FANUC Power Mate i-MODEL D/H PARAMETER MANUAL · PDF file · 2016-03-10fanuc power...

FANUC Power Mate *-MODEL D

FANUC Power Mate *-MODEL H

PARAMETER MANUAL

B-63180EN/03

� No part of this manual may be reproduced in any form.

� All specifications and designs are subject to change without notice.

In this manual we have tried as much as possible to describe all thevarious matters.However, we cannot describe all the matters which must not be done,or which cannot be done, because there are so many possibilities.Therefore, matters which are not especially described as possible inthis manual should be regarded as ”impossible”.

PREFACE B–63180EN/03

p–1

��

The mode covered by this manual, and their abbreviations are :

Product Name Abbreviations

FANUC Power Mate i–MODEL D Power Mate i–D Power Mate i

FANUC Power Mate i–MODEL H Power Mate i–H

Power Mate i

Power Mate

The table below lists manuals related to power Mate i–MODEL D/H. Inthe table, this manual is maked with an asterisk (*).

Table 1 Related manuals

Manual name SpecificationNumber

DESCRIPTIONS B–63172EN

CONNECTION MANUAL (Hardware) B–63173EN

CONNECTION MANUAL (Function) B–63173EN–1

OPERATOR’S MANUAL B–63174EN

MAINTENANCE MANUAL B–63175EN

PARAMETER MANUAL B–63180EN *PROGRAMMING MANUAL(Macro Compiler / Macro Executor)

B–62093E–1

FANUC LADDER–III OPERATOR’S MANUAL B–66234EN

FANUC PMC PROGRAMMING MANUAL (LADDER LANGUAGE)

B–61863E

The following table lists the manuals related to SERVO MOTOR αi/βiseries

Manual name Specificationnumber

FANUC AC SERVO MOTOR αis seriesFANUC AC SERVO MOTOR αi seriesDESCRIPTIONS

B–65262EN

FANUC AC SPINDLE MOTOR αi series DESCRIPTIONS

B–65272EN

FANUC AC SERVO MOTOR βis seriesDESCRIPTIONS

B–65302EN

FANUC AC SPINDLE MOTOR βi seriesDESCRIPTIONS

B–65312EN

FANUC SERVO AMPLIFIER αi seriesDESCRIPTIONS

B–65282EN

FANUC SERVO AMPLIFIER βi seriesDESCRIPTIONS

B–65322EN

FANUC SERVO MOTOR αis seriesFANUC SERVO MOTOR αi seriesFANUC AC SPINDLE MOTOR αi seriesFANUC SERVO AMPLIFIER αi seriesMAINTENANCE MANUAL

B–65285EN

Related Manuals

Related manuals ofSERVO MOTOR αi/βi series

B–63180EN/03 PREFACE

p–2

Manual nameSpecification

number

FANUC SERVO MOTOR βis seriesFANUC AC SPINDLE MOTOR βi seriesFANUC SERVO AMPLIFIER βi seriesMAINTENANCE MANUAL

B–65325EN

FANUC SERVO AMPLIFIER βi series (I/O Link Option)MAINTENANCE MANUAL

B–65395EN

FANUC AC SERVO MOTOR αis seriesFANUC AC SERVO MOTOR αi seriesFANUC AC SERVO MOTOR αis seriesPARAMETER MANUAL

B–65270EN

FANUC AC SPINDLE MOTOR αi seriesFANUC AC SPINDLE MOTOR βi seriesPARAMETER MANUAL

B–65280EN

The servo motors and spindle motors (only for the Power Mate i–D) listedabove can be connected to the CNCs described in this manual.

Related manuals of SERVO MOTOR β series


FANUC SERVO MOTOR β series DESCRIPTIONS B–65232EN

FANUC SERVO MOTOR β series MAINTENANCEMANUAL

B–65235EN

FANUC SERVO MOTOR β series (I/O Link Option)MAINTENANCE MANUAL

B–65245EN

Related manuals of I/O–Unit and other


FANUC PROFIBUS–DP Board OPERATOR’S MANUAL B–62924EN

FANUC Ethernet Board/DATA SERVER BOARDOPERATOR’S MANUAL

B–63354EN

FANUC FAST Ethernet Board/FAST DATA SERVER BoardOPERATOR’S MANUAL

B–63644EN

FANUC FL–net Board OPERATOR’S MANUAL B–63434EN

FANUC DeviceNet BOARD OPERATOR’S MANUAL B–63404EN

FANUC I/O Unit–MODEL A CONNECTION/MAINTENANCEMANUAL

B–61813E

FANUC I/O Unit–MODEL B CONNECTION/MAINTENANCEMANUAL

B–62163E

FANUC I/O Link–II CONNECTION MANUAL B–62714EN

Related manuals of OPEN CNC


FANUC OPEN CNC OPERATOR’S MANUAL (LADDER EDITING PACKAGE)

B–62884EN

FANUC OPEN CNC OPERATOR’S MANUAL(Basic Operation Package 1 (for Windows 95/NT))

B–62994EN

Related manuals ofSERVO MOTOR β series

Related manuals ofI/O–Unit and other

Related manuals ofOPEN CNC

B–63180EN/03 Table of Contents

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PREFACE p-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. DISPLAYING PARAMETERS 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. SETTING PARAMETERS FROM MDI 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. INPUTTING AND OUTPUTTING PARAMETERS THROUGH THEREADER/PUNCHER INTERFACE 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 OUTPUTTING PARAMETERS THROUGH THE READER/PUNCHER INTERFACE 5. . . . . . . .

3.2 INPUTTING PARAMETERS THROUGH THE READER/PUNCHER INTERFACE 6. . . . . . . . . .

4. DESCRIPTION OF PARAMETERS 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1 PARAMETERS OF SETTING 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 PARAMETERS OF READER/PUNCHER INTERFACE 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1 Parameters Common to all Channels 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.2 Parameters of Channel 1 (I/O CHANNEL=0) 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.3 Parameters of Channel 1 (I/O CHANNEL=1) 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.4 Parameters of Channel 2 (I/O CHANNEL=2) 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 PARAMETERS OF I/O LINK–II 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 PARAMETERS OF DPL/MDI OPERATION PACKAGE AND DPL/MDI 19. . . . . . . . . . . . . . . . . . .

4.5 PARAMETERS OF ETHERNET (FOR DPL/MDI OPERATION PACKAGE AND DPL/MDI) 21. .

4.6 PARAMETERS OF POWER MATE CNC MANAGER 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7 PARAMETERS OF AXIS CONTROL/INCREMENT SYSTEM 26. . . . . . . . . . . . . . . . . . . . . . . . . . .

4.8 PARAMETERS OF COORDINATES 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.9 PARAMETERS OF STROKE CHECK 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.10 PARAMETERS OF FEEDRATE 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.11 PARAMETERS OF ACCELERATION/DECELERATION CONTROL 45. . . . . . . . . . . . . . . . . . . . .

4.12 PARAMETERS OF SERVO 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.13 PARAMETERS OF DI/DO 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.14 PARAMETERS OF PULSE SIGNAL OUTPUT FUNCTION 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.15 PARAMETERS OF MDI, DISPLAY, AND EDIT 95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.16 PARAMETERS OF PROGRAMS 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.17 PARAMETERS OF PITCH ERROR COMPENSATION (OPTIONAL FUNCTION WITH Power Mate i–H) 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.18 PARAMETERS OF SPINDLE CONTROL 121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.19 PARAMETERS OF TOOL COMPENSATION 138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.20 PARAMETERS OF CANNED CYCLES 139. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.20.1 Parameter of canned Cycle for Drilling 139. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.21 PARAMETERS OF RIGID TAPPING 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.22 PARAMETERS OF POLAR COORDINATE INTERPOLATION 152. . . . . . . . . . . . . . . . . . . . . . . . . .

4.23 PARAMETERS OF STRAIGHTNESS COMPENSATION 153. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.24 PARAMETERS OF CUSTOM MACROS 154. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.25 PARAMETERS OF PATTERN DATA INPUT 159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.26 PARAMETERS OF POSITIONING BY OPTIMUM ACCELERATION 160. . . . . . . . . . . . . . . . . . . . .

4.27 PARAMETERS OF SKIP FUNCTION 164. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.28 PARAMETERS OF EXTERNAL DATA INPUT/OUTPUT 173. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B–63180EN/03Table of Contents

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4.29 PARAMETERS OF PICTURE DISPLAY 173. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.30 PARAMETERS OF DISPLAYING OPERATION TIME AND NUMBER OF PARTS 174. . . . . . . . . .

4.31 PARAMETERS OF POSITION SWITCH FUNCTIONS 178. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.32 PARAMETERS OF MANUAL HANDLE FEED, HANDLE INTERRUPTION DIRECTION 180. . . .

4.33 PARAMETERS OF REFERENCE POSITION SETTING WITH MECHANICAL STOPPER 184. . . .

4.34 PARAMETERS OF SOFTWARE OPERATOR’S PANEL 186. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.35 PARAMETERS OF THE EXTERNAL PULSE INPUT 192. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.36 PARAMETERS OF AXIS CONTROL BY PMC 194. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.37 PARAMETERS OF ELECTRONIC CAM 200. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.38 PARAMETERS OF TWO–PATH CONTROL 205. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.39 PARAMETERS RELATED TO THE INTER–UNIT DATA SHARING FUNCTION 206. . . . . . . . . . .

4.40 PARAMETERS RELATED TO THE PACEMAKER FUNCTION 207. . . . . . . . . . . . . . . . . . . . . . . . .

4.41 PARAMETERS OF DEVICE INPUT 208. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.42 PARAMETERS OF SIMPLE SYNCHRONOUS CONTROL 210. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.43 PARAMETERS OF MULTIAXIS SYNCHRONIZATION 215. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.44 PARAMETERS RELATED TO THE INTER–UNIT DATA SHARING FUNCTION (2) 217. . . . . . . .

4.45 PARAMETERS OF HIGH–SPEED POSITION SWITCHES 218. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.46 PARAMETERS OF C LANGUAGE EXECUTOR AND MACRO EXECUTOR 227. . . . . . . . . . . . . .

4.47 PARAMETERS OF HIGH–SPEED RESPONSE (1) 230. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.48 OTHER PARAMETERS 234. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

APPENDIX

A. CHARACTER CODE LIST 243. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B–63180EN/03 1. DISPLAYING PARAMETERS

1

1 DISPLAYING PARAMETERS

Follow the procedure below to display parameters.

(1) Press the <SYSTEM> function key on the MDI as many times asrequired, or alternatively, press the <SYSTEM> function key once,then the PARAM section display soft key. The parameter screen isthen selected.

PARAMETER (FEEDRATE) O0001 N12345

1401 RDR JZR RF0 LRP RPD0 0 0 0 0 0 0 0

1402 DLF HFC0 0 0 0 0 0 0 0

1410 DRY RUN FEEDRATE 100001411 INIT.CUTTING F 01420 RAPID FEEDRATE X 15000

Y 15000 Z 15000

> AUTO STRT MTN FIN *** 10:02:35[PARAM] [DGNOS] [ PMC ] [SYSTEM] [(OPRT)]

Cursor

Soft key display(section select)

�� PROGOFFSETSETTING

SYSTEM MESSAGEGRAPH

Function key

Return menu key Soft key Continuous menu key

CUSTOM

(2) The parameter screen consists of multiple pages. Use step (a) or (b)to display the page that contains the parameter you want to display.

(a) Use the page select key or the cursor move keys to display the de-sired page.

(b) Enter the data number of the parameter you want to display fromthe keyboard, then press the [NO.SRH] soft key. The parameterpage containing the specified data number appears with the cur-sor positioned at the data number. (The data is displayed in re-verse video.)

NOTEIf key entry is started with the section select soft keysdisplayed, they are replaced automatically by operationselect soft keys including [NO.SRH]. Pressing the [(OPRT)]soft key can also cause the operation select keys to bedisplayed.

> AUTO STRT MTN FIN *** 10:02:34[NO.SRH] [ ON:1 ] [ OFF:0 ] [+INPUT] [INPUT ] ← Soft key display

(section select)

← Data entered fromthe keyboard

B–63180EN/032. SETTING PARAMETERS FROM MDI

2

2 SETTING PARAMETERS FROM MDI

Follow the procedure below to set parameters.

1 Follow the substeps below to enable writing of parameters.

1-1 To display the setting screen, press the <OFFSET/SETTING>function key as many times as required, or alternatively press the<OFFSET/SETTING> function key once, then the [SETING]section select soft key. The first page of the setting screen appears.

1-2 Position the cursor on “PARAMETER WRITE” using thecursor move keys.

SETTING (HANDY) O0001 N00010

PARAMETER WRITE = (0:DISABLE 1:ENABLE)TV CHECK = 0 (0:OFF 1:ON)PUNCH CODE = 0 (0:EIA 1:ISO)INPUT UNIT = 0 (0:MM 1:INCH)I/O CHANNEL = 0 (0–2:CHANNEL NO.)

0

1-3 Press the [(OPRT)] soft key to display operation select soft keys.

> MDI STOP *** *** *** 10:03:02[NO.SRH] [ ON:1 ] [ OFF:0 ] [+INPUT] [INPUT]

← Soft key display(section select)

1-4 To set “PARAMETER WRITE=” to 1, press the ON:1 soft key,or alternatively enter 1 and press the INPUT soft key. From nowon, the parameters can be set. At the same time an alarmcondition (P/S100 PARAMETER WRITE ENABLE) occurs inthe CNC.

2 To display the parameter screen, press the <SYSTEM> function keyas many times as required, or alternatively press the <SYSTEM>function key once, then the [PARAM] section select soft key.(See “1. Displaying Parameters.”)

3 Display the page containing the parameter you want to set, andposition the cursor on the parameter. (See “1. Displaying Parameters.”)

4 Enter data, then press the [INPUT] soft key. The parameter indicatedby the cursor is set to the entered data.

B–63180EN/03 2. SETTING PARAMETERS FROM MDI

3

[Example] 12000 [INPUT]


1401 RDR JZR RPD0 0 0 0 0 0 0 0

1402 JRV0 0 0 0 0 0 0 0

1410 DRY RUN FEEDRATE1412 01420 RAPID FEEDRATEX 15000

Y 15000Z 15000

12000

> MDI STOP *** *** ALM 10:03:10[NO.SRH] [ ON:1 ] [ OFF:0 ] [+INPUT] [INPUT]

Cursor

Data can be entered continuously for parameters, starting at the selectedparameter, by separating each data item with a semicolon (;).

[Example] Entering 10;20;30;40 and pressing the [INPUT] key assigns values 10,20, 30, and 40 to parameters in order starting at the parameter indicatedbythe cursor.5 Repeat steps 6 and 7 as required.

6 If parameter setting is complete, set “PARAMETER WRITE=” to 0on the setting screen to disable further parameter setting.

7 Reset the NC to release the alarm condition (P/S100).If an alarm condition (P/S000 PLEASE TURN OFF POWER) occursin the NC, turn it off before continuing operation.

B–63180EN/03

3. INPUTTING AND OUTPUTTING PARAMETERS THROUGH THE READER/PUNCHER INTERFACE

4

3INPUTTING AND OUTPUTTING PARAMETERS THROUGH THEREADER/PUNCHER INTERFACE

This section explains the parameter input/output procedures forinput/output devices connected to the reader/puncher interface.The following description assumes the input/output devices are ready forinput/output. It also assumes parameters peculiar to the input/outputdevices, such as the baud rate and the number of stop bits, have been setin advance.

B–63180EN/03

3. INPUTTING AND OUTPUTTING PARAMETERS THROUGH THE

READER/PUNCHER INTERFACE

5

(1) Select the EDIT mode or set to Emergency stop.

(2) To select the parameter screen, press the <SYSTEM> function key asmany times as required, or alternatively press the <SYSTEM>function key once, then the PARAM section select soft key.

(3) Press the [(OPRT)] soft key to display operation select soft keys, thenpress the forward menu key located at the right–hand side of the softkeys to display another set of operation select keys including[PUNCH].


1401 RDR JZR RPD0 0 0 0 0 0 0 0

1402 JRV0 0 0 0 0 0 0 0

1410 DRY RUN FEEDRATE1412 01420 RAPID FEEDRATEX 15000

Y 15000Z 15000

12000

> MDI STOP *** *** ALM 10:03:10 [NO.SRH] [ON:1] [OFF:0] [+INPUT] [INPUT]

Cursor

State displaySoft key display (operation select)

(4) Pressing the [PUNCH] soft key changes the soft key display asshown below:

> EDIT STOP *** *** *** 10:35:03[ ] [ ] [ ] [CANCEL] [ EXEC ]

(5) Press the [EXEC] soft key to start parameter output. Whenparameters are being output, “OUTPUT” blinks in the state displayfield on the lower part of the screen.

> EDIT STOP *** *** *** 10:35:04 OUTPUT[ ] [ ] [ ] [CANCEL] [ EXEC ]

← OUTPUT blinking

(6) When parameter output terminates, “OUTPUT” stops blinking. Pressthe <RESET> key to interrupt parameter output.

3.1OUTPUTTINGPARAMETERSTHROUGH THEREADER/PUNCHERINTERFACE

B–63180EN/03

3. INPUTTING AND OUTPUTTING PARAMETERS THROUGH THE READER/PUNCHER INTERFACE

6

(1) Place the NC in the emergency stop state.

(2) Enable parameter writing.

1. To display the setting screen, press the <OFFSET/SETTING>function key as many times as required, or alternatively press the<OFFSET/SETTING> function key once, then the [SETING]section select soft key. The first page of the setting screen ap-pears.

2. Position the cursor on “PARAMETER WRITE” using the cursormove keys.

3. Press the [(OPRT)] soft key to display operation select soft keys.4. To set “PARAMETER WRITE=” to 1, press the ON:1 soft key,

or alternatively enter 1, then press the [INPUT] soft key. Fromnow on, parameters can be set. At the same time an alarm condi-tion (P/S100 PARAMETER WRITE ENABLE) occurs in theNC.

(3) To select the parameter screen, press the <SYSTEM> function key asmany times as required, or alternatively press the <SYSTEM> keyonce, then [PARAM] soft key.

(4) Press the [(OPRT)] soft key to display operation select keys, thenpress the forward menu key located at the right–hand side of the softkeys to display another set of operation select soft keys including[READ].

> EDIT STOP ALM 10:37:30[ ] [ READ ] [PUNCH] [ ] [ ]

–EMG– ALM

← Soft key display← State display

(5) Pressing the [READ] soft key changes the soft key display as shownbelow:

> EDIT STOP ALM 10:37:30[ ] [ ] [ ] [CANCEL] [ EXEC ]

–EMG– ALM

(6) Press the [EXEC] soft key to start inputting parameters from theinput/output device. When parameters are being input, “INPUT”blinks in the state display field on the lower part of the screen.

> EDIT STOP ALM 10:37:30 INPUT[ ] [ ] [ ] [CANCEL] [ EXEC ]

–EMG– ALM ← INPUT blinking

(7) When parameter input terminates, “INPUT” stops blinking. Press the<RESET> key to interrupt parameter input.

(8) When parameter read terminates, “INPUT” stops blinking, and analarm condition (P/S000) occurs in the NC. Turn it off beforecontinuing operation.

3.2INPUTTINGPARAMETERSTHROUGH THE READER/PUNCHERINTERFACE

B–63180EN/03 4. DESCRIPTION OF PARAMETERS

7

4 DESCRIPTION OF PARAMETERS

Parameters are classified by data type as follows:

Table 4 Data Types and Valid Data Ranges of Parameters

Data type Valid data range Remarks

Bit0 or 1

Bit axis0 or 1

Byte –128 to 1270 to 255

In some parameters, signs areignored.Byte axis

–128 to 1270 to 255

In some parameters, signs areignored.

Word –32768 to 327670 to 65535

In some parameters, signs areignored.Word axis

–32768 to 327670 to 65535

In some parameters, signs areignored.

2–word–99999999 to 99999999

2–word axis–99999999 to 99999999

NOTE1 For the bit type and bit axis type parameters, a single data

number is assigned to 8 bits. Each bit has a differentmeaning.

2 The axis type allows data to be set separately for eachcontrol axis.

3 The valid data range for each data type indicates a generalrange. The range varies according to the parameters. Forthe valid data range of a specific parameter, see theexplanation of the parameter.

(1) Notation of bit type and bit axis type parameters

[Example]#7

0000#6 #5

SEQ#4 #3 #2

INI#1ISO

#0TVC

Data #0 to #7 are bit positions.Data No.

(2) Notation of parameters other than bit type and bit axis type

1023 Servo axis number of a specific axis

Data.Data No.

4. DESCRIPTION OF PARAMETERS B–63180EN/03

8

NOTE1 The bits left blank in 4. DESCRIPTION OF PARAMETERS

and parameter numbers that appear on the display but arenot found in the parameter list are reserved for futureexpansion. They must always be 0.

2 Parameters having different meanings between the PowerMate i–D and Power Mate i–H and parameters that are validonly for the T or M series are indicated in two levels as shownbelow. Parameters left blank are unavailable.Example1

IPR and ISC represent parameters common to the PowerMate i–D and Power Mate i–H, and ISA represents aparameter specific to the Power Mate i–H.

Example2The example below indicates that the parameter is specificto the Power Mate i–D only.

1004PMi–D

PMi–H

#7IPR

#6 #5 #4 #3 #2 #1ISC

#0

IPR ISC ISA

3736Maximum clamp speed of the spindle motor PMi–D

PMi–H


9

#70000

#6 #5SEQ

#4 #3 #2INI

#1ISO

#0TVC

The following parameter can be set at “Setting screen”.

[Data type] Bit

TVC TV check0 : Not performed1 : Performed

ISO Code used for data output0 : EIA code1 : ISO code

INI Unit of input0 : In mm1 : In inches

SEQ Automatic insertion of sequence numbers0: Not performed1: Performed

When a program is prepared by using MDI keys in the part programstorage and edit mode, a sequence number can automatically be assignedto each block in set increments. Set the increment to parameter 3216.

#7SJZ0002

#6 #5 #4 #3 #2 #1 #0


[Data type] Bit

SJZ Manual reference position si performed as follows:0 : When no reference position has been set, reference position return is

performed using deceleration dogs. When a reference position isalready set, reference position return is performed using rapid traverseand deceleration dogs are ignored.

1 : Reference position return is performed using deceleration dogs at alltimes.

NOTESJZ is enabled when bit 3 (HJZ) of parameter No.1005 isset to 1. When a reference position is set without a dog,(i.e. when bit 1 (DLZ) of parameter No.1002 is set to 1 orbit 1 (DLZx) of parameter No.1005 is set to 1) referenceposition return after reference position setting isperformed using rapid traverse at all times, regardless ofthe setting of SJZ.

4.1PARAMETERS OFSETTING


10

#7RMVx0012

#6 #5 #4 #3 #2 #1 #0MIRx


[Data type] Bit axis

MIRx Mirror image for each axis0 : Mirror image is off.1 : Mirror image is on.

RMVx Releasing the assignment of the control axis for each axis0 : Not released1 : Released

NOTERMVx is valid when RMBx in parameter 1005#7 is 1.

0020 I/O CHANNEL: Selection of an input/output device


[Data type] Byte

[Valid data range] 0 to 2, 4, 6, 7, 20 to 35

The CNC provides the following interfaces for data transfer to and fromthe host computer and external input/output devices:

� Input/output device interface (RS–232C serial port 1 or 2)

This parameter selects the interface used to transfer data to and from aninput/output device.

Setting Description0, 1 RS–232C serial port 1

2 RS–232C serial port 24 Memory card Interface (on the main unit side)6 DNC1/Ethernet (for DNC operation only)7 Memory card interface (on the touch panel side)

20to35

Data input/output with the Power Mate in group 0 through an I/O LinktoData input/output with the Power Mate in group 15 through an I/O Link


11

NOTE� An input/output device can also be selected using the setting screen. Usually, the setting screen

is used.� The specifications (such as the baud rate and the number of stop bits) of the input/output

devices to be connected must be set in the corresponding parameters for each interfacebeforehand. (See Section 4.2.) I/O CHANNEL = 0 and I/O CHANNEL = 1 represent input/outputdevices connected to RS–232C serial port 1. Separate parameters for the baud rate, stop bits,and other specifications are provided for each channel.

� The input/output unit interface may be referred to as the reader/punch interface.RS–232C serial port 1 and RS–232C serial port 2 are also referred to as channel 1 and channel2, respectively.

4 Channel 2 has no control line, so that the Handy File and Floppy Cassette cannot be connected.

Power Mate i

RS–232–C serial port 1/2R232 (JD42A)

I/O CHANNEL=0, 1

(Channel 1)

I/O CHANNEL=2

(Channel 2)

�� device

�� device


12

The parameters described below must be set up to use an I/O unit interface(RS–232–C serial port), remote buffer interface, or memory card interfacefor inputting and outputting data (such as programs and parameters)between external input/output units and memory cards.The I/O CHANNEL setting parameter is used to select a desiredinput/output unit by specifying the channel (RS–232–C serial port 1,RS–232–C serial port 2, or remote buffer interface) to which theinput/output unit is connected. This is true also when the memoryinterface is used.The specified data, such as a baud rate and the number of stop bits, of aninput/output device connected to a specific channel of I/O device interfacemust be set in parameters for that channel in advance.For channel 1, two combinations of parameters to specify the input/outputdevice data are provided.The following shows the interrelation between the input/output deviceinterface parameters for the channels of I/O device interface.

Stop bit and other data

Number specified for the input/output device

Baud rate



Baud rate



Baud rate

I/ O CHANNEL

=0 : Channel1

=1 : Channel1

=2 : Channel2

Specify a channel for an in-

put/output device.

I/O CHANNEL=1

(channel 1)

0020 0101

0102I/O CHANNEL=0

(channel 1)

0103

0111

0112

0113

0121

0122I/O CHANNEL=2

(channel 2)

0123

I/O CHANNEL

Input/output channel number (parameter No.0020)↓

Fig.4.2 I/O Device Interface Settings

4.2PARAMETERS OF READER/PUNCHERINTERFACE


13

0024 Port for communication with the PMC ladder development tool

[Data type] Byte

This parameter sets the port to be used for communication with the PMCladder development tool (FANUC LADDER–II/III, Ladder EditingPackage).

0 : HSSB (COP7)1 : RS–232C serial port 1 (JD42)

2 : RS–232C serial port 2 (JD42)


#7ENS

0100

#6IOP

#5ND3

#4 #3NCR

#2 #1CTV

#0

ENS IOP NCR CTV

[Data type] Bit

CTV: Character counting for TV check in the comment section of a program.0 : Performed1 : Not performed

NCR Output of the end of block (EOB) in ISO code0 : LF, CR, CR are output.1 : Only LF is output.

ND3 In DNC operation, a program is:0 : Read block by block. (A DC3 code is output for each block.)1 : Read continuously until the buffer becomes full. (A DC3 code is

output when the buffer becomes full.)

NOTEIn general, reading is performed more efficiently when ND3set to 1. This specification reduces the number of bufferinginterruptions caused by reading of a series of blocksspecifying short movements. This in turn reduces theeffective cycle time.

IOP Specifies how to stop program input/output operations.0 : An NC reset can stop program input/output operations.1 : Only the [STOP] soft key can stop program input/output operations.

(An reset cannot stop program input/output operations.)

ENS Action taken when a NULL code is found during read of EIA code0 : An alarm is generated.1 : The NULL code is ignored.

4.2.1Parameters Commonto all Channels


14

#7NFD0101

#6 #5 #4 #3ASI

#2 #1 #0SB2

[Data type] Bit type

SB2 The number of stop bits0 : 11 : 2

ASI Code used at data input0 : EIA or ISO code (automatically distinguished)1 : ASCII code

NFD Feed before and after the data at data output0 : Output1 : Not output

NOTEWhen input/output devices other than the FANUC PPRare used, set NFD to 1.

0102 Number specified for the input/output device (when the I/O CHANNEL is set to 0)

[Data type] Byte

Set the number specified for the input/output device used when the I/OCHANNEL is set to 0, with one of the set values listed in Table 4.2.2 (a).

�� 4.2.2 (a) Set value and Input/Output Device

Set value Input/output device

0 RS–232–C (Used control codes DC1 to DC4)1 FANUC CASSETTE ADAPTOR 1 (FANUC CASSETTE B1/ B2)2 FANUC CASSETTE ADAPTOR 3 (FANUC CASSETTE F1)3 FANUC PROGRAM FILE Mate,

FANUC FLOPPY CASSETTE ADAPTOR, FANUC Handy FileFANUC SYSTEM P-MODEL H

5 Portable tape reader6 FANUC PPR

FANUC SYSTEM P-MODEL G, FANUC SYSTEM P-MODEL H

0103 Baud rate (when the I/O CHANNEL is set to 0)

[Data type] Byte

Set baud rate of the input/output device used when the I/O CHANNEL isset to 0, with a set value in Table 4.2.2 (b).

��

Set value Baud rate (bps)

7 6008 12009 2400

10 480011 960012 19200

4.2.2Parameters of Channel 1 (I/O CHANNEL=0)


15

#7NFD0111

#6 #5 #4 #3ASI

#2 #1 #0SB2

[Data type] Bit

These parameters are used when I/O CHANNEL is set to 1. The meaningsof the bits are the same as for parameter 0101.

0112 Number specified for the input/output device (when I/O CHANNEL is set to 1)

[Data type] Byte

Set the number specified for the input/output device used when the I/OCHANNEL is set to 1, with one of the set values listed in Table 4.2.2 (a).

0113 Baud rate (when I/O CHNNEL is set to 1)

[Data type] Byte

Set the baud rate of the input/output device used when I/O CHANNEL isset to 1, with a value in Table 4.2.2 (b).

#7NFD0121

#6 #5 #4 #3ASI

#2 #1 #0SB2

[Data type] Bit

These parameters are used when I/O CHANNEL is set to 2. The meaningsof the bits are the same as for parameter 0101.

0122 Number specified for the input/output device (when I/O CHANNEL is set to 2)

[Data type] Byte

Set the number specified for the input/output device used when I/OCHANNEL is set to 2, with a value in Table 4.2.2 (a).

0123 Baud rate (when the I/O CHANNEL is set to 2)

[Data type] Byte

Set the baud rate of the input/output device used when I/O CHANNEL isset to 2, with a value in Table 4.2.2 (b).




16

0171 Length of DI data in bytes

[Data type] Byte

[Valid data range] 1 to 32

Set the length (in bytes) of the DI (actual transfer data) to be sent from themaster station to the Power Mate i–D/H. A specified number of bytes ofDI data from the PMC area will be stored.

0172 Length of DO data in bytes

[Data type] Byte


Set the length (in bytes) of the DO (actual transfer data) to be sent from thePower Mate i–D/H to the master station. A specified number of bytes ofDO data from the PMC area will be output.

0173 Station address

[Data type] Byte


Specify a station address.

0174 Baud rate

[Data type] Byte


Set the baud rate to be used in communication.Setting value

Baud rate

0 1 Mbps1 500 kbps2 250 kbps3 125 kbps

0180The maximum number of slave stations from which the station of interest can re-ceive data using the global I/O transfer function (the station of interest is included)

[Data type] Byte


0 : Specifies that the global I/O transfer function be not used.1 to 31 : Specify that the number of slave stations from which the station

of interest receives data using the global I/O (the station ofinterest is included). The input/output data is sent to the R area.

4.3PARAMETERS OFI/O LINK–II


17

If the station of interest is #1 and is to receive DO data from slave stations#2 and #3, specify 3.



If the station of interest is #3 and to receive DO data from slave stations#1, #2, and #4, specify 4.

0181 Internal relay address for the beginning of input data

[Data type] Word


This parameter is used if the global I/O transfer function is used.

Set the R address for acquiring input data.

0182 Internal relay address for the beginning of output data

[Data type] Word


This parameter is used if the global I/O transfer function is used.

Set the R address for acquiring output data.

0187 Internal relay address for the beginning of communication status data

[Data type] Word


Set the R address for the status data to be sent.

A 32–byte area (for 32 stations) is unconditionally acquired from thespecified R area.

0188 Communication time–out

[Data type] Word

[Unit of data] ms


Set a communication time–out value. If you specify 0, a default value(300 ms) is used.

NOTERefer to “FANUC I/O Link–II Connection Manual(B–62714EN)” for detailed descriptions about the I/O Link–IIfunction.


18

#7CNCI0300

#6 #5 #4 #3 #2 #1 #0

[Data type] Bit

CNCI When data is input to or output from the memory card interface with theCNC screen display function:0 : Data is input to or output from the drive of the PC.1 : Data is input to or output from the memory card interface of the Power

Mate.

This parameter is valid only when the CNC screen display function isactivated.


19

#7

0370

#6 #5 #4 #3 #2 #1 #0

PC1

[Data type] Bit

PC1 PC1 If the “DPL/MDI Operation Package” is connected, the CRT displayscreen displays:0 : Absolute coordinates and machine coordinates (using full–size

characters)1 : Only absolute coordinates (using triple–size characters)

NOTE1 If seven or more controlled axes are used, even setting this

parameter to “1” causes the display screen to look the sameas when the parameter is set to “0”.

2 This parameter is also valid when DPL/MDI is used.

0380Time interval at which packets requesting to establish “DPL/MDI OperationPackage” communication are to be sent

[Data type] Word

[Unit of data] msec

[Valid data range] 1000 to 10000 (Usually, set 0, in which case a setting value of 3000 isassumed.)

0381Time interval at which packets for verifying the connection of “DPL/MDI Opera-tion Package” are to be sent

[Data type] Word

[Unit of data] msec


0382 Time–out value used in waiting for a “DPL/MDI Operation Package” response packet

[Data type] Word

[Unit of data] msec


4.4PARAMETERS OFDPL/MDI OPERATIONPACKAGE ANDDPL/MDI


20

0383 Time allowed before a “DPL/MDI Operation Package” key input repetition is detected

[Data type] Word

[Unit of data] msec


Time allowed before the first key repetition is detected

0384 Time allowed before a “DPL/MDI Operation Package” key input repetition is detected

[Data type] Word

[Unit of data] msec

[Valid data range] 10 to 3000 (Usually, set 0, in which case a setting value of 30 is assumed.)

Time allowed before the second or each subsequent key repetition isdetected

NOTEIf the CPU of the PC is occupied by an application other thanthe “DPL/MDI Operation Package” or the OS for a long time,the Power Mate may automatically disconnect the “DPI/MDIOperation Package”. In this case, you should terminate the“DPL/MDI Operation Package” application on the PC sideand restart it (it will be automatically re–connected). If thissymptom reoccurs frequently, increase the values ofparameter Nos. 381 and 381 until the symptom will reoccurno more.


21

CAUTIONThe following parameters are valid only if the DPL/MDIOperation Package is used as a display unit.If the CRT/MDI or DPL/MDI is in use, make the necessarysettings using the “Ethernet Parameter” screen.

0704 First part of the IP address of the NC

0705 Second part of the IP address of the NC

0706 Third part of the IP address of the NC

0707 Fourth part of the IP address of the NC

[Data type] Byte


Specify the IP address of the NC, using four parameters.

Supposing the NC has IP address 192.168.0.1, the four parts of the IPaddress are specified as follows:

First part: 192Second part: 168Third part: 0Fourth part: 1

Specify them in the respective parameters.

0712 First part of the IP address mask address of the network

0713 Second part of the IP address mask address of the network

0714 Third part of the IP address mask address of the network

0715 Fourth part of the IP address mask address of the network

[Data type] Byte


Specify the IP address mask address of the network, using fourparameters.

Supposing the NC has IP address 255.254.253.0, the four parts of the IPaddress are specified as follows:



4.5PARAMETERS OFETHERNET (FORDPL/MDI OPERATIONPACKAGE ANDDPL/MDI)


22

0720 First part of the IP address of the router

0721 Second part of the IP address of the router

0722 Third part of the IP address of the router

0723 Fourth part of the IP address of the router

[Data type] Byte


Specify the IP address of the router, using four parameters.

Supposing IP address 192.168.0.99, the four parts of the IP address arespecified as follows:



0724 Port number for TCP

[Data type] Two–word


Specify the port number to be used with the DNC1/Ethernet function.

This port number must match the “NC IP address” in the MachineConfiguration dialog box on the PC.

Refer to “FANUC Personal Computer FA System Operator’s Manual” forexplanations about what value to specify.

0725 Port number for UDP



Specify the port number to be used with the DNC1/Ethernet function.

This port number must match “FANUC_C4_SERVER” in the servicesfile on the PC.

Refer to “FANUC Personal Computer FA System Operator’s Manual” forexplanations about what value to specify.

0726 Time interval


[Unit of data] 10 ms


Specify the interval at which broadcasts are to be sent.0 to 9 : No broadcast will be sent. An interval shorter than 100 ms

cannot be specified.


23

#70727

#6 #5 #4 #3 #2 #1RIP

#0TRN

[Data type] Bit

TRN If the DPL/MDI Operation Package or DPL/MDI is in use, setting thisparameter to 1 causes the Ethernet parameters to be sent to the Ethernetboard. The parameter also indicates the result of the parameter transferattempt as follows:0 : The Ethernet board did not accept them.1 : The Ethernet board accepted them.

NOTEWhen any parameter between parameter No. 704 andparameter No. 726 is set, this parameter becomes 0. If thisparameter becomes 1, data is sent to the Ethernet board.This parameter remains set to 1 if the Ethernet boardaccepts the parameters. Otherwise, it becomes 0.If it is 0, re–set the parameters and rerun.

RIP If the DPL/MDI Operation Package or DPL/MDI is in use, router IP addressselection is:0 : Disabled.1 : Enabled.If disabled, the values of parameter Nos. 720 to 723 will not be sent to theEthernet board.


24

#7DRC0960

#62CH

#5ASG

#4SPW

#3PMN

#2MD2

#1MD1

#0SLV

[Data type] Bit

SLV When the power mate CNC manager is selected, the screen displays:0 : One slave.1 : Up to four slaves with the screen divided into four.

MD1,MD2 These parameters set a slave parameter input/output destination.

MD2 MD1 Input/output destination

0 0 Part program storage0 1 Memory card

In either case, slave parameters are output in program format.

PMN The power mate CNC manager function is:0 : Enabled.1 : Disabled. (Communication with slaves is not performed.)

SPW Slave parameter setting by power mate CNC manager:0 : Is always enabled.1 : Conforms to “Parameter Writing” (PWE) in parameter setting.

ASG Whether the number of bytes assigned to the B amplifier input/output I/Oaddress is 16 bytes will:0 : Not be checked.1 : Be checked.

2CH When there are two I/O Link channels, the Power Mate CNC Manager:0 : Communicates with the second channel. (When the servo amplifier

unit is not connected to the second channel, it communicates with thefirst channel.)

1 : Communicates with the first channel.

DRC When the position 1 screen is displayed, a direct command:0 : Cannot be specified. (Peripheral devices can be controlled.)1 : Can be specified. (The interval at which coordinates are updated

becomes longer.)

4.6PARAMETERS OFPOWER MATE CNCMANAGER


25

#70961

#6 #5 #4 #3 #2 #1PAD

#0PAH

NOTEAfter this parameter is set, the power needs to be turned off.

[Data type] Bit

PAH When an alarm occurs in the FANUC SERVO MOTOR βi series (I/OLink option) (the following I/O Link βi), the detail of alarm is:0 : Not recorded as P/S5344 alarm on the alarm history screen.1 : Recorded as P/S5344 alarm on the alarm history screen.

PAD When an alarm occurs in the I/O Link βi, the host CNC:0 : Does not enter alarm state.1 : Enters alarm state.

Parameter settingAlarm information recorded in alarm history

PAD PAHAlarm information recorded in alarm history

0 0 It is not recorded. The CNC does not enter alarmstate.1 0It is not recorded. The CNC does not enter alarmstate.

0 1 Only P/S 5344 alarm is recorded. The CNC doesnot enter alarm state.

1 0 Both P/S 5343 and PS 5344 alarm are recorded.The CNC enters alarm state.

NOTEWhen parameter No.960#3(PMN) is set 0, parameterNo.961#0(PAH) and No.961#1(PAD) are valid.


26

#71001

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

NOTEWhen this parameter is set, the power must be turned offbefore operation is continued.

[Data type] Bit

INM Least command increment on the linear axis0 : In mm (metric system machine)1 : In inches (inch system machine)

#7IDG1002

#6 #5 #4 #3AZR

#2 #1DLZ

#0JAX

[Data type] Bit

JAX Number of axes controlled simultaneously in manual continuous feed,manual rapid traverse and manual reference position return0 : 1 axis1 : 3 axes 2 axes(2 axes for Power Mate i–D)

DLZ Function setting the reference position without dog0 : Disabled1 : Enabled (for all axes)

NOTEThis function can be specified for each axis by DLZx, bit 1of parameter No.1005.

AZR When no reference position is set, the G28 command causes:0: Reference position return using deceleration dogs (as during manual

reference position return) to be exected.1: P/S alarm No.090 to be issued.

NOTEWhen reference position return without dogs is specified,(when bit 1 (DLZ) of parameter No.1002 is set to 1 or bit 1(DLZx) of parameter No.1005 is set to 1) the G28 commandspecified before a reference position is set causes P/Salarm No.090 to be issued, regardless of the setting of AZR.

IDG When the reference position is set without dogs, automatic setting of theIDGx parameter (bit 0 of parameter No.1012) to prevent the referenceposition from being set again is:0 : Not performed.1 : Performed.

4.7PARAMETERS OFAXIS CONTROL/INCREMENT SYSTEM


27

#7IPR

1004IPR

#6 #5 #4 #3 #2 #1ISC

ISC

#0

ISA

NOTE1 When this parameter is set, the power must be turned off

before operation is continued.2 For the Power Mate i–H, ISC is optional.

[Data type] Bit

ISA, ISC The least input increment and least command increment are set.

ISC ISA Least input increment and least commandincrement Symbol

0 0 0.001 mm, 0.001 deg, or 0.0001 inch IS–B

0 1 0.01 mm, 0.01 deg, or 0.001 inch IS–A

1 0 0.0001 mm, 0.0001 deg, or 0.00001 inch IS–C

IPR Whether the least input increment for each axis is set to a value 10 times aslarge as the least command increment is specified, in increment systemsof IS–B or IS–C at setting mm.0: The least input increment is not set to a value 10 times as larg as the

least command increment.1: The least input increment is set to a value 10 times as large as the least

command increment.

If IPR is set to 1, the least input increment is set as follows:

Input increment Least input increment

IS–B 0.01 mm, 0.01 deg, or 0.0001 inch

IS–C 0.001 mm, 0.001 deg, or 0.00001 inch

NOTEFor IS–A, the least input increment cannot be set to a value10 times as large as the least command increment.

#7RMBx1005

#6MCCx

#5 #4 #3HJZx

#2 #1DLZx

#0ZRNx


ZRNx When a command specifying the movement except for G28 is issued inautomatic operation (MEM, MDI, or DNC) and when a return to thereference position has not been performed since the power was turned on0 : An alarm is generated (P/S alarm 224).1 : An alarm is not generated.


28

NOTEThe state in which the reference position has not beenestablished refers to that state in which reference positionreturn has not been performed after power–on when anabsolute position detector is not being used, or that state inwhich the association of the machine position with the positiondetected with the absolute position detector has not beencompleted (see the description of bit 4 (APZx) of parameterNo. 1815) when an absolute position detector is being used.

DLZx Function for setting the reference position without dogs0 : Disabled1 : Enabled

NOTEWhen DLZ of parameter No.1002 is 0, DLZx is enabled.When DLZ of parameter No.1002 is 1, DLZx is disabled, andthe function for setting the reference position without dogsis enabled for all axes.

HJZx When a reference position is already set:0 : Manual reference position return is performed with deceleration sogs.1 : Manual reference position return is performed using rapid traverse

without deceleration dogs, or manual reference position return isperformed with deceleration dogs, depending on the setting of bit 7(SJZ) of parameter No.0002.

NOTEWhen reference position return without dogs is specified,(when bit 1 (DLZ) of parameter No.1002 is set to 1 or bit(DLZx) of parameter No.1005 is set to 1) reference positionreturn after a reference position is set is performed usingrapid traverse, regardless of the setting of HJZ.

MCCx When an axis become the removal state using the controlled axis removalsignal or setting:0: MCC is turned off1: MCC is not turned off. (Servo motor excitation is turned off, but the

MCC signal of the servo amplifier is not turned off.)

NOTEThis parameter is used to remove only one axis, for example,when a two–axis or three–axis amplifier is used. Whentwo–a axis or three–axis amplifier is used and only one axisis removed, servo alarm No.401 (V–READY OFF) is usuallyissued. However, this parameter, when set to 1, preventsservo alarm No.401 from being issued.Note, however, that disconnecting a servo amplifier from theCNC will cause the servo amplifier to enter the V–READYOFF status. This is a characteristic of all multiaxis amplifiers.


29

RMBx Releasing the assignment of the control axis for each axis (signal inputand setting input)0 : Invalid1 : Valid

#71006

#6 #5ZMIx

#4 #3 #2 #1ROSx

#0ROTx



ROTx, ROSx Setting linear or rotation axis.

ROSx ROTx Meaning

0 0 Linear axis(1) Inch/metric conversion is done.(2) All coordinate values are linear axis type.(3) Stored pitch error compensation is linear axis type

(Refer to parameter No.3624)

0 1 Rotation axis (A type)(1) Inch/metric conversion is not done.(2) Machine coordinate values are rounded in 0 to 360�.

Absolute coordinate values are rounded or not roundedby parameter No.1008#0(ROAx) and #2(RRLx).

(3) Stored pitch error compensation is the rotation type.(Refer to parameter No.3624)

(4) Automatic reference position return (G28, G30) is donein the reference position return direction and the moveamount does not exceed one rotation.

1 0 Setting is invalid (unused)

1 1 Rotation axis (B type)(1) Inch/metric conversion, absolute coordinate values and

relative coordinate values are not done.(2) Machine coordinate values, absolute coordinate values

and relative coordinate values are linear axis type. (Isnot rounded in 0 to 360�)

(3) Stored pitch error compensation is linear axis type. (Re-fer to parameter No.3624)

(4) Cannot be used with the ratation axis roll over function.

ZMIx The direction of reference position return.0 : Positive direction1 : Negative direction

NOTEThe direction of the initial backlash, which occurs whenpower is switched on, is opposite to the direction of areference position return.


30

#71008

#6 #5 #4 #3 #2RRLx

#1RABx

#0ROAx



ROAx The roll–over function of a rotation axis is0 : Invalid1 : Valid

NOTEROAx specifies the function only for a rotation axis (for whichROTx, #0 of parameter No.1006, is set to 1)

RABx In the absolute commands, the axis rotates in the direction0 : In which the distance to the target is shorter.1 : Specified by the sign of command value.

NOTERABx is valid only when ROAx is 1.

RRLx Relative coordinates are0 : Not rounded by the amount of the shift per one rotation1 : Rounded by the amount of the shift per one rotation

NOTE1 RRLx is valid only when ROAx is 1.2 Assign the amount of the shift per one rotation in parameter

No.1260.

#71009

#6 #5 #4 #3 #2 #1 #0ZEXx


ZEXx 0 : Disables the reference position external setting function.1 : Enables the reference position external setting function.


31

1010 Number of CNC–controlled axes


[Data type] Byte

[Valid data range] 1, 2, 3, ..., the number of controlled axes

Set the maximum number of axes that can be controlled by the CNC.

Suppose that the first axis is the X axis, and the second and subsequentaxes are the Y, Z, A, B, and C axes in that order, and that they arecontrolled as follows:

X, Y, Z, and A axes: Controlled by the CNC and PMCB and C axes: Controlled by the PMC

Then set this parameter to 4 (total 4: X, Y, Z, and A)

1011 Number of controlled axes

NOTEAfter this parameter has been set, the power must be turnedoff then back on to enable the setting.

[Data type] Byte

[Valid data range] 1 or 2 (Power Mate i–D)1 to 8 (Power Mate i–H)

Set the maximum number of axes including axes controlled by the PMC.If 0 or a value exceeding the specifiable range of valid data is specified,alarm 5150 is issued.Set 6 in an example of parameter No. 1010.

#71012

#6 #5 #4 #3 #2 #1 #0IDGx


IDGx The function for setting the reference position again, without dogs, is:0 : Not inhibited.1 : Inhibited.

Examples


32

NOTE1 IDGx is enabled when the IDG parameter (bit 7 of parameter

No.1002) is 1.2 When the function for setting the reference position, without

dogs, is used, and the reference position is lost for somereason, an alarm requesting reference position return(No.300) is generated when the power is next turned on. Ifthe operator performs reference position return, as a resultof mistakenly identifying the alarm as that requesting theoperator to perform a normal reference position return, aninvalid reference position may be set. To prevent such anoperator error, the IDGx parameter is provided to prevent thereference position from being set again without dogs.(1) If the IDG parameter (bit 7 of parameter No.1002) is set

to 1, the IDGx parameter (bit 0 of parameter No.1012)is automatically set to 1 when the reference position isset using the function for setting the reference positionwithout dogs. This prevents the reference position frombeing set again without dogs.

(2) Once the reference position is prevented from being setfor an axis again, without dogs, any attempt to set thereference position for the axis without dogs results in theoutput of an alarm (No.090).

(3) When the reference position must be set again withoutdogs, set IDGx to 0 before setting the reference position.

1020 Program axis name for each axis

[Data type] Byte axis

Set the program axis name for each controlled axis, using one of the valueslisted in the following table:

Axisname Setting Axis

name Setting Axisname Setting

X 88 U 85 A 65

Y 89 V 86 B 66

Z 90 W 87 C 67

NOTEThe same axis name cannot be assigned to more than oneaxis.


33

1022 Setting of each axis in the basic coordinate system

NOTEWhen this parameter is set, power must be turned off beforeoperation is continued.


To determine the following planes used for circular interpolation, etc.,each control axis is set to one of the basic three axes X, Y, and Z, or an axisparallel to the X, Y, or Z axis.G17: Plane Xp–YpG18: Plane Zp–XpG19: Plane Yp–ZpOnly one axis can be set for each of the three basic axes X, Y, and Z, buttwo 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

1023 Number of the servo axis for each axis



[Valid data range] 1, 2, 3, ..., number of control axes

Set the servo axis for each control axis.

Usually set to same number as the control axis number.The control axis number is the order number that is used for setting theaxis–type parameters or axis–type machine signals

Refer to FSSB section of CONNECTION MANUAL (Function)B–63173EN–1.


34

#71201

#6 #5 #4 #3 #2 #1ZPI

#0ZPR

[Data type] Bit

ZPR Automatic setting of a coordinate system when the manual referenceposition return is performed0 : Not set automatically1 : Set automatically

NOTEWhen parameter No. 1815 is set to use the absolute positiondetector (bit 5 of parameter No. 1815 = 1), be sure to set ZPRto 1.

ZPI Coordinates at the reference position when a coordinate system is setautomatically0 : Value set in parameter No.1250 is used.1 : For input in mm, the value set in parameter 1250 is used, or for input in

inches, the value set in parameter No.1251 is used.

#71203

#6 #5 #4 #3 #2 #1ZRC

#0

[Data type] Bit

ZRC This bit is used to switch the meaning of the reference position establishedsignals (ZRF1 to ZRF8).0 : As per the conventional specification

The reference position established signal becomes on when thereference position is established. It remains on until the referenceposition is lost.

1 : As per the new specificationThe reference position established signal becomes on when thereference position is established. It becomes off when the referenceposition is lost. It becomes off also when the reference position is losttemporarily (for example, during APC follow–up and when anAPC/SPC alarm condition exists).

4.8PARAMETERS OFCOORDINATES


35

NOTEThe new specification differs from the old specification in thecondition that turns the reference position establishedsignals (ZRF1 to ZRF8) on or off.� All bits become off during APC follow–up. (After the APC

follow–up ends, a bit that corresponds to the axis on whichthe reference position is established (the axis for which bit4 (APZ) of parameter No. 1815 is 1) becomes onautomatically.)

� If an APC/SPC alarm condition occurs, the bit for the axisthat corresponds to the alarm condition becomes off.However, alarm 307 or 308 (battery voltage drop 1 or 2)does not turn the bits off. After the bit becomes off becauseof an APC/SPC alarm condition, it becomes on again afterthe alarm condition is reset provided that bit 4 (APZ) ofparameter No. 1815 for the corresponding axis is 1.

� If you want to use a high–speed position switch, you shoulduse the new specification by setting this parameter to 1.

1240 Coordinate value of the reference position on each axis in the machine coordinate system


1241 Coordinate value of the second reference position on each axis in the machinecoordinate system

1242 Coordinate value of the third reference position on each axis in the machine coor-dinate system

[Data type] 2–word axis

[Unit of data]Increment system IS–A IS–B IS–C Unit

Millimeter machine 0.01 0.001 0.0001 mm

Inch machine 0.001 0.0001 0.00001 inch

Rotation axis 0.01 0.001 0.0001 deg

[Valid data range] –99999999 to 99999999

Set the coordinate values of the reference positions in the machinecoordinate system.


36

1250 Coordinate value of the reference position used when automatic coordinate sys-tem setting is performed


[Unit of data]Input increment IS–A IS–B IS–C Unit

Linear axis (input in mm) 0.01 0.001 0.0001 mm

Linear axis (input in inches) 0.001 0.0001 0.00001 inch



Set the coordinate value of the reference position on each axis to be usedfor setting a coordinate system automatically.

1251Coordinate value of the reference position on each axis used for setting a coordi-nate system automatically when input is performed in inches


[Unit of data]Incerment system IS–A IS–B IS–C Unit

Linear axis (input in inches) 0.001 0.0001 0.00001 inch


Set the coordinate value of the reference position on each axis to be usedfor setting a coordinate system automatically when input is performed ininches.

NOTEThis parameter is valid when ZPI in parameter 1201 is set to1.

1260 Amount of a shift per one rotation of a rotation axis



[Unit of data]Increment system Unit of data Standard value

IS–A 0.01 deg 36000

IS–B 0.001 deg 360000

IS–C 0.0001 deg 3600000


Set the amount of a shift per one rotaion of a rotaion axis.


37

#7BFA1300

#6LZR

#5 #4 #3 #2 #1 #0

[Data type] Bit

LZR Checking of stored stroke check during the time from power–on to themanual position reference return0: The stroke check is checked.1: The stroke check is not checked

NOTEWhen an absolute position detector is used and a referenceposition is already set upon power–up, stored stroke limitcheck 1 is started immediately after power–up, regardless ofthe setting.

BFA When a command that exceeds a stored stroke check is issued0: An alarm is generated after the stroke check is exceeded.1: An alarm is generated before the stroke check is exceeded.

NOTEThe tool stops at a point up to F/7500 mm short of or aheadof the boundary.(F: Feedrate when the tool reaches the boundary (mm/min))

1320 Coordinate value I of stored stroke check in the positive direction on each axis

1321 Coordinate value I of stored stroke check in the negative direction on each axis


Increment system IS–A IS–B IS–C Unit




[Valid data range] –99999999 to 99999999The coordinate values of stored stroke check in the positive and negativedirections are setfor each axis in the machine coordinate system. Theoutside area of the two checks set in the parameters is inhibited.

ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ

(Xp,Yp,Zp)Set the machine coordinates of theboundaries in the positive direction(Xp, Yp, and Zp) using parameter No.1320, and those of the boundaries inthe negative direction (Xm, Ym, andZm) using parameter No. 1321. Theprohibited area thus becomes thehatched area in the figure on the left.

(Xm,Ym,Zm)

4.9PARAMETERS OFSTROKE CHECK


38

NOTEAvoid specifying the relationships in value between thecoordinates of boundaries in the positive and those in thenegative direction in reverse, that is, setting:

Parameter No. 1320 < parameter No. 1321With this setting, it is assumed that the stroke is infinite, andstored–stroke check 1 is not made. In addition, a coordinatevalue can overflow, resulting in the current position not beingdisplayed correctly or an absolute command failing to movethe tool to the correct position.


39

#7

1401

#6RDR

RDR

#5TDR

#4RF0

RF0

#3 #2 #1LRP

LRP

#0RPD

RPD

[Data type] Bit

RPD Manual rapid traverse during the period from power–on time to thecompletion of the reference position return.0: Disabled (Jog feed is performed.)1: Enabled

LRP Positioning (G00)0: Positioning is performed with non–linear type positioning so that the

tool moves along each axis independently at rapid traverse.1: Positioning is performed with linear interpolation so that the tool

moves in a straight line.

RF0 When cutting feedrate override is 0% during rapid traverse,0: The machine tool does not stop moving.1: The machine tool stops moving.

TDR Dry run during tapping (tapping cycle G74 or G84, rigid tapping)0: Enabled1: Disabled

RDR Dry run for rapid traverse command0: Disabled1: Enabled

#71404

#6 #5 #4 #3 #2F8A

#1DLF

#0

[Data type] Bit

DLF After a reference potition is set, manual reference position returnperformed at:0 : Rapid traverse rate (parameter No.1420)1 : Manual rapid traverse rate (parameter No.1424)

NOTEThis parameter selects a feedrate for reference positionreturn performed without dogs. This parameter also selectsa feedrate when manual reference position return isperformed according to bit 7 (SJZ) of parameter No.0002using rapid traverse without deceleration dogs after areference position is set.

F8A Valid data range for an F command with a decimal point in feed–perminute mode

Increment system Units IS–A, IS–B IS–C

Millimeter input mm/min 0.001 to 99999.999.

Inch input inch/min 0.00001 to 999.99999.

Rotation axis (mm) deg/min 1 to 240000. 1 to 100000.

Rotation axis (inch) deg/min 1 to 9600. 1 to 4000.

4.10PARAMETERS OFFEEDRATE

0:


40

Increment system Units IS–A, IS–B IS–C

Millimeter input mm/min 0.001 to 240000. 0.001 to 100000.

Inch input inch/min 0.00001 to 9600. 0.00001 to 4000.

Rotation axis deg/min 1 to 240000. 1 to 100000.

#7FDC1405

#6 #5 #4 #3 #2 #1 #0

[Data type] Bit

FDC The feedrate switching function (optional) is:0 : Disabled.1 : Enabled.

1410 Dry run rate

[Data type] Word

[Unit of data][Valid data range]

��

�� !�" � !# � !�

Millimeter machine 1 mm/min 6 to 15000 6 to 12000

Inch machine 0.1 inch/min 6 to 6000 6 to 4800

Set the dry run rate when the manual feedrate is overridden by 100%.

1411 Cutting feedrate in the automatic mode at power–on

This parameter can be set at “Setting screen”.

[Data type] Word


��

Millimeter machine 1 mm/min 6 to 32767

Inch machine 0.1 inch/min 6 to 32767

When the machine requires little change in cutting feedrate duringcutting, a cutting feedrate can be specified in the parameter. Thiseliminates the need to specify a cutting feedrate in the NC program.The cutting feedrate set by this parameter is valid after the CNC is placedin the clear state by power–up or a reset until a feedrate is specified by aprogram command (F command). After a feedrate is specified by the Fcommand, the feedrate becomes valid.

1:


41

1420 Rapid traverse rate for each axis

[Data type] 2–word axis[Unit of data]

[Valid data range]

��

�� !�" � !# � !�



Rotation axis 1 deg/min 30 to 240000 6 to 100000

Set the rapid traverse rate when the rapid traverse override is 100% foreach axis.

1421 F0 rate of rapid traverse override for each axis

[Data type] Word axis[Unit of data]

[Valid data range]

��

�� !�" � !# � !�



Rotaion axis 1 deg/min 30 to 15000 30 to 12000

Set the F0 rate of the rapid traverse override for each axis.

��$�� %�� %�� &%�� %�'�

�&�� &�(&%�� %�'�

0 0 100%

0 1 50%

1 0 25%

1 1 F0

F0: Parameter 1421

1422 Maximum cutting feedrate for all axes

[Data type] 2–word[Unit of data]

[Valid data range]

��

�� !�" � !# � !�



Specify the maximum cutting feedrate.A feedrate in the tangential direction is clamped in cutting feed so that itdoes not exceed the feedrate specified in this parameter.

NOTE1 To specify the maximum cutting feedrate for each axis, use

parameter No.1430 instead.2 This parameter is unusable in the high–speed response

mode. Be sure to set a value in parameter No. 1430.


42

1423 Feedrate in manual continuous feed (jog feed) for each axis

[Data type] Word axis

Specify a jog feedrate at feed per minute with an override of 100%.

[Unit of data, valid range]

��

�� !�" � !# � !�




1424 Manual rapid traverse rate for each axis

[Data type] 2–word axis[Unit of data]

[Valid data range]

��

�� !�" � !# � !�

Millimeter machine 1 mm/min 30 to �� 30 to �

Inch machine 0.1 inch/min � ��

Rotation axis 1 deg/min � ��

Set the rate of manual rapid traverse when the rapid traverse override is100% for each axis.

NOTEIf 0 is set, the rate set in parameter 1420 is assumed.

1425 FL rate of the reference position return for each axis



��

�� !�" � !# � !�




Set feedrate (FL rate) after deceleration when the reference position returnis performed for each axis.

1430 Maximum cutting feedrate for each axis


��

�� !�" � !# � !�




Specify the maximum cutting feedrate for each axis.A feedrate for each axis is clamped in cutting feed so that it does notexceed the maximum feedrate specified for each axis.


43

NOTE1 This parameter is effective only in linear and circular

interpolation. In polar coordinate, the maximum feedrate forall axes specified in parameter No.1422 is effective.

2 If the setting for each axis is 0, the maximum feedratespecified in parameter No.1422 is applied to all axes and thefeedrate is clamped at the maximum feedrate.

1431 Maximum cutting feedrate for all axes in the advanced preview control mode

[Data type] 2 Word


��

�� !�" � !# � !�


Inch machine 0.1 inch/min ��

Rotation axis 1 deg/min ��

Specify the maximum cutting feedrate for all axes in the advancedpreview control mode.A feedrate in the tangential direction is clamped in cutting feed so that itdoes not exceed the feedrate specified in this parameter.

CAUTIONIf the current mode is not the advanced preview feed forwardmode, the actual feedrate is clamped at the maximumcutting feedrate specified in parameter No. 1422 or 1430.

NOTETo specify the maximum cutting feedrate for each axis, useparameter No.1432 instead.

1432 Maximum cutting feedrate for each axis in the advanced preview feed forward mode

[Data type] 2 Word axis


��

�� !�" � !# � !�


Inch machine 0.1 inch/min ��

Rotation axis 1 deg/min ��

Specify the maximum cutting feedrate for each axis in the advancedpreview feed forward mode.In cutting feed, the actual feedrate for an axis is clamped at such amaximum feedrate that the maximum cutting feedrate for the axis will notbe exceeded.


44

CAUTIONIf the current mode is not the advanced preview feed forwardmode, the actual feedrate is clamped at the maximumcutting feedrate specified in parameter No. 1422 or 1430.

NOTE1 This parameter is effective only in linear and circular

interpolation. In polar coordinate, cylindrical, and involuteinterpolation, the maximum feedrate for all axes specified inparameter No.1431 is effective.

2 If a setting for each axis is 0, the maximum feedrate specifiedin parameter No.1431 is applied to all axes and the feedrateis clamped at the maximum feedrate.

1480 Lower feedrate limit for the rate feed function

[Data type] 2 Word

[Unit of data] 0.001 mm/min (for mm input)0.00001 inch/min (for inch input)

[Valid data range] 0 to 99999999The actual speed is clamped at this value during rate feed if it is anticipatedthat it may become lower. If the specified value is 0, 1000 is assumed.

1481 Feedrate for the feedrate switching signal EXF1





[Data type] Word


��

�� !�" � !# � !�

Millimeter (input) 1 mm/min 6 to 15000 6 to 12000

Inch machine (input) 0.1 inch/min 6 to 6000 6 to 48000


Specify a feedrate for each of the feedrate switching signals EXF1 toEXF5.


45

#71601

#6 #5NCI

#4RTO

#3 #2OVB

#1 #0

[Data type] Bit

OVB Block overlap in cutting feed0 : Blocks are not overlapped in cutting feed.1 : Blocks are overlapped in cutting feed.

Block overlap outputs the pulses remaining at the end of pulsedistribution in a block together with distribution pulses in the next block.This eliminates changes in feedrates between blocks.

Block overlap is enabled when blocks containing G01, G02, or G03 areconsecutively specified in G64 mode. If minute blocks, however, arespecified consecutively, overlap may not be performed.

The following pulses in block F2 are added to the pulses remaining at theend of pulse distribution in block F1.

(Number of pulses to be added) = F2 �(Number of pulses required at the end of block F1)

F1

When F1 = F2

ÉÉÉÉÉÉÉÉ

ÉÉÉÉ

ÉÉÉÉÉÉÉÉ

ÉÉÉÉÉÉÉÉ

ÉÉÉÉ

ÉÉÉÉÉÉÉÉ

ÉÉÉÉ

ÉÉÉÉÉÉÉÉ

ÉÉÉÉÉÉÉÉ

ÉÉÉÉ

ÉÉÉÉÉÉÉÉ

ÉÉÉÉÉÉÉÉ

ÉÉÉ

F F1 F2

t

When block overlap is disabled

ÉÉÉÉÉÉÉÉ

ÉÉÉÉ

ÉÉÉÉÉÉÉÉ

ÉÉÉÉÉÉÉÉ

ÉÉÉÉ

ÉÉÉÉÉÉÉÉ

ÉÉÉÉ

ÉÉÉÉÉÉÉÉ

ÉÉÉÉÉÉÉÉ

ÉÉÉÉ

ÉÉÉÉÉÉÉÉ

ÉÉÉÉÉÉÉÉÉÉ

F F1 F2

t

ÉÉÉÉ

When block overlap is enabled

RTO Block overlap in rapid traverse0 : Blocks are not overlapped in rapid traverse.1 : Blocks are overlapped in rapid traverse.

NOTESee the description of parameter No.1722.

NCI Inposition check at deceleration0 : Performed1 : Not performed

4.11PARAMETERS OFACCELERATION/DECELERATIONCONTROL


46

#71602

#6LS2

#5G8S

#4 #3BS2

#2 #1 #0FWB

[Data type] Bit

FWB Cutting feed acceleration/deceleration before interpolation0 : Type A of acceleration/deceleration before interpolation is used.1 : Type B of acceleration/deceleration before interpolation is used.

Type A: When a feedrate is to be changed by a command,acceleration/deceleration starts after the program enters theblock in which the command is specified.

Type B: When a feedrate is to be changed by a command, decelerationstarts and terminates at the block before the blcock in which thecommand is specified.When a feedrate is to be changed by a command, accelerationstarts after the program enters theblock in which the commandis specified.

F1

F2

F3

Feedrate

TimeN1 N2

F1

F2

F3

Feedrate

TimeN1 N2

Type A

Specified feedrateFeedrate after acceleration/deceleration before inter-polation is applied

Specified feedrateFeedrate after acceleration/deceleration before inter-polation is applied

Point 1

<Example of a deceleration process> <Example of a acceleration process>

Type B

To change the feedrate from F3 to F2, it is necessary to start reducing the feedrate at point 1.

BS2,LS2 The following table lists the acceleration/deceleration values afterinterpolation is applied, for cutting feed in the advanced preview feedforward mode.

BS2 LS2 Acceleration/deceleration0 0 Exponential accelaration/deceleration after interpolation

0 1 Linear accelaration/deceleration after interpolation

1 0 Bell–shaped accelaration/deceleration after interpolation

G8S The advanced preview control for the serial spindle is0 : Not effective.

(It is not possible to use the advanced control for the rigid tapping. It isnecessary to cancel the advanced mode before rigid tapping isexecuted)

1 : Effective.(It is possible to use the advanced control for the rigid tapping.)


47

NOTEFAD(Fine acceleration/deceleration) cannot be applied forspindle axes. When the advanced control is applied for serialspindle, it is necessary to cancel the FAD(Fineacceleration/deceleration) for servo axis.

#71605

#6 #5 #4 #3 #2 #1TCE

#0

[Data type] Bit

TCE The time constant expansion function is:0 : Not used (The maximum time constant becomes 8000.)1 : Used (The maximum time constant varies depending on how many

controlled axes are used.)

If the time constant expansion function is used, the range of values thatcan be set in the parameter–specified cutting feed linear (bell–shaped)acceleration/deceleration time constant (parameter No. 1622 for thenormal mode, parameter Nos. 1635 and 1638 for the high–speed responsemode) and JOG feed linear (bell–shaped) acceleration/deceleration timeconstant (parameter No. 1624) varies depending on how many controlledaxes are used, as follows:

(a) Normal mode

Number of controlled axes Vaild data range

1 to 2 0 to 32000

3 to 4 0 to 16000

5 to 8 0 to 8000

(b) High–speed responce mode (Power Mate i–H only)


1 to 2 0 to 4000

3 to 4 0 to 2000

5 to 8 0 to 1000

NOTEThe change to this setting takes effect next time the poweris turned on.

#71610

#6 #5 #4JGLx

#3 #2 #1CTBx

#0CTLx


CTLx Acceleration/deceleration in cutting feed including feed in dry run0 : Exponential acceleration/deceleration is applied.1 : Linear acceleration/deceleration after interpolation is applied.

NOTETo use bell–shaped acceleration/deceleration afterinterpolation, set this parameter to 0 and select theacceleration/deceleration using CTBx, bit 1 of parameterNo.1610.


48

ParameterAcceleration/deceleration

CTBx CTLxAcceleration/deceleration

0 0 Exponential acceleration/deceleration

0 1 Linear acceleration/deceleration after interpolation

1 0 Bell–shaped acceleration/deceleration after interpolation

CTBx Acceleration/deceleration in cutting feed including feed in dry run0 : Exponential acceleration/deceleration or linear acceleration/decel-

eration after interpolation is applied (depending on the setting inCTLx, bit 0 of parameter No.1610).

1 : Bell–shaped acceleration/deceleration after interpolation is applied.

JGLx Acceleration/deceleration in jog feed0 : Exponential acceleration/deceleration is applied.1 : Linear acceleration/deceleration after interpolation or bell–shaped

acceleration/deceleration after interpolation is applied (depending onwhich is used for cutting feed).

1620 Time constant used for linear acceleration/deceleration or bell–shaped accelera-tion/deceleration in rapid traverse for each axis


[Unit of data] ms


Specify a time constant used for acceleration/deceleration in rapid tra-verse.

(1) When the function is provided, set this parameter to time constantT1 used in bell–shaped acceleration/deceleration in rapid traverse,and set parameter No.1621 to time constant T2.

(2) When the function is provided, specify a time constant used inlinear acceleration/deceleration and set parameter No.1621 to 0.


49

<Rapid traverese linear acceleration/deceleration>Speed

Rapid traverse feed rate

Time T: Time constant for linearacceleration/deceleration

� �

�� !!��"��!��"#

��

��

��

TIme

T2/2

T2

T1 T2/2

T1: Set a time constant used for lin-ear acceleration/deceleration

T2: Set a time for rounding.

Total time=T1 + T2Time for linear=T1 – T2Time for rounding part=T2

Set the value when the rapid traverse rate is 100%. If it is under 100%, thetotal time is reduced. (Constant acceleration method)The value of T1 is determined from the torque of motor. Usually set thevalue of T2 to 24 ms or 32 ms.

1621 Time constant t T2 used for bell–shaped acceleration/deceleration in rapid tra-verse for each axis


[Unit of data] ms


Specify time constant T2 used for bell–shaped acceleration/decelerationin rapid traverse for each axis.

NOTE1 Set parameter No.1620 to time constant T1 used for

bell–shaped acceleration/deceleration in rapid traverse, andset this parameter to time constant T2.For details of time constants T1 and T2, see the descriptionof parameter No.1620.

2 When this parameter is set to 0, linear acceleration/deceleration is applied in rapid traverse. The setting inparameter No.1620 is used as a time constant in linearacceleration/deceleration.


50

1622 Time constant of acceleration/deceleration in cutting feed for each axis


[Unit of data] ms

[Valid data range] For exponential acceleration/deceleration0 to 4000

For linear or bell–shaped acceleration/deceleration after cutting feedinterpolation is applied

� When the time constant expansion function is not to be used (bit 1 ofparameter 1605 = 0)0 to 8192

� When the time constant expansion function is to be used (bit 1 of param-eter 1605 = 1)


1 to 2 0 to 32000

3 to 4 0 to 16000

5 to 8 0 to 8000

Specify the cutting feedrate acceleration/deceleration time constant foreach axis.

Set the time constant used for exponential acceleration/deceleration incutting feed, bell–shaped acceleration/deceleration after interpolation orlinear acceleration/deceleration after interpolation in cutting feed for eachaxis. Use parameters CTLx and CTBx (bits 0 and 1 of parameter No.1610) to specify what type to use. Except for special applications, thesame time constant must be set for all axes in this parameter. If the timeconstants set for the axes differ from each other, proper straight lines andarcs cannot be obtained.

Speed

T

Time

T : Total time. it is constant irrespective of feed rate. (Time constant is constant).

The curve corresponds to that T1 = T/2 and T2 = T/2 set in pa-rameter No.1620 and 1621.

Bell–shaped acceleraton/deceleration after cutting feed interpolation


51

1623 FL rate of exponential acceleration/deceleration in cutting feed for each axis



��

�� !�" � !# � !�

Millimeter machine 1 mm/min 0,6 to 15000 0,6 to 12000

Inch machine 0.1 inch/min 0,6 to 6000 0,6 to 4800

Rotaion axis 1 deg/min 0,6 to 15000 0,6 to 12000

Set the lower limit (FL rate) of exponential acceleration/deceleration incutting feed for each axis.

NOTEExcept for special applications, this parameter must be setto 0 for all axes. If a value other than 0 is specified, properstraight lines and arcs cannot be obtained.

1624 Time constant of acceleration/deceleration in jog feed for each axis


[Unit of data] ms

[Valid data range] For exponential acceleration/deceleration0 to 4000

For linear or bell–shaped acceleration/deceleration after cutting feedinterpolation is applied

� When the time constant expansion function is not to be used (bit 1 ofparameter 1605 = 0)0 to 8192

� When the time constant expansion function is to be used (bit 1 of param-eter 1605 = 1)


1 to 2 0 to 32000

3 to 4 0 to 16000

5 to 8 0 to 8000

Specify the jog feed acceleration/deceleration time constant for each axis.

Set the time constant used for exponential acceleration/deceleration,bell–shaped acceleration/deceleration or linear acceleration/decelerationafter interpolation in jog feed fot each axis. Use parameters CTLx, CTBx,and JGLx (bits 0, 1 and 4 of parameter No. 1610) to specify what type touse.


52

1625 FL rate of exponential acceleration/deceleration in jog feed for each axis.



��

�� !�" � !# � !�




Set the lower limit (FL rate) of exponential acceleration/deceleration incutting feed for each axis.

1630Parameter 1 for setting an acceleration for linear acceleration/deceleration be-fore interpolation (maximum machining feedrate during linear acceleration/de-celeration before interpolation)

[Data type] 2–word

��

�� !�" � !# � !�



This parameter is used to set an acceleration for linear acceleration/deceleration before interpolation. In this parameter, set a maximummachining speed during linear acceleration/deceleration beforeinterpolation. In parameter No.1631, set a time used to reach the maximummachining speed.

Speed

Parameter 1

Parameter 2Time

Parameter 1: Parameter No.1630Parameter 2: Parameter No.1631

NOTEWhen 0 is set in parameter No.1630 or parameter No.1631,linear acceleration/deceleration before interpolation isdisabled.


53

1631Parameter 2 for setting an acceleration for linear acceleration/deceleration be-fore interpolation (time used to reach the maximum machining speed duringlinear acceleration/deceleration before interpolation.)

[Data type] Word[Unit of data] 1 ms


This parameter is used to set an acceleration for linear acceleration/deceleration before interpolation. In this parameter, set the time (timeconstant) used to reach the speed set in parameter No.1630.

NOTE1 When 0 is set in parameter No.1630 or parameter No.1631,

linear acceleration/deceleration before interpolation isdisabled.

2 In parameter Nos. 1630 and 1631, set values that satisfy thefollowing:Parameter No.1630/Parameter No.1631�5

1635 Time constant T for linear acceleration/deceleration after cutting feed interpola-tion is applied for each axis or time constant T1 for bell–shaped acceleration/de-celeration after cutting feed interpolation is applied in the high–speed responsemode for each axis

[Data type] Word axis[Unit of data] ms

[Valid data range] If bit 1 (TCE) of parameter No. 1605 = 00 to 1000

If bit 1 (TCE) of parameter No. 1605 = 10 to 1000 (Number of controlled axes : 5 to 8 axes)0 to 2000 (Number of controlled axes : 3 to 4 axes)0 to 4000 (Number of controlled axes : 1 to 2 axes)

This parameter is used to set time constant T for linear acceleration/deceleration after cutting feed interpolation is applied or time constant T1for bell–shaped acceleration/deceleration after cutting feed interpolationis applied in the high–speed response mode for each axis.

1636 Time constant T for rapid traverse linear acceleration/deceleration or timeconstant T1 for rapid traverse bell–shaped acceleration/deceleration in the high–speed response mode for each axis

[Data type] Word axis[Unit of data] ms


This parameter is used to set time constant T for rapid traverse linearacceleration/deceleration or time constant T1 for rapid traversebell–shaped acceleration/deceleration in the high–speed response modefor each axis.


54

1637 Time constant T2 for rapid traverse bell–shaped acceleration/deceleration in thehigh–speed response mode for each axis


[Unit of data] ms


This parameter is used to set time constant T2 for rapid traversebell–shaped acceleration/deceleration in the high–speed response modefor each axis.

NOTEIf this parameter is 0, the rapid traverse acceleration/deceleration is linear. The time constant for the linearacceleration/deceleration is the one specified in parameterNo.1636.

1638 Time constant T2 for bell–shaped acceleration/deceleration after cutting feedinterpolation is applied in the high–speed response mode for each axis


[Unit of data] ms


This parameter is used to set time constant T2 for bell–shapedacceleration/deceleration after cutting feed interpolation is applied in thehigh–speed response mode for each axis.

1642 Bell–shaped acc/dec time constant for high speed response function T2 (For G135.3)


[Unit of data] ms



55

��

$

Feedrate

Time

$–T��

NOTE1 The acceleration time specified by this parameter is fixed

regardless feedrate command. Then, the time of a curvedline part in above figure is usually constant regardlessfeedrate.

2 The time constant specified by this parameter is used at bothaccelerating and decelerating.

1644 Time constant for continuous feed acceleration/deceleration in the high–speedresponse mode for each axis or time constant T1 for bell–shaped acceleration/deceleration after continuous feed interpolation is applied in the high–speedresponse mode for each axis


[Unit of data] ms

[Valid data range] If bit 1 (TCE) of parameter No. 1605 = 00 to 1000If bit 1 (TCE) of parameter No. 1605 = 10 to 1000 (Number of control axes: 5 to 8)0 to 2000 (Number of control axes: 3 to 4)0 to 4000 (Number of control axes: 1 to 2)

NOTEThis parameter is valid when bit 3 (HECF) of parameter No.8680 is 1.


56

1645 Time constant T2 for bell–shaped acceleration/deceleration after continuousfeed interpolation is applied in the high–speed response mode for each axis


[Unit of data] ms


NOTEThis parameter is valid when bit 3 (HECF) of parameter No.8680 is 1.

NOTE1 When parameter No. 1638 (time constant T2 for bell–shaped

acceleration/deceleration after cutting feed interpolation isapplied in the high–speed response mode for each axis) is0, the cutting feed acceleration/deceleration in thehigh–speed response mode is linear acceleration/deceleration after interpolation.Similarly, when parameter No. 1645 (time constant T2 forbell–shaped acceleration/deceleration after continuousfeed interpolation is applied in the high–speed responsemode for each axis) is 0, the continuous feed acceleration/deceleration in the high–speed response mode is linearacceleration/deceleration after interpolation.

2 When bit 1 (TCE) of parameter No. 1605 is 0, the sum of timeconstants T1 and T2 is 1000 ms or less.When bit 1 (TCE) of parameter No. 1605 is 1, the sum of timeconstants T1 and T2 is as follows.

0 to 1000 (Number of control axes: 5 to 8)0 to 2000 (Number of control axes: 3 to 4)0 to 4000 (Number of control axes: 1 to 2)


57

1722 Rapid traverse feedrate reduction ratio for overlapping rapid traverse blocks


[Unit of data] %


This parameter is used when rapid traverse blocks are arrangedsuccessively, or when a rapid traverse block is followed by a block thatdoes not cause, movement. When the feedrate for each axis of a block isreduced to the ratio set in this parameter, the execution of the next block isstarted.

Fh

Fd

X–axis feedrate

N1 G00 X– – ; N2 G00 X– – ;

When the function of overlapping rapidtraverse blocks is enabled

When the function of overlapping rapidtraverse blocks is disabled

Fh�

Fd

: Rapid traverse feedrate: Setting of parameter No.1722 (feedrate reduction ratio): Feedrate where deceleration is terminated: Fh x ��

t

NOTEThe parameter No.1722 is effective when parameterNo.1601 #4 (RT0) is set to 1.

1762Exponential acceleration/deceleration time constant for cutting feed in the advanced preview feed forward mode


[Unit of data] 1 ms


This parameter is used to set a time constant for cutting feed exponentialacceleration/deceleration in the advanced preview feed forward mode foreach axis.

Examples


58

1763Minimumspeed in exponential acceleration/deceleration for cutting feed in theadvanced preview feed forward mode



��

�� !�" � !# � !�




This parameter is used to set the minimum speed (FL) for cutting feedexponential acceleration/deceleration in the advanced preview feedforward mode for each axis.

1768Time constant for linear acceleration/deceleration during cutting feed in advancedpreview feed forward mode

[Data type] Word

[Unit of data] ms


This parameter sets a time constant for linear acceleration/decelerationforcutting feed in the advanced preview feed forward mode.

1770Parameter1 (for advanced preview feed forward) for setting an acceleration forlinear acceleration/deceleration before interpolation (maximum machining speedduring linear acceleration/deceleration before interpolation)

[Data type] 2 Word


��

�� !�" � !# � !�



This parameter is used to set an acceleration for linearacceleration/deceleration before interpolation in the advanced previewfeed forward mode. In this parameter, set the maximum machining speedduring linear acceleration/deceleration before interpolation. Set the timeused to reach the maximum machining speed in parameter No.1771.

Speed

Parameter 1(No.1770)

Parameter 2 (No.1771)

Time


59

CAUTIONWhen 0 is set in parameter No.1770 or parameter No.1771,linear acceleration/deceleration before interpolation isdisabled.

1771Parameter 2 (for advanced preview feed forward) for setting an acceleration forlinear acceleration/deceleration before interpolation (maximum machining speedduring linear acceleration/deceleration before interpolation)

[Data type] Word

[Unit of data] 1 ms


This parameter is used to set an acceleration for linear acceleration/deceleration before interpolation in the advanced preview feed forwardmode. In this parameter, set the time (time constant) used toreach thespeed set in parameter No.1770.

CAUTION1 When 0 is set in parameter No.1770 or parameter No.1771,

linear acceleration/deceleration before interpolation isdisabled.

2 In parameter Nos.1770 and 1771, set values that satisfy thefollowing:Parameter No.1770/Parameter No.1771�5

1784 Feedrate at overtravel alarm occurrence during linear acceleration/decelerationbefore interpolation

[Data type] Word

[Unit of data]

[Valid data range]

��

�� !�" � !# � !�



Deceleration is performed beforehand so that the feedrate set in theparameter is set when an overtravel alarm is issued (when the limit isreached) during linear acceleration/deceleration before interpolation.With this parameter, the amount of overrun can be reduced when anovertravel alarm is issued.

CAUTIONThe control mentioned above is effective only for storedstroke check 1.


60

NOTE1 When 0 is set, the control described above is not applied.2 Select linear acceleration/deceleration type B before

interpolation (by setting bit 0 (FWB) of parameter No. 1602to 1).

NOTE1 If a block containing no move command is specified during

acceleration/deceleration before interpolation, a gradualstop occurs in the previous block.

2 If a one–shot G code is specified during acceleration/deceleration before interpolation, a gradual stop occurs inthe previous block.

3 If an M/S/T code is specified in a block containing a movecommand during acceleration/deceleration beforeinterpolation, a gradual stop occurs in the block.

4 Even during acceleration/deceleration before interpolation,acceleration/deceleration is not performed in a G31 (skipfunction) block.

5 Even during acceleration/deceleration before interpolation,acceleration/deceleration after interpolation is effective. Toperform acceleration/deceleration only before interpolation,set the time constant of acceleration/deceleration afterinterpolation to 0.


61

#71800

#6 #5 #4 #3FFR

#2OZR

#1CVR

#0

[Data type] Bit

CVR When velocity control ready signal VRDY is set ON before positioncontrol ready signal PRDY comes ON0: A servo alarm is generated.1: A servo alarm is not generated.

OZR When manual reference position return is attempted in the halt stateduring automatic operation (feed hold stop state) under any of theconditions listed below:0: Manual reference position return is not performed, with P/S alarm

No.091.1: Manual reference position return is performed without an alarm

occurring.

< Conditions >

(1) When there is a remaining distance to travel.

(2) When an auxiliary function (miscellaneous function, spindle–speedfunction, tool function) is being executed.

(3) When a cycle such as a dwell cycle or canned cycle is being executed.

FFR Feed–forward control is enabled for0 : Cutting feed only1 : Cutting feed and rapid traverse

#71801

#6 #5CIN

#4CCI

#3 #2 #1 #0

[Data type] Bit

CCI The in–position area for cutting feed is:0 : Set in parameter No.1826 (same as for rapid traverse).1 : Set in bit 5 (CIN) of parameter No.1801.

CIN When bit 4 (CCI) of parameter No.1801 = 1, the in–position area forcutting feed is:0 : Use value in parameter No.1827 if the next block is also for cutting

feed, or use value in parameter No.1826 if the next block is not forcutting feed.

1 : Use value in parameter No.1827, regardless of the next block. (Thesetting of parameter No.1826 is used for rapid traverse, and the settingof parameter No.1827 is used for cutting feed.)

4.12PARAMETERS OF SERVO


62

#71802

#6 #5 #4 #3 #2 #1DC4

#0

NOTEAfter this parameter is set, the power needs to be turned off.

[Data type] Bit

DC4 When the reference position is established on the linear scale withreference marks:0 : An absolute position is established by detecting three reference marks.1 : An absolute position is established by detecting four reference marks.

#71803

#6 #5 #4TQF

#3EEP

#2NVY

#1TQA

#0TQI

TQF NVY TQA TQI

[Data type] Bit

TQI While torque restriction is applied, in–position check is:0 : Not performed.1 : Performed.

TQA While torque restriction is applied, checking for an excessive error in thestopped state/during movement is:0 : Not performed.1 : Performed.

NVY 0 : The servo alarm (SV401) is issued when VRDY is off.1 : Even when VRDY is off, the servo alarm is not issued, but the system

waits until VRDY is set to on. Set NVY to 1 when one amplifier is tobe shared by multiple CNCs.

EEP When two single–axis amplifiers are used, an emergency stop is:0 : Not performed for each path separately.1 : Performed for each path separately.

NOTETo use two–path control, set also the NWR parameter (bit 7of parameter No. 8100) to 1.

TQF When torque control is performed by an axis control command of thePMC axis control function, follow–up operation is:0 : Not performed.1 : Performed.

#71804

#6SAK

#5ANA

#4IVO

#3 #2 #1 #0BLA


BLA An APC battery voltage decrease is :0 : Watched only at the time of the communication with Pulsecoder.1 : Always watched.


63

IVO When an attempt is made to release an emergency stop while the VRDYOFF alarm ignore signal is 1:0 : The emergency stop state is not released until the VRDY OFF alarm

ignore signal is set to 0.1 : The emergency stop state is released.

NOTEWhen a reset is issued while the VRDY OFF alarm ignoresignal is set to 1 and the motor activating current is low, thereset state can also be released, provided this parameter isset to 1.

ANA When an abnormal load is detected for an axis:0 : Movement along all axes is stopped, and a servo alarm is output.1 : No servo alarm is output, and movement along only the axes of the

group containing the axis with the abnormal load is stopped in interlockmode. (The group number of each axis is set in parameter No.1881.)

SAK When the VRDY OFF alarm ignore signal IGNVRY is 1, or when theVRDY OFF alarm ignore signals IGVRY1 to IGVRY8 are 1:0 : Servo ready signal SA is set to 0.1 : Servo ready signal SA remains set to 1.

#71806

#6 #5APCD

#4 #3 #2 #1 #0

[Input type] Parameter input

[Data type] Bit

APCD Machine coordinates read in the PMC window or FOCAS1 window andcoordinates used during output of the PMC positional signal are:0 : The same as before.1 : Values by the actual position load function of the absolute position

detector.

NOTE1 When at least one of these parameters is set, the power

must be turned off before operation is continued.2 When this parameter is set to 1, bit 4 (SPDO) of parameter

No. 2224 also needs to be set to 1.

#71807

#6 #5 #4 #3RSPE

#2 #1 #0

[Data type] Bit

RSPE The axis stop signal input for quick stop is:0 : Disabled.1 : Enabled.

NOTEWhen bit 3 (RSPE) of this parameter (No. 1807) is set to 1,bit 5 (ANA) of parameter No. 1804 also needs to be set to 1.


64

#71815

#6 #5APCx

#4APZx

#3 #2DCLx

#1OPTx

#0

NOTEWhen this parameter has been set, the power must beturned off before operation is continued.


OPTx Position detector0 : A separate pulse coder is not used.1 : A separate pulse coder is used.

DCLx As a separate position detector, the linear scale with reference marks is:0 : Not used.1 : Used.

NOTEWhen using the linear scale with reference marks, also setthe OPTx parameter (bit 1 of parameter No.1815) to 1.

APZx Machine position and position on absolute position detector when theabsolute position detector is used0 : Not corresponding1 : Corresponding

NOTEWhen an absolute position detector is used, after primaryadjustment is performed or after the absolute positiondetector is replaced, this parameter must be set to 0, powermust be turned off and on, then manual reference positionreturn must be performed. This completes the positionalcorrespondence between the machine position and theposition on the absolute position detector, and sets thisparameter to 1 automatically.

APCx Position detector0 : Other than absolute position detector1 : Absolute position detector (absolute pulse coder)


65

#71816

#6DM3x

#5DM2x

#4DM1x

#3 #2 #1 #0



DM1x to DM3x Setting of detection multiplier

Set valueDetection multiplier

DM3x DM2x DM1xDetection multiplier

00001111

00110011

01010101

1/21

3/22

5/23

7/24

NOTEWhen the flexble feed gear is used, do not use theseparameters. Set the numerator and denominator of DMR toan appropriate values in parameters 2084 and 2085respectively.

#71817

#6TAN

#5 #4 #3 #2 #1 #0



TAN Tandem control0 : Not used1 : Used

NOTESet this parameter to both master axis and slave axis.


66

#71819

#6 #5 #4 #3 #2 #1CRFx

#0FUPx


FUPx To perform follow–up when the servo is off is set for each axis.0: The follow–up signal, *FLWU, determines whether follow–up is

performed or not.When *FLWU is 0, follow–up is performed.When *FLWU is 1, follow–up is not performed.

1: Follow–up is not performed.

CRFx When servo alarm No.445 (software disconnection), No.446 (hardwaredisconnection), No.447 (hardware disconnection (separate type)), orNo.421 (excessive dual position feedback error) is issued:0 : The reference position setting remains as is.1 : The system enters the reference position undefined state.

1820 Command multiplier for each axis (CMR)



Set a command multiplier indicating the ratio of the least commandincrement to the detection unit for each axis.

Least command increment = detection unit � command multiplierRelationship between the increment system and the least commandincrement

Increment system

Least input increment and least command incrementIncrement system IS–A IS–B IS–C Units




Setting command multiply (CMR), detection multiply (DMR), and thecapacity of the reference counter

least commandincrement

X CMR Error counter

X DMRReferencecounter

DAConverter

Position detector

To velocity control

Feedback pulse

Detectionunit

+

–

Fig.4.12 CMR, DMR, and the Capacity of the Reference Counter


67

Set the magnification ratios of CMR and DMR so that the weight ofpositive inputs to the error counter equals that of negative inputs.

feedback pulse unitLeast command incrementCMR

=detection unit=DMR

The feedback pulse unit varies according to the type of detector.

Feedback pulse unit = the amount of travel per rotation of the pulse coderthe number of pulses per rotation of the pulse coder (2000, 2500, or 3000)

As the size of the reference counter, specify the grid interval for thereference position return in the grid method.

Size of the reference counter = Grid interval/detection unitGrid interval = the amount of travel per rotation of the pulse coderThe value set in the parameter is obtained as follows:

(1) When command multiplier is 1/2 to 1/27

Set value = 1(Command multiplier)

+ 100

Valid data range: 102 to 127

(2) When command multiply is 1 to 48Set value = 2 command multiplierValid data range: 2 to 96

NOTEWhen command multiplier is 1 to 48, the set value must bedetermined so that an integer can be set for commandmultiplier.

1821 Reference counter size for each axis




Set the size of the reference counter.

When using the linear scale with reference marks, set the space betweenthe mark–1 indications.


68

1825 Servo loop gain for each axis


[Unit of data] 0.01 s –1


Set the loop gain for position control for each axis.

When the machine performs linear and circular interpolation (cutting), thesame value must be set for all axes. When the machine requirespositioning only, the values set for the axes may differ from one another.As the loop gain increases, the response by position control is improved.A too large loop gain, however, makes the servo system unstable.

The relationship between the positioning deviation (the number of pulsescounted by the error counter) and the feedrate is expressed as follows:

feedrate�

Positioning deviation =60 (loop gain)

Unit : Positioning deviation mm, inches, or degFeedrate : mm/min, inches/min, or deg/minloop gain: s–1

1826 In–position width for each axis


[Unit of data] Detection unit


The in–position width is set for each axis.

When the deviation of the machine position from the specified position(the absolute value of the positioning deviation) is smaller than thein–position width, the machine is assumed to have reached the specifiedposition. (The machine is in the in–position state.)

1827 In–position width in cutting feed for each axis




Set an in–position width for each axis in cutting feed. This parameter isvalid when bit 4 (CCI) of parameter No.1801=1.


69

1828 Positioning deviation limit for each axis in movement




Set the positioning deviation limit in movement for each axis.

If the positioning deviation exceeds the positioning deviation limit duringmovement, a servo alarm is generated, and operation is stoppedimmediately (as in emergency stop).Generally, set the positioning deviation for rapid traverse plus somemargin in this parameter.

1829 Positioning deviation limit for each axis in the stopped state




Set the positioning deviation limit in the stopped state for each axis.

If, in the stopped state, the positioning deviation exceeds the positioningdeviation limit set for stopped state, a servo alarm is generated, andoperation is stopped immediately (as in emergency stop).

1830 Axis–by–axis positional deviation limit at servo–off time




This parameter is used to set a positional deviation limit at servo–off time,on an axis–by–axis basis.If the value specified with this parameter is exceeded at servo–off time, aservo alarm (No.410) is issued to cause an immediate stop (same as anemergency stop). Usually, set the same value as a positional deviation atstop time (parameter No.1829).

NOTEWhen this parameter is set to 0, no positional deviation limitcheck is made at servo–off time.


70

1832 Feed stop positioning deviation for each axis




Set the feed stop positioning deviation for each axis.If the positioning deviation exceeds the feed stop positioning deviationduring movement, pulse distribution and acceleration/decelerationcontrol are stopped temporarily. When the positioning deviation drops tothe feed stop positioning deviation or below, pulse distribution andacceleration/deceleration control are resumed.The feed stop function is used to reduce overshoot in acceleration/deceleration mainly by large servo motors.Generally, set the middle value between the positioning deviation limitduring movement and the positioning deviation at rapid traverse as thefeed stop positioning deviation.

1836 Servo error amount where reference position return is possible




This parameter sets a servo error used to enable reference position returnin manual reference position return.

In general, set this parameter to 0. (When 0 is set, 128 is assumed as thedefault.)

NOTEWhen bit 0 (PLC01) of parameter No.2000 is set to 1, a valueten times greater than the value set in this parameter is usedto make the check.[Example]

When the value 10 is set in this parameter, and bit 0(PLC01) of parameter No.2000 is set to 1, reference

1850 Grid shift for each axis





Within the reference counter size (No. 1821)

Set a grid shift for each axis to shift the reference position. The grid shiftthat can be set is within half the reference counter size.


71

1851 Backlash compensating value for each axis


[Unit of data] Detection unit[Valid data range] –9999 to +9999

Set the backlash compensating value for each axis.

When the machine moves in a direction opposite to the reference positionreturn direction after the power is turned on, the first backlashcompensation is performed.

1855 Current limit override value for each axis

[Data type] Byte axis[Valid data range] 0 to 255

This parameter specifies a current limit override value for each axis.

Override value = Setting*100/255(%).

NOTEWhen 0 is specified, torque control based on this parameteris not exercised. (A DI signal and PMC–set torque valuebecome valid.)

1872 Servo positional deviation check value

[Data type] 2-word axis[Valid data range] 0 to 99999999

This parameter specifies a servo positional deviation check value. Whenthis value is exceeded, signals SVER1 to SVER8 are turned on.

1880 Abnormal load detection alarm timer


[Unit of data] ms

[Valid data range] 0 to 32767 (200 msec is assumed when 0 is set)

This parameter sets the time from the detection of an abnormal load until aservo alarm is issued. The specified value is rounded up to the nearestintegral multiple of 8 msec.

[Example] When 30 is specified, the value is rounded up to 32 (msec).

1881 Group number when an abnormal load is detected



This parameter sets the group number of each axis, used when anabnormal load is detected.

If an abnormal load is detected for an axis, only the movement along theaxes of the group containing the axis with the abnormal load is stopped. If0 is set for an axis, movement along that axis is stopped whenever anabnormal load is detected for any axis.


72

Example: Assume that the following settings have been made. If anabnormal load is detected for the sixth axis, movement alongthe second, fourth, sixth, and seventh axes is stopped. If anabnormal load is detected for the fourth axis, movement alongthe fourth and seventh axes is stopped.

Parameter No.1881 Setting(First axis) 1

(Second axis) 2(Third axis) 1

(Fourth axis) 0(Fifth axis) 3(Sixth axis) 2

(Seventh axis) 0

NOTEThis parameter is enabled when the ANA parameter (bit 5 ofparameter No.1804) is 1.

1882 Space between the mark–2 indications on the linear scale with reference marks




This parameter sets the space between the mark–2 indications on thelinear scale with reference marks.

1883Distance from the zero point of the linear scale with reference marks to the ref-erence position

NOTEAfter this parameter has been set, the power must be turnedoff then back on for the setting to become effective.




This parameter sets the distance from the zero point of the linear scale withreference marks to the reference position. The zero point of the scale is thatpoint where mark 1 and mark 2 match. Generally, this point is a virtual pointthat does not actually exist on the scale. (See the figure below.)

When the reference position is located in the positive direction as viewedfrom the zero point of the scale, set a positive value for this parameter.When the reference position is located in the negative direction as viewedfrom the zero point, set a negative value.


73

41.88.242.0

Parameter No.1821

Reference position

Scale

Scale endZero point of

the scale

Parameter No.1883

Parameter No.1882

8.0

Mark 2Mark 1 = mark 2 Mark 1 Mark 2Mark 1

1885 Maximum allowable value for total travel during torque control




This parameter sets the maximum allowable value for the total travel(error counter value) for an axis placed under torque control, as specifiedby the axis control command of the PMC axis control function. If the totaltravel exceeds the parameter–set value while torque control is applied, aservo alarm (No.423) is generated.

NOTEThis parameter is enabled when the TQF parameter (bit 4 ofparameter No.1803) is 0 (follow–up is not performed duringtorque control).

1886 Positional deviation when torque control is canceled




This parameter sets the positional deviation used when torque control,performed for an axis according to the axis control command of the PMCaxis control function, is canceled and position control is resumed. Afterthe positional deviation has fallen to the parameter–set value, switching toposition control is performed.

NOTEThis parameter is enabled when the TQF parameter (bit 4 ofparameter No.1803) is 0 (follow–up is not performed duringtorque control).


74

#7HFU1901

#6 #5 #4 #3 #2 #1 #0

[Data type] Bit

HFU Follow–up on occurrence of an emergency stop or servo alarm in thetorque control mode and follow–up after release of servo alarm afterpower–on during use of the absolute position detector are:0 : The same as before.1 : Changed to a high–speed type.

#71902

#6 #5 #4 #3 #2 #1ASE

#0FMD

NOTE1 After this parameter has been set, the power must be turned

off then back on for the setting to become effective.2 Refer to “Connection Manual (Function) B–63173EN–1” for

detailed explanations about how to set up the FSSB.

[Data type] Bit

FMD The FSSB setting mode is:0 : Automatic setting mode.

(When information including an axis–amplifier relationship is set onthe FSSB setting screen, parameter Nos. 1023, 1905, 1910 through1919, 1936, and 1937 are set automatically.)

1 : Manual setting 2 mode.(Set parameter Nos. 1023, 1905, 1910 through 1919, 1936, and 1937manually.)

ASE When automatic setting mode is selected for FSSB setting (when the FMDparameter (bit 0 of parameter No.1902) is set to 0), automatic setting is:0 : Not completed.1 : Completed.

(This bit is automatically set to 1 upon the completion of automaticsetting.)

#71904

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



DSP0 : Two axes use one DSP. (Ordinary axes)1 : One axis uses one DSP.

NOTEParameter No.1904 is set on the FSSB setting screen. So,parameter No.1904 should not have to be specified directly.This parameter need not be set in FSSB manual setting 2mode.


75

#7PM21905

#6PM1

#5IO2

#4IO1

#3 #2 #1 #0FSL



FSL The type of interface used between the servo amplifier and servo software is:0 : Fast type.1 : Slow type.

The user can choose between two interface types for servo data transfer:fast type or slow type. Set this parameter so that the following conditionsare satisfied:

� When a one–axis amplifier is used, either the fast type or slow typeinterface can be used.

� When a two–axis amplifier is used, the use of the fast type for both axesis not allowed. The slow type can be used for both axes.

� When a three–axis amplifier is used, the requirement for a two–axesamplifier described above applies to the first and second axes, and therequirement for a one–axis amplifier, again described above, applies tothe third axis.

� When an odd number is specified for parameter No.1023, the fast typeinterface must be used.

� When an even number is specified for parameter No.1023, only theslow type interface can be used. (The FSL bit must always be set to 1.)

Controlledaxis

number

123456

Programaxis nameNo.1020

XYZABC

Servo axis numberNo.1023

123456

Interfacetype

Fast/Slow

FFSSFS

CNC

2–axisamplifier

2–axisamplifier

1–axisamplifier

X (Fast)

A (Slow)

Y (Fast)

Z (Slow)

B (Fast)

C (Slow)1–axisamplifier

IO1 First axis

The basic unit of the FSSB I/O module in group 1 is:0 : Not used.1 : Used.

Second axis

The expansion unit of the FSSB I/O module in group 1 is:0 : Not used.1 : Used.


76

IO2 First axis

The basic unit of the FSSB I/O module in group 2 is:0 : Not used.1 : Used.

Second axis

The expansion unit of the FSSB I/O module in group 2 is:0 : Not used.1 : Used.

NOTE1 In any group, do not specify that only the expansion unit is

to be used.2 When this parameter ise set, the power must be turned off

before operation is continued.

PM1 The first pulse module is:0 : Not used.1 : Used.

PM2 The second pulse module is:0 : Not used.1 : Used.

NOTEWhen automatic setting mode is selected for FSSB setting(when the FMD parameter (bit 0 of parameter No.1902) is setto 0), parameter No.1905 is automatically set when input isperformed with the FSSB setting screen. When manualsetting 2 mode is selected for FSSB setting (when the FMDparameter (bit 0 of parameter No.1902) is set to 1),parameter No.1905 must be set directly. When a pulsemodule is used, a connector number must be set in thecorresponding parameter (No.1936 or No.1937).


77

1910 Address conversion table value for slave 1 (ATR)










NOTEAfter these parameters have been set, the power must beturned off then back on for the settings to become effective.

[Data type] Byte

[Valid data range] 0 to 7, 16, 40, 48

These parameters set address conversion table values for slaves 1 to 10.

A slave is the generic name given to a device such as a servo amplifier orpulse module, connected to the CNC via an FSSB optical cable. Smallernumbers, starting from 1 are assigned to slaves closer to the CNC; themaximum number that can be assigned is 10. A two–axis amplifier hastwo slaves, while a three–axis amplifier has three slaves. Set eachparameter as described below, depending on whether the slave is anamplifier or pulse module, or when no slave exists.

� When the slave is an amplifier:Set the value obtained by subtracting 1 from the setting of parameterNo.1023 for the axis to which the amplifier is assigned.

� When the slave is a pulse module:Set 16 for the first pulse module (closest to the CNC). Set 48 for thesecond pulse module (furthest from the CNC).

� When no slave existsSet 40.

NOTEWhen automatic setting mode is selected for FSSB setting(when the FMD parameter (bit 0 of parameter No.1902) is setto 0), parameters No.1910 through No.1919 are automaticallyset when input is performed with the FSSB setting screen.When manual setting 2 mode is selected for FSSB setting(when the FMD parameter (bit 0 of parameter No.1902) is setto 1), parameter No.1910 through No.1919 must be directlyset.


78

� Examples of axis configurations and parameter settings

PowerMate

1–axisamplifier

2–axisamplifier

2–axisamplifier

M1 1–axisamplifier

M2

Xaxis

Yaxis

Zaxis

Aaxis

Baxis

Caxis

Optical cable

(1)

slave number 1 2 3 4 5 6 7 8

If the connection shown above is made, the relationships between theparameters and their settings are as shown below.

Servo axisnumberNo. 1023

Addressconversiontable valueNo. 1910 to1919

1 0

2 1

3 2

4 3

5 4

6 5

Controlledaxis number(n–th axis)

AxisnameNo. 1020

1 X

2 Y

3 Z

4 A

5 B

6 C

Connection viewed from Power Mate

Slavenumber

Axis

1(No.1910)

X 1–axisamplifier

2(No.1911)

Y

3(No.1912)

Z

2–axisamplifier

4(No.1913)

A

5(No.1914)

B

2–axisamplifier

6(No.1915)

M1

7(No.1916)

C 1–axisamplifier

8(No.1917)

M2

9(No.1918)

None

10(No.1919)

None

M1/M2 : First pulse module/second pulse module

Note)Values to be set in the parameters that have notbeen set up in the above table:

No.1915=16No.1917=48No.1918=40No.1919=40

Connection viewed from FSSB

Means that parameterNo. 1916 is to be set to 5.

Servo conrtol unit

Means that parameterNo. 1023 (C–axis) is tobe set to 6.


79

(2)

Slave number 1 2 3 4 5 6

Tandem

PowerMate

1–axisamplifier

1–axisamplifier

2–axisamplifier

1–axisamplifier

1–axisamplifier

Optical cable

Tandem

Xaxis

Baxis

Yaxis

Zaxis

Aaxis

Caxis

(SLAVE)

If the connection shown above is made, the relationships between theparameters and their settings are as shown below.

NOTEIn the above figure, the X– and A–axes are under tandemcontrol. The B–axis is a tandem slave axis with respect tothe X–axis, and the C–axis is a tandem slave axis withrespect to the A–axis.


80

Servo axisnumberNo. 1023

Addressconversiontable valueNo. 1910 to1919

1 0

2 1

3 2

4 3

5 4

6 5

Connection viewed from Power Mate

Slavenumber

Axis

1(No.1910)

1–axisamplifier

2(No.1911)

3(No.1912)

4(No.1913)

5(No.1914)

6(No.1915)

7(No.1916)

8(No.1917)

9(No.1918)

None

10(No.1919)

None

Note)Values to be set in the parameters that have notbeen set up in the above table:

No.1916=40No.1917=40No.1918=40No.1919=40

Connection viewed from FSSB

Means that parameterNo. 1915 is to be set to 5.

Servo conrtol unit

1 X

(Tandemmaster axis)

2 Y

3 Z

4 A

5 B

6 C

Controlledaxis number(n–th axis)

AxisnameNo. 1020

(Tandemmaster axis)

(Tandem slaveaxis with respectto the X–axis)

(Tandem slaveaxis with respectto the A–axis)

Means that parameterNo. 1023 (B–axis) is tobe set to 2.

1–axisamplifier

1–axisamplifier

1–axisamplifier

None

None

2–axisamplifier


81

1920 Controlled axis number for slave 1 (dedicated to the FSSB setting screen)











[Data type] Byte


These parameters are used to set the controlled axis numbers for slaves 1to 10.

NOTEThese parameters are set using the FSSB setting screen.So, these parameters should not normally have to bespecified directly. These parameters need not be set inFSSB manual setting mode.

1931 Connector number for the first pulse module (dedicated to the FSSB setting screen)

1932 Connector number for the second pulse module (dedicated to the FSSB setting screen)



[Valid data range] 0 to number of connectors provided on each pulse module

When a pulse module is used, these parameters set a pulse moduleconnector number for each axis.

NOTEThese parameters are set using the FSSB setting screen.So, these parameters should not normally have to bespecified directly. These parameters need not be set inFSSB manual setting 2 mode.


82

1934Master and slave axis numbers subject to tandem control

(dedicated to the FSSB setting screen)




This parameter is used to set an odd number, and the subsequent evennumber, for a master axis and slave axis subject to tandem control,respectively.

NOTEThis parameter is set using the FSSB setting screen. So,this parameter should not normally have to be specifieddirectly. This parameter need not be set in FSSB manualsetting 2 mode.

1936 Connector number of the first pulse module

1937 Connector number of the second pulse module




When a pulse module is used, each of these parameters sets the valueobtained by subtracting 1 from a pulse module connector number for eachaxis. That is, values of 0 through 7 are set for connector numbers 1through 8. In addition, bits 6 and 7 of parameter No.1905 must be set. Foran axis that does not use a pulse module, 0 must be set.The user can freely specify the connector to be used for a given axis.When using connectors, start from that connector having the smallestconnector number. For example, connector number 4 cannot be used ifconnector number 3 is not being used.Example:

Controlledaxis

Connectornumber for

the first pulsemodule

Connectornumber forthe second

pulse module

No.1936 No.1937 No.1905(#7, #6)

X 1 Not used 0 0 0,1

Y Not used 2 0 1 1,0

Z Not used 1 0 0 1,0

A Not used Not used 0 0 0,0

B 2 Not used 1 0 0,1

C Not used 3 0 2 1,0


83

1960Start address of the R area to which the DI bit information of the FSSB I/O mod-

ule in group 1 is sent

NOTEWhen this parameter ise set, the power must be turned offbefore operation is continued.

[Data type] Word

[Valid data range] The range of values that can be set varies with the PMC model.

PMC model Range of the R area that can be set

PMC–SB5 0 to 1499, 9100 to 9117

PMC–SB6 0 to 2999, 9100 to 9117

1961Size of the R area to which the DI bit information of the FSSB I/O module in

group 1 is sent


[Data type] Byte

[Unit of data] Byte

[Valid data range] 0 to 4 (if only the basic unit is to be used)0 to 8 (if both the basic and expansion units are to be used)

1962Start address of the R area where the bit information to be output to the DO of

the FSSB I/O module in group 1 is stored


[Data type] Word



PMC–SB5 0 to 1499, 9100 to 9117

PMC–SB6 0 to 2999, 9100 to 9117


84

1963Size of the R area where the bit information to be output to the DO of the FSSB

I/O module in group 1 is stored


[Data type] Byte

[Unit of data] Byte


1964Start address of the R area to which the DI bit information of the FSSB I/O mod-

ule in group 2 is sent


[Data type] Word



PMC–SB5 0 to 1499, 9100 to 9117

PMC–SB6 0 to 2999, 9100 to 9117

1965Address of the R area to which the DI bit information of the FSSB I/O module in

group 2 is sent


[Data type] Byte

[Unit of data] Byte



85

1966Address of the R area to which the DO bit information of the FSSB I/O module

in group 2 is sent


[Data type] Word



PMC–SB5 0 to 1499, 9100 to 9117

PMC–SB6 0 to 2999, 9100 to 9117

1967Size of the R area where the bit information to be output to the DO of the FSSB

I/O module in group 2 is stored


[Data type] Byte

[Unit of data] Byte


The effective DI data of the FSSB I/O module begins at the address set inparameter No. 1960 or 1964 and its size is specified in parameter No. 1961or 1965.The effective DO data of the FSSB I/O module begins at the address set inparameter No. 1962 or 1966 and its size is specified in parameter No. 1963or 1967.If bit 4 (IO1) of parameter No. 1905 is 1, data for the first unit is valid, andif bit 5 (IO2) of parameter No. 1905 is 1, data for the second unit is valid.

1968 Address of the R area to which information about a DO alarm is output


[Data type] Word



PMC–SB5 0 to 1499, 9100 to 9117

PMC–SB6 0 to 2999, 9100 to 9117

Specify the address of the R area to which information about the unit thatencountered an alarm condition (if occurred) is to be reported.R addressinformation specified in parameter No. 1968


86

#7 #6 #5 #4 #3EXDVAL2

#2DVAL2

#1EXDVAL1

#0DVAL1

If each bit is “1”, it has the following meaning:

DVAL1: A DO alarm condition was detected in the basic unit in group1.

EXDVAL1:A DO alarm condition was detected in the expansion unit ingroup 1.

DVAL2: A DO alarm condition was detected in the basic unit in group2.

EXDVAL2:A DO alarm condition was detected in the expansion unit ingroup 2.

NOTEWhen automatic setting mode is selected for FSSB setting(when bit 0 of parameter No.1902 is set to 0), theseparameters are automatically set when input is performedwith the FSSB setting screen. When manual setting 2 modeis selected for FSSB setting (when bit 0 of parameterNo.1902 is set to 1), these parameters must be set directly.

The following parameters are not explained in this manual. Refer toFANUC AC SERVO MOTOR αi/βi Series PARAMETER MANUAL(B–65270EN).

No. Data type Contents2000 Bit axis PGEX ��% DGPR PLC0

2001 Bit axis AMR7 AMR6 AMR5 AMR4 AMR3 AMR2 AMR1 AMR0

2002 Bit axis &'�( �'�(

2003 Bit axis V0FS OVSC BLEN )PSP PIEN OBEN TGAL

2004 Bit axis DLY0

2005 Bit axis �'% BRKC FEED

2006 Bit axis DCBE ACCF PKVE FCBL

2007 Bit axis '�* FAD

2008 Bit axis +*,- �'.� &�% �� &'.* �)�%

2009 Bit axis BLST BLCU ADBL $�. SERD

2010 Bit axis HBBL HBPE BLT( LINE

2011 Bit axis RCCL FFALWY SYNMOD

2012 Bit axis ��)/ VCM2 VCM1 MSFE

2013 Bit axis (Reserve)

2014 Bit axis (Reserve)

2015 Bit axis BLAT TDOU SSG1 PGTW

2016 Bit axis 0�& ABNT

2017 Bit axis PK25 �&� �� 1�)/ DBS�

2018 Bit axis PFBC MOVO

2019 Bit axis DPFB

2020 Word axis Motor number

2021 Word axis Load inertia ratio

2022 Word axis Direction of motor rotation


87

No. ContentsData type

2023 Word axis Number of velocity pulses

2024 Word axis Number of position pulses

2028 Word axis Position gain switching speed

2029 Word axis Effective speed for integral acceleration at low speed

2030 Word axis Effective speed for integral acceleration at low speed

2033 Word axis Position feedback pulse

2034 Word axis Damping control gain

2039 Word axis Second–stage acceleration for two–stage backlash acceleration

2040 Word axis Current loop integral gain (PK1)

2041 Word axis Current loop proportional gain (PK2)

2042 Word axis Current loop gain (PK3)

2043 Word axis Velocity loop integral gain (PK1V)

2044 Word axis Velocity loop proportional gain (PK2V)

2045 Word axis Velocity loop incomplete integral gain (PK3V)

2046 Word axis Velocity loop gain (PK4V)

2047 Word axis Observer parameter (POA1)

2048 Word axis Backlash acceleration

2049 Word axis Maximum amplitude for dual position feedback

2050 Word axis Observer parameter (POK1)

2051 Word axis Observer parameter (POK2)

2053 Word axis Current dead zone compensation (PPMAX)

2054 Word axis Current dead zone compensation (PDDP)

2055 Word axis Current dead zone compensation (PHYST)

2056 Word axis Counterelectromotive force compensation (EMFCMP)

2057 Word axis Current phase lead compensation (PVPA)

2058 Word axis Current phase lead compensation (PALPH)

2059 Word axis Counterelectromotive force compensation (EMFBAS)

2060 Word axis Torque limit

2061 Word axis Counterelectromotive force compensation (EMFLMT)

2062 Word axis Overload protection coefficient (OVC1)

2063 Word axis Overload protection coefficient (OVC2)

2064 Word axis Soft disconnection alarm level

2065 Word axis Overload protection coefficient (OCVLMT)

2066 Word axis 250–us acceleration feedback

2067 Word axis Torque command filter

2068 Word axis Feed forward coefficient

2069 Word axis Velocity feed forward coefficient

2070 Word axis Backlash acceleration timing

2071 Word axis Backlash acceleration effective duration

2072 Word axis Static friction compensation

2073 Word axis Stop judgment parameter

2074 Word axis Velocity–dependent current loop gain

2076 Word axis 1–ms acceleration feedback gain

2077 Word axis Overshoot prevention counter

2078 Word axis Conversion coefficient for dual position feedback (numerator)

2079 Word axis Conversion coefficient for dual position feedback (denominator)


88

No. ContentsData type

2080 Word axis First–order lag time constant for dual position feedback

2081 Word axis Zero width for dual position feedback

2082 Word axis Backlash acceleration stop amount

2083 Word axis Brake control timer (ms)

2084 Word axis Flexible feed gear (numerator)

2085 Word axis Flexible feed gear (denominator)

2086 Word axis Rated current parameter

2087 Word axis Torque offset

2088 Word axis Machine velocity feedback coefficient gain

2089 Word axis Backlash acceleration base pulse

2091 Word axis Non–linear control parameter

2092 Word axis Look–ahead feed forward coefficient

2097 Word axis Static friction compensation stop parameter

2098 Word axis Current phase lead compensation coefficient

2099 Word axis N–pulse suppression level

2101 Word axis Overshoot compensation effective level

2102 Word axis Final clamp value for actual current limit

2103 Word axis Amount of track back upon detection of unexpected disturbance torque

2104 Word axis Threshold for detecting abnormal load during cutting

2105 Word axis Torque constant

2109 Word axis Fine acceleration/deceleration time constant (BELLTC)

2110 Word axis Magnetic saturation compensation (base/coefficient)

2111 Word axis Deceleration torque limit (base/coefficient)

2112 Word axis AMR conversion coefficient 1

2113 Word axis Notch filter center frequency (Hz)

2116 Word axis Dynamic friction for abnormal load detection/cancel

2118 Word axis Excessive error level between semi–closed and closed loops for dual position feedback.

2119 Word axis Stop level with variable proportional gain

2126 Word axis Time constant for switching position feedback

��2 Word axis Non–interacting control coefficient

�� Word axis Weak magnetic flux compensation (coefficient)

�� Word axis Weak magnetic flux compensation (base/limit)

�� Word axis Two thrust ripple compensations per magnetic pole pair

�� Word axis Four thrust ripple compensations per magnetic pole pair

�� Word axis Six thrust ripple compensations per magnetic pole pair

�� Word axis AMR conversion coefficient 2

�� Word axis Threshold for detecting abnormal load during rapid traverse

�� Word axis Fine acceleration/deceleration time constant 2 (ms)

�� Word axis Position feed forward coefficient for cutting

��3 Word axis Velocity feed forward coefficient for cutting

2��3 Word axis Maximum amplifier current

�� Bit axis *./� $�.

�� Bit axis �(( ��'

�� Bit axis -4*+ �&�� '*/�

�� Bit axis '��

�� Bit axis '*-+


89

#7MHI3001

#6 #5 #4 #3 #2RWM

#1SON

#0

[Data type] Bit

SON 0 : Starts automatic operation on the falling edge (1 → 0) of the automaticoperation start signal (ST).

1 : Starts automatic operation on the rising edge (0 → 1) of the automaticoperation start signal (ST).

RWM RWD signal indicating that rewinding is in progress0 : Output only when the tape reader is being rewound by the reset and

rewind signal RRW1 : Output when the tape reader is being rewound or a program in

memory is being rewound by the reset and rewind signal RRW

MHI Exchange of strobe and completion signals for the M, S, and T codes0 : Normal1 : High–speed

#73002

#6 #5 #4IOV

#3 #2 #1 #0

[Data type] Bit

IOV For the feedrate override signal and rapid traverse override signal:0 : Negative logic is used.1 : Positive logic is used.

#73003

#6MVX

#5DEC

#4 #3DIT

#2ITX

#1HIL

#0ITL

[Data type] Bit

ITL Interlock signal0 : Enabled1 : Disabled

HIL 0 : Disables the high–speed interlock signal.1 : Enables the high–speed interlock signal.

ITX Interlock signals for each axis0 : Enabled1 : Disabled

DIT Interlock for each axis direction0 : Enabled1 : Disabled

DEC Deceleration signal (*DEC1 to *DEC8) for reference position return0 : Deceleration is applied when the signal is 0.1 : Deceleration is applied when the signal is 1.

MVX The axis–in–movement signal is set to 0 when:0 : Distribution for the axis is completed. (The signal is set to 0 in

deceleration.)1 : Deceleration of the axis is terminated, and the current position is in the

in–position.

4.13PARAMETERS OF DI/DO


90

If, however, a parameter specifies not to make in–position duringdeceleration, the signal turns to “0” at the end of deceleration.

#73004

#6 #5OTH

#4 #3 #2 #1 #0

[Data type] Bit

OTH The overtravel limit signal is:0 : Checked1 : Not checked

WARNINGFor safety, usually set 0 to check the overtravel limit signal.

#73005

#6 #5 #4 #3 #2 #1BDE

#0

[Data type] Bit

BDE 0 : Does not use the *DEC signal when internal I/O is used.1 : Uses the *DEC signal when internal I/O is used.

NOTEAn X address for which non–use of the *DEC signal isspecified by this parameter may be used for anotherpurpose.

#7CDE3006

#6 #5 #4 #3 #2 #1 #0

[Data type] Bit

CDE The *DEC1 signal is:0 : Not used over two axes.1 : Used over two axes.

#73008

#6 #5 #4 #3BIO

#2 #1 #0

[Data type] Bit

BIO The deceleration signals (such as those for emergency stop, high–speedinterlock, skip, and reference position return) that the Power Matereferences directly are:0 : External I/O1 : Built–in I/O

3010Time lag in strobe signals MF, SF, and TF

Time lag in strobe signals MF and TF

[Data type] Word

[Unit of data] 1 ms



91

The time required to send strobe signals MF, SF, and TF after the M, S,and T codes are sent, respectively.

M, S, T code

MF, SF, TF signal

Delay time

Fig.4.13 (a) Delay Time of the strobe signal

NOTEThe time is counted in units of 8 ms. If the set value is nota multiple of eight, it is raised to the next multiple of eight.[Example]

When 30 is set, 32 ms is assumed.When 32 is set, 32 ms is assumed.When 100 ie set, 104 ms is assumed.

3011 Acceptable width of M, S, and T function completion signal (FIN)

Acceptable width of M and T function completion signal (FIN)

[Data type] Word

[Unit of data] 1 ms


Set the minimum signal width of the valid M and T function completionsignal (FIN).

M, S, T code

MF, SF, TFsignal

FIN sigal

Ignored be-cause shorterthan min.signal width

Valid becauselonger than min.signal width

Fig.4.13 (b) Valid Width of the FIN (M,S, and T Function Completion) Signal

NOTEThe time is counted in units of 8 ms. If the set value is nota multiple of eight, it is raised to the next multiple of eight.[Example]

When 30 is set, 32 ms is assumed.


92

3017 Output time of reset signal RST

[Data type] Byte

[Unit of data] 16 ms


To extend the output time of reset signal RST, the time to be added isspecified in this parameter.

RST signal output time = time veguired for reset + parameter �16 ms

3030 Allowable number of digits for the M code

3031Allowable number of digits for the S code

3032 Allowable number of digits for the T code

[Data type] Byte


Set the allowable numbers of digits for the M, S, and T codes.

NOTEUp to 5 digits can be specified in the S code


93

3034 Output address of the pulse signal output function

[Data type] Word

[Valid data range] 1000 to 1002 (Y address of internal I/O)

This is the Y address to which the pulse signal is output.It is not necessary to enter the letter Y. Enter only a numerical value.


3035 Output bit of the pulse signal output function

[Data type] Byte


This is the Y address to which the pulse signal is output.

For example, when the address is 1001 and the bit number is 3, the pulsesignal is output to Y1001#3.


before operation is continued.2 Since the built–in I/O output signal is used, confirm that the

signal is not used by a ladder or other function before settingthe address and bit.A signal already used by a ladder or other function cannotbe used.

3 The address bits excluding the bit used by the pulse signalcan be used only by the high–speed position switch.

4.14PARAMETERS OFPULSE SIGNALOUTPUT FUNCTION


94

3036 Switching time of output of the pulse signal output function

[Data type] Word

[Unit of data] msec


Set switching time of output in milliseconds.The signal can be switched in a cycle from 2 msec to 99999998 msec.

NOTEIf a value of 1 or less (1, 0, –1, ...) is set, the pulse signaloutput function is disabled. The pulse signal is not output.When an odd number is set, it is assumed to be aneven–valued period. For example, if 5 is set, an output cycleof 4 msec is assumed.When this parameter (No. 3036) is changed, it is notnecessary to turn off and back on the power. When the cycleset previously is complete, the new cycle takes effect inoutputting the signal.


95

#73100

#6 #5 #4 #3 #2 #1CEM

#0

[Data type] Bit

CEM On screens such as the operation history screen and help screen, keys onthe MDI panel are indicated:0 : In English.1 : With graphics qualifying for CE marking. (A character generator

supporting graphics qualifying for CE marking is required.)

#73101

#6 #5 #4BGD

#3 #2 #1 #0

[Data type] Bit

BGD In background editing, a program currently selected in the foreground:0 : Cannot be selected. (BP/S alarm No.140 is issued disabling

selection.)1 : Can be selected. (However, the program cannot be edited, only

displayed.)

#73102

#6SPN

#5HNG

#4ITA

#3 #2FRN

#1GRM

#0JPN

[Data type] Bit

These bits select the Language to be used for the display.

Parameter No.3102CRT display

#6SPN

#5HNG

#4ITA

#2FRN

#1GRM

#0JPN

CRT displayLanguage

0 0 0 0 0 0 English

0 0 0 0 0 1 Japanese

0 0 0 0 1 0 German

0 0 0 1 0 0 French

0 0 1 0 0 0 Italian

0 1 0 0 0 0 Korean

1 0 0 0 0 0 Spanish

NOTE1 When this parameter is set, please turn off the power once.

Then turn it on for machining.2 Germany, French, Italian, Korean and Spanish can be used

only when the corresponding option is specified.3 No language except English can be used on DPL/MDI,

DPL/MDI operation package and Handy operator’s panel.

4.15PARAMETERS OF MDI, DISPLAY, AND EDIT


96

#73103

#6 #5 #4NCSNC

#3 #2 #1 #0

[Data type] Bit

NCSNC When a C language executor screen is displayed , CNC screen displayfunction is0 : Enabled to start or stop.1 : Disabled to start or stop.

NOTE1 When ”1” is set and a C language executor screen is

displayed, the messages of ”CNC refused the start of theCNC screen display function.” in starting and ”Please exitfrom the C–EXE screen.” in stopping are displayed inPOPUP windows on PC.

2 If CNC screen display function cannot start and stop whenyou set ”0”, it is necessary to recompile programs of screensthat is designed by C language executor with library thatsupports CNC screen function and is provided from FANUC.

#73104

#6DAL

#5 #4DRL

#3PPD

#2 #1 #0MCN

[Data type] Bit

MCN Machine position0 : Not displayed according to the unit of input.

(Regardless of whether input is made in mm or inches, the machineposition is displayed in mm for millimeter machines, or in inches forinch machines.)

1 : Displayed according to the unit of input.(When input is made in mm, the machine position is displayed in mm,and when input is made in inches, the machine position is displayed ininches accordingly.)

PPD Relative position display when a coordinate system is set0 : Not preset1 : Preset

NOTEWhen PPD is set to 1 and the absolute position display ispreset by one of the following, the relative position display isalso preset to the same value as the absolute position display:1) The manual reference position return2) Setting of a coordinate system by G92

DRL Relative position0 : The actual position displayed takes into account tool length offset.1 : The programmed position displayed does not take into account tool

length offset.


97

DAL Absolute position0 : The actual position displayed takes into account tool length offset.1 : The programmed position displayed does not take into account tool

length offset.

#7SMF3105

#6 #5 #4 #3 #2DPS

#1PCF

#0DPF

[Data type] Bit

DPF Display of the actual speed on the current position display screen,program check screen and program screen (MD1 mode)0 : Not displayed1 : Displayed

PCF Addition of the movement of the PMC–controlled axes to the actual speeddisplay0 : Added1 : Not added

NOTEFor each setting, movement along any axis other than thosecontrolled by the CNC (see the description of parameter No.1010) is not reflected in the actual speed display.

DPS Actual spindle speed and T code0 : Not always displayed1 : Always displayed

SMF During simplified synchronous control, movement along a slave axis is:0 : Included in the actual speed display1 : Not included in the actual speed display

(See the parameter No.8311.)

#7OHS3106

#6 #5 #4OPH

#3 #2 #1 #0

[Data type] Bit

OPH The operation history screen is:0 : Not displayed.1 : Displayed.

OHS Operation history sampling is:0 : Performed.1 : Not performed.


98

#7MDL3107

#6 #5 #4SOR

#3 #2DNC

#1 #0NAM

[Data type] Bit

NAM Program list0 : Only program numbers are displayed.1 : Program numbers and program names are displayed.

DNC Upon reset, the program display for DNC operation is:0 : Not cleared1 : Cleared

SOR Display of the program directory0 : Programs are listed in the order of registration.1 : Programs are listed in the order of program number.

MDL Display of the modal state on the program display screen0 : Not displayed1 : Displayed (only in the MDI mode)

#7JSP3108

#6 #5 #4 #3 #2 #1 #0CMDS

[Data type] Bit

CMDS In the Actual Position Display0 : Display position for each path1 : Display position includes the position of another path.

NOTE1 Please set the parameter for each path.2 This parameter can be used only two–path control of the

Power Mate i–MODEL D.

JSP On the current position display screen and program check screen, jogfeedrate or dry run feedrate is:0 : Not displayed.1 : Displayed.

NOTEIn manual operation mode, the jog feedrate is displayed. Inautomatic operation mode, the dry run feedrate is displayed.In each case, the feedrate to which a manual feedrateoverride has been applied is displayed.

JOG F 8000 PART COUNT 15RUN TIME 1H17M CYCLE TIME 1H15SACT.F 1000 MM/MAUTO STRT MTN *** 12:34:59[ ] [ ] [ ] [ ] [ ]Jog

feedrate


99

#73109

#6 #5RHD

#4 #3SFM

#2IKY

#1 #0

[Data type] Bit

IKY On the tool offset screen, soft key [INPUT] is:0 : Displayed.1 : Not displayed.

SFM 0 : Displays the soft keys (menu) for pattern data input screen selectionon page 2 of the offset/setting screen, as is usually done.

1 : Displays the soft keys (menu) for pattern data input screen selectionon page 1 of the offset/setting screen.

NOTEFor details of the pattern data input screen, see Section4.27, “Parameters of Pattern Data Input Function.” Patterndata can be used only with a CRT, PDP, or LCD.

RHD When a manual handle interrupt is generated, the relative position display is:0 : Not updated.1 : Updated.

NOTEThis parameter is enabled when the INH parameter (bit 2 ofparameter No.7100) is 1.

#7NPA

3111

#6 #5 #4 #3 #2SVP

#1SPS

#0SVS

SVSNPA

[Data type] Bit

SVS Servo setting screen0 : Not displayed1 : Displayed

SPS Spindle setting screen0 : Not displayed1 : Displayed

SVP Synchronization errors displayed on the spindle tuning screen0 : Instantaneous values are displayed.1 : Peak–hold values are displayed.

NPA Action taken when an alarm is generated or when an operator message isentered0 : The display shifts to the alarm or message screen.1 : The display does not shift to the alarm or message screen.


100

#73112

#6 #5OPH

#4 #3EAH

#2 #1 #0


[Data type] Bit

EAH Messages of the exfernal alam/macro alarm in alarm history:0 : Not recorded1 : Recorded

OPH The operation history function is:0 : Enabled.1 : Disabled.

#73115

#6 #5 #4 #3NDFx

#2 #1NDAx

#0NDPx


NDPx Display of the current position for each axis0 : The current position is displayed.1 : The current position is not displayed.

NDAx Position display using absolute coordinates and relative coordinates is:0 : Performed.1 : Not performed. (Machine coordinates are displayed.)

NDFx To the actual speed display, axis movement data is:0 : Added.1 : Not added.

NOTEEven if the PCF parameter (bit 1 of parameter No.3105) isset to 0, so as to add PMC controlled axis movement datato the actual speed display, the movement data for a PMCcontrolled axis for which NDFx is set to 1 is not added to theactual speed display.

#7MDC3116

#6 #5 #4 #3 #2 #1 #0MDP

[Data type] Bit

MDP 0 : Does not display the memory card output screen on the ALL I/Oscreen.

1 : Displays the memory card output screen on the ALL I/O screen.

MDC 0 : Does not allow all maintenance information to be deleted as a batch bysoft key operation on the maintenance information screen.

1 : Allows all maintenance information to be deleted as a batch by softkey operation on the maintenance information screen.


101

#7

3118

#6 #5 #4 #3 #2 #1 #0AS1

[Data type] Bit

AS1 When the actual spindle speeds (SACT) of the spindle is displayed, thevalue is:

0 : The value calculated based on the feedback pulses from the positioncoder.

1 : The value calculated from the spindle motor speed (the same as thespindle speed displayed on the operating monitor screen).

#73119

#6TKY

#5 #4 #3TPA

#2 #1 #0

[Data type] Bit

TPA Connection of a commercial touch panel is:0 : Enabled.1 : Disabled.

TKY The MDI keypad uses the:0 : M series key code for input1 : T series key code for input


CAUTIONAs interface data on the Power Mate i side, the followingvalues are automatically set internally.Set the same values for the commercial touch panel.

� Baud rate 19200bps. . . . . . . . . . � Stop bit 1 bit. . . . . . . . . . . . � Parity check even–numbered parity. . . . . . . .

3122 Time interval used to record time data in operation history

[Data type] Word

[Unit of data] Minutes


Time data is recorded in operation history at set intervals. When 0 isspecified in this parameter, 10 minutes is assumed as the default.However, NOTE that time data is not recorded if there is no data to berecorded at the specified time.


102

3131 Subscript of each axis name


This parameter specifies a subscript (one character) of each axis namewith a code (Power Mate i–D two–path control). The one character subscript specified by this parameter is displayed afterthe axis name on the current position screen to discriminate thecoordinates of axes belonging to one path from those of another path.

NOTE1 This parameter is dedicated to the Two–path control.2 Specify this parameter for each path.3 For characters and codes, see the correspondence table in

Appendix 1.4 If code 0 is specified, paths 1 and 2 are displayed,

respectively, as 1 and 2.

[Example] When the configuration of axes is X in path 1 and X in path 2

(1) Setting for path 1Parameter 3131x 65 (A) XA is displayed as axis names.. . .

(2) Setting for path 2Parameter 3131x 66 (B) XB is displayed as axis names.. . .

#7

3137

#6 #5 #4 #3 #2 #1 #0

TIN

[Data type] Bit

TIN The simultaneous four–axis teach–in function is:0 : Disabled.1 : Enabled.

#7

3138

#6

TI7

#5

TI6

#4

TI5

#3

TI4

#2

TI3

#1

TI2

#0

TI1TI8

[Data type] Bit

TIn TIn When the simultaneous four–axis teach–in function is used, the inputaddress for the nth axis is enabled. The address for the specified axisnumber is input.

NOTEIf more than four axes are specified, the first to fourthlowest–numbered axes are enabled.


103

3139Address P for the simultaneous four–axis teach–in function


[Unit of data] ms


The value set in this parameter works as address P.

3141 Debice name 1

:3146 Device name 2

[Data type] Byte

First to sixth equipment name character codes. When the CRT/MDI isshared by multiple Power Mate units, these equipment names aredisplayed on the common screen.

NOTEWith the 2–path Power Mate i–D, a path name charactercode is used. Set these parameters for each path.

3170 Number of connected Power Mate units

[Data type] Byte

[Valid data range] 0 to 16 (128 to 144)

CRTMAX When the CRT/MDI is shared by multiple Power Mate units, set thenumber of connected Power Mate units. In this parameter, set equipmentparameter #0 only. When 0 is specified, the connection of two Power Mateunits is set. When at least one Power Mate unit with three or morecontrolled axes is to be connected, set a value equal to 128 plus the numberof Power Mate units.

#7DMM3191

#6 #5 #4 #3 #2 #1 #0

[Data type] Bit

DMM When a FANUC–made touch panel is used, switching to a full–screendisplay is:0 : Not performed.1 : Performed.


104

#73194

#6SVI

#5IDW

#4 #3 #2 #1 #0

[Data type] Bit

IDW Editing of the servo information screen is:0 : Prohibited.1 : Not prohibited.

SVI The servo information screen is:0 : Displayed.1 : Not displayed.

#73195

#6 #5 #4 #3 #2CPR

#1RENM1

#0CHGCS

[Data type] Bit

CHGCS When the virtual–key of the LCD unit with touch panel is used, the screenswitching to the application of the FANUC PICTURE which is defined bythe following symbol is0 : Operated by [GRPH] key.

(In this case, the screen number is decided by the following list.)

Symbol Soft key number

CRT_USR_AUX 0x0105 USER (small key)–AUX

CRT_USR_MCR 0x0205 USER (small key)–MACRO

CRT_USR_MENU 0x0305 USER (small key)–MENU

1 : Operated by [CUST] key.(In this case, the screen number is decided by the following list.)

Symbol Soft key numberCRT_CST_AUX 0x0106 CRT_CST_AUX (full key)–AUX

CRT_CST_MCR 0x0206 CRT_CST_MCR (full key)–MACRO

CRT_CST_MENU 0x0306 CRT_CST_MENU (full key)–MENU

RENM1 When the ”GRPH” is selected as the key to switch to the applicationscreen of FANUC PICTURE, the key top display is0 : ”GRPH”.1 : ”OPER”.

NOTESet ”0” to the parameter 3195#0 when the CRT/MDI orseparated type MDI is used.And, set the following screen number when the screenswitching to FANUC PICTURE screen is operated by the”CUST/GRPH” key of CRT/MDI or separated type MDI.

Symbol Soft key number

CRT_USR_AUX 0x0105 USER (small key)–AUX

CRT_USR_MCR 0x0205 USER (small key)–MACRO

CRT_USR_MENU 0x0305 USER (small key)–MENU


105

CPR By using the function key [SYSTEM], the parameter set supportingscreen0 : Is not displayed.1 : Is displayed.

#73201

#6NPE

#5N99

#4 #3 #2REP

#1RAL

#0RDL

[Data type] Bit

RDL When a program is registered by input/output device external control0 : The new program is registered following the programs already

registered.1 : All registered programs are deleted, then the new program is

registered.Note that programs which are protected from being edited are notdeleted.

RAL When programs are registered through the reader/puncher interface0 : All programs are registered.1 : Only one program is registered.

REP Action in response to an attempt to register a program whose number isthe same as that of an existing program0 : An alarm is generated.1 : The existing program is deleted, then the new program is registered.

Note that if the existing program is protected from being edited, it isnot deleted, and an alarm is generated.

N99 With an M99 block, when bit 6 (NPE) of parameter No.3201 = 0, programregistration is assumed to be:0 : Completed1 : Not completed

NPE With an M02, M30, or M99 block, program registration is assumed to be:0 : Completed1 : Not completed

#73202

#6PSR

#5CPD

#4NE9

#3OSR

#2CND

#1OLV

#0NE8

[Data type] Bit

NE8 Editing of subprograms with program numbers 8000 to 89990 : Not inhibited1 : Inhibited

The following edit operations are disabled:

(1) Program deletion (Even when deletion of all programs is specified,programs with program numbers 8000 to 8999 are not deleted.)

(2) Program output (Even when outputting all programs is specified,programs with program numbers 8000 to 8999 are not output.)

(3) Program number search

(4) Program editing of registered programs

(5) Program registration

(6) Program collation


106

(7) Displaying programsOLV When a program other than the selected program is deleted or output:

0 : The display of the selected program is not held.1 : The display of the selected program is held.

CND By using the [CONDENSE] soft key on the program directory screen, theprogram condensing operation is:0 : Not performed. (The [CONDENSE] soft key is not displayed.)1 : Performed.

OSR In programming number search, when pressing soft key [O.SRH]without inputting program number by key :0 : Search the following program number1 : Operation is invalid

NE9 Editing of subprograms with program numbers 9000 to 99990 : Not inhibited1 : InhibitedThe following program editing during operation is invalid.

(1) Program deletion (Even when deletion of all programs is specified,programs with program numbers 9000 to 9999 are not deleted.)

(2) Program punching (Even when punching of all programs is specified,programs with program numbers 9000 to 9999 are not punched.)

(3) Program number search

(4) Program editing after registration



(7) Displaying programsCPD When an NC program is deleted, a confirmation message and

confirmation soft key are:0 : Not output.1 : Output.

PSR Search for the program number of a protected program0 : Disabled1 : Enabled

#7MCL3203

#6MER

#5MIE

#4 #3 #2 #1 #0

[Data type] Bit

MZE After MDI operation is started, program editing during operation is:0 : Enabled1 : Disabled

MER When the last block of a program has been executed at single blockoperation in the MDI mode, the executed block is:0 : Not deleted1 : Deleted

NOTEWhen MER is set to 0, the program is deleted if theend–of–record mark (%) is read and executed. (The mark %is automatically inserted at the end of a program.)


107

MCL Whether a program prepared in the MDI mode is cleared by reset0 : Not deleted1 : deleted

#73204

#6MKP

#5SPR

#4P9E

#3P8E

#2EXK

#1 #0PAR

[Data type] Bit

PAR Characters [ and ] on a keyboard are:0 : Used as [ and ].1 : Used as ( and ).

EXK The input character extension function is:0 : Not used.1 : Used. (Soft key [C–EXT] is not displayed.)

NOTEThe [C–EXT] soft key is used to select an operation on theprogram screen. This soft key enables the entry of “(”, “)”,and “@” using soft keys.

P8E Editing of subprograms 80000000 to 89999999 is:0 : Not inhibited1 : Inhibited

The following editing types become impossible.

(1) Program deletion (Programs numbered in the 80000000 range willnot be deleted even if all–program deletion is specified.)

(2) Program output (Programs numbered in the 80000000 range will notbe output even if all–program output specified.)

(3) Program search by number




(7) Program display

P9E Editing of subprograms 90000000 to 99999999 are:0 : Not inhibited1 : Inhibited

The following editing types become impossible.

(1) Program deletion (Programs numbered in the 90000000 range willnot be deleted even if all–program deletion is specified.)

(2) Program output (Programs numbered in the 90000000 range will notbe output even if all–program output specified.)

(3) Program search by number





108

(7) Program displaySPR Program numbers in the 9000 range for specific programs are:

0 : Not added with 900000001 : Added with 90000000

[Example]The program numbers for G codes used to call custom macros are asfollows:SPR = 0: 00009010 to 00009019SPR = 1: 90009010 to 90009019Subprogram numbers 9500 to 9510 used by the pattern data input functionare as follows:SPR = 0: 00009500 to 00009510SPR = 1: 90009500 to 90009510

MKP When M02, M30, or EOR(%) is executed during MDI operation, thecreated MDI program is:0 : Erased automatically.1 : Not erased automatically.

NOTEIf the MER parameter (bit 6 of parameter No.3203) is 1,executing the last block provides a choice of whether toautomatically erase a created program.

#73205

#6 #5 #4 #3 #2 #1CHG

#0COL

[Data type] Bit

COL When a program is displayed or output, any colons (:) in the comments ofthe program are:0 : Converted to letter O1 : Displayed or output as is

CHG When the change function of the extended edit function is used:0 : Once the user has decided whether to make a change, the cursor is

moved to the target position.1 : The cursor is moved to the change source, after which the user can

choose whether to make a change.

#7NS23206

#6 #5S2K

#4 #3 #2 #1 #0

[Data type] Bit

NS2 Dual screen of CNC screen display function0 : Is not used.1 : Is used.

NOTE1 In case ”0” is set, single screen of CNC screen display

function is effective as CNC screen display function.2 If you needs to display macro executor or C language

executor screens on PC screen, please set ”1”.


109

S2K Selecting key control of Dual screen of CNC screen display function isperformed0 : By DI signal (G0295#7).1 : By touching a corner at the upper left side of the screen.

(In this case, the LCD unit with touch panel is required.)

NOTEG295 is available when PMC is SB6. G295 is not availablewhen PMC is SB5.

3216 Increment in sequence numbers inserted automatically


[Data type] Word


Set the increment for sequence numbers for automatic sequence numberinsertion (when SEQ, #5 of parameter 0000, is set to 1.)

#73230

#6O48

#5 #4 #3 #2 #1 #0

[Data type] Bit

O48 The program number to be used is:0 : 4 digits1 : 8 digits

NOTEChanging this parameter causes all registered programs tobe erased.

#7KEY3290

#6MCM

#5 #4 #3 #2MCV

#1 #0

[Data type] Bit

MCV Macro variable setting by MDI key input is:0 : Not disabled1 : Disabled

MCM The setting of custom macros by MDI key operation is:0 : Enabled regardless of the mode.1 : Enabled only in the MDI mode.

KEY For memory protection keys:0 : The KEY1, KEY2, KEY3, and KEY4 signals are used.1 : Only the KEY1 signal is used.


110

NOTEThe functions of the signals depend on whether KEY=0 orKEY=1.When KEY = 0:– KEY1: Enables a tool offset value to be input.– KEY2: Enables setting data and macro variables to be

input.– KEY3: Enables program registration and editing.– KEY4: Enables PMC data (counter and data table) to be

input.When KEY = 1:– KEY1: Enables program registration and editing, and

enables PMC parameter input.– KEY2 to KEY4: Not used

#73291

#6 #5 #4 #3 #2 #1 #0WPT

[Data type] Bit

WPT The input of the tool compensation amount is:0 : Enabled according to memory protection key signal KEY1.1 : Enabled regardless of memory protection key signal KEY1.

#7PKEYP3292

#6 #5 #4 #3 #2 #1 #0

[Data type] Bit

PKEYP The ”Parameter Write–Enabled” setting is:0 : Made on the setting screen (conventional specification).1 : Made by the KEYP signal (G046#0).


111

#73401

#6 #5ABS

#4MAB

#3 #2 #1 #0DPI

[Data type] Bit

DPI When a decimal point is omitted in an address that can include a decimalpoint0 : The least input increment is assumed.1 : The unit of mm, inches, or second is assumed. (Pocket calculator type

decimal point input)

MAB Switching between the absolute and incremental commands in MDIoperation0 : Performed by G90 or G911 : Depending on the setting of ABS, #5 of parameter No.3401

ABS Program command in MDI operation0 : Assumed as an incremental command1 : Assumed as an absolute command

NOTEABS is valid when MAB, #4 of parameter No.3401, is set to 1.

#73402

#6CLR

#5 #4 #3G91

#2G19

#1G18

#0G01

[Data type] Bit

G01 Mode entered when the power is turned on or when the control is cleared0 : G00 mode (positioning)1 : G01 mode (linear interpolation)

G18 and G19 Plane selected when power is turned on or when the control is cleared

G19 G18 G17, G18 or G19 mode0 0 G18 mode (plane ZX)

0 1 G17 mode (plane XY)

1 0 G19 mode (plane YZ)

G91 When the power is turned on or when the control is cleared0 : G90 mode (absolute command)1 : G91 mode (incremental command)

CLR Reset button on the MDI panel, external reset signal, reset and rewindsignal, and emergency stop signal0 : Cause reset state.1 : Cause clear state.

For the reset and clear states, refer to Operator’s manual.

4.16PARAMETERS OF PROGRAMS


112

#73403

#6AD2

#5CIR

#4 #3 #2 #1 #0

[Data type] Bit

CIR When neither the distance (I, J, K) from a start point to the center nor an arcradius (R) is specified in circular interpolation (G02, G03):0 : The tool moves to an end point by linear interpolation.1 : P/S alarm No.022 is issued.

AD2 Specification of the same address two or more times in a block is:0 : Enabled1 : Disabled (P/S alarm No.5074)

NOTE1 When 1 is set, specifying two or more G codes of the same

group in a block will also result in an alarm being issued.2 If the M3B parameter (bit 7 of parameter No. 3404) is 1, up

to five and three M codes can be specified, respectively, forthe Power Mate i–H and Power Mate i–D.

#7M3B3404

#6EOR

#5M02

#4M30

#3 #2 #1POL

#0NOP

[Data type] Bit

NOP When a program is executed, a block consisting of an O number, EOB, orN number is:0 : Not ignored, but regarded as being one block.1 : Ignored.

POL For a command address allowing a decimal point, omission of the decimalpoint is:0 : Enabled1 : Disabled (P/S alarm No.5073)

M30 When M30 is specified in a auto operation:0 : M30 is sent to the machine, and the head of the program is

automatically searched for. So, when the ready signal FIN is returnedand a reset or reset and rewind operation is not performed, theprogram is executed, starting from the beginning.

1 : M30 is sent to the machine, but the head of the program is not searchedfor. (The head of the program is searched for by the reset and rewindsignal.)

M02 When M02 is specified in auto operation0 : M02 is sent to the machine, and the head of the program is automati-

cally searched for. So, when the end signal FIN is returned and a resetor reset and rewind operation is not performed, the program isexecuted, starting from the beginning.

1 : M02 is sent to the machine, but the head of the program is not searchedfor. (The head of the program is searched for by the reset and rewindsignal.)


113

EOR When the end–of–record mark (%) is read during program execution:0 : P/S alarm No.5010 occurs. (Automatic operation is stopped, and the

system enters the alarm state.)1 : No alarm occurs. (Automatic operation is stopped, and the system is

reset.)

M3B The number of M codes that can be specified in one block0 : One1 : Up to fire (Up to thee for Power Mate i–D)

#73406

#6 #5C05

#4 #3C03

#2C02

#1C01

#0

3407C13

C13

C09

C09

C08

C08

CFH3409

[Data type] Bit

Cxx (xx: 01 to 13) When bit 6 (CLR) of parameter No.3402 is 1, the reset button on the MDIpanel, the external reset signal, the reset and rewind signal, or emergencystop will,0 : Clear the G code with group number xx.1 : Not clear the G code with group number xx.

CFH When bit 6 (CLR) of parameter No.3402 is 1, the reset button on the MDIpanel, the external reset signal, the reset and rewind signal, or emergencystop will,0 : Clear F codes, H codes, D codes, and T codes.1 : Not clear F codes, H codes, D codes, and T codes.

3410 Tolerance of arc radius



Millimeter input 0.01 0.001 0.0001 mm

Inch input 0.001 0.0001 0.00001 inch


When a circular interpolation command (G02, G03) is executed, thetolerance for the radius between the start point and the end point is set. Ifthe difference of radii between the start point and the end point exceeds thetolerance set here, a P/S alarm No.20 is informed.

NOTEWhen the set value is 0, the difference of radii is not checked.


114

3411 M code preventing buffering 1



� �


[Data type] Byte


Set M codes that prevent buffering the following blocks. If processingdirected by an M code must be performed by the machine withoutbuffering the following block, specify the M code.

M00, M01, M02, and M30 always prevent buffering even when they arenot specified in these parameters.


115

3620Number of the pitch error compensation position for the reference position foreach axis



[Unit of data] Number


Set the number of the pitch error compensation position for the referenceposition for each axis.

3

2

1

–1

–2

Pitch error compensation value (absolute value)

Reference positionPitch error compensationposition (number)

Compensation position number

Set compensating value

31 32 33 34 35 36 37

+3 –1 –1 +1 +2 –1 –3

Fig.4.17 Pitch Error Compensation Position Number and Value (Example)

In the above example, set 33 as the number of the pitch errorcompensation position for the reference position.

3621Number of the pitch error compensation position at extremely negative positionfor each axis





Set the number of the pitch error compensation position at the extremelynegative position for each axis.

4.17PARAMETERS OF PITCH ERROR COMPENSATION(OPTIONALFUNCTION WITH Power Mate i–H)


116

3622Number of the pitch error compensation position at extremely positive positionfor each axis





Set the number of the pitch error compensation position at the extremelypositive position for each axis.

NOTEThis value must be larger than set value of parameter(No.3620).

3623 Magnification for pitch error compensation for each axis



[Unit of data] 1


Set the magnification for pitch error compensation for each axis.

If the magnification is set to 1, the same unit as the detection unit is usedfor the compensation data. If the magnitication is set to 0, the pith errorcompensation is not valid.


117

3624 Interval between pitch error compensation positions for each axis



[Unit of data]Increment system IS–A IS–B IS–C UnitMillimeter machine 0.01 0.001 0.0001 mm




The pitch error compensation positions are arranged with equal spacing.The space between two adjacent positions is set for each axis. Theminimum interval between pitch error compensation positions is limitedand obtained from the following equation:

Minimum interval between pitch error compensation positions =maximum feedrate (rapid traverse rate)/7500

Units: Minimum interval between pitch error compensationpositions: mm, inch, degMaximum feedrate: mm/min, inch/min, deg/min

Example: When the maximum feedrate is 15000 mm/min, the minimuminterval between pitch error compensation positions is 2 mm.

If setting a magnification causes the absolute value of the compensationamount at a compensation position to exceed 100, enlarge the intervalbetween the compensation positions by using a multiple calculated asfollows:

Multiple = maximum compensation amount (absolute value)/128 (Round the remainder up to the nearest integer.)

Minimum interval between pitch error compensation positions = Value obtained from the above maximum feedrate x multiple

Example 1) For linear axis� Machine stroke: –400 mm to + 800 mm

� Interval between the pitch error compensation positions: 50 mm

� No.of the compensation position of the reference position: 40

If the above is specified, the No.of the farthest compensation point in thenegative direction is as follows:

No.of the compensation position of the reference position – (Machinestroke length in the negative direction/Interval between thecompensation points) + 1= 40 – 400/50 + 1=33

No.of the farthest compensation position in the positive direction is asfollows:


118

No.of the compensation position of the reference position + (Machinestroke length in the positive direction/Interval between thecompensation positions)= 40 + 800/50= 56

The correspondence between the machine coordinate and thecompensation position No.is as follows:

Machine coordinate (mm)

Compensationpoint No.

–400 –350 –100 –50 0 50 100 750 800

33 39 40 41 42 56

Therefore, set the parameters as follows:

Parameter Setting

No. 3620: Compensation point number for reference position 40

No. 3621: Compensation point number for farthest point in the negative direction 33

No. 3622: Compensation point number for farthest point in the positive direction 56

No. 3623: Compensation magnification 1

No. 3624: Compensation point interval 50000

The compensation value is output at the compensationn positionNo.corresponding to each section between the coordinates.The following is an example of the compensation values.

No. 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49

Compensationvalues +2 +1 +1 –2 0 –1 0 –1 +2 +1 0 –1 –1 –2 0 +1 +2

Pitch error compensation amount (absolute value)

Reference position

–400 –300 –200 –100 0 100 200 300 400 (mm)–1

–2

–3

–4

+4

+3

+2

+1

Example 2) For the rotation axis� Amount of movement per rotation: 360°� Interval between pitch error compensation position: 45°� No.of the compensation position of the reference position: 60

If the above is specified, the No.of the farthest compensation position inthe negative direction for the rotation axis is always equal to thecompensation position No.of the reference position.


119

The No.of the farthest compensation position in the positive direction isas follows:

No.of the compensation position of the reference position + (Moveamount per rotation/Interval between the compensation position)= 60 + 360/45= 68

The correspondence between the machine coordinate and thecompensation position No.is as follows:

The compensation value is output at the circled position.

If the sum of the compensation value from 61 to 68 is not zero, the pitcherror per rotation accumulates, resulting in a positional shift.

For compensation position 60, set the same compensation value as for 68.

Reference position 0.0

315.0

270.0

225.0

180.0

135.0

90.0

45.0(68)

(60)

(67)

(66)

(65)(64)

(63)

(62)

(61)

(+)

Set the parameters as follows:

Parameter Setting

No. 3620: Compensation point number for reference position 60

No. 3621: Compensation point number for farthest point in the negative direction 60

No. 3622: Compensation point number for farthest point in the positive direction 68

No. 3623: Compensation magnification 1

No. 3624: Compensation point interval 45000

The following is an example of compensation values.

No.of the compensation position

60 61 62 63 64 65 66 67 68

Compensation value +1 –2 +1 +3 –1 –1 –3 +2 +1


120

Pitch error compensation value(absolute value)

Reference position

090 (deg)

–1

–2

–3

–4

+4

+3

+2

+1

0135 180 225 270 315 45 90 135 180 225 270 315 45


121

#7

3701

#6 #5 #4 #3 #2 #1ISI

#0


ISI The serial interface for the spindles is:0 : Used.1 : Not used.

NOTEIt is used when the CNC is started with serial interface controlfor the serial spindles disabled temporarily (for example, forCNC startup adjustment). Usually, it should be set to 0.

#7

3702

#6 #5 #4 #3 #2OR1

#1 #0


[Data type] Bit

OR1 Whether the stop–position external–setting type orientation function isused by the spindle motor0 : Not used1 : Used

#7

3705

#6SFA

#5NSF

#4 #3SGT

#2SGB

#1GST

#0ESF

[Data type] Bit

ESF When the spindle control function (Spindle analog outpu or Spindle serialoutput) is used, and the constant surface speed control function is used orbit 4 (GTT) of parameter No.3705 is set to 1:0 : S codes and SF are output for all S commands.1 : S codes and SF are not output for an S command in constant surface

speed control mode (G96 mode) or for an S command used to specifymaximum spindle speed clamping.

NOTESF is not output:(1) For an S command used to specify maximum spindle

speed clamping (G92S–––;) in constant surface speedcontrol mode

(2) When bit 5 (NSF) of parameter No.3705 is set to 1

4.18PARAMETERS OF SPINDLE CONTROL


122

GST The SOR signal is used for:0 : Spindle orientation1 : Gear shift

SGB Gear switching method0 : Method A (Parameters 3741 to 3743 for the maximum spindle speed

at each gear are used for gear selection.)1 : Method B (Parameters 3751 and 3752 for the spindle speed at the gear

switching point are used for gear selection.)SGT Gear switching method during tapping cycle (G84 and G74)

0 : Method A (Same as the normal gear switching method)1 : Method B (Gears are switched during tapping cycle according to the

spindle speed set in parameters 3761 and 3762).NSF When an S code command is issued in constant surface speed control,

0 : SF is output.1 : SF is not output.

SFA The SF signal is output:0 : When gears are switched.1 : Irrespective of whether gears are switched.

#7TCW

3706

#6CWM

#5ORM

#4GTT

#3 #2 #1PG2

#0PG1

[Data type] BitPG2 and PG1 Gear ratio of spindle to position coder

Namber of spindle revolutions

Number of position coder revolutions

Magnification PG2 PG1

�1 0 0

�2 0 1 Magnification=�4 1 0

�8 1 1

GTT Selection of a spindle gear selection method0: Type M.1 : Type T.

NOTE1 Type M:

The gear selection signal is not entered. In response to anS command, the CNC selects a gear according to the speedrange of each gear specified beforehand in parameters.Then the CNC reports the selection of a gear by outputtingthe gear selection signal. The spindle speed correspondingto the gear selected by the gear selection signal is output.Type T:The gear selection signal is entered. The spindlespeed corresponding to the gear selected by this signal isoutput.

2 When the constant surface speed control option is selected,type T is selected, regardless of whether this parameter isspecified.

3 When type T spindle gear switching is selected, the followingparameters have no effect: No.3705#2 SGB, No.3751, No.3752, No.3705#3 SGT, No.3761, No.3762, No.3705#6 SFA, No.3735, No.3736However, parameter No.3744 is valid.


123

ORM Voltage polarity during spindle orientation0 : Positive1 : Negative

TCW, CWM Voltage polarity when the spindle speed voltage is output

TCW CWM Voltage polarity0 0 Both M03 and M04 positive

0 1 Both M03 and M04 negative

1 0 M03 positive, M04 negative

1 1 M03 negative, M04 positive

#7

3708

#6 #5 #4 #3 #2 #1 #0SAR

[Data type] Bit

SAR The spindle speed arrival signal is:0 : Not checked1 : Checked

3730Data used for adjusting the gain of the analog output of spindle speed

[Data type] Word

[Unit of data] 0.1 %


Set data used for adjusting the gain of the analog output of spindle speed.

[Adjustment method](1) Assign standard value 1000 to the parameter.(2) Specify the spindle speed so that the analog output of the spindle

speed is the maximum voltage (10 V).(3) Measure the output voltage.(4) Assign the value obtained by the following equation to parameter

No.3730.

Set value= × 1000Measured data (V)

10 (V)

(5) After setting the parameter, specify the spindle speed so that theanalog output of the spindle speed is the maximum voltage. Confirmthat the output voltage is 10V.

NOTEThis parameter needs not to be set for serial spindles.


124

3731

Compensation value for the offset voltage of the analog output of the spindlespeed

[Data type] Word

[Unit of data] Velo

[Valid data range] –1024 to+1024

Set compesation value for the offset voltage of the analog output of thespindle speed. Set value =–8191�Offset voltage (V)/12.5

[Adjustment method](1) Assign standard value 0 to the parameter.(2) Specify the spindle speed so that the analog output of the spindle

speed is 0.(3) Measure the output voltage.(4) Assign the value obtained by the following equation to parameter

No.3731.

Set value=12.5

–8191 × Offset voltage (V)

(5) After setting the parameter, specify the spindle speed so that theanalog output of the spindle speed is 0. Confirm that the outputvoltage is 0V.

NOTEThis parameter need not to be set for serial spindles.

3732

The spindle speed during spindle orientation or the spindle motor speed duringspindle gear shift



Set the spindle speed during spindle orientation or the spindle motorspeed during gear shift.

When GST, #1 of parameter 3705, is set to 0, set the spindle speed duringspindle orientation in min–1.

When GST, #1 of parameter 3705, is set to 1, set the spindle motor speedduring spindle gear shift calculated from the following formula.

For a serial spindle

Set value = × 16383Spindle motor speed during spindle gear shift

Maximum spindle motor speed

For an analog spindle

Set value = × 4095Spindle motor speed during spindle gear shift



125

3735Minimum clamp speed of the spindle motor

[Data type] Word


Set the minimum clamp speed of the spindle motor.

Minimum clamp speed of the spindle motorSet value = × 4095Maximum spindle motor speed

3736Maximum clamp speed of the spindle motor

[Data type] Word


Set the maximum clamp speed of the spindle motor.

Maximum clamp speed of the spindle motorSet value = × 4095Maximum spindle motor speed

Spindle motor speed

Max. speed (4095, 10V)

Spindle motor max.clamp speed(Parameter No.3736)

Spindle motor minimumclamp speed (Parameter No.3735)

Spindle speed (S command)

Fig.4.18 (a) Maximum Clamp Speed of Spindle Motor

3740Time elapsed prior to checking the spindle speed arrival signal

[Data type] Byte

[Unit of data] msec


Set the time elapsed from the execution of the S function up to thechecking of the spindle speed arrival signal.


126

3741Maximum spindle speed for gear 1




[Data type] Word

[Unit of data] min–1


Set the maximum spindle speed corresponding to each gear.

Spindle speedcommand (S command)

Spindle motor speed


Spindle motor max.clamp speed (Parameter No.3736)

Spindle motor mini-mum clamp speed (Parameter No.3735)

Gear 1 Max. speed(Parameter No.3741)



Fig.4.18 (b) Maximum Spindle Speed Corresponding to Gear 1/2/3


127

3751Spindle motor speed when switching from gear 1 to gear 2

3752Spindle motor speed when switching from gear 2 to gear 3

[Data type] Word


For gear switching method B, set the spindle motor speed when the gearsare switched.

Set value = × 4095Spindle motor speed when the gears are switched


Spindle motor max. clamp speed Parameter No.3736

Parameter No.3752

Spindle speed command (S command)


Speed at gear 1–2 change point Parameter No.3751

Spindle motor minimum clampspeed

Parameter No.3735

Spindle motor speed

Gear 1max.speed parameterNo.3741

Gear 2max.speed parameterNo.3742

Gear 3maxspeed parameterNo.3743

Gear 1–2change point(Parameter No.3751)

Gear 2–3change point(Parameter No.3752)

Speed at gear 2–3 change point

Fig.4.18 (c) Spindle Motor Speed at Gear 1–2/2–3 Change Point


128

3761Spindle speed when switching from gear 1 to gear 2 during tapping

3762Spindle speed when switching from gear 2 to gear 3 during tapping

[Data type] Word[Unit of data] min–1

[Valid data range] 0 to 32767When method B is selected (SGT,#3 of parameter 3705, is set to 1) for thetapping cycle gear switching method, set the spindle speed when the gearsare switched.


Spindle motor max. clamp speed (Parameter No.3736)

Spindle motor minimumclamp speed (Parameter No.3735)

Spindle motor speed

Spindle speedcommand (S command)

Gear 1Max.speed ParameterNo.3741



Gear 1–2 change point (Parameter No.3761)

Gear 2–3change point (Parameter No.3762)

Fig.4.18 (d) Spindle Motor Speed at Gear 1–2/2–3 Change Point during Tapping

3770Axis as the calculation reference in constant surface speed control

[Data type] Byte[Valid data range] 1, 2, 3, ..., number of control axes

Set the axis as the calculation reference in constant surface speed control.

NOTEWhen 0 is set, constant surface speed control is alwaysapplied to the X–axis. In this case, specifying P in a G96block has no effect on the constant surface speed control.


129

3771Minimum spindle speed in constant surface speed control mode (G96)

[Data type] Word



Set the minimum spindle speed in the constant surface speed controlmode (G96). The spindle speed in constant surface speed control is clamped to thespeed given by parameter 3771.

3772Maximum spindle speed

[Data type] Word



This parameter sets the maximum spindle speed. When a command specifying a speed exceeding the maximum speed ofthe spindle is specified , or the speed of the spindle exceeds the maximumspeed because of the spindle speed override function, the spindle speed isclamped at the maximum speed set in the parameter.

NOTE1 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.

3 When 0 is set in this parameter, the speed of the spindle isnot clamped.

4 When spindle speed command control is applied using thePMC, this parameter has no effect, and the spindle speed isnot clamped.


130

Table 4.18 Parameters for Serial Interface Spindle Amplifier (α series, S series) (1/7)

No. Data type Description40004001400240034004400540064007400840084009

BitBitBitBitBitBitBitBitBitBitBit

Bit parameterBit parameterBit parameterBit parameterBit parameterBit parameterBit parameterBit parameterBit parameterBit parameterBit parameter

4010401140124013401440154016401740184019

BitBitBitBitBitBitBitBitBitBit

Bit parameterBit parameterBit parameterBit parameterBit parameterBit parameter (Cannot be changed by the user. See Note 1.)Bit parameterBit parameterBit parameterBit parameter (for setting parameters automatically. See Note 2.)

4020402140224023402440254026402740284029

WordWordWordWordWordWordWordWordWordWord

Maximum motor speed

Speed arrival detection levelSpeed detection levelSpeed zero detection levelTorque limit valueLoad detection level 1Load detection level 2Output limit patternOutput limit value

403040314032

4033403440354036403740384039

WordWordWord

WordWordWordWordWordWordWord

Soft start/stop timePosition coder method orientation stop position

Orientation speedSlip compensation gain

4040404140424043404440454046404740484049


Normal velocity loop proportional gain (HIGH)Normal velocity loop proportional gain (LOW)Velocity loop proportional gain during orientation (HIGH)Velocity loop proportional gain during orientation (LOW)Velocity loop proportional gain in servo mode (HIGH)Velocity loop proportional gain in servo mode (LOW)

Normal velocity loop integral gain (HIGH)Normal velocity loop integral gain (LOW)

4050405140524053405440554056405740584059


Velocity loop integral gain during orientation (HIGH)Velocity loop integral gain during orientation (LOW)Velocity loop integral gain in servo model (HIGH)Velocity loop integral gain in servo mode (LOW)

Gear ratio (HIGH)Gear ratio (MEDIUM HIGH)Gear ratio (MEDIUM LOW)Gear ratio (LOW)


131


No. DescriptionData type4060406140624063406440654066406740684069


Position gain during orientation (HIGH)Position gain during orientation (MEDIUM HIGH)Position gain during orientation (MEDIUM LOW)Position gain during orientation (LOW)Position gain change ratio when orientation is completedPosition gain in servo mode (HIGH)Position gain in servo mode (MEDIUM HIGH)Position gain in servo mode (MEDIUM LOW)Position gain in servo mode (LOW)

4070407140724073407440754076407740784079


Grid shift amount in servo mode

Orientation completion signal detection levelMotor velocity limit value during orientationOrientation stop position shift amountMS signal constant = (L/2)/(2 x π x H) x 4096MS signal gain adjustment

4080408140824083408440854086408740884089


Regenerative power limitDelay time prior motor power shut–offAcceleration/deceleration time settingMotor voltage during normal rotationMotor voltage during orientationMotor voltage in servo mode

Over–speed detection levelExcessive velocity deviation detection level when the motor is constrainedExcessive velocity deviation detection level when the motor is rotated

4090409140924093409440954096409740984099


Overload detection levelPosition gain change ratio when returning to the origin in the servo mode

Reserved

Speed meter output voltage adjustment valueLoad meter output voltage adjustment value

Maximum speed at which position coder signal can be detectedDelay time for energizing the motor

4100410141024103410441054106410741084109


Base velocity of the motor output specificationLimit value for the motor output specificationBase speedMagnetic flux weakening start velocityCurrent loop proportional gain during normal operation

Current loop integral gain during normal operation

Zero point of current loop integral gain Current loop proportional gain velocity factor

4110411141124113411441154116411741184119


Current conversion constantSecondary current factor for exciting currentCurrent expectation constantSlip constantHigh–speed rotation slip compensation constantCompensation constant of voltage applied to motor in the dead zoneElectromotive force compensation constantElectromotive force phase compensation constantElectromotive force compensation velocity factorTime constant of voltage filter for electromotive force compensation


132




Dead zone compensation dataTime constant for changing the torqueVelocity filterOverload detection time settingVoltage compensation factor during decelerationTimer during automatic runningVelocity command during automatic runningLoad meter displayed value for maximum outputMaximum output zero pointSecondary current factor during rigid tapping

4130413141324133413441354136413741384139

WordWordWordWord

2–Word2–Word

WordWordWordWord

Constant for compensating for the phase of the electromotive force at deceleration

Conversion constant of the phase–V currentMotor model codeReserved

Motor voltage during normal rotationMotor voltage in the servo mode/synchronous control modeBase speed of the motor output specificationsLimit value for the motor output specifications

4140414141424143414441454146414741484149

WordWordWordWord

2–word2–wordWordWordWordWord

Base speedMagnetic flux weakening start velocityCurrent loop proportional gain during normal operationCurrent loop integral gain during normal operationZero point of the current loop integral gain Velocity factor of the current loop proportional gain Current conversion constantSecondary current factor for activating currentCurrent expectation constantSlip constant

4150415141524153415441554156415741584159


High–speed rotation slip compensation constantCompensation constant for voltage applied to motor in the dead zoneElectromotive force compensation constantElectromotive force phase compensation constantVelocity factor of the electromotive force compensation Voltage compensation factor during decelerationSlip compensation gainTime constant for changing the torqueMaximum output zero pointSecondary current factor during rigid tapping

4160416141624163416441654166416741684169


Hysteresis of the speed detection levelConstant for compensating for the phase of the electromotive for at deceleration

Conversion constant of phase–V currentTime constant of voltage filter for eletromotive force compensationRegenerative power limitReservedOverload current alarm detection level (for low speed characteristic)Overload current alarm detection time constant


133



4172417341744175

41764177417841794180418141824183418441854186418741884189

WordWord

WordWordWordWord

BitBitBitBitBitBitBitBitBitBitBitBitBitBit

Overload current alarm detection level (for high speed characteristic)Arbitrary gear data between spindle and Position coder (HIGH No.of teeth on the spindle)Arbitrary gear data between spindle and position coder (HIGH No.of teeth on PC)Arbitrary gear data between spindle and position coder (LOW No.of teeth on spindle)Arbitrary gear data between spindle and position coder (LOW No.of teeth on PC)Delay timer at ON of electromagnetic contactor in unit (S series)Spindle analog override zero level (α series)Bit parameterBit parameterBit parameterBit parameterBit parameterBit parameterBit parameterBit parameterBit parameterBit parameterBit parameterBit parameterBit parameterBit parameter

4190419141924193419441954196419741984199

BitBitBitBitBitBit

WordWordWordWord

Bit parameterBit parameter (Cannot be changed by the user. See Note 1.)Bit parameterBit parameterBit parameterBit parameter (For setting parameters automatically. See Note 2.)Maximum motor speedReached speed levelSpeed detection levelSpeed zero detection level

4200420142024203420442054206420742084209


Torque limit valueLoad detection level 1Output limit patternOutput limit valuePosition coder method orientation stop positionOrientation speedProportional gain (HIGH) of the normal velocity loopProportional gain (LOW) of the normal velocity loopVelocity loop proportional gain during orientation (HIGH)Velocity loop proportional gain during orientation (LOW)

4210421142124213421442154216421742184219


Velocity loop proportional gain in the servo mode (HIGH)Velocity loop proportional gain in the servo mode (LOW)Normal velocity loop integral gainVelocity loop integral gain during orientationVelocity loop integral gain in the servo mode (HIGH)ReservedGear ratio (HIGH)Gear ratio (LOW)Position gain during orientation (HIGH)Position gain during orientation (LOW)

4220422142224223422442254226422742284229


Position gain change ratio when orientation is completedPosition gain in the servo mode (HIGH)Position gain in the servo mode (LOW)Grid shift amount in the servo modeReservedReservedDetection level of orientation completion signal Motor velocity limit value during orientationShift amount of orientation stop position MS signal constant = (L/2)/(2 x π x H) x 4096


134




MS signal gain adjustmentRegenerative power limitDelay time up to motor power shut–offAcceleration/deceleration time settingSpindle load monitor observer gain 1Spindle load monitor observer gain 2Motor voltage during normal rotationMotor voltage during orientationMotor voltage in the servo modePosition gain change ratio when returning to the origin in the servo mode

4240424142424243

4244

4245

4246

4247

4248

4249

WordWordWordWord

Word

Word

Word

Word

Word

Word

ReservedArbitrary gear data between spindle and position coder (SUB/HIGH No.of teeth on spindle)Arbitrary gear data between spindle and position coder (SUB/HIGH No.of teeth on PC)Arbitrary gear data between spindle and position coder (SUB/LOW No.of teeth on spindle)Arbitrary gear data between spindle and position coder (SUB/LOW No.of teeth on PC)Word Spindle load monitor magnetic flux compensation time constant (for high–speed characteristic on the MAIN side)Word Spindle load motor torque constant (for high–speed characteristic on the MAIN side)Word Spindle load monitor observer gain 1 (on the MAIN side)

42504251

4252

4253

425442554256425742584259

WordWord

Word

Word

WordWordWordWordWordWord

Word Spindle load monitor observer gain 2 (on the MAIN side)Word Spindle load monitor magnetic flux compensation time constant (for low–speed characteristic on the MAIN side)Word Spindle load monitor magnetic flux compensation time constant (for high–speed characteristic)Word Spindle load monitor magnetic flux compensation time constant (for low–speed characteristic)Word Slip correction gain (for high–speed characteristic)Word Slip correction gain (for low–speed characteristic)Base velocity of the motor output specificationsLimit value for the motor output specificationsBase speedMagnetic flux weakening start velocity

4260426142624263426442654266426742684269


Current loop proportional gain during normal operationCurrent loop integral gain during normal operationZero point of current loop integral gainVelocity factor of current loop proportional gainCurrent conversion constantSecondary current factor for excitation currentCurrent expectation constantSlip constantCompensation constant for high–speed rotation slipCompensation constant for voltage applied to motor in the dead zone

4270427142724273427442754276427742784279


Electromotive force compensation constantPhase compensation constant of electromotive forceCompensation velocity factor for electromotive forceTime constant for changing the torqueDisplayed value of load meter for maximum outputMaximum output zero pointSecondary current factor in rigid tappingConstant for compensating for the phase of the electromotive force at decelerationTime constant of the speed detection filterReserved


135



42824283428442854286428742884289

WordWord

WordWordWordWordWordWordWordWord

Time constant of voltage filter for electromotive force compensationWord Spindle load monitor torque constant (for low–speed characteristic on the MAIN side)Word Spindle load monitor torque constant (for high–speed characteristic)Word Spindle load monitor torque constant (for low–speed characteristic)Motor voltage during normal rotationMotor voltage in the servo modeBase speed of the motor output specificationsLimit value for the motor output specificationsBase speedMagnetic flux weakening start velocity

4290429142924293429442954296429742984299


Current loop proportional gain during normal operationCurrent loop integral gain during normal operationZero point of current loop integral gainVelocity factor of current loop proportional gainCurrent conversion constantSecondary current factor for excitation currentCurrent expectation constantSlip constantCompensation constant for high–speed rotation slipCompensation constant for voltage applied to motor in the dead zone

4300430143024303430443054306430743084309


Electromotive force compensation constantPhase compensation constant for electromotive forceCompensation velocity factor for electromotive forceTime constant for changing the torqueMaximum output zero pointSecondary current factor in rigid tappingConstant for compensating for the phase of the electromotive force at decelerationLimit of regenerative powerTime constant of voltage filter for electromotive voltage compensationMotor model code

4310431143124313431443154316431743184319

2–word2–wordWordWordWordWordWordWordWordWord

ReservedReservedPosition coder method orientation end signal width 2 (MAIN)Magnetic sensor method orientation end signal width 1 (MAIN)Magnetic sensor method orientation end signal width 2 (MAIN)Magnetic sensor method orientation stop position shift amount (MAIN)Position coder method orientation end signal width 2 (SUB)Magnetic sensor method orientation end signal width 1 (SUB)Magnetic sensor method orientation end signal width 2 (SUB)Magnetic sensor method orientation stop position shift amount (SUB)

4320432143224323432443254326432743284329


Spindle orientation deceleration constant (MAIN/HIGH)Spindle orientation deceleration constant deceleration (MAIN/MEDIUM HIGH)Spindle orientation deceleration constant deceleration (MAIN/MEDIUM LOW)Spindle orientation deceleration constant deceleration (MAIN/LOW)Spindle orientation deceleration constant deceleration (SUB/HIGH)Spindle orientation deceleration constant deceleration (SUB/LOW)Width of pulses when switching to the spindle orientation control mode (MAIN)Width of pulses when switching to the spindle orientation control mode (SUB)Word Position coder–based spindle orientation command multiplication (MAIN)Word Position coder–based spindle orientation command multiplication (SUB)

4330433143324333433443354336433743384339


Word Motor excitation delay time at spindle orientation (MAIN)Word Motor excitation delay time at spindle orientation (SUB)ReservedReservedNo.of arbitrary pulses of speed detector (MAIN)No.of arbitrary pulses of speed detector (SUB)Magnetic flux change point for spindle synchronus acc./dec/ time calculation.Velocity compensation factor of velocity loop gain (MAIN)Velocity compensation factor of velocity loop gain (SUB)Word Torque clamp level


136




Word Abnormal load detection levelReservedN pulse suppress

Incomplete integral coefficient

Overload current alarm detection level (for low speed characteristic)Overload current alarm detection time constant

43504351

WordWord

Overload current alarm detection level (for high speed characteristic)Compensation for current detection offset


137

Notes on parameters of the spindle amplifier with the serial interface

NOTE1 Among the parameters of the spindle amplifier with the serial interface, parameters Nos. 4015

and 4191 cannot be changed by the users.These parameters require to assign optional software to the CNC and are automatically setdepending on the type of the software.

2 To set the parameters of the spindle amplifier with the serial interface automatically, set #7 ofparameter No.4019 (if the sub spindle is set in the CNC with the spindle switching function, useparameter No.4195) to 1, assign the model code of the motor to be used to parameter No.4133(if the sub spindle is set in the CNC with the spindle switching function, use parameter No.4309),turn off the power of the CNC and spindle amplifier, and restart the CNC and spindle amplifier.

3 Parameters No.4000 to No.4351 are used in the processing on the spindle amplifier. SeeFANUC AC SPINDLE MOTOR αi/βi series PARAMETER MANUAL (B–65280EN).

4 The CNC can control up to two spindle amplifier with the serial interface. If two–path control isin use, two spindle amplifiers (one for path 1 and the other for path 2) can be controlled.A spindle amplifier can be controlled in the Series 16 performing single–path control. When thespindle control amplifier provides the spindle switching function, one spindle amplifier cancontrol two spindle motors using the switching function.The output switching function can be used in spindle motors to be connected.Up to four spindles, or eight types, (or, for the Series 16 performing single–path control, up totwo spindles, or 4 types) can be used by switching the spindle motors. (The number of spindlesthat can controlled simultaneously is the same as the number of spindle amplifiers, that is twospindles (or, for the Series 6 performing single–path control, a spindle).) Parameters of thespindle amplifier with the serial interface correspond to the above functions as follows:(1) Parameter No.4000 to No.4351 “S1”: First spindle amplifier(2) Parameter No.4000 to No.4175 : When the spindle switching function is not provided, or for

the main spindle in the spindle amplifier when the function is provided.Parameter No.4176 to No.4351 : For the sub spindle in the spindle amplifier when thespindle switching function is provided.

(3) Parameters at low speed when the output switching function is provided.Parameters No.4136 to No.4175 : When the spindle switching function is not provided, orfor the main spindle when the function is provided.Parameters No.4284 to No.4351 : For the sub spindle when the spindle switching functionis provided.

5 The CNC stores the parameters of the spindle amplifier with the serial interface. The CNC sendsthem to the spindle amplifier at the system power on and they are used in the unit.These parameters are sent from the CNC to the spindle amplifier in a batch when: – The CNC is switched on. – The serial spindle is restarted by a reset that is carried out after spindle communication

alarm 749 occurs (because the spindle control unit is switched off or because of noise).If these parameters are rewritten, they are sent from the CNC to the spindle amplifiersequentially when: – The parameters have been entered from the MDI. – The parameters have been entered as programmable (G10). – The parameters have been entered via the reader/punch interface.To set parameters automatically, upload parameters corresponding to the motor model fromthe spindle amplifier to the CNC prior to the procedure specified above.The parameters of the spindle amplifier with serial interface can be changed after thesystem starts. Changing the parameters (No.4000 to No.4351) in the CNC sends them tothe spindle amplifier at an appropriate time and the parameters in the unit are updated. Becareful not to change parameters incorrectly.


138

#75001

#6EVO

#5 #4 #3TAL

#2 #1TLB

#0TLC

[Data type] Bit type

TLC Tool length compensation0 : Tool length compensation A or B (Conforms to TLB in parameter

No.5001)1 : Tool length compensation C

TLB Tool length compensation axis0 : Always Z axis irrespective of plane specification (Tool length

compensation A)1 : Axis perpendicular to plane specification (G17, G18, and G19) (Tool

length compensation B)

TAL Tool length compensation C0 : Generates an alarm when two or more axes are offset1 : Not generate an alarm even if two or more axes are offset

EVO Specifies whether an offset is effective in the next block to be buffered orthe next block for which an H code is specified when the offset value ischanged in tool length offset A or B.0 : Next block in which an H code is specified.1 : Next block to be buffered.

#75003

#6LVK

#5 #4 #3 #2 #1 #0

[Data type] Bit

LVK Tool length offset value0 : Cleared by reset1 : Not cleared, but held by reset

4.19PARAMETERS OF TOOLCOMPENSATION


139

#7M5B

5101

#6M5T

#5RD2

#4RD1

#3 #2 #1 #0FXY

[Data type] Bit

FXY The drilling axis in the drilling canned cycle is:0 : Always the first–axis1 : The axis selected by the program

RD2, RD1 Set the axis and direction in which the tool in drilling canned cycle G76 orG87 is got free. RD2 and RD1 are set as shown below by plane selection.

RD2 RD1 G17 G18 G190 0 +X +Z +Y

0 1 –X –Z –Y

1 0 +Y +X +Z

1 1 –Y –X –Z

M5T When a spindle rotates from the forward to the reverse direction and viceversa in tapping cycles G84 and G74 for M series, before M04 or M03 isoutput:0 : Outputs M051 : Not output M05

M5B In drilling canned cycles G76 and G87:0 : Outputs M05 before an oriented spindle stops1 : Not output M05 before an oriented spindle stops

#7

5103

#6 #5 #4 #3 #2 #1QZA

#0

[Data type] Bit

QZA When the specification of the depth of cut (Q) for each time is omitted, orif Q0 is specified in a high–speed peck drilling canned cycle (G73) or peckdrilling canned cycle (G83):0 : No alarm is issued.1 : An alarm (No.045) is issued.

4.20PARAMETERS OF CANNED CYCLES

4.20.1Parameter of cannedCycle for Drilling


140

5114Return value of high–speed peck drilling cycle G73

[Data type] Word[Unit of data]

Increment system � !� � !# � !� UnitMillimeter input 0.01 0.001 0.001 mm

Inch input 0.001 0.0001 0.0001 inch


This parameter sets the return value in high–speed peck drilling cycleG73.

q : Depth of cut

d : Return value

R point

Z point

q

q

q

d

d

G73 for M series

Fig.4.20.1 (a) High–speed Peck Drilling Cycle G73

5115Clearance of canned cycle G83


Increment system � !� � !# � !� UnitMillimeter input 0.01 0.001 0.001 mm

Inch input 0.001 0.0001 0.0001 inch


This parameter sets the clearance of peck drilling cycle G83.

G83

q : Depth of cut

d : Clearance value

R point

Z point

q

q

q

d

d

Fig.4.20.1 (b) Peck drilling cycle G83


141

#7

5200

#6FHD

#5PCP

#4DOV

#3 #2CRG

#1VGR

#0G84

[Data type] Bit

G84 Method for specifying rigid tapping0 : An M code specifying the rigid tapping mode is specified prior to the

issue of the G84 (or G74) command. (See parameter No.5210).1 : An M code specifying the rigid tapping mode is not used. (G84

cannot be used as a G code for the tapping cycle; G74 cannot be usedfor the reverse tapping cycle.)

VGR Any gear ratio between spindle and position coder in rigid tapping0 : Not used (The gear ratio is set in parameter No.3706.)1 : Used (The gear ratio is set by parameters Nos. 5221 through 5224 and

5231 through 5234.)

CRG Rigid mode when a rigid mode cancel command is specified (G80, G01group G code, reset, etc.)0 : Canceled after rigid tapping signal RGTAP is set to “0”.1 : Canceled before rigid tapping signal RGTAP is set to “0”.

DOV Override during extraction in rigid tapping0 : Invalidated1 : Validated (The override value is set in parameter No.5211.)

PCP Rigid tapping0 : Used as a high–speed peck tapping cycle1 : Not used as a high–speed peck tapping cycle

FHD Feed hold and single block in rigid tapping0 : Invalidated1 : Validated

#7

5201

#6 #5 #4OV3

#3OVU

#2TDR

#1 #0

[Data type] Bit

TDR Cutting time constant in rigid tapping0 : Uses a same parameter during cutting and extraction (Parameter Nos.

5261 through 5264)1 : Not use a same parameter during cutting and extraction

Parameter Nos. 5261 to 5264: Time constant during cuttingParameter Nos. 5271 to 5274: Time constant during extraction

OVU The increment unit of the override parameter (No.5211) for tool rigidtapping extraction is:0 : 1%1 : 10%

OV3 The spindle speed for tool extraction is specified by program. Overridingbased on this spindle speed is:0 : Disabled.1 : Enabled.

4.21PARAMETERS OF RIGID TAPPING


142

#7

5202

#6 #5 #4 #3 #2 #1 #0ORI

NOTEWhen at least one of these parameters is set, the powermust be turned off before operation is continued.

[Data type] Bit

ORI When rigid tapping is started:0 : Spindle orientation is not performed.1 : Spindle orientation is performed.

NOTEThis parameter can be used only for a serial spindle.

#7

5203

#6 #5 #4 #3 #2RFF

#1 #0

[Data type] Bit

RFF The meaning is as follows.0 : The feed–forward control and the fine acceleration/deceleration

between Initial–level and R–points are invalid.Moreover, when the rigid tapping is executed in the advanced previewcontrol mode, the mode is not automatically turned on and off.

1 : The feed–forward control and the fine acceleration/decelerationbetween Initial–level and R–points are effective.Moreover, when the rigid tapping is executed in the advanced previewcontrol mode, the mode is automatically turned on and off.

�

Operation 1Feedforward: InvalidFine acc/dec: Invalid

In case of the parameter RFF(No.5203#2)=0 In case of the parameter RFF(No.5203#2)=1

� �

� �

�

� � �

� �

�





In–position width:Parameter No.5300


In–position width: Parameter No.5300

Operation 4

Z point

R point

Initial point

Operation 1Feedforward: EffectFine acc/dec: Effect



In–position width: Parameter No.5300

Operation 4

Z point

R point

Initial point






143

5210Rigid tapping mode specification M code

[Data type] Byte[Valid data range] 0 to 255

This parameter sets an M code that specifies the rigid tapping mode.To set an M code larger than 255, set it to parameter No.5212.

NOTE1 The M code is judged to be 29 (M29) when “0” is set.2 To use an M code whose number is greater than 255, Specify

the code number with parameter No.5212.

5211Override value during rigid tapping extraction

[Data type] Byte[Unit of data] 1 % or 10 %

[Valid data range] 0 to 200The parameter sets the override value during rigid tapping extraction.

NOTEThe override value is valid when DOV in parameter No.5200#4 is “1”.When OVU (bit 3 of parameter No.5201) is 1, the unit of set datais 10%. An override of up to 200% can be applied to extraction.

5213Return or clearance in peck tapping cycle


Increment system IS–B IS–C UnitMillimeter input 0.001 0.0001 mm

Input in incluse 0.0001 0.00001 inch

[Valid data range] 0 to 32767This parameter sets the return or clearance in the peck tapping cycle.

Parameter No.5200 PCP=1(Peck drilling cycle)

Parameter No.5200 PCP=0(High–speed peck drilling cycle)

q : Depth of cut

d : Return value

R point

Z point

q

q

q

d

d

q : Depth of cut

d : Clearance value

R point

Z point

q

q

q

d

d

Fig.4.21 (a) High–speed Peck Drilling and Peck Drilling Cycles


144

5221Number of spindle gear teeth (first–stage gear)

5222Number of spindle gear teeth (second–stage gear)

5223Number of spindle gear teeth (third–stage gear)

[Data type] Word


When an arbitrary gear ratio is used in rigid tapping, each of theseparameters sets the number of teeth of each spindle gear.

NOTE1 These parameters are enabled when the VGR parameter

(bit 1 of parameter No.5200) is set to 1.2 When a position coder is attached to the spindle, set the

same value for all of parameters No.5221 through No.5223.

5231Number of position coder gear teeth (first–stage gear)

5232Number of position coder gear teeth (second–stage gear)

5233Number of position coder gear teeth (third–stage gear)

[Data type] Word


When an arbitrary gear ratio is used in rigid tapping, each of theseparameters sets the number of teeth of each position coder gear.

NOTEThese parameters are enabled when the VGR parameter(bit 1 of parameter No.5200) is set to 1.When a position coder is attached to the spindle, set thesame value for all of parameters No.5231 through No.5233.When a spindle motor with a built–in position coder is used,a position coder with a resolution of 2048 pulses/rev may beused. In such a case, set the actual number of teeth,multiplied by 2 (for conversion to 4096 pulses/rev).


145

5241Maximum spindle speed in rigid tapping (first–stage gear)

5242Maximum spindle speed in rigid tapping (second–stage gear)

5243Maximum spindle speed in rigid tapping (third–stage gear)



[Valid data range] Spindle position coder gear ratio1:1 0 to 74001:2 0 to 99991:4 0 to 99991:8 0 to 9999

Each of these parameters is used to set a maximum spindle speed for eachgear in rigid tapping.

NOTESet the same value for both parameter No.5241 andparameter No.5243 for a one–stage gear system. For atwo–stage gear system, set the same value for parameterNo.5242 and parameter No.5243. Otherwise, P/S alarmNo.200 will be issued.

5261

Linear acceleration/deceleration time constant for the spindle and tapping axis(first–stage gear)

5262

Linear acceleration/deceleration time constant for the spindle and tapping axis(second–stage gear)

5263

Linear acceleration/deceleration time constant for the spindle and tapping axis(third–stage gear)

[Data type] Word

[Unit of data] ms


Each of these parameters is used to set a linear acceleration/deceleration timeconstant for the spindle of each gear and the tapping axis in rigid tapping.

Set the period required to reach each maximum spindle speed (parametersNo.5241 through No.5248). The set time constant, multiplied by the ratioof a specified S value to a maximum spindle speed, is actually used as atime constant.


146

5271Time constant for the spindle and tapping axis in extraction operation (first–stage gear)

5272

Time constant for the spindle and tapping axis in extraction operation (second–stage gear)

5273Time constant for the spindle and tapping axis in extraction operation (third–stage gear)

[Data type] Word

[Unit of data] ms


Each of these parameters is used to set a linear acceleration/decelerationtime constant for the spindle of each gear and tapping axis in extractionoperation during rigid tapping.

NOTEThese parameters are enabled when the TDR parameter (bit2 of parameter No.5201) is set to 1.

5280

Position control loop gain for the spindle and tapping axis in rigid tapping (common to all gears)

5281

Position control loop gain for the spindle and tapping axis in rigid tapping (first–stage gear)

5282

Position control loop gain for the spindle and tapping axis in rigid tapping (second–stage gear)

5283Position control loop gain for the spindle and tapping axis in rigid tapping (third–stage gear)

NOTEOnce these parameters have been set, the power must beturned off then back on for the settings to become effective.

[Data type] Word

[Unit of data] 0.01 s–1


Each of these parameters is used to set a position control loop gain for thespindle and tapping axis in rigid tapping. These parameters significantlyaffect the precision of threading. Optimize these parameters as well as theloop gain multipliers by conducting a cutting test.


147

NOTETo use a varied loop gain on a gear–by–gear basis, setparameter No.5280 to 0, and set a loop gain for each gearin parameters No.5281 through No.5283. The specificationof a loop gain on a gear–by–gear basis is disabled ifparameter No.5280 is set to a value other than 0. In such acase, the value set in parameter No.5280 is used as a loopgain that is common to all the gears.

5291Spindle loop gain multiplier in the rigid tapping mode (for gear 1)



[Data type] Word

[Unit of data]


Set the spindle loop gain multipliers for gears 1 to 4 in the rigid tappingmode. The thread precision depends on the multipliers. Find the mostappropriate multipliers by conducting the cutting test and assign them tothe parameters.

NOTEThese parameters are used for analog spindles.

Loop gain multiplier = 2048 � E/L � α � 1000where;

E : Voltage in the velocity command at 1000 min–1

L : Rotation angle of the spindle per one rotation of the spindlemotor

α : Unit used for the detection


148

SpindleMotor

SpindlePositioncoder

1 : 1 : 2

P.C

When the spindle motor, spindle, and position coder are connectedas shown left, let the variables be as follows:

E = 1.667 (V) (A motor speed of 6000 min–1 corresponds to 10 V.)L = 360� (One rotation of the spindle corresponds to one

rotation of the spindle motor.)α = La/4096

= 720�/4096= 0.17578

La = 720� (= 360� � 2. One rotation of the position coder corresponds to two rotations of the spindle.)

4096 = The number of detected pulses per rotation of the position coder

Gear ratio between the spindle and the position coder1:1 0.08789 degrees. . . . . . . 1:2 0.17578 degrees. . . . . . . 1:4 0.35156 degrees. . . . . . . 1:8 0.70313 degrees. . . . . . .

According to above ratio the loop gain multiplier is calculated as2048 � 1.667/360 � 0.17578 � 1000 = 1667

* When the position coder which is built in a spindle motor sends 512 pulses per rotation, the unit used for the detection, α, is La/2048.

Fig.4.21 (b) Connection among the spindle motor, spindle, and position coder

5300Tapping axis in–position width in rigid tapping

5301Spindle in–position width in rigid tapping

[Data type] Word



These parameters are used to set tapping axis and spindle in–positionwidths in rigid tapping.

NOTEIf an excessively large value is specified, the threadingprecision will deteriorate.

5308Width of in–position at R–point of tapping axis in rigid tapping

[Data type] Word



The width of in–position at R–point of the tapping axis (Between fromrapid to R–point to the tapping operation) in rigid tapping can be set.When a set value is 0, the width of in–position of the tapping axis in rigidtapping is decided by the setting of No.5300. (Please refer to the figure ofthe explanation of the parameter No. 5203)

Examples


149

5310Positional deviation limit imposed during tapping axis movement in rigid tapping

[Data type] Word



This parameter is used to set a positional deviation limit during tappingaxis movement in rigid tapping. A value that falls outside the valid datarange, described above, can be specified in parameter No.5314.

NOTEWhen a high–resolution detector is used, the unit must bemultiplied by 10.

5311Limit value of spindle positioning deviation during movement in rigid tapping.

[Data type] Word type



This parameter sets the limit value of a spindle positioning deviationduring movement in rigidtapping.Limit value = S � 360 � 100 � 1.5 / (60 � G � α)where

S : Maximum spindle speed in rigid tapping(Setting value of parameter Nos. 5241 and greater)

G : Loop gain of rigid tapping axis(Setting value of parameter Nos. 5280 and greater)

α : Detection unit

SpindleMotor

SpindlePositioncoder

1 : 1 : 2

P.C

S = 3600G = 3000L = 360 degrees (One spindle rotation per spindle motor rotation)α = La/4096

= 720 degrees/4096= 0.17578 degrees

La = 720 degrees(One position coder rotation requires two spindle rotations (= 360degrees � 2)).

4096 = Detection pulse per position coder rotation

Setting value =

= 6144

3600 � 360 � 100 � 1.5

60 � 3000 � 0.17578

Fig.4.21 (c) Connection Among Spindle Motor, Spindle and Position Coder

(Calculation example)


150

NOTEThe detection unit is α = La/2048 when the position coderbuilt–in spindle motor uses a position coder of 512 pulsesper revolution.

5312Positional deviation limit imposed while the tapping axis is stopped in rigid tapping

[Data type] Word



This parameter is used to set a positional deviation limit imposed whilethe tapping axis is stopped in rigid tapping.

5313Positional deviation limit imposed while the spindle is stopped in rigid tapping

[Data type] Word



This parameter is used to set a positional deviation limit imposed whilethe spindle is stopped in rigid tapping.

5321Spindle backlash in rigid tapping

[Data type] Byte



Each of these parameters is used to set a spindle backlash.

5381Rigid tapping return override

[Data type] Byte

[Unit of data] %


This parameter sets a rigid tapping return override value. When 0 isspecified, override is disabled.

NOTEThis parameter is enabled when the bit 4 (DOV) ofparameter No. 5200 for enabling override at the time ofnormal extraction is set to 1.


151

5382Rigid tapping return amount α

[Data type] Doubleword

[Unit of data] Input unit


This parameter specifies an extra rigid tapping return amount. The tool isreturned by the extra amount α near point R. If rigid tapping has alreadybeen completed, the tool is returned by α.


152

5460 Axis (linear axis) specification for polar coordinate interpolation

5461 Axis (rotary axis) specification for polar coordinate interpolarion

[Data type] Byte

[Valid data range] 1, 2, 3, ... control axes count

These parameters set control axis numbers of linear and rotary axes toexecute polar interpolation.

5462 Maximum cutting feedrate during polar coordinate interpolation


Increment system Unit of dataValid data range

Increment system Unit of dataIS–A, IS–B IS–C

Millimeter machine 1 mm/min 0, 6 to 240000 0, 6 to 100000

Inch machine 0.1 inch/min 0, 6 to 96000 0, 6 to 48000

Rotation axis 1 deg/min 0, 6 to 240000 0, 6 to 100000

This parameter sets the upper limit of the cutting feedrate that is effectiveduring polar coordinate interpolation. If a feedrate greater than themaximum feedrate is specified during polar coordinate interpolation, it isclamped to the feedrate specified by the parameter. When the setting is 0,the feedrate during polar coordinate interpolation is clamped to themaximum cutting feedrate usually specified with parameter 1422.

4.22PARAMETERS OF POLAR COORDINATEINTERPOLATION

[Unit of data]

[Valid data range]


153

5711 Axis number of moving axis

[Data type] Byte

[Unit of data] Number (When 0, compensation is not performed.)

[Valid data range] 1, 2, 3, ...Number of controlled axes

Set the axis numbers of moving axes.

5721 Axis number of compensation axis 1 for moving axis

[Data type] Byte

[Unit of data] Number (When 0, compensation is not performed.)

[Valid data range] 1, 2, 3, ...Number of controlled axes

Set the axis numbers of compensation axes.

5731 Compensation point number a of moving axis a

5732 Compensation point number a of moving axis b

5733 Compensation point number a of moving axis c

5734 Compensation point number a of moving axis d

[Data type] Word

[Unit of data] Number (Compensation point numbers in stored pitch errorcompensation)


Set four compensation point for each moving axis.

5761 Compensation corresponding compensation point number a of moving axis

5762 Compensation corresponding compensation point number b of moving axis

5763 Compensation corresponding compensation point number c of moving axis

5764 Compensation corresponding compensation point number d of moving axis

[Data type] Word



Set compensation for each compensation point.

4.23PARAMETERS OF STRAIGHTNESSCOMPENSATION


154

#76000

#6 #5SBM

#4HGO

#3 #2 #1MGO

#0G67

[Data type] Bit

G67 If the macro continuous–state call cancel command (G67) is specifiedwhen the macro continuous–state call mode (G66) is not set:0 : P/S alarm No.122 is issued.1 : The specification of G67 is ignored.

MGO When a GOTO statement for specifying custom macro control isexecuted, a high–speed branch to 20 sequence numbers executed from thestart of the program is:0 : A high–speed branch is not caused to n sequence numbers from the

start of the executed program.1 : A high–speed branch is caused to n sequence numbers from the start

of the program.(The number of sequence numbers, n, is set in parameter No.6092.)

HGO When a GOTO statement for specifying custom macro control isexecuted:0 : A high–speed branch is not caused to 30 sequence numbers,

immediately following the point of execution.1 : A high–speed branch is caused to 30 sequence numbers, immediately

before the point of execution.

SBM Custom macro statement0: Not stop the single block1: Stops the single block

NOTEWhen parameter No.3404 #0 NOP = 1, it becomes invalid.

#7CLV6001

#6CCV

#5TCS

#4CRO

#3PV5

#2VFP

#1PRT

#0

[Data type] Bit

PRT Reading zero when data is output using a DPRINT command0 : Outputs a space1 : Outputs no data

VFP The tape output format to be used for common variables is:0 : Custom macro statement format1 : The same format as for the Power Mate–A, –B, and –C

PV5 Custom macro common variables:0 : Nos. 500 to 599 are output.1 : Nos. 100 to 199 and Nos. 500 to 599 are output.

CRO ISO code in BPRWT or DPRNT commond0 : Outputs only LF after data is output1 : Outputs LF and CR after data is output

TCS Custom macro (subprogram)0 : Not called using a T code1 : Called using a T code

4.24PARAMETERS OF CUSTOM MACROS


155

CCV Custom macro’s common variables Nos. 100 through 1990: Cleared to “vacant” by reset1: Not cleared by reset

CLV Custom macro’s local variables Nos. 1 through 330: Cleared to “vacant” by reset1: Not cleared by reset

#7MUS6003

#6MCY

#5MSB

#4MPR

#3TSE

#2MIN

#1MSK

#0


[Data type] Bit

MSK Absolute coordinates at that time during custom macro interrupt0 : Not set to the skip coordinates (system variables #5061 and later)1 : Set to the skip coordinates (system variables #5061 and later)

MIN Custom macro interrupt0 : Performed by interrupting an in–execution block (Custom macro

interrupt type I)1 : Performed after an in–execution block is completed (Custom macro

interrupt type II)

TSE Custom macro interrupt signal UINT0 : Edge trigger method (Rising edge)1 : Status trigger method

MPR Custom macro interrupt valid/invalid M code0 : M96/M971 : M code set using parameters (Nos. 6033 and 6034)

MSB Interrupt program0 : Uses a dedicated local variable (Macro–type interrupt)1 : Uses the same local variable as in the main program (Subprogram–

type interrupt)

MCY Custom macro interrupt0 : Not performed during cycle operation1 : Performed during cycle operation

MUS Interrupt–type custom macro0 : Not used1 : Used

#76004

#6 #5 #4 #3 #2 #1 #0NAT

[Data type] Bit

NAT Specification of the results of custom macro functions ATAN and ASIN0 : The result of ATAN is 0 to 360.0.

The result of ASIN is 270.0 to 0 to 90.0.1 : The result of ATAN is –180 to 0 to 180.0.

The result of ASIN is –90.0 to 0 to 90.0.


156

#7*76010

#6*6

#5*5

#4*4

#3*3

#2*2

#1*1

#0*0

=76011 =6 =5 =4 =3 =2 =1 =0

#76012 #6 #5 #4 #3 #2 #1 #0

[76013 [6 [5 [4 [3 [2 [1 [0

]76014 ]6 ]5 ]4 ]3 ]2 ]1 ]0

[Data type] Bit

These parameters are used to input/output macro statements.The numeral of a suffix indicates the bit position in a code.*0 to *7 : Set the hole pattern of an EIA code indicating *.=0 to =7 : Set the hole pattern of an EIA code indicating =.#0 to #7 : Set the hole pattern of an EIA code indicating #.[ 0 to [ 7 : Set the hole pattern of an EIA code indicating [.] 0 to ] 7 : Set the hole pattern of an EIA code indicating ].0 : Corresponding bit is 01 : Corresponding bit is 1.

6033 M code that validates a custom macro interrupt

6034 M code that invalidates a custom macro interrupt

[Data type] Byte


These parameters set the custom macro interrupt valid/invalid M codes.

NOTEThese parameters can be used when MPR, #4 of parameterNo.6003, is 1. M96 is used as a valid M code and M97 isused as an invalid M code when MPR is 0, irrespective of thestate of this parameter.


157

6050 G code that calls the custom macro of program number 9010










[Data type] Word


These parameters set the G codes that call the custom macros of programnumbers 9010 through 9019.

NOTESetting value 0 is invalid. No custom macro can be called byG00.

6071 M code that calls the subprogram of program number 9001











These parameters set the M codes that call the subprograms of programnumbers 9001 through 9009.

NOTESetting value 0 is invalid. No custom macro can be called byM00.


158

6080 M code that calls the custom macro of program number 9020












These parameters set the M codes that call the custom macros of programnumbers 9020 through 9029.

NOTESetting value 0 is invalid. No custom macro can be called byM00.

6090 ASCII code that calls the subprogram of program number 9004

6091 ASCII code that calls the subprogram of program number 9005


[Data type] Byte

[Valid data range] 65 (A:41H) to 90 (Z:5AH)

These parameters set the ASCII codes that call subprograms in decimal.Addresses that can be used are as follows:A, B, D, F, H, I, J, K, L, M, P, Q, R, S, T, X, Y, Z

NOTESet 0 when no subprogram is called


159

When bit 3 (SFM) of parameter No. 3109 is set to 0

(1) Pressing OFFSETSETTING displays page 1 of soft keys.

[OFFSET] [SETTING] [ ] [ ] [(OPRT)]

(2) Pressing the next page soft key ( ) displays page 2 of soft keys.

[MACRO] [ MENU ] [ ] [ ] [(OPRT)]

(3) Pressing the menu soft key displays the menu screen.

When bit 3 (SFM) of parameter No. 3109 is set to 1

(1) Pressing OFFSETSETTING displays page 1 of soft keys.

This screen displays the menu soft key. [OFFSET] [SETTING] [ ] [ MENU ] [(OPRT)]

(2) Pressing the menu soft key displays the menu screen.

6101 Variable number 1 first displayed on the pattern data screen 1

:6110 Variable number 1 first displayed on the pattern data screen 10

[Data type] Word

[Valid data range] 0, 100 to 199, 500 to 699

Variable number first displayed on the pattern data screen selected on themenu screen of the pattern data input function (displayed on the screen foreach multiple of 8). When 0 is specified, a specification of 500 is assumed.

Example: Macro variables starting with No. 508 are displayed if 508 isset in parameter No. 6101, and pattern 1 is selected on thepattern data menu screen.

4.25PARAMETERS OFPATTERN DATA INPUT


160

#76131

#6 #5 #4 #3 #2 #1EOA

#0OAD



OAD The function for positioning by optimum acceleration is:0 : Disabled.1 : Disabled.

EOA For a movement along the PMC axis, the function for positioning byoptimum acceleration is:0 : Disabled.1 : Disabled.

NOTE1 The OAD parameter must also be set to “1”.2 The function for positioning by optimum acceleration is

enabled regardless of whether bit 0 (RPD) of parameter No.8002 is 1 or 0.

#76132

#6 #5 #4 #3 #2 #1 #0ILG

[Data type] Bit

ILG For the function for positioning by optimum acceleration, loop gainswitching is:0 : Performed. (Parameter Nos. 6181 to 6187 are used.)1 : Not performed. (Parameter No. 1825 is used.)

6136 Distance D1 to the first stage

6137 Distance D2 to the second stage

6138 Distance D3 to the third stage

[Data type] Two–word axis

[Unit of data]



Inch input 0.001 0.0001 0.00001 inch



4.26PARAMETERS OF POSITIONING BYOPTIMUMACCELERATION


161

Specify the positioning distance when the function for positioning byoptimum acceleration is used. (To be set for each axis)

NOTE1 The set values must satisfy: D1 < D2 < D32 Switching is possible through up to four stages. Set up D3

= 99999999, for example, if the first to third stages are to beused.

3 If both this parameter and parameters 6141 to 6156 are setup, this parameter is used.

6141 Distance D1 to the first stage (for metric input or rotation axis)

6142 Distance D2 to the second stage (for metric input or rotation axis)

6143 Distance D3 to the third stage (for metric input or rotation axis)

6144 Distance D4 to the fourth stage (for metric input or rotation axis)

6145 Distance D5 to the fifth stage (for metric input or rotation axis)

6146 Distance D6 to the sixth stage (for metric input or rotation axis)

6151 Distance D1 to the first stage (for inch input)

6152 Distance D2 to the second stage (for inch input)

6153 Distance D2 to the second stage (for inch input)

6154 Distance D4 to the fourth stage (for inch input)

6155 Distance D5 to the fifth stage (for inch input)

6156 Distance D6 to the sixth stage (for inch input)


[Unit of data]


Metric inputRotation axis

0.01 0.001 0.0001 mm, degMetric input

Rotation axis0.01 0.001 0.0001 mm, deg

Inch input 0.001 0.0001 0.00001 inch


Specify the positioning distance when the function for positioning byoptimum acceleration is used. (These parameters are common to allaxes.)


162

NOTE1 The set values must satisfy: D1 < D2 < D3 < D4 < D5 < D6

< D72 Switching is possible through up to seven stages. Set up D4

= 99999999, for example, if the first to fourth stages are tobe used.

3 These parameters specify a distance for the respectiveaxes. They do not specify a block length. If G00 X10. Z10.;is issued, for example, the block length is 14.142 mm, but thedistance is decided on by comparing these parameters witha value of 10.000 mm issued to each axis.

6161 First–stage rapid traverse rate

6162 Second–stage rapid traverse rate

6163 Third–stage rapid traverse rate

6164 Fourth–stage rapid traverse time constant

6165 Fifth–stage rapid traverse time constant

6166 Sixth–stage rapid traverse time constant

6167 Seventh–stage rapid traverse time constant


Increment system Unit of data Valid data range

Metric input 1mm/min 30 to 240000

Inch input 0.1inch/min 30 to 96000

Each stage rapid traverse time constant

6171 First–stage rapid traverse time constant

6172 Second–stage rapid traverse time constant

6173 Third–stage rapid traverse time constant

6174 Third–stage rapid traverse time constant

6175 Fifth–stage rapid traverse time constant

6176 Sixth–stage rapid traverse time constant

6177 Seventh–stage rapid traverse time constant


[Unit of data] msec


Each stage rapid traverse time constant

[Unit of data]

[Valid data range]


163

6181 First–stage rapid traverse servo loop gain

6182 Second–stage rapid traverse servo loop gain

6183 Third–stage rapid traverse servo loop gain

6184 Fourth–stage rapid traverse servo loop gain

6185 Fifth–stage rapid traverse servo loop gain

6186 Sixth–stage rapid traverse servo loop gain

6187 Seventh–stage rapid traverse servo loop gain


[Unit of data] 0.01 sec–1


Each stage rapid traverse servo loop gainIf a specified value is 0, parameter No. 1825 is used as a servo loop gain.

6191 Time constant T2 for bell–shaped acceleration/deceleration for first–stage rapidtraverse during positioning by optimum acceleration

6192 Time constant T2 for bell–shaped acceleration/deceleration for second–stagerapid traverse during positioning by optimum acceleration

6193 Time constant T2 for bell–shaped acceleration/deceleration for third–stage rapidtraverse during positioning by optimum acceleration

6194 Time constant T2 for bell–shaped acceleration/deceleration for fourth–stagerapid traverse during positioning by optimum acceleration

6195 Time constant T2 for bell–shaped acceleration/deceleration for fifth–stage rapidtraverse during positioning by optimum acceleration

6196 Time constant T2 for bell–shaped acceleration/deceleration for sixth–stage rapidtraverse during positioning by optimum acceleration

6197 Time constant T2 for bell–shaped acceleration/deceleration for seventh–stagerapid traverse during positioning by optimum acceleration


[Unit of data] msec


These parameters set time constant T2 for bell–shaped acceleration/deceleration for the rapid traverse in each stage of positioning by optimumacceleration for each axis.


164

#7SKF

6200

#6SRE

SRE

#5SLS

SLS

#4 #3 #2 #1SK0

#0GSK

[Data type] Bit

GSK In skip cutting (G31), the skip signal SKIPP (bit 6 of G006) is:0 : Not used as a skip signal.1 : Used as a skip signal.

SK0 This parameter specifies whether the skip signal is made valid under the stateof the skip signal SKIP and the multistage skip signals (bits of 2, 3, 4 X004).0 : Skip signal is valid when these signals are 1.1 : Skip signal is valid when these signals are 0.

SLS While the high–speed skip signals are input, the high–speed skip signalsare :0 : Not available1 : Available

NOTEThe following parameters must be set, if the aboveparameter is set to ”1” and the high–speed skip signals areavailable. No.8731, 8732, 8733

SRE In case the status trigger method for high–speed skip signals is selected(bit 6 of No.6209 = 0) :0 : The signal is considered to be input at the status ”1”.1 : The signal is considered to be input at the status ”0”.

NOTEThe skip signals (SKIP, SKIP2 to SKIP4) are availableirrespective of whether this parameter is set. If the parameterIGX (bit 4 of No.6201) is set to 1, these signals are notavailable.

SKF Dry run, override, and automatic acceleration/deceleration for G31 skipcommand0 : Disabled1 : Enabled

NOTEIn the high–speed response mode, dry run is enabled.

4.27PARAMETERS OFSKIP FUNCTION


165

#7

6201

#6 #5 #4IGX

IGX

#3 #2

TSE

#1SEB

SEB

#0SEA

SEA

[Data type] Bit

SEA When a high speed skip signal turns on while the skip function is used,acceleration/deceleration and servo delay are:0 : Ignored in calculation of skip–position.1 : Considered and compensated in calculation of skip–position. (type

A).

SEB When a high–speed skip signal turns on while the skip function is used,acceleration/deceleration and servo delay are:0 : Ignored in calculation of skip–position.1 : Considered and compensated in calculation of skip–position (type B).

TSE When the torque limit skip (G31P98) is issued to cause a skip, the tool is:0 : Reversed through the amount of servo error.1 : Not reversed through the amount of servo error.

NOTEThe torque limit skip function can be used only in thehigh–speed response mode.

IGX When the high–speed skip function is used, SKIP, SKIP2 to SKIP4, andSKIPP are:0 : Enabled as skip signals.1 : Disabled as skip signals.


166

#7

6202

#6

1S7

#5

1S6

#4

1S5

#31S4

1S4

#21S3

1S3

#11S2

1S2

#01S1

1S11S8

62032S7 2S6 2S5

2S4

2S4

2S3

2S3

2S2

2S2

2S1

2S12S8

62043S7 3S6 3S5

3S4

3S4

3S3

3S3

3S2

3S2

3S1

3S13S8

62054S7 4S6 4S5

4S4

4S4

4S3

4S3

4S2

4S2

4S1

4S14S8

6206DS7 DS6 DS5

DS4

DS4

DS3

DS3

DS2

DS2

DS1

DS1DS8

62705S7 5S6 5S5 5S4 5S3 5S2 5S15S8

62716S7 6S6 6S5 6S4 6S3 6S2 6S16S8

62727S7 7S6 7S5 7S4 7S3 7S2 7S17S8

62738S7 8S6 8S5 8S4 8S3 8S2 8S18S8

[Data type] Bit

1S1 to 1S8, 2S1 to 2S8, 3S1 to 3S8, 4S1 to 4S8, 5S1 to 5S8, 6S1 to 6S8, 7S1 to 7S8, 8S1 to 8S8, DS1 to DS8:Specify which skip signal is enabled when the skip command (G31, orG31P1 to G31P8) and the dwell command (G04, G04Q1 to G04Q8) areissued with the multi–step skip function.The following table shows the correspondence among the bits, inputsignals, and commands.The settings of the bits have the following meanings:0 : The skip signal corresponding to the bit is disabled.1 : The skip signal corresponding to the bit is enabled.

NOTEThe skip command (G31 P5 to G31 P8) and the dwellcommand (G04 Q5 to G04 Q8) can not be specified in PowerMate i–D.


167

Multi–step skip functionCommand

Input signal

G31G31P1G04Q1

G31P2G04Q2

G31P3G04Q3

G31P4G04Q4

G31P5G04Q5

G31P6G04Q6

G31P7G04Q7

G31P8G04Q8

G04G04Q1

~Q8

SKIP/DI30 1S1 2S1 3S1 4S1 5S1 6S1 7S1 8S1 DS1

SKIP2/DI31 1S2 2S2 3S2 4S2 5S2 6S2 7S2 8S2 DS2



DI34 1S5 2S5 3S5 4S5 5S5 6S5 7S5 8S5 DS5

DI35 1S6 2S6 3S6 4S6 5S6 6S6 7S6 8S6 DS6

DI36 1S7 2S7 3S7 4S7 5S7 6S7 7S7 8S7 DS7

DI37 1S8 2S8 3S8 4S8 5S8 6S8 7S8 8S8 DS8

#7SKRT

6209

#6SEDG

SEDG

#5 #4 #3 #2 #1 #0DSK

SKRT

[Data type] Bit

DSK 0 : Disables skip signal SKIPP from the PMC for the dwell skip function.1 : Enables skip signal SKIPP from the PMC for the dwell skip function.

SEDG The status trigger method for high–speed skip signals in high–speed skipfunction0 : Is available1 : Is not available (Only the edge trigger is available.)

In case that the status trigger method is not available, the skip operation isnot performed, even if the skip signal is enabled before the block of thehigh–speed skip starts executing.

SKRT In case the traveling distance from skip signal in the high–speed skip isshorter than the decelerating distance,0 : The axis comes back to the stopped position after the axis passes by

the stopped position once.1 : The axis stops at the position where the axis can stop.


168

6210

Size of buffer 1 (system variable 9000 to 9099)

6211


6212


6213


6214


6215


6216


6217


[Data type] Word


Specify the size of a buffer for storing the data that is measured with thehigh–speed skip signal–based measurement function. (This buffer is aring buffer.)If a value out of the valid data range is specified for a parameter, theparameter is invalid.


#7

6218

#6

DI6

#5

DI5

#4

DI4

#3

DI3

#2

DI2

#1

DI1

#0

DI0DI7

[Data type] Bit

DIn When the high–speed skip signal is input, the nth (system variables 9n00to 9n99) buffer is loaded with:0 : Absolute coordinates1 : Distance moved through since the last signal input



169

6220

High–speed skip signal DI3n valid for buffer 1

6221


6222


6223


6224


6225


6226


6227


[Data type] Byte

[Valid data range] 1 to 8 (n + 1 is to be specified)

The coordinates at the input of a high–speed skip signal specified in theseparameters are stored to the respective buffers.If a value out of the valid data range is specified for a parameter, theparameter is invalid.



170

6230

Axis number of an axis assigned to buffer 1

6231


6232


6233


6234


6235


6236


6237


[Data type] Byte


If high–speed skip signals specified in parameters 6220 to 6227 are input,the coordinates of the axes specified in these parameters are stored to therespective buffers.If a value out of the valid data range is specified for a parameter, theparameter is invalid.



171

6240

Compensation value for signal 1

6241


6242


6243


6244


6245


6246


6247


[Data type] Word

[Unit of data] �s


A signal delay that may occur in some sensors for the high–speed skipsignal–based measurement function is set up as a compensation value.If a value out of the valid data range is specified for a parameter, theparameter is invalid.


#7

8731

#6

EPMC6

#5

EPMC5

#4

EPMC4

#3

EPMC3

#2

EPMC2

#1

EPMC1

#0

EPMC0EPMC7

[Data type] Bit

EPMCn The signal DI3n (X1003 bit n) is0 : Used for high–speed skip function or measuring function by using

high–speed skip signal1 : Used for interrupt type PMC

NOTEThis parameter must be set to 0, when the above functionsare not used.


172

#7

8732

#6

UPEG6

#5

UPEG5

#4

UPEG4

#3

UPEG3

#2

UPEG2

#1

UPEG1

#0

UPEG0UPEG7

[Data type] Bit

UPEGn The rising edge (0 → 1) of the signal DI3n (X1003 bit n) is :0 : Not used for interrupt type PMC or high–speed skip signal.1 : Used for interrupt type PMC or high–speed skip signal.

#7

8733

#6

DWEG6

#5

DWEG5

#4

DWEG4

#3

DWEG3

#2

DWEG2

#1

DWEG1

#0

DWEG0DWEG7

[Data type] Bit

DWEGn The falling edge (1 → 0) of the signal DI3n (X1003 bit n) is0 : Not used for interrupt type PMC or high–speed skip signal1 : Used for interrupt type PMC or high–speed skip signal.


173

#76300

#6 #5 #4ESR

#3 #2 #1 #0

[Data type] Bit

ESR External program number search0 : Disabled1 : Enabled

#7DSG6550

#6 #5 #4 #3 #2 #1 #0

[Data type] Bit

DSG The soft keys for the picture display function are:0 : Not displayed.1 : Displayed.

4.28PARAMETERS OF EXTERNAL DATA INPUT/OUTPUT

4.29PARAMETERS OF PICTURE DISPLAY


174

#7NCT6700

#6 #5 #4 #3 #2 #1 #0PCM

[Data type] Bit

PCM M code that counts the total number of machined parts and the number ofmachined parts0 : M02, or M30, or an M code specified by parameter No.67101 : Only M code specified by parameter No.6710

NCT 0 : Displays the operating time and the number of parts.1 : Does not display the operating time and the number of parts.

6710M code that counts the total number of machined parts and the number of ma-chined parts

[Data type] Byte

[Valid data range] 0 to 255 except 98 and 99

The total number of machined parts and the number of machined parts arecounted (+1) when the M code set is executed.

NOTESet value 0 is invalid (the number of parts is not counted forM00). Data 98 and 99 cannot be set.

6711 Number of machined parts



[Unit of data] One piece


The number of machined parts is counted (+1) together with the totalnumber of machined parts when the M02, M30, or a M code specified byparameter No.6710 is executed.

NOTEThe number of parts is not counted for M02, M03, when bit0 (PCM) of parameter No. 6700 is set to 1.

4.30PARAMETERS OF DISPLAYINGOPERATION TIME AND NUMBER OF PARTS


175

6712 Total number of machined parts





This parameter sets the total number of machined parts.

The total number of machined parts is counted (+1) when M02, M30, oran M code specified by parameter No.6710 is executed.

NOTEThe number of parts is not counted for M02, M03, when bit0 (PCM) of parameter No. 6700 is set to 1.

6713 Number of required parts


[Data type] Word



This parameter sets the number of required machined parts.

Required parts finish signal PRTSF is output to PMC when the number ofmachined parts reaches the number of required parts. The number of partsis regarded as infinity when the number of required parts is zero. ThePRTSF signal is then not output.

6750 Integrated value of power–on period



[Unit of data] One minute


This parameter displays the integrated value of power–on period.

6751 Operation time (integrated value of time during automatic operation) I



[Unit of data] One ms



176

6752 Operation time (integrated value of time during automatic operation) II





This parameter displays the integrated value of time during automaticoperation (neither stop nor hold time included).

6753 Integrated value of cutting time I





6754 Integrated value of cutting time II





This parameter displays the integrated value of a cutting time that isperformed in cutting feed such as linear interpolation (G01) and circularinterpolation (G02 or G03).

6755Integrated value of general–purpose integrating meter drive signal (TMRON)ON time I





6756Integrated value of general–purpose integrating meter drive signal (TMRON)ON time II





This parameter displays the integrated value of a time while input signalTMRON from PMC is on.


177

6757 Operation time (integrated value of one automatic operation time) I





6758 Operation time (integrated value of one automatic operation time) II





This parameter displays the one automatic operation drive time (neitherstop nor hold state included). The operation time is automatically presetto 0 during the power–on sequence and the cycle start from the reset state.


178

#76901

#6 #5 #4 #3 #2 #1 #0IGP

[Data type] Bit

IGP During follow–up for the absolute position detector, position switchsignals are:0 : Output1 : Not output

6910 Axis corresponding to the first position switch

6911 Axis corresponding to the second position switch

6912 Axis corresponding to the third position switch

6913 Axis corresponding to the fourth position switch

6914 Axis corresponding to the fifth position switch

6915 Axis corresponding to the sixth position switch

6916 Axis corresponding to the seventh position switch

6917 Axis corresponding to the eighth position switch

6918 Axis corresponding to the ninth position switch

6919 Axis corresponding to the tenth position switch

[Data type] Byte

[Valid data range] 0, 1, 2, 3, . . . , control axis count

These parameters specify the control–axes numbers corresponding to thefirst through tenth position switch functions. A corresponding positionswitch signal is output to PMC when the machine coordinate value of acorresponding axis is within the range that is set using a parameter.

NOTESet 0 for those position switch numbers that are not to beused.

4.31PARAMETERS OF POSITION SWITCH FUNCTIONS


179

6930 Maximum operation range of the first position switch

6931 Maximum operation range of the second position switch

6932 Maximum operation range of the third position switch

6933 Maximum operation range of the fourth position switch

6934 Maximum operation range of the fifth position switch

6935 Maximum operation range of the sixth position switch

6936 Maximum operation range of the seventh position switch

6937 Maximum operation range of the eighth position switch

6938 Maximum operation range of the ninth position switch

6939 Maximum operation range of the tenth position switch



Metric input 0.01 0.001 0.0001 mm




These parameters set the maximum operation range of the first throughtenth position switches.

6950 Minimum operation range of the first position switch

6951 Minimum operation range of the second position switch

6952 Minimum operation range of the third position switch

6953 Minimum operation range of the fourth position switch

6954 Minimum operation range of the fifth position switch

6955 Minimum operation range of the sixth position switch

6956 Minimum operation range of the seventh position switch

6957 Minimum operation range of the eighth position switch

6958 Minimum operation range of the ninth position switch

6959 Minimum operation range of the tenth position switch



Metric input 0.01 0.001 0.0001 mm




These parameters set the minimum operation range of the first throughtenth position switches.


180

#77100

#6 #5 #4HPF

#3HCL

#2IHD

#1THD

#0

[Data type] Bit

THD Manual pulse generator in TEACH IN JOG mode0 : Invalid1 : Valid

IHD The travel increment for manual handle interrupt is:0 : Output unit, and acceleration/deceleration after interpolation is

disabled.1 : Input unit, and acceleration/deceleration after interpolation is

enabled.

HCL The clearing of handle interruption amount display by soft key [CAN]operation is:0 : Disabled.1 : Enabled.

HPF When a manual handle feed exceeding the rapid traverse rate is issued,0 : The rate is clamped at the rapid traverse rate, and the handle pulses

corresponding to the excess are ignored. (The graduations of themanual pulse generator may not agree with the distance the machinehas traveled.)

1 : The rate is clamped at the rapid traverse rate, and the handle pulsescorresponding to the excess are not ignored, but stored in the CNC. (Ifthe rotation of the manual pulse generator is stopped, the machinemoves by the distance corresponding to the pulses preserved in theCNC, then stops.)

#77101

#6 #5 #4 #3 #2 #1 #0IOL

[Data type] Bit

IOL 0 : As a manual pulse generator interface for manual handle feed, themanual pulse generator interface on the base PCB is used.

1 : As a manual pulse generator interface for manual handle feed, themanual pulse generator interface of the machine operator’s panelinterface for I/O Link is used.

#77102

#6 #5 #4 #3 #2 #1 #0HNGx


HNGx Axis movement direction for rotation direction of manual pulse generator0 : Same in direction1 : Reverse in direction

4.32PARAMETERS OF MANUAL HANDLE FEED, HANDLE INTERRUPTIONDIRECTION


181

#77104

#6NJH

#5 #4 #3 #2 #1 #0

[Data type] Bit

NJH Manual handle feed in the jog mode and incremental feed in the manualhandle feed mode are:0 : Enabled.1 : Disabled.

When NJH is set to 1 When NJH is set to 0

Jog feedmode

Manualhandle feed

mode

Jog feedmode

Manualhandle feed

mode

Jog feed � � � �

Manual handlefeed

� � � �

Incrementalfeed

� � � �

NOTEIf this bit is 1 when you to want perform butt–type referenceposition setting for more than one axis continuously, you donot need to turn the power off and on again each timereference position setting is performed each axis. Whenbutt–type reference position setting is performed for an axis,alarm 000 is issued, but butt–type reference position settingcan be performed for another axis. (In this case, however,if you reset the machine or switch from one mode to another,you must turn the power off and on again before you canperform butt–type reference position setting for anotheraxis.)

#77105

#6 #5 #4HDS

#3 #2 #1HXS

#0

[Data type] Bit

HXS The assignment system of the I/O Link manual handle is:0 : This system fixes the order (system A).

Up to three manual pulse generators can be used in ascending order ofgroup numbers with I/O Link connection.

1 : This system sets the order with the parameter (system B).It is possible to use up to three manual pulse generators with arbitrarygroup numbers set in parameters No. 7120 to No. 7122 regardless ofthe connection order.

HDS When parameters No. 7120 to No. 7122, which assign I/O Link manualpulse generators to the X signal addresses of arbitrary groups, is set, alarm0 (power–off request):0 : Occurs.1 : Does not occur.


182

NOTEHDS of this parameter is valid only when system B isselected by setting bit 1 (HXS) of parameter No. 7105 to 1.

7110 Number of manual pulse generators used

[Data type] Byte

[Valid data range] 1, 2 (up to 3 if a manual pulse generators on the I/O Link machineoperator’s panel interface are used in the Power Mate i–H)

This parameter sets the number of manual pulse generators.

7113 Manual handle feed magnification m

[Data type] Word

[Unit of data] One time


This parameter sets the magnification when manual handle feedmovement selection signal MP2 is set to 1.

7114 Manual handle feed magnification n

[Data type] Word

[Unit of data] One time


This parameter sets the magnification when manual handle feedmovement selection signals MP1 and MP2 are set to 1.

Movement selection signal Movement

(Manual handle feed)MP2 MP1

(Manual handle feed)

0 0 Least input increment�1

0 1 Least input increment�10

1 0 Least input increment�m

0 1 Least input increment�n

7117 Allowable number of pulses that can be accumulated during manual handle feed

[Data type] 2–Word

[Unit of data] Pulses


If manual handle feed is specified such that the rapid traverse rate will beexceeded momentarily, those pulses received from the manual pulsegenerator that exceed the rapid traverse rate are accumulated rather thancanceled. This parameter sets the maximum number of pulses which canbe accumulated in such a case.


183

NOTE1 If the specification of manual handle feed is such that the

rapid traverse rate will be exceeded, for example, when themanual pulse generator is rotated at high speed with a largemagnification such as �100, the axial feedrate is clampedat the rapid traverse rate and those pulses received from themanual pulse generator that exceed the rapid traverse rateare ignored. In such a case, therefore, the scale on themanual pulse generator may differ from the actual amountof travel. If such a difference is not acceptable, thisparameter can be set to temporarily accumulate the excesspulses in the CNC, rather than ignoring them, up to thespecified maximum (pulses in excess of the set maximumare ignored). The accumulated pulses are output andconverted to a move command once the feedrate falls belowthe rapid traverse rate by reducing the rotational speed ofthe manual pulse generator or stopping its rotationaltogether. Note, however, that if the maximum number ofpulses to be accumulated is too large, stopping the rotationof the manual pulse generator does not stop feeding until thetool moves by an amount corresponding to the pulsesaccumulated in the CNC.

2 This parameter is valid when bit 4 (HPF) of parameter No.7100 is set to 0.

7120 X address to which the first manual pulse generator is assigned

7121 X address to which the second manual pulse generator is assigned

7122 X address to which the third manual pulse generator is assigned



NOTE1 The PMC X address to assign a manual pulse generator can

be gotten by adding ”the top address of the I/O Linkconnection group” and ”the offset address of the manualpulse generator from the top of the module”.The offset address of a manual pulse generator from the topof module is different for each device. Refer to the hardwareconnection manual related with it.

2 If the address to which a manual pulse generator cannot beassigned is specified by the parameter, an axis cannot bemoved by a manual pulse generator.


184

7181 First withdrawal distance in reference position setting with mechanical stopper






When the reference position setting with mechanical stopper is used, thisparameter sets a distance an axis, along which withdrawal is performedafter the mechanical stopper is hit (distance from the mechanical stopperto the withdrawal point).

NOTESet the same direction as that set in bit 5 (ZMIx) of parameterNo. 1006. Cycle operation cannot be started if the oppositedirection is set.

7182 Second withdrawal distance in reference position setting with mechanical stopper






When the reference position setting with mechanical stopper is used, thisparameter sets a distance an axis, along which withdrawal is performedafter the mechanical stopper is hit (distance from the mechanical stopperto the withdrawal point).

NOTESet the same direction as that set in bit 5 (ZMIx) of parameterNo. 1006. Cycle operation cannot be started if the oppositedirection is set.

4.33PARAMETERS OFREFERENCEPOSITION SETTINGWITH MECHANICALSTOPPER


185

7183 First butting feedrate in reference position setting with mechanical stopper


[Unit of data and valid range]





When the reference position setting with mechanical stopper is used, thisparameter sets the feedrate first used to hit the stopper on an axis.

7184 Second butting feedrate in reference position setting with mechanical stopper







When the reference position setting with mechanical stopper is used, thisparameter sets the feedrate used to hit the stopper on an axis for a secondtime.

7185 Withdrawal feedrate (common to the first and second butting operations) inreference position setting with mechanical stopper







When the reference position setting with mechanical stopper is used, thisparameter sets the feedrate used for withdrawal along an axis after themechanical stopper has been hit.

7186 Torque limit value in reference position setting with mechanical stopper

[Data type] Byte axes

[Unit of data] %


This parameter sets a torque limit value in reference position setting withmechanical stopper

NOTEWhen 0 is set in this parameter, 100% is assumed.


186

#77200

#6OP7

#5OP6

#4OP5

#3OP4

#2OP3

#1OP2

#0OP1

[Data type] Bit

OP1 Mode selection on software operator’s panel0 : Not performed1 : Performed

OP2 JOG feed axis select and JOG rapid traverse buttons on softwareoperator’s panel0 : Not performed1 : Performed

OP3 Manual pulse generator’s axis select and manual pulse generator’smagnification switches on software operator’s panel0 : Not performed1 : Performed

OP4 JOG speed override and rapid traverse override switches on softwareoperator’s panel0 : Not performed1 : Performed

OP5 Optional block skip, single block, machine lock, and dry run switches onsoftware operator’s panel0 : Not performed1 : Performed

OP6 Protect key on software operator’s panel0 : Not performed1 : Performed

OP7 Feed hold on software operator’s panel0 : Not performed1 : Performed

#7NS07202

#6NS2

#5 #4 #3 #2 #1 #0

[Data type] Bit

NS2 0 : Uses the software operator’s panel general–purpose switches.1 : Does not use the software operator’s panel general–purpose switches.

NS0 0 : Uses the software operator’s panel.1 : Does not use the software operator’s panel.

4.34PARAMETERS OF SOFTWAREOPERATOR’S PANEL


187

7210 PLSKY1

[Data type] Byte

[Valid data range] 1, 2, 3, 4, 6, 7, 8, 9This parameter specifies a key value used with the + direction key for thefirst jog feed axis on the software operator’s panel.

7211 MNSKY1

[Data type] Byte

[Valid data range] 1, 2, 3, 4, 6, 7, 8, 9This parameter specifies a key value used with the –direction key for thefirst jog feed axis on the software operator’s panel.

7212 PLSKY2

[Data type] Byte

[Valid data range] 1, 2, 3, 4, 6, 7, 8, 9This parameter specifies a key value used with the + direction key for thesecond jog feed axis on the software operator’s panel.

7213 MNSKY2

[Data type] Byte

[Valid data range] 1, 2, 3, 4, 6, 7, 8, 9This parameter specifies a key value used with the –direction key for thesecond jog feed axis on the software operator’s panel.

7214 PLSKY3

[Data type] Byte

[Valid data range] 1, 2, 3, 4, 6, 7, 8, 9This parameter specifies a key value used with the + direction key for thethird jog feed axis on the software operator’s panel.

7215 MNSKY3

[Data type] Byte

[Valid data range] 1, 2, 3, 4, 6, 7, 8, 9This parameter specifies a key value used with the –direction key for thethird jog feed axis on the software operator’s panel.


188

7216 PLSKY4

[Data type] Byte

[Valid data range] 1, 2, 3, 4, 6, 7, 8, 9This parameter specifies a key value used with the + direction key for thefourth jog feed axis on the software operator’s panel.

7217 MNSKY4

[Data type] Byte

[Valid data range] 1, 2, 3, 4, 6, 7, 8, 9This parameter specifies a key value used with the –direction key for thefourth jog feed axis on the software operator’s panel.

7220 Name of general–purpose switch on software operator’s panel

7283 Name of general–purpose switch on software operator’s panel

[Data type] Byte


189

OPERATOR’S PANEL O1234 N5678

SIGNAL1 : OFF ONSIGNAL2 : OFF ONSIGNAL3 : OFF ONSIGNAL4 : OFF ONSIGNAL5 : OFF ONSIGNAL6 : OFF ONSIGNAL7 : OFF ONSIGNAL8 : OFF ON

These names are set using character codes that are displayed in parameterNos. 7220 to 7283.

Parameter No.7220:Sets the character code (083) corresponding to S of SIGNAL 1.

Parameter No.7221:Sets the character code (073) corresponding to I of SIGNAL 1.

Parameter No.7222:Sets the character code (071) corresponding to G of SIGNAL 1.

Parameter No.7223:Sets the character code (078) corresponding to N of SIGNAL 1.

Parameter No.7224:Sets the character code (065) corresponding to A of SIGNAL 1.

Parameter No.7225:Sets the character code (076) corresponding to L of SIGNAL 1.

Parameter No.7226:Sets the character code (032) corresponding to (space) of SIGNAL 1.

Parameter No.7227:Sets the character code (049) corresponding to 1 of SIGNAL 1.

Parameter Nos. 7228 to 7235:Set the character codes of SIGNAL 2 shown in the figure above.







The character codes are shown in Appendix A CHARACTER CODELIST.

ExampleThese parameters set thenames of thegeneral–purpose switches(SIGNAL 1 throughSIGNAL 8) on thesoftware operator’s panelas described below.


190

7410 M–code 1 for direct signal output function



[Data type] Word

[Valid data range] The number of the M–code for direct signal output is specified. The M–code with special meaning like below are not used.M00,M01,M02,M30,M98,M99,M800 to M999 and M90000000 toM99999999These M–codes can be used only in high response mode.

7415 Output address 1 for M–code for direct signal output function



[Data type] Word

[Valid data range] The Y address of PMC to output direct signals are specified.From 1000 to 1002 (Y address of built–in I/O)It is not necessary to specify the character ”Y”. Only numerical valueshould be set here. The correspondence between the M–code and thedirect signals are decided like below.No.7415 corresponds to No.7410.No.7416 corresponds to No.7411.No.7417 corresponds to No.7412.


before operation is continued.2 These parameters are effective when direct signal output

function is used in high response mode.

� Parameters related to thedirect M–code signaloutput function


191

7420 Number of output bits 1 for direct signal output



[Data type] Byte

[Valid data range] 1–8Set the number of output bits on Y address.Ex) When the output address is Y1001 and the number of output bits is3, then Y1001#0 to #2 are used for direct signal output.The correspondence between M–code and these parameters are shownbelow.No.7420 corresponds to No.7410No.7421 corresponds to No.7411No.7422 corresponds to No.7412If this parameter is set to ”0”, the M–code corresponded to the parameteris not used for direct signal output.

CAUTION1 When this parameter is set, the power must be turned off

before operation is continued. These parameters areeffective only in case of direct signal output function.

2 As the output signals on the built–in I/O are used, theaddress and the bit of the direct signal must not overlap withthe other usage of PMC application. The signals that arealready used for other purpose cannot be assigned here.

3 The bits other than the direct signal in the address assignedfor the direct signal must not be used for other usage.


192

#7EXH7670

#6 #5 #4 #3 #2 #1 #0

[Data type] Bit

EXH 0 : Sets an axis and magnification for external pulse input by using DIsignals

1 : Sets an axis and magnification for external pulse input by usingparameters

7681 Setting 1 of the ratio of an axis move amount to external pulses (M)

[Data type] Byte

[Valid data range] M = 1 to 255

NOTEThis parameter is valid when bit 7 (EXH) of parameterNo.7670 is set to 1.

7682 Setting 2 of the ratio of an axis move amount to external pulses (N)

[Data type] Word

[Valid data range] N = 1 to 1000


#77701

#6 #5 #4 #3 #2SM3

#1SM2

#0SM1

SM3 SM2 SM1 Number of sampling operations

0 0 0 4

0 0 1 1

0 1 0 2

0 1 1 8

1 0 0 16

1 0 1 4

1 1 0 4

1 1 1 4

Specify the number of sampling operations for input pulse smoothing.

4.35PARAMETERS OF THE EXTERNAL PULSE INPUT


193

7710 Setting of an axis number for movement along an axis by external pulses

[Data type] Byte

[Valid data range] 1, 2, ..., number of controlled axesIf 0 is specified, no movement along an axis is made by external pulses.


7712Time constant of acceleration/deceleration for an external pulse–based axis (exponential acceleration/deceleration)

[Data type] Word

[Unit of data] ms


7713 FL feedrate for acceleration/deceleration for an external pulse–based axis

[Data type] Word

[Unit of data]

[Valid data range]

Unit of dataRange of valid data

Unit of dataIS–B IS–C

deg/min 6 to 15000 6 to 12000

NOTEWhen the 2–path Power Mate i–D is used, the external pulseinput function can be used only with the first path side.


194

#7SKE8001

#6AUX

#5NCC

#4 #3RDE

#2OVE

#1 #0MLE

[Data type] Bit

MLE Whether all axis machine lock signal MLK is valid for PMC–controlledaxes0 : Valid1 : Invalid

OVE Signals related to dry run and override used in PMC axis control0: Same signals as those used for the CNC

(1) Feedrate override signals *FV0 to *FV7(2) Override cancellation signal OVC(3) Rapid traverse override signals ROV1 and ROV2(4) Dry run signal DRN(5) Rapid traverse selection signal RT

1: Signals specific to the PMC(1) Feedrate override signals *FV0E to *FV7E(2) Override cancellation signal OVCE(3) Rapid traverse override signals ROV1E and ROV2E(4) Dry run signal DRNE(5) Rapid traverse selection signal RTE

RDE Whether dry run is valid for rapid traverse in PMC axis control0 : Invalid1 : Valid

NCC When a travel command is issued for a PMC–controlled axis (selected bya controlled–axis selection signal) according to the program:0 : P/S alarm 139 is issued while the PMC controls the axis with an axis

control command. While the PMC does not control the axis, a CNCcommand is enabled.

1 : P/S alarm 139 is issued unconditionally.

NOTEThis parameter is valid when bit 7 (EA2) of parameterNo.8003 is set to 0.

AUX The number of bytes for the code of an auxiliary function (12H) commandto be output is0 : 1 (0 to 255)1 : 2 (0 to 65535)

SKE Skip signal during axis control by the PMC0 : Uses the same signal SKIP as CNC.1 : Uses dedicated axis control signal ESKIP used by the PMC.

4.36PARAMETERS OF AXIS CONTROL BY PMC


195

#7FR28002

#6FR1

#5PF2

#4PF1

#3F10

#2SUE

#1DWE

#0RPD

[Data type] Bit

RPD Rapid traverse rate for PMC–controlled axes0 : Feedrate specified with parameter No.14201 : Feedrate specified with the feedrate data in an axis control command

DWE Minimum time which can be specified in a dwell command in PMC axiscontrol when the increment system is IS–C0 : 1 ms1 : 0.1 ms


SUE Whether acceleration/deceleration is performed for an axis that issynchronized with external pulses, for external pulse synchronizationcommands in PMC axis control0 : Performed (exponential acceleration/deceleration)1 : Not performed

F10 Least increment for the feedrate for cutting feed (per minute) in PMC axiscontrol

F10 Millimeter input Inch input0 1 mm/min 0.01 inch/min

1 10 mm/min 0.1 inch/min

PF1, PF2 Set the the feedrate unit of feed per minute in PMC axis control

PF2 PF1 Feedrate unit0 0 1/1

0 1 1/10

1 0 1/100

1 1 1/1000

FR1, FR2 Set the feedrate unit for feed per rotation for an axis controlled by thePMC.

FR2 FR1 Millimeter input Inch input0 0

0.0001 mm/rev 0.000001 inch/rev1 1

0.0001 mm/rev 0.000001 inch/rev

0 1 0.001 mm/rev 0.00001 inch/rev

1 0 0.01 mm/rev 0.0001 inch/rev


196

#7

8003

#6 #5 #4 #3 #2 #1 #0PIM

PIMEA2


[Data type] Bit

PIM When only the axes controlled by the PMC are used, the linear axis is:0: Influenced by inch/millimeter input.1: Not influenced by inch/millimeter input.


EA2 PMC axis control complies to:0: Conventional specification1: New specification (this setting is to be used only when the

multiple–path control function is used.)

#78004

#6NCI

#5DSL

#4 #3 #2JFM

#1NMT

#0CMV

[Data type] Bit

CMV When a move command and auxiliary function are specified from theCNC, and the system is awaiting the auxiliary function completion signalafter completion of the specified axis movement:0 : An alarm (No.130) is issued when an axis control command is issued

from the PMC for the same axis.1 : An axis control command, when issued from the PMC for the same

axis, is executed.

NMT When a command is specified from the CNC for the axis on which the toolis moving according to axis control specification from the PMC:0 : P/S alarm No.130 is issued.1 : The command is executed without issuing an alarm, provided the

command does not involve a movement on the axis.

JFM This parameter sets the units used to specify feedrate data whencontinuous feed is specified in axis control by the PMC.

Increment system JFM Millimeter input Inch input Rotation axis

IS–A0 10 mm/min 0.1 inch/min 0.0023 min–1

IS–A1 2000 mm/min 20.0 inch/min 0.46 min–1

IS–B0 1 mm/min 0.01 inch/min 0.00023 min–1

IS–B1 200 mm/min 2.00 inch/min 0.046 min–1

IS–C0 0.1 mm/min 0.001 inch/min 0.000023 min–1

IS–C1 20 mm/min 0.200 inch/min 0.0046 min–1


197

DSL If the selection of an axis is changed when PMC axis selection is disabled:0 : P/S alarm No.139 is issued.1 : The change is valid, and no alarm is issued for an unspecified system.

NCI In axis control by the PMC, a position check at the time of deceleration is:0 : Performed.1 : Not performed.

NOTEBit 0 (CMV), bit 1 (NMT), and bit 5 (DSL) of this parameteris valid when bit 7 (EA2) of parameter No. 8003 is set to 0.

#78005

#6 #5 #4 #3DRR

#2R10

#1 #0

[Data type] Bit

R10 When the RPD parameter (bit 0 of parameter No.8002) is set to 1, the unitfor specifying a rapid traverse rate for the PMC axis is:0 : 1 mm/min.1 : 10 mm/min.

DRR For cutting feed per rotation in PMC axis control, the dry run function is:0 : Disabled.1 : Enabled.

NOTEBit 2 (R10) and bit 3 (DRR) of this parameter is valid whenbit 7 (EA2) of parameter No. 8003 is set to 0.

#78006

#6 #5 #4 #3EDL

#2 #1 #0

[Data type] Bit

EDL For PMC axis control, axis direction–specific interlock is:0 : Disabled.1 : Enabled.

NOTEThis parameter is valid when bit 7 (EA2) of parameter No.8003 is set to 0.


198

#78009

#6 #5 #4 #3 #2 #1INOV

#0IOVC

[Data type] Bit

IOVC Signal for override cancel used in the PMC axis control0 : Is common signal for all group1 : Is each signal for each group

INOV Signal for feedrate override used in the PMC axis control0 : Is common signal for all group1 : Is each signal for each group

NOTEWhen parameter No. 8009#0(IOVC) or 8009#1(INOV) is setto 0, each signal of override cancel and feedrate overridecan be selected to use same signals used for the CNC orsignals specific to the PMC by setting of parameter No.8001#2(OVE).

8010 Selection of the DI/DO group for each axis controlled by the PMC


[Valid data range] 1 to Number of Controlled axes

Specify the DI/DO group to be used to specify a command for eachPMC–controlled axis.

Value Description1 DI/DO group A (G142 to G149) is used.

2 DI/DO group B (G154 to G161) is used.

3 DI/DO group C (G166 to G173) is used.

4 DI/DO group D (G178 to G185) is used.

5 DI/DO group E (G464 to G471) is used.

6 DI/DO group F (G476 to G483) is used.

7 DI/DO group G (G488 to G495) is used.

8 DI/DO group H (G500 to G507) is used.

8022 Upper–limit rate of feed per revolution during PMC axis control

[Data type] Word


Increment system Unit dataValid data range

Increment system Unit dataIS–B IS–C




This parameter sets the upper limit rate of feed per revolution during PMCaxis control.


199

NOTEThe upper limit specified for the first axis is valid for all axes.The specifications for the second and subsequent axes areignored.

8028 Linear acceleration/deceleration time constant or bell–shaped acceleration/de-celeration time constant T1 for speed command–based continuous feed underPMC axis control for each axis

[Data type] Word axis[Unit of data] msec/1000 min–1


Specify an acceleration/deceleration time constant for speedcommand–based continuous feed under PMC axis control for each axis.

(1) Set the time required in increasing or decreasing the rotation speed ofthe servo motor by 1000 min–1 as a time constant for linearacceleration/deceleration when linear acceleration/deceleration is inuse. Also reset parameter No. 8029 to 0.

(2) Set time constant T1 for bell–shaped acceleration/deceleration whenbell–shaped acceleration/deceleration is used in this parameter, andtime constant T2 in parameter No. 8029. Read the followingdescriptions about parameter No. 8029 for explanations about timeconstants T1 and T2.

NOTE1 If both parameter Nos. 8028 and 8029 are reset to 0,

acceleration/deceleration control will not be performed.2 This parameter is valid when bit 7 (EA2) of parameter No.

8003 is set to 0.

8029 Bell–shaped acceleration/deceleration time constant T2 for speed command–based continuous feed under PMC axis control for each axis

[Data type] Word axis[Unit of data] msec


Specify bell–shaped acceleration/deceleration time constant T2 for speedcommand–based continuous feed under PMC axis control for each axis.Bell–shaped acceleration/deceleration time constant T1 must be set inparameter No. 8028. If this parameter is 0, acceleration/deceleration forspeed command–based continuous feed under PMC axis control is linear.(In this case, the time constant set in parameter No. 8028 is used for linearacceleration/deceleration.)

NOTE1 If this parameter is 0, acceleration/deceleration control is not

performed.2 This parameter is valid when bit 7 (EA2) of parameter No.

8003 is set to 0.


200

#7

8081

#6 #5 #4 #3

EXD

#2

TYB

#1 #0

ECM


[Data type] Bit

ECM The electronic cam function is:0 : Not used.1 : Used.

TYB The specification of the electronic cam is:0 : A1 : B

EXD The number of cam figure data items is:0 : Not increased.1 : Increased.

CAUTIONIf you change the setting of this parameter, you need to clearthe tape storage area. Before clearing it, back up the partprogram. To clear, hold down the <DELETE> key and turnon the power.

#7

8082

#6 #5 #4 #3 #2 #1

NCP

#0

[Data type] Bit

NCP In the electronic cam function, phase matching is:0 : Used.1 : Not used.

NOTEIf you want to connect the cam shaft to a tracking axis ordisconnect them during electronic cam operation, set thisparameter to “1”.

4.37PARAMETERS OFELECTRONIC CAM


201

8084

Type of a camshaft

[Data type] Word

[Valid data range] 0, 1000

Set the type of a camshaft axis in the electronic cam function. If a camshaftis a master device (device sharing information between units), set theparameter to 1000.Otherwise, set the parameter to 0.

8085

Type of a follow–up axis in the electric cam function


[Valid data range] 0, 1000

Select a follow–up axis in the electronic cam function. Set the type (valueof parameter No. 8084) of a camshaft on the follow–up axis side. Up tofour follow–up axes can be selected.If the axis is a master device (device sharing information between units),set the parameter to 1000.Otherwise, set the parameter to 0.

8086

Axis number for a cam shaft when the electronic cam function is used

[Data type] Byte

[Valid data range] 1 to maximum number of control axes

Specify an axis number for a cam shaft when the electronic cam functionis used.[Example] If you want to specify the fifth axis as a cam shaft, set the

parameter to 5.

NOTEThe same axis number as for the tracking axis cannot be setin this parameter.


202

8087

Select a tracking axis to be controlled using the electronic cam function


[Valid data range] 0,1 to maximum number of control axes

Select a tracking axis to be controlled using the electronic cam function.Specify the axis number for the cam shaft (value set in parameter No. 8086)on the tracking axis side. Up to four tracking axes can be selected. They arethe first, second, third, and fourth tracking axis as counted from the top.[Example] To specify that the cam shaft be the fifth axis and that the

first, second, and seventh axes be set as tracking axes, set upas follows:

Parameter No.8087(First axis) =5 (First tracking axis)(Second axis) =5 (Second tracking axis)(Third axis) =0(Fourth axis) =0(Fifth axis) =0 (Cam shaft)(Sixth axis) =0(Seventh axis) =5 (Third tracking axis)(Eighth axis) =0

NOTE1 An axis number assigned to a cam shaft cannot be selected

as a tracking axis.2 Keep the bits for axes not used as tracking axes at 0.

8088

Number of cam figure data items

NOTEWhen this parameter ise set, the power must be turned offbefore operating is continued.

[Data type] Word type

[Valid data range] 3 to 2048 (When parameter No.8081#3 (EXD) is set to 0.)3 to 14999 (When parameter No.8081#3 (EXD) is set to 1.)

Set the number of cam figure data items for the electronic cam function.

CAUTIONIf you change the setting of this parameter, you need to clearthe tape storage area. Before clearing it, back up the partprogram. To clear, hold down the <DELETE> key and turnon the power.


203

8090 Tolerance for a tracking axis speed difference at the start/end of synchronizationperformed when the electronic cam function is used




Specify a tolerance for a difference in speed between the cam shaft andeach tracking axis when they are connected and disconnected during theelectronic cam operation provided by the electronic cam function.Read descriptions about the electronic cam function in “ConnectionManual (Function)” for details.Set a value not lower than the result of the following expression.

Tracking axis speed (mm/min) at the start/end of synchronization7.5

[Example]Assuming the tracking axis speed (mm/min) at the start/end ofsynchronization is 360 mm/min:

360/7.5 = 48Therefore, set 48 or greater.

NOTEThis parameter is valid when phase matching is not used (bit1 (NCP) of parameter No. 8082 = 1).

8091

Allowable variations of master coordinates in positioning of an electronic cam

[Data type] Word

[Unit of data] Least input increment


Set an allowable value up to which the positioning completion signal isnot disabled even when camshaft coordinates vary upon completion ofpositioning of an electronic cam.

NOTE1 Make this setting considering the variation range of

coordinates in situations where the camshaft stops.2 When the parameter is 0, the conventional specification is

assumed.


204

8092

Allowable variations of slave coordinates in positioning of an electronic cam


[Unit of data] Least input increment


Set an allowable value up to which the positioning completion signal isnot disabled even when follow–up coordinates vary upon completion ofpositioning of an electronic cam.

NOTE1 Make this setting considering the variation range of the

electronic cam follow–up axis coordinates upon completionof positioning.

2 When the parameter is 0, the conventional specification isassumed.


205

#7NWR

8100

#6 #5 #4 #3 #2 #1 #0

[Data type] Bit

NWR For two–path control, each path is:0 : Not activated separately.1 : Activated separately.

NOTEIf you want to use two–path control, set also the EEPparameter (bit 3 of parameter No. 1803) to 1.

#7MSP

8101

#6 #5 #4 #3 #2 #1 #0

[Data type] Bit

MSP In case of two–path control,0 : External operator messages correspond to message number

2000–2999 are displayed on message screen of each path commonly.And the messages correspond to message number 6000–6999 are notavailable.

1 : External operator messages correspond to message number2000–2999 are displayed on message screen of the first path side andthe messages correspond to message number 6000–6999 aredisplayed on message screen of the second path side.

NOTEWhen this parameter is set in situations where the FOCAS1(or FOCAS2) CNC/PMC data window library is used, thepower needs to be turned off and back on again.

NOTERefer to the LADDER LANGUAGE PROGRAMMINGMANUAL (B–61863EN) for further details.

4.38PARAMETERS OF TWO–PATHCONTROL


206

8260

Unit number

[Data type] Word

[Data] Master unit number 1Slave unit number 2 to 16Inter–unit data sharing function disabled 0

Specify a unique unit number for a unit that uses inter–unit data sharing.The master unit must be the Power Mate i–H that is connected first.This is a power–off parameter.

#7

8261

#6

SLV60

#5

SLV50

#4

SLV40

#3

SLV30

#2

SLV20

#1

SLV10

#0

SLV70

8262SLVE0 SLVD0 SLVC0 SLVB0 SLVA0 SLV90 SLV80SLVF0

[Data type] Bit

[Data] Specify a slave unit that communicates with the master unit.To share information on devices of the master unit with a slave unit,communication with the slave having unit number (X–1) through themultiaxis synchronous line is:

0 : Not performed.1 : Performed.

Specify the unit number of a slave unit with which inter–unit data isshared.For example, to communicate with the slave units with unit numbers 1and 2, set bits 1 and 2 of the parameter No. 8261 to 1.This setting is required only on the master unit side.

4.39PARAMETERSRELATED TO THEINTER–UNIT DATASHARING FUNCTION


207

#7

8280

#6 #5 #4 #3 #2 #1 #0

PACEM

[Data type] Bit

PACEM The pacemaker function is:0 : Disabled.1 : Enabled.

To use the pacemaker function, be sure to set this parameter to 1.

8281

Pacemaker counter value



Set the pacemaker counter.When the counter reaches the upper limit, it returns to 0.When 0 is set, the counter is set to 1,000,000,000.When a setting is out of range, an alarm may occur.This is a power–off parameter.

8283

Pacemaker incremental value


[Unit of data] 1/ms


Set the count incremental value per millisecond applied when the level ofthe pacemaker override signal (described later) is 100%.

4.40PARAMETERSRELATED TO THEPACEMAKERFUNCTION


208

8290

Device number


Set the device number for a device to which pulses are to be appliedmanually.This parameter is reserved for future expansion. Set the values listedbelow for the time being.

First axis 1

Second axis 2

Third axis 3

Fourth axis 4

Fifth axis 5

Sixth axis 6

Seventh axis 7

Eighth axis 8

8291

Type of device


Set the type of a device to which pulses are to be applied manually.A value of 5 (device step signal) should be set for an axis for which deviceinput is to be performed.

Device type Category number

Device step signal 5

8292

Device axis magnification M


[Valid data range] -30000 to 30000

Set a magnification M for a device to which pulses are to be appliedmanually.The magnification satisfies the following expression.Pulses (P) input for a controlled axis = pulses for the device � MIf 0 or any value out of the valid data range is specified, a magnificationof 1 is assumed.

The maximum pulse count for the device is 32767 pulses, and theminimum pulse count is –32767 pulses. If P is greater than 32767,therefore, the actual pulse count is clamped at 32767.

4.41PARAMETERS OFDEVICE INPUT


209

8294

Device limit



Set a limit value per pulse for the device.If a pulse that exceeds the limit is input, clamping is made at the limitspeed.If 0 or any value out of the valid data range is specified, no limit iseffective.

ÏÏÏÏÏÏÏÏ

Pulse

Limit

Device–inputpulse

Actually distributedpulse


210

#7SOF8301

#6 #5 #4 #3 #2 #1 #0

[Data type] Bit

SOF The synchronization funciton in simple synchronous control (one pair) is:0 : Not used.1 : Used.

#78302

#6 #5 #4 #3 #2 #1ATS

#0ATE


[Data type] Bit

ATE Automatic setting of grid positioning for simplified synchronous controlone pair is:0 : Disabled1 : Enabled

ATS Automatic setting of grid positioning for simplified synchronous controlone pair is:0 : Not started1 : Started

NOTE1 When the bits are set to 1, parameter No.8316 and bit 4

(APZx) of parameter No.1815 for the master and slave axesare set to 0.

2 These bits are automatically set to 0 once grid positioninghas been completed.

#7

8303

#6 #5 #4 #3 #2 #1

ASX

#0

AEXSFX

NOTEAfter this parameter has been set, the power must be turnedoff then on again for the setting to become effective.


AEX In simple synchronous control, automatic setting for grid positioning is:0 : Disabled.1 : Enabled.

ASX In simple synchronous control, automatic setting for grid positioning is:0 : Not started.1 : Started.

4.42PARAMETERS OF SIMPLESYNCHRONOUSCONTROL


211

NOTEWhen starting automatic setting for grid positioning, set ASXto 1. Upon the completion of setting, ASX is automaticallyset to 0.

SFX In simple synchronous control, the synchronization function is:0 : Not used.1 : Used.

8311 Axis number of master axis in synchronous control



[Valid data range] 0, 1 to Number of controlled axes

Select a master axis and slave axis in simple synchronous control. Set amaster axis number with the slave axis side. The axis number settings are:1 –> First axis, 2 –> Second axis, 3 –> Third axis, 4 –> Fourth axis. Up tofour pairs can be specified.

Example1:Simple synchronous control is exercised with one pair.When using the first axis (X–axis) as the master axis, and thethird axis (Z–axis) as the slave axis, set parameter No.8311 asfollows:

Parameter No. 8311 X (first axis) = 0Y (second axis) = 0Z (third axis) = 1A (fourth axis) = 0

Example2:Simple synchronous control is exercised with three pairs.Assume that the following three pairs are to be used:The master axis is the first axis, while a slave axis is the sixth axis.The master axis is the second axis, while a slave axis is the fifthaxis.The master axis is the third axis, while a slave axis is the fourthaxis.For this specification, set this parameter as follows:

Parameter No.8311 X (First axis) = 0Y (Second axis) = 0Z (Third axis) = 0

(Fourth axis) = 3(Fifth axis) = 2(Sixth axis) = 1

NOTEThe axis number of a master axis must always be smallerthan the corresponding slave axis number. Multiple slaveaxes cannot be assigned to a master axis.


212

8313Limit of the difference between the amount of positioning deviation of the masterand slave axes (Synchronous control one pair)

[Data type] Word



Set the limit of the difference between the amount of positioningdeviation of the master and slave (fourth) axes. If the difference betweenthem exceeds the limit assigned to the parameter, the P/S alarm (No.213)is activated.

8314 Maximum error in synchronization error check


[Unit of data]Increment system IS–A IS–B IS–C UnitsMillimeter machine 0.01 0.001 0.0001 mm




The machine coordinates on a master axis and slave axis are monitored. Ifa difference (synchronization error) which is greater than the valuespecified in this parameter is detected, a servo alarm (No.407) isgenerated, and the machine is stopped.

Set this parameter with a master axis. When 0 is set in this parameter, nosynchronization error check is made.

8315 Maximum compensation value for synchronization (Synchronous control one pair)





This parameter sets the maximum compensation value forsynchronization. When a compensation value greater than the value setin this parameter is used, servo alarm No.407 is issued.


213

8316Difference between reference counters for master and slave axes (Synchronous control one pair)



[Data unit] Detection unit


This parameter indicates the difference between the values in thereference counter for the master axis and that for the slave axis.

NOTEOnce grid positioning has been completed, the differencebetween the reference counters is automatically set in thisparameter. At this time, bit 1 (ATS) of parameter No.8302 isset to 0.

8317 Torque difference alarm detection time (Synchronous control one pair)

[Data type] Word

[Data unit] ms

[Valid data range] 0 to 4000 (When 0 is set, 512 ms is assumed.)

This parameter specifies the period between the servo preparationcompletion signal (SA <F000 bit 6>) being set to 1 and the check of thetorque difference alarm being started, for the torque difference alarmdetection function.

The set value is rounded up to the nearest a multiple of 16 ms.

[Example] When 100 is specified, 112 ms is assumed.

8323Maximum allowable difference between master axis and slave axis positional deviations




This parameter sets the maximum allowable difference between themaster axis and slave axis position deviations. If a positional deviationdifference exceeds the value specified in this parameter, an alarm(No.213) is issued.

Set this parameter with a master axis. If 0 is specified in this parameter, noposition deviation difference check is made.


214

8325Maximum compensation value for synchronization




This parameter sets the maximum compensation value forsynchronization. If a compensation value exceeds the value specifiedwith this parameter, a servo alarm (No.407) is issued.

Specify a master axis for this parameter. To enable this parameter, set theSOFx parameter (bit 7 of parameter No.8303) to 1.

8326Difference between master axis and slave axis reference counters




The difference between the master axis reference counter and slave axisreference counter (master axis and slave axis grid shift) is automaticallyset when automatic setting for grid positioning is performed. Then, thedifference is transferred together with an ordinary grid shift value to theservo system when the power is turned on.

This parameter is set with a master axis.

8327Torque difference alarm detection timer


[Unit of data] ms


This parameter sets a time from the servo preparation completion signal,SA (F000#6), being set to 1 until torque difference alarm detection isstarted in simple synchronous control. A fraction of less than 16 msec isrounded up.

Example: Setting = 100: The specification of 112 msec is assumed.

Set this parameter with a master axis. If 0 is set in this parameter, thespecification of 512 msec is assumed.


215

8380

Axis number for a parent axis used by the multiaxis synchronization function



Specify a parent axis number for a child axis under synchronizationcontrol.There is no need to specify the parent axis itself.Only one parent axis can be paired with a child axis. The child axis cannothave more than one parent axis.

8381

Type of a parent axis


Set the type of the parent axis of the local axis in multiaxis synchronouscontrol. An axis with a setting of 0 is not related to synchronization.

1 Servo axis, hypothetical axis4 Separate absolute position detector7 Pacemaker

100 The local axis is a parent axis and is a servo axis or hypotheticalaxis.

400 The local axis is a parent axis and a separate pulse coder.1000 Device of another Power Mate

#7

8382

#6 #5 #4 #3 #2

MCHER

#1

SCHKP

#0


SCHKP When a parent axis starts operating on the start point in start pointsynchronization:0 : The child axis does not start synchronization when the parent axis is

moving in the positive direction. (The child axis startssynchronization when the parent axis is moving in the negativedirection.)

1 : The child axis starts synchronization regardless of the movementdirection of the parent axis.

MCHER Servo delay for machine coordinates is:0 : Considered.1 : Not considered.

4.43PARAMETERS OF MULTIAXISSYNCHRONIZATION


216

#7

8385

#6 #5 #4 #3 #2 #1 #0

NCNT


NCNT The start point synchronization control command is buffered in the nextblock:0 : Overlapping with the previous block is continuously performed and

synchronization control is made successively.1 : The previous block is terminated and synchronization control is made

after the start point is reached.


217

8396

Master device number

[Data type] Word

[Data] 1 to 8

[Data description] Set the device number of a device of the master unit that shares inter–unitdata with a slave unit.When the device type is a servo axis or separate absolute position detector,set the axis number. When it is a pacemaker, set 1.This parameter needs to be set only for the master unit.

8397

Master device type

[Data type] Word

[Data type] Servo axisSeparate absolute position detector 4Pacemaker 7

[Data description] Set the type of a device of the master unit that shares inter–unit data witha slave unit.This parameter needs to be set only for the master unit.

4.44PARAMETERSRELATED TO THEINTER–UNIT DATASHARING FUNCTION(2)


218

#7E088500

#6E07

#5E06

#4E05

#3E04

#2E03

#1E02

#0E01

E168501 E15 E14 E13 E12 E11 E10 E09

[Data type] Bit

E01 to E16 The corresponding high–speed position switch is:0 : Enabled.1 : Disabled. (The output of the high–speed position switch signal is

always kept at 0.)

These parameters specify whether to enable or disable the correspondinghigh–speed position switches.A disabled high–speed position switch always outputs 0.The two–digit number in each parameter name represents the sequence ofthe high–speed position switch.(Example: E01 ––– setting for the first high–speed position switch. E16––– setting for the sixteenth high–speed position switch.)

#7D088504

#6D07

#5D06

#4D05

#3D04

#2D03

#1D02

#0D01

D168505 D15 D14 D13 D12 D11 D10 D09

[Data type] Bit

D01 to D16 The output type of the corresponding high–speed position switch is:0 : Normal. (The machine coordinate range is used to determine whether

to output the signal.)1 : Decision by direction. (The machine coordinates and operation

direction are used to determine whether to output the signal.)

These parameters set the output types for the corresponding high–speedposition switches.The two–digit number in each parameter name represents the sequence ofthe high–speed position switch.(Example: D01 ––– setting for the first high–speed position switch. D16––– setting for the sixteenth high–speed position switch.)


4.45PARAMETERS OFHIGH–SPEEDPOSITION SWITCHES


219

#7A088508

#6A07

#5A06

#4A05

#3A04

#2A03

#1A02

#0A01

A168509 A15 A14 A13 A12 A11 A10 A09

[Data type] Bit

A01 to A16 The signal is turned on when the corresponding high–speed positionswitch passes through the machine coordinate position set in parameterNo. 8550 to 8565:0 : In the negative (–) direction.1 : In the positive (+) direction.

When decision by direction is selected for the output type of a high–speedposition switch in parameter No. 8550 to 8565, the correspondingparameter sets the direction.The two–digit number in each parameter name represents the sequence ofthe high–speed position switch.

For ordinary high–speed position switches, it is unnecessaryto set up this parameter.

#7B088512

#6B07

#5B06

#4B05

#3B04

#2B03

#1B02

#0B01

B168513 B15 B14 B13 B12 B11 B10 B09

[Data type] Bit

B01 to B16 The signal is turned off when the corresponding high–speed positionswitch passes through the machine coordinate position set in parameterNo. No.8580 to 8595:0 : In the negative (–) direction.1 : In the positive (+) direction.

When decision by direction is selected for the output type of a high–speedposition switch in parameter No.8580 to 8595, the correspondingparameter sets the direction.The two–digit number in each parameter name represents the sequence ofthe high–speed position switch.

For ordinary high–speed position switches, it is unnecessaryto set up this parameter.


220

8516 Maximum allowable number of high–speed position switches

[Data type] Word


Specify the maximum allowable number of high–speed positionswitches.

NOTE� The number of high–speed position switches specified in

this parameter is the sum of ordinary and decision–by–direction high–speed position switches.

� To put the setting of this parameter in effect, turn the poweroff and on again.

� If a specified value is out of the valid data range, thehigh–speed position switch function is disabled.

The larger value is set in the parameter, the longer time theprocessing takes.For each switch, therefore, you should set the same numberas their switch number.However, you need to include the switches disabled usingparameter Nos. 8500 and 8501 in the number of switches.Therefore, the setting of the parameter must match thehighest high–speed position switch number to be used.

Example: When the first, fourth, and tenth high–speedposition switches are used, parameter No. 8516 must beset to 10 or greater even if the other high–speed positionswitches are disabled. In this case, you should setparameter No. 8516 to 3 to use the first, second, and thirdhigh–speed position switches if you are going to use onlythree high–speed position switches.

8517 Start address of high–speed position switch output

[Data type] Word

[Valid data range] 1000 to 1002 (built–in I/O Y address range)

Specify the Y signal address where the first to eighth high–speed positionswitch signals are to be output. The output addresses for the ninth tosixteenth high–speed position switches are specified as the “addressspecified in parameter No. 8517 plus 1”. It is unnecessary to specifyseparate addresses for the ordinary and decision–by–directionhigh–speed position switches. Parameter Nos. 8504 and 8505 are usedto specify what bits of the output address are to be used as ordinary ordecision–by–direction high–speed position switches.

( ) Each bit of the Y address specified in this parameter is assignedto the first high–speed position switch, the second high–speedposition switch, and so on sequentially, starting at bit 0. It isimpossible to change the sequence and to skip bits.


221

Example: If parameter No. 8516 = 16 and parameter No. 8517 = 1000,the relationships between the Y signal and the high–speed positionswitch number are as follows:

Y1000#0 ––– first high–speed position switch signalY1000#1 ––– second high–speed position switch signal

: :Y1000#7 ––– sixteenth high–speed position switch signal

It is impossible, for example, to assign Y1000#0 to the sixteenthhigh–speed position switch and to skip Y1000#1 to assign Y1000#2to the second high–speed position switch.

( ) If a nonexistent signal address is specified, the high–speed positionswitch function is disabled.

NOTE1 When high–speed position switches are to be used for both

paths in Power Mate i–D two–path control, change Y signaloutput addresses for each path separately.Example: If four high–speed position switches are used forpath 1, and other four high–speed position switches areused for path 2(Example of correct settings)

Parameters for path 1Parameter No. 8516 = 4Parameter No. 8516 = 1000 “Bits 0 to 3 of

Y1000 are used.”Parameters for path 2

Parameter No. 8516 = 4Parameter No. 8516 = 1001 “Bits 0 to 3 of Y1001

are used.”(Example of incorrect settings)The following settings are unusable.

Parameters for path 1Parameter No. 8516 = 4Parameter No. 8516 = 1000 “Bits 0 to 3 of Y1000

are used.”Parameters for path 2

Parameter No. 8516 = 4Parameter No. 8516 = 1000 <––“Bits 4 to 7 of Y1000

are used.”2 Do not use any Y signal already used on the PMC ladder.

Otherwise, the machine may behave in an unexpectedmanner.

3 When this parameter is set, the power must be turned offbefore operation is continued.


222

8520 Axis corresponding to the first high–speed position switch

8521 Axis corresponding to the second high–speed position switch

8522 Axis corresponding to the third high–speed position switch

8523 Axis corresponding to the fourth high–speed position switch

8524 Axis corresponding to the fifth high–speed position switch

8525 Axis corresponding to the sixth high–speed position switch

8526 Axis corresponding to the seventh high–speed position switch

8527 Axis corresponding to the eighth high–speed position switch

8528 Axis corresponding to the ninth high–speed position switch

8529 Axis corresponding to the tenth high–speed position switch

8530 Axis corresponding to the tenth high–speed position switch

8531 Axis corresponding to the eleventh high–speed position switch

8532 Axis corresponding to the twelveth high–speed position switch

8533 Axis corresponding to the tirteenth high–speed position switch

8534 Axis corresponding to the fifteenth high–speed position switch

8535 Axis corresponding to the sixteenth high–speed position switch

[Data type] Byte

[Valid data range] 0,1,2,3,..., Number of controlled axes

These parameters specify the axis control numbers corresponding to thefirst to sixteenth high–speed position switches.Set 0 for the number corresponding to a high–speed position switch whichis not to be used.


223

8550 Maximum value of the operation range of the first high–speed position switch(for normal type) or position where the first high–speed position switch is turnedon (for direction reversing type)

8551 Maximum value of the operation range of the third high–speed position switch(for normal type) or position where the third high–speed position switch is turnedon (for direction reversing type)

8552 Maximum value of the operation range of the third high–speed position switch(for normal type) or position where the third high–speed position switch is turnedon (for direction reversing type)

8553 Maximum value of the operation range of the fourth high–speed position switch(for normal type) or position where the fourth high–speed position switch isturned on (for direction reversing type)

8554 Maximum value of the operation range of the fifth high–speed position switch(for normal type) or position where the fifth high–speed position switch is turnedon (for direction reversing type)

8555 Maximum value of the operation range of the sixth high–speed position switch(for normal type) or position where the sixth high–speed position switch isturned on (for direction reversing type)

8556 Maximum value of the operation range of the seventh high–speed positionswitch (for normal type) or position where the seventh high–speed positionswitch is turned on (for direction reversing type)

8557 Maximum value of the operation range of the eighth high–speed position switch(for normal type) or position where the eighth high–speed position switch isturned on (for direction reversing type)

8558 Maximum value of the operation range of the ninth high–speed position switch(for normal type) or position where the ninth high–speed position switch isturned on (for direction reversing type)

8559 Maximum value of the operation range of the tenth high–speed position switch(for normal type) or position where the tenth high–speed position switch isturned on (for direction reversing type)

8560 Maximum value of the operation range of the eleventh high–speed positionswitch (for normal type) or position where the eleventh high–speed positionswitch is turned on (for direction reversing type)

8561 Maximum value of the operation range of the twelveth high–speed positionswitch (for normal type) or position where the twelveth high–speed positionswitch is turned on (for direction reversing type)

8562 Maximum value of the operation range of the thirteenth high–speed positionswitch (for normal type) or position where the thirteenth high–speed positionswitch is turned on (for direction reversing type)

8563 Maximum value of the operation range of the fourteenth high–speed positionswitch (for normal type) or position where the fourteenth high–speed positionswitch is turned on (for direction reversing type)

8564 Maximum value of the operation range of the fifteenth high–speed positionswitch (for normal type) or position where the fifteenth high–speed positionswitch is turned on (for direction reversing type)

8565 Maximum value of the operation range of the sixteenth high–speed positionswitch (for normal type) or position where the sixteenth high–speed positionswitch is turned on (for direction reversing type)


224


[Unit of data]






– For normal type

Maximum value (machine coordinate value) of the operation range ofthe first to sixteenth high–speed position switches

If you make such a setting which causes the maximum value is lessthan the minimum value, will result, the range of operation isnarrowed, making the high–speed position switched inoperable.

– For direction reversing type

Position where the first to sixteenth position switches are turned on

The high–speed position switches change their states only when thetool passes these machine coordinates in the direction specified inparameter Nos. 8508 and 8509 (bit).

NOTEThe same parameters are used to set the upper limit for theoperation range of the ordinary high–speed positionswitches and the machine coordinates where the decision–by–direction high–speed position switches become ON. Becareful not to make incorrect settings.


225

8580 Minimum value of the operation range of the first high–speed position switch (fornormal type) or position where the first high–speed position switch is turned off(for direction reversing type)

8581 Minimum value of the operation range of the second high–speed position switch(for normal type) or position where the second high–speed position switch isturned off (for direction reversing type)

8582 Minimum value of the operation range of the third high–speed position switch(for normal type) or position where the third high–speed position switch is turnedoff (for direction reversing type)

8583 Minimum value of the operation range of the fourth high–speed position switch(for normal type) or position where the fourth high–speed position switch isturned off (for direction reversing type)

8584 Minimum value of the operation range of the fifth high–speed position switch (fornormal type) or position where the fifth high–speed position switch is turned off(for direction reversing type)

8585 Minimum value of the operation range of the sixth high–speed position switch(for normal type) or position where the sixth high–speed position switch isturned off (for direction reversing type)

8586 Minimum value of the operation range of the seventh high–speed position switch(for normal type) or position where the seventh high–speed position switch isturned off (for direction reversing type)

8587 Minimum value of the operation range of the eighth high–speed position switch(for normal type) or position where the eighth high–speed position switch isturned off (for direction reversing type)

8588 Minimum value of the operation range of the ninth high–speed position switch(for normal type) or position where the ninth high–speed position switch isturned off (for direction reversing type)

8589 Minimum value of the operation range of the tenth high–speed position switch(for normal type) or position where the tenth high–speed position switch isturned off (for direction reversing type)

8590 Minimum value of the operation range of the eleventh high–speed positionswitch (for normal type) or position where the eleventh high–speed positionswitch is turned off (for direction reversing type)

8591 Minimum value of the operation range of the twelveth high–speed positionswitch (for normal type) or position where the twelveth high–speed positionswitch is turned off (for direction reversing type)

8592 Minimum value of the operation range of the thirteenth high–speed positionswitch (for normal type) or position where the thirteenth high–speed positionswitch is turned off (for direction reversing type)

8593 Minimum value of the operation range of the fourteenth high–speed positionswitch (for normal type) or position where the fourteenth high–speed positionswitch is turned off (for direction reversing type)

8594 Minimum value of the operation range of the fifteenth high–speed position switch(for normal type) or position where the fifteenth high–speed position switch isturned off (for direction reversing type)

8595 Minimum value of the operation range of the sixteenth high–speed positionswitch (for normal type) or position where the sixteenth high–speed positionswitch is turned off (for direction reversing type)


226


[Unit of data]






– For normal type

Minimum value (machine coordinate value) of the operation range ofthe first to sixteenth high–speed position switches

If you make such a setting which causes the maximum value is lessthan the minimum value, the range of operation is narrowed, makingthe high–speed position switched inoperable.

– For direction reversing type

Position where the first to sixteenth position switches are turned off

The high–speed position switches change their states only when thetool passes these machine coordinates in the direction specified inparameter Nos. 8512 and 8513 (bit).

NOTEThe same parameters are used to set the lower limit for theoperation range of the ordinary high–speed positionswitches and the machine coordinates where the decision–by–direction high–speed position switches become OFF.Be careful not to make incorrect settings.


227

#78650

#6 #5 #4 #3 #2 #1CNA

#0RSK

[Data type] Bit

RSK When the RESET key is pressed, the key code is:0 : Not passed to the application.1 : Passed to the application.

CNA When an NC alarm is issued during the display of the user screen for the Cexecutor:0 : The NC alarm screen can be displayed depending on the setting of bit

7 (NPA) of parameter No.3111.1 : The NC alarm screen is not displayed.

NOTEThis parameter is used with the C executor. Any modificationsto the value set for this parameter does not become effectiveuntil after the system is next powered on.

#78653

#6 #5 #4 #3 #2CM3

#1CM2

#0CM1

[Data type] Bit

CM1 When the [CUSTOM/GRAPH] key(NOTE 2) is pushed, the user screenthat was defined as CRT_USR_AUX is0 : Not displayed.1 : Displayed.

CM2 When the [CUSTOM/GRAPH] key(NOTE 2) is pushed, the user screenthat was defined as CRT_USR_MCR is0 : Not displayed.1 : Displayed

CM3 When the [CUSTOM/GRAPH] key(NOTE 2) is pushed, the user screenthat was defined as CRT_USR_MENU is0 : Not displayed.1 : Displayed.

Symbols in a source file set which user screen is displayed. The following table shows relation between symbols and parameters.

Parameters Symbols

CM1 CRT_USR_AUX

CM2 CRT_USR_MCR

CM3 CRT_USR_MENU

4.46PARAMETERS OF CLANGUAGEEXECUTOR ANDMACRO EXECUTOR


228

The symbols mean following screens.

� CRT_USR_AUX: a screen displayed with a push of[CUSTOM/GRAPH] key.

� CRT_USR_MCR: a screen displayed with twice push of[CUSTOM/GRAPH] key.

� CRT_USR_MENU: a screen displayed with three times push of[CUSTOM/GRAPH] key.

These screens are changed with a push of [CUSTOM/GRAPH] key. Thescreens, whose parameter is set to ”0” are skipped.

NOTE1 When the Macro Executor option is effective, these

parameters are invalid.2 The virtual–key to switch to FANUC PICTURE screen can be

assigned by the parameter 3195#0, when the LCD unit withtouch panel is used.

8661 Variable–area size

[Data type] Word

[Unit of data] KByte


Specify the size of a static variable area that is sharable among tasks in1 Kbyte units. The maximum size that can be specified is 59 Kbytes.However, keep the sum of the SRAM Disk size and this value at or below“usable SRAM size – 1” Kbytes (that is, 63 Kbytes).

NOTEIf the setting of this parameter is changed, the contents of thevariable area and SRAM Disk are initialized. The change isput in effect next time the power is turned on.

8662 SRAM Disk size

[Data type] Word

[Unit of data] KByte


Specify the size of the SRAM Disk in 1 Kbyte units, using a value of 4Kbytes or greater. The maximum size that can be specified is 63 Kbytes.However, keep the sum of the variable–area size and this value at or below(usable SRAM size – 1) Kbytes (that is, 63 Kbytes).

NOTEIf the setting of this parameter is changed, the contents of thevariable area and SRAM Disk are initialized. The change isput in effect next time the power is turned on.


229

8663 Time zone setting


[Unit of data] Second

[Valid data range] –12 � 3600 to 12 � 3600

Specify the time difference between the Japan standard time and theGreenwich Mean Time in second units. The time difference is –9 hours.(Setting value : –9 �3600 = –32400)

NOTEThis parameter is for C language executor.The change is put in effect next time the power is turned on.


230

#7

8680

#6 #5 #4

HOVZ

#3

HECF

#2 #1

SSRT

#0

TSRTHSKZ

[Data type] Bit

TSRT When a skip command block with G31 P98 or P101 to P126 is skipped bytorque limit condition,0 : Servo following error and error of acceleration/deceleration are

reflected to skip position.1 : Servo following error and error of acceleration/deceleration are not

reflected to skip position.

The relation between this parameter and the parameter No.6201#2(TSE)is shown in the following table.

TSE TSRT Reflection of servofollowing error

Reflection of error ofacceleration/deceleration

0 0 Is done. Is done.

0 1 Is not done. Is not done.

1 0 Is not done. Is done.

1 1 Is not done. Is not done.

SSRT When a skip command block with G31 P1 to P26 or P101 to P126 isskipped by skip signal,0 : Servo following error and error of acceleration/deceleration are not

reflected to skip position.1 : Servo following error and error of acceleration/deceleration are

reflected to skip position.

HECF In the continuous feed (G135.1) function, the time constant foracceleration/deceleration:0 : Does not use parameters No. 1644 and No. 1645. (In the conventional

specification, parameters No. 1635 and No. 1638 are used.)1 : Uses parameters No. 1644 and No. 1645.

HOVZ During execution of the time constant specification feed function(G135.3) in the high–speed response mode, override 0% specification is:0 : Disabled.1 : Enabled.

HSKZ In case of skip function in high speed response mode, smoothing zerocheck and in–position check between commandblocks are:0 : Performed.1 : Not performed.

NOTEWhen ”1” (not performed) is set to this parameter, overrideand automatic acceleration/deceleration is effective to a skipcommand regardless of setting value of the parameter SKF(No.6200#7).

4.47PARAMETERS OFHIGH–SPEEDRESPONSE (1)


231

#7

8681

#6 #5 #4 #3 #2 #1

HRWR

#0

[Data type] Bit

HRWR The absolute position during execution of a motion program in thehigh–speed response mode and one byte of R (internal relay) data of thePMC used as the counter in updating the remaining amount of movementare:0 : Not used.1 : Used.

NOTEWhen at least one of these parameters is set, the powermust be turned off before operation is continued.

8686

Number of programs that can be concurrently executed with the high–speed re-sponse function

[Data type] Byte

[Unit of data] Number of programs


NOTEWhen 0 is set, the maximum number of programs that canbe concurrently executed is equal to the number of controlaxes.

8691

Top number of sub–program number


[Valid data range] 1 to 9999 In case program number O4 digits1 to 99999999 In case program number O8 digits

But 8000 to 8031 assigned to main program can not be specified.Set the start number of sub–programs used in the high–speed responsemode.

NOTEWhen this parameter is set, the power must be turned offbefore operation is continued. Also be sure to recompile programs after the power on.


232

8692

Total number of sub–program

[Data type] Word


Set the number of sub–programs used in the high–speed response mode.


before operation is continued. Also be sure to recompile programs after the power on.

2 Part program storage is required for making program.Registered total program number included in basic functionis 63. So specify enough capacity of part program storageand total program number according to your program.

3 The area that includes main program number (O8000 toO8031) can not be specified as the area of sub–program. Ifsuch is set, sub–program calling function can not be used.Ex) The following setting (Specify O7900 to O8099 as

sub–program number) is forbidden.Parameter No. 8691 = 7900Parameter No. 8692 = 200

4 When these parameter, No.8691 and No.8692, is not setcorrectly, sub–program calling function can not be used.

Main programs and sub–programs are protected from editing/displayingby setting the following parameters. Parameter No.3202#0 (NE8), #4 (NE9), parameter No.3204#3 (P8E), #4(P9E)

� In case sub–program numbers are within 8032 to 8999(The area of sub–program number is specified by the parameterNo.8691 and No.8692)If NE8=1, a compile error 1824 occurs at compiling.

� In case sub–program numbers are within 8032 to 9999. If NE8=1 and NE9=1, a compile error 1824 occurs at compiling.

� In case sub–program numbers are within 80000000 to 89999999 If NE8=1 and P8E=1, a compile error 1824 occurs at compiling.

� In case sub–program numbers are within 90000000 to 99999999.If NE8=1 and P9E=1, a compile error 1824 occurs at compiling.

In case you start to compile only one program by an external signal, acompile error 1824 occurs if the program is protected by the above setting.


233

8693

Absolute position during execution of a motion program in the high–speed responsemode and one byte of R (internal relay) data of the PMC used as the counter in

updating the remaining amount of movement

[Data type] Word

[Unit of data]

[Valid data range] Available range of R (internal relay) data of the PMC


before operation is continued.2 When bit 1 (HRWR) of parameter No. 8681 is set to 1, never

write the R (internal relay) data of the PCM specified by thisparameter.


234

#78701

#6 #5 #4 #3 #2WPR

#1PLD

#0

[Data type] Bit

PLD When the P–code loader function is used (macro compiler/executor):0 : AM is initialized and the entire contents of RAM are rewritten.1 : RAM is not initialized, being overwritten instead

WPR The function that allows parameters that are rewritten using the PMCwindow to be enabled during automatic operation is:0 : Disabled.1 : Enabled.

#78705

#6 #5 #4 #3 #2 #1ADC

#0

[Data type] Bit

ADC 0 : Does not use the analog input module.1 : Uses the analog input module.

#7

8706

#6 #5

CPL

#4

HMD

#3

APMCD

#2

HMC

#1 #0

[Data type] Bit

NOTEAfter setting this parameter, turn the power off then on againso that the setting will take effect.

HMC The macro statement in high response function is0 : Not available1 : Available

APMCD In the system that the high speed response function is enabled, thevariables from #1245 to #1995 in the normal mode are0 : Not available1 : Available

CPL In the high–speed response function, the signal–based compile function is:0 : Not used.1 : Used.

HMD In the high–speed response function, an auxiliary function is:0 : Not used.1 : Used.

4.48OTHERPARAMETERS


235

8730 Input voltage offset for the analog input module

[Data type] Word

[Unit of data] 1.22 mV

[Valid data range] 0 to +8191This parameter specifies an offset for a voltage applied from the analoginput module. Specify 0 V so that the value of diagnostic data No. 833becomes 0.

#7

8731

#6

EP6

#5

EP5

#4

EP4

#3

EP3

#2

EP2

#1

EP1

#0

EP0EP7

[Data type] Bit

EPn The signal DI3n (X1003 bit n) is0 : Used for high–speed skip function or measuring function by using

high–speed skip signal1 : Used for interrupt type PMC

NOTE1 Changes to this setting take effect the next time the power

is turned on.2 The same signal cannot be used by the measuring function

by high–speed skip signal and the interrupt type PMCfunction at the same time.

3 This parameter must be set to 0, when the above functionsare not used.

#7

8732

#6

UP6

#5

UP5

#4

UP4

#3

UP3

#2

UP2

#1

UP1

#0

UP0UP7

[Data type] Bit

UPn The rising edge (0 → 1) of the signal DI3n (X1003 bit n) is :0 : Not used for interrupt type PMC or high–speed skip signal.1 : Used for interrupt type PMC or high–speed skip signal.

NOTEChanges to this setting take effect the next time the poweris turned on.


236

#7

8733

#6

DN6

#5

DN5

#4

DN4

#3

DN3

#2

DN2

#1

DN1

#0

DN0DN7

[Data type] Bit

DNn The falling edge (1 → 0) of the signal DI3n (X1003 bit n) is0 : Not used for interrupt type PMC or high–speed skip signal1 : Used for interrupt type PMC or high–speed skip signal.

NOTEChanges to this setting take effect the next time the poweris turned on.

8745

Start address for the PMC internal relay used in M code output


[Valid data range] 0 to the number of bytes usable in the R area

Set the start address for the PMC internal relay (R area) to be used by thehigh–speed response function for M code output. (A 32–byte area startingat the specified address is used by the high–speed response function as anM code output area.)

8746

Start address for the PMC internal relay by the high–speed response function

[Data type] Two–word type

[Valid data range] 0 to the number of bytes usable in the R area

Set the start address for the PMC internal relay (R area) to be used by thehigh–speed response function signal–based compile function. (A16–byte area starting at the specified address is used by the high–speedresponse function signal–based compile function.)Supposing this parameter is set to xxx, each item of data is assigned asfollows:

NOTEA system program–managed area cannot be specified inthis parameter.


237

Rxxx+0

Rxxx+4

Rxxx+8

Rxxx+12

(input)

(output)

(output)

(output)

Program to be compiled (If 0is specified, all programs willbe compiled.)Program number where acompile error has occurred

Block number where a com-pile error has occurred

Compile error code

NOTEIn the above table, an area indicated as “output” is intendedfor output. The PMC must handle it as read–only.

8760 Program number for registering data for slaves (I/O Link–based data input/out-put function)

[Data type] Word


Set the program number of a program for registering data (parameters,macro variables, and diagnose (PMC) data) from slaves by the I/OLink–based data input/output function.Use a program number determined by:

Parameter for slaves in group n: Setting + n � 10 + 0Macro variable for slaves in group n: Setting + n � 10 + 1Diagnose (PMC) data for slaves in group n: Setting + n � 10 + 2

(Example) If the parameter is set to 8000:[Program number] [Type of data saved as program]

8000: Parameter in group 0 (I/O CHANNEL = 20)8001: Macro variable in group 0 (I/O CHANNEL = 20)8002: Diagnose (PMC) data in group 0 (I/O CHANNEL = 20)8010: Parameter in group 1 (I/O CHANNEL = 21)8011: Macro variable in group 1 (I/O CHANNEL = 21)8012: Diagnose (PMC) data in group 1 (I/O CHANNEL = 21)8020: Parameter in group 2 (I/O CHANNEL = 22)8021: Macro variable in group 2 (I/O CHANNEL = 22)8022: Diagnose (PMC) data in group 2 (I/O CHANNEL = 22)

: :: :: :

8150: Parameter in group 15 (I/O CHANNEL = 35)8151: Macro variable in group 15 (I/O CHANNEL = 35)8152: Diagnose (PMC) data in group 15 (I/O CHANNEL = 35)


238

#78761

#6 #5 #4 #3 #2 #1 #0EIB

[Data type] Bit

EIB External I/O Device Control Function is:0 : The former way.1 : The enhanced way.

NOTESet this bit to 0, when ”Data input/output function via I/O Link(Master)” or ”Data input/output function via I/O Link (Slave)”is applied.

8781 Size of DRAM used by FANUC PICTURE or C executor

[Data type] Byte

[Unit of data] 64 Kbytes


Set the size of DRAM used by FANUC PICTURE or C executor.If a specified value is out of the valid data range, 0 is assumed.

The following table lists the relationships between the parameter valuesand a combination of C executor options and FANUC PICTURE

Settingvalue

C languageexecutor

Additionalcapacity for C

executorprogram

capacity, 1 MB

Additionalcapacity for C

executorprogram

capacity, 2 MB

Touch panelcontrol(FANUC

PICTURE)

16 �

32 � �

48 � �

96 �

96 � �

112 � � �

128 � � �


before operation is continued.2 The size of DRAM that can be used actually is limited by the

DRAM capacity and what option is installed.


239

8790 Timing for executing an auxiliary macro

[Data type] Word

[Unit of data]This parameter sets the timing for executing a macro executor auxiliarymacro while NC programs, offset data, and so forth are being read orpunched out.

When as many characters as the number specified with this parameter areread or punched out, an auxiliary macro is executed once. When 0 is set inthis parameter, no auxiliary macro is executed during read or punchprocessing.

#78850

#6 #5 #4 #3 #2 #1 #0MDG

[Data type] Bit

MDG Trouble diagnosis function is:0 : Available.1 : Not available.

#7TRS88853

#6TRS7

#5TRS6

#4TRS5

#3TRS4

#2TRS3

#1TRS2

#0TRS1

[Data type] Bit

TRS1 to TRS8 Trouble forecast of thermal simulation of servo axis is:0 : Not available.1 : Available.

#7FIN88854

#6FIN7

#5FIN6

#4FIN5

#3FIN4

#2FIN3

#1FIN2

#0FIN1

[Data type] Bit

FIN1 to FIN8 Trouble forecast of disturbance torque of servo axis is:0 : Not available.1 : Available.

8860 Trouble forecast level for thermal simulation


[Unit of data] %

[Valid data range] 0 – 100%

8861 Trouble forecast level for disturbance torque


[Unit of data] %

[Valid data range] 0 – 100%


240

#713110

#6 #5 #4 #3 #2 #1 #0JPN

[Data type] Bit

JPN Language used in the trouble diagnosis0 : English is prior.1 : Japanese is prior.


APPENDIX

B–63180EN/03 A. CHARACTER CODE LISTAPPENDIX

243

ACHARACTER CODE LIST

Character Code Comment Character Code Comment

A 065 6 054

B 066 7 055

C 067 8 056

D 068 9 057

E 069 032 Space

F 070 ” 034 Quotation marks

G 071 # 035 Shape

H 072 $ 036 Dollar mark

I 073 % 037 Percent

J 074 & 038 Ampersand

K 075 ’ 039 Apostrophe

L 076 ( 040 Left parenthesis

M 077 ) 041 Right parenthesis

N 078 * 042 Asterisk

O 079 + 043 Positive sign

P 080 , 044 Comma

Q 081 – 045 Negative sign

R 082 . 046 Period

S 083 / 047 Slash

T 084 : 058 Colon

U 085 ; 059 Semicolon

V 086 < 060 Left angle bracket

W 087 = 061 Equal sign

X 088 > 062 Right angle bracket

Y 089 ? 063 Question mark

Z 090 @ 064 Commercial at mark

0 048 [ 091 Left square bracket

1 049 ¥ 092 Yen mark

2 050 ] 093 Right square bracket

3 051 ^ 094

4 052 _ 095 Underline

5 053

IndexB–63180EN/03

i–1

[C]Character Code List, 243

[D]Description of Parameters, 7

Displaying Parameters, 1

[I]Inputting and Outputting Parameters Through the

Reader/Puncher Interface, 4

Inputting Parameters through the Reader/Puncher In-terface, 6

[O]Other Parameters, 234

Outputting Parameters Through the Reader/PuncherInterface, 5

[P]Parameter of canned Cycle for Drilling, 139

Parameters Common to all Channels, 13

Parameters of Acceleration/Deceleration Control, 45

Parameters of Axis Control by PMC, 194

Parameters of Axis Control/Increment System, 26

Parameters of C Language Executor and MacroExecutor, 227

Parameters of Canned Cycles, 139

Parameters of Channel 1 (I/O CHANNEL=0), 14



Parameters of Coordinates, 34

Parameters of Custom Macros, 154

Parameters of Device Input, 208

Parameters of DI/DO, 89

Parameters of Displaying Operation Time and Num-ber of Parts, 174

Parameters of DPL/MDI Operation Package and DPL/MDI, 19

Parameters of Electronic CAM, 200

Parameters of Ethernet (For DPL/MDI OperationPackage and DPL/MDI), 21

Parameters of External Data Input/Output, 173

Parameters of Feedrate, 39

Parameters of High–speed Position Switches, 218

Parameters of High–Speed Response (1), 230

Parameters of I/O Link–II, 16

Parameters of Manual Handle Feed, Handle Interrup-tion Direction, 180

Parameters of MDI, Display, and Edit, 95

Parameters of Multiaxis Synchronization, 215

Parameters of Pattern Data Input, 159

Parameters of Picture Display, 173

Parameters of Pitch Error Compensation (OptionalFunction with Power Mate i–H), 115

Parameters of Polar Coordinate Interpolation, 152

Parameters of Position Switch Functions, 178

Parameters of Positioning by Optimum Acceleration,160

Parameters of Power Mate CNC Manager, 24

Parameters of Programs, 111

Parameters of Pulse Signal Output Function, 93

Parameters of Reader/Puncher Interface, 12

Parameters of Reference Position Setting with Me-chanical Stopper, 184

Parameters of Rigid Tapping, 141

Parameters of Servo, 61

Parameters of Setting , 9

Parameters of Simple Synchronous Control, 210

Parameters of Skip Function, 164

Parameters of Software Operator’s Panel, 186

Parameters of Spindle Control, 121

Parameters of Straightness Compensation, 153

Parameters of Stroke Check, 37

Parameters of the External Pulse Input, 192

Parameters of Tool Compensation, 138

Parameters of Two–path Control, 205

Parameters Related to the Inter–Unit Data SharingFunction, 206

Parameters Related to the Inter–Unit Data SharingFunction (2), 217

Parameters Related to the Pacemaker Function, 207

[S]Setting Parameters from MDI, 2

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