.
� Determination of output R12O–R01O (Output) R12I–R01I (Input) SIND (Input)
� Determination of output polarity SSIN/SGN (Input)
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According to the speed command output and the polarity determined so far, the command is sent to the spindle control unit as follows:
⋅ For serial spindle → Digital data 0 to �16383 ⋅ For analog spindle→ Analog voltage 0 to �10 V
After power is switched on, a nonzero command is output to the spindle only when the following conditions are met: A nonzero spindle speed command is specified, and the output polarity is determined.
With bit 7 (TCW) of parameter No.0013 = 1, no command output is sent to the spindle, because the output polarity is not determined until an M03/M04 is issued.
The command output to the spindle is reset to 0 when a command to specify so (such as *SSTP = 0 or S0 command) is issued. M05, emergency stop, or reset does not cause the CNC to reset the command output to the spindle to 0.
Another output related to spindle control is the spindle enable signal ENB.
The ENB signal is logical 1 when a nonzero command output is sent to the spindle. If the command is logical 0, the ENB signal becomes logical 0.
When the analog spindle is being used, an offset voltage in the spindle motor speed amplifier may cause the spindle motor to rotate at low speed even if the command output (in this case, analog voltage) to the spindle is zero. The ENB signal can be used to stop the motor in such a case.
The analog spindle may require gain and offset voltage adjustment depending on the spindle motor speed amplifier being used.
The following parameters are available for such adjustment.
⋅ Analog spindle as the first spindle → Gain adjustment data: Parameter No.0516
Offset voltage compensation: Parameter No.0577 (M)/0539 (T)
⋅ Analog spindle as the second spindle → Gain adjustment data: Parameter No.0613
Offset voltage compensation: Parameter No.0614
⋅ Analog spindle as the third spindle → Gain adjustment data: Parameter No.0617
(valid for multispindle control) Offset voltage compensation: Parameter No.0618
The position coder is necessary for thread cutting or feed per rotation. (For the M series, a software option must also be purchased.)
The position coder detects the actual spindle speed and the one–rotation signal (used to detect a fixed point on the spindle for thread cutting).
Ideally, the position coder should be connected directly to the spindle (with a gear ratio of 1:1). If it is necessary to use a gear, select a gear ratio from 1:1, 1:2, 1:4, and 1:8 that reduces the position coder speed.
When using a gear between the spindle and position coder, specify the gear ratio in bits 6 and 7 (PSG1, PSG2) of parameter 0028 (M series)/bits 6 and 7 (PSG1, PSG2) of parameter 0003 (T series).
See Section 9.11 for position coder connection for rigid tapping.
� Command output to spindle
� Requirement of output
� Requirement to stop output
� Spindle enable signal ENB <F149#4>
� Gain and offset
� Position coder feedback signal
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The spindle speed arrival signal SAR is an input signal used as a condition to cause the CNC to start cutting feed. This signal is used generally when cutting feed should be started after the spindle reaches the specified speed.
In this case, a sensor is used to check the spindle speed. The detected speed is sent to the CNC via the PMC.
When the above operation is performed using the PC ladder regularly, however, cutting feed may be started based on the SAR signal indicating the previous spindle state (spindle speed before change), if the spindle speed change command and the cutting feed command are issued at the same time.
To avoid the above problem, monitoring the SAR signal can be deferred for a time specified by parameter No.0110 after the S command or cutting feed command was issued.
When using the SAR signal, set bit 2 (SCTO) of parameter No.0024 to 1.
Bit 6 (CSCT) of parameter No.0700 on the diagnosis screen is kept at 1 while this function is keeping the cutting feed block at a halt.
[Classification] Input signal
[Function] The command output to the spindle is held.
[Operation] When the spindle stop signal turns to “0” , the output voltage becomes 0V and the enable signal ENB turns to “0” (M05 is not output). When this signal turns to “1”, the analog voltage returns to its original value and the ENB signal turns to “1”.
Input command
S×××× M03 M05 M04 S0
Miscellaneous function processing
Spindle stop signal *SSTP
���
���
Enable signal ENB
Analog voltage 0V
The above time chart is an example. Actually, the time chart should meet the specification of the spindle control unit.
· When this signal is not used, always set the signal to “1”.
· M03, M04, M05 are not processed inside the CNC.
� Speed arrival signal (SAR)
Signal
Spindle stop signal *SSTP<G120#6>
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[Classification] Input signal
[Function] The spindle or the spindle motor is rotated at a constant speed.
[Operation] When the spindle orientation signal turns to “1” and the spindle stop signal *SSTP turns to “0”, a spindle speed command which lets the spindle rotate at the constant speed set by parameter No.0108 is output. The enable signal ENB also turns to “1”. This signal is disabled when the spindle stop signal is “1”. In M series, when the spindle speed for orientation is set by parameter GST No.0003#5 and the SOR signal is input, the CNC outputs the spindle speed command corresponding to the speed set to parameter 0108 with an output polarity set by parameter ORCW (No.0013#5), but the gear select signal does not change. For example, if the SOR signal is turned to “1” with high gear selected, and the speed set to parameter No.0108 is in the low gear range, the gear select signal does not change and the command output is calculated and output to obtain the set speed at high gear. When the spindle motor speed is set by parameter GST (No.0003#5)=1, the command output is output regardless of gear select signal. When the spindle motor speed is set, it is used for gear shift. Example of usage is shown below:
Max. 70ms
M19 Input command
Miscellaneous function processing
Spindle stop signal *SSTP
Enable signal ENB
Command output to the spindle 0
Stop command Orientation detection
M03
Spindle orientation signal SOR
Max. 70ms
RL: Constant speed set by parameter No.0108
Spindle speed
0 rpm
Spindle orientation signal SOR<G120#5>
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[Classification] Input signal
[Function] The spindle speed override signal specifies an override from 50% to 200% (T)/from 50% to 120% (M) in 10% units for the S command sent to the CNC.
[Operation] (M series)
Spindle override Machine contact statusp value SPA SPB SPC
50% 1 1 1
60% 0 1 1
70% 0 1 0
80% 1 1 0
90% 1 0 0
100% 0 0 0
110% 0 0 1
120% 1 0 1
(T series)
Spindle override Machine contact statusp value SPA SPB SPC SPD
50% 1 1 1 0
60% 0 1 1 0
70% 0 1 0 0
80% 1 1 0 0
90% 1 0 0 0
100% 0 0 0 0
110% 0 0 1 0
120% 1 0 1 0
130% 1 0 1 1
140% 1 1 1 1
150% 0 1 1 1
160% 0 1 0 1
170% 1 1 0 1
180% 1 0 0 1
190% 0 0 0 1
200% 0 0 1 1
1 : Contact is closed. 0 : Contact is opened.
Spindle speed override signal SPA to SPD<G103#2 to #5>(T series)/ SPA to SPC<G103#3 to #5>(M series)
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The spindle speed override function is disabled (an override of 100% is applied) under the following conditions:
⋅ Tapping cycle (G84, G74), M series ⋅ Thread cutting (G32, G92, G78), T series → When this function is not in use, specify an override of 100%.
[Classification] Input signal
[Function] The SAR signal initiates cutting feed. In other words, if the signal is logical 0, cutting feed will not start.
[Operation] Generally, this signal is used to inform the CNC that the spindle has reached the specified speed.
For this purpose, the signal must be set to 1 only after the actual speed of the spindle has reached the specified speed.
Setting parameter No.0110 with a wait time before the start of checking the SAR signal inhibits cutting feed from starting under a condition of SAR = 1 specified before the change of the spindle command.
To use the SAR signal, it is necessary to set bit 2 (SCTO) of parameter No.0024 to 1.
The CNC checks the SAR signal under the following conditions:
(a) Bit 2 (SCTO) of parameter No.0024 is set to 1.
(b)Before starting distribution of the first feed (move command) block after shifting from the rapid traverse mode to the cutting feed mode. This checking is performed after the time set by parameter No.0110 has elapsed after the feed block is read.
(c) Before starting distribution of the first feed command block after an S code is commanded. The wait time for checking is the same as in item (b).
(d)When an S code and feed are programmed in the same block, the S code (or command output to the spindle) is output, and the SAR signal is checked after a fixed time elapses. If the SAR signal is set to “1”, feed begins.
CAUTION According to the conditions of item (d) above, note that if the circuit is so designed that SAR is turned to “0” simultaneously with the output of an S code and the change of spindle speed is gated with DEN signal, the operation will stop. That is, the spindle speed does not reach the commanded speed because the CNC is waiting for the DEN signal and distribution is not started because the CNC is waiting for the SAR signal.
Spindle speed arrival signal SAR <G120#4>
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[Classification] Output signal
[Function] Informs absence or presence of spindle output command.
[Output condition] The ENB signal becomes logical 0 when the command output to the spindle becomes logical 0. Otherwise, the signal is logical 1.
During analog spindle control, S0 may not be able to stop the spindle from rotating at low speed because of an offset voltage in the spindle motor speed control amplifier. In such a case, the ENB signal can be used to provide a condition to determine whether to stop the motor.
The ENB signal can be used also for serial spindle control.
[Classification] Output signal
[Function] The gear select signal specifies a gear stage to the PMC.
[Output condition] For details of this signal, see descriptions on the M type gear selection method in General.
[Classification] Input signal
[Function] This signal informs the CNC of the gear stage currently selected.
[Output condition] For details of this signal, see descriptions on the T type gear selection method in General.
Spindle enable signal ENB<F149#4>
Gear selection signal GR1O, GR2O, GR3O <F152#0 to #2>(M series)
Gear selection signal GR1, GR2 <G123#2, #3>(M series)/ <G118#2, #3>(T series)
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[Classification] Output signal
[Function] This signal converts the spindle speed command value calculated by the CNC to code signals 0 to 4095.
[Output condition] The relationship between the spindle speed command value (calculated by the CNC) and the value output by this signal is as shown below.
0
S12 bit code signal
4095
0 16383 (Digital data) ← Serial spindle 10V (Analog voltage) ← Analog spindle
This signal converts the spindle speed command value calculated by the spindle control function of the CNC to data from 0 to 4095 (for both serial and analog spindle control) and outputs the result. Note that the conversion result is not the actual output value. (See Section 15.4.)
See Sections 9.1 and 15.4 for these signals.
See Section 15.4 for these signals.
S12–bit code signal R01O to R12O <F172#0 to F173#3>
Other signals
Spindle speed function code signal S11 to S28<F152> (Output) Spindle speed function strobe signal SF<F150#2>(Output)
Spindle speed output control signal by PMC SIND<G125#7>(Input) R01l to R12l <G124#0 to G125#3> (Input) SSIN<G125#6>(Input) SGN<G125#5>(Input)
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#7 G103
#6 #5 SPC
#4 SPB
#3 SPA
#2 SPD
#1 #0 (T series)
G103 SPC SPB SPA (M series)
G120 *SSTP SOR SAR
G123 GR2 GR1
R08IG124 R07I R06I R05I R04I R03I R02I R01I
SINDG125 SSIN SGN R12I R11I R10I R09I
G145 *SSTP3 *SSTP2 *SSTP1 SWS3 SWS2 SWS1 (T series)
#7 F149
#6 #5 #4 ENB
#3 #2 #1 #0
F150 SF
S28F152 S24 S22 S21 S18 S14 S12 S11
R08OF172 R07O R06O R05O R04O R03O R02O R01O
F173 R12O R11O R10O R09O
#7 0003
#6 #5 GST
#4 #3 #2 #1 #0 (T series)
[Data type] Bit
GST The SOR signal is used for: 0 : Spindle orientation 1 : Gear shift
#7 PG20003
#6 PG1
#5 #4 #3 #2 #1 #0 (T series)
PG20028 PG1 (M series)
[Data type] Bit
PG2, PG1 Gear ratio of spindle to position coder
Spindle speed
Number of position coder revolutions
Magnification PG2 PG1
�1 0 0
�2 0 1 Magnification= �4 1 0
�8 1 1
Signal address
Parameter
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#7 0012
#6 G84S
#5 #4 #3 #2 #1 #0 (M series)
[Data type] Bit
G84S Gear switching method during tapping cycle (G84 and G74) 0 : Method A (Same as the normal gear switching method) 1 : Method B (Gears are switched during tapping cycle according to the
spindle speed set in parameters 0540 and 0556).
#7 TCW0013
#6 CWM
#5 ORCW
#4 #3 #2 #1 #0
[Data type] Bit
ORCW Voltage polarity during spindle orientation 0 : Positive 1 : Negative
TCW, CWM Voltage polarity when the spindle speed voltage is output
TCW CWM Voltage polarity
0 0 Both M03 and M04 positive
0 1 Both M03 and M04 negative
1 0 M03 positive, M04 negative
1 1 M03 negative, M04 positive
#7 SFOUT0020
#6 #5 #4 #3 #2 #1 #0 (M series)
[Data type] Bit
SFOUT The SF signal is output: 0 : When gears are switched 1 : Irrespective of whether gears are switched
#7 0029
#6 #5 #4 SFOB
#3 #2 #1 #0 (M series)
[Data type] Bit
SFOB When an S code command is issued in constant surface speed control, 0 : SF is output. 1 : SF is not output.
#7 0035
#6 LGCM
#5 #4 #3 #2 #1 #0 (M series)
[Data type] Bit
LGCM Gear switching method 0 : Method A (Parameters 0542 and 0543 for the maximum spindle speed
at each gear are used for gear selection.) 1 : Method B (Parameters 0585 and 0586 for the spindle speed at the gear
switching point are used for gear selection.)
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#7 0049
#6 #5 #4 #3 #2 #1 #0 EVSF (T series)
[Data type] Bit
EVSF When the spindle control function (S analog output or S serial output) is used, S codes and SF are: 0 : Not output for an S command. 1 : Output for an S command.
#7 0071
#6 #5 #4 #3 #2 #1 HISSC
#0 (T series)
[Data type] Bit
HISSC The sampling frequency to obtain the average spindle speed 0 : 4 (Normally, set to 0.) 1 : 1
0108 The spindle speed during spindle orientation or the spindle motor speed during spindle gear shift
[Data type] Byte
[Valid data range] 0 to 255
Set the spindle speed during spindle orientation or the spindle motor speed during gear shift. When GST, #5 of parameter 0003, is set to 0, set the spindle speed during spindle orientation in rpm. When GST, #5 of parameter 0003, is set to 1, set the spindle motor speed during spindle gear shift calculated from the following formula.
Set value = ×4095 (For an analog spindle) Spindle motor speed during spindle gear shift
Maximum spindle motor speed
0110 Time elapsed prior to checking the spindle speed arrival signal
[Data type] Byte
[Unit of data] msec
[Valid data range] 0 to 225
Set the time elapsed from the execution of the S function up to the checking of the spindle speed arrival signal.
0516 Data used for adjusting the gain of the analog output of spindle speed
[Data type] Word
[Unit of data] 0.1 %
[Valid data range] 700 to 1250
Set data used for adjusting the gain of the analog output of spindle speed. [Adjustment method] (1)Assign standard value 1000 to the parameter.
(2)Specify the spindle speed so that the analog output of the spindle speed is the maximum voltage (10 V).
(3)Measure the output voltage.
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(4)Assign the value obtained by the following equation to parameter No.0516.
Set value= × 1000 Measured data (V)
10 (V)
(5)After setting the parameter, specify the spindle speed so that the analog output of the spindle speed is the maximum voltage. Confirm that the output voltage is 10V.
NOTE This parameter needs not to be set for serial spindles.
0539 Compensation value for the offset voltage of the analog output of the spindle speed (T series)
0577 Compensation value for the offset voltage of the analog output of the spindle speed (M series)
[Data type] Word [Unit of data] Velo
[Valid data range] –1024 to+1024
Set compesation value for the offset voltage of the analog output of the spindle speed. Set value =–8191�Offset voltage (V)/12.5
[Adjustment method] (1)Assign standard value 0 to the parameter. (2)Specify the spindle speed so that the analog output of the spindle speed
is 0. (3)Measure the output voltage. (4)Assign the value obtained by the following equation to parameter
No.0539 (T)/0577 (M).
Set value= 12.5
–8191 × Offset voltage (V)
(5)After setting the parameter, specify the spindle speed so that the analog output of the spindle speed is 0. Confirm that the output voltage is 0V.
NOTE This parameter need not to be set for serial spindles.
0540 Maximum spindle speed for gear 1
0541 Maximum spindle speed for gear 2
0542 Maximum spindle speed for gear 3
0543 Maximum spindle speed for gear 4
[Data type] Word [Unit of data] rpm
[Valid data range] 0 to 32767 Set the maximum spindle speed corresponding to each gear.
NOTE These parameters are valid when a T type gear is selected.
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0540 Spindle speed when switching from gear 1 to gear 2 during tapping (M series)
0556 Spindle speed when switching from gear 2 to gear 3 during tapping (M series)
[Data type] Word
[Unit of data] rpm
[Valid data range] 0 to 32767
When method B is selected (G84S, #6 of parameter 0012, is set to 1) for the tapping cycle gear switching method, set the spindle speed when the gears are switched.
Max. speed (4095, 10V)
Spindle motor max. clamp speed (Parameter No.0542)
Spindle motor minimum clamp speed (Parameter No.0543)
Spindle motor speed
Spindle speed command (S command)
Gear 1 Max. speed Parameter No.0541
Gear 2 Max. speed Parameter No.0539
Gear 3 Max. speed Parameter No.0555
Gear 1–2 change point parameter No.0540
Gear 2–3 change point parameter No.0556
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0542 Maximum clamp speed of the spindle motor (M series)
[Data type] Word
[Valid data range] 0 to 4095
Set the maximum clamp speed of the spindle motor.
Set value = ×4095 Maximum clamp speed of the spindle motor
Maximum spindle motor speed
Spindle motor speed
Max. speed (4095, 10V)
Spindle motor max. clamp speed (Parameter No.0542)
Spindle motor minimum clamp speed (Parameter No.0543)
Spindle speed (S command)
0543 Minimum clamp speed of the spindle motor (M series)
[Data type] Word
[Valid data range] 0 to 4095
Set the minimum clamp speed of the spindle motor.
Set value = ×4095 Minimum clamp speed of the spindle motor
Maximum spindle motor speed
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0556 Maximum spindle speed
[Data type] Word
[Unit of data] rpm
[Valid data range] 0 to 32767
This parameter sets the maximum spindle speed. When a command specifying a speed exceeding the maximum speed of the spindle is specified , or the speed of the spindle exceeds the maximum speed because of the spindle speed override function, the spindle speed is clamped at the maximum speed set in the parameter.
WARNING 1 When 0 is set in this parameter, the speed of the spindle is
not clamped. 2 When spindle speed command control is applied using the
PMC, this parameter has no effect, and the spindle speed is not clamped at the maximum speed.
NOTE 1 In the M series, this parameter is valid when the constant
surface speed control option is selected. 2 When the constant surface speed control option is selected,
the spindle speed is clamped at the maximum speed, regardless of whether the G96 mode or G97 mode is specified.
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0585 Spindle motor speed when switching from gear 1 to gear 2 (M series)
0586 Spindle motor speed when switching from gear 1 to gear 3 (M series)
[Data type] Word
[Valid data range] 0 to 4095
For gear switching method B, set the spindle motor speed when the gears are switched.
Set value = ×4095 Spindle motor speed when the gears are switched
Maximum spindle motor speed
Spindle motor max. clamp speed Parameter No.0542
Parameter No.0586
Spindle speed command (S command)
Max. speed (4095, 10V)
Speed at gear 1–2 change point Parameter No.0585
Spindle motor minimum clamp speed
Parameter No.0543
Spindle motor speed
Gear 1 max. speed parameter No.0541
Gear 2 max. speed parameter No.0539
Gear 3 max speed parameter No.0555
Gear 1–2 change point
Gear 2–3 change point
Speed at gear 2–3 change point
0613 PSANG2
PSANG2 Set data used for adjusting the gain of the second spindle. The setting method is the same as that for the corresponding parameter for the first spindle (parameter 0516).
0614 SPDLC2
SPDLC2 Set an offset compensation value for the spindle speed of the second spindle. The setting method is the same as that for the corresponding parameter for the first spindle (parameter 0539).
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0615 Maximum spindle speed for gear 1 of the second spindle (T series)
0616 Maximum spindle speed for gear 2 of the second spindle (T series)
[Data type] Word
[Unit of data] rpm
[Valid data range] 0 to 32767
Set maximum spindle speeds for the gears of the second spindle.
NOTE These parameters are provided for multiple–spindle control.
0617 PSANG3
PSANG3 Set the data used for adjusting the gain of the third spindle. The setting method is the same as that for the corresponding parameter for the first spindle (parameter 0516).
0618 Offset–voltage compensation value of the analog output of the third–spindle speed (T series)
[Data type] Word
[Unit of data] Velo
[Valid data range] –1023 to 1024
Set a compensation value for the offset voltage of the analog spindle speed output of the second spindle when multiple–spindle control is applied.
0619 G3MAX1
0620 G3MAX2
G3MAX2, G3MAX1 Speeds of the first and second gears of the third spindle, respectively, when 10 V is specified in the spindle speed command
[Valid data range] 1 to 19999
[Unit of data] rpm
CAUTION This section mentioned a spindle speed control that should be prepared on the CNC side. But it is also necessary to design the signals to the spindle control unit. Consult the manual of the spindle control unit used and take necessary actions on the spindle control unit.
Caution
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In 0–TTC, the additional tool post section (tool post No. 2) can have the same spindle interface as a one–tool post lathe (see Section 9.2.).
Each spindle is controlled by a command issued by tool post 1 or 2. Which spindle is controlled by which tool post can be switched by signals.
This section describes the configuration of 0–TTC and how it is controlled.
In 0–TTC, there are two selectable configurations, a configuration in which the entire system uses one spindle (one–spindle control) and a configuration in which each spindle is controlled separately (two–spindle control). Parameter No. 0047#3 (2SP) is used to select a configuration.
The spindle interface for tool post 2 is not used.
The spindle command select signal SLSPA<G133#2> (input) specifies the tool post whose spindle command is to be followed by the spindle.
9.4 SPINDLE SPEED CONTROL FOR 0–TTC
General
One–spindle control and two–spindle control
One–spindle control
� Selection of the spindle command
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When a serial spindle is used, a position coder feedback signal is input to both tool posts of the NC. Either tool post can perform threading or feed per rotation.
The optical cable from the spindle amplifier of the spindle (S1/P1) is connected to connector COP5. Connector COP6 is left unconnected.
Position coder #1
Spindle motor #1
P1
Spindle
Optical cable
Serial interface spindle amplifier #1
CNC
COP5 Power line
Velocity feedback signal
Position feedback signal
S1
Fig 9.4 (a) One spindle control (Serial spindle)
In addition, spindle amplifier #3 can be connected to spindle amplifier #1.
� Position coder feedback signal (serial spindle)
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When an analog spindle is used, supplying the position coder feedback signal to the position coder interface of tool post 2 via an external distribution circuit makes it possible to use either tool post for thread cutting and feed per rotation.
Position coder #1
Spindle motor #1
P1
Spindle
Analog interface spindle amplifier #1
CNC
M26 or M12 Power line
Velocity feedback signal
Position feedback signal M27
S1
Fig 9.4 (b) One spindle control (Analog spindle)
The spindle interface for either tool post is used.
The spindle command select signals SLSPA <G133#2> and SLSPB <G133#3> (input) specify the tool post whose spindle command is to be followed by each spindle.
� Position coder feedback signal (Analog)
Two–spindle control
� Selection of spindle command
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When the serial spindles are used on both tool posts, the position coder feedback signals SLPCA<G1333#2> and SLPCB<G1333#3> (input) direct each tool post to select which spindle’s position coder feedback signal is used. Therefore, it is possible to use the spindle of the other system; for example, tool post 1 can perform thread cutting or feed per rotation using the spindle connected to tool post 2.
The optical cable from the spindle amplifier of the first spindle (S1/P1) is connected to connector COP5. The optical cable from the spindle amplifier of the second spindle (S2/P2) is connected to connector COP6.
Positon coder #1
Spindle motor #1
P1
First spindle
Serial interface spindle amplifier #1
CNC
COP5
Power line
Velocity feedback signlal
Position feedback signal
Second spindle
P2
Positon coder #2
Serial interface spindle amplifier #2
Power line
Velocity feedback signal
Position feedback signal
COP6
Optical cableOptical cable
S1
Spindle motor #2
S2
Fig 9.4 (c) Two spindle control (Serial spindle)
In addition, spindle amplifier #3 can be connected to spindle amplifier #1, and spindle amplifier #4 can be connected to spindle amplifier #2.
� Position coder feedback signal (When both are serial spindle)
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If either tool post uses an analog spindle as the first spindle, the spindle feedback signals SLPCA<G1333#2> and SLPCB<G1333#3> (input) cannot cause the NC to select a position coder feedback signal.
If both tool posts use an analog spindle, switching the position coder feedback signal inputs to the NC using an external circuit makes it possible to use the spindle of the other system.
Position coder #1
Spindle motor #1
P1
First spindle
Analog interface spindle amplifier #1
CNC
M26 or M12
Power line
Velocity feedback signal
Position feedback signal
Second apindle
Spindle motor #2
P2
Position coder #2
Analog interface spindle amplifier #2
Power line
Velocity feedback signal
Position feedback signal
M28
M27 M27
S1 S2
Fig 9.4 (d) Two spindle control (Analog spindle)
� Position coder feedback signal (when an analog spindle is used)
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If the first spindle is a serial spindle, the second and third spindles can also be used in the 0–TTC. (See Section 9.2.)
In the following chart, all spindles are connected under two–spindle control.
Under one–spindle control, any spindle (SP1#2, SP2#2, SP3#2) of tool post 2 cannot be used.
PC2#2 PC1#2 PC1#1 PC2#1
S#2 S#1
PC2SLC#2 PC2SLC#11st serial spindle
2nd serial spindle
1st serial spindle
2nd serial spindleFeedback spindle control command
Feedback spindle control command
COP6 COP5
SWS1#1 SIND1#1
SWS2#1 SIND2#1
M28 SWS3#2 SIND3#2
SWS3#1 SIND3#1
M26 or
M12
PC1#2 PC1#1
Spindle 1#2 Spindle 1#1
SLPCB SLPCA
Spindle 2#2 Spindle 2#1
PC2#2 PC2#1
SWS1#2
SIND1#2
SWS2#2
SIND2#2
Spindle 3#2 Spindle 3#1
Analog spindle Analog spindle POS–LSI POS–LSI
PC Feedback signal
SIC SIC
Sub axis card Memory card
PC Feedback signal
SLSPASLSPB 0 1 1 0
Fig. 9.4 (e) Spindle Configuration and Flow of Commands and Feedback Signals in the 0–TTC (with All Spindles under Two–Spindle Control)
The second and third spindles should be controlled using the PMC or be under multi–spindle control. (See Section 15.4 or 9.10.)
If multispindle control is applied to both tool posts, the position coder feedback signal for the second spindle of each tool post also becomes usable.
2nd and 3rd spindles
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Optional functions for spindles are valid for both tool posts. However, you may want to use the optional functions for only one of the tool posts because of relationships with the interface and PMC ladder.
Parameters are available to disable the following functions for individual tool posts.
· Spindle serial output
· Spindle analog output
· Spindle positioning
[Classification] Input signal
[Function] Selects which tool post receives spindle command of which spindle. SLSPA: Selects the spindle command for spindle connected to tool post
1. SLSPB: Selects the spindle command for spindle connected to tool post
2.
The spindle command select signals are associated with the spindle com- mands as follows: (1) In the 1-spindle control mode
Signal input SLSPA Command to spindle
0 Spindle command of tool post 1
1 Spindle command of tool post 2
NOTE SLSPB is ineffective.
(2) In the 2-spindle control mode
Signal input Command to the spindle connected to
Command to the spindle connected to
SLPCA SLPCB spindle connected to
tool post 1 spindle connected to
tool post 2
0 0 Spindle command of tool post 1
Spindle command of tool post 2
0 1 Spindle command of tool post 1
Spindle command of tool post 1
1 0 Spindle command of tool post 2
Spindle command of tool post 2
1 1 Spindle command of tool post 2
Spindle command of tool post 1
Options related to spindles
Signal
Spindle command select signals SLSPA <G133#2>, SLSPB <G133#3>
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[Classification] Input signal
[Function] Selects which spindle sends the feedback signal of the position coder to which tool post.
NOTE This function is effective only in the 2-spindle control system in which both tool posts use serial spindle.
SLPCA: Selects the feedback signal for tool post 1. SLPCB: Selects the feedback signal for tool post 2.
The spindle feedback select signals are associated with the feedback signals of the position coder as follows:
(1) In 1-spindle control mode The feedback signal of the spindle connected to tool post 1 is always sent to both tool posts; the SLPCA and SLPCB signals have no meaning.
(2) In 2-spindle control mode
Signal input Tool post 1 Tool post 2
SLPCA SLPCB Tool post 1 Tool post 2
0 0 PC#1 PC#2
0 1 PC#1 PC#1
1 0 PC#2 PC#2
1 1 PC#2 PC#1
PC#1= Position coder feedback signal for the spindle connected to tool post 1.
PC#2= Position coder feedback signal for the spindle connected to tool post 2.
NOTE The SLPCA and SLPCB signals are effective only in the 2-spindle control mode using two serial spindles. In the 2-spindle control mode using analog spindles, the feedback signal of spindle 1 is input to tool post 1, and the feedback signal of spindle 2 is input to tool post 2, regardless of the setting of the SLPCA and SLPCB signals.
Spindle feedback select signals SLPCA <G1333#2> SLPCB <G1333#3>
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[Classification] Output signal
[Function] Indicates which tool post issued the latest spindle command.
[Output condition] The COSP signal turns to “1” when:
· Tool post 2 issues the spindle command.
The COSP signal turns to “0” when:
· Tool post 1 issues the spindle command, or neither of the tool posts issues the spindle command.
[Use] In 1-spindle control mode, if this signal is input to the SLSPA signal (spindle command select signal), the spindle speed specified by the latest spindle command can always be output to the spindle, regardless of whether it is from tool post 1 or 2.
#7 G133
#6 #5 #4 #3 SLSPB
#2 SLSPA
#1 #0
G1333 SLPCB SLPCA
F180 COSP
#7 0047
#6 #5 #4 #3 2SP
#2 #1 #0 (T series)
[Data type] Bit
2SP Specifies whether one or two spindles are controlled (0–TTC). 0 : One spindle (two tool posts) 1 : Two spindle (two tool posts)
#7 IGNSIC0381
#6 #5 #4 #3 #2 #1 #0 (0–TTC)
[Data type] Bit
IGNSIC For tool post 2, the S analog output function is: 0 : Used. 1 : Not used.
#7 EFCS0384
#6 EFSS
#5 #4 #3 #2 #1 #0 (0–TTC)
[Data type] Bit
EFSS For tool post 2, the S serial output function is: 0 : Used. 1 : Not used.
Spindle command signal COSP <F180#5>
Signal address
Parameter
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EFCS For tool post 2, the Cs contour control function is: 0 : Used. 1 : Not used.
NOTE Set the parameters IGNSIC, EFSS, and EFCS for tool post 2.
· Selecting position coder feedback signals for both tool posts in the 0–TTC under multi–spindle control.
1st serial spindle
2nd serial spindle
1 st serial spindle
2nd serial spindle
PC1#2 PC1#1
Spindle 1#2 Spindle 1#1
Spindle 2#2 Spindle 2#1
PC2#2 PC2#1
Tool post 2 Tool post 1
Table 9.4 lists the position coder feedback signals used for each tool post in the above configuration. These position coder feedback signals are selected according to the following: ⋅ Spindle feedback select signals SLPCA <G1333#2> and SLPCB
<G1333#3>
⋅ Multi–spindle control Second position coder select signals PC2SLC#1 <G146#7> and PC2SLC#2 <G1346#7>
Table 9.4 Selection of Position Coder Feedback Signal in the 0–TTC (— means position coder selection is indifferent on the tool post side)
Position coder selected
SLPCA SLPCB PC2SLC#1 PC2SLC#2
PC1#1 ”0” — ”0” —
Tool post
PC2#1 ”0” — ”1” — ost 1 PC1#2 ”1” — — ”0”
PC2#2 ”1” — — ”1”
PC1#1 — ”1” ”0” —
Tool post
PC2#1 — ”1” ”1” — ost 2 PC1#2 — ”0” — ”0”
PC2#2 — ”0” — ”1”
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NOTE 1 The spindle commands include S code commands,
maximum speed command (G50S__), M03, M04, M05, and constant surface speed control commands (G96 and G97)
2 Signals to operate the spindle control unit are not affected by the spindle command select signals SLSPA<G133#2> or SLSPB<G133#3>. They may be processed in the PMC ladder, as required. (Example: G229#5SFRA is always a forward rotation
command for the first spindle control amplifier of tool post 1.)
3 The machine tool builder should prepare an external circuit to distribute and select position coder feedback signals for the analog spindle.
Note
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With the spindle serial output or analog output function, specifying the surface speed (m/min or feet/min) directly in an S command makes it possible to change the spindle output continuously so as to maintain a constant surface speed at a programmed point. (For the rapid traverse command, however, the surface speed for the end point is output at the beginning of rapid traverse.)
Spindle speed N
r
Surface speed S=2πr·N
Whether or not constant surface speed control is performed is selected by G code.
G96: Constant surface speed control performed. S in the G96 mode is m/min or feet/min.
G97: Constant surface speed control not performed. S in the G97 mode is rev/min.
To perform constant surface speed control, the maximum spindle speed for each gear select signal issued from the PMC side must be set by parameter Nos.0540 – 0543. The gear select signal is a 2 bit code signal (GR1, GR2). The relationship between the signal and gear number is :
GR1 GR2 Gear number
0 0 1
1 0 2
0 1 3
1 1 4
9.5 CONSTANT SURFACE SPEED CONTROL
General
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Assume that gear switching is two stage switching. If the spindle speed with the output 10 V is 1000 rpm for the low speed gear (G1) and 2000 rpm for the high speed gear (G2), set these speeds to the parameter nos. 0540, 0541, respectively. In this case, the spindle output has the linear relationship shown below:
When gear 2 selected
When gear 1 selected
(Volt) 0 V2 V1 10
600rpm
1000rpm
2000rpm N
G2
G1
Spindle output
Here, S = 60 m/min is given as the surface speed; if the position of the present X-axis cutter is 16 mm from the center, the spindle speed N becomes 600 rpm (S = 2πr N). Therefore, V1 (for G1) or V2 (for G2) is calculated inside the CNC and output to the machine side.
V1: 6(V) V2: 3(V)
The value of output voltage V is calculated automatically from the following equations:
(i) G96
V= 10S
2πrR
R: Spindle speed (rpm) at 10V output voltage (that is , spindle speed set by parameter Nos.0540 to 0543)
S: Surface speed (m/min) specified by S command
r: Radius value in the X-axis direction (m)
(ii)G97
V= 10N
R
R: Spindle speed at 10V output voltage (rpm)
N: Spindle speed given by S command (rpm)
Example of Spindle Analog Output
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The output to the spindle in spindle serial output is a digital data.
Therefore assume the following relation for calculation: Spindle analog output (voltage) 10V = Spindle serial output (digital data) 4095.
The above calculation becomes as follows:
The value of Spindle output D:
(i) G96
D= 4095S 2πrR
R: Spindle speed (rpm) at maximum spindle motor speed (that is , spindle speed set by parameter Nos.0540 to 0543)
S: Surface speed (m/min) specified by S
r: Radius value in the X-axis direction (m)
(ii) G97
D= 4095N
R
R: Spindle speed at maximum spindle motor speed (rpm)
N: Spindle speed given by S command (rpm)
Refer to 9.3 “Spindle Control”.
#7 0041
#6 #5 SSCA1
#4 SSCA0
#3 #2 #1 #0 (M series)
[Data type] Bit
SSCA, SSCA1 Set a reference axis for the calculation of constant surface speed control.
SSCA1 SSCA0 Axis
0 0 X
0 1 Y
1 0 Z
1 1 4
Spindle Serial Output
Signal
Gear selection signal (Input) GR2, GR1 <G118#3, #2> (T series) <G123#3, #2>(M series)
Parameter
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0540 Maximum spindle speed for gear 1
0541 Maximum spindle speed for gear 2
0542 Maximum spindle speed for gear 3
0543 Maximum spindle speed for gear 4
[Data type] Word
[Unit of data] rpm
0551 Minimum spindle speed in constant surface speed control mode (G96)
[Data type] Word
[Unit of data] rpm
[Valid data range] 0 to 32767