Set the minimum spindle speed in the constant surface speed control mode (G96). The spindle speed in constant surface speed control is clamped to the speed given by parameter.
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 spindle speed is specified, or the spindle speed exceeds the maximum speed because of the spindle speed override function, the spindle speed is clamped at the maximum speed set in the parameter.
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.
������ Message Description
190 ILLEGAL AXIS SELECT
(M series)
In the constant surface speed control, the axis specification is wrong. (See bits 4 and 5 of parameter No. 0045.) The specified axis command (P) con- tains an illegal value. Correct the program.
Alarm and message
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
401
CAUTION 1 If the spindle speed corresponding to the calculated surface
speed exceeds the speed specified in the spindle speed clamp command (G50S_ for T series and G92S_ for M series) during the G96 mode, the actual spindle speed is clamped at the value specified in the spindle speed clamp command. If the specified spindle speed is lower than the value specified in parameter No. 0551, the actual spindle speed is clamped at the specified speed.
2 If the constant surface speed control function is provided for a machining center system, it affects gear change under normal spindle control. (See Section 9.3.)
NOTE Simultaneous use of multi–spindle control (T series) enables constant surface speed control for spindles other than the first spindle. (See Section 9.10.)
OPERATOR’S MANUAL (For Machining Center) (B–61404E)
II.10.3 CONSTANT SURFACE SPEED CONTROL (G96, G97)
OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.10.3 CONSTANT SURFACE SPEED CONTROL (G96, G97)
Caution
Note
Reference item
B–61393E–2/029. SPINDLE SPEED FUNCTION
402
With this function, an overheat alarm (No. 704) is raised and the spindle speed fluctuation detection alarm signal SPAL is issued when the spindle speed deviates from the specified speed due to machine conditions. This function is useful, for example, for preventing the seizure of the guide bushing. G26 enables spindle speed fluctuation detection. G25 disables spindle speed fluctuation detection.
The function for detecting spindle speed fluctuation checks whether the actual speed varies for the specified speed or not. Sd or Sr, whichever is greater, is taken as the allowable fluctuation speed (Sm). An alarm is activated when the actual spindle speed varies for the commanded speed (Sc) under the condition that the variation width exceeds the allowable variation width (Sm).
Sd: The allowable constant variation width which is independent of the specified spindle speed (Sd is set with parameter 0564.)
Sr: The allowable variation width which is obtained by multiplying Sc (commanded spindle speed) by r (constant ratio). (r is set with parameter 0532.)
Sm: Sd or Sr, whichever is greater
If the specified spindle speed Sc changes, spindle speed fluctuation detection starts when one of the conditions below is met:
⋅ The actual spindle speed falls in a range of (Sc – Sq) to (Sc + Sq)
where Sq = Sc � q/100
q: Percent tolerance of the target spindle speed, specified in parameter No. 0531. If the actual spindle speed is in a range of the specified speed �q, it is assumed that the actual speed has reached the specified speed.
⋅ When time p specified in parameter No. 0712 elapses after the specified speed Sc changes.
Parameter Nos. 0712, 0531, and 0532 can be rewritten also by program (G26 PpQqRr).
9.6 SPINDLE SPEED FLUCTUATION DETECTION (T SERIES)
General
Detection of Spindle Speed Fluctuation
Conditions to start spindle speed fluctuation detection
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
403
1. When an alarm is issued after a specified spindle speed is reached
Spindle speed
Check CheckNo check
Sr
Sr
Sq
Sq Sd
Sd
Specification of another speed
Start of check Alarm Time
Specified speed
Actual speed
2. When an alarm is issued before a specified spindle speed is reached
Sr
Sr
Sd
Sd
Check
p
No checkCheck
Sq
Sq
Spindle speed
Specification of another speed
Start of check Alarm Time
Specified speed
Actual speed
Specified speed : (Speed specified by address S and five–digit value)×(spindle override)
Actual speed : Speed detected with a position coder
[Classification] Output signal
[Function] This signal indicates that the actual spindle speed is not within a tolerance to the specified speed.
Signal
Spindle fluctuation detection alarm signal SPAL <F154#0>
B–61393E–2/029. SPINDLE SPEED FUNCTION
404
[Output condition] The signal becomes logical “1” when:
⋅ The actual spindle speed goes out of tolerance to the specified speed.
The signal becomes logical “0” when:
⋅ No alarm condition has been detected for spindle speed fluctuation.
⋅ An alarm condition is cleared by resetting the NC when the signal is logical “1”.
#7 F035
#6 #5 #4 #3 #2 #1 #0 SPAL
#7 0049
#6 #5 #4 #3 #2 CHKSP
#1 #0
[Data type] Bit
CHKSP When the SIND signal is on, the detection of spindle speed fluctuation is: 0 : Disabled 1 : Enabled
#7 0397
#6 #5 #4 #3 #2 #1 #0 SPLME
[Data type] Bit
SPLME When the spindle speed fluctuation detection function is used, the rates of allowance (q) and fluctuation (r) those are set in parameter No. 0531 and No. 0532, respectively are set in steps of: 0 : 1% 1 : 0.1%
0531 Ratio (q) of the fluctuation of spindle speed which is assumed to be the specified spindle speed
[Data type] Word
� �� �� � 1% 0. 1%
�� � �� �� 1 �� 100 1 �� 1000
NOTE Unit of data depends on parameter No. 0397#0 SPLME (T series only)
Set the ratio (q) of the spindle speed which is assumed to be the specified spindle speed in the spindle speed fluctuation detection function.
Signal address
Parameter
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
405
0532 Spindle speed fluctuation ratio (r) for which no alarm is activated in the spindle speed fluctuation detection function
[Data type] Word
� �� � ���� 1% 0. 1% (� ������)
���� �� � 1 �� 100 1 to 1000
NOTE Unit of data depends on parameter No. 0397#0 SPLME.
Set the spindle speed fluctuation ratio (r) for which no alarm is activated in the spindle speed fluctuation detection function.
0564 Spindle speed fluctuation value for which no alarm is activated in the spindle speed fluctuation detection function
[Data type] Word
[Unit of data] rpm
[Valid data range] 0 to 32767
Set the allowable fluctuation speed for which no alarm is activated in the spindle speed fluctuation detection function.
0712 Time (p) elapsed from when the commanded spindle speed is changed to the start of spindle speed fluctuation detection
[Data type] Two–word
[Unit of data] ms
[Valid data range] 0 to 999999
Set the time elapsed from when the specified spindle speed is changed to the start of spindle speed fluctuation detection in the spindle speed fluctuation detection function. That is, the fluctuation in the spindle speed is not detected until the specified time elapses from when the specified spindle speed is changed.
������ Message Description
704 OVERHEAT: SPINDLE Spindle overheat in the spindle fluc- tuation detection
(1) If the cutting load is heavy, relieve the cutting condition.
(2) Check whether the cutting tool is share.
(3) Another possible cause is a faulty spindle amp.
Alarm and message
B–61393E–2/029. SPINDLE SPEED FUNCTION
406
NOTE 1 When an alarm is issued in automatic operation, a single
block stop occurs. 2 No check is made during spindle stop state (*SSTP = 0). 3 An alarm is issued one second later if the actual spindle
speed is found to be 0 rpm.
OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.9.4 SPINDLE SPEED FLUCTUATION DETECTION FUNCTION (G25, G26)
Note
Reference item
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
407
The PMC can read actual spindle speed.
[Classification] Output signal
[Function] These 16-bit binary code signals output from the CNC to the PMC the actual spindle speed obtained by feedback pulses from the position coder mounted on the spindle.
[Operation] Spindle speed�� 15
i�0
{2i � Vi} rpm
where Vi = 0 when ARi is “0” and Vi = 1 when ARi is “1”
#7 AR7F158
#6 AR6
#5 AR5
#4 AR4
#3 AR3
#2 AR2
#1 AR1
#0 AR0 (T series)
AR15F159 AR14 AR13 AR12 AR11 AR10 AR09 AR08 (T series)
NOTE 1 The AR0 - AR15 signals are always output. Their values
change every 64 msec. 2 An absolute error of about 0.5 rpm exists as a measuring
error.
9.7 ACTUAL SPINDLE SPEED OUTPUT (T SERIES)
General
Signal
Actual spindle speed signal AR0 to AR15 <F158 to F159>
Signal address
Note
B–61393E–2/029. SPINDLE SPEED FUNCTION
408
This function positions the spindle using the spindle motor and position coder.
The function has a coarser least command increment compared with the Cs contour control function and has no interpolation capability with other axes. However, it can be installed with ease because the position detector is a position coder.
Generally, the spindle positioning axes are clamped mechanically except when positioning is under way.
In the turning process, the workpiece is rotated by the spindle to which it is attached (spindle rotation mode), at the speed specified for the spindle motor. The value for the spindle speed is input from the spindle controller to the spindle amplifier.
When the optional spindle positioning function is activated, the spindle is moved to a defined angle, and the workpiece is repositioned at that angle. The specified move distance is input to the error counter, and the velocity command is issued for the spindle motor through the spindle amplifier. The position of the spindle is detected by the installed position coder (Spindle positioning mode).
The spindle positioning function can perform the following operations:
� Release the spindle rotation mode and enter the spindle positioning mode
Specifying a particular M code sets a reference position in the spindle positioning mode. (This is called spindle orientation.)
� Position the spindle in the spindle positioning mode
Position an optional angle using address C (H), and position a semi-fixed angle using a specific M code parameter.
� Release the spindle positioning mode and enter the spindle rotation mode
Specifying a particular M code parameter changes the spindle to the spindle rotation mode.
· Least command increment
360
4096 � 0.088 deg
· Least input increment
0.001 deg
· Maximum command value
±9999.999 deg
9.8 SPINDLE POSITIONING (T SERIES)
General
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
409
Any axis in the control axis group can be used as the third axis.
Orientation is required in advance if spindle positioning is first performed after the spindle motor is used as a normal spindle, or when spindle positioning is interrupted. The orientation stops the spindle in a constant position. The orientation position can be sifted in the range of�180deg for analog spindle and in the range from 0 to 360� for serial spindle.
To specify orientation, use the M code whose parameter no. 0587. The orientation direction is specified by using parameters ZM3 no. 0003 #2 for analog or RETRN no. 6500#3 for serial spindles.
The spindle moves at rapid traverse set by parameter No. 0520 until it reaches the orientation enable speed (shown below). After the spindle crosses that speed point, it performs orientation at the speed set by parameter no. 0586. When a serial spindle is used, orientation speed depends on the spindle.
⋅ Orientation enable speed RPD>9�(loop gain) KPPM Loop gain: Parameter no. 0584 (unit: 1/sec) Set rapid traverse speed at above value.
(Example)
When the loop gain parameter no. 0584 is set to 20 [1/sec], the orientation speed is:
RPD>9�20�1000�(360/4096)=15820 [deg /min]
The serial spindle stops at the orientation position as soon as the command is issued. The lower limit to the rapid traverse speed value does not need to be specified for the serial spindle to reach the orientation enable speed.
The analog spindle stops after the spindle speed is changed from rapid traverse to the FL speed. The rapid traverse speed lower limit must be specified for the analog spindle, or obtaining the orientation enable speed need not be specified for the serial spindle. However, it must be specified for the analog spindle.
The orientation position is regarded as a program origin. It is possible to modify the program origin using the coordinates system or automatic coordinates system settings (parameter APRS no. 0010#7)
The command system comes in two types: The first positions a semi-fixed angle; the second positions an optional angle.
A 2-digit numerical value following the M address is used for the command. There are six positioning angle values (Mα to M(� + 5)), where� is set by parameter no. 0589. Indexing angle β also requires prior parameter setting data no. 0590. Rotation can be done in any direction, using parameter SDRT data no. 0031#1.
Selecting a spindle positioning axis
Switching to spindle positioning mode (Spindle orientation)
� Orientation speed
� Program origin
Command system
� Semi-fixed angle positioning by M code
B–61393E–2/029. SPINDLE SPEED FUNCTION
410
M–code Indexing angle eg) when �=30�
Mα β 30°
M (α+1) 2β 60°
M (α+2) 3β 90°
M (α+3) 4β 120°
M (α+4) 5β 150°
M (α+5) 6β 180°
Numerical value following either the C or H address is used to command the position. C and H addresses are commanded in G00 mode.
(Example) C-1000 H4500
(i) Minimum setting unit : 0.001deg
(ii) Maximum command value: �9999.999 deg
(iii) Decimal point input: A numerical value with decimal point can be entered. The decimal point location is in “degrees”, for instance: C35.0=C35 degrees
When address C is used, the ADRC bit (bit 4 of parameter 0029) must be set to 1.
Semi–fixed angle positioning (specified with M code) must always be specified using incremental values.
For arbitrary angle positioning, use address C to specify the position of the end point relative to the program origin (absolute) or use address H to specify the distance between the start and end points (incremental).
180°
90°
B
A
Program origin
� Optional angle positioning by C or H address
� Absolute and incremental commands
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
411
G code system A G code system B, C
Command method Address used
Command of A–B on the
above illustration
Address used and G–code
Command of A–B on the
above illustration
Absolute command
Direct the end position by the distance from the program origin.
C C180.0 ; G90,C G90C180.0 ;
Incremental command
Command by the distance between the start and end positions.
H H90.0 ; G91,C G91C90.0 ;
Spindle positioning is done at the rapid traverse rate specified by parameter No. 0520, to which linear acceleration deceleration are applied. Overrides of 100%, 50%, 25% and F0 (parameter No. 0585) are also applied.
A specific M code (parameter no. 0588) must be set when the mode is changed from spindle positioning to normal spindle rotation.
[Classification] Input signal
[Function] When this signal is 1, the CNC orients and positions the spindle.
[Classification] Output signal
[Function] This signal specifies that spindle mechanical clamping be released in a spindle positioning sequence.
When this signal is output, unclamp the spindle on the machine (release the brakes or extract the pin).
[Output condition] Refer to the sequence (time chart) in this section.
 SPINDLE SPEED FUNCTION
412
[Classification] Output signal
[Function] This signal specifies that the spindle be clamped mechanically in a spindle positioning sequence.
When this signal turns to 1, clamp the spindle on the machine (apply the brakes or insert the pin).
[Output condition] Refer to the sequence (time chart) in this section.
[Classification] Input signal
[Function] This signal indicates that clamping the spindle is complete in response to the spindle clamp signal SCLP.
Refer to 9.3 “Spindle Control.”
Refer to the manual of serial spindle.
The spindle loop gain multiplier corresponding to the gear currently selected by this signal is used. When the serial spindle is used, input gear selection signals CTH1A and CTH2A, as well.
Relationship between the selected gear and spindle gear selection signal
Analog spindle
GR2 GR1 Selected gear
0 0 1st gear
0 1 2nd gear
1 0 3rd gear
1 1 4th gear
Serial spindle
CTH1A CTH2A Selected gear
0 0 HIGH
0 1 MEDIUM HIGH
1 0 MEDIUM LOW
1 1 LOW
Spindle clamp signal SCLP <F164#0>
Spindle clamp completion signal *SCPF <G123#5>
Other related signals
Gear selection signal GR1, GR2, <G118#2, #3>
CTH1A, CTH2A <G229#3, #2>
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
413
[Classification] Output signal
[Function] This signal indicates that the spindle orientation for the spindle positioning has been completed.
[Output condition] When spindle orientation is complete, this signal turns to 1. When spindle positioning is performed or cleared, it turns to 0.
#7 G123
#6 SPSTP
#5 *SCPF
#4 *SUCPF
#3 #2 #1 #0
G229 CTH1A CTH2A
#7 F148
#6 #5 #4 #3 #2 ZP3
#1 #0
F164 SUCLP SCLP
Spindle orientation completion signal ZP3 <F148#2>
Signal address
B–61393E–2/029. SPINDLE SPEED FUNCTION
414
� Spindle Orientation
POSITION LOOP INITIALIZE Spindle enable on
M code
M F
SPSTP
SUCLP
*SUCPF
Spindle movement
ZP3
SCLP
*SCPF
FIN
Spindle enable off
⇒ POSITION LOOP INITIALIZE is performed within the CNC. ⇒ Spindle ENABLE ON/OFF specifies that the PMC ladder direct the
spindle control unit to run or stop the spindle motor.
(Example) For serial spindles, the ladder should contain the following command or something like that:
ENABLE ON, and SFRA<G229#5>⇒ 1 ENABLE OFF, and SFRA<G229#5>⇒ 0
For details, refer to the manual for the spindle control unit you actually use.
Sequence (Time chart)
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
415
� Spindle Positioning by M code
Spindle enable on
M code
M F
SPSTP
SUCLP
*SUCPF
Spindle movement
SCLP
*SCPF
FIN
Spindle enable off
B–61393E–2/029. SPINDLE SPEED FUNCTION
416
� Spindle Positioning by Address C,H
Spindle enable ON
SPSTP
SUCLP
*SUPCF
Spindle movement
SCLP
*SCPF
Spindle enable OFF
� Spindle Positioning Reset
M code
M F
SPSTP
SUCLP
FIN
POSITION CODER INITIALIZE
*SUPCF
⇒ POSITION CODER INITIALIZE is performed only in the CNC.
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
417
#7 0003
#6 #5 #4 #3 ZM3
#2 #1 #0
[Data type] Bit axis
ZM3 The direction of reference position return and the direction of initial backlash at power–on 0 : Positive direction 1 : Negative direction
#7 0006
#6 #5 DMR3
#4 #3 #2 GRD3
#1 #0
[Data type] Bit
DMR3 Setting of delection multiply Set this parameter to “111” (=4) for spindle positioning.
GRD3 Set the size of the reference counter Set this parameter to “1001” (=10000) for spindle positioning.
#7 APRS0010
#6 #5 #4 #3 #2 #1 #0
[Data type] Bit
APRS Automatic setting of a coordinate system when the manual reference position return is performed 0 : Not set automatically 1 : Set automatically
#7 0029
#6 #5 #4 ADRC
#3 #2 #1 #0
ADRC 0: For chamfering, corner R, or direct drawing dimension programming, address C or R is used as in the standard specifications. (Address C cannot be used for the third axis.)
1: For chamfering or corner R, address 1 or K is used instead of address C. For direct drawing dimension programming, address C or R, with a comma, is used.
#7 0030
#6 #5 #4 #3 #2 #1 #0 ADW30
ADW30 Names the third axis: 0: B. 1: C.
NOTE When a serial spindle is used, this parameter is invalid for the spindle positioning axis.
Parameter
B–61393E–2/029. SPINDLE SPEED FUNCTION
418
#7 0031
#6 #5 #4 #3 #2 #1 SDRT
#0 SNRL
[Data type] Bit
SNRL Resetting the system in the spindle positioning mode 0 : Does not releases the mode. 1 : Releases the mode
SDRT The positioning direction for the spindle using a M code is 0 : The positive direction 1 : The negative direction
NOTE Three types of spindle positioning operations can occur: (1)The spindle rotation mode is cleared, then the mode is
switched to the spindle positioning mode. (2)Spindle positioning is performed in the spindle
positioning mode. (3)The spindle positioning mode is cleared, then the mode
is switched to the spindle rotation mode. Operations (1) to (3) are specified using separate M codes. (1)Specified using M codes for performing spindle
orientation. (See parameter No. 0587)
(2)Specified using M codes for specifying a spindle positioning angle. (See parameter No. 0588)
(3)Specified using M codes for clearing spindle positioning operation. (See parameter No. 0589.)
0102 Command multiply for third axis (CMR)
[Data type] Byte
� When command multiply is 1/2 to 1/27
Set value= 1
(Command multiply)
+100 [Valid data range: 102 to 127]
� When command multiply is 0.5 to 48
Set value = 2 � command multiply [Valid data range: 1 to 96]
Set this parameter to 2 for spindle positioning.
0502 In–position width for third axis
[Data type] Word
[Unit of data] Detection unit
[Valid data range] 0 to 32767
Set the in–position width for third axis.
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
419
0506 Positioning deviation limit for third axis in movement
[Data type] Two–word
[Unit of data] Detection unit
[Valid data range] 0 to 99999999
Set the positioning deviation limit in movement for third axis.
0510 Grid shift for third axis
[Data type] Two–word
[Unit of data] Detection unit
[Valid data range] –32767 to + 32767
Set a grid shift for third axis.
NOTE Set this parameter when the analog spindle is used. When the serial spindle is used, set the value to No. 6573.
0520 Rapid traverse rate for third axis
[Data type] Word
Set the rapid traverse rate when the rapid traverse override is 100% for third axis.
For spindle positioning.
[Unit of data] 10 deg/min
[Valid data range] 30 to 12000
0524 Time constant of rapid traverse linear acceleration/deceleration for third axis
[Data type] Word
[Unit of data] ms
[Valid data range] 0 to 4000
Set time constant of rapid traverse linear acceleration/deceleration for third axis.
0537 Backlash compensating value for third axis
[Data type] Word
[Unit of data] Detection unit
[Valid data range] 0 to +255
Set the backlash compensation value for third axis.
B–61393E–2/029. SPINDLE SPEED FUNCTION
420
0580 Servo loop gain multiplier of the spindle for gear 1
0581 Servo loop gain multiplier of the spindle for gear 2
0582 Servo loop gain multiplier of the spindle for gear 3
0583 Servo loop gain multiplier of the spindle for gear 4
[Data type] Word
Set the servo loop gain multipliers of the spindle for gears 1 to 4.
The multipliers are used to convert the amount of the position deviation to the voltage used in the velocity command. Assign the data obtained from the following equation to the parameters.
Loop gain multiplier = 2048000� E� A/L
where; E: Voltage required to rotate the spindle motor at 1000 rpm in the velocity
command
L: Rotation angle of the spindle per one motor rotation (normally 360)
A: Unit used for the detection (degree)
Example) Let E be 2.2 V, L be 360 degrees, and A be 0.088 degrees/pulse.
Loop gain multiplier = 2048000� 2.2 � 0.088/360 = 1101
NOTE 1 When the voltage specified for the spindle motor is 10 V at
a spindle speed of 4500 rpm, E is regarded as 2.2 V. 2 The above parameters No. 0580 to No. 0584 are for analog
spindles
0584 Servo loop gain of the spindle
[Data type] Word
[Unit of data] 0.01 sec–1
[Valid data range] 1 to 9999
Set the servo loop gain of the spindle in the spindle positioning mode.
0585 F0 rate of rapid traverse override for spindle
[Data type] Word
Set the F0 rate of the rapid traverse override for spindle.
For spindle positioning.
[Unit of data] deg/min
[Valid data range] 600 to 15000
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
421
0586 FL rate at the spindle orientation
[Data type] Word
Set feedrate (FL rate) after deceleration when the reference position return is performed for spindle.
For spindle positioning.
[Unit of data] deg/min
[Valid data range] 600 to 15000
NOTE When serial spindle is used, this parameter becomes invalid.
0587 M code specifying the spindle orientation
[Data type] Word
[Unit of data] Integer
[Valid data range] 6 to 97
Set an M code to change the spindle rotating mode to the spindle positioning mode. Setting the M code performs the spindle orientation. Spindle positioning can be specified from the next block.
0588 M code releasing the spindle positioning mode
[Data type] Word
[Unit of data] Integer
[Valid data range] 6 to 97
Set the M code to release the spindle positioning mode and to change the mode to the spindle rotating mode.
0589 M code for specifying a spindle positioning angle
[Data type] Word
[Unit of data] Integer
[Valid data range] 6 to 92
Two methods are availablel for specifying spindle positioning. One method uses address C for arbitrary–angle positioning. The other use an M code for half–fixed angle positioning. This parameter sets an M code for the latter method.
Six M code from M� to M(�+5) are used for half–fixed angle positioning, when� is the value of this parameter.
The table below indicates the relationship between the M codes and positioning angles.
B–61393E–2/029. SPINDLE SPEED FUNCTION
422
M code Positioning angle Example: Positioningangle when � = 30�
Mα θ 30°
M (α+1) 2θ 60°
M (α+2) 3θ 90°
M (α+3) 4θ 120°
M (α+4) 5θ 150°
M (α+5) 6θ 180°
NOTE θ represents the basic angular diplacement set in pamrameter No. 0590.
0590 M code for specifying a spindle positioning angle
[Data type] Word
[Unit of data] deg
[Valid data range] 1 to 60
This parameter sets a basic angular displacement used for half–fixed angle positioning using M codes.
0595 Positioning deviation limit for third axis in the stopped state
[Data type] Word
[Unit of data] Detection unit
[Valid data range] 0 to 32767
Set the positioning deviation limit in the stopped state for third axis.
0710 Coordinate value of the reference position used when automatic coordi- nate system setting is performed for third axis
[Data type] Two–word
Set the coordinate value of the reference position on each axis to be used for setting a coordinate system automatically.
For spindle positioning.
[Unit of data] 0.001 deg
[Valid data range] –99999999 to 99999999
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
423
#7 6500
#6 #5 #4 #3 RETRN
#2 #1 #0
[Data type] Bit
RETRN Reference position return direction of spindle. 0 : CCW (Counter clockwise) 1 : CW (Clockwise)
NOTE The direction for spindle orientation (or reference position return) in spindle positioning using a serial spindle is determined by this parameter.
6544 Velocity loop proportion gain in servo mode (High gear)
6545 Velocity loop proportion gain in servo mode ( Low gear)
[Data type] Word
[Valid data range] 0 to 32767
This parameter sets a velocity loop proportional gain in servo mode (spindle positioning, rigid tapping, etc.)
NOTE Set this parameter when serial spindle is used.
6552 Velocity loop integral gain in servo mode (High gear)
6553 Velocity loop integral gain in servo mode (Low gear)
[Data type] Word
[Valid data range] 0 to 32767
This parameter sets a velocity loop integral gain in servo mode (spindle positioning, rigid tapping, etc.)
NOTE Set this parameter when serial spindle is used.
B–61393E–2/029. SPINDLE SPEED FUNCTION
424
6556 Gear ratio (HIGH)
6557 Gear ration (MEDIUM HIGH)
6558 Gear ratio (MEDIUM LOW)
6559 Gear ratio (LOW)
[Data type] Word
[Unit of data] Motor speed per spindle rotation� 100
[Valid data range] 0 to 32767
These parameters set the gear ration between the spindle and AC spindle motor.
NOTE Set the gear ration between spindle and AC spindle motor when the spindle positioning is performed with serial spindle. For which gear is used, it depends on the clutch/gear signal (serial spindle) CTH1A, CTH2A.
6565 Position gain in servo mode (HIGH)
6566 Position gain in servo mode (MEDIUM HIGH)
6567 Position gain in servo mode (MEDIUM LOW)
6568 Position gain in servo mode (LOW)
[Data type] Word
[Unit of data] 0.01 sec–1
[Valid data range] 0 to 32767
This parameter sets a servo loop gain in servo mode. (spindle positioning, rigid tapping, etc.)
NOTE When the spindle positioning by a serial spindle is performed, set the position control loop gain in place of parameter No. 0584. For which gear is used, it depends on the clutch/gear signal (serial spindle) CTH1A, CTH2A.
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
425
������ Message Description
053 TOO MANY ADDRESS COMMANDS
In the chamfering and corner R com- mands, two or more of I, K and R are specified. Otherwise, the character after a comma(”,”) is not C or R in di- rect drawing dimensions program- ming. Or comma (“,”) was specified with parameter No. 0029#4=1. Modify the program.
056 NO END POINT & ANGLE IN CHF/CNR
Neither the end point nor angle is spe- cified in the command for the block next to that for which only the angle is specified (A). In the chamfering or corner R command, I(K) is comman- ded for the X(Z) axis. Modify the program.
135 SPINDLE ORIENTATION PLEASE
Without any spindle orientation , an attept was made for spindle indexing. Perform spindle orientation.
136 C/H–CODE & MOVE CMD IN SAME BLK.
A move command of other axes was specified to the same block as spindle indexing addresses C, H. Modify the program.
137 M–CODE & MOVE CMD IN SAME BLK.
A move command of other axes was specified to the same block as M– code related to spindle indexing. Modify the program.
194 SPINDLE COMMAND IN SYNCHRO–MODE
A contour control mode, spindle posi- tioning (Cs–axis control) mode, or rig- id tapping mode was specified during the serial spindle synchronous control mode. Correct the program so that the serial spindle synchronous control mode is released in advance.
195 FIRST SPINDLE MODE CHANGE FAULT
This alarm is generated if the system does not properly terminate a mode change. The modes include the Cs contouring, spindle positioning, rigid tapping, and spindle control modes. The alarm is activated if the spindle control unit does not respond correct- ly to the mode change command is- sued by the NC.
409 FIRST SPINDLE ALARM DETECTION (AL–XX)
This alarm indicates in the NC that an alarm is generated in the spindle unit of the system with the serial spindle. The alarm is displayed in form AL–XX (XX is a number). The alarm number XX is the number indicated on the spindle amplifier. The CNC holds this number and displays on the screen.
Alarm and message
B–61393E–2/029. SPINDLE SPEED FUNCTION
426
WARNING 1 Feed hold is invalid during spindle positioning. 2 Dry run, machine lock, and auxiliary function lock are not
available during spindle positioning. 3 Specify parameter no. 0589 even if semi-fixed angle
positioning is not used; otherwise M codes (M00 to M05) do not work.
CAUTION 1 Spindle positioning stops when emergency stop is applied;
restart with orientation operation. 2 The spindle positioning function and the serial spindle Cs
contour control function cannot be used together. If both functions are specified, positioning has priority.
NOTE 1 Direct spindle positioning with an independent block. X- and
Y-axis positioning cannot be commanded to the sample block.
2 Spindle positioning cannot be done by manual operation. 3 Automatic drift compensation is not effective for spindle
positioning. To adjust the amount of drift compensation for each axis, set values manually and adjust the spindle amplifier to minimize the spindle motor rotation at a voltage of 0 V. (parameter no. 0539). Insufficient adjustment causes poor positioning accuracy. Drift compensation is not needed with a serial spindle.
4 The machine coordinates for the spindle positioning axis are displayed in pulses units.
OPERATOR’S MANUAL (For Lathe) (B–61394E)
II.9.5 SPINDLE POSITIONING FUNCTION
Warning
Caution
Note
Reference item
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
427
The Cs contour control function positions the serial spindle using the spindle motor in conjunction with a dedicated detector mounted on the spindle.
This function can perform more accurate positioning than the spindle positioning function, and has an interpolation capability with other servo axes.
Least input increment: 0.001 [deg] Least command increment: 0.001 [deg]
�9999.999 [deg]
Rapid traverse rate: 30 to 2400 [deg/min] (parameter no.0520(T)/0521(M))
Cutting feedrate (feed per minute): 1 to 15000 [deg/min] (for machines that use millimeters) 0.01 to 600 [deg/min] (for machines that use inches)
NOTE The units in which the following parameters are specified, in inch output, can be multiplied by ten for the rotation axis alone, provided the ROT10 bit (bit 7 of parameter No. 0032) is specified accordingly: jog feedrate, cutting feed clamp value, F0 feedrate for rapid traverse override, and the FL feedrate at reference position return. (T series)
The speed of the serial spindle is controlled by the spindle speed control function, while the spindle positioning is controlled by the Cs contouring control function (“spindle contour control”). Spindle speed control rotates the spindle using the velocity command, while the spindle contour control rotates the spindle using the move command.
Switching between spindle speed control and spindle contour control is performed by the DI signal from the PMC.
In the Cs contour control mode, the Cs contour control axis can be operated either manually or automatically, in the same way as normal servo axes.
(For a reference position return, see the relevant description in this section.)
The axis used for Cs contour control must be set as an axis of the axes controlled by the CNC. For Cs contour control, the T series uses the third axis while the M series uses the fourth axis. The axis of Cs contour control must be set as a rotation axis (T series: by specifying the LIN3 bit (bit 2 of parameter 0032) to 0; M series: by specifying the ADLN bit (bit 2 of parameter 0011) to 0).
9.9 Cs CONTOUR CONTROL
General
� Increment system
� Maximum command value
� Feedrate
Explanations
Setting the Cs contour control axis
B–61393E–2/029. SPINDLE SPEED FUNCTION
428
Only one set of this setting can be used for each control path. The spindle that operates under Cs contour control is a serial spindle as the first spindle.
The address for the move command in Cs contour control is the axis name specified in parameter (No. 0030#0, 0069#5, #6 for T series/No.0008#2 to #4 for M series). This address is arbitrary.
When the second auxiliary function option is provided, address B cannot be used for the name of the contour axis. For the T series machines, when either address C is used for the name of the contour axis, clear ADRC (parameter no. 0029#4) to “0”.
Up to three servo axes can be specified for linear interpolation against the Cs contour control axis.
� Switching from spindle speed control to Cs contour control
The serial spindle is put in the Cs contour control mode by setting the DI signal CON (G123#7) for M series to “1” or COFF(G123#0) for T series to “0”. When the mode is switched while the spindle is rotating, the spindle stops immediately to perform the change.
� Switching from Cs contour control to spindle speed control
Turning the DI signal CON (G123#7) for M series to “0” or COFF (G123#0) for T series to “1” puts the serial spindle in spindle speed control mode. Confirm that the move command for the spindle has been completed, then specify the switch. If it is switched while the spindle is moving, the machine enters interlock, or excessive position deviation alarm occurs.
After the serial spindle is switched from spindle speed control to Cs contour control mode, the current position is undefined. Return the spindle to the reference position.
The reference position return of the Cs contour control axis is as follows:
� In manual mode
After the serial spindle enters the Cs contour control mode, move the spindle in the direction of the reference position by turning on the feed axis and direction select signal. The spindle starts the movement to the reference position; when it reaches that position, the reference position return completion signal (ZPn (F148)) turns to “1”. Turning any feed axis and direction select signal to “1” moves the tool in the reference position direction.
� In the automatic mode
After the serial spindle enters the Cs contour control mode, the spindle returns to the reference position when G00 or G28 is specified. Under certain conditions, the G00 command returns the spindle to the reference position, depending upon the setting of parameter CZRN no. 0065#1:
Command Address
Setting Axes that interpolate with Cs contour axis
Switching spindle speed control/Cs contour control
Reference Position Return of Cs Contour Control Axis
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
429
(i) G00 command
When parameter CZRN no. 0065#1 is “0” and the serial spindle is put in the Cs contour control mode, if the G00 command is given before returning the spindle to the reference position, the serial spindle returns to the reference position and indexes it before moving to the commanded position. After positioning at the reference position, the reference position return completion signal (ZPn(F148)) turns to “1”. When the G00 command is issued after the serial spindle has returned to the reference position at least once, normal positioning operation is executed.
Returning to the reference position using the G00 command differs from using the G28 command or the manual method. The serial spindle can be positioned at any point using the G00 command, while the latter two methods always return the serial spindle to the reference position.
(ii) G28 command
After the serial spindle is put in the Cs contour control mode, issuing the G28 command stops the spindle motor, then moves the spindle to the midpoint. The spindle then returns to the reference position. At this point, the reference position return completion signal (ZPn (F094)) turns to “1”. When the serial spindle has returned to the reference position once while in the Cs contour control mode, the G28 command positions the spindle at the reference position without moving to the midpoint and ZPn comes on.
� Interruption of reference position return
(i) Manual operation
Return to the reference position can be interrupted by reset- ting, emergency stop, or turning “0” the feed axis and direc- tion select signal. When the interrupted return operation is re- sumed, start from the beginning.
(ii) Automatic operation
Return to the reference position can be interrupted by reset- ting, emergency stop, or feed hold. When the interrupted re- turn operation is resumed, start from the beginning.
If a reference position return is performed on the Cs contour control axis, the axis can be operated in the same way as a normal NC axis.
In the spindle speed control mode, on the other hand, it does not operate as the Cs contour control axis, and P/S alarm 197 occurs during automatic operation.
In the spindle speed mode, inhibit manual operation of the Cs contour control axis using the PMC ladder.
Operation of Cs contour control axis (Manual/Automatic)
B–61393E–2/029. SPINDLE SPEED FUNCTION
430
0802 Position deviation amount of 1st spindle (T series)
0803 Position deviation amount of 1st spindle (M series)
Position deviation amount of the position loop for the 1st spindle.
This diagnostic display shows information obtained from the serial spindle control unit. This diagnosis displays position error of the spindle contour axis during spindle contour control.
[Classification] Input signal
[Function] This signal specifies that with the Cs contour control function, the first serial spindle be switched between the spindle speed control and Cs contour control modes.
(M series) When this signal turns to ”1”, the spindle mode changes from speed control to Cs contour control. If the spindle is moving at the time of the change, it stops immediately. Turning the signal to “0” changes the spindle mode from Cs contour control back to speed control.
(T series) When this signal turns to “0”, the spindle mode changes from speed control to Cs contour control. If the spindle is moving at the time of the change, it stops immediately. Turning the signal to “1” changes the spindle mode from Cs contour control back to speed control.
[Classification] Output signal
[Function] This signal indicates the axis is under Cs contour control.
[Output condition] Spindle speed control mode→ 0
Cs contour control mode→ 1
Display of Position Error of Cs Contour Control Axis
DGN No.
Signal
Spindle contour control change signal CON <G123#7> (M series) COFF <G123#0>(T series)
Spindle contour control change completion signal FSCSL <F178#1>
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
431
Spindle speed control Cs contour control Spindle speed control
Gear change and operation of spindle motor must be completed
Switching internal control Switching internal control
CON(M)
FSCSL
COFF(T)
NOTE Any mechanical gear change needed and inputs for GR1, GR2, CTH1A, and CTH2A must be completed before the CON (M) or COFF(T) signal selects Cs contour control mode. A servo excessive error may be generated if the spindle motor is not ready for operation. (Signal SRVA, SFRA <G229#5, #4> or other required signals must be appropriately processed on the machine side).
Refer to 9.3 “Spindle speed Control”.
Refer to the manual of serial spindle.
These signals determine what parameter (loop gain, etc.) to be used for each gear position.
Time Chart
Other signals
Gear select signal (Input) GR1, GR2, <118#2, #3> (T) <G123#2, #3> (M) Gear select signal (Output) GR3O, GR2O, GR1O <F152#2, #1, #0> (M series)
Clutch/Gear signal (Serial spindle) CTH1A, CTH2A <G229#3, #2>
B–61393E–2/029. SPINDLE SPEED FUNCTION
432
CTH1A and CTH2A are the gear select signals for the serial spindle, but GR1 and GR2 must also be set. Do not change these signals while in the Cs contour control mode.
Relationship between gears selected and spindle gear select signals
� � �� ��� � � �� �� ��� � �
T/M series with CSSC M series without CSSC �� �� ��� � �
GR2 GR1 Gear selection GR3O GR2O GR1O Gear selection CTH1A CTH2A Gear selection
0 0 1st stage 0 0 1 1st stage 0 0 1st stage
0 1 2nd stage 0 1 0 2nd stage 0 1 2nd stage
1 0 3rd stage 1 0 0 3rd stage 1 0 3rd stage
1 1 4th stage 1 1 4th stage
CSSC: Constant surface speed control
NOTE When the M series does not include the constant surface speed control option, GR1 and GR2 do not need to be input. Input CTH1A and CTH2A when gears are changed using GR10, GR2O and GR3O.
[Classification] Output signal
[Function] This signal indicates that a reference position return has been made for the Cs contour control axis.
[Output condition] If a manual reference position return or automatic reference position return by G28 is performed during the Cs contour control mode, this signal becomes logical 1 when the Cs contour control axis reaches the reference position.
�Feed axis and direction select signal
�Manual handle feed axis select signal
The Cs contour control axis can be manually operated in the same way as normal servo axes, except for a manual reference position return. In the spindle speed control mode, however, manual operations for the Cs contour control axis must be inhibited using the PMC ladder, etc.
Cs contour control axis reference position return completion signal ZP3 <F148#2> (T series) ZP4 <F148#3> (M series)
Signals on manual operation
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
433
#7 G118
#6 #5 #4 #3 GR2
#2 GR1
#1 #0 (T series)
G123 COFF (T series)
CONG123 GR2 GR1 (M series)
MRDYAG229 SFRA SRVA CTH1A CTH2A
#7 F148
#6 #5 #4 #3 ZP4
#2 ZP3
#1 #0
F152 GR3O GR2O GR1O
F178 FSCSL
The following describes major parameters.
In addition, parameters such as axis feedrate, acceleration/deceleration, and display can be used. Also, digital servo parameters (Nos. 8300 or later (T)/Nos. 8400 or later (M)) for the Cs contour axis are not required to be set.
#7 0008
#6 #5 #4 ADW2
#3 ADW1
#2 ADW0
#1 #0 (M series)
[Data type] Bit
ADW0, ADW1, Sets the name of the fourth axis as indicated below:
ADW2 ��
�� �
��
�� �
��
�� � Name
0 0 0 A
0 0 1 B
0 1 0 C
0 1 1 U
1 0 0 V
1 0 1 W
1 1 0 A
1 1 1 A
NOTE 1 Multiple axes must not have identical axis names. 2 When an optional second miscellaneous function is
provided, address B cannot be used. To use address C with the T series, set the ADRC bit (bit 4 of parameter 0029) to 0.
Any axis name can be assigned to an axis for Cs contour control.
Signal address
Parameter
B–61393E–2/029. SPINDLE SPEED FUNCTION
434
#7 APRS0010
#6 #5 #4 #3 #2 #1 #0
[Data type] Bit
APRS Automatic setting of a coordinate system when the manual reference position return is performed 0 : Not set automatically 1 : Set automatically
#7 0011
#6 #5 #4 #3 #2 ADLN
#1 #0 (M series)
[Data type] Bit
ADLN Type of fourth axis 0 : Rotation axis 1 : Linear axis
NOTE Inch/metric conversion cannot be made to the rotation axis. The machine coordinate values are rounded in 0° to 360°. Automatic reference position return (G28, G30) is made in the manual reference position return direction and the move amount does not exceed one rotation.
Set the rotation axis for Cs contour control axis
#7 0030
#6 #5 #4 #3 #2 #1 #0 ADW30 (T series)
[Data type] Bit
ADW30 Names the third axis: 0 : B. 1 : C.
#7 CNRST0031
#6 #5 #4 #3 #2 #1 #0
[Data type] Bit
CNRST When reference position return is completed, relative coordinate value of Cs contour control axis is 0 : Not cleared 1 : Cleared
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
435
#7 ROT100032
#6 #5 #4 #3 #2 LIN3
#1 #0
LIN3 Specifies whether the third axis is a linear ro rotation axis, as follows. 0 : Rotation axis 1 : Linear axis
Set the rotation axis for the Cs contour control axis.
ROT10 Specifies the measurement unit of parameters for the upper limit to the cutting feedrate rapid traverse F0 rate and the FL rate for a reference position return during inch output, as follows: 0 : 0.1 degrees/min 1 : 1 degrees/min
#7 0065
#6 #5 #4 #3 #2 #1 CZRN
#0
[Data type] Bit
CZRN The first positioning command by G00 after the serial spindle is switched to Cs axis contouring control performs: 0 : Positioning after returning to the reference position. 1 : Normal positioning
0102 Command multiply for third axis (CMR) (T series)
0103 Command multiply for fourth axis (CMR) (M series)
[Data type] Byte � When command multiply is 1/2 to 1/27
Set value= 1
(Command multiply) +100 [Valid data range: 102 to 127]
� When command multiply is 0.5 to 48
Set value = 2� command multiply [Valid data range: 1 to 96]
0271 Number of the servo axis for third axis (T series)
0272 Number of the servo axis for fourth axis (M series)
[Data type] Byte
Set the servo axis for third or fourth control axis.
Generally, the same number shall be assigned to the control axis and the corresponding servo axis.
Set 255 as the number of servo axis to the Cs contour control axis.
B–61393E–2/029. SPINDLE SPEED FUNCTION
436
0279 Setting of third axis in the basic coordinate system (T series)
0280 Setting of fourth axis in the basic coordinate system (M series)
[Data type] Byte
Only one axis can be set for each of the three basic axes X, Y, and Z, but two or more parallel axes can be set.
Set value Meaning
0 Neither the basic three axes nor a parallel axis
1 X axis of the basic three axes
2 Y axis of the basic three axes
3 Z axis of the basic three axes
5 Axis parallel to the X axis
6 Axis parallel to the Y axis
7 Axis parallel to the Z axis
Set 0 to the Cs contour control axis.
0502 In–position width for third axis (T series)
0503 In–position width for fourth axis (M series)
[Data type] Word
[Unit of data] Detection unit
[Valid data range] 0 to 32767
Set the in–position width for third or fourth axis.
0506 Positioning deviation limit for third axis in movement (T series)
0507 Positioning deviation limit for fourth axis in movement (M series)
[Data type] Two–word
[Unit of data] Detection unit
[Valid data range] 0 to 999999999
Set the positioning deviation limit in movement for third or fourth axis.
0520 Rapid traverse rate for third axis (T series)
0521 Rapid traverse rate for fourth axis (M series)
[Data type] Word
[Unit of data] 1 deg/min
[Valid data range] 30 to 24000 (IS–A, IS–B) 30 to 12000 (IS–C)
Set the rapid traverse rate when the rapid traverse override is 100% for third or fourth axis.
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
437
(T series)0524 Time constant used in linear acceleration/deceleration in rapid traverse for third axis
(M series)0525 Time constant used in linear acceleration/deceleration in rapid traverse for fourth axis
[Data type] Word
[Unit of data] ms
[Valid data range] 0 to 4000
Set the time constant used in linear acceleration/deceleration in rapid traverse for fourth or third axis.
0537 Backlash compensation value used for rapid traverse for third axis (T series)
0538 Backlash compensation value used for rapid traverse for fourth axis (M series)
[Data type] Word
[Unit of data] Detection unit
[Valid data range] �9999 to +9999
Set the backlash compensation value for third or fourth axis.
0595 Positioning deviation limit for third axis in the stopped state (T series)
0596 Positioning deviation limit for fourth axis in the stopped state (M series)
[Data type] Word
[Unit of data] Detection unit
[Valid data range] 0 to 32767
Set the positioning deviation limit in the stopped state for third or fourth axis.
(T series)0710 Coordinate value of the reference position used when automatic coordi- nate system setting is performed
(M series)0711 Coordinate value of the reference position used when automatic coordi- nate system setting is performed
[Data type] Two–word
Set the coordinate value of the reference position on each axis to be used for setting a coordinate system automatically.
B–61393E–2/029. SPINDLE SPEED FUNCTION
438
6565 Gear ratio (HIGH)
6566 Gear ratio (MEDIUM HIGH)
6567 Gear ratio (MEDIUM LOW)
6568 Gear ratio (LOW)
[Data type] Word
[Unit of data] (Number of motor rotations to one spindle rotation)� 100
[Valid data range] 0 to 32767
Set the gear ratio between spindle and AC spindle motor.
NOTE For which gear ratio is used in actual spindle operation, it depends on clutch/gear signal (serial spindle) CTH1A, CTH2A.
6569 Position gain at Cs contour control (High gear)
6570 Position gain at Cs contour control (Medium High gear)
6571 Position gain at Cs contour control (Medium Low gear)
6572 Position gain at Cs contour control (Low gear)
[Data type] Word
[Unit of data] 0.01 sec–1
[Valid data range] 0 to 32767
Set the position gain at Cs contour control.
NOTE For which position gain is used in actual spindle operation, it depends on clutch/gear signal (serial spindle) CTH1A, CTH2A.
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
439
6635 Grid shift value at Cs contour control
[Data type] Two–word
[Unit of data] 1 pulse unit (360000 p/rev)
[Valid data range] –360000 to +360000
Set the number of pulses from an issue of one–rotation signal to the machine zero point in Cs contour control.
NOTE This parameter can substitute for parameter 0510 (T series) or 0511 (M series). The parameter determines the position of reference position return under Cs contour control by the serial spindle.
6780 Loop gain of the servo axis that interpolates with Cs contour control axis during interpolation (1st gear)
6781 Loop gain of the servo axis that interpolates with Cs contour control axis during interpolation (2nd gear)
6782 Loop gain of the servo axis that interpolates with Cs contour control axis during interpolation (3rd gear)
6783 Loop gain of the servo axis that interpolates with Cs contour control axis during interpolation (4th gear)
[Data type] Word [Unit of data] 0.01 sec–1
[Valid data range] 0 to 9999 Set the servo loop gain of the servo axis that interpolates with Cs contour control axis on each spindle gear.
6784 Loop gain of the X axis that interpolates with Cs contour control axis dur- ing interpolation (1st gear)
6785 Loop gain of the X axis that interpolates with Cs contour control axis dur- ing interpolation (2nd gear)
6786 Loop gain of the X axis that interpolates with Cs contour control axis dur- ing interpolation (3rd gear)
6787 Loop gain of the X axis that interpolates with Cs contour control axis dur- ing interpolation (4th gear)
[Data type] Word [Unit of data] 0.01 sec–1
[Valid data range] 0 to 9999 Set the servo loop gain of the servo axis that interpolates with Cs contour control axis on each spindle gear.
B–61393E–2/029. SPINDLE SPEED FUNCTION
440
6788 Loop gain of the Z axis (T)/Y axis (M) that interpolates with Cs contour control axis during interpolation (1st gear)
6789 Loop gain of the Z axis (T)/Y axis (M) that interpolates with Cs contour control axis during interpolation (2nd gear)
6790 Loop gain of the Z axis (T)/Y axis (M) that interpolates with Cs contour control axis during interpolation (3rd gear)
6791 Loop gain of the Z axis (T)/Y axis (M) that interpolates with Cs contour control axis during interpolation (4th gear)
[Data type] Word [Unit of data] 0.01 sec–1
[Valid data range] 0 to 9999 Set the servo loop gain of the Z axis (T)/Y axis (M) that interpolates with Cs contour control axis on each spindle gear.
6792 Loop gain of the Z axis (M) that interpolates with Cs contour control axis during interpolation (1st gear)
6793 Loop gain of the Z axis (M) that interpolates with Cs contour control axis during interpolation (2nd gear)
6794 Loop gain of the Z axis (M) that interpolates with Cs contour control axis during interpolation (3rd gear)
6795 Loop gain of the Z axis (M) that interpolates with Cs contour control axis during interpolation (4th gear)
[Data type] Word
[Unit of data] 0.01 sec–1
[Valid data range] 0 to 9999
Set the servo loop gain of the Z axis (M) that interpolates with Cs contour control axis on each spindle gear. For T series, set the same values that set to the parameter Nos.6569 to 6572.
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
441
6796 Loop gain of the fourth axis (T) that interpolates with Cs contour control axis during interpolation (1st gear)
6797 Loop gain of the fourth axis (T) that interpolates with Cs contour control axis during interpolation (2nd gear)
6798 Loop gain of the fourth axis (T) that interpolates with Cs contour control axis during interpolation (3rd gear)
6799 Loop gain of the fourth axis (T) that interpolates with Cs contour control axis during interpolation (4th gear)
[Data type] Word
[Unit of data] 0.01 sec–1
[Valid data range] 0 to 9999
Set the servo loop gain of the fourth axis (T) that interpolates with Cs contour control axis on each spindle gear. For T series, set the same values that set to the parameter Nos. 6569 to 6572.
������ Message Description
194 SPINDLE COMMAND IN SYNCHRO–MODE
A contour control mode, spindle positioning (Cs–axis control) mode, or rigid tapping mode was specified during the serial spindle synchronous control mode. Correct the program so that the serial spindle syn- chronous control mode is released in ad- vance.
195 FIRST SPINDLE MODE CHANGE FAULT
This alarm is generated if the system does not properly terminate a mode change. The modes include the Cs contouring, spindle positioning, rigid tapping, and spindle con- trol modes. The alarm is activated if the spindle control unit does not respond cor- rectly to the mode change command issued by the NC.
197 C–AXIS COMMANDED IN SPINDLE MODE
The program specified a movement along the Cs contour control axis when the signal CON (G123#7) for M series was off or the signal COFF (G123#0) for T series was on. Correct the program, or consult the PMC ladder diagram to find the reason the signal is not turned on.
409 FIRST SPINDLE ALARM DETECTION (AL–XX)
This alarm indicates in the NC that an alarm is generated in the spindle control unit of the system with the serial spindle. The alarm is displayed in form AL–XX (XX is a number). The alarm number XX is the number indicated on the spindle amplifier. The CNC holds this number and displays on the screen.
Alarm and message
B–61393E–2/029. SPINDLE SPEED FUNCTION
442
WARNING In the spindle contour control mode, do not switch the spindle gears. When the gears need to be changed put the system in the spindle speed control mode first.
NOTE In the T series machines, the spindle contour control function and the spindle positioning function cannot be used at the same time. If both functions are specified simultaneously, the spindle positioning function takes precedence.
FANUC CONTROL MOTOR AMPLIFIER � series DESCRIPTIONS (B–65162E)
11.6 Cs Contour Control Func- tion
FANUC AC SPINDLE MOTOR series (Serial interface) DESCRIPTIONS (B–65042E)
Appendix 3.2 Cs Contour Control Func- tion Start–up Procedure
Warning
Note
Reference item
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
443
In addition to the conventional (first) spindle, two other (second and third) spindles can be controlled. These additional spindles allow two-stage gear changes. An S code is used for a command to any of these spindles; which spindle is selected is determined by a signal from the PMC. The second and third spindle can change gears in 2 stages.
When the second spindle is used, one position coder interface channel is added. Which position coder is selected is determined by a PMC signal. (The conventional and additional position coders are referred to as the first position coder and second position coder, respectively, throughout the remainder of this discussion.)
Selection between 1st position coder and 2nd position coder is made by a signal from PMC.
Two multi-spindle control methods are available. Type A allows the SIND function (controlling the spindle motor speed based on the PMC) to be used only for the first spindle. Type B allows the SIND function to be used for each of the three spindles independently.
An S command is sent as a speed command to each spindle selected, using a spindle selection signal (SWS1 to SWS3 <G145#0-#2>). Each spindle rotates at the specified speed. If a spindle is not sent a spindle selection signal, it continues to rotate at its previous speed. This allows the spindles to rotate at different speeds at the same time.
Each spindle also has a spindle stop signal (*SSTP1 to *SSTP3 <G145#3-#5>) to stop its rotation; an unused spindle can still be stopped.
There is a spindle enable signal to control each spindle; ENB <F149#4> controls the first spindle, while ENB2 and ENB3 <F164#2, #3> control the second and third spindles, respectively.
The PMC signal PC2SLC <G146#7> is used to select between the first and second position coders.
When parameter MSPDB (No. 0070#2)=0, TYPE-A is used.
When the first spindle is selected with the SWS1 signal, the SIND signal <G125#7> is used to determine whether the spindle analog voltage is controlled by the PMC or CNC; then signals R01I to R12I <G125#3 to G124#0> are used to set that spindle’s analog voltage. These signals do not affect the second and third spindles.
The PMC-based polarity (rotation direction) control signals SGN and SSIN <G125#5,#6> will function for any spindle selected by SWS1 to SWS3.
The concept of Type A multi-spindle control is outlined below.
9.10 MULTI-SPINDLE CONTROL (T SERIES)
General
Control
Basic control (Common to TYPE-A and TYPE-B)
Multi-spindle control (TYPE-A)
B–61393E–2/029. SPINDLE SPEED FUNCTION
444
S command
Hold 1
Hold 2
Hold 3
First spindle
SIND
SWS 1
SWS 2
SWS 3
* SSTP 1
* SSTP 2
* SSTP 3
Second spindle
Third spindle
Select Type B control by setting parameter MSPDB no. 0070#3 to “1”.
Each spindle has its own SIND, SSIN and SGN signals. Each signal functions regardless of selection state of the spindle selection signals (SWS1 to SWS3).
When either the spindle selection signals (SWS1 to SWS3) or the SIND signal for the first, second or third spindle is set to “1”, the polarity (rotation direction) control signals SSIN, SGN will function.
The concept of Type B multi-spindle control outlined below.
First spindle
S command
Hold 1
Hold 2
Hold 3
SIND
* SSTP 1
* SSTP 2
* SSTP 3
SWS 1
SWS 2
SWS 3
SIND2
SIND3
Second spindle
Third spindle
Multi-spindle control (TYPE-B)
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
445
The multi–spindle control function can control the following combinations of spindles:
1) Three analog spindles
2) One serial spindle (used as the first spindle) and two analog spindles
3) Two serial spindles (used as the first and second spindles) and one analog spindle (used as the third spindle)
In any of the above configurations, the second or third spindle may be left unconnected.
See the table below:
Spindle configuration for multi–spindle control
Three analog spindles
Function requirements Multi–spindle control, spindle speed command with four or five digits (The serial spindle interface should not be used.)
Hardware requirements Analog interface board (For the NC unit, control unit B must be used to con- nect the analog interface board.)
Spindle connection First spindle → M26 or M12 connector (on the memory board)
Second spindle → M121 connector V01 (on the analog interface board)
Third spindle → M121 connector V02 or M122 (on the analog interface board)
Position coder connec- tion
First position coder → M27 connector (on the memory board)
Second position coder → M124 connector (on the analog interface board)
One serial spindle (used as the first spindle) and two analog spindles
(used as the second and third spindles)
Function requirements Multi–spindle control, SRLMSP bit (bit 2 of serial spindle interface parameter 0071) set to 0
Hardware requirements Analog interface board (For the NC unit, control unit B must be used to con- nect the analog interface board.)
Spindles to be controlled
Connection of the spindles
B–61393E–2/029. SPINDLE SPEED FUNCTION
446
One serial spindle (used as the first spindle) and two analog spindles
(used as the second and third spindles)
Spindle connection First spindle → COP5 optical connector (on the memory board)
Second spindle → M121 connector V01 (on the analog interface board)
Third spindle → M121 connector V02 or M122 (on the analog interface board)
Position coder connection
First position coder When the ISRLPC bit (bit 0 of parameter 0071) is set to:
0 → COP5 optical connector (on the memory board)
1 → M27 connector (on the memory board)
Second position coder → M124 connector (on the analog interface board)
Two serial spindles (used as the first and second spindles)
and one analog spindle (used as the third spindle)
Function requirements Multi–spindle control, SRLMSP bit (bit 2 of serial spindle interface parameter 0071) set to 1
Hardware requirements Interface for the spindle speed command with four or five digits (when the third spindle is used) (No analog interface board is necessary. Therefore, either control unit A or B can be used for the NC unit.)
Spindle connection First spindle → COP5 optical connector (on the memory board)
Second spindle → CN11B optical connector (on the first spindle control unit)
Third spindle → M26 or M12 connector (on the memory board)
Position coder connection
First position coder When the ISRLPC bit (bit 0 of parameter 0071) is set to:
0 → COP5 optical connector (The data output by the position coder con- nected to the first spindle control unit is captured using the optical cable.)
1 → M27 connector (Both the COP5 optical connector and the M27 connector are provided on the memory board.)
Second position coder When the SSMPC bit (bit 3 of parameter 71) is set to:
0 → M27 connector 1 → CN11B optical connector
(The data output by the position coder connected to the second spindle control unit is captured using the optical cable.)
(The M27 connector is provided on the memory board while the CN11B optical connector is provided on the first spindle control unit.)
In any of the three configurations, control method type A or B can be selected by specifying the MSPDB bit (bit 3 of parameter 70).
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
447
NOTE Connection when a serial spindle interface is used When a serial spindle interface is used, the NC and the amplifier unit for spindle control are connected using a single optical cable (COP5 on the NC and CN11A on the spindle control unit). The position coder and other detectors are not directly connected to the NC unit but are instead connected to the amplifier unit for spindle control. The information obtained from the position coder or other detectors is supplied from the amplifier unit used for spindle control to the NC along the optical cable. When two serial spindles are connected, the CN11B connector of the first amplifier unit used for spindle control and the CN11A connector of the second amplifier unit used for spindle control are connected. The position coders and other detectors are connected to the amplifier units for spindle control in the same way as when a single serial spindle is used. The information detected by the second spindle control amplifier unit is supplied from the first spindle control amplifier unit to the NC, using the optical cable.
The control function for keeping the surface speed constant can be used with any of the three spindles if the spindle speed is within the range allowable for this function. (When the position coder is required, it can be installed on the 1st or 2nd spindle). The spindle selection signal (SWS1 to SWS3) for the spindle must stay set at “1” during machining using this function.
When the spindle speed fluctuation detection function is combined with multi-spindle control, two position coders can be used. Monitor the states of the second position coder selection signal (PL2SLC) and spindle selection signals (SWS1 to SWS3).
The actual spindle speed output function conveys speed information obtained from the selected position coder specified by the 2nd position coder selection signal (PC2SLC) to the PMC. When the parameter HSO (No. 0070#2)=1, the difference of the feedback pulses between the 1st and 2nd position coder can be output irrespective of the state of 2nd position coder selection signal (PC2SLC).
When the spindle motor is used for positioning, as in the case of spindle positioning or Cs contour control, the first spindle functions as the positioning spindle. Switching to the positioning mode and positioning command are possible irrespective of the state of the selection signal of the first spindle (SWS1). This means that the first spindle cannot be controlled as a spindle in positioning mode, but the second and third spindles can be controlled as usual.
Relationship with other optional functions
� Constant surface speed control
� Spindle speed fluctuation detection
� Actual spindle speed output
� Spindle positioning or Cs contour control
B–61393E–2/029. SPINDLE SPEED FUNCTION
448
Polygon turning rotates a tool axis in phase with the spindle. To perform polygon turning when multi-spindle control issued, select the spindle and the position coder associated with the spindle.
During spindle synchronization or simplified synchronization control, the second spindle operates in phase with the first spindle. Multi-spindle control for the first and third spindles can be used during synchronization control, but multi-spindle control for the second spindle is disabled.
Using the spindle selection signal (SWS1 to SWS3), rigid tapping can use which the three spindles as the rigid tap spindle. There are certain restrictions:
� Set the SWS1 to SWS3 signals before directing rigid tapping;
� Do not switch the SWS1 to SWS3 signals during rigid tapping; and
� Use the appropriate ENB signal (either ENB or ENB2) for the selected spindle as the ENB signal for the rigid tapping PMC sequence.
The spindles not used for rigid tapping can be rotated at a speed specified before rigid tapping starts, or can be stopped.
In rigid tapping, the first spindle and the first position coder form a position loop, while the second and third spindles and the second position coder form another position loop, irrespective of the status of the position coder select signal (PC2SLC). When the SRLMSPD bit (bit 2 of parameter 0071) is set to 1, that is, when serial spindles are used as the first and second spindles and an analog spindle as the third spindle, the position loops are formed independently of the status of the position coder select signal (PC2SLC) and the setting of the SSMPC bit (bit 3 of parameter 0071) used for selecting the second position coder. One of the position loops is formed by the first spindle and the position coder connected to the first spindle control unit, while the other is formed by the second spindle and the position coder connected to the second spindle control unit. The actual spindle speed display depends on the status of the position coder select signal (PC2SLC) and the setting of the SSMPC bit (bit 3 of parameter 0071), used for selecting the second position coder.
Refer to 9.4 “Spindle Control for 0–TTC”.
[Classification] Input signal
[Function] Controls whether S command specified to the NC is output to the spindle or not in multi-spindle.
SWS1 1 : Outputs a speed command to the first spindle. 0 : Outputs no speed command to the first spindle.
� Polygon turning
� Spindle synchronization, simplified synchronization control
� Rigid tapping
� 0–TTC
Signal
Spindle Selection Signal SWS1, SWS2, SWS3 <G145#0, #1, #2>
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
449
SWS2 1 : Outputs a speed command to the second spindle. 0 : Outputs no speed command to the second spindle.
SWS3 1 : Outputs a speed command to the third spindle. 0 : Outputs no speed command to the third spindle.
[Classification] Input signal
[Function] Effective only to multi-spindle, each spindle can be stopped by this signal.
*SSTP1 1 : Does not set 0 rpm for output to the first spindle. 0 : Sets 0 rpm for output to the first spindle.
*SSTP2 1 : Does not set 0 rpm for output to the second spindle. 0 : Sets 0 rpm for output to the second spindle.
*SSTP3 1 : Does not set 0 rpm for output to the third spindle. 0 : Sets 0 rpm for output to the third spindle.
[Classification] Input signal
[Function] Gear selection signals for 2nd and 3rd spindle when multi–spindle is equipped (2–stage). Use GR1 and GR2 <G118#2, #3> for the 1st spindle and up to 4–stage gears can be used.
GR21 1 : Selects the second-stage gear for the second spindle. 0 : Selects the first-stage gear for the second spindle.
GR31 1 : Selects the second-stage gear for the third spindle. 0 : Selects the first-stage gear for the third spindle.
[Classification] Input signal
[Function] Position coder selection signal used for control.
PC2SLC 1 : Uses feedback pulses obtained by the second position coder for control.
0 : Uses feedback pulses obtained by the first position coder for control.
When the second position coder is not installed, do not switch this signal and always select the first position coder.
Individual spindle stop signal *SSTP1, *SSTP2, *SSTP3 <G145#3, #4, #5>
Gear selection signal GR21 <G145#6> GR31 <G145#7>
2nd position coder selection signal PC2SLC <G146#7>
B–61393E–2/029. SPINDLE SPEED FUNCTION
450
[Classification] Output signal
[Function] These signals inform PMC of whether or not to perform output to the second and third spindles in multi–spindle control.
The signals are used as a condition to stop the analog spindle, and are also used for a PMC ladder sequence that is associated with rigid tapping. (See Section 9.11.)
[Output condition] ENB2 1 : Outputs a value other than 0 to the second spindle control unit. 0 : Outputs 0 to the second spindle control unit.
ENB3 1 : Outputs a value other than 0 to the third spindle control unit. 0 : Outputs 0 to the third spindle control unit.
1st spindle SIND, SSIN, SGN, <G125#7, #6, #5> (Input) R12I to R01I<G125#3 to G032#0> (Input)
2nd spindle SIND2, SSIN2, SGN2, <G107#7, #6, #5> (Input) R12I2 to R01I2<G107#3 to G106#0> (Input)
3rd spindle SIND3, SSIN3, SGN3, <G109#7, #6, #5> (Input) R12I3 to R01I3<G109#3 to G108#0> (Input)
[Classification] Input signal
[Function] The spindle motor of each spindle can be controlled by issuing commands from the PMC. The speed command and polarity (rotation direction) of a spindle motor can be controlled. Usually, CNC commands are used to specify a speed and polarity. By using these signals, whether commands issued from the CNC or PMC are to be used for this control can be selected. Even when multi–spindle control is not being used, the signals can be used to control the second and third spindles.
When multi–spindle control is being used, and TYPE–A is selected (bit 3 (MSPDB) of parameter No. 0070 is set to 0), the signals for the second and third spindles cannot be used.
For details of each signal, see Section 15.4.
NOTE The addresses of the SIND signals for spindles (G106 to G109) may also be used for the external key input signals. When the multi–spindle function is used, the external key input function cannot be used.
Spindle enable signal ENB2<F164#2> ENB3<F164#3>
Spindle control signal by PMC
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
451
#7 R08I2G106
#6 R07I2
#5 R06I2
#4 R05I2
#3 R04I2
#2 R03I2
#1 R02I2
#0 R01I2
SIND2G107 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2
R08I3G108 R07I3 R06I3 R05I3 R04I3 R03I3 R02I3 R01I3
SIND3G109 SSIN3 SGN3 R12I3 R11I3 R10I3 R09I3
G120 *SSTP
R08IG124 R07I R06I R05I R04I R03I R02I R01I
SINDG125 SSIN SGN R12I R11I R10I R09I
GR31G145 GR21 *SSTP3 *SSTP2 *SSTP1 SWS3 SWS2 SWS1
PC2SLCG146 GR2 GR1
F164 ENB3 ENB2
The parameters for the 1st spindle and the 1st position coder are the same as usual. This section describes the parameters which are added by this function.
#7 P2SG20064
#6 P2SG1
#5 #4 #3 #2 #1 #0
[Data type] Bit
P2SG2, P2SG1 Gear ratio of spindle to second position coder
Number of spindle revolutions
Number of position coder revolutions
Magnification P2SG2 P2SG1
�1 0 0
�2 0 1 Magnification= �4 1 0
�8 1 1
#7 0070
#6 #5 #4 #3 #2 MSPDB
#1 #0
MSI In multi–spindle control, the SIND signal is valid 0 : Only when the first spindle is valid (SIND signal for the 2nd, 3rd
spindle becomes ineffective) 1 : For each spindle irrespective of whether the spindle is selected (Each
spindle has its own SIND signal).
Signal address
Parameter
B–61393E–2/029. SPINDLE SPEED FUNCTION
452
#7 0071
#6 #5 #4 SRL2SP
#3 SSMPC
#2 SRLMSP
#1 #0 ISRLPC
[Data type] Bit
ISRLPC When a serial spindle is used: 1: The position coder signal connected to the M27 connector is captured.
0: The position coder signal being fed along the optical cable is captured.
SRLMSP When a serial spindle is used, the spindle configuration for multi–spindle control is set as follows: 1: The first and second spindles are serial, while the third spindle is
analog.
0: The first spindle is serial, while the second and third spindles are analog and are connected to the analog interface board.
SSMPC When a serial spindle is used with the multi–spindle function and when the SRLMSP bit (bit 2 of parameter 71) is set to 1 (see above): 1: The position coder signal connected to the second spindle control unit,
which is set as the second position coder, is captured.
SRL2SP The number of serial spindles to be connected is: 1: 2.
0: 1.
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 speed of the spindle is not clamped.
3 When the multi–spindle control option is selected (T series), set the maximum speed for each spindle in the following parameters:
NOTE 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.
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
453
0613 PSANG2
PSANG2 Set the gain adjustment data for the second spindle. The setting method is the same as that for the first spindle (parameter 516).
0614 SPDLC2
SPDLC2 Set the spindle speed offset compensation value for the second spindle. The setting method is the same as that for the first spindle (parameter 539).
0615 Maximum spindle speed for gear 1 of the second spindle
0616 Maximum spindle speed for gear 2 of the second spindle
[Data type] Word
[Unit of data] rpm
[Valid data range] 0 to 32767
Set the maximum spindle speed for each gear of the second spindle.
NOTE These parameters are used for the multi–spindle control.
0617 Data for adjusting the gain of the analog output of the third–spindle speed
[Data type] Word
[Unit of data] 0.1%
[Valid data range] 700 to 1250
Set the data used for adjusting the gain of the analog output of the third spindle speed.
NOTE This parameter is used for controlling the multi–spindles.
0618 Offset voltage compensation value of the analog output of the third spindle speed
[Data type] Word
[Unit of data] Velo
[Valid data range] –1024 to 1024
[Method of adjustment] Set the offset voltage compensation value of the analog output of the third spindle speed. 1) Set 0 (standard setting) to this parameter. 2) Command a spindle speed that makes the spindle speed analog output 0. 3) Measure output voltage. 4) Set the following value to parameter No. 0618.
Setting value = 12.5
–8191 � offset voltage (V)
5) After the parameter has been set, command a spindle speed whose analog output becomes 0 and confirm the voltage becomes 0V.
B–61393E–2/029. SPINDLE SPEED FUNCTION
454
0619 Maximum spindle speed for gear 1 of the third spindle
0620 Maximum spindle speed for gear 2 of the third spindle
[Data type] Word
[Unit of data] rpm
[Valid data range] 0 to 32767
Set the maximum spindle speed for each gear of the third spindle.
NOTE These parameters are used for muliti–spindle control.
WARNING Do not switch between the first and second position coders while a function that uses position coder feedback information is being executed. That is, PMC signal PC2SLC <G146#7> cannot be used while, for instance, a command for feed per rotation or thread cutting is taking place.
CAUTION 1 If the primary spindle stop signal *SSTP for stopping all
selected (SWS1 to SWS3) spindles’ rotation is cleared, the speed command is restored. A spindle not selected by SWS1 to SWS3 and rotating at its previous speed, which is stopped using its respective command *SSTP1 to *SSTP3, cannot be restored to that speed when the signal is cleared.
2 Type A multi-spindle control differs from Type B in the relationship between the SWS1 and SIND signals for the first spindle. In Type A, SIND functions only when SWS1 is set to “1”. In Type B, SIND functions whether SWS1 is “1” or “0”; each spindle is selected by either of its respective SWS or SIND signals being set to “1”.
Warning
Caution
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
455
NOTE 1 The spindle orientation signal, spindle speed override
signals, and spindle stop signal *SSTP only function for selected signals.
2 The S 12-bit code signals R01O to R12O outputs the state of a selected spindle. If two or more spindles are selected at the same time, the states of the first, second, and third spindles are output in this order.
3 The multi-spindle function allows two position coder interfaces to be used. But the number of actual speed indications on the CNC screen does not change. The speed based on the feedback information of the selected position coder is displayed.
4 An SOR command has priority over S commands and SIND-based rotation control from the PMC, and will cause all selected spindle to perform orientation rotation.
Note
B–61393E–2/029. SPINDLE SPEED FUNCTION
456
In a tapping cycle (M series: G84/G74, T series: G84/G88), synchronous control is applied to the tapping operation of a tapping axis and the operation of the spindle.
This capability eliminates the need to use a tool such as a float tapper, thus enabling higher–speed, higher–precision tapping.
Whether a tapping cycle is an ordinary tapping cycle or rigid tapping cycle is determined by the miscellaneous function code for rigid tapping M29. (A different M code can be used by setting the parameters accordingly, but M29 is used in the description given here.)
By setting the parameters, G codes for tapping cycles can be changed to G codes for rigid tapping only. In this case, the CNC specifies M29 internally.
To perform rigid tapping, the following must be added to the ordinary connections:
· Connection of a position coder to the spindles (described in 9.11.2)
· Addition of a sequence to the PMC (described in 9.11.6 and 9.11.7)
· Setting of related parameters (described in 9.11.8)
This section provides an example of M series connection.
To avoid duplicate descriptions, assume the following unless noted otherwise:
⋅ G code for a tapping cycle M series: G84 (G74) T series: G84 (G88)
⋅ Gear selection method M series: M–type or T–type gear selection method T series: T–type gear selection method only
⋅ M series: Up to three stages T series: Up to four stages (Shared by the second spindle. Up to two stages for the second spindle.)
CAUTION 1 The description given in this section covers up to the fourth
axis. 2 In the case of the M series, when both the CT3G (bit 1 of
parameter 0077) and the VALT (bit 6 of parameter 0037) are set to 1, the maximum spindle speed for the third gear is set in parameter 0617.
The descriptions given in this section (such as spindle gear switching and M–type/T–type) are based on the explanation given in Section 9.3. Refer to Section 9.3 as necessary.
9.11 RIGID TAPPING
9.11.1 General
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
457
The differences in the specifications for rigid tapping for the M series and T series are described below.
The tapping cycle G84 and the reverse tapping cycle G74 can be used to specify M series rigid tapping.
A tapping axis can be arbitrarily selected from the basic axes X, Y, and Z, as well as axes parallel to the basic axes, by setting the corresponding parameters accordingly (bit 6 (FXY) of parameter No. 0057).
The spindle operations of G84 and G74 are reversed with respect to each other.
The first spindle allows rigid tapping, even if the spindle is an analog or serial spindle.
The face tapping cycle G84 and the side tapping cycle G88 can be used to specify T series rigid tapping.
Depending on the rigid tapping command, rigid tapping can be performed along the Z–axis (when G84 is used) or the X–axis (when G88 is used).
A reverse tapping cycle, like that supported by M series, is not available.
In addition to rigid tapping using the first spindle (either analog or serial), rigid tapping using the second spindle (serial) and third spindle (analog) is also possible when multi–spindle control is being used.
For 0–TTC, rigid tapping can be performed using a combination of the spindle and tapping axis selected in each path.
Rigid tapping using a mixture of paths is not allowed.
Specification of M series/T series � Rigid tapping of M series
� Rigid tapping of T series
B–61393E–2/029. SPINDLE SPEED FUNCTION
458
As shown in the figure below a gear can be inserted between the spindle and spindle motor, and between the spindle and position coder.
Spindle control
Spindle amplifier Spindle motor
Spindle
Gear ratio n:m
�4
Error counter
Gear ratio q:p
1024 p/rev
Position coder
(The 512 pulses/rev position coder is incorporated into some spindle motors. When the serial spindle is used, the system carries out conversion from 512 pulses/rev to 1024 pulses/rev.)
Up to three gear stages (M series) or four gear stages (1st spindle of T series), two gear stages (2nd or 3rd spindle of T series) can be provided between the spindle and the spindle motor. The gear ratio is arbitrary. The spindle move distance per spindle motor rotation is different, based on the gear ratio. The speed command to the spindle motor must be adjusted. See (2), below, for additional information regarding a spindle motor incorporating a position coder.
The position coder is used to detect the position of the spindle. The gear ratio for the spindle and position coder is specified in the parame- ter sets Nos. 0663 to 0668 (M)/Nos.0427 to 0434 (T), or parameter set PSG1 and PSG2 No. 0028#6, 7(M)/No.0003#6, #7(T), parameter P2SG1 and P2SG2 No.0064#6, 7 for 2nd spindle of T series. Which parameter set to use is specified by parameter VALPC No.0063#3 (M)/No.0063#6(T).
This is used if the gear ratio for the spindle motor and position coder (built-in or separate) is not 1:1, 1:2, 1:4, or 1:8, set VALPC to 1 and set the gear ratio using parameter Nos.0663 to 0668 (M)/Nos.0427 to 0434(T).
When position coder is mounted on a spindle, the gear ratio for the spindle motor and position coder cannot be changed by shifting the spindle motor and spindle gears. Parameters Nos. 0663 to 0665(M)/Nos.0427 to 0430(T) must all specify the same value for the teeth of the individual spindle gears. Parameters Nos.0666 to 0668(M)/Nos. 0431 to 0434(T) must all specify the same value for the teeth of individual position coder gears.
9.11.2 Connection Among Spindle, Spindle Motor, and Position Coder
(1) Gear between spindle and spindle motor
(2) Gear between spindle and position coder
⋅ Arbitrary gear ratio (VALPC=1)
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
459
The 1024 or 512 pulses/rev position coder is built into the spindle motor. For the 512 pulses/rev version, specify double the number of teeth on each gear for the position coder. (Double the number of teeth need not be specified for the serial spindle.)
The M series allows up to three stages, regardless of which gear selection method has been selected. (Parameter 0663 to 0668.)
The T series supports up to four stages for the first spindle and up to two stages for the second or third spindle (parameters 0427 to 0434).
Example)
Spindle motor
Built–in position coder
1st gear set 30 : 70
2nd gear set50 : 50
3rd gear set 70 : 30
Parameter No. Set value
M series
T series
512p/rev Position
coder
1024p/re v
Position coder
Meaning
0663 0427 70 Number of teeth of the 1st gear for the spindle side
0664 0428 50 Number of teeth of the 2nd gear for the spindle side
0665 0429 30 Number of teeth of the 3rd gear for the spindle side
0666 0431 60 Note) 30 Number of teeth of the 1st gear for the position coder side
0667 0432 100 Note) 50 Number of teeth of the 2nd gear for the position coder side
0668 0433 140 Note) 70 Number of teeth of the 3rd gear for the position coder side
NOTE Double value setting is not required for serial spindle.
B–61393E–2/029. SPINDLE SPEED FUNCTION
460
If the gear ratio is either 1:1, 1:2, 1:4, and 1:8, it is set using parameters PSG1 and PSG2 (No.0027#6, #7(M)/No.0003#6, #7(T)). This applies if the position coder is mounted in a spindle or built into a spindle motor when only one stage gear is provided. . For 2nd spindle of T series, set it to parameters P2SG1 and P2SG2 (No.0064#6, #7).
Parameter Gear ratio
PG2 PG1 Spindle Positioncoder Detection unit
0 0 1 1 360/4096=0.08789 deg
0 1 1 2 360/4096�2=0.17578 deg
1 0 1 4 360/4096�4=0.35156 deg
1 1 1 8 360/4096�8=0.70313 deg
The spindle motor building in the 512 pulses/rev position coder uses the values set forth in the following table. A serial spindle does not require double-value setting; use the same values as for the spindle motor building in the 1024 pulses/rev position coder.
Gear ratio Parameter Gear ratio of spindle Detection
Built–in position
d
Spindle motor Spindle PSG2 PSG1
of spindle to position
coder
unit (deg)
coder 512p/rev
1 1 0 1 1:2 0.17578 512p/rev
2 1 1 0 1:4 0.35156
4 1 1 0 1:8 0.70313
If the M type gear selection method is selected, the CNC determines whether gears need changing using the gear change specification mentioned in section 9.3. If the gears need to be changed, the CNC generates the S function code read signal SF (F150#2) and gear selection signals GR1O, GR2O, and GR3O (F152#0-#2) to notify the PMC. Change gears using the PMC, based on these signals.
If the T type gear selection method is selected, the CNC does not process gear changes. When the CNC has the S function code, it outputs signal SF and S function code signals S11 to S58 (F185 to F187) to the PMC. Using the PMC, determine whether gears need changing, and make the change if needed. Input gear selection signals GR1 and GR2 <G123#2, #3(M)/G118#2, #3(T)>, GR21 <G145#6> for 2nd spindle of T series, or GR31 <G145#7> for 3rd spindle of T series for the selected gear, and notify the CNC of them.
To perform rigid tapping with the serial spindle, enter the clutch/gear selection signals CTH1 and CTH2 (G229#3,#2 for the first spindle, and G223#3, #2 for the second spindle) from the PMC. Notify the serial spindle control unit of these signals via the CNC, irrespective of the gear selection method.
� Gear ratio is 1:1, 1:2, 1:4, 1:8 (VGR=0)
(3) Rigid tapping and machines with multiple gears
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
461
Changing gears during rigid tapping requires a different process from that for gear changes during normal machining. As described above, changing gears conforms to the gear change specifications mentioned in section 9.3 when the M type gear selection method has been selected. With the T type gear selection method, changing gears conforms to the logic programmed in the PMC. Regardless of the option’s selection, if the range in which the spindle speed specified by the S function code does not correspond to the currently selected gear, the gears are changed. The following tables list the spindle speed ranges for each gear during normal machining (assuming no machine restrictions) and rigid tapping:
Gear Spindle speed range (normal machining)
Gear Lower limit Upper limit
Low– speed gear
1 revolution Maximum low–speed gear speed =
Maximum spindle motor speed � L% Low–speed gear ratio
Medium speed gear
Maximum low–speed gear speed + 1 revo-
lution
Maximum medium–speed gear speed =
Maximum spindle motor speed � L% Medium speed gear ratio
High– speed gear
Maximum medium– speed gear speed +1
revolution
Maximum high–speed gear speed =
Maximum spindle motor speed � L% High–speed gear ratio
NOTE The table shows sample spindle speed ranges for a spindle having three gears. In the table, L% is a spindle motor protection constant (up to 100), provided to caluculate the maximum speed. (Different L values can be specified for individual gears if gear change method B is selected for M type gear selection (when the LGCM (bit 6 of parameter 0035) is set to 1.
Gear Spindle speed range (during rigid tapping)
Gear Lower limit Upper limit
Low– speed gear
1 revolution Maximum low–speed gear speed
Basic spindle motor speed +α =
Low–speed gear ratio
Medium speed gear
Maximum low–speed gear speed + 1 revo-
lution
Maximum medium–speed gear speed
Basic spindle motor speed +α =
Medium–speed gear ratio
High– speed gear
Maximum medium– speed gear speed +1
revolution
Maximum high–speed gear speed
Basic spindle motor speed +α =
High–speed gear ratio
B–61393E–2/029. SPINDLE SPEED FUNCTION
462
NOTE This table show an example of three gears. For the basic spindle motor speed, refer to the spindle motor description manual. “+ a” means that the spindle motor speed may slightly exceed the basic spindle motor speed.
If the M type gear selection method is used, use gear change method B (bit 6 (G84S) of parameter No. 0012 = 1) in the tapping cycle to specify the following:
The table above shows the maximum low-speed gear speed during rigid tapping for low-/medium-speed gear change position D (parameter No. 0540).
The table above shows the maximum medium-speed gear speed during rigid tapping for medium-/high-speed gear change position E (parameter No. 0556).
If the T type gear selection method is used, add the rigid tapping logic to the logic programmed in the PMC. See Section 9.3, “Spindle Control” for details of the spindle gear change specifications.
The loop gain can be specified for each gear. Specify “0” for parameter No. 0615(M)/No.0406(T) and specify loop gains for each gear for parameter Nos. 0669 to 0671(M)/ Nos.0407 to 0410(T). Unless “0” is specified for parameter No.0615(M)/No.0406(T), the loop gains for each gear are disabled, and the loop gain common to all gears, the value of parameter No.0615 (M)/No.0406(T), is enabled.
Specify the time constant and the maximum spindle speed for each gear. Use parameters Nos.0692, 0693, and 0613(M)/Nos.0415 to 0418 (T) to specify the time constant. Use parameters Nos.0694, 0695 and 0617 (M)/Nos.0423 to 0426(T) to specify the maximum spindle speed.
For M type gear selection method, set the maximum spindle speed to parameter No. 0617, irrespective of the number of gear stages used.
Setting bit 5 (RGCTO) of parameter No.0035(M)/bit3(RGCTO) of parameter No.0029(T) to “1” enables setting of the extraction time constant for each gear set. Specify the extraction time constant for each gear in parameter Nos.0400 to 0402(M)/Nos.0419 to 0422(T).
If bit 3 (VSLRC) of parameter No.0063 (M)/bit 6 (VSLRC) of parameter No.0063(T) is set to “1”, the gear ratio for the spindle and position coder can be set to anywhere between 1:32767 and 32767:1 in one-increment units for three gear sets with M series, four gear sets with T series, or two gear sets with 2nd position coder of T series. However 1:8 to 8:1 is the recommended value.
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
463
In rigid tapping mode, the tapping axis is fed at a rate specified by F; the spindle speed is S�360(deg/min). Override is invalid for both of them. An override of up to 200% can be applied to withdrawal operations by setting bit 4 (RGDOV) of parameter No. 0063 to “1”, and setting an appropriate override value in parameter No.0258(M)/No.0254(T). The time constant for withdrawal operations can be modified by bit 5 (RGCTO) of parameter No.0035(M)/bit3(RGCTO) of parameter No.0029(T); when it is set to “1”, the values in parameter Nos.0400 to 0402 (M)/Nos.0419 to 0422 (T) are used as the time constant for withdrawal.
Linear acceleration/deceleration is valid for rigid tapping.
Override is invalid for rigid tapping. Fixed override can be applied to withdrawal operations by setting bit 4 (RGDOV) of parameters No. 0063 or parameter No.0258 (M)/No.0254(T).
Dry run is valid for G84 (G74). When the dry run is applied to the tapping axis speed of G84 (G74), tapping is performed. The spindle speed will match the dry run speed.
Machine lock is valid for G84 (G74). When G84 (G74) is executed with the machine locked, however the tapping axis and the spindle do not move.
When the reset operation is performed during rigid tapping, the mode is reset. The spindle motor goes to the ordinary mode, but G84 (G74) mode is not reset.
The feed hold, interlock, and single block functions are effective for G84 (G74). The feed hold and single block functions in rigid tapping mode can be nullified by setting bit 2 (RGMFH) of parameter No.0388 (M)/bit 3 (RGMFH) of parameter No. 0397 (T) to “1”. As with the machine lock signal, the feed hold and single block functions are also effective for the spindle indirectly, through tapping axis operations.
G84 (G74) can be executed only in the MEM and MDI modes.
Rigid tapping cannot be performed in the manual feed mode.
In rigid tapping mode, the backlash is compensated for the lost motion at forward and reverse spindle rotations. Set it using parameter No.0255 (M)/Nos. 0214 to 0217 (T). The backlash compensation is normally made for the tapping axis.
9.11.3 Rigid Tapping Specification
� Feed rate
� Acceleration and deceleration
� Override
� Dry run
� Machine lock
� Reset
� Feed hold, interlock, and single block
� Operation mode
� Manual feed
� Backlash compensation
B–61393E–2/029. SPINDLE SPEED FUNCTION
464
For rigid tapping adjustment, the parameter screen displays information related to rigid tapping.
The following information items are displayed, when rigid tapping is executed:
· Spindle position deviation→ Diagnosis No.627(M)/No.0435(T)
· Number of command pulses distributed to the spindle (momentary value)→ Diagnosis No.628(M)/No.0436(T)
· Cumulative number of command pulses distributed to the spindle → Diagnosis No.799(M/T)
⋅ Momentary error difference between the spindle and tapping axis → Diagnosis No.696(M)/No.0437(T)
⋅ Maximum error difference between the spindle and tapping axis → Diagnosis No.697(M)/No.0438(T)
Diagnosis No.696 (M)/No.0437(T) is cleared to “0” when rigid tapping mode is set or canceled, and diagnosis No.697 (M)/0438(T) is cleared to “0” in the positioning of the rigid tapping cycle. The following figure shows the tapping axis as the Z axis.
9.11.4 Display Data on the Diagnosis
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
465
Z–axis error
Ze Zc
Zc = Speed
60 × 1
Gain × 1
Detection unit � 102 (Theoretical value)
Ze = Z–axis error counts (measured value)
Spindle error
Se
Sc
Sc = Speed � 360
60 × 1
Gain × 1
Detection unit � 102 (Theoretical value)
Se = Spindle error counts (measured value)
Speed : mm/min or inch/min
Gain : 0.01 s-1
Detection unit :mm, inch, or deg
Speed : rpm
�Z= Ze
Zc � 100 [%]
�S= Se
Sc � 100 [%]
The error difference between the spindle and Z axis can be obtained by �S–�Z. This value is sampled at intervals of 64 ms.
B–61393E–2/029. SPINDLE SPEED FUNCTION
466
0435 SPINDLE MOTION ERROR (T series)
0627 SPINDLE MOTION ERROR (M series)
Spindle position deviation during rigid tapping
[Data type] Word
[Unit] Pulse
0436 SPINDLE MOTION PULSE (T series)
0628 SPINDLE MOTION PULSE (M series)
Number of pulses distributed to the spindle during rigid tapping
[Data type] Word
[Unit] Pulse
0437 RIGID ERROR (T series)
0696 RIGID ERROR (M series)
Momentary error difference between the spindle and tapping axis during rigid tapping (signed)
[Data type] Word
[Unit] %
0438 RIGID ERROR (MAX) (T series)
0697 RIGID ERROR(MAX) (M series)
Maximum error difference between the spindle and tapping axis during rigid tapping (absolute value)
[Data type] Word
[Unit] %
0799 SPINDLE PULSE(SUM)
Cumulative number of pulses distributed to the spindle during rigid tapping
[Data type] Two–word
[Unit] Pulse
Diagnosis screen � Spindle position
deviation
� Number of pulses distributed to the spindle
� Error difference between the spindle and tapping axis (momentary value)
� Error difference between the spindle and tapping axis (maximum)
� Cumulative number of pulses distributed to the spindle during rigid tapping
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
467
The rigid tapping command format for the T series is described below. For an explanation of the command format used with the M series, refer to Section II.4.2 of the “Operator’s Manual for Machining Center (B–61404E) ”.
G84 G88
Front tapping cycle Side tapping cycle
M code for C–axis clamping
Number of repeats Cutting feedrate
Dwell time at the bottom face of a tapped hole and upon R point return
Specifies the position of an R point Specifies the position of the bottom face of a tapped hole
Specifies a tapping position.
G�� X(Z)__ C__ Z(X)__ R__ P__ F__ K__ (M��) ;
The rigid tapping mode can be specified by using any of three methods:
� Specification of M29S**** before specifying a tapping cycle � Specification of M29S****in the same block � Enabling rigid tapping to be performed without specifying M29S****
When using the third method, specify S**** either before or in a block containing G84 (G88).
Thus, the spindle stops, after which the tapping cycle specified next is placed in rigid tapping mode.
Rigid tapping mode can be canceled by G80;. Note, however, that a G code for another canned cycle, or a group 01 G code can also cancel rigid tapping mode.
When rigid tapping is terminated by a command issued to cancel rigid tapping mode, the spindle stops. (Output to the spindle is equivalent to the specification of S0.)
A reset (by means of the RESET button or an external reset) can also cancel rigid tapping mode. Note, however, that canned cycle mode is not canceled by a reset.
� Specifying M29 before a block containing G84 (G88) M29 S****;
G��X(Z)__C__Z (X)__R__P__F__K__ (M��) ;
X(Z)__C__;
X(Z)__C__;
·
·
G80;
9.11.5 Command Format
Command format for the T series
Rigid tapping mode
B–61393E–2/029. SPINDLE SPEED FUNCTION
468
� Specifying M29 and G84 (G88) in the same block (Note, however, that M29 and M�� for C–axis clamping cannot be specified in the same block.)
G��X(Z)__Z(X)__R__P__F__K__M29****;
X(Z)_C__;
X(Z)__C__;
·
·
G80;
� Converting G84 (G88) to a G code for rigid tapping (by setting bit 3 (G84RGD) of parameter No. 0076 to 1)
G��X(Z)__C__Z(X)__R_P_F_K_S**** (M��);
X(Z)__C__;
X(Z)__C__;
·
·
G80;
NOTE 1 In feed per minute mode, F_/S**** determines a thread
lead. In feed per rotation mode, F_ specifies a thread lead. 2 S**** must specify a value that does not exceed the value
set in the maximum spindle speed parameter (No. 0423 to 0426) for the gear to be used. Otherwise, P/S alarm No. 200 is issued in a block containing G84 (G88).
3 F_ must specify a value that does not exceed the maximum cutting feedrate. When 0 is specified, P/S alarm No. 201 is issued.
4 Between M29 and G84 (G88), S and a command for movement along an axis must not be specified. Further, M29 must not be specified in a tapping cycle. Otherwise, P/S alarm Nos. 203 and 204 are issued, respectively.
Rigid tapping mode
Rigid tapping mode
Notes on the T series
B–61393E–2/02 9.  The spindle speed override is also assumed to be 100%. For a retract motion (motion 5), a fixed override of up to 200% can be applied by specifying bit 4 (RGDOV) of parameter No. 0063 and parameter No. 0258 (RGOVR).
NOTE G code system A does not include G98 (return to initial level) and G99 (return to R point level). Return to the initial level is always used.
B–61393E–2/029. SPINDLE SPEED FUNCTION
470
Rigid tapping is classified into two types: rigid tapping in feed per rotation mode (G99) and rigid tapping in feed per minute mode (G98).
Example)
The example below specifies rigid tapping in feed per rotation mode for cutting a thread with a lead of 1 mm at a spindle speed of 1,000 rpm.
O0001 ; G99 ;
⋅ ⋅ ⋅
M29 S1000 ; G84 Z–100. R–20. F1. ;
⋅ ⋅ ⋅
G80 ;
The example below specifies rigid tapping in feed per minute mode for cutting the same thread at the same spindle speed as above. (In feed per minute mode, F/S determines the thread lead.)
O0002 ; G98 ;
⋅ ⋅ ⋅
M29 S1000 ; G84 Z–100. R–20. F1000 ;
⋅ ⋅ ⋅
G80 ;
Units of F
Metric input Inch input Remarks
G98 1 mm/min 0.01 inch/min A fractional value can be specified.
G99 0.0001 mm/ rev 0.000001 inch/rev A fractional value can be specified.
NOTE 1 G98 and G99 are modal G codes. Upon power–up, G99
(feed per rotation mode) is set. 2 Even in feed per rotation mode, a pulse distribution
command is converted to a feed per minute command. Thus, feed per rotation mode does not strictly implement feed per rotation. Accordingly, even if the spindle stops for some reason, the tapping axis (Z–axis or X–axis) does not stop.
Rigid tapping in feed per rotation mode
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
471
[Classification] Input signal
[Function] When M29 (miscellaneous function for preparation for rigid tapping) is specified, the PMC enters rigid tapping mode, then turns on this signal to notify the CNC. 1 : The PMC enters in rigid tapping mode. 0 : The PMC does not enter rigid tapping mode. For an explanation of placing the PMC in rigid tapping mode, see the description of the interface with the PMC, given later. This signal posts whether the PMC has entered rigid tapping mode. If this signal is not set to 1, even when M29 is specified, a P/S alarm is issued in a G84 (G74) block.
[Classification] Output signal
[Function] During rigid tapping, these signals notify the PMC of whether the spindle is rotating in the forward or reverse direction.
During rigid tapping, the spindle is: RGSPP 1 : Rotating in the forward direction (CW).
0 : Not rotating in the forward direction. RGSPM 1 : Rotating in the reverse direction (CCW).
0 : Not rotating in the reverse direction. [Output condition] These signals are output when the spindle is rotating in rigid tapping
mode. This means that, even in rigid tapping mode, these signals are not output, for example, when the spindle is being positioned to a hole position, or a dwell operation is in progress at the bottom of a hole or at an R point.
These signals are not output in the feed hold state or single block stop state. When the spindle is placed in the interlock stop state, machine lock state, or Z–axis ignore state, however, the spindle is not regarded as having stopped; these signals are output.
These signals are valid only in rigid tapping mode. In normal spindle control, these signals are not output; both RGSPP and RGSPM are set to “0”.
9.11.6 Signal
<IP_ADDRESS> Signals for the rigid tapping function
Rigid tapping signal RGTPN <G123#1>
Spindle rotation direction signals RGSPM, RGSPP <F165#1, #0> (M series)
B–61393E–2/029. SPINDLE SPEED FUNCTION
472
[Classification] Output signal
[Function] These signals post whether the spindle output is 0. In rigid tapping mode, these signals are used to cancel rigid tapping in a PMC sequence associated with rigid tapping.
For details, see the explanation of the interface with the PMC, given later.
[Classification] Output signal
[Function] These signals send S codes specified for the CNC, in BCD format, to the PMC.
[Output condition] When an S code is specified, the specified value is output, in binary format, with the signals. Upon the completion of output, the SF signal is set to “1”.
Before rigid tapping can be performed, however, parameter setting is required to output these signals, as described below. M series: SF output depends on the gear selection method, as described
below.
[1] M–type gear selection method
SF output depends on bit 7 (SFOUT) of parameter No. 0020.
[2] T–type gear selection method SF output depends on the setting of bit 4 (SFOB) of parameter No. 0029.
T series: The following parameter needs to be set to output S codes and SF: Bit 0 (EVSF) of parameter No. 0049 = 1
In rigid tapping, when SF is to be used by the PMC to read an S code output signal for gear switching or output switching, set the above parameters as required.
<IP_ADDRESS> Signals related to S code output
Spindle enable signal ENB <F149#4>
Second and third spindle enable signals ENB2 <F164#2> ENB3 <F164#3> (T series)
Spindle–speed function code signals (BCD output) S11 to S58 <F185#0 to F187#3>
Spindle–speed function strobe signal SF <F150#2>
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
473
NOTE The timing charts, given later, give examples of gear switching by setting the parameters as follows: M series: SFOUT = 0, SFOB = 0 T series: EVSF = 1
[Classification] Output signal
[Operation] When M–type gear selection is being used, these signals are used in a PMC sequence for rigid tapping.
The signals post, to the PMC, information about a spindle gear to be used, according to the value of S**** specified at the execution of G84 (G74).
As gear switching becomes necessary, the states of the signals change together with the SF signal.
The PMC should perform gear switching according to the information posted by the signals. Reference information: The table below indicates the relationship
between the output signals and gear selection.
GR3O GR2O GR1O
1st (low) speed gear 0 0 1
2nd (medium) speed gear 0 1 0
3rd (high) speed gear 1 0 0
<IP_ADDRESS> Signals related to gear switching
Gear selection signals (output) GR3O, GR2O, GR1O <F152#2, #1, #0> (M series)
B–61393E–2/029. SPINDLE SPEED FUNCTION
474
[Classification] Input signal
[Operation] When T–type gear selection is being used, these signals are used in a PMC sequence for rigid tapping.
The signals post, to the CNC, information about a spindle gear to be used. Reference information: The table below shows the relationship
between the output signals and spindle gear selection.
GR2 GR1
1st (low) speed gear 0 0
2nd (medium) speed gear
0 1
3rd (high) speed gear
1 0
4th (high) speed gear
1 1
[Classification] Input signal
[Operation] When rigid tapping with the second or third spindle is being performed (for the T series only), the signal is used in a PMC sequence.
The signal notifies the CNC of spindle gear information when the second or third spindle has been selected. The input signal is related to gear selection as described below.
GR21 1 : The second stage is currently selected as the second or third spindle gear. 0 : The first stage is currently selected as the second or third spindle gear.
GR21 GR31
1st speed gear 0
2nd speed gear 1
When a serial spindle is used, the serial spindle clutch/gear selection signals (G229#3, #2 for the first spindle, and G233#3, #2 for the second spindle) must be set in addition to the setting of the gear selection signal described above.
Gear selection signals (input) GR2, GR1 <G123#3, #2> (M series) <G118#3, #2> (T series)
← In M series rigid tapping, the specifi- cation of the 4th (high) speed gear
is invalid. If specified, the system
assumes that the 3rd (high) speed
gear has been specified.
Gear selection signal (input) GR21 <G145#6> GR31 <G145#7> (T series)
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
475
See the description of the signals related to gear switching, given above.
[Classification] Input signal
[Operation] SWS1, SWS2, and SWS3 are used to transfer spindle commands when the multi–spindle control option is used. In rigid tapping, the signals can be shared to select a spindle to be used for rigid tapping.
To select a spindle to be used for rigid tapping, set the signals as indicated below.
Spindle used for rigid Signal statep g tapping SWS3 SWS2 SWS1
P/S 205 0 0 0
First spindle 0 0 1
2 0 1 0
1 0 1 1
3 1 0 0
1 1 0 1
2 1 1 0
1 1 1 1
WARNING These signals must be applied before the command for rigid tapping (M29 S....; G84 X...) is specified. The states of these signals must not be changed before rigid tapping has been completed.
<IP_ADDRESS> Signals related to second and third spindle rigid tapping (T series)
Gear selection signal (input) GR21 <G145#6> GR31 <G145#7> (T series)
Signals related to multi–spindle control (T series)
Spindle selection signals SWS1, SWS2, SWS3 <G145#0, #1, #2>
B–61393E–2/029. SPINDLE SPEED FUNCTION
476
[Classification] Input signal
[Operation] These signals are used to stop each spindle when the multi–spindle control option is used. In a PMC sequence for rigid tapping, the ENB, ENB2, and ENB3 signals are used. Accordingly, the logic of the signals used for a spindle selected to perform rigid tapping must match the logic of the spindle stop signal *SSTP.
*SSTP1 1 : The output to the first spindle does not specify 0 rpm. 0 : The output to the first spindle specifies 0 rpm.
*SSTP2 1 : The output to the second spindle does not specify 0 rpm. 0 : The output to the second spindle specifies 0 rpm.
*SSTP3 1 : The output to the third spindle does not specify 0 rpm. 0 : The output to the third spindle specifies 0 rpm.
[Classification] Input signal
[Operation] This signal is used to select the second position coder when the multi–spindle control option is being used. Note, however, that it cannot be used with a spindle selected to perform rigid tapping.
1 : Control is exercised using a feedback pulse signal from the second position coder.
0 : Control is exercised using a feedback pulse signal from the first position coder.
For rigid tapping, this signal is not used. Instead, a position loop is constructed by combining the first spindle with the first position coder, or by combining the second or third spindle with the second position coder.
However, the display of the actual speed is switched by this signal, even during rigid tapping.
Spindle–by–spindle stop signals *SSTP1, *SSTP2, *SSTP3 <G145#3, #4, #5>
Second position coder selection signal PC2SLC <G146#7>
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
477
#7 G118
#6 #5 #4 #3 GR2
#2 GR1
#1 #0 (T series)
G123 GR2 GR1 (M series)
G123 PGTPN
GR31G145 GR21 *SSTP3 *SSTP2 *SSTP1 SWS3 SWS2 SWS1 (T series)
PC2SLCG146 (T series)
#7 F149
#6 #5 #4 ENB
#3 #2 #1 #0
F150 SF
F152 GR3O GR2O GR1O (M series)
F164 ENB3 ENB2 (T series)
F165 PGSPM RGSPP (M series)
S28F185 S24 S22 S21 S18 S14 S12 S11
S48F186 S44 S42 S41 S38 S34 S32 S31
F187 S58 S54 S52 S51
The following describes some notes in designing the interface with the PMC.
The PMC must manage rigid tapping mode as follows: rigid tapping
mode is set using M29, and is canceled upon the issue of a reset or at the
falling edge of the spindle enable signal ENB in rigid tapping mode. ENB
is used during rigid tapping in this way, so the spindle stop signal *SSTP
must not be set to “0”.
However, *SSTP and SOR may be used for gear switching. To do so, ensure that the PMC does not cancel rigid tapping mode on a falling edge of ENB while *SSTP is “0”.
In rigid tapping using the second or third spindle with the T series, the ENB2 or ENB3 signal must be used for rigid tapping mode management.
When the SIND signal is set to “1”, spindle output is controlled by the
signals (SSIN, SGN, R1I to R12I) output from the PMC.
At this time, the effect of ENB is as described above. In addition, when rigid tapping mode is canceled in a block containing G80;, the momentary rotation of the spindle, caused by a delay in the PMC processing, can result. Accordingly, the PMC’s control over spindle output must be disabled in rigid tapping mode by setting SIND to “0”.
<IP_ADDRESS> Signal addresses
<IP_ADDRESS> Notes on interface with the PMC
Rigid tapping mode management and ENB (or ENB2, ENB3)
Controlling spindle output by the PMC
B–61393E–2/029. SPINDLE SPEED FUNCTION
478
For the same reason, the PMC’s control over second or third spindle output must be disabled in rigid tapping mode by setting SIND2 or SIND3 to “0”.
When T–type gear selection is used, the PMC must determine whether
gear switching is to be performed, and subsequently perform gear
switching as required. For this purpose, each time a spindle–speed
function code is specified, the spindle–speed function code read signal
(SF) and spindle–speed function code signals (S11 to S58) must be output
to the PMC. The required parameter settings are described below.
⋅ M series: Set bit 4 (SFOB) of parameter No. 0029 to 0 to output SF. ⋅ T series: Set bit 0 (EVSF) of parameter No. 0049 to 1 to output SF.
In general, a block containing M29 (miscellaneous function for
preparation for rigid tapping) specifies S����, S���� being output when
a block containing G84 (G74) is executed. This means that gear switching
is performed in the block specifying G84 (G74).
M29 (miscellaneous function for preparation for rigid tapping) and S**** specify rigid tapping mode. When M29 is accepted by the PMC, the following processing must be performed:
� Stop the spindle when it is rotating. � Check that the spindle has stopped completely, then set the rigid
tapping signal RGTPN <G123#1> to on. � Activate the spindle motor. Activate the motor so that a positive speed
command rotates the spindle in the forward direction (CCW when viewed from the – side of the tapping axis).
� Return FIN at least 250 ms after activation.
NOTE The condition “at least 250 ms after activation” results from there being no way of checking the completion of spindle motor activation. Therefore, this wait period serves as an alternative. The time required for activation to be completed varies with the spindle motor and amplifier. Therefore, this value of 250 ms is given as a guideline only.
In an M29 block, S**** is not executed, merely being read in. S**** is executed in a G84 block. Spindle output is equivalent to the specification of S0.
The timing chart is shown in the chart indicating the execution of G84 (G74).
When M29S****; is specified, S**** is read in, spindle output being equivalent to the specification of S0;. S**** is output when G84 (G74) is executed. Thus, the processing described below is performed.
T–type gear selection method
Gear switching timing
When rigid tapping mode is specified
Execution of G84 (G74)
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
479
When using a machine that features multiple gear stages for use with the spindle motor and spindle, and S���� is outside the previously selected gear range, the spindle–speed function strobe signal SF <F150#2> and gear selection signals (output) GR3O, GR2O, GR1O <F152#2, #1, #0> are output to the PMC.
At this time, perform gear switching at the PMC.
The spindle–speed function strobe signal SF <F150#2> and spindle–speed function code signals S11 to S58 <F185#0 to F187#3> are output to the PMC. (However, parameter setting is required to enable output of the S codes and SF signal. See the description of bit 0(EVSF) of parameter No. 0049.)
At this time, the PMC must determine whether gear switching is to be performed, and perform gear switching as required. The selected gear must be reflected in the gear selection signals (input) GR2 and GR1 <G123#3, #2> (M)/<G118#3, #2> (T) for notification to the CNC.
From GR2 and GR1, the CNC determines which gear is selected.
However, note the difference between the M series and T series, as described below.
M series: Up to three gear stages are supported. If the fourth stage is selected, the system assumes that the third gear has been selected.
T series: Up to four gear stages are supported for the first spindle, and up to two gear stages for the second spindle. (The gear selection for the second or third spindle is notified to the CNC by the signal GR21 <G145#6> or GR31 <G154#7>.)
An S code is output in the first block (positioning to tapping position) of G84 (G74) execution. However, the spindle motor position loop is closed in the next block (R point positioning). Accordingly, spindle speed offset must be adjusted accurately until the position loop has been closed in the second block of G84 (G74) execution after the PMC activates the spindle motor with M29. Otherwise, the spindle motor may rotate slightly. (This applies only to an analog spindle. No offset adjustment is required for a serial spindle.)
Rigid tapping mode may be specified by specifying M29 before G84, specifying M29 and G84 in the same block, or by specifying G84 as a G code for rigid tapping. In each case, PMC processing is the same. (The M29 code is always output.)
� When M–type gear selection is used
� When T–type gear selection is used
B–61393E–2/029. SPINDLE SPEED FUNCTION
480
The timing chart for rigid tapping specification depends on the method used to specify rigid tapping mode, the gear selection method (M–type or T–type), and whether to perform gear switching.
From the table, find the appropriate timing chart (Fig. <IP_ADDRESS> (a) to Fig. <IP_ADDRESS> (d)) and apply the information it contains as necessary.
Gear Specification method
selection method M–type T–type
Gear switching M29 is specified before
G84 (G74).
M29 and G84 (G74) are specified in the same
block.
By parameter setting, G84 (G74) is specified as
a G code for rigid tapping.
M–type Not performed Fig. <IP_ADDRESS> (a) Fig. <IP_ADDRESS> (a) Fig. <IP_ADDRESS> (a)
M–ty e Performed Fig. <IP_ADDRESS> (b) Fig. <IP_ADDRESS> (b) Fig. <IP_ADDRESS> (b)
T–type Not performed Fig. <IP_ADDRESS> (c) Fig. <IP_ADDRESS> (c) Fig. <IP_ADDRESS> (c)
T–ty e Performed Fig. <IP_ADDRESS> (d) Fig. <IP_ADDRESS> (d) Fig. <IP_ADDRESS> (d)
NOTE For more information about the M/T type gear selection method, see Section 9.3 SPINDLE CONTROL. Note the following: T series: T–type only M series: M–type when constant surface speed control
is not being used. T–type when constant surface speed control
is being used.
9.11.7 Timing Charts for Rigid Tapping Specification
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
481
M type gear selection method
M29
First block
G84 (G74)
ENB To be masked to the second block
Spindle output
SF
GR1O
GR2O
GR3O
*SSTP
SOR
RGTAP or RGTPN
FIN
Rotation
Excitation
SFR
Position loop
250ms
or more
Fig. <IP_ADDRESS> (a) Gear is not changed
Second block
<IP_ADDRESS> When M29 is specified before G84 (G74)
B–61393E–2/029. SPINDLE SPEED FUNCTION
482
M29
First block
G84 (G74)
ENB
Spindle output
SF
GR1O
GR2O
GR3O
*SSTP
SOR
250ms
or more
RGTAP or
RGTPN
FIN
Rotation Gear change
Excitation SFR
Position loop
To be masked to the second block
Note This time chart show an example where the gear has shifted from low to middle gear. One of the gear select signals (GR1O,
GR2O, GR3O) has turned from “1” to “0”, and one of the two remaining signals has turned from “0” to “1”. This changes
the gear.
*Gear change motion
Fig. <IP_ADDRESS> (b) When gear change is performed (From low to middle gear)
Second block
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
483
T type gear selection method
M29
RTAP First bllock
G84 (G74)
ENB
Spindle output
SF
S code output
GR1
GR2
*SSTP
SOR
250ms
or more
RGTAP or
RGTPN
FIN
Rotation
Excitation SFR
Position loop
To be masked to the second block
Fig. <IP_ADDRESS> (c) Gear change is not performed
Second block
B–61393E–2/029. SPINDLE SPEED FUNCTION
484
M29
First block
G84 (G74)
ENB
Spindle output
SF
S code output
GR1
GR2
*SSTP
SOR
250ms
or more
RGTAP or
RGTPN
FIN
Rotation Gear change
Excitation SFR
Position loop
To be masked to the second block
Note This time chart shows an example where the gear has changed from low to middle gear. The PMC selects a required gear
through an S code output and selects the gear using the GR1 and GR2 signals to inform CNC of the selected gear.
*Gear change motion
Fig. <IP_ADDRESS> (d) When gear–change is performed (low to middle gear)
Second block
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
485
M type gear selection
M29
First block
G84 (G74)
ENB To be masked to the second block
Spindle output
SF
GR1O
GR2O
GR3O
*SSTP
SOR
250ms
or more
RGTAP or
RGTPN
FIN
Rotation
Excitation SFR
Position loop
Fig. <IP_ADDRESS> (a) When gear–change is not performed
Second block
<IP_ADDRESS> M29 and G84 (G74) are specified in the same block
B–61393E–2/029. SPINDLE SPEED FUNCTION
486
M29
First block
G84 (G74)
ENB
Spindle output
SF
GR1O
GR2O
GR3O
*SSTP
SOR
250ms
or more
RGTAP or
RGTPN
FIN
Rotation Gear change
Excitation SFR
Position loop
To be masked to the second block
Note This time chart shows an example where the gear has shifted from middle high gear. One of the gear select signals (GR1O,
GR2O, GR3O) has turned from “1” to “0”, and one of the two remaining signals has tuned from “0” to “1”. This changes
the gear.
Fig. <IP_ADDRESS> (b) When gear–change is performed (middle to high)
Second block
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
487
T type gear selection method
M29
First block
G84 (G74)
ENB
Spindle output
SF
S code output
GR1
GR2
*SSTP
SOR
250ms
or more
RGTAP or
RGTPN
FIN
Rotation
Excitation SFR
Position loop
To be masked to the second block
Fig. <IP_ADDRESS> (c) When gear change is not performed
Second block
B–61393E–2/029. SPINDLE SPEED FUNCTION
488
M29
First block
G84 (G74)
ENB
Spindle outpout
SF
S code out- put
GR1
GR2
*SSTP
SOR
250ms
or more
RGTAP or
RGTPN
FIN
Rotation Gear change
Excitation SFR
Position loop
To be masked to the second block
Note This time chart shows an example where the gear has changed from middle to high gear. The PMC selects a required gear
through an S code output and selects the gear using the GR1 and GR2 signals to inform CNC of the selected gear.
Fig <IP_ADDRESS> (d) When gear–change is performed (middle to high gear)
Second block
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
489
M type gear selection
M29
First block
G84 (G74) M29 is commanded internally.
ENB To be masked to the second block
Spindle output
SF
GR1O
GR2O
GR3O
*SSTP
SOR
250ms
or more
RGTAP or
RGTPN
FIN
Excitaiton SFR
Position loop
Rotation
Fig. <IP_ADDRESS> (a) When gear–change is not performed
Second block
<IP_ADDRESS> Specifying G84 (G74) for rigid tapping by parameters
B–61393E–2/029. SPINDLE SPEED FUNCTION
490
M29
First block
G84 (G74) M29 is commanded internally.
ENB
Spindle output
SF
GR1O
GR2O
GR3O
*SSTP
SOR
250ms
or more
RGTAP or
RGTPN
FIN
Rotation Gear change
Excitation SFR
Position loop
To be masked to the second block
Note This time chart shows an example where the gear has shifted from high to low gear. One of the gear select signals (GR1O,
GR2O, GR3O) has turned from “1” to “0”, and one of the two remaining signals has turned from “0” to “1”. This changes
the gear.
Fig. <IP_ADDRESS> (b) When gear change is performed (high to low gear)
Second blcok
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
491
T type gear selection method
M29
First block
G84 (G74) M29 is commanded internally.
ENB
Spindle outoput
SF
S code output
GR1
GR2
*SSTP
SOR
250ms
or more
RGTAP or
RGTPN
FIN
Rotation
Excitation SFR
Position loop
To be masked to the second block
Fig. <IP_ADDRESS> (c) When gear change is not performed
Second block
B–61393E–2/029. SPINDLE SPEED FUNCTION
492
M29
First block
G84 (G74) M29 is commanded internally
ENB
Spindle output
SF
S code output
GR1
GR2
*SSTP
SOR
250ms
or more
RGTAP or
RGTPN
FIN
Rotation Gear change
Excitation SFR
Position loop
To be masked to the second blcok
Note This time chart shows an example where the gear has changed from high to low gear. The PMC selects a required gear
through an S code output and inputs the selected gear using the GR1 and GR2 signals to inform CNC of the selected gear.
Fig. <IP_ADDRESS> (d) When gear–change is performed (high to low gear)
Second block
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
493
When rigid tapping is completed, the mode is canceled if a G code (such as G80, canned cycle G code, or Group 01 G code) is issued. The spindle output is produced in the same way as executing S0. Cancel the PMC rigid tapping mode at the falling edge of the ENB signal (ENB2 or ENB3 signal for 2nd or 3rd spindle of T series) by de-energizing the spindle; then turn off the rigid tapping mode signal. The system goes to the next block after confirming that the signal is off.
When gear change is performed using *SSTP and SOR, the ENB signal can be either “1” or “0”. Do not cancel the PMC’s rigid tapping mode at the falling edge of the ENB signal under these circumstances. The position loop is also canceled.
When the CNC is reset, the PMC’s rigid tapping mode must be canceled. When RGTPE (parameter no. 0040#2(M)/0041#0(T)) is “1”, the system goes directly to the next block without checking that the rigid tapping signal is “0”. Set CRG to “1” for systems in which the rigid tapping signal is always “1”.
G80
(or G code of group 01)
ENB, ENB2, or ENB3
Spindle output
RGTAP or
RGTPN
Rotation
Excitation
Position loop
<IP_ADDRESS> Timing to cancel rigid tapping mode
B–61393E–2/029. SPINDLE SPEED FUNCTION
494
WARNING 1 If rigid tapping mode is canceled by a Group 01 G code,
such as G00 or G01, the block containing the G code is executed at the same time the ENB signal is turned to “0”. Therefore, if a block contains an M code for controlling the spindle, an error may occur during processing in the PMC.
2 When RGTPE (Parameter No.0040#2(M)/0041#0(T)) is 1, if the next block contains an M code for controlling the spindle, an error may occur during processing in the PMC, when:
⋅ Rigid tapping mode is canceled by issuing G80 ⋅ Rigid tapping mode is canceled by issuing a Group 01 G
code , such as G00 or G01
NOTE Rigid tapping mode is canceled as described above regardless of the gear selection method of M–type or T–type.
B–61393E–2/02 9. SPINDLE SPEED FUNCTION
495
#7 PSG20003
#6 PSG1
#5 #4 #3 #2 #1 #0 (T series)
PSG20028 PSG1 (M series)
[Data type] Bit
PSG2, PSG1 Gear ratio of spindle to position coder
Magnification PSG2 PSG1
�1 0 0
�2 0 1
�4 1 0
�8 1 1
#7 0012
#6 G84S
#5 #4 #3 #2 #1 #0 (M series)
[Data type] Bit
G84S Gear switching method during tapping cycle (G84, G74) 0 : Method A (Same as 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 SFOUT0020
#6 #5 #4 #3 #2 #1 #0 (M series)
[Data type] Bit