63323en1v2dyna Mate

GE Fanuc Automation
Computer Numerical Control Products
Series 15 i / 150 iModel A
Connection Manual (Function)

(Volume 2 of 3)
GFZ-63323EN-1/03 October 2000

GFL-001
Warnings, Cautions, and Notes
as Used in this Publication
Warning
Warning notices are used in this publication to emphasize that hazardous voltages, currents,
temperatures, or other conditions that could cause personal injury exist in this equipment or may
be associated with its use.
In situations where inattention could cause either personal injury or damage to equipment, a
Warning notice is used.
Caution
Caution notices are used where equipment might be damaged if care is not taken.
Note
Notes merely call attention to information that is especially significant to understanding and
operating the equipment.
This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein which
are not present in all hardware and software systems. GE Fanuc Automation assumes no
obligation of notice to holders of this document with respect to changes subsequently made.
GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory

with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.
Copyright 2000 GE Fanuc Automation North America, Inc.

All Rights Reserved.
B-63323EN-1/03 DEFINITION OF WARNING, CAUTION, AND NOTE
DEFINITION OF WARNING, CAUTION, AND NOTE
This manual includes safety precautions for protecting the user and preventing damage to the machine.
Precautions are classified into Warning and Caution according to their bearing on safety. Also,
supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly
before attempting to use the machine.
WARNING
Applied when there is a danger of the user being injured or when there is a damage of both the user
being injured and the equipment being damaged if the approved procedure is not observed.
CAUTION
Applied when there is a danger of the equipment being damaged, if the approved
procedure is not observed.
NOTE
The Note is used to indicate supplementary information other than Warning and
Caution.
- Read this manual carefully, and store it in a safe place.
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B-63323EN-1/03 TABLE OF CONTENTS (Volume 1 of 3)
TABLE OF CONTENTS (Volume 1 of 3)
1 AXIS CONTROL.....................................................................................1
1.1 NUMBER OF CONTROLLED AXES .............................................................2
1.2 SETTING EACH AXIS ...................................................................................3
1.2.1 Axis Name ............................................................................................................... 3
1.2.2 Increment System .................................................................................................... 6
1.2.3 Rotation Axis Specification................................................................................... 10
1.2.4 Controlled Axes Detach ........................................................................................ 14
1.2.5 Outputting the Movement State of an Axis ........................................................... 17
1.2.6 Mirror Image.......................................................................................................... 19
1.2.7 Follow-up............................................................................................................... 22
1.2.8 Servo Off (Mechanical handle) ............................................................................. 24
1.2.9 Position Switch...................................................................................................... 26
1.2.10 Vertical Axis Drop Prevention Function............................................................... 30
1.3 ERROR COMPENSATION..........................................................................32
1.3.1 Stored Pitch Error Compensation.......................................................................... 32
1.3.2 Backlash Compensation ........................................................................................ 44
1.3.3 Straightness Compensation.................................................................................... 52
1.3.4 Interpolated straightness compensation................................................................. 57
1.3.5 128 straightness compensation points ................................................................... 60
1.3.6 Interpolated pitch error compensation................................................................... 68
1.3.7 Cyclic second pitch error compensation................................................................ 70
1.3.8 Gradient Compensation ......................................................................................... 76
1.3.9 Bidirectional Pitch Error Compensation ............................................................... 79
1.3.10 Nano Interpolation Type Error Compensation ...................................................... 87
1.3.11 Smooth Backlash Compensation ........................................................................... 89
1.3.12 Addition of 5000 Pitch Error Compensation Points.............................................. 96
1.3.13 Thermal Growth Compensation along Tool Vector .............................................. 98
1.4 THREE-DIMENSIONAL ERROR COMPENSATION .................................111
1.5 SETTINGS RELATED TO SERVO CONTROLLED AXES........................118
1.5.1 Servo Parameter................................................................................................... 119
1.5.2 Absolute Position Detection ................................................................................ 131
1.5.3 FSSB Setting........................................................................................................ 134
1.6 SETTINGS RELATED TO COORDINATE SYSTEMS ..............................158
1.6.1 Machine Coordinate System................................................................................ 158
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TABLE OF CONTENTS (Volume 1 of 3) B-63323EN-1/03
1.6.2 Workpiece Coordinate System/Addition of Workpiece Coordinate System

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

2.5 INTERLOCK ..............................................................................................322
2.6 MODE SELECTION...................................................................................327
2.7 STATUS OUTPUT SIGNAL.......................................................................334
2.8 VRDY OFF ALARM IGNORE SIGNAL ......................................................336
2.9 ABNORMAL LOAD DETECTION ..............................................................339
3 MANUAL OPERATION ......................................................................347
3.1 JOG FEED/INCREMENTAL FEED............................................................348
3.2 MANUAL HANDLE FEED..........................................................................357
3.3 MANUAL HANDLE CONNECTED TO I/O LINK ........................................362
3.4 MANUAL HANDLE INTERRUPTION.........................................................366
3.5 THREE-DIMENSIONAL HANDLE FEED...................................................367
3.6 MANUAL INTERRUPTION FUNCTION FOR THREE-DIMENSIONAL
COORDINATE CONVERSION ..................................................................409
3.7 MANUAL NUMERIC COMMAND ..............................................................412
3.8 MANUAL ARBITRARY-ANGLE FEED.......................................................416
4 REFERENCE POSITION ESTABLISHMENT.....................................421
4.1 MANUAL REFERENCE POSITION RETURN...........................................422
4.2 SETTING THE REFERENCE POSITION WITHOUT DOGS ....................435
4.3 REFERENCE POSITION SHIFT ...............................................................439
4.4 REFERENCE POSITION RETURN...........................................................444
4.5 2ND REFERENCE POSITION RETURN/3RD, 4TH REFERENCE
POSITION RETURN..................................................................................446
4.6 FLOATING REFERENCE POSITION RETURN........................................449
4.7 LINEAR SCALE WITH REFERENCE MARKS ..........................................452
4.7.1 Enhancement of Distance Coded Linear Scale ................................................... 461
5 AUTOMATIC OPERATION ................................................................466

5.1 CYCLE START/FEED HOLD.....................................................................467
5.2 RESET AND REWIND...............................................................................472
5.3 TESTING A PROGRAM ............................................................................476
5.3.1 Machine Lock ...................................................................................................... 476
5.3.2 Dry Run ............................................................................................................... 479
5.3.3 Single Block ........................................................................................................ 483
5.4 MANUAL ABSOLUTE ON/OFF .................................................................486
5.5 OPTIONAL BLOCK SKIP/ADDITION OF OPTIONAL BLOCK SKIP.........489
5.6 SEQUENCE NUMBER COMPARISON AND STOP..................................492
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5.7 PROGRAM RESTART...............................................................................493

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

CONTROL..........................................................................................615
7.1 FEEDRATE CONTROL .............................................................................616
7.1.1 Rapid Traverse Rate ............................................................................................ 617
7.1.2 Cutting Feedrate Clamp....................................................................................... 620
7.1.3 Feed Per Minute .................................................................................................. 621
7.1.4 Feed Per Revolution/Feed Per Revolution Without Position Coder ................... 623
7.1.5 F1-digit Feed........................................................................................................ 625
7.1.6 Feedrate Inverse Time Specification ................................................................... 629
7.1.7 Override ............................................................................................................... 630
7.1.8 Automatic Corner Override ................................................................................. 638
7.1.9 External Deceleration .......................................................................................... 643
7.1.10 Feed Stop Function.............................................................................................. 645
7.1.11 Deceleration Based on Acceleration during Circular Interpolation .................... 646
7.1.12 Advanced Preview Control.................................................................................. 651
7.1.13 Nano Interpolation............................................................................................... 652
7.1.14 Fine HPCC........................................................................................................... 653
7.1.15 Machining type in HPCC screen programming................................................... 667
7.1.16 Feedrate Specification on a Virtual Circle for a Rotary Axis ............................. 668
7.1.17 Automatic Feedrate Control by Area................................................................... 672
7.2 ACCELERATION AND DECELERATION CONTROL ...............................677
7.2.1 Post-interpolation Automatic Acceleration/Deceleration ................................... 677
7.2.2 Look-ahead Acceleration/Deceleration Before interpolation.............................. 687
7.2.3 Corner Control..................................................................................................... 704
7.2.4 Feed Forward in Rapid Traverse ......................................................................... 707
7.2.5 Acceleration/Deceleration before Interpolation of Linear Type Rapid
Traverse ............................................................................................................... 708
8 MISCELLANEOUS FUNCTION .........................................................712

8.1 MISCELLANEOUS FUNCTION/2ND AUXILIARY FUNCTION..................713
8.2 AUXILIARY FUNCTION LOCK ..................................................................725
8.3 MULTIPLE M COMMANDS IN A SIGLE BLOCK ......................................726
8.4 HIGH-SPEED M/S/T/B INTERFACE .........................................................730
9 SPINDLE FUNCTION.........................................................................734
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9.1 SPINDLE SPEED FUNCTION (S CODE OUTPUT) ..................................735

9.2 SPINDLE SERIAL OUTPUT/SPINDLE ANALOG OUTPUT ......................737
9.3 SPINDLE CONTROL .................................................................................766
9.4 CONSTANT SURFACE SPEED CONTROL .............................................787
9.5 ACTUAL SPINDLE SPEED OUTPUT .......................................................794
9.6 SPINDLE POSITIONING ...........................................................................796
9.7 Cs CONTOUR CONTROL .........................................................................855
9.8 RIGID TAPPING ........................................................................................874
9.8.1 Rigid Tapping Additional Function..................................................................... 934
9.9 SPINDLE ORIENTATION ..........................................................................937
9.10 SPINDLE OUTPUT SWITCHING ..............................................................940
9.11 SPINDLE SPEED FLUCTUATION DETECTION.......................................941
10 TOOL FUNCTION ..............................................................................949
10.1 TOOL FUNCTION......................................................................................950
10.2 TOOL COMPENSATION VALUE/TOOL COMPENSATION NUMBER/
TOOL COMPENSATION MEMORY ..........................................................952
10.2.1 Specification of Diameter Entry for Tool Compensation Value......................... 956
10.3 TOOL LIFE MANAGEMENT FUNCTION ..................................................957
10.4 TOOL COMPENSATION FUNCTION........................................................975
10.4.1 Tool Length Offset .............................................................................................. 975
10.4.2 Tool Offset........................................................................................................... 979
10.4.3 Cutter Compensation ........................................................................................... 982
10.4.4 Three-dimensional Tool Compensation .............................................................. 991
10.4.5 Tool Offsets Based on Tool Numbers ................................................................. 997
10.4.6 Tool Axis Direction Tool Length Compensation.............................................. 1008
10.4.7 Rotary Table Dynamic Fixture Offset ............................................................... 1019
10.4.8 Three-dimensional Cutter Compensation.......................................................... 1026
10.4.9 Designation Direction Tool Length Compensation........................................... 1041
10.4.10 Tool Center Point Control ................................................................................. 1052
10.4.11 Control Point Compensation of Tool Length Compensation Along Tool Axis 1061
10.4.12 Grinding Wheel Wear Compensation................................................................ 1069
10.4.13 Cutter Compensation for Rotary Table ............................................................. 1080
11 PROGRAM COMMAND ...................................................................1088

11.1 DECIMAL POINT PROGRAMMING/POCKET CALCULATOR TYPE
DECIMAL POINT PROGRAMMING ........................................................1089
11.2 PROGRAM CONFIGURATION ...............................................................1091
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11.3 INCH/METRIC CONVERSION ................................................................1094

11.4 DIAMETER SPECIFICATION AND RADIUS SPECIFICATION ..............1097
11.5 CUSTOM MACRO ...................................................................................1099
11.5.1 Custom Macro ................................................................................................... 1099
11.5.2 Interruption Type Custom Macro ...................................................................... 1122
11.6 CANNED CYCLE SPINDLE CONTROL ..................................................1125
11.7 EXTERNAL MOTION FUNCTION ...........................................................1136
11.8 INDEX TABLE INDEXING FUNCTION....................................................1138
11.9 MULTIPLE ROTARY CONTROL AXIS FUNCTION ................................1148
11.10 SCALING .................................................................................................1150
11.11 COORDINATE SYSTEM ROTATION (G68,G69)....................................1154
11.12 THREE-DIMENSIONAL COORDINATE CONVERSION .........................1157
11.13 AXIS INTERCHANGE..............................................................................1165
11.14 OILING SIGNAL (CANNED CYCLE) .......................................................1170
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12 DISPLAY/SET/EDIT .........................................................................1175
12.1 DISPLEY/SET..........................................................................................1176
12.1.1 Clock Function .................................................................................................. 1176
12.1.2 Operation/Alarm History Screen ....................................................................... 1177
12.1.3 Alarm Display.................................................................................................... 1179
12.1.4 Operator Message Display................................................................................. 1181
12.1.5 Servo Adjustment Screen .................................................................................. 1182
12.1.6 Spindle Adjustment Screen ............................................................................... 1183
12.1.7 Waveform Diagnosis Display............................................................................ 1184
12.1.8 Self-diagnosis .................................................................................................... 1185
12.1.9 Hardware/Software System Configuration Screen............................................ 1186
12.1.10 Machined Part Count and Operation Time Display .......................................... 1187
12.1.11 Tool Path Drawing and Background Drawing .................................................. 1191
12.1.12 Operating Monitor Screen ................................................................................. 1193
12.1.13 Machining Time Stamp ..................................................................................... 1194
12.1.14 Menu Switches .................................................................................................. 1196
12.1.15 Software Operators Panel ................................................................................. 1197
12.1.16 National Language Display ............................................................................... 1206
12.1.17 Screen Clear Function and Automatic Screen Clear Function.......................... 1207
12.1.18 Touch Panel ....................................................................................................... 1210
12.1.19 Periodic Maintenance Screen ............................................................................ 1214
12.1.20 Maintenance Information Screen....................................................................... 1216
12.1.21 High-speed High-precision Machining Setting Screen ..................................... 1217
12.1.22 Pitch Error Compensation Screen ..................................................................... 1220
12.1.23 Power Mate CNC Manager Function ................................................................ 1222
12.1.24 DI/DO Monitor Function................................................................................... 1231
12.1.25 Brightness Adjustment Screen for Monochrome Display Unit with Graphic
Function ............................................................................................................. 1236
12.1.26 Fine Torque Sensing.......................................................................................... 1238
12.1.27 2-LCD-unit Connection Function...................................................................... 1243
12.1.28 Changing Blinking Displays in G05.1 Q1 Mode............................................... 1246
12.2 EDITING ..................................................................................................1249
12.2.1 Tape Length for Part Program Storage.............................................................. 1249
12.2.2 Number of Programs Stored .............................................................................. 1250
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12.2.3 Memory Protection Keys................................................................................... 1251

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

A INTERFACE BETWEEN CNC AND PMC ........................................1401
A.1 ADDRESS LIST .......................................................................................1402
A.1.1 PMC to NC ........................................................................................................ 1402
A.1.2 CNC to PMC ..................................................................................................... 1423
A.2 SIGNAL LIST ...........................................................................................1444
A.2.1 Signal List (In Order of Symbol)....................................................................... 1444
A.2.2 Signal List (In Order of Address) ...................................................................... 1516
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B-63323EN-1/03 7.FEEDRATE CONTROL/ACCELERATION AND DECELERATION CONTROL
7 FEEDRATE CONTROL/ACCELERATION
AND DECELERATION CONTROL
- 615 -
7.FEEDRATE CONTROL/ACCELERATION AND DECELERATION CONTROL B-63323EN-1/03
7.1 FEEDRATE CONTROL
The feed functions control the feedrate of the tool. The following two
feed
functions are available:
1. Rapid traverse
When the positioning command (G00) is specified, the tool moves
at a rapid traverse rate set in the CNC.
2. Cutting feed
The tool moves at a programmed cutting feedrate.
Override can be applied to a rapid traverse rate or cutting feedrate using
the override signal.
- 616 -
7.1.1 Rapid Traverse Rate
Overview
The positioning command (G00) positions the tool by rapid traverse.
G00 IP_ ;
G00 : G code (group 01) for positioning (rapid traverse)
IP_ ; Dimension word for the end point
With rapid traverse, the system waits for the specified feedrate to fall to
zero, then performs the in-position check set for parameter CIP (bit 0 of
No. 1000). The system then executes the next block.
A rapid traverse rate is set for each axis by parameter No. 1420, so no
rapid traverse rate need be programmed.
The following overrides can be applied to a rapid traverse rate with the
rapid traverse override signal:F0, F1, 50, 100%
F0 : Allows a fixed feedrate to be set for each axis by parameter
No. 1421.
F1 : Constant percentage, which can be set for parameter No.
1412.
By setting parameter ROV (bit 0 of No. 1402), a rapid traverse override
of 0 to 100% can be applied, in 1% steps.
(For an explanation of the rapid traverse override, see Section 7.1.7.1.)
Signal
Rapid traversing signal RPD<F001#5>

[Function] This signal indicates that a move command is executed at rapid
traverse.
[Output condition] "1" indicates that an axis starts moving after
rapid traverse has been selected.
"0" indicates that an axis starts moving after a feedrate other than rapid
traverse has been selected. This holds true for both automatic and
manual operation modes.
- 617 -
NOTE
1 The rapid traverse in automatic operation includes all
rapid traverses in canned cycle positioning,
automatic reference point return, etc., as well as the
move command G00. The manual rapid traverse
also includes the rapid traverse in reference position
return.
2 Once rapid traverse has been selected, this signal
remains "1", including during a stop, until another
feedrate has been selected and movement is started.
3 If both automatic and manual operations are
performed at the same time, the value of this signal
depends on whether the feed in automatic operation
is rapid traverse; it does not depend on the feed in
manual operation.
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F001 RPD
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1000 CIP

! " " # " $
" ! % ! &" ! " !' # (
) " " # " $" !
% ! &" ! " !' # ("
"% *" *
!! *!" +),-.(
- 618 -
#7 #6 #5 #4 #3 #2 #1 #0
1400 LRP RDR

// " ' " " *
"
' "
) ' "
0 1/ ! " " $%2(

+! !% 3* " " ! "
* " (
) 1 !%!! (
4 $ " ! " * 5 )
#7 #6 #5 #4 #3 #2 #1 #0
1401 RFO

6 /78 " $ " * $ "
* " 9
0: Stop.
1: Do not stop.
1420 Rapid traverse feedrate along each axis

/ !3
:"
&5&5" $ &% (
"
" ! "3
;!"" $
/ " " $'! %(
%4 5<-0(
" * " 3 " *
* " )9
Reference item
Series15i/150i-MA Operators Manual II-5.2 Rapid traverse
(Programming)
(B-63324EN)
- 619 -
7.1.2 Cutting Feedrate Clamp
Overview
A common upper limit can be set on the cutting feedrate along each
axis with parameter No. 1422. If an actual cutting feedrate (with an
override applied) exceeds a specified upper limit, it is clamped to the
upper limit.
Set the clamp value in mm/min or inch/min.
Convert the feed per revolution into mm/min or inch/min, using the
following formula:
fm = frR
where fm: Feedrate per minute in mm/min or inch/min
fr: Rate of feed per revolution in mm/rev or inch/rev
R: Spindle speed in rpm (rev/min)
Parameter
1422 Maximum cutting feedrate for each axis

/ !3
:"
&5&5" $ &% (
"
" ! "3
;!"" $
/ " " $'! %(
%4 5<-0(
3$ " 3
Alarm and message
Number Message Contents

PS0190 PARAMETER ZERO (CUT MAX) The maximum cutting feedrate parameter No. 1422 has
been set to 0.
Warning
WARNING
The arithmetic operation error of the CNC for the
value specified for a feedrate is 2%. This does not,
however, apply during acceleration/deceleration.
The above error is incurred when measuring the time
required for the tool to move a distance of 500 mm or
more after the stable state has been attained.
Reference item
Series15i/150i-MA Operators Manual II-5.3 Cutting feed
(Programming)
(B-63324EN)
- 620 -
7.1.3 Feed Per Minute
General
After specifying G94 (in the feed per minute mode), the amount of feed
of the tool per minute is to be directly specified by setting a number
after F. G94 is a modal code. Once a G94 is specified, it is valid until
G95 (feed per revolution) is specified. G95 (bit 4 of parameter No.
2401) can be set to 0 to set feed per minute mode at power-on.
An override from 0% to 254% (in 1% steps) can be applied to feed per
minute using the feedrate override signal.
In addition, an override of 0 to 254% (in 1% steps) or of 0 to 655.35%
(in 0.01% steps) can be applied using the second feedrate override
signal.
(For an explanation of feedrate override, see Section 7.1.7.2.)
(For an explanation of second feedrate override, see Section 7.1.7.3.)
Feed amount per minute

(mm/min or inch/min)
Tool
Workpiece
Table
Fig. 7.1.3 Feed per minute
CAUTION
No override can be used for any commands such as
for threading.
Format
Feed per minute
G94; G code for feed per minute (Group 05)
F_; Feed rate (mm/min or inch/min)
- 621 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2400 F41

) 70) " 7" %2=0" ( "
" !5
)&
) )&
" " !5 !&
NOTE
It is not effective if the increment system is IS-A.
#7 #6 #5 #4 #3 #2 #1 #0
2401 G95

0 2=> " "!

0: G94 mode (feed per minute)
1: G95 mode (feed per revolution)
Alarm and message

PS0187 FEED ZERO ( COMMAND ) The cutting feedrate instructed by an F code has been set to 0.
This alarm is also generated if the F code instructed for the S code
is set extremely small in a rigid tapping instruction as the tool
cannot cut at the programmed lead.
Reference item
(Programming)
(B-63324EN)
- 622 -
7.1.4 Feed Per Revolution/Feed Per Revolution Without Position

Coder
Overview
- Feed per revolution

Specify G95 (feed-per-revolution mode), then directly specify a
numeric value, preceded by F, to indicate the amount by which the tool
is to be fed per rotation about the spindle. G95 is modal; once it is
specified, it remains effective until G94 (feed-per-minute mode) is
specified. Feedrate overrides can be applied to feed per revolution, in
the same way as feed per minute.
F Feed amount per spindle revolution

(mm/rev or inch/rev)
Fig. 7.1.4 (a) Feed per revolution
Position-coder-less feed per revolution

For a machine without a position coder (or a machine that does not use
one), the feedrate specified in feed-per-revolution mode is converted
into a feedrate per minute, assuming that the spindle rotates under the
control of the spindle speed command (S code), and that tool is moved
along the feed axis at that rate.
- 623 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2405 RSO FPR

? 7/ "

" % * $ " 7 "
7( " " " %2=>(
+ "
) : "
. /8 "! * " '! " "
" % * $ "
7 " 7(' $ " "
" %2=>(
0: Disabled.
1: Enabled.
Caution
CAUTION
1 For feed per revolution, if the spindle speed is low,
the feedrate will be uneven. The lower the spindle
speed, the more uneven the feedrate.
2 Threading is performed according to the signal
returned from the position coder, even if the system
has been set up to use position-coder-less feed per
revolution.
In other words, position-coder-less feed per
revolution is not enabled for the threading
command.
3 When position-coder-less feed per revolution is
enabled, the following functions are also enabled:
- Feedrate override signal
- Spindle override signal
- Dry run signal
- Clamping of the maximum cutting feedrate on
each axis
- Dwell per revolution
Reference item
(Programming)
(B-63324EN)
- 624 -
7.1.5 F1-digit Feed
General
When a one-digit number from 1 to 9 is specified after F, the feedrate
set for that number in a parameter (Nos. 1451 to 1459) is used. When
F0 is specified, the rapid traverse rate is applied.
The feedrate corresponding to the number currently selected can be
increased or decreased by turning on the switch for changing F1-digit
feedrate on the machine operators panel, then by rotating the manual
pulse generator.
The increment/decrement, DF, in feedrate per scale of the manual pulse
generator is as follows:
F max
F =
100 X
Fmax : feedrate upper limit for F1-F4 set by parameter 1460, or
feedrate upper limit for F5-F9 set by parameter 1461
X : any value of 1-127 set by parameter 1450
The feedrate set or altered is kept even while the power is off.
Signal
F1-digit feed select signal F1D<G005#3>

[Classification] Input signal
[Function] Increases or decreases F1-digit speed set by the parameters No. 1451 to
1459 using the manual pulse generator.
Since the manual pulse generator may also be used for axis feeding,
signal F1D (G016#7) designates which function may be used.
[Operation] When the signal is "1", the F1-digit speed can be increased/decreased
using the manual pulse generator.
- If, in automatic operation mode, the tool is not moved under the
control of single-digit F command, single-digit F feedrate
adjustment cannot be performed. Because, however, the manual
pulse generator is reserved for that purpose, the manual pulse
generator cannot be used for axis feed.
- In manual operation mode, this signal is meaningless. Even if it is
"1," manual handle feed is possible.
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G005 F1D
- 625 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1406 F1O

7)8 '! " * " 5 " " * " 5
"* " !! " 7" "$
' %7)7=(
'!

) @'!
NOTE
Rapid traverse override is enabled for the feedrate of F0,
regardless of the setting of this parameter.
1450 Resolution of the feedrate specified by the F code with a one-digit number

$
;!"" $
))-.
"" $ "
!! $ " $ "! 7"
"$' "
73
7A iA)5- j
)B
C " '* 3 ! B

B" !! $ "
' " " ' 73 73 '*
3 ! " "' 7
" "$' C ! +)0?
")0?)
73) : " ! 7)70%)0?(

73- : " ! 7>7=%)0?)(
- 626 -
1451 F1 feedrate
1452 F2 feedrate
1453 F3 feedrate
1454 F4 feedrate
1455 F5 feedrate
1456 F6 feedrate
1457 F7 feedrate
1458 F8 feedrate
1459 F9 feedrate

$

/ !
:"
&5&5" $ &% (
"
" 3
;!"" $
/ " " $'! %(
%4 5<-0(
" $ " 7" "$' 7
%A)=( 4 " $ "' !!
$ 5 $ !$ $ "
- 627 -
1460 Upper feedrate limit for F1 to F4

/ !
:"
&5&5" $ &% (
"
" 3
;!"" $
/ " " $'! %(
%4 5<-0(
! " "' 7"
"$' 4 " "' $
!! $ 5 ! "!
" C ! " 7)70 "

1461 Upper feedrate limit for F5 to F9

/ !
:"
&5&5" $ &% (
"
" 3
;!"" $
/ " " $'! %(
%4 5<-0(
! " "' 7"
"$' 4 " "' $
!! $ 5 ! "!
" C ! " 7>7= "

Caution
CAUTION
When more than one handle is provided, the first handle
is always used.
Reference item
(Programming)
(B-63324EN)
- 628 -
7.1.6 Feedrate Inverse Time Specification
Overview
Feedrate of the tool can be specified by the move distance of the block
and
inverse time (FRN).
- Linear interpolation iG01 j
FRN=1/Time(min)=Speed/Distance
Speed : mm/min (metric input)
inch/min (inch input)
Distance: mm (metric input)
inch (inch input)
- Circular interpolation (G02, G03)
FRN=1/Time(min)=Speed/Circular radius
Speed : mm/min (metric input)
inch/min (inch input)
Distance: mm (metric input)
inch (inch input)
NOTE
In circular interpolation, the distance is not an actual
distance of the block but the speed is calculated from
the circle radius.
Caution
CAUTION
1 When the cutter compensation function is used,
programmed commands are subject to
compensation before travel, so that the actual
feedrate may be different from the specified feedrate.
When the cutter compensation function is used,
inverse time mode must not be used.
2 When F0 is specified, the feedrate is equal to the
maximum cutting feedrate.
3 In inverse time mode, F codes are not regarded as
being modal and, therefore, an F command is
required for each block.
Alarm and message

PS0202 NO F COMMAND AT G93 F codes in the inverse time specification mode (G93) are
not handled as modal, and must be specified in individual
blocks.
Reference item
(Programming)
(B-63324EN)
- 629 -
7.1.7 Override
7.1.7.1 Rapid traverse override
Overview
The rapid traverse rate can be overridden as follows:
F0, F1%, 50%, 100%
F0:Feedrate to be set for each axis (parameter No. 1421)
F1:Percentage (parameter No. 1412)
or, 0% to 100% (in steps of 1%) by setting bit 0 (ROV) of
parameter No. 1402
Rapid traverse rate Override 50% 5m/min

10 m/min
Fig. 7.1.7 (a) Rapid traverse override
- Feedrate
Actual feedrate is obtained by multiplying the rapid traverse rate preset
by parameter no.1420 by the override value determined by this signal,
whether in automatic or manual operation (including manual reference
position return).
- F0 rate
For F0 value, an absolute value is set by parameter no.1421 within a
range of 0 to rapid traverse rate (for each axis).
- F1%
Set F1, i.e., the feedrate override value, for parameter No. 1412, to a
value in the range of 0 to 100%.
- 1% step rapid traverse override selection signal

1% step rapid traverse override selection signal ROV iNo.1402#0 j
determines whether rapid traverse override specified with rapid
traverse override signals ROV1 and ROV2 is used or 1% step rapid
traverse override is used.
When signal ROV is 0, override is applied to the rapid traverse rate
using signals ROV1 and ROV2.
When signal ROV is 1, ROV1 and ROV2 are ignored, 1% step rapid
traverse override signals *RV0B to *RV6B being used to override the
rapid traverse rate.
- PMC axis control
Control signals are dedicated to PMC axis control. The rapid traverse
overrides described in this section are not effective.
(See Chapter 15 PMC axis control.)
- 630 -
Signal
Rapid traverse override signal

ROV1, ROV2 <G006#5, #6>
[Function] These signals override the rapid traverse rate
[Operation] These code signals correspond to the rates as follows (Table. 7.1.7 (a)):
Table. 7.1.7 (a) ROV1/2signals and Override value

Rapid traverse override signal Override value
ROV2 ROV1
0 0 100%
0 1 50%
1 0 F1%
1 1 F0
F1 : Set in parameter No. 1412
F0 : Set in parameter No. 1421
1% step rapid traverse override signals

*RV0B to *RV6B <G040#0 to #6>
[Function] Applies override to the rapid traverse rate in the range of 0% to 100%
in steps of 1%.
[Operation] These seven signals give a binary code indicating an override applied to
the rapid traverse rate.
- When a binary code corresponding to an override value of 101%
to 127% is specified, the override applied is clamped at 100%.
- Signals *RV0B to *RV6B are inverted signals.
To set an override value of 1%, set signals *RV0B to *RV6B to
1111110, which corresponds to a binary code of 0000001.
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G006 ROV2 ROV1
#7 #6 #5 #4 #3 #2 #1 #0
G040 P *RV6B *RV5B *RV4B *RV3B *RV2B *RV1B *RV0B
- 631 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1402 ROV

/8; * " " * "

0: The override is F0, F1, 50%, or 100%, as specified by input signals ROV1 and
ROV2.
1: The override is determined by seven input signals *RV0B to *RV6B (in 1%
units) within a range from 0% to 100%.
1412 Percentage value for rapid traverse override F1

$
:"
9
;!"" $
)
$ *! " * * " 7)
1421 F0 feedrate for each axis for rapid traverse override

/ !3
:"
&5&5" $ &% (
"
" ! "3
;!"" $
/ " " $'! %(
%4 5<-0(
7 " 3 " * * "
Reference item
Series15i/150i-MA Operators Manual II-5.4.2 Rapid traverse override
(Programming)
(B-63324EN)
- 632 -
7.1.7.2 Feedrate override
General
A programmed feedrate can be reduced or increased by a percentage
(%) selected by the override dial. This feature is used to check a
program.
For example, when a feedrate of 100 mm/min is specified in the
program, setting the override dial to 50% moves the tool at 50 mm/min.
Feedrate 100 mm/min

(Specified by programmed)
Tool
Check the machining by altering
the feedrate from the value
Feedrate 50 mm/min after specified in the program.
feedrate override
Workpiece
Fig. 7.1.7 (b) Feedrate override
Signal
Feedrate Override signal

*FV0 to *FV7 <G012>
[Function] These signals override the cutting feedrate. Eight binary code signals
correspond to override values as follows:
. i
8* " *! A@ | 2 Vi | %
A
Vi=0 when *FVi is "1" and
Vi=1 when *FVi is "0"
These signals have the following weight.
*FV0 : 1% *FV1 : 2%
*FV2 : 4% *FV3 : 8%
*FV4 : 16% *FV5 : 32%
*FV6 : 64% *FV7 : 128 %
When all signals are "0", they are regarded as overriding 0%
in the same way as when all signals are "1" .
Thus, the override is selectable in steps over a range of 0 to 254%.
[Operation] Actual feedrate is obtained by multiplying the speed

specified in cutting feed in automatic operation mode by the override
value
selected by this signal.
- 633 -
The override is regarded as 100%, regardless of this signal, in the

following
cases:
- Override cancel signal OVC(G004#4) is "1".
- During cutting in tap cycle of canned cycle;
- Tapping mode (63); or
- Thread cutting is in progress.
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G012 *FV7 *FV6 *FV5 *FV4 *FV3 *FV2 *FV1 *FV0
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1401 RFO

6 /78 " $ " * $ "
* " 9

)
Reference item
Series15i/150i-MA Operators Manual II-5.4.1 Feed rate override
(Programming)
(B-63324EN)
- 634 -
7.1.7.3 Second feedrate override
Overview
These signals override the cutting feedrate after the cutting feedrate has
been overridden by first override *FV0 to *FV7.
There are two types of second feedrate override:
- 0 to 254% (in 1-% steps)
- 0 to 655.34% (in 0.01-% steps)
Which of the above is to be used can be specified using parameter APO
(bit 0 of No. 1403).
Signal
- Second feedrate override signal

*AFV0 to *AFV7 <G013>
[Function] Applies second feedrate override to the cutting feedrate. These eight
binary code signals correspond to the override values as follows.
. i
8* " *! A@ | 2 Vi | %
A
Vi=0 when *AFVi is "1" and
Vi=1 when *AFVi is "0"
These signals have the following weight.
*AFV0=1% *AFV1=2%
*AFV2=4% *AFV3=8%
*AFV4=16% *AFV5=32%
*AFV6=64% *AFV7=128%
If all signals are "0" or "1", the override is regarded as
0%. The override is selectable in steps over a range of 0 to 254%.
[Operation] For cutting feed during automatic operation, the actual feedrate is the
result of applying the first override and then the override value selected
with this signal to the specified feedrate.
The conditions under which the first override is assumed to be 100%
remain effective. If any of the conditions is satisfied, second feedrate
override is also assumed to be 100%.
- Second feedrate override signal B

*AFV0B to *AFV15B <G146 to G147>
[Function] Applies second feedrate override to the cutting feedrate. These sixteen
binary code signals correspond to the override values as follows.
)> i
8* " *! A@) | 2 Vi | %
A
Vi=0 when *AFViB is "1" and
Vi=1 when *AFViB is "0"
If all signals are "0" or "1", the override is regarded as
0%. The override is selectable in 0.01 steps over a range of 0 to
655.34%.
[Operation] Has the same function as the second feedrate override signal.
- 635 -
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G013 *AFV7 *AFV6 *AFV5 *AFV4 *AFV3 *AFV2 *AFV1 *AFV0
#7 #6 #5 #4 #3 #2 #1 #0
G146 *AFV7B *AFV6B *AFV5B *AFV4B *AFV3B *AFV2B *AFV1B *AFV0B
G147 *AFV15B *AFV14B *AFV13B *AFV12B *AFV11B *AFV10B *AFV9B *AFV8B
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1400 AOV

> D8; '! " " * "
'! " " * "
) @'! " " * "
#7 #6 #5 #4 #3 #2 #1 #0
1403 APO

D8 " " * " ! "
)9
) )9
E * 5'*!"! D8;%'> +)0(
)
- 636 -
7.1.7.4 Override cancel
Overview
The override cancel signal fixes the feedrate override to 100%.
Signal
Override cancel signal OVC <G004#4>

[Function] Feedrate override is fixed to 100%.
[Operation] When the signal is "1", the CNC operates as follows:
- The override is fixed to 100% regardless of the feedrate override
and second feedrate override signals. Thus, the tool operates
exactly at the specified feedrate.
- Rapid traverse override and spindle speed override are not
affected.
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G004 OVC
- 637 -
7.1.8 Automatic Corner Override
Overview
- Inner corner automatic override
When G62 is specified, and the tool path with cutter compensation
applied forms an inner corner, the feedrate is automatically overridden
at both ends of the corner.
There are four types of inner corners (Fig. 7.1.8 (a)).
2p178, in Fig. 7.1.8 (a). p is a value set with parameter No.
6611. When is approximately equal to p, the inner corner is
determined with an error of 0.001,or less.
1.Straight line-straight line 2.Straight line-arc

:Tool
:Programmed path
:Cutter center path
3.Arc-straight line 4.Arc-arc
Fig. 7.1.8 (a) Inner corner
NOTE
When the block before a corner is a start-up block, or
the block after a corner includes G41 or G42, the
feedrate is not overridden. The feedrate override
function is disabled when the offset value is 0.
- Override value
An override value is set with parameter No. 6612. An override value is
valid even for dry run and F1-digit feed specification.
In the feed per minute mode, the actual feedrate is as follows:
F (inner corner automatic override) (feedrate override)
- 638 -
- Internal circular cutting feedrate change

For internally offset circular cutting, the feedrate on a programmed
path is set to a specified feedrate (F) by specifying the circular cutting
feedrate with respect to F, as indicated below.
Rc
F
Rp
Rc : Cutter center path radius
Rp : Programmed radius
It is also valid for the dry run and the F1-digit feed command.
Programmed path
Rc
Cutter center
Rp path
Fig. 7.1.8 (b) Internal circular cutting feedrate change
If Rc is much smaller than Rp, Rc/Rp0; the tool stops. A minimum

deceleration ratio (MDR) is to be specified with parameter No. 6610.
When Rc/RpMDR, the feedrate of the tool is (FMDR).
NOTE
1 By setting parameter CAFC (bit 5 of No. 1402), the
circular cutting feedrate can be changed even when
an offset is applied externally.
2 This function is enabled in cutter compensation
mode, regardless of the setting of G62. By setting
parameter COV (bit 0 of No. 6600), the function can
be enabled in G62 mode only.
Caution
CAUTION
When circular cutting must be performed together
with automatic override for inner corners, the
feedrate of the tool is as follows:
F(Rc/Rp)(inner corner override)(feedrate
override)
- 639 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1402 CAFC

> D7 ! $ " $
" "! " "
!
0: Performed on the inner arc only.
1: Performed on the inner and outer arcs.
#7 #6 #5 #4 #3 #2 #1 #0
6600 COV

8; ! $ " $ *!"
0: Valid at all times.
1: Valid only in the automatic corner override (G62) mode.
6610 Minimum deceleration rate (MDR) for circular cutting feedrate change

$
:"
9
;!"" $
)
Set a minimum deceleration rate (MDR) for automatic corner override in circular
cutting feedrate change.
- 640 -
6611 Effective angle for internal corner automatic override ( p)

/ !
:"
" $
"
" 3
;!"" $
-).,
When p, the corner is assumed to be an inside corner.
When a corner is determined to be an inside corner, the feedrate is overridden within
the distance Le in the block before the corner and the distance Ls in the next block
from the corner intersection.
Le and Ls are set in parameter Nos. 6613 and 6614, respectively.

1 '
1

6612 Gear reduction ratio for automatic corner override (COUR)

$
:"
9
;!"" $
))
6613 Distance for starting automatic override (Le)

$

/ !
:"
5%(
"
" 3
;!"" $
="$"% " " $
'! %D((
%4 5=========<=========(
- 641 -
6614 Distance for ending automatic override (Ls)

$

/ !
:"
5%(
"
" 3
;!"" $
="$"% " " $
'! %D((
%4 5=========<=========(
Reference item
Series15i/150i-MA Operators Manual II-5.5.2 Automatic corner
(Programming) override
(B-63324EN)
- 642 -
7.1.9 External Deceleration
General
These signals decelerate the feedrate of the control axes down to the
speed which has been set by parameter No. 1426 and 1427.
Signal
External deceleration signal

*+ED1<G64#2>, *+ED2<G68#2>, ...
*-ED1<G64#3>, *-ED2<G68#3>, ...
[Function] These signals are used to apply deceleration; provided for each
direction of each control axis; +/* indicates the direction, while the
signal number corresponds to the number of the controlled axis.
*xEDy
y : 1 ..... The 1st axis is decelerated.
2 ..... The 2nd axis is decelerated.
3 ..... The 3rd axis is decelerated.
:
x : + : The feed is decelerated in the plus (+) direction.
- : The feed is decelerated in the minus (-) direction.
[Operation] When a signal becomes "0", the corresponding axis decelerate to stop
in the specified direction.
If the specified feedrate is lower than the external deceleration feedrate,
the specified feedrate is assumed.
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G064 *-ED1 *+ED1
The above addresses are the signal addresses for the first axis.
For the signal addresses for the second axis and subsequent axes, see
the Appendix A.1.
- 643 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1005 EDM EDP

3
0 @ 7 35 3 !" ! $!
* " *!"" $$ "
*!"
) ;!"
> @ 7 35 3 !" ! $!
$* " *!"" $$ "
0: Invalid.
1: Valid.
1426 External deceleration rate during cutting feed

/ !
:"
&5&5" $ &% (
"
" 3
;!"" $
/ " " $'! %(
%4 5<-0(
3 !" ! "" $$ ""
$$! !%2(
1427 External deceleration rate for each axis during rapid traverse

/ !3
:"
&5&5" $ &% (
"
" ! "3
;!"" $
/ " " $'! %(
%4 5<-0(
C 3 !" ! " " "
*
- 644 -
7.1.10 Feed Stop Function
Overview
During axis motion, the feed stop function checks a position deviation
amount at all times. When the amount exceeds the "feed stop position
deviation amount" set by the parameter (No. 1832), the function
suspends pulse distribution and acceleration/deceleration control
during such a period of time, and terminates the move command for the
positioning control circuit. Thus the function can minimize an
overshoot that may occur with a large servo motor in rapid traverse
acceleration operation.
Speed
Specified speed
Actual speed
Time
Feed stop
Parameter
1832 Feed-stop position deviation for each axis
[Input type] Parameter input

[Data type] Integeraxis
[Unit of data] detection unit
[Valid data range] 0 - 99999999
Specify the feed-stop position deviation for each axis. If the
positioning deviation of an axis while it is moving exceeds the feed-
stop position deviation for the axis, pulse distribution and
acceleration/deceleration control are temporarily stopped. When
the positioning deviation becomes less than the feed-stop position
deviation, pulse distribution and acceleration/deceleration control
are restarted.
The feed-stop function is mainly used for decreasing overshoot
when a large servo motor is accelerated or decelerated.
Generally, specify the intermediate value between the positioning
deviation limit while the tool moving and the positioning deviation
limit for the axis in the rapid traverse mode as the feed-stop
position deviation.
- 645 -
7.1.11 Deceleration Based on Acceleration during Circular

Interpolation
General
When cutting is performed at high speed for circular, helical, or spiral
interpolation, the actual tool path will vary slightly from that intended..
This error in circular interpolation can be approximated by the formula
given below:
Y
r : Error
Programmed r
path : Maximum radial error (mm)
v : Feedrate (mm/sec)
r : Arc radius (mm) 2
Actual path a : Acceleration (mm/sec )
T1 : Time constant (s) for
exponential acceleration /
deceleration of cutting feed
r (sec)
T2 : Time constant of the servo
0 X motor (sec)
2
12 2 v 1 2 2
r = ( T + T ) = (T + T ) a ................ (Equation 1)
2 1 2 r 2 1 2
When actual machining is performed, radius r of the arc to be machined
and permissible error Dr are given. Then, maximum allowable
acceleration a (mm/sec2) is determined from the above expression.
The function for clamping the feedrate by the acceleration
automatically clamps the feedrate of arc cutting to the value set in a
parameter. This function is effective when the specified feedrate may
cause the radial error for an arc with a programmed radius to exceed the
permissible degree of error.
When the permissible maximum acceleration for each axis is set for a
parameter, and the larger of the permissible maximum accelerations for
the two axes used for circular interpolation is assumed to be A, the
permissible maximum feedrate v at the radius r specified by the
program is
v = A r .............................................................. (Equation 2)
If the specified feedrate exceeds feedrate v, determined with equation 2,
the feedrate is automatically clamped to the determined feedrate.
- 646 -
NOTE
In fine HPCC mode, an optimum feedrate that
causes the accelerations on individual axes to fall
within the range of permissible acceleration is
calculated even if the permissible accelerations
specified for the axes are different.
In a mode other than fine HPCC mode (in normal
mode), the smaller of the permissible accelerations
on the two axes of circular interpolation is used. If
either of the values of the two interpolation axes is 0,
the non-zero value is used as the permissible
acceleration. If both values are 0, deceleration is
not performed.
If the radius of the arc is small, the calculated deceleration speed v may
become very small. To prevent the feedrate from becoming too low,
the minimum feedrate can be specified in a parameter. The following
parameters are used to specify the minimum feedrate:
In fine HPCC mode: Parameter 1483
In a mode other than fine HPCC mode (in normal mode): Parameter
1491
Explanations
- Linear acceleration/deceleration after interpolation in cutting feed
If the function for linear acceleration/deceleration in cutting feed is
applied, an error in circular cutting can be approximated using formula
3.
2
1 2 1 2 v 1 2 1 2
r = ( T + T ) = ( T + T ) a ...... (Formula 3)
24 1 2 2 r 24 1 2 2
Because the relationship of formula 2 holds, as indicated by formula 3,
deceleration by linear acceleration/deceleration after interpolation can
be based on the acceleration during circular interpolation.
- Actual error
Formulas 1 and 3 provide only the theoretical approximate errors
obtained by the CNC. Those values are not errors in actual machining.
The error in actual machining r all is given by the following formula:
r all =r NC +r machine................................... (Formula 4)
r machine : Error caused by the machine
r NC : Error resulting from acceleration/deceleration time constant
(T1) and servo motor time constant (T2)
This function keeps only the first term on the right side, which is the
error resulting from the acceleration/deceleration time constant (T1)
and servo motor time constant (T2), constant and is unrelated to the
error caused by the machine.
Formulas 1 and 3 are expressions of approximations. The precision of
the approximation decreases with a decrease in the radius of the arc.
Even if the speed is clamped to the maximum permissible speed v
obtained by formula 2, the error may not be permissible.
- 647 -
Parameter
1483 Lower feedrate limit for the deceleration function based on the acceleration of
fine HPCC

!
" #
$ %&'()(&*+,(((()(
The deceleration function based on the acceleration of fine HPCC automatically
calculates the optimum feedrate according to the geometry.
Depending on the geometry, the calculated feedrate may become very low.
If this occurs, to prevent the feedrate from becoming too low, deceleration to a
feedrate below that specified for this parameter can be suppressed.
If, however, the override by the deceleration function based on the cutting load is
enabled, the feedrate may become lower than the lower feedrate limit.
The lower feedrate limit in deceleration based on the acceleration during circular
interpolation in a mode other than fine HPCC mode can be specified for parameter
No. 1491.
1491 Lower feedrate limit for the deceleration function based on the acceleration
during circular interpolation (for normal mode)

!
" #
$ %&'()(&*+,(((()(
The deceleration function based on the acceleration during circular interpolation
automatically calculates the optimum feedrate so that the acceleration resulting
from changes in the travel direction during circular interpolation does not exceed
the allowable acceleration specified for parameter No. 1665.
If the arc radius is very small, the calculated feedrate may become very low.
If this occurs, to prevent the feedrate from becoming too low, deceleration to a
feedrate lower than that specified for this parameter can be suppressed.
The lower feedrate limit for the deceleration function based on the acceleration in
fine HPCC mode can be specified for parameter No. 1483.
- 648 -
1663 Allowable acceleration in the deceleration function based on the acceleration

of fine HPCC for each axis

!
"
$ ()(&*-((((()()$
()(&*-(((()(
Specify the allowable acceleration that may occur due to changes in the direction of
tool travel.
For an axis for which this parameter is set to 0, the deceleration function based on
the acceleration is disabled. If 0 is set for all axes, the feedrate is not determined
based on the acceleration.
In the 15B, the time for the maximum cutting rate (parameter No. 1422) was set
for parameter No. 1643 to set the allowable acceleration. In the 15i, on the other
hand, the acceleration is directly specified for this parameter.
- 649 -

during circular interpolation for each axis (for normal mode)

!
"
$ ()(&*-((((()()$
()(&*-(((()(
Specify the allowable acceleration in the deceleration function based on the
acceleration during circular interpolation for each axis.
The feedrate is controlled so that the acceleration resulting from changes in the
direction of travel during circular interpolation does not exceed the value of this
parameter.
For an axis for which 0 is set for this parameter, the acceleration function based on
the acceleration is disabled.
If different values are set for this parameter for different axes, the feedrate is
determined based on the lower acceleration of the specified two circular axes.
This parameter is effective when fine HPCC mode is not used (ordinary mode).
In fine HPCC mode, parameter No. 1663 is used.
The "deceleration function based on the acceleration during circular interpolation"
is equivalent to the "feedrate clamp with the arc radius" in the 15B.
In the 15B, the upper feedrate limit, lower feedrate limit, and arc radius were
specified for parameters Nos. 1490 to 1492. In the feedrate clamp based on the
acceleration in the 15i, the allowable acceleration is set for this parameter.
- 650 -
7.1.12 Advanced Preview Control
General
This function is provided to enable high-speed high-precision
machining with the FANUC Series 16i. With the FANUC Series 15i,
on the other hand, the look-ahead acceleration/deceleration before
interpolation function is used for high-speed high-precision machining,
instead of advanced preview control.
The look-ahead acceleration/deceleration before interpolation function
contains functions equivalent to the linear acceleration/deceleration
before interpolation function and the automatic corner deceleration
function contained in the advanced preview control.
For details, see the section on look-ahead acceleration/deceleration

before interpolation.
Reference item
Series15i/150i-MA Operators Manual II-18.4 Look-ahead
(Programming) acceleration/deceleratio
(B-63324EN) n before interpolation
Series15i/150i- Connection Manual 7.2.2 Look-ahead
MODEL A (This manual) acceleration/deceleratio
n before interpolation
- 651 -
7.1.13 Nano Interpolation
General
The output from the NC to the servo is usually in units of detection
units. This function allows output to the servo in units of thousandths
of detection units, thereby improving machining precision. This is
particularly effective for improving the surface roughness.
Note that the positioning precision depends on the machine conditions,
such as the resolution of the detector.
This function is part of the look-ahead acceleration/deceleration before

interpolation function. When the look-ahead acceleration/deceleration
before interpolation function is enabled, nano interpolation is also
enabled.
For details, see the section on look-ahead acceleration/deceleration

Note
NOTE
This function is most effective when the resolution
of the detector is higher than the detection units.
Even when the resolution of the detector is the
same as the detection units (in the case of a closed
loop, for example), it is effective if the feed forward
function is used.
Reference item

(B-63324EN) n before interpolation
- 652 -
7.1.14 Fine HPCC
General
This function is designed to achieve high-speed, high-precision
machining with a program involving a sequence of very small straight
lines and NURBS curved lines, like those used for metal die machining.
This function can suppress the servo system delay and delay caused by
acceleration/deceleration that increase as a higher feedrate is used.
This function can be used to ensure that the tool strictly traces the
specified values, thus minimizing machining profile errors and
achieving high-speed, high-precision machining.
HPCC stands for high precision contour control. In fine HPCC mode,
acceleration/deceleration is performed more precisely than in the
conventional HPCC mode, resulting in an increase in the cutting speed.
Format
Thus, this function can be used to ensure that the tool strictly traces the
specified values, thus minimizing machining profile errors for higher-
speed, higher-precision machining.
G05.1 Q1 : Look-ahead acceleration/deceleration

before interpolation mode on
(Multi-buffer mode is set at the same time.)
before interpolation mode off
(Multi-buffer mode remains set.)
G05.1 P1 Q0: Look-ahead acceleration/deceleration
(Multi-buffer mode is cleared.)
Specify G05.1 alone in a block.

Fine HPCC mode can be automatically turned on at
power-up and upon a reset if the MBF bit (bit 6 of
parameter 2401) is specified accordingly.
Fine HPCC mode can be turned on and off by
G05P10000 and G05P0, which specify the
application of high precision contour control by the
64-bit RISC processor of the FANUC Series 15-MB.
For details, see "Specifying G05P10000/G05P0,"
below.
- Functions enabled
In fine HPCC mode, the following functions are enabled:
(1) Linear acceleration/deceleration before interpolation or bell-
shaped acceleration/deceleration before interpolation
(2) Deceleration function based on feedrate differences at corners
(3) Advanced feed-forward function
(4) Nano interpolation
- 653 -
With the fine HPCC function, the additional functions listed below can
be used to achieve high-speed, high-precision machining for very small
straight lines and NURBS curved lines:
(1) Feedrate determination based on acceleration on each axis
(2) Deceleration function based on Z-axis fall angle
(3) Fifteen-block multi-buffer function
(The number of blocks can be optionally increased to a maximum
of 100 blocks.)
Automatic feedrate control function

In fine HPCC mode, the feedrate is automatically controlled by the
reading-ahead of blocks.
The feedrate is determined using the following conditions. If the
specified feedrate exceeds the determined feedrate, acceleration/
deceleration before interpolation is performed to achieve the
determined feedrate.
(1) Feedrate changes on each axis at a corner and the permissible
feedrate change that has been set
(2) Expected acceleration on each axis and the permissible
acceleration that has been set
(3) Cutting load that is expected from the travel direction on the Z-
axis
The machining error is decreased Specified tool path
because of the deceleration by
difference in feedrate.
Tool path assumed when
fine HPCC is not used
Tool path assumed when
fine HPCC is used
The machining error is decreased

because of deceleration with the
acceleration.
Fig. 7.1.14 (a)
To enable this function, set the desired values for the following
parameters:
Parameter No. 1478:
Permissible feedrate difference used when the feedrate is to be
determined from the feedrate difference at a corner
Parameter No. 1663:
Permissible acceleration when the feedrate is to be determined
from the acceleration
For details, see the explanation of these parameters.
- 654 -
Feedrate control conditions

In automatic feedrate control mode, the feedrate is controlled as
described below:
(a) From the feedrate difference on each axis at a corner, the feedrate
in the corner is determined, and deceleration is performed to
achieve the feedrate at the corner.
(Example)
N1
Specified
Y F
N2
X
N1 N2 N3 t
N3
(b) From the acceleration on each axis at the corners at the start and
end points of each block, the feedrate in the block is determined,
and deceleration is performed so that the feedrate in the block is
equal to or less than the determined feedrate.
(Example) N2N3
N1 N4
Specified
Y feedrate
N5
X N8 N6
N7 N1 N2 N3 N6 N7 N8 t
(c) During descent on the Z-axis, the cutting load increases, and
override is applied according to the Z-axis descent angle.
(Example)
Specified
Z N1 N2 feedrate
X
N3 N1 N2 N3 t
- 655 -
Example of determining the feedrate from the feedrate difference on each axis
The feedrate at a corner is calculated from the feedrate difference on
each axis, as described below.
he tangent feedrate that does not cause the feedrate change on each axis
to exceed the permissible feedrate difference set for parameter No.
1478 is calculated, and deceleration at performed at the corner.
- Example
When the tool travel direction changes by 90 degrees from the X-axis
to the Y-axis, deceleration is performed as shown below, if the feedrate
is 1000 mm/min and the permissible feedrate difference is 500
mm/min.
N1 G01 G91 X100. F1000 ;

N2 N2 Y100. ;
N1
Tool path assumed if deceleration
is not performed at the corner
' @Tool path assumed if deceleration is

@ @performed at the corner
Feedrate
F1000
If deceleration is not
performed at the corner
Feedrate on the If deceleration is performed
X-axis at the corner
F500
Feedrate Time
F1000
Feedrate on the
Y-axis
F500
N2 Time
Feedrate
F1000
Tangent feedrate
F500
N1 N2 Time
Fig. 7.1.14 (b) Example of Determining the Feedrate from the Feedrate
Difference
- 656 -
NOTE
The method of deceleration with the feedrate
difference differs depending on the setting of
parameter FNW (bit 6 of No. 1517). For details,
refer to the section on " Look-ahead acceleration/
deceleration before interpolation " in this manual.
Example of determining the feedrate with the acceleration on each axis

When consecutive small lines are used to form a curve, as in the
example shown in the figure below, the feedrate differences on each
axis at the individual corners are not very large. Thus, deceleration with
the feedrate differences is not effective. Consecutive small feedrate
differences, however, cause a large acceleration on each axis, as a
whole.
In such a case, deceleration can be performed to reduce the impact on
the machine and the machining error caused by too large an
acceleration. The deceleration feedrate is determined to be the feedrate
that does not cause the acceleration on each axis to exceed the
permissible acceleration set for parameter No. 1663.
The deceleration feedrate is determined for each corner. The actual
feedrate is the smaller of the deceleration feedrate determined at the
start point of the block and that determined at the end point.
- 657 -
- Example
In the following example, the acceleration (gradient of the broken line
in the feedrate graph) at too large at corners N2 to N4 and N6 to N8 and,
therefore, deceleration is performed.
N8
N7 N9
N6
N5
Y
N1
X N4
N3
N2
X-axis
feedrate
Y-axis
feedrate
Tangent
feedrate
N1 N5 N9 N1 N5 N9
Fig. 7.1.14 (c) Example of Determining the Feedrate with the Acceleration
- 658 -
The method of determining the feedrate with the acceleration differs

depending on the setting of parameter FNW (bit 6 of No. 1517).
If "0" is set, the highest feedrate that does not cause the permissible
acceleration set for parameter No. 1663 to be exceeded is assumed to
be the deceleration feedrate. In this case, the deceleration feedrate
differs depending on the travel direction even if the shape is the same,
as shown in the figure below.
(Example) If a circular shape with a radius of 10 mm is specified with small line blocks
@ @ @Parameter FNW (bit 6 of No. 1517) = 0
@ @ @Permissible acceleration = 1000 mm/s2 (on all axes)
Tangent feedrate
F6000
The feedrate is higher

in these directions.
Time
If "1" is set, the feedrate is determined with not only the condition that
the permissible acceleration on each axis is not exceeded but also the
condition that the deceleration feedrate is constant regardless of the
travel direction if the shape is the same.
If 1 is set for this parameter, the deceleration feedrate determined with
the feedrate difference or acceleration may be up to 30% lower than
that determined if 0 is set.
(Example) If a circular shape with a radius of 10 mm is specified with small line blocks
@ @ @Parameter FNW (bit 6 of No. 1517) = 1,
@ @ @radius = 10 mm, permissible acceleration = 1000 mm/s2 (on all axes)
Tangent feedrate
F6000
The tangent feedrate

is constant.
Time
NOTE
In circular interpolation, the tangent feedrate is
constant regardless of the setting of the parameter.
- 659 -
Example of determining the feedrate with the cutting load

This function is enabled when parameter ZAG (bit 4 of No. 7565) is set
to 1.
Fig. 7.1.14 (d) During ascent on the Z-axis
Fig. 7.1.14 (e) During descent on the Z-axis
Usually, the cutting resistance is higher when machining is performed

with the bottom of the cutter, as shown in Fig. 7.1.14 (a) an when
machining is performed with the side of the cutter, as shown in Fig.
7.1.14 (d). Deceleration is, therefore, required. In fine HPCC, the tool
travel direction on the Z-axis is used as a condition for calculating the
machining feedrate.
The descent angle during descent on the Z-axis (angle formed by the
XY plane and the tool center path) is as shown in Fig. 7.1.14 (e). The
descent angle is divided into four areas, and the override values for the
individual areas are set for the following parameters:
Parameter No. 7591 for area 2
For area 1, however, no parameter is available, and an override of
100% is used at all times. The feedrate obtained according to other
feedrate control is multiplied by the override value of the area to which
descent angle belongs.
Area1 0 <30
Area2 30 <45
Area3 45 <60
Area4 60 90
- 660 -
XY plane
30 Area1
90
60
Area4 45
Area3 Area2
CAUTION
1 The function for determining the feedrate with the
cutting feed is effective only when the tool is parallel
with the Z-axis. Thus, it may not be possible to apply
this function, depending on the structure of the
machine used.
2 In the function for determining the feedrate with the
cutting feed, the travel direction on the Z-axis is
determined with the appropriate NC command. If,
therefore, manual intervention is performed on the
Z-axis with manual absolute on, or if a mirror image is
applied on the Z-axis, the direction on the Z-axis
cannot be determined. When using the function for
determining the feedrate with the cutting load, do not
use these functions.
3 When performing three-dimensional coordinate
conversion, determine the descent angle on the Z-
axis using the converted coordinate system.
Ignoring F code commands

In a block in which automatic feedrate control is enabled, all feed
commands (F commands) can be ignored by setting parameter NOF (bit
7 of No. 7565). The term feed commands, as used here, refer to the
following commands:
(1) Modal F commands before the block in which automatic feedrate
control is enabled
(2) F commands and modal F commands in the block in which
automatic feedrate control is enabled
When the F commands are ignored, it is assumed that the upper
feedrate limit specified for parameter No. 7567 is specified.
Note, however, that any issued F commands and modal F commands
are stored within the CNC.
Thus, in a block in which automatic feedrate control changes from the
enabled state to the disabled state, the modal values of the F commands
described in 1 and 2 described above are used as modal F commands,
- 661 -
instead of the modal values of the F commands calculated by automatic

feedrate control.
Another example of determining the feedrate

If the calculated feedrate exceeds either the upper limit (parameter No.
7567) for automatic feedrate control that is set for the appropriate
parameter or the feedrate specified with an F command, clamping is
performed with the smaller of the upper limit feedrate and the feedrate
specified with the F command.
If the feedrate calculated by the deceleration function based on the
acceleration is smaller than the lower feedrate limit for the deceleration
function based on the acceleration of fine HPCC set for parameter No.
1483, the lower feedrate limit is used for the feedrate. If, however, the
specified feedrate is smaller than the lower feedrate limit, the specified
feedrate is used.
- 662 -
Parameter
See also the explanation of those parameters for look-ahead
acceleration/deceleration before interpolation because this function
uses it.
1483 Lower feedrate limit for the deceleration function based on the acceleration
of fine HPCC

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

)
" 0
1)
0 " 1
" 1 "
)
1 0 0 " "
" " 1 1
)
. 1 "
/## "
2)-,3-)
NOTE
During involute interpolation, the lower feedrate limit for the
"acceleration clamp in the vicinity of the basic circle" of involute
interpolation automatic feedrate control is applied.
- 663 -
#7 #6 #5 #4 #3 #2 #1 #0
1517 FNW

'
45 62$ % 1 "

7& "
"
/##)
0: The highest feedrate that does not exceed the allowable feedrate difference or
allowable acceleration for each axis is assumed.
1: In addition to the condition that the feedrate must not exceed the allowable
feedrate difference and allowable acceleration, the condition that the
deceleration feedrate must be constant if the geometry is the same must be
satisfied in determining the feedrate.
When this parameter is set to 1, the feedrate determined with the feedrate
difference or acceleration may be lower by up to 30% than that determined when it
is set to 0.

for each axis of fine HPCC

!
"
$ ()(&*-((((()()$
()(&*-(((()(
Specify the allowable acceleration that may occur due to changes in the direction of
tool travel.
For an axis for which this parameter is set to 0, the deceleration function based on
the acceleration is disabled. If 0 is set for all axes, the feedrate is not determined
based on the acceleration.
In the 15B, the time for the maximum cutting rate (parameter No. 1422) was set
for parameter No. 1643 to set the allowable acceleration. In the 15i, on the other
hand, the acceleration is directly specified for this parameter.
NOTE
During involute interpolation, the allowable acceleration for the
"acceleration clamp in the vicinity of the basic circle" of involute
interpolation automatic feedrate control is applied.
- 664 -
#7 #6 #5 #4 #3 #2 #1 #0
7565 NOF ZAG

%

'
4, 89: % 1 "

8& " /##)
0: Do not perform.
1: Perform.
After setting 1 in this parameter, be sure to set parameter No. 7591, No. 7592, and
No. 9593.
4; 2<6 % 1 6 /##)
(= )
-= )
$ -
2);>5; )
7567 Upper feedrate limit for fine HPCC

%

!
" #
$ %&'()(&*+,(((()(
% /##)
0 /##
0 )
$ ( )
$ ";2<6 2);>5> -

) (
%(-?; )
- 665 -
7591 Override for area 2 in deceleration based on fine HPCC cutting load

%

@
!
-&-((
With the deceleration function based on fine HPCC cutting load, a specified
override can be applied according to the Z-axis falling angle.
A feedrate found from other conditions is multiplied by the override value of an
area to which the falling angle belongs. Note, however, that no parameter is
available for area 1, and an override of 100% is used at all times.
Area1 0 <30
Area2 30 <45
Area3 45 <60
Area4 60 90
Limitation
Because this function uses look-ahead acceleration/deceleration before
interpolation, see the section on look-ahead acceleration/deceleration
before interpolation for an explanation of the restrictions.
Reference item
Series15i/150i-MA Operators Manual II-18.5 Fine HPCC
(Programming) II-18.4 Look-ahead
(B-63324EN) acceleration/deceleratio
- 666 -
7.1.15 Machining type in HPCC screen programming
General
The high-speed high-precision machining setting screen supports three
machining parameter sets (FINE, MEDIUM, and ROUGH). The
parameter set to use can be selected in MDI mode. Selecting one
parameter set causes the working parameters to be rewritten. If FINE is
selected, for example, the values of the finish machining parameters
listed below are set in the working parameters.
Finish machining Working

parameter parameter
ACC/DEC LEVEL 1533 (None)
(*1)
ACC FOR BIPL 1534 1660
ACC CHANGE TIME (BELL) 1536 1656
(*2)
MAX ACCELERATION 1535 1663
T-CONST AIPL ACC/DEC 1522 1635
CORNER FEED 1524 1478
(*3)
FEED FORWARD COEFFICIENT 1529 1985, 3344
*1, *2 These values have been overridden on the acceleration/
deceleration level.
*3 These values apply only when parameter TSP (bit 0 of parameter
No. 8403) is set to 1.
This function enables a machining parameter set to be selected by a
command in a program during operation as well as in MDI mode. The
selected machining parameters are reflected on the high-speed high-
precision machining setting screen.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
8403 TSP

[Data type] Bit
#0 TSP Specifies whether to transfer the same advance feedforward

coefficient to the corresponding working parameter on the spindle
side (parameter No. 3344) and to the servo side (parameter No.
1985), using the high-speed high-precision machining setting screen
or the pattern program command function for individual machining
types, as follows:
0: Do not transfer
1: Transfer
Alarm
PS0302 ILLEGAL DATA NUMBER The pattern program command for individual machining
types on the high-speed high-precision setting screen
contains an incorrect value for address R.
- 667 -
7.1.16 Feedrate Specification on a Virtual Circle for a Rotary Axis
This function improves a method of specifying a speed for a machine

having a rotation axis.
[Conventional method]
Y
Specified speed Program example
(deg/min) N1G91G01X10.F100.
N2C10.F50
C N2
The rotation axis command
specifies the speed of the
rotation axis.
N1 X
[Method of specifying the speed on a virtual circle for a rotation axis]

Y
Specified speed Program example
(mm/min) N1G91G01X10.F100.
N2C10.
C N2
The speed at which the tool moves
along a virtual circle having a radius
specified using a parameter
Virtual-circle N1 X
becomes the "specified speed."
radius Using a virtual-circle radius of 0 can
exclude the rotation axis from
speed calculation.
NOTE
Using this function causes the movement speed along
a virtual circle to be used as the specified speed.
This does not generally mean that a speed at a
cutting point becomes the specified speed.
Explanation
The following description exemplifies a machine having three linear
axes (X, Y, Z) and two rotation axes (B, C).
- Calculating the rotation axis feedrate

[Conventional method]
Conventionally, the feedrate has been controlled in such a way
that it takes the time T, calculated using the following expression,
to move through the specified distance.
L = X 2 + Y 2 + Z 2 + B 2 + C 2
L
T=
F
- 668 -
[Method of specifying a speed on a virtual circle for a rotation axis]

This method controls the feedrate in such a way that it takes the
time T, calculated using the following expression, to move
through the specified distance.
L= X 2 + Y 2 + Z 2 + (l B * B * / 180 )2 + (l C * C * / 180 )2
L
T =
F
l B , lC :

X , Y ,:Amount
Z :

of movement (mm
along each , inch
axis )
(mm,inch)
B, C :

: Amount of movement (deg)
along each axis (deg)
L, L : Distance :
F :
: Specified speed (mm/min,( mm / min, inch / min)
inch/min)
T,T :
- Usable functions
This function can be used with the following functions:
- Linear interpolation
- Dry run
- Tool length compensation for the specified direction (when parameter
FWR (bit 2 of parameter No. 7711) = 1)
- Look-ahead pre-interpolation acceleration/deceleration
Look-ahead pre-interpolation acceleration/deceleration is performed
for the movement speed along the virtual circle. Values specified in the
speed tolerance parameter (No. 1478) and maximum permissible
acceleration parameter (No. 1660) are represented in the measurement
unit set up for the rotation axis.
- Parameter setting
Set up the following parameters for the rotation axis that uses this
function.
- Parameter ROT (bit 0 of parameter No. 1006) = 1
- Parameter RFD (bit 1 of parameter No. 1010) = 1
- Parameter No. 2524 = virtual-circle radius
- Setting for excluding a rotation axis from speed calculation

The following setting (virtual-circle radius = 0.0) excludes a rotation
axis from speed calculation
- Parameter ROT (bit 0 of parameter No. 1006) = 1
- Parameter RFD (bit 1 of parameter No. 1010) = 1
- Parameter No. 2524 = 0.0
If a command specifies the speed of only a rotation axis when the above
setting exists, the rotation axis runs with the maximum cutting feedrate.
- G10-based parameter rewriting

The following parameters can be rewritten using G10 in a part
program.
- Parameter RFD (bit 1 of parameter No. 1010)
- Parameter No. 2524
- 669 -
Restrictions
- Unusable functions
This function cannot be used with the following functions:
- The following G functions in group 01
Positioning
Circular interpolation, helical interpolation, spiral interpolation,
and conical interpolation
Arc threading B
Involute interpolation
Exponential interpolation
Three-dimensional circular interpolation
Spline interpolation
NURBS interpolation
- Cylindrical interpolation
- Polar coordinate interpolation
- Normal-direction control
- Feed per rotation
- Inverse time feed
- Parallel-axis control and twin-table control
To use this function together with parallel-axis or twin-table control,
set parameter No. 2524 with the same value for the master and slave
axes.
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
1010 RFD

'
4- 6 6 1=
0: Conventional method
1: Method of specifying the speed on a virtual circle for a rotation axis
- 670 -
2524 Virtual-circle radius in specifying the speed on a virtual circle for a rotation
axis

&"

!
( 3 0
A% % ." ')A
6 %&'()(*333333)333
Specify the radius of a virtual circle for the method of specifying the speed on a
virtual circle for a rotation axis.
Specifying 0.0 in this parameter causes the rotation axis to be excluded from speed
calculation.
Reference item
FANUC Series Operators Manual U.5.3 Cutting Feed
15i/150i-MA (Programming)
(B-6332EN)
- 671 -
7.1.17 Automatic Feedrate Control by Area
Overview
When an area on the XY plane(*1) is specified in cutting mode in
automatic operation, the area override can be applied to a specified
feedrate(*2) if the tool is in the specified area.
To do this, set an area on the XY plane first by setting parameter Nos.
1280 to 1287.
Up to four areas can be set on the XY plane.
(For details on how to set areas, see the explanation of operation.)
When the tool is in an area set as mentioned above, the tool can be
moved at a feedrate resulting from the specified feedrate overriden by
the area override set in parameter No. 2060 to 2063.
For each of the four areas, a separate area override can be set.
NOTE
1 X and Y denote the two axes set to 1 and 2 in
parameter No. 1022, respectively.
2 (Specified feedrate) =
(Cutting feedrate specified with F in program)
(Feedrate override)
Area 1 Area 3
Area 2
Area 4
Fig. 7.1.17 (a) Example of Setting Four Areas on the XY Plane
- 672 -
Defining areas
- Up to four areas can be set. Well use area numbers to call these
areas area 1 to area 4.
- Each area is set as a quadrangle whose sides are parallel to the X-
and Y-axes.
Each area includes the border of the quadrangle.
- An area is defined by setting one of the two pairs of diagonal
vertexes of a quadrangle. (See Fig. 7.1.17(b).)
Either of the two vertex pairs may be used to determine a unique
quadrangle.
If two diagonal vertexes are at the same coordinates, the area is a
point.
- When two or more areas overlap each other, the area override for
the area with the smallest area number is used for the overlap
portion. (See Fig. 7.1.17(c).)
Y-axis
Vertex pair 1 Vertex pair 2
Vertex pair 2 Vertex pair 1

X-axis
Fig. 7.1.17 (b) Two Pairs of Diagonal Vertexes of a Quadrangle
Y-axis
Area 4, area override 4
In the portion where

areas 1 and 4
overlap, area
override 1 is
applied.
Area 1, area override 1

X-axis
Fig. 7.1.17 (c) When Areas Overlap One Another
- 673 -
Determining whether the tool is in an area

Whether the tool has entered an area is checked based on the machine
coordinates.
Setting an area
There are three methods for setting an area, that is, for setting two diagonal
vertexes, as follows:
(1) Specify and write a parameter number in G10.
Press the [Setting] key several times to display the automatic feedrate
control: area setting screen.
(2) Enter the necessary data directly in MDI mode.
(3) Move the tool manually to a desired position, then press CRT/MDI soft
key [Area setting] to record the position.
Then, the coordinates of the current cursor position are changed.
Setting an area override

An area override is set within the range from 0% to 127%.
For each of four areas, a separate area override can be set.
There are two methods of setting an area override as follows:
(1) Specify and write a parameter number in G10.
Press the [Setting] key several times to display the automatic feedrate
control: area setting screen.
(2) Enter the necessary data directly in MDI mode.
Notes
NOTE
1 In cutting mode in automatic operation, a check is
made to see whether the tool has entered an area,
and the tool is moved at a feedrate multiplied by the
percentage set in parameter Nos. 2060 to 2063.
2 This function is disabled in the following modes:
Threading, Feed per revolution, Tapping
3 This function is also disabled when the X-axis and
Y-axis are used as axes subjected to the following:
PMC axis control, Chopping
4 The percentage of the cutting feedrate is obtained by
multiplying the normal feedrate override by the area
override of this function. If the multiplication result
exceeds 254%, it is clamped to 254%.
5 This function is disabled when the tool moves at a dry
run speed.
6 In three-dimensional coordinate conversion mode,
this function is valid for areas on the XY plane in the
machine coordinate system.
7 In synchronization control, areas are set for the
master axis. The area override of this function is
applied to all the synchronized axes.
- 674 -
Parameters
1280 Coordinates of diagonal vertex 1 of area 1 in automatic feedrate control by
area

area

area

area

area

area

area

area

"

. B 1 )
!
2 %
" 9)
6 %&'&333333)333*333333)333
The positions, in the machine coordinate system, of two diagonal vertexes of each
of areas 1 to 4 in automatic feedrate control by area are set.
2060 Area override for area 1 in automatic feedrate control by area
- 675 -

@
!
(-+;
The area overrides for areas 1 to 4 in automatic feedrate control by area are set as
percentages. If 0 is set for an area, the setting for the area becomes invalid.
The area override is applied to the feedrate resulting from the override of a
specified feedrate.
- 676 -
7.2 ACCELERATION AND DECELERATION CONTROL
7.2.1 Post-interpolation Automatic Acceleration/Deceleration
General
Acceleration and deceleration is performed when starting and ending
movement, resulting in smooth start and stop. Automatic
acceleration/deceleration is also performed when feedrate changes, so
change in speed is also smoothly done. It is not necessary to take
acceleration/deceleration into consideration when programming.
Rate after acceleration/deceleration

Rate after Interpolation
CNC command
SERVO motor
Acceleration SERVO
/deceleration control
Pulse control
distribution
Acceleration
/deceleration SERVO
control control
Post-interpolation automatic acceleration/deceleration enables the

following acceleration/deceleration methods for each feed.
Select the desired acceleration/deceleration type using the
corresponding parameter settings given in the table below.
- Rapid traverse
REX(No.1600#0) NEX(No.1600#7) RTB(No.1601#5) Acceleration/deceleration type
0 Linear acceleration/deceleration
(constant acceleration)
0 __
1 Bell-shaped acceleration/deceleration
(constant acceleration)
0 __ Exponential acceleration/deceleration
(constant acceleration time)
0 Linear acceleration/deceleration
1
1
1 Bell-shaped acceleration/deceleration
- Cutting feed (including dry run)

CTE(No.1600#4) Acceleration/deceleration type
Linear acceleration/deceleration (constant acceleration time)
0 Bell-shaped acceleration/deceleration (constant acceleration time) if the bell-shaped
acceleration/deceleration option is supported.
1 Exponential acceleration/deceleration (constant acceleration time)
- 677 -
- Jog feed
JGE(No.1600#5) Acceleration/deceleration type
Linear acceleration/deceleration (constant acceleration time)
0 Bell-shaped acceleration/deceleration (constant acceleration time) if the bell-shaped
acceleration/deceleration option is supported.
1 Exponential acceleration/deceleration (constant acceleration time)
- Constant acceleration and constant acceleration time acceleration/deceleration

With constant acceleration acceleration/deceleration,
acceleration/deceleration can be performed efficiently with the
acceleration set for each axis. Because acceleration/deceleration is
performed for each axis, the specified path may be shifted, and constant
acceleration acceleration/deceleration can be applied to rapid traverse
only. (When linear interpolated positioning is performed, the path may
not be on the specified line.)
With constant acceleration time acceleration/deceleration, the
specified path will not be shifted. Because the time constant is constant
regardless of the specified feedrate, the time required for
acceleration/deceleration does not change, no matter how small the
specified feedrate.
C o n s ta n t a c c e le r a tio n
F e e d ra te C o n s ta n t a c c e le r a tio n t im e
T im e
- 678 -
- Linear acceleration/deceleration
With linear acceleration/deceleration, the time required for
acceleration/deceleration is the shortest, provided that the acceleration
is the same. Note, however, that if the acceleration is large (the time
constant is low), the stress and strain imposed on the machine system
may be considerable.
The time constant and FL feedrate for each feed is set in the following
parameters.
Feed Time constant FL feedrate

Rapid traverse (constant Parameter(No.1620) Parameter(No.1621)
acceleration)
Rapid traverse (constant Parameter(No.1628) __
acceleration time)
Cutting feed Parameter(No.1622) __
Jog feed Parameter(No.1624) __
<Linear acceleration/deceleration>
Feedrate
Specified feedrate
Time T : Time constant

T T
- Bell-shaped acceleration/deceleration
With bell-shaped acceleration/deceleration, acceleration/deceleration
is smoothed to reduce the amount of stress and strain imposed on the
machine system when the acceleration is large.
The time constant and FL feedrate for each feed is set for the following
parameters.

Rapid traverse (constant Parameter(No.1620)T1
Parameter(No.1621)
acceleration) Parameter(No.1636)T2
Rapid traverse (constant Parameter(No.1628) __
acceleration time)
Cutting feed Parameter(No.1622) __
Jog feed Parameter(No.1624) __
- 679 -
Feedrate Feedrate Bell-shaped

Bell-shaped acceleration/deceleration
(constant acceleration) acceleration/deceleration
T2 T
T T
T
Set time constants T1 and T2 for parameters. T::Time constant
(The acceleration in the straight-line portion 1 is made
constant from the rapid traverse feedrate (parameter
No. 1420) and the setting of T1).
- Exponential acceleration/deceleration
With exponential acceleration/deceleration, the acceleration/
deceleration delay is large. On large machines, however, the overshoot
can be reduced.
The time constant and FL feedrate for each feed is set for the following
parameters.

Rapid traverse Parameter(No.1628) Parameter(No.1629)
Cutting feed Parameter(No.1622) Parameter(No.1623)
Jog feed Parameter(No.1624) Parameter(No.1625)
<Exponential function acceleration/deceleration>
Feedrate
Specified feedrate
Time T: @Time constant

T T
- 680 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1600 NEX JGE CTE REX

!"

" # $
%" #
&' (' %) '
*$%+,-$
. /0 ' ((
$
0: Linear acceleration/deceleration is used. However, when the bell-shaped
acceleration/deceleration option is selected, bell-shaped
acceleration/deceleration is used.
1: Exponential acceleration/deceleration
1 23 ' ' (4((($
0: Linear acceleration/deceleration is used. However, when the bell-shaped
acceleration/deceleration option is selected, bell-shaped
acceleration/deceleration is used.
1: Exponential acceleration/deceleration
5 * ' !' '
#
67 *$%+689%8$
"
%" : 7 #' $&'''
71 *$%+%608$
#7 #6 #5 #4 #3 #2 #1 #0
1601 RTB

1 0 !"

0: Linear acceleration/deceleration
1: Bell-shaped acceleration/deceleration
To apply bell-shaped acceleration/deceleration to the corresponding axis, specify
time constant T1 in parameter No. 1620 and time constant T2 in parameter No.
1636, in addition to setting this bit to 1.
- 681 -
1620 Time constant (T) for linear acceleration/deceleration or time constant (T1)
for bell-shaped acceleration/deceleration for rapid traverse along each axis

(
;

< (
#.
Example: Linear type
=

6 *$ %.,8
0 0
0
T: Value set in parameter No. 1620
@ @ @Bell-shaped type
=

6 *$%.,8
0 0 0 0
0
0 0
T1: Value set in parameter No. 1620

T2 : Value set in parameter No. 1636 (Set these parameters so that T1 T2 .)
Total acceleration (deceleration) time: T1 + T2
Time of the linear portion: T1 - T2
Time of the curved portions: T2 2
- 682 -
1621 FL feedrate for linear or bell-shaped acceleration/deceleration for rapid

traverse along each axis

;
)') ( 6' 8
>
' '
< (
' (7 6/8
6&' ' #)$#?,.$8
Specify the FL feedrate for linear or bell-shaped acceleration/deceleration or rapid
traverse along each axis.
Example: Linear type
=
6 *$%.,8
=:
0
0
T: Value set in parameter No. 1620

Bell-shaped type


NOTE
When the feedrate is decelerated to the value set in this
parameter at any point regardless of whether during a linear or
nonlinear feedrate increase, the tool moves at that feedrate for
the remaining distance then stops.
- 683 -
1622 Cutting feed acceleration/deceleration time constant for each axis

(
;

< (
#.
For each axis, set the time constant used for acceleration/deceleration during
cutting feed.
The time constant is fixed irrespective of the feedrate (fixed time constant method).
Linear acceleration/deceleration after Bell-shaped acceleration/deceleration after

cutting feed interpolation cutting feed interpolation
= =
0 0 0

0
NOTE
However, note that the valid range is 0 to 2000 when the bell-
shaped acceleration/deceleration option is provided.
Except in special cases, this time constant should be set to the
same value for all axes. When different values are specified,
the desired straight and curved lines will not be obtained.
1623 FL feedrate for cutting feed acceleration/deceleration after interpolation

along each axis

;
)') ( 6' 8
>
' '
< (
' (7 6/8
6&' ' #)$#?,.$8
NOTE
Be sure to always set 0 in this parameter for all axes, except for a
special application. Otherwise, correct linear or circular figures
cannot be obtained.
- 684 -
1624 Jog acceleration/deceleration time constant for each axis

(
;

< (
#.
= ') '
(4( $
1625 FL feedrate for each axis for acceleration/deceleration during jog feed

;
)') ( 6' 8
>
' '
< (
' (7 6/8
6&' ' #)$#?,.$8
= ') ' =:
(4( $
1628 Time constant for rapid traverse acceleration/deceleration with constant

time for individual axes

(
;

< (
#.
' !'
$
0' !' 7 *$%+68
%$
1629 FL feedrate for rapid traverse acceleration/deceleration with constant time

for each axis

;
)') ( 6' 8
>
' '
< (
' (7 6/8
6&' ' #)$#?,.$8
' =: !'
( '$
- 685 -
1636 Time constant for bell-shaped acceleration/deceleration for rapid traverse

along each axis (T2)

(
;

< (
#%
0,7 #'
( '$ ' '
' *$%+,60%8$
Note
NOTE
In circular interpolation especially when circular

cutting is executed at high speed, the actual path of
the accelerated or decelerated tool deviates from the
specified arc in the direction of the radius.
Y r : radius error
Specified path
r : Maximum radius error (mm)

Actual path v : Feedrate: (mm/s)
r : Radius of arc: (mm)
T1 : Acceleration/deceleration time
constant (s)
T2 : Time constant of servo loop (s)
r
0 X
The maximum error in the radial direction (r) can be

approximated by the following expressions:
Exponential acceleration/deceleration
2
1 2 1 2 V
r = ( T1 + T2 )
2 2 r
Linear acceleration/deceleration
2
1 2 1 2 V
r = ( T1 + T2 )
24 2 r
Bell-shaped acceleration/deceleration
2
1 2 1 2 V
r = ( T1 + T2 )
48 2 r
If the error caused by the time constant of the servo
loop is excluded, the error cause by linear
acceleration/deceleration or bell-shaped
acceleration/deceleration after interpolation is 1/12 of
that caused by exponential
acceleration/deceleration.
- 686 -
7.2.2 Look-ahead Acceleration/Deceleration Before interpolation
General
When acceleration/deceleration after interpolation is used,
acceleration/deceleration is applied to the interpolated data.
Consequently, the interpolated data is changed by acceleration/
deceleration. When acceleration/deceleration before interpolation is
used, however, acceleration/deceleration is applied to the feedrate data
before interpolation. Consequently, the interpolated data is not
changed by acceleration/deceleration. Accordingly, interpolation data
ensures that machining follows a specified line or curve at all times,
thus eliminating the machining profile errors that result from delays in
acceleration/deceleration.
High-precision machining using continuous minute line segments or
NURBS curve commands, such as metal die machining, additionally
requires the use of the fine HPCC function.
Format
before interpolation mode on
(The multi-buffer mode is also set to on.)
(Multi-buffer mode is kept on.)
G05.1 P1 Q0 : Look-ahead acceleration/deceleration
(Multi-buffer mode is set off.)
Specify only G05.1 in a single block.
Look-ahead acceleration/deceleration before
interpolation mode can be automatically turned on at
power-up and upon a reset if the MBF bit (bit 6 of
parameter 2401) is specified accordingly.
Valid functions
In look-ahead acceleration/deceleration before interpolation mode, the
following functions are valid:
(1) Linear acceleration/deceleration before interpolation or bell-
shaped acceleration/deceleration before interpolation
(2) Deceleration based on a feedrate difference at a corner
(3) Advance feed forward
(4) Nano interpolation
- Fine high-precision contour control (fine HPCC)

If the fine HPCC function is provided, fine HPCC mode is turned on
when the CNC enters the look-ahead acceleration/deceleration before
interpolation mode.
- 687 -
Acceleration/deceleration types
There are two types of acceleration/deceleration, the linear
acceleration/deceleration type and the bell-shaped acceleration/
deceleration type. By setting a non-zero value for parameter No. 1656,
bell-shaped acceleration/deceleration is assumed. Bell-shaped
acceleration/deceleration produces smoother acceleration/
deceleration.
Look-ahead linear acceleration/deceleration before interpolation

If 0 is set for parameter No. 1656, linear acceleration/deceleration is
applied as the acceleration/deceleration before interpolation.
- Example of deceleration
Deceleration starts in advance so that the feedrate specified for a block
can be attained when the block is executed.
Feedrate
Programmed speed
Feedrate obtained by
F3 acceleration/deceleration
P1 before interpolation
F2
P2
F1 Time
N1 N2
To decrease the feedrate from F3 to F2, deceleration must be started

from P1.
To decrease the feedrate from F2 to F1, deceleration must be started
from P2.
Because multiple blocks are read in advance, deceleration can be
performed over all those blocks.
- 688 -
- Example of acceleration
Acceleration is performed so that the feedrate specified for a block is
attained when the block is executed.
Feedrate
Programmed speed
Feedrate obtained by
F3 acceleration/deceleration
before interpolation
F2
F1 Time
N1 N2
- Look-ahead bell-shaped acceleration/deceleration before interpolation
If a non-zero value is set for parameter No. 1656, bell-shaped

acceleration/deceleration is applied as the acceleration/deceleration
- Setting an acceleration
A permissible acceleration for the linear acceleration/deceleration of
each axis is set in parameter 1660. Acceleration change time (B)
(period of transition from constant speed state (A) to constant
acceleration/deceleration state (C)) is set in parameter 1656 (common
to all axes). In the constant acceleration/deceleration state (C),
acceleration/deceleration is performed with the maximum tangential
acceleration not exceeding the permissible acceleration of each axis
specified in parameter 1660.
The acceleration change time specified in parameter 1656 is held
constant, regardless of the tangential acceleration.
Tangential feedrate
An optimum gradient is automatically

calculated from the setting made in
parameter 1660.
(A) (B) (C) (B) (A) (B) (C) (B) (A)
Time set in parameter 1656
- 689 -
EMethod of determining the tangent acceleration
Acceleration/deceleration is performed with the largest tangent

acceleration/deceleration that does not exceed the acceleration set for
each axis.
(Example)
X-axis permissible acceleration: 1000 mm/sec2
Y-axis permissible acceleration: 1200 mm/sec2
Acceleration change time: 20 msec
Program:
N1 G01 G91 X20. F6000 Move on the X-axis.
G04 X0.01
N2 Y20. Move on the Y-axis.
G04 X0.01
N3 X20. Y20. Move in the XY direction (at 45 degrees).
The acceleration in N3 is 1414 mm/sec2 . At this point, the acceleration

on the X-axis is equal to the set value (1000 mm/sec ).
Tangent feedrate
20ms
2 2
1000 mm/sec 1200mm/sec 2
1414mm/sec
gradient gradient
gradient
20ms 20ms 20ms
- 690 -
- Acceleration
Acceleration is performed so that the feedrate programmed for a block
is attained at the beginning of the block.
Feedrate Speed control by bell-shaped

acceleration/deceleration
Programmed speed
Time
N1 N2 N3 N4 N5
- Deceleration
Deceleration starts in advance so that the feedrate programmed for a
block is attained at the beginning of the block.
Deceleration can be performed over several blocks.
Feedrate Speed control by

bell-shaped
Deceleration start point acceleration/deceleration
Programmed speed
Deceleration start point
Time
- 691 -
- Deceleration based on a distance

If the total distance of the blocks read ahead becomes shorter than or
equal to the deceleration distance obtained from the current feedrate,
deceleration starts.
If the total distance of the blocks read ahead during deceleration
increases, acceleration is performed.
If the blocks of a small amount of travel are successively specified,
deceleration and acceleration may be performed alternately, making
the feedrate inconsistent. To avoid this, decrease the programmed
feedrate.
- Single-block commands during look-ahead bell-shaped acceleration/deceleration

before interpolation control
If a single-block command is executed during look-ahead bell-shaped
acceleration/deceleration control, the following control is applied.
(1) If acceleration/deceleration is performed when the single-block

command is executed
(a) If A + B Remaining amount of travel in the block executed

when the single-block command is executed
Deceleration is performed for a stop so that the feedrate falls
to zero at the point at which the block executed when the
single-block command was executed terminates.
Feedrate
Single-block command
B
A
Time
A : Amount of travel to a point where the target feedrate is

attained and the current acceleration/deceleration ends
B : Amount of travel corresponding to deceleration from the
feedrate attained at the end of acceleration/deceleration to 0
- 692 -
(b) If A + B > Remaining amount of travel in the block being

executed when the single-block command is executed
A stop state may continue over several blocks.
The stop is made as described later.
Feedrate
Stop state continuing over

multiple blocks
A B
Time
A : Amount of travel to a point where the target feedrate is

attained and the current acceleration/deceleration ends
B : Amount of travel corresponding to deceleration from the
feedrate attained at the end of acceleration/deceleration to 0
(2) If acceleration/deceleration is not performed when the single-

block command is executed
(a) A Remaining amount of travel in the block being executed

when the single-block command is executed
Movement is decelerated and stopped so that the feedrate
falls to zero at the end of the block which was being executed
when the single-block command was executed.
Feedrate
Time
A : Amount of travel corresponding to deceleration from the

current feedrate to 0
- 693 -
(b) If A > Remaining amount of travel in the block being

executed when the single-block command is executed
A stop state may continue over several blocks.
The stop is made as described later.
Feedrate
Stop state continuing over

multiple blocks
Time
A : Amount of travel corresponding to deceleration from the

current feedrate to 0
(3) Stopping a movement if the stop may continue over several blocks
Acceleration/deceleration is performed over several blocks to
decrease the feedrate to zero.
Feedrate
Time
Deceleration based on the feedrate difference at a corner

With look-ahead acceleration/deceleration before interpolation, the
tangent feedrate is changed smoothly. Thus, no path error occurs due
to acceleration/deceleration delay. With this acceleration/declaration,
however, acceleration/deceleration is not performed for any feedrate
change on any axis that may be made where the travel direction
changes.
By using the function for deceleration based on the feedrate difference
at a corner, if a feedrate change occurs on an axis at a corner, the
feedrate is determined so that any feedrate difference exceeding the
permissible feedrate difference on that axis that has been set for
parameter No. 1478 does not occur, and deceleration is automatically
performed.
- 694 -
(Example)
Program
N1 G01 G91 X100. F5000
N2 Y100.
N2
N1
Tangent feedrate Tangent feedrate
The deceleration based

on the feedrate difference
is used.
X-axis feedrate X-axis feedrate
The feedrate difference
The tangent feedrate is becomes small, and the
smooth, but the feedrate feedrate on each axis
on each axis is not. becomes smooth.
Y-axis feedrate Y-axis feedrate
- 695 -
The method of deceleration based on the feedrate difference differs

depending on the setting made for parameter FNW (bit 6 of No. 1517).
If "0" is set, the largest feedrate that does not exceed the permissible
feedrate difference set for parameter No. 1478 is assumed to be the
deceleration feedrate. In this case, the deceleration feedrate differs if
the travel direction differs, even if the shape is the same.
(Example)
@If parameter FNW (bit 6 of No. 1517) = 0 and the
@permissible feedrate difference = 500 mm/min (on all axes)
Deceleration to
Deceleration to
354 mm/min
500 mm/min
If "1" is set, the feedrate is determined not only with the condition that
the permissible feedrate difference and permissible acceleration on
each axis are not exceeded, but also that the deceleration feedrate is
constant regardless of the travel direction if the shape is the same.
If 1 is set for this parameter, the deceleration feedrate determined with
the feedrate difference or acceleration may be up to 30% lower than
that determined if 0 is set.
(Example)
@If parameter FNW (bit 6 of No. 1517) = 1 and
@permissible feedrate difference = 500 mm/min (on all axes)
Deceleration to
Deceleration to
354 mm/min
354 mm/min
Override to a determined feedrate
The following gives the specifications of override to a feedrate

determined by functions such as deceleration based on feedrate
difference in look-ahead acceleration/deceleration before interpolation
and deceleration based on acceleration rate in fine HPCC.
- 696 -
- When bit 6 (OVR) of parameter No. 1403 = 0

The conventional specifications apply.
Override is invalid for deceleration functions such as deceleration
based on feedrate difference and deceleration based on
acceleration rate.
- When bit 6 (OVR) of parameter No. 1403 = 1
Override is valid for deceleration functions such as deceleration
acceleration rate.
When bit 6 (OVR) of parameter No. 1403 is 1, the following feedrates

can be overridden:
- Feedrate decelerated by deceleration based on feedrate difference
in look-ahead acceleration/deceleration before interpolation
- Feedrate decelerated by deceleration based on acceleration rate in
fine HPCC.
circular interpolation
- Feedrate decelerated by acceleration clamp in involute
interpolation
- Minimum feedrate for deceleration based on acceleration rate in
fine HPCC and circular interpolation
- Maximum feedrate of fine HPCC
Even when the feedrate is overridden, the resulting feedrate does not
exceed the maximum cutting feedrate (parameter No. 1422).
Restrictions
- Conditions under which look-ahead acceleration/deceleration before interpolation

are performed
Even when look-ahead acceleration/deceleration before interpolation
mode are specified, look-ahead acceleration/deceleration before
interpolation are not performed if any of the following conditions is
satisfied:
- The system is in threading mode.

- The system is in feed-per-revolution mode (G95).
- The system is in tapping mode (G93).
- The system is in a canned cycle (other than G80).
- No move command is issued.
- The machine is positioning the spindle
- One-shot G code other than G38, G45, G46, G47, G48, G39, and
G09
- Positioning (G00, G60)
- Block with an alarm
In look-ahead acceleration/deceleration before interpolation mode, the

following functions cannot be executed. To execute any of the
following functions, cancel look-ahead acceleration/deceleration
- 697 -
before interpolation mode, execute the desired function, then set look-
ahead acceleration/deceleration before interpolation mode again.
- Cs contour axis control function

- Hypothetical axis interpolation function
- Electronic gear box function (EGB)
- Setting of acceleration/deceleration, and feedrate

Upon executing a command that requires an acceleration time of one
second or longer if look-ahead acceleration/deceleration before
interpolation is performed, the specified feedrate may not be reached.
By setting "1" for parameter FCC (bit 7 of No. 1517), the feedrate can
be increased. If it is increased, however, the interpolation precision
may decrease in curve interpolation such as circular and NURBS
interpolation.
Signal
Look-ahead acceleration/deceleration before interpolation mode signal ADMOD <F159#2>

[Classification] Output signal
[Function] Notifies the user that the system is in look-ahead acceleration/
deceleration before interpolation mode.
[Output condition] This signal is set to "1" if G05.1Q1 (look-ahead acceleration/
deceleration before interpolation mode ON) is specified by the
program and the look-ahead acceleration/deceleration before
interpolation conditions such as a cutting command are satisfied.
This signal is set to "0" if:
(1) The system is in the automatic operation deactivated state.
(2) The system is in the automatic operation stopped state.
(3) Any of the conditions that automatically cancel look-ahead
acceleration/deceleration before interpolation, such as threading
and rapid traverse, is satisfied.
(4) Look-ahead acceleration/deceleration before interpolation mode
is canceled.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F159 ADMOD
- 698 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1403 OVR

[Data type] Bit
#6 OVR In look-ahead acceleration/deceleration before interpolation and fine

HPCC:
0: Override is disabled for deceleration functions such as deceleration
acceleration rate.
1: Override is enabled for deceleration functions such as deceleration
acceleration rate.
This function allows the following feedrates to be overridden:

- Feedrate decelerated by deceleration based on feedrate difference
in look-ahead acceleration/deceleration before interpolation
fine HPCC.
circular interpolation
- Feedrate decelerated by acceleration clamp in involute
interpolation
- Minimum feedrate for deceleration based on acceleration rate in
fine HPCC and circular interpolation
- Maximum feedrate of fine HPCC
Even when the feedrate is overridden by this function, the resulting

feedrate does not exceed the maximum cutting feedrate (parameter No.
1422).
1478 Allowable feedrate difference for corner deceleration based on the feedrate
difference

;
)') ( 6' 8
>
' '
< (
' (7 6/8
6&' ' #)$#?,.$8
When a function for determining the feedrate based on the corner feedrate
difference is used, if a change in a feedrate component on each axis at a boundary
between blocks is about to exceed the value set in this parameter,
acceleration/deceleration before interpolation is applied to reduce the feedrate to
the value obtained for that purpose. This reduces the impact on the machine
around corners and the machining error.
- 699 -
#7 #6 #5 #4 #3 #2 #1 #0
1517 FCC FNW

+ =*& !' ' ' ' (' 7 '

@#' 7
' ' (' 7 '
A// ' ' ' %1$
0: Same as those of the 15B. Thus, the highest feedrate that does not exceed the
allowable feedrate difference or allowable acceleration for each axis is
assumed.
1: In addition to the condition that the feedrate must not exceed the allowable
feedrate difference and allowable acceleration, the condition that the
deceleration feedrate must be constant if the geometry is the same must be
satisfied in determining the feedrate.
When this parameter is set to 1, the feedrate determined with the feedrate
difference or acceleration may be lower by up to 30% than that determined when it
is set to 0.
5 =// )@#' 7 )'
!''' ( "
0: The specified feedrate may not be attained because the precision is important.
1: The specified feedrate will be attained because the feedrate is important.
NOTE
When this parameter is set to 1, the precision of curve
interpolation such as circular and NURBS interpolation may
reduce.
1635 Time constant for cutting feed acceleration/deceleration after interpolation in

the mode of look-ahead acceleration/deceleration before interpolation

(
;

< (
#.
In the mode of look-ahead acceleration/deceleration before interpolation and in
fine HPCC mode, this parameter is used instead of the ordinary time constant
(parameter No. 1622).
Be sure to always set the same time constant in this parameter for all axes, except
for a special application. Otherwise, correct linear or circular figures cannot be
obtained.
- 700 -
1656 Acceleration change time of bell-shaped acceleration/deceleration before

interpolation

(
;

< (
#,
0' ' '( 7 #'
7 6' @ '
'( ' 6B8'
6/8(
7 ' *$%++" ' 68
' !(( 8$

! "! #! "! ! "! #! "! !

- 701 -
1660 Maximum allowable acceleration of acceleration/deceleration before

interpolation for each axis

;
)' ) ( 6' 8
>
' '
< (
' (7 68
6&' ' ' )$#?%$$&' '
' ' )' )$#?%$8
Specify the maximum allowable acceleration of acceleration/deceleration before
interpolation for each axis.
If a value greater than 100000.0 is set, it is clamped to 100000.0.
If 0 is set, it is regarded to be 100000.0. If 0 is set for all axes, look-ahead
acceleration/deceleration before interpolation will not be performed.
If the allowable acceleration for one axis is twice as large as that for another or
more, the feedrate may temporarily reduce around corners where the direction to
travel changes suddenly.
#7 #6 #5 #4 #3 #2 #1 #0
2401 MBF

+ >= ' 7 ! '
$
0: Cancels the multibuffer mode.
1: Selects the multibuffer mode. (When the optional multibuffer 15-block/100-
block function is not provided, five buffer blocks are used for the look-ahead
operation.)
When the multibuffer mode is selected, look-ahead acceleration/deceleration before
interpolation is enabled at the same time.
If the fine HPCC option is provided, fine HPCC mode is enabled at the same time.
NOTE
This parameter becomes valid when the system is reset.
- 702 -
Note
NOTE
1 If the permissible acceleration set for one axis is two
or more times greater than that set for another, the
feedrate may decrease temporarily at those corners
where the travel direction changes abruptly.
2 If the machine lock signal is turned on during travel in
look-ahead acceleration/deceleration before
interpolation mode, the machine enters the machine
lock state after the end of deceleration.
3 If there is a block with no travel or a one-shot G code
command such as G04 in look-ahead
acceleration/deceleration before interpolation mode,
deceleration is performed for a stop in the preceding
block.
4 If the dry run signal changes from "0" to "1" or from "1"
to "0" during travel on an axis,
acceleration/deceleration is performed to achieve
the prescribed feedrate without deceleration to
feedrate 0.
The function for deceleration with the feedrate
difference at a corner is effective even during dry
run.
Reference item
(B-63324EN) n before interpolatin
Series15i/150i- Connection Manual 7.1.13 Nano interpolation
MODEL A (This manual)
- 703 -
7.2.3 Corner Control
7.2.3.1 In-position check
General
Whether the position of the servo motor is within a specified range is
checked.
If the in-position check function is enabled, the CNC checks the
position during deceleration. If the position is found to exceed the
specified range, the CNC does not execute the next block.
NOTE
The purpose of in-position check is to check that the
servo motor has reached within a specified range
(specified with parameter No. 1000#0).
Signal
In-position check signal

*CSMZ <G008#1>
[Function] Determines whether the in-position check is to be performed in the
gaps between blocks in cutting feed during automatic operation.
Generally, in the gaps between blocks in cutting feed, slight rounding
occurs due to the delay of acceleration/deceleration and servo. By
performing the in-position check (waiting for the delay of
acceleration/deceleration and servo before executing the next block),
this rounding can be removed.
[Operation] If this signal is "0" at a gap between blocks in cutting feed during
automatic operation, the system performs the in-position check before
proceeding to the next block.
If it is "1," the system proceeds to the next block immediately without
performing the in-position check.
NOTE
1 Before and after a positioning block, the in-position
check is performed regardless of the setting of this
signal.
2 Generally, this signal is manipulated with the
appropriate auxiliary function so that whether to
perform the in-position check can be specified from
a program. Because, however, the state in which
this signal is "0" is equivalent to that in which a
program specifies G09 or G61, it is recommended
that these preparatory functions be applied except
where other reasons make their application
impossible.
- 704 -
In-position signals
INP1<F64#6>, INP2<F68#6>, ...
[Function] These signals indicate that the control axes are set to the in-position
condition.
They are provided for each control axis, and the number in the signal
name corresponds to the control axis number.
INPx
x : 1 - - - The 1st axis is set to the in-position condition.
2 - - - The 2nd axis is set to the in-position condition.
3 - - - The 3rd axis is set to the in-position condition.
: :
[Output condition] These signals turn to "1" in the following case :
- The acceleration/deceleration delay of the corresponding control
axis is zero and the servo error is within the specified allowance.
These signals turn to "0" in the following cases :
- The acceleration/deceleration delay of the corresponding control
axis is not zero.
- The servo error of the corresponding control axis exceeds the
specified allowance
NOTE
By setting parameter CIP (bit 0 of No. 1000), the
condition stating that the servo error must be within a
constant limit can be lifted.
- Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G008 *CSMZ
#7 #6 #5 #4 #3 #2 #1 #0
F064 INP1
the Appendix A.1.
- 705 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1000 CSZ CIP

/ !' !'#' @$

" > '' ' C (
6' 7 C 8$
%" / '' ' C (
6' 7 C 8''
' ' ' 6'
!'' *$%-,58$
% /D !' ' 7 ' #' @(6E/>D8$
0: Disable
1: Enable
1827 Valid area for each axis

(
;

< (
#FFFFFFFF
' '$
&' ' ' '
67 ( 8 ' )
'' ' ' ' )')
$
Note
NOTE
The in-position signals may turn to "1" even during
the movement if the axis is fed at very low speed.
- 706 -
7.2.4 Feed Forward in Rapid Traverse
General
Feed-forward control can be performed even during rapid traverse. In
this case, the servo position error is reduced, thus reducing the time
required for positioning to within the specified range.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1800 RFW

G =& !' ' 7 ! ( $
" 7 ! $
%" 7 ! $
* ) ! 7 !' (
$ &' ' %) ! 7
( $ 0' ' )
(' ( (($
Reference item
For details of this function, refer to the "FANUC SERVO MOTOR
series Maintenance Manual (B-65165E)."
- 707 -
7.2.5 Acceleration/Deceleration before Interpolation of Linear Type

Rapid Traverse
Conventionally, only acceleration/deceleration after interpolation

could be applied to rapid traverse.
This function allows acceleration/deceleration before interpolation to
be applied to linear type rapid traverse.
Description
- Acceleration/deceleration after interpolation to rapid traverse
Table 7.2.5 (a) Acceleration/Deceleration after Interpolation to Rapid

Traverse
Acceleration/deceleration type REX NEX RTB Time FL feedrate
1600#0 1600#7 1601#5 constant parameter
parameter
Linear type acceleration/deceleration 0 0 0 No.1620 No.1621
at constant acceleration
Bell-shaped 0 0 1 No.1620 None
acceleration/deceleration at constant No.1636
acceleration
Exponential acceleration/deceleration 1 0 - No.1628 No.1629
in constant time
Linear type acceleration/deceleration 1 1 0 No.1628 None
in constant time
Bell-shaped 1 1 1 No.1628 None
acceleration/deceleration in constant
time
As listed above, five types of acceleration/deceleration after
interpolation could conventionally be used for rapid traverse.
- Acceleration/deceleration before interpolation to rapid traverse
Table 7.2.5 (b) Acceleration/Deceleration before Interpolation to Rapid

Traverse
Acceleration/deceleration type FRP LRP Acceleration Parameter of
1603#5 1400#4 parameter acceleration
change period in
bell-shaped
acceleration/
deceleration
Linear type acceleration/deceleration 1 1 No.1671 No.1672 = 0
Bell-shaped 1 1 No.1671 No.1672 = other than 0
acceleration/deceleration before
interpolation
As shown in the above, acceleration/deceleration before interpolation
is enabled for rapid traverse by parameter setting.
- 708 -
Restrictions
- Conditions for acceleration/deceleration before interpolation

When the conditions listed below are all satisfied,
acceleration/deceleration before interpolation becomes valid for rapid
traverse. The acceleration used is set to the maximum value that does
not exceed the maximum allowable acceleration for each axis, as set in
parameter No. 1671.
(1) Bit 5 (FRP) of parameter No. 1603 = 1
(2) Bit 4 (LRP) of parameter No. 1400 = 1: Linear interpolation type
positioning
(3) A non-zero value is set for any axis in parameter No. 1671.
(4) Look-ahead acceleration/deceleration before interpolation (or
fine HPCC) mode is currently set.
(5) The conditions for look-ahead acceleration/deceleration before
interpolation are satisfied.
When acceleration/deceleration before interpolation becomes valid,

acceleration/deceleration after interpolation set in Table 7.2.5 (a) is
disabled. This means that only acceleration/deceleration before
interpolation is applied.
If the above conditions are not satisfied, acceleration/deceleration after
interpolation set in Table 7.2.5 (a) becomes valid.
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
1603 FRP

[Data type] Bit
#5 FRP To linear type rapid traverse:

0: Acceleration/deceleration after interpolation is applied.
The type of acceleration/deceleration after interpolation is
determined by bit 0 (REX) of parameter No. 1600, bit 7 (NEX) of
parameter No. 1600, and bit 5 (RTB) of parameter No. 1601.
1: Acceleration/deceleration before interpolation is applied.
The maximum allowable acceleration for each axis is set in
parameter No. 1671.
When using bell-shaped acceleration/deceleration before
interpolation, set the acceleration change period in parameter No.
1672.
When this parameter is set to 1, acceleration/deceleration before

interpolation is also applied to rapid traverse if the conditions listed
below are all satisfied. In this case, acceleration/deceleration after
interpolation is not applied.
-Bit 4 (LRP) of parameter No. 1400 = 1: Linear interpolation type
positioning
-A non-zero value is set for any axis in parameter No. 1671.
- 709 -
-Look-ahead acceleration/deceleration before interpolation (or fine

HPCC) mode is currently set.
-The conditions for look-ahead acceleration/deceleration before
interpolation are satisfied.
If the conditions listed above are not satisfied,
acceleration/deceleration after interpolation is applied.
1671 Maximum allowable acceleration for each axis in acceleration/deceleration

before interpolation to linear type rapid traverse

[Data type] Real number axis
[Unit of data] mm/sec/sec, inch/sec/sec, degrees/sec/sec (machine unit)
[Minimum unit of data] The increment system of the axis in question is followed.
[Valid data range] See the standard parameter setting table (D).
(For millimeter machines, 0.0 to +100000.0; for inch machines, 0.0 to
+10000.0)
This parameter sets the maximum allowable value of
acceleration/deceleration before interpolation to linear type rapid
traverse. If a value in excess of 100000.0 is set, the acceleration is
clamped to 100000.0.
If 0 is set, the following value is assumed:
1000.0 mm/sec/sec
100.0 inch/sec/sec
100.0 degrees/sec/sec
If 0 is set for all axes, acceleration/deceleration before interpolation is
not performed.
1672 Acceleration change period of bell-shaped acceleration/deceleration before

interpolation to linear type rapid traverse

[Data type] Integer
[Unit of data] msec
[Valid data range] 0 to 200
This parameter sets the acceleration change period of bell-shaped
acceleration/deceleration before interpolation to linear type rapid
traverse (the period during which the acceleration changes from
constant feedrate state (A) to constant acceleration/deceleration state
(C) with the acceleration calculated based on the acceleration value set
in parameter No. 1671: portion (B) in the following figure).
- 710 -
Tangential feedrate
Maximum acceleration is
calculated automatically so that
maximum allowable acceleration
for each axis set in parameter No.
1671 is not exceeded.
(A) (B) (C) (B) (A) (B) (C) (B) (A)
Set period of time in

parameter No. 1672.
Reference
FANUC Series Connection Manual 7.2.2 Look-ahead
15i/150i-MA (Function) acceleration/deceleration
(This manual) before interpolation
- 711 -
8.MISCELLANEOUS FUNCTION B-63323EN-1/03
8 MISCELLANEOUS FUNCTION
- 712 -
B-63323EN-1/03 8.MISCELLANEOUS FUNCTION
8.1 MISCELLANEOUS FUNCTION/2ND AUXILIARY FUNCTION
General
- Miscellaneous Function (M code)

When a numeral of up to 10 digits is specified following address M,
code signal and a strobe signal are sent to the machine. The machine
uses these signals to turn on or off its functions.
Usually, only one M code can be specified in one block. In some cases,
however, up to five M codes can be specified for some types of
machine tools (see 8.3 "Multiple M code per Block")
Also, parameter No. 2030 can specify the maximum digits and if a
specified value exceeds the maximum digits, an alarm PS003 may be
issued.
- 2nd Auxiliary Function (B code)

When ten digits are specified after address B, a code signal and strobe
signal are sent. These signals are used to index the rotation axis of the
machine.
In each block, a single B code can be specified. The maximum number
of digits that can be specified after address B is specified in parameter
No. 2033.
If more digits than the specified value are specified, an alarm PS003
occurs.
For the M series, the address for specifying the 2nd auxiliary function
can be changed from B to another address (A, C, U, V, or W) by
parameter setting (parameter No. 1030).
- Basic procedure
The following signals are used with these functions. (For details of the
spindle-speed function and tool function, see Chapters 9 and 10.)
Input
Output signal
Program signal
Function
address Code Strobe Distribution Completi
signal signal end signal on signal
Miscellaneous
M M00-M31 MF
function
Spindle-speed
S S00-S31 SF DEN
function FIN
IPEN
Tool function T T00-T31 TF
Secondary
B B00-B31 BF
auxiliary function
Each function uses different program addresses and different signals,

but they all input and output signals in the same way, as described
below. (A sample procedure for the miscellaneous function is
described below. The procedures for the spindle-speed function, tool
function, and secondary auxiliary function, are obtained simply by
substituting S, T, or B in place of M.)
- 713 -
(1) Suppose that Mxxx is specified in a program.

The maximum allowable number of digits can be specified for
each function by using parameter No. 2030 to 2033. A command
longer than the maximum allowable number of digits causes an
alarm (PS0003).
(2) Code signal M00 to M31 is sent. After period TMF, specified in
parameter No. 2010, strobe signal MF is set to 1. The code signal
is the binary representation of the programmed value xxx. If the
move, dwell, spindle-speed, or another function is specified at the
same time as the miscellaneous function, the execution of the
other function is started when the code signal of the miscellaneous
function is sent.
(3) When the strobe signal is set to 1, the PMC reads the code signal
and performs the corresponding operation.
(4) To execute an operation after the completion of the move, dwell
or other function specified in the block, wait until distribution end
signal DEN or IPEN is set to 1.
(5) Upon completion of the operation, the PMC sets completion
signal FIN to 1. The completion signal is used by the
miscellaneous function, spindle-speed function, tool function,
secondary auxiliary function, external operation function
described later, and other functions. If any of these functions are
executed simultaneously, the completion signal must be set to 1
upon completion of all the functions.
(6) If the completion signal remains set to 1 for longer than period
TFIN, specified in parameter No. 2011 , the CNC sets the strobe
signal to 0 and reports that the completion signal has been
received.
(7) When the strobe signal is set to 0, set the completion signal to 0 in
the PMC.
(8) When the completion signal is set to 0, the sequence of an
auxiliary function is completed.
The timing diagram is shown below:
Example 1) Single miscellaneous function specified in a block
(1) (2) (3) (5) (6) (7) (8)
M command (independent)Mxxx
Code signals M00-M31
Strobe signals MF
PMC side action
End signal FIN
Distribution end signals DEN
TMF TFIN
- 714 -
Example2) Move command and miscellaneous function in the same block
a. Execution of a miscellaneous function without waiting for move command

completion
(1) (2) (3) (5) (6) (7) (8)
M command (independent) Mxxx

Move command
Strobe signal MF
PMC side action
End signal FIN
TMF TFIN
b. Execution of a miscellaneous function after move command completion

(1) (2) (3) (4) (5) (6) (7) (8)
M command (independent) Mxxx

Move command
Strobe signal MF
PMC side action
End signal FIN
TMF TFIN
- 715 -
Signal
Miscellaneous function code signals M00-M31 <F016-F019>
Miscellaneous function strobe signal MF <F008#0>
[Function] These signals report the specification of miscellaneous functions.
[Output condition] For the output conditions and procedure, see the description of "Basic
procedure" above.
NOTE
1 The following miscellaneous functions are only
processed internally by the control unit; they are not
subject to output even when specified:
- M98, M99, M198
- M code that calls a sub program (parameter No.
6071 to 6079)
- M code that calls a custom macro (parameter No.
6080 to 6089)
- M codes for turning on and off an interrupt macro
@(M96, M97, or parameter Nos. 7033 to 7034)
2 Decode signals as well as the code signals and
strobe signal are output for the miscellaneous
functions listed below.
M00, M01, M02, M30
Decode M signals DM00 <F009#4>/DM01 <F009#5>/DM02 <F009#6>/DM30 <F009#7>

[Function] These signals report particular miscellaneous functions
are specified. The miscellaneous functions in a command program
correspond
to output signals as indicated below.
Command program Output signal

M00 DM00
M01 DM01
M02 DM02
M30 DM30
[Output condition] A decode M signal goes "1" when:

- The corresponding miscellaneous function is specified, and any
move commands and dwell commands specified in the same block
are completed. These signals are not output when the end signal
of the miscellaneous function is returned before completion of
such move commands and dwell commands.
A decode M signal goes "0" when:
- The FIN signal goes "1"
- Reset occurs
- 716 -
Spindle-speed code signals S00 to S31<F020 to F023>

Spindle-speed strobe signal SF<F008#1>
[Function] These signals report that spindle speed functions have been specified.
procedure" above.
Tool function code signals T00 to T31<F024 to F027>

Tool function strobe signal TF<F008#2>
[Function] These signals report that tool functions have been specified.
procedure" above.
Second auxiliary function code signals B00 to B31<F028 to F031>

Second auxiliary function strobe signal BF<F008#3>
[Function] These signals report that second auxiliary functions have been
specified.
procedure" above.
End signal FIN<G005#1>

[Function] This signal reports the completion of a miscellaneous function,
spindle-speed function, tool function, second auxiliary function, or
external operation function.
[Operation] For the control unit operation and procedure when this signal goes "1",
see the description of "Basic procedure" above.
The FIN signal must remain "1" for a certain time (TFIN, which is set
by a
parameter No. 2011) or longer. The FIN signal driven "1" is ignored if
the
FIN signal goes "0" before TFIN elapses.
CAUTION
1 Only one end signal is used for all functions above.
The end signal must go "1" after all functions are
completed.
2 In addition to the functions described above, this
completion signal can be used for the spindle-speed
function for canned cycles by parameter setting. For
details, see "Spindle-Speed Function for Canned
Cycles" in Section 9.5.
- 717 -
Distribution end signal DEN<F001#0>

IPEN<F001#1>
[Function] These signals report that all commands (such as move commands and
dwell) are completed except those miscellaneous functions, spindle-
speed functions, 2nd auxiliary functions tool functions, and so forth
that are contained in the same block and have been sent to the PMC.
They also report that the end signal from the PMC is being awaited.
One of the two signals is used according to the completion status of a
move command.
IPEN: This signal is output upon completion of the move
command, but there may still be a delay in the
acceleration/deceleration circuit as well as a servo delay.
DEN: This signal is output upon completion of the move
command, provided there is no delay in the
acceleration/deceleration circuit, and the servo delay has been
reduced to within an allowable range (effective area).
Generally, IPEN is set to 1 first and, after a while, DEN is set to 1.When
the command is not a move command, IPEN and DEN are usually set to
1 almost simultaneously.
[Output condition] The signal turns to "1" when:
IPEN Signal
- The completion of miscellaneous functions, spindle-speed
functions, tool functions, 2nd auxiliary functions and so forth is
being awaited, all other commands in the same block are
completed, and the current position is in the in-position.
DEN Signal
- While the completion of a function such as an auxiliary function,
spindle-speed function, tool function, or second auxiliary function
is being awaited, the other commands in the same block are all
completed, and the in-position state is set.
The signal turns to "0" when
- The execution of one block is completed
NOTE
1 A parameter CIP (No.1000#0) can specify, whether
to only check if an acceleration/deceleration delay is
eliminated, or to also check if a servo delay (error)
has been reduced to within a certain range.
2 These signals are also output when the completion of
the spindle-speed function for a canned cycle is
being awaited.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G005 FIN
#7 #6 #5 #4 #3 #2 #1 #0
F001 IPEN DEN
F008 BF TF SF MF
- 718 -
F009 DM30 DM02 DM01 DM00

F016 M07 M06 M05 M04 M03 M02 M01 M00
F017 M15 M14 M13 M12 M11 M10 M09 M08
F018 M23 M22 M21 M20 M19 M18 M17 M16
F019 M31 M30 M29 M28 M27 M26 M25 M24
F020 S07 S06 S05 S04 S03 S02 S01 S00
F021 S15 S14 S13 S12 S11 S10 S09 S08
F022 S23 S22 S21 S20 S19 S18 S17 S16
F023 S31 S30 S29 S28 S27 S26 S25 S24
F024 T07 T06 T05 T04 T03 T02 T01 T00
F025 T15 T14 T13 T12 T11 T10 T09 T08
F026 T23 T22 T21 T20 T19 T18 T17 T16
F027 T31 T30 T29 T28 T27 T26 T25 T24
F028 B07 B06 B05 B04 B03 B02 B01 B00
F029 B15 B14 B13 B12 B11 B10 B09 B08
F030 B23 B22 B21 B20 B19 B18 B17 B16
F031 B31 B30 B29 B28 B27 B26 B25 B24
Parameter
1030 Command address of the second miscellaneous function

Specify the command address of the second miscellaneous function as A, B, C, U,
V, or W. However, any address already used as an axis name cannot also be used
as the command address of the second miscellaneous function.
Name A B C U V W
Setting 65 66 67 85 86 87
#7 #6 #5 #4 #3 #2 #1 #0
2003 BSN TSN SSN MSN

! "#$ $ "%& ' " ( )
0: Cannot be used
1: Can be used
* ! "#$ $ "%& ' " ( )
0: Cannot be used
1: Can be used
- 719 -
+ , ! "#$ $ "%& ' " , ( )

0: Cannot be used
1: Can be used
- ! "#$ $ "%& ' " $ " ! ((!$ +
. ! ()
0: Cannot be used
1: Can be used
2010 Delay time of the MF, SF, TF, or BF strobe signal

/(!
"

-+
Specify the time waited before the MF, SF, TF, or BF signal is sent after the M, S,
T, or B code is sent.
M, S, T, B code
MF, SF, TF, BF signal
Delay time
2011 Minimum width of the M, S, T, or B function completion (FIN) signal

/(!
"

-+
Specify the minimum signal width at which the M, S, T, or B function completion
signal (FIN) is assumed to be valid.
M, S, T, B code
MF, SF, TF, BF signal
FIN signal
Shorter than Longer than

minimum signal minimum signal
width, so ignored. width, so recognized.
- 720 -
2030 Allowable number of digits in an M code

**
Specify the allowable number of digits in an M code.
2031 Allowable number of digits in an S code

**
Specify the allowable number of digits in an S code.
2032 Allowable number of digits in a T code

**
Specify the allowable number of digits in a T code.
2033 Allowable number of digits in a B code (2nd auxiliary function)

**
Specify the allowable number of digits in a 2nd auxiliary function.
When 0 is set, the allowable number of digits is assumed 3.
To enable the input of the decimal point, the number of decimal places must be set
for parameter No. 2428. In this case, the allowable number of digits to be set for
this parameter must include the number of decimal places.
#7 #6 #5 #4 #3 #2 #1 #0
2400 M30

0 - !-" ( ( (1

0: Only M30 is sent to the machine, and the program head is searched for by the
reset and rewind signal (RRW).
1: If M30 is sent to the machine, the program head is automatically searched for at
the same time. Therefore, when completion signal FIN for M30 is returned
before reset or reset and rewind, the program is reexecuted from the beginning.
- 721 -
#7 #6 #5 #4 #3 #2 #1 #0
2403 M02

+ 2$ +" " ( ( (
0: M02 is only sent to the machine, and reset and rewind signal (RRW) is used for
program heading.
1: M02 is sent out to the machine, and a program heading is automatically
executed. Consequently, when completion signal FIN for M02 is returned
without reset or reset and rewind, the program is restarted from the beginning.
M code 1 which does not put the following block in the buffer register
2411
2412
2413
2414
2415
2416
2417
2418
2419
2420

[Data type] Integer
Specify M codes that do not put the following block in the buffer register. If there is an
M code whose next block should not be put in the buffer register until the M function
processing terminates in the machine specify these M codes.
M00, M01, M02, and M30 are treated as M codes that do not put the following block in
the buffer register even though these parameters are not specified for them. M98, M99,
M codes set for parameters Nos. 7071 to 7089, and those defined by parameters Nos.
7096, 7098, 7099, and 7010 are treated as M codes that put the following block in the
buffer register even though these parameters are specified for them.
2428 Number of decimal places of the 2nd auxiliary function (B)

Set the number of decimal places of the 2nd auxiliary function.
If 0 is set, the decimal point cannot be input.
- 722 -
2450 Range of M codes without buffering (1) (lower limit)
2451 Range of M codes without buffering (1) (upper limit)
2452 Range of M codes without buffering (2) (lower limit)
2453 Range of M codes without buffering (2) (upper limit)

[Data type] Integer
[Valid data range] 3 99999999
Specify the upper and lower limits of M codes without buffering. If the specified upper
and lower limits are found to be incompatible, the entered parameters are invalidated.
Example)
To specify M10 to M19 and M90000000 to M99999999 as M codes without buffering,
specify the following:
No. 2451 = 10
No. 2452 = 19
No. 2453 = 90000000
No. 2454 = 99999999
NOTE
M00, M01, M02, and M30 are treated as M codes
without buffering even if they are not contained in the
parameter limits. M98, M99, the M codes set for
parameters Nos. 7071 to 7089, and those defined by
parameters Nos. 7096, 7098, 7099, and 7101 are not
treated as M codes without buffering even if they are
contained in the parameter limits.
2454 Range of 2nd auxiliary function codes without buffering (1) (lower limit)
2455 Range of 2nd auxiliary function codes without buffering (1) (upper limit)

[Data type] Integer
Specify the upper and lower limits of 2nd auxiliary function codes without buffering. If
the specified upper and lower limits are found to be incompatible, the entered
parameters are invalidated.
- 723 -
Note
NOTE
1 When a move command and miscellaneous
function are specified in the same block, the
commands are executed in one of the following two
ways:
i) Simultaneous execution of the move command
and miscellaneous function commands.
ii) Executing miscellaneous function commands
upon completion of move command execution.
The selection of either sequence depends on the
sequence of PMC.
2 When the 2nd auxiliary function is provided, the
address used for specifying the 2nd auxiliary
function (B or the address specified with parameter
No. 1030) cannot be used as an axis address.
3 The block following M00, M01, M02 and M30, is not
read into the input buffer register, if present.
Similarly, ten M codes which do not buffer can be set
by parameters (No. 2411 to 2418).
4 For M00 and M01 only, miscellaneous function code
signal, auxiliary function strobe signal, and M
decode signals are sent; the control of program stop
and optional stop shall be designed on the PMC
side.
5 When the automatic operation is stopped by M02 or
M30, it is necessary to send the external reset signal
from the machine side to the CNC, instead of the
FIN signal, When the external reset signal is
returned against the M02 or M30, the control returns
to the top of the program recently executed and
enters the reset state.
Reference item
Series15i/150i-MA Operators Manual II-11.1 Miscellaneous function
(Programming) (M function)
(B-63324EN) II-11.3 Second auxiliary
function
- 724 -
8.2 AUXILIARY FUNCTION LOCK
General
Inhibits execution of a specified M, S, T and B function.
That is, code signals and strobe signals are not issued.
This function is used to check a program.
Signal
Auxiliary function lock signal AFL<G004#0>
[Function] This signal selects auxiliary function lock. That is, this signal disables
the execution of specified M, S, T, and B functions.
[Operation] When this signal turns to "1", the control unit functions as described
below.
(1) The control unit does not execute M, S, T, and B functions
specified for memory operation, DNC operation, or MDI
operation. That is, the control unit stops the output of code signals
and strobe signals (MF, SF, TF, BF).
(2) If this signal turns to "1" after code signal output, the output
operation is executed in the ordinary manner until its completion
(that is, until the FIN signal is received, and the strobe signal turns
to "0").
(3) Among the miscellaneous functions, M00, M01, M02, and M30
are executed even when this signal is "1". All code signals, strobe
signals, decode signals are output in the ordinary manner.
(4) Among the miscellaneous functions, even when this signal is "1",
those functions (M98 and M99) that are executed in the control
unit without outputting their execution results are executed in the
ordinary manner.
Auxiliary function lock check signal MAFL<F004#0>

[Function] This signal reports the state of the auxiliary function lock signal AFL.
[Output condition] This signal turns to "1" when:
- The auxiliary function lock signal AFL is "1"
This signal turns to "0" when:
- The auxiliary function lock signal AFL is "0"
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G004 AFL
#7 #6 #5 #4 #3 #2 #1 #0
F004 MAFL
Reference item
Series15i/150i-MA Operators Manual II-5.1 Machine lock and
(Operation) miscellaneous function
(B-63324EN-1)
- 725 -
8.3 MULTIPLE M COMMANDS IN A SIGLE BLOCK
General
So far, one block has been able to contain only one M code. However,
this function allows up to three M codes to be contained in one block.
Up to five M codes specified in a block are simultaneously output to the
machine.
This means that compared with the conventional method of a single M
command in a single block, a shorter cycle time can be realized in
machining.
For the first of the five M codes, the maximum allowable number of
digits can be specified in parameter No. 2030. A command longer than
the maximum allowable number of digits causes an alarm (PS0003).
The second to fifth M codes may each consist of up to four digits.
(Example)
One M command in a single block Multiple M commands in a single
block
M40; M40M50M60;
M50; G28G91X0Y0Z0;
M60; :
G28G91X0Y0Z0; :
: :
: :
: :
- Basic procedure
(1) Assume that "MaaMbbMcc;" was commanded by the program.
(2) For each M command, one of the code signals listed below is sent,
and after the time set by parameter No. 2010, TMF, elapses each
strobe signal is set to 1.
Table. 8.3 Code signals and strobe signals for multiple M

M command Code signal Strobe signal
First iMaa j M00 to M31 i32 bit j MF
Second iMbb j M200 to M215 i16 bit j MF2
Third iMcc j M300 to M315 i16 bit j MF3
Fourth iMdd j M400 to M415 i16 bit j MF4
Fifth iMee j M500 to M515 i16 bit j MF5
The code signals for the first to fifth M commands are sent at the
same time. Strobe signals MF, MF2, MF3, MF4, and MF5 are all
set to 1 at the same time.
The code signal is a binary notation of the program command aa,
bb and cc.
(3) On the PMC side, the code signals corresponding to the respective
strobe signals are read when the strobe signals become "1", and
the appropriate operations are performed.
(4) When the operation of all M commands ends on the PMC side, the
end signal (FIN) is set to "1".
- 726 -
(5) When the completion signal stays "1" for a time (TFIN) set by
parameter No. 2011, all strobe signals (MF, MF2, MF3, MF4, and
MF5) are set to "0" at the same time and the reception of
completion signal is reported.
(6) On the PMC side, when MF, MF2, MF3, MF4, and MF5 are set to
"0", the completion signal is set to "0".
A time chart for this procedure is shown below:
M command MaaMbbMccMddMee
Code signal M00 to M31
Strobe signal MF
PMC side operation
Strobe signal MF2
PMC side operation
Strobe signal MF3
PMC side operation
Strobe signal MF4
PMC side operation
Strobe signal MF5
PMC side operation
End signalFIN
TMF TFIN
Signal
M function code signal

M200 to M215<F144 to F145>/M300 to M315<F146 to F147>/M400 to M415<F148 to F149>/
M500 to M515<F150 to F151>
M Function strobe signal
MF2 <F045#1>/MF3 <F045#2>/MF4 <F045#3>/MF5 <F045#4>

[Function] Indicates that second and third auxiliary functions have been issued.
[Output condition] The output conditions and procedures are the same as that described in
"Basic procedure".
- 727 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F045 MF5 MF4 MF3 MF2
#7 #6 #5 #4 #3 #2 #1 #0
F144 M207 M206 M205 M204 M203 M202 M201 M200
#7 #6 #5 #4 #3 #2 #1 #0
F145 M215 M214 M213 M212 M211 M210 M209 M208
#7 #6 #5 #4 #3 #2 #1 #0
F146 M307 M306 M305 M304 M303 M302 M301 M300
#7 #6 #5 #4 #3 #2 #1 #0
F147 M315 M314 M313 M312 M311 M310 M309 M308
#7 #6 #5 #4 #3 #2 #1 #0
F148 M407 M406 M405 M404 M403 M402 M401 M400
#7 #6 #5 #4 #3 #2 #1 #0
F149 M415 M414 M413 M412 M411 M410 M409 M408
#7 #6 #5 #4 #3 #2 #1 #0
F150 M507 M506 M505 M504 M503 M502 M501 M500
#7 #6 #5 #4 #3 #2 #1 #0
F151 M515 M514 M513 M512 M511 M510 M509 M508
Caution
CAUTION
1 M00, M01, M02, M30, M98, M99, or M198 must not
be specified together with another M code.
2 Some M codes other than M00, M01, M02, M30,
M98, M99, and M198 cannot be specified together
with other M codes; each of those M codes must be
specified in a single block. Such M codes include
these which direct the CNC to perform internal
operations in addition to sending the M codes
themselves to the PMC.
To be specified, such M codes are M codes for calling
program numbers 9001 to 9009 and M codes for
disabling advance reading (buffering) of subsequent
blocks.
The M codes which can be specified in a single block
must be those which the CNC send only the M code
signals to the PMC side.
- 728 -
Note
NOTE
1 CNC allows up to three M codes to be specified in
one block. However, some M codes cannot be
specified at the same time due to mechanical
operation restrictions.
2 The 1st M code can be up to ten digits.
(The allowable number of digits is specified using
parameter No. 2030.) The 2nd to 5th M codes can
be of up to four digits.
Reference item
Series15i/150i-MA Operators Manual II-11.2 1-block multiple M code
(Programming) command
(B-63324EN)
- 729 -
8.4 HIGH-SPEED M/S/T/B INTERFACE
General
To accelerate M/S/T/B function execution, the high-speed M/S/T/B
interface has simplified the transfer of the strobe and completion
signals of the M/S/T/B functions.
Whether to use the usual system or high-speed system for strobe signal
and completion signal handling can be specified by parameter MHI (No.
2004#0).
The description below uses the miscellaneous functions (M code
commands) as an example. The same description applies to the
spindle-speed function (S code), tool function (T code) and 2nd
auxiliary function (B code).
- Basic procedure
(1) Assume that the following program is given:
Mxx;
Myy;
(2) In response to an M command, the NC system sends out the code
signals M00 to M31.
The NC system inverts the logical level of the strobe signal MF,
that is, from "0"to "1", or from "1" to "0".
(3) The CNC system inverts the strobe signal, then when the logical
level of the auxiliary function completion signal MFIN becomes
the same as the strobe signal, the CNC assumes the completion of
PMC sequence.
With the usual method, the operation is assumed to be completed
when a falling edge ("1" to "0") of the M/S/T/B completion signal
FIN is received after a rising edge ("0" to "1") of the FIN signal is
detected. This new system, on the other hand, assumes the
operation has been completed upon detection of only one
transition of the completion signal.
In addition , the usual system uses only one completion signal
(FIN) common to the M/S/T/B functions. This new system uses a
different completion signal for each of the M, S, T, and B
functions; the completion signals for the M, S, T, and B functions
are MFIN, SFIN, TFIN, and BFIN, respectively. The Fig. 8.4 (a)
below shows the timing chart of these signals with the new system.
For comparison, Fig. 8.4 (b) shows the timing chart of the
conventional system.
- 730 -
Next block
Code signal
Mxx Myy
Strobe signal MF
PMC side operation

Miscellaneous function
completion signal MFIN
Fig. 8.4 (a) Timing chart of the high-speed system
Next block
Code signal
Mxx Myy
Strobe signal MF
PMC side operation
Completion signal FIN
Fig. 8.4 (b) Timing chart of the usual system
A high-speed interface can also be used for multiple M commands

issued for one block. This interface provides separate completion
signals for each M code. They are called MFIN (the same name as for
the single M command per block function), MFIN2, MFIN3, MFIN4,
and MFIN5, respectively. The signal transfer sequence for multiple M
codes per block is the same as that for a single M code per block.
Signal
Miscellaneous function completion signal

MFIN<G046#0>
[Function] Reports that the execution of a miscellaneous function using the high-
speed M/S/T/B interface is completed.
[Operation] For the operation and a procedure of the control unit when this signal
turns to "1" and "0", see the description of "Basic procedure" above.
- 731 -
Spindle function completion signal

SFIN<G046#1>
[Function] Reports that the execution of a spindle speed function using the high-
speed M/S/T/B interface is completed.
[Operation] For the operation and procedure of the control unit when this signal
Tool function completion signal

TFIN<G046#2>
[Function] Reports that the execution of a tool function using the high-speed
M/S/T/B interface is completed.
2nd auxiliary function completion signal

BFIN<G046#3>
[Function] Reports that the execution of a second auxiliary function using the
high-speed M/S/T/B interface is completed.
M function completion signals

MFIN2<G047#1>/MFIN3<G047#2>/MFIN4<G047#3>/MFIN5<G047#4>
[Function] Indicate that when the high-speed interface is used for multiple M
commands per block, the second to fifth M functions have been
completed.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G046 BFIN TFIN SFIN MFIN
#7 #6 #5 #4 #3 #2 #1 #0
G047 MFIN5 MFIN4 MFIN3 MFIN2
- 732 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2004 MHI

3 ,$ " (' ( (""!( $ 44,4( ( "
" $ 1
0: Normal system.
1: High-speed system.
Note
NOTE
1 The strobe signals MF, SF, TF, and BF are "0" when
the power is turned on.
2 When the control unit is reset, MF, SF, TF, and BF
are set to "0".
3 This function is not used for the FFIN and FIN
signals which are the completion signals for spindle
stop command signal SSP and reserve spindle
rotation command signal SSV for canned cycles.
These signals are transferred using the normal
method.
4 This function is not used for the FIN signal which is
the completion signal for the external operation
signal EF sent by G81 to specify an external
operation command. These signals are transferred
using the normal method.
Reference item
Series15i/150i- Connection Manual 8.1 Miscellaneous
MODEL A (This manual) function/second
auxiliary function
8.3 1-block multiple M code
command
11.7 External motion function
- 733 -
9.SPINDLE FUNCTION B-63323EN-1/03
9 SPINDLE FUNCTION
CAUTION
The signal notations used in this section are
explained below:
The names of DI/DO signals for each spindle are

followed by one of the following alphabetic characters
to indicate a spindle number:
First spindle : A
Second spindle : B
Third spindle : C
Fourth spindle : D
Example : Actual spindle speed signals

First spindle : AR0A to AR15A
Second spindle : AR0B to AR15B
Third spindle : AR0C to AR15C
Fourth spindle : AR0D to AR15D
In the explanations of signal functions, "s" that
appears as shown below indicates an alphabetic
character that denotes the spindle number
{ }
15
Speed 2 i ARi s 10 N min -1
i =0
For the first spindle, the speed is expressed as
follows:
{ }
15
Speed 2 i ARi A 10 N min -1
i =0
- 734 -
B-63323EN-1/03 9.SPINDLE FUNCTION
9.1 SPINDLE SPEED FUNCTION (S CODE OUTPUT)
General
When up to ten digits are specified after address S, code and strobe
signals are sent out and used to control the spindle speed. The code
signals areretained until another S code is issued.
One S code is used for each block. Parameter No. 2031 can be used to
specify the maximum number of digits. If a number greater than the
maximum number is specified, an alarm can be raised.
Signal
Spindle function code signal S0-S31<F020-F023>

Spindle function strobe signal SF<F008#1>
Finish signal FIN<G005#1>
See Sec. 8.1.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G005 FIN
F008 SF
F020 S7 S6 S5 S4 S3 S2 S1 S0
F021 S15 S14 S13 S12 S11 S10 S9 S8
F022 S23 S22 S21 S20 S19 S18 S17 S16
F023 S31 S30 S29 S28 S27 S26 S25 S24
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2003 SSN

!

"# $
# $
NOTE
To enable the use of a minus (-) in an S code, the allowable
number of digits in an S code must be nine or less.
- 735 -
2031 Allowable number of digits in an S code

%
&' %
"
'' ' % !
NOTE
To set the allowable number of digits in an S code to 10, the use
of a minus "-" in an S code must be disabled.
Note
NOTE
1 When a move command and miscellaneous
function are specified in the same block, the
commands are executed in one of the following two
ways:
(1) Simultaneous execution of the move command
and miscellaneous function commands.
(2) Executing miscellaneous function commands
upon completion of move command execution.
The selection of either sequence depends on the
PMC processing sequence.
2 For S code output when the spindle serial
output/spindle analog output is used, refer to section
9.3.
Reference item
Series15i/150i- Connection Manual 8.1 Miscelaneous
auxiliary function
- 736 -
9.2 SPINDLE SERIAL OUTPUT/SPINDLE ANALOG OUTPUT
General
There are two types of spindle motor control interfaces, spindle serial
output and spindle analog output.
The spindle serial output interface can control four serial spindles. The
spindle analog output interface can control one analog spindle.
- Spindle control interface and spindle configuration

O : Can be used X : Can not be used
Spindle serial Spindle First spindle Second spindle Third spindle Fourth spindle
output analog output motor motor motor motor
O O First serial spindle Second serial Analog spindle __
The PC can be spindle The PC cannot be
used. The PC can be used.
used.
O X First serial spindle Second serial Third serial spindle Fourth serial spindle
The PC can be spindle The PC can be The PC can be
used. The PC can be used. used.
used.
X O Analog spindle __ __ __
The PC can be
used.
X X No spindle (Control is performed by the PMC through an external interface.)
* PC Position coder
- Spindles and available functions

O : Can be used X : Can not be used
Spindle Serial spindle Analog spindle
First, second, third, When used as the first When used as the third
Function and fourth serial spindle (with no serial SP) spindle (with a serial SP)
spindles
Thread cutting/feed per revolution
O O X
(synchronous feed) iNOTE1 j
Constant surface speed control
O O O
iNOTE1 j
Spindle speed fluctuation
O O X
detection iNOTE1 j
Actual spindle speed output O O X
Spindle positioning O O X
Cs contour control O X X
Rigid tapping iNOTE1 j O O X
Spindle control unit functions
(NOTE 2), such as spindle
orientation, spindle O O O
output switching, spindle
switching, and etc.
- 737 -
NOTE
1 Using parameter No. 5850, select the spindle to be
controlled. Each function controls a selected spindle.
2 These functions are provided by the spindle control
unit. Whether these functions are actually available
depends on whether the spindle control unit supports
these functions.
- Associating spindles with spindle motors

Spindles are associated with spindle motors as explained below.
1. Spindle numbers and motor numbers

Spindle numbers indicate the spindle sequence. Parameters and
DI/DO signals for spindles are arranged in the order of spindle
sequence number. Spindle numbers are assigned sequentially
from 1 to the maximum number of spindles. Motor numbers
indicate the motor sequence. The motor numbers are determined
as shown below, depending on how the CNC and motors are
connected.
2. Setting
( ' ''
Motor number 1 First

serial
path
Motor number 2
CNC
Motor number 3 Second

serial
path
Motor number 4
( '' %'
Motor number 1
CNC
- 738 -
( '' %'
Motor number 1 (serial) First

serial
path
CNC
Motor number 3 (analog)
For each spindle, set the type of motor in bit 0 (A/S) of parameter
No. 5606, and the motor number in parameter No. 5841. Make the
settings in the order of the spindle numbers without inserting a
space. For any spindles that are not used, set their motor numbers
to 0.
Example1 : Using one serial spindle

1st 2nd 3rd 4th
Parameter
spindle spindle spindle spindle
5606#A/S 1 0 0 0
5841 1 0 0 0
Example 2 : Using four serial spindles

1st 2nd 3rd 4th
Parameter
5606#A/S 1 1 1 1
5841 1 2 3 4
Example 3 : Using one analog spindle

1st 2nd 3rd 4th
Parameter
5606#A/S 0 0 0 0
5841 1 0 0 0
Example 4 : Using two serial spindles and one analog spindle

1st 2nd 3rd 4th
Parameter
5606#A/S 1 1 0 0
5841 1 2 3 0
- 739 -
Example 5 : Using one serial spindle and one analog spindle

1st 2nd 3rd 4th
Parameter
5606#A/S 1 0 0 0
5841 1 3 0 0
- Selecting a spindle to be controlled

When there are two or more spindles, you must select a spindle that is
currently controlled by the CNC.
The spindle to be controlled is:
(1) Spindle for which the spindle speed is displayed on a screen such
as the position display screen or program check screen.
(2) Target spindle for an S command, threading, feed per revolution,
constant surface speed control, rigid tapping, canned cycle,
spindle speed fluctuation detection, and so forth.
Set the spindle number of a spindle to be controlled in parameter No.

5850.
CAUTION
Before rewriting this parameter during automatic
operation, always use the M code set in parameter
Nos. 2411 to 2420 which is used as a non-buffering
M code. Always rewrite the parameter in the non-
buffering state.
- Differences in controlling spindle control units

When controlling the spindle control units directly, there are
differences between spindle serial output and spindle analog output, as
follows:
Spindle control unit for spindle serial Spindle control unit for spindle analog output
output interface interface
Parameters for the Specified as CNC parameters (3000 to Directly specified for the spindle control unit
spindle control unit 3393)
Used after being transferred to the spindle
control unit
Control signal for the Connected to the PMC via the CNC Connected to the PMC via an external contact
spindle control unit Addresses for the first spindle
G200 to 201
G226 to 229
F228 to 231
Addresses for the second spindle
G202 to 203
G234 to 237
F244 to 247
Addresses for the third spindle
G204 to 205
G210 to 213
F196 to 199
- 740 -
Spindle control unit for spindle serial Spindle control unit for spindle analog output
output interface interface
Control signal for the Addresses for the third spindle Connected to the PMC via an external contact
spindle control unit G204 to 205
G210 to 213
F196 to 199
Spindle speed Digital data in a range from 0 to } Analog voltage from 0 to }10 V (excluding portion
command interface maximum spindle motor speed for offset voltage adjustment)
Position coder Connected to the CNC via the spindle Connected directly to the CNC
interface control unit
Signal
Spindle control unit signals for the serial spindle

<G200 to G201><G226 to G229><F228 to F231>:for the first serial spindle
<G202 to G203><G234 to G237><F244 to F247>:for the second serial spindle
<G204 to G205><G210 to G213><F196 to F199>:for the third serial spindle
<G206 to G207><G218 to G221><F212 to F215>:for the fourth serial spindle
These addresses are on the CNC. Actually, however, they are
input/output signals for the spindle control unit for the serial spindle.
For details of the signals belonging to these addresses, refer to the
manuals for the serial spindle:
FANUC SERVO AMPLIFIER alpha series Descriptions (B-65162E)
FANUC AC SPINDLE MOTOR alpha series Descriptions (B-65152E)
FANUC SERVO alpha series Maintenance Manual (B-65165E)
Spindle control confirmation signal SPN0,SPN1,SPN2<F155#4,#5,F154#6>

[Function] Posts the currently selected spindle number. This signal consists of
three binary code output signals. A spindle number and the signal have
the following relationship:
Spindle number =
2
{i
2 SPN i
i =0
}
[Output condition] This signal is always output.
Example: When changing the spindle selection during automatic
operation
M61: M code selecting the first spindle
M62: M code selecting the second spindle
Before using these M codes, set them in parameter Nos. 2411 to 2420
as M codes for non-buffering.
When M61 or M62 is output, the PMC switches from one spindle to
another. An example of switching between spindles is explained
below:
1 Change those portions that require mechanical switching.
2 Change the data used for, for example, spindle speed calculation
(such as the number of gear stages, and the minimum/maximum
speed for each gear).
3 Change the signals input/output to and from the CNC (such as the
spindle speed command signal and spindle motor command
voltage signal).
- 741 -
4 Change the setting of parameter No. 5850 for spindle selection by

using functions such as the NC window function.
5 After completing all the processing required for spindle switching,
return completion signal FIN for M61 or M62.
M61 ; .........................................................Select 1st spindle
' ''
M03 ;
G01 G95 F1. S1000 ; ................................Feed per revolution
G91 X100. ;
G94 S0 ;
M05 ;
G84.2 X10. Z-30. R-10. F100. S100 ;.......Rigid tapping
G80 ;
M62 ; .........................................................Select 2nd spindle

M04 ;
)' ''
G01 G95 F2. S2000 ; ................................Feed per revolution
G91 X200. ;
G94 S0 ;
M05 ;
G84.3 X10. Z-30. R-10. F200. S200 ;.......Rigid tapping
G80 ;
- 742 -
Timing chart
M61 M62
M command
M61/M62
Strobe signal
MF
Spindle switch processing
Auxiliary function completion signal

FIN
Spindle control confirmation signal
SPN0,SPN1,SPN2 1 2
Spindle selection
Parameter (No. 5850) 1 2
Signal address
- Common to analog and serial spindles

#7 #6 #5 #4 #3 #2 #1 #0
F154 SPN2
F155 SPN1 SPN0
- For 1st SERIAL SPINDLE

#7 #6 #5 #4 #3 #2 #1 #0
G200
G201
G226 RCHA RSLA INTGA SOCNA MCFNA SPSLA *ESPA ARSTA
G227 MRDYA ORCMA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
G228 MPOFA SLVA
G229 INCMDA OVRIDA NRROA ROTAA INDXA
F228 SLVSA RCFNA RCHPA CFINA CHIPA
F229 ORARA TLMA LDT2A LDT1A SARA SDTA SSTA ALMA
F230
F231 INCSTA PC1DEA
- 743 -
- For 2nd SERIAL SPINDLE

#7 #6 #5 #4 #3 #2 #1 #0
G202
G203
G234 RCHB RSLB INTGB SOCNB MCFNB SPSLB *ESPB ARSTB
G235 MRDYB ORCMB SFRB SRVB CTH1B CTH2B TLMHB TLMLB
G236 MPOFB SLVB
G237 INCMDB OVRIDB NRROB ROTAB INDXB
F244 SLVSB RCFNB RCHPB CFINB CHIPB
F245 ORARB TLMB LDT2B LDT1B SARB SDTB SSTB ALMB
F246
F247 INCSTB PC1DEB
- For 3rd SERIAL SPINDLE

#7 #6 #5 #4 #3 #2 #1 #0
G204
G205
G210 RCHC RSLC INTGC SOCNC MCFNC SPSLC *ESPC ARSTC
G211 MRDYC ORCMC SFRC SRVC CTH1C CTH2C TLMHC TLMLC
G212 MPOFC SLVC
G213 INCMDC OVRIDC NRROC ROTAC INDXC
F196 SLVSC RCFNC RCHPC CFINC CHIPC
F197 ORARC TLMC LDT2C LDT1C SARC SDTC SSTC ALMC
F198
F199 INCSTC PC1DEC
- 744 -
- For 4th SERIAL SPINDLE

#7 #6 #5 #4 #3 #2 #1 #0
G206
G207
G218 RCHD RSLD INTGD SOCND MCFND SPSLD *ESPD ARSTD
G219 MRDYD ORCMD SFRD SRVD CTH1D CTH2D TLMHD TLMLD
G220 MPOFD SLVD
G221 INCMDD OVRIDD NRROD ROTAD INDXD
F212 SLVSD RCFND RCHPD CFIND CHIPD
F213 ORARD TLMD LDT2D LDT1D SARD SDTD SSTD ALMD
F214
F215 INCSTD PC1DED
Parameter
- Setting spindle motor and spindle number
#7 #6 #5 #4 #3 #2 #1 #0
5606 A/S

'
" *+ ' ' %' '' !
"# *' %'
# ''
5841 Motor number of each spindle

% '
&' %
",
Set a motor number to be assigned to each spindle.
0: Uses no subsequent spindle numbers.
1: Uses the motor of motor number 1.
- 745 -
5845 Suffix for serial spindle (main spindle) or analog spindle display

% '
&' %
"))
Set a suffix for spindle speed display on a screen such as the position display
screen.
% $ -

"./) '0
1.,2 34 " 1
53 1" 6 ' * 7
14 )) 8 ' 9
5846 Suffix for serial spindle (sub-spindle) display

% '
&' %
"))
- ' '
' !
% $ -

"./) '0
1.,2 34 " 1
53 1" 6 ' * 7
14 )) 8 ' 9
5850 Spindle number to be selected upon power-up/reset

%
&' %
",
Set a spindle number to be selected upon power-up/reset.
A selected spindle is used as:
- Spindle displayed on a screen such as the position display screen and program
check screen
- Spindle used for an S command, feed per revolution, constant surface speed
control, threading, canned cycles, rigid tapping, and spindle speed detection
NOTE
To rewrite this parameter during automatic operation, always use
a non-buffered M code set in parameter Nos. 2411 to 2420 so
that rewriting is performed in the non-buffering state.
- 746 -
- Connecting an analog spindle control unit
5613 Compensation value for the offset voltage of the spindle speed analog
output

% '
6
& '
&' %
"),"),
Set the compensation value for the offset voltage of the spindle speed analog
output.
*:
; 0 : . '' -' ' #
(1) Set the standard setting 0.
(2) Specify the spindle speed at which the spindle speed analog output becomes 0.
(3) Measure the output voltage.
(4) Set the value obtained from the following equation in the parameter.
8191 measured voltage(V)

Setting
12.5
(5) After setting the parameter, specify the spindle speed again at which the
spindle speed analog output becomes 0, then check that the output voltage is 0
V.
- 747 -
5614 Data for adjusting the gain of the spindle speed analog output

% '
&' %
4"")3"
:% % ' ' % !
*:
<0 : '' % -' ' #
% 2""!
) ' ' ' %
= '% -9 "&!
/ < = '% !
, =' '' % > !
10(V)
Setting 800
Measured voltage (V)
3 * % . ' %
' ' % = '% -9 . 0
= '% "&!
- Connecting a serial spindle control unit

#7 #6 #5 #4 #3 #2 #1 #0
5603 APW

'
/ *( !/")" % !/"/

!/""" %//1/ $$ ' '
'' !
"# ; !/")" % !/"/!
# ; !/""" % !//1/!
' '' : !
- 748 -
#7 #6 #5 #4 #3 #2 #1 #0
5607 PLD

'
" 8 ' ''

'' !
"# * '' !
# '' !
" ' .
=' % ' -
. !
3133 Motor model code (main spindle)

% '
&' %
"/)454
Specify a motor model code when setting initial parameters for the serial spindle.
3309 Motor model code (sub-spindle)

% '
&' %
"/)454
Specify a motor model code when setting initial parameters for the serial spindle.
- Parameters for a serial spindle control unit
Parameters Nos. 3000 to 3393: For serial spindles

The above parameters are stored on the CNC and actually used by the
spindle control units for serial spindles.
For details of the parameters with these numbers, refer to the following
serial spindle manuals:
- "FANUC AC Spindle Motor series Parameter Manual
(B-65160E)"
- "FANUC SERVO Motor series Maintenance Manual
(B-65165E)"
The numbers of the parameters stored on the CNC correspond to the
numbers of the parameters on each spindle control unit for serial
spindles, as listed in the following tables.
- 749 -
- When the spindle switch function is not used

- Main spindle at spindle switching
CNC Spindle Description

side side
3000 Bit parameter (NOTE1)
000
001
002
003
004
005
006
007
008
009
3020 010 Maximum motor speed
3021 011 Maximum speed in Cs contour control mode
3022 012 Speed arrival detection level
3023 013 Speed detection level
3024 014 Zero speed detection level
3025 015 Limited torque setting
3026 016 Load detection level 1
3028 018 Limited output pattern setting
3029 019 Output limit
3030 020 Soft start/stop setting time
3031 021 Stop position in orientation by a position coder
3032 022 Acceleration/deceleration time constant in spindle synchronization mode
3033 023 Spindle speed to be detected in synchronization
3034 024 Shift for synchronous control of the spindle phase
3035 025 Compensation data for spindle phase synchronization
3036 026 Feed-forward factor
3037 027 Feed-forward factor for the velocity loop
3038 028 Orientation speed
3039 029 Compensation gain for slip
- 750 -

side side
3040 030 Proportional gain of the velocity loop in normal operation mode (high-speed gear)
3041 031 Proportional gain of the velocity loop in normal operation mode (low-speed gear)
3042 032 Proportional gain of the velocity loop in orientation (high-speed gear)
3043 033 Proportional gain of the velocity loop in orientation (low-speed gear)
3044 034 Proportional gain of the velocity loop in servo mode/synchronization control mode
(high-speed gear)
3045 035 Proportional gain of the velocity loop in servo mode/synchronization control mode
(low-speed gear)
3046 036 Proportional gain of the velocity loop in Cs contour control mode (high-speed gear)
3047 037 Proportional gain of the velocity loop in Cs contour control mode (low-speed gear)
3048 038 Integral gain of the velocity loop in normal operation mode (high-speed gear)
3049 039 Integral gain of the velocity loop in normal operation mode (low-speed gear)
3050 040 Integral gain of the velocity loop in orientation (high-speed gear)
3051 041 Integral gain of the velocity loop in orientation (low-speed gear)
3052 042 Integral gain of the velocity loop in servo mode/synchronization control mode
(high-speed gear)
3053 043 Integral gain of the velocity loop in servo mode/synchronization control mode (low-
speed gear)
3054 044 Integral gain of the velocity loop in Cs contour control mode (high-speed gear)
3055 045 Integral gain of the velocity loop in Cs contour control mode (low-speed gear)
3056 046 Gear ratio (high-speed gear)
3057 047 Gear ratio (medium high-speed gear)
3058 048 Gear ratio (medium low-speed gear)
3059 049 Gear ratio (low-speed gear)
3060 050 Position gain in orientation (high-speed gear)
3061 051 Position gain in orientation (medium high-speed gear)
3062 052 Position gain in orientation (medium low-speed gear)
3063 053 Position gain in orientation (low-speed gear)
3064 054 Rate of change in position gain upon completion of orientation
3065 055 Position gain in servo mode/synchronization control mode (high-speed gear)
3066 056 Position gain in servo mode/synchronization control mode (medium-speed high
gear)
3067 057 Position gain in servo mode/synchronization control mode (medium low-speed
gear)
3068 058 Position gain in servo mode/synchronization control mode (low-speed gear)
3069 059 Position gain in Cs contour control mode (high-speed gear)
3070 060 Position gain in Cs contour control mode (medium high-speed gear)
- 751 -

side side
3071 061 Position gain in Cs contour control mode (medium low-speed gear)
3072 062 Position gain in Cs contour control mode (low-speed gear)
3073 063 Grid shift in servo mode
3074 064 Feedrate for reference position return in Cs contour control mode/servo mode
3075 065 Detection level for the orientation completion signal
3076 066 Motor speed limit in orientation
3077 067 Stop position shift in orientation by a position coder
3078 068 MS signal constant
3079 069 MS signal gain adjustment
3080 070 Regenerative power limit
3081 071 Motor power stop delay
3082 072 Acceleration/deceleration time setting
3083 073 Motor voltage setting in normal rotation mode
3084 074 Motor voltage setting in orientation
3085 075 Motor voltage setting in servo mode/synchronization control mode
3086 076 Motor voltage setting in Cs contour control mode
3087 077 Acceleration level
3088 078 Level for detecting excess velocity deviation when the motor is restrained
3089 079 Level for detecting excess velocity deviation when the motor can rotate
3090 080 Overload detection level
3091 081 Rate of change in position gain at reference position return in servo mode
3092 082 Rate of change in position gain at reference position return in Cs contour control
mode
3093 083 Estimated-acceleration constant
3094 084 Disturbance torque compensation constant
3095 085 Adjusted output voltage of the speedometer
3096 086 Adjusted output voltage of the load meter
3097 087 Feedback gain of the spindle speed
3098 088 Maximum one-rotation signal detectable speed
3099 089 Motor activation delay
3100 090 Base speed for motor output specification
3101 091 Output limit for motor output specification
3102 092 Base speed
3103 093 Speed at which decrease in magnetic flux begins
3104 094 Proportional gain data of current loop
3105 095 Proportional gain data of current loop in Cs contour control mode
3106 096 Integral gain data of current loop
3107 097 Integral gain data of current loop in Cs contour control mode
- 752 -

side side
3108 098 Velocity at which current loop integral gain is zero
3109 099 Velocity factor for integral gain of current loop
3110 100 Current conversion constant
3111 101 Secondary current factor for activating current
3112 102 Expected-current constant
3113 103 Slip constant
3114 104 Compensation constant for high-speed-rotation slip
3115 105 Compensation constant for voltage applied to motor in the dead zone
3116 106 Compensation factor for electromotive force
3117 107 Compensation factor for the phase of electromotive force
3118 108 Velocity factor to correct electromotive force
3119 109 Time constant for the voltage filter to correct electromotive force
3120 110 Dead zone compensation data
3121 111 Time constant for changing the torque
3122 112 Time constant for the velocity detecting filter
3123 113 Short overload detection time
3124 114 Voltage compensation factor at deceleration
3125 115 Timer setting for automatic operation
3126 116 Velocity command in automatic operation mode
3127 117 Load meter indication at maximum output
3128 118 Velocity at which the maximum output limit is zero
3129 119 Secondary current factor for rigid tapping
3130 120 Compensation constant for the phase of electromotive force at deceleration
3131 121 Time constant for the velocity detecting filter in Cs contour control mode
3132 122 Current conversion constant for the V phase
3133 123 Motor model code (main spindle)
124
3134 (NOTE Q)
125
126
3135 Grid shift in Cs contour control mode (NOTE Q)
127
- 753 -
- When the spindle switch function is not used

- For low-speed characteristics of the output switch function for the main spindle at
spindle switching
side side
3137 129 Motor voltage setting in servo mode/synchronization control mode
3140 132 Base speed
3141 133 Speed at which a decrease in magnetic flux begins
3142 134 Proportional gain data of the current loop
3143 135 Integral gain data of the current loop
3144 136 Velocity at which the current loop integral gain is zero
3145 137 Velocity factor for the integral gain of the current loop
3155 147 Voltage compensation factor at deceleration
3156 148 Compensation gain for slip
3158 150 Velocity at which the maximum output limit is zero
3160 152 Hysteresis for the speed detection level
3162 154 Integral gain of the velocity loop in Cs contour control cutting feed mode (high-speed
gear)
3163 155 Integral gain of the velocity loop in Cs contour control cutting feed mode
(low-speed gear)
3164 156 Current conversion constant for the V phase
3165 157 Time constant for the voltage filter to correct electromotive force
3167 159
3168 160 Overload current alarm detection level (for low-speed characteristics)
3169 161 Time constant for overload current alarm detection
3170 162 Overload current alarm detection level (for high-speed characteristics)
3171 163 Number of teeth on the spindle gear in optional gear data (high-speed gear)
3172 164 Number of teeth on the position detector gear in optional gear data (high-speed
gear)
3173 165 Number of teeth on the spindle gear in optional gear data (low-speed gear)
3174 166 Number of teeth on the position detector gear in optional gear data (low-speed gear)
3175 167 Zero level of spindle analog input voltage override
- 754 -
- Sub-spindle at spindle switching

side side
168
169
170
171
172
173
174
175
176
177
3196 178 Maximum motor speed
3197 179 Speed arrival detection level
3198 180 Speed detection level
3199 181 Zero speed detection level
3200 182 Limited torque setting
3202 184 Limited output pattern setting
3203 185 Output limit
3204 186 Stop position in orientation by a position coder
3205 187 Orientation speed
3206 188 Proportional gain of velocity loop in normal operation mode (high-speed gear)
3207 189 Proportional gain of velocity loop in normal operation mode (low-speed gear)
3208 190 Proportional gain of velocity loop in orientation (high-speed gear)
3209 191 Proportional gain of velocity loop in orientation (low-speed gear)
3210 192 Proportional gain of velocity loop in servo mode (high-speed gear)
3211 193 Proportional gain of velocity loop in servo mode (low-speed gear)
3212 194 Integral gain of velocity loop in normal operation mode
3213 195 Integral gain of velocity loop in orientation
3214 196 Integral gain of velocity loop in servo mode
3215 197
3216 198 Gear ratio (high-speed gear)
3217 199 Gear ratio (low-speed gear)
3218 200 Position gain in orientation (high-speed gear)
3219 201 Position gain in orientation (low-speed gear)
3220 202 Rate of change in position gain upon completion of orientation
3221 203 Position gain in servo mode (high-speed gear)
3222 204 Position gain in servo mode (low-speed gear)
3223 205 Grid shift in servo mode
3224 206
- 755 -

side side
3225 207
3226 208 Detection level for the orientation completion signal
3227 209 Motor speed limit in orientation
3228 210 Stop position shift in orientation by a position coder
3229 211 MS signal constant
3230 212 MS signal gain adjustment
3232 214 Motor power stop delay
3233 215 Acceleration/deceleration time setting
3234 216 Observer gain for the spindle load monitor 1
3235 217 Observer gain for the spindle load monitor 2
3237 219 Motor voltage setting in orientation
3238 220 Motor voltage setting in servo mode
3239 221 Rate of change in position gain at reference position return in servo mode
3240 222 Feed-forward factor
3241 223 Feed-forward factor for the velocity loop
3242 224
3243 225 Number of teeth on the spindle gear in optional gear data (high-speed gear)
3244 226 Number of teeth on the position detector gear in optional gear data (high-speed
gear)
3245 227 Number of teeth on the spindle gear in optional gear data (low-speed gear)
3246 228 Number of teeth on the position detector gear in optional gear data (low-speed gear)
3247 229 Time constant for magnetic flux compensation for the spindle load monitor (for main
spindle high-speed characteristics)
3248 230 Torque constant for spindle load monitor (for main spindle high-
speed characteristics)
3249 231 Observer gain for the spindle load monitor 1 (for the main spindle)
3250 232 Observer gain for the spindle load monitor 2 (for the main spindle)
3251 233 Time constant for magnetic flux compensation for the spindle load monitor (for main
spindle low-speed characteristics)
3252 234 Time constant for magnetic flux compensation for spindle load monitor (for high-
3253 235 Time constant for magnetic flux compensation for spindle load monitor (for low-
3254 236 Compensation gain for slip (for high-speed characteristics)
3255 237 Compensation gain for slip (for low-speed characteristics)
3258 240 Base speed
3263 245 Velocity factor for the integral gain of current loop
- 756 -

side side
3274 256 Load meter indication at maximum output
3275 257 Velocity at which maximum output limit is zero
3278 260 Time constant for velocity detection filter
3279 261
3280 262 Time constant for voltage filter to correct electromotive force
3281 263 Torque constant for spindle load monitor (for main spindle low-speed
characteristics)
3282 264 Torque constant for spindle load monitor (for high-speed characteristics)
3283 265 Torque constant for spindle load monitor (for low-speed characteristics)
- 757 -
- For low-speed characteristics of the output switch function for the sub-spindle at
spindle switching
side side
3285 267 Motor voltage setting in servo mode
3288 270 Base speed
3293 275 Velocity factor for integral gain of the current loop
3297 279 Number of slip constant
3301 283 Compensation factor for phase of electromotive force
3304 286 Velocity at which maximum output limit is zero
3306 288 Compensation constant for phase of electromotive force at deceleration
3308 290 Voltage filter time constant for electromotive force correction
3309 291 Motor model code (sub-spindle)
292
3310 (NOTE Q)
293
294
3311 (NOTE Q)
295
3312 296 Width of the completion signal for orientation by position coder 2 (main spindle)
3313 297 Width of the completion signal for orientation by magnetic sensor 1 (main spindle)
3314 298 Width of the completion signal for orientation by magnetic sensor 2 (main spindle)
3315 299 Stop position shift in orientation by a magnetic sensor (main spindle)
3316 300 Width of the completion signal for orientation by position coder 2 (sub-spindle)
3317 301 Width of the completion signal for orientation by magnetic signal 1 (sub-spindle)
3318 302 Width of the completion signal for orientation by magnetic signal 2 (sub-spindle)
3319 303 Stop position shift in orientation by a magnetic sensor (sub-spindle)
3320 304 Spindle orientation deceleration constant (main spindle/high-speed gear)
3321 305 Spindle orientation deceleration constant (main spindle/medium high-speed gear)
3322 306 Spindle orientation deceleration constant (main spindle/medium low-speed
gear)
3323 307 Spindle orientation deceleration constant (main spindle/low-speed gear)
3324 308 Spindle orientation deceleration constant (sub-spindle/high-speed gear)
3325 309 Spindle orientation deceleration constant (sub-spindle/low-speed gear)
- 758 -

side side
3326 310 Width of the deceleration switch pulse for spindle orientation (main spindle)
3327 311 Width of deceleration switch pulse for spindle orientation (sub-spindle)
3328 312 Command multiplication for orientation by a position coder (main spindle)
3329 313 Command multiplication for orientation by a position coder (sub-spindle)
3330 314 Motor activation delay in spindle orientation (main spindle)
3331 315 Motor activation delay in spindle orientation (sub-spindle)
3332 316
3333 317
3334 318 Speed detector optional pulse (main spindle)
3335 319 Speed detector optional pulse (sub-spindle)
320 Magnetic flux switching point for calculating the time constant for spindle
3336
acceleration/deceleration in synchronization
3337 321 Velocity compensation factor for velocity loop gain (main spindle)
3338 322 Velocity compensation factor for velocity loop gain (sub-spindle)
3339 323 Torque clamp level
3340 324 Time constant for bell-shaped acceleration/deceleration in the spindle
synchronization mode
3341 325 Abnormal load detection level
3342 326
3343 327
3344 328 Advanced feed-forward factor
3345 329 Detection level for the spindle motor velocity command
3346 330 Incomplete integral factor
3347 331 Level for detecting the speed difference between spindles 1 and 2 in master-slave
operation mode
3348 332 Overload current alarm detection level (for low-speed characteristics)
3349 333 Time constant for overload current alarm detection
3350 334 Overload current alarm detection level (for high-speed characteristics)
3351 335 Current detection offset compensation
- 759 -
- For expansion
side side
336
3354 337
3355 338
3356 339
3357 340
3358 341
3359 342
3360 343
3361 344
3362 345
3363 346
3364 347
3365 348
3366 349
3367 350
3368 351
3369 352
3370 353
3371 354
3372 355
356
3375 357
3376 358
3377 359
3378 360
3379 361
3380 362
3381 363
3382 364
3383 365
3384 366
3385 367
3386 368
3387 369
3388 370
3389 371
3390 372
3391 373
3392 374
3393 375
- 760 -
Note 1)
The data list at the CNC side corresponds to that at the spindle side, as
follows:
CNC parameter numbers : Cn, Cn+1
Spindle parameter number : Sm
Sm Cn Cn+1
Note 2)
The data list at the CNS side corresponds to that at the spindle side, as
follows:
CNC parameter number : Cm
Spindle parameter numbers : Sn, Sn+1
Cm Sn Sn+1
Alarm and message
- PS alarm
PS0223 ILLEGAL SPINDLE SELECT An attempt was made to execute an instruction that uses
the spindle although the spindle to be controlled has not
been set correctly.
- SP alarm
SP0001 SSPA:01 MOTOR OVERHEAT An alarm (AL-01) occurred on the spindle amplifier unit
For details, refer to the Serial Spindle Users Manual.
SP0002 SSPA:02 EX DEVIATION SPEED An alarm (AL-02) occurred on the spindle amplifier unit
SP0003 SSPA:03 DC-LINK FUSE IS BROKEN An alarm (AL-03) occurred on the spindle amplifier unit
SP0004 SSPA:04 POWER SUPPLY ERROR An alarm (AL-04) occurred on the spindle amplifier unit
SP0005 SSPA:XX DECODED ALARM An alarm (AL-05) occurred on the spindle amplifier unit
SP0007 SSPA:07 OVER SPEED An alarm (AL-07) occurred on the spindle amplifier unit
SP0009 SSPA:09 OVERHEAT MAIN CIRCUIT An alarm (AL-09) occurred on the spindle amplifier unit
SP0010 SSPA:10 LOW VOLT INPUT POWER An alarm (AL-10) occurred on the spindle amplifier unit
SP0011 SSPA:11 OVERVOLT POWER An alarm (AL-11) occurred on the spindle amplifier unit
CIRCUIT For details, refer to the Serial Spindle Users Manual.
SP0012 SSPA:12 OVERCURRENT POWER An alarm (AL-12) occurred on the spindle amplifier unit
SP0013 SSPA:13 CPU DATA MEMORY An alarm (AL-13) occurred on the spindle amplifier unit
FAULT For details, refer to the Serial Spindle Users Manual.
SP0014 SSPA:XX DECODED ALARM SP0014
An alarm (AL-14) occurred on the spindle amplifier unit
- 761 -

SP0015 SSPA:15 SPINDLE SWITCHING An alarm (AL-15) occurred on the spindle amplifier unit
FAULT For details, refer to the Serial Spindle Users Manual.
SP0016 SSPA:16 RAM ERROR An alarm (AL-16) occurred on the spindle amplifier unit
SP0018 SSPA:18 SUMCHECK ERROR SP0018
PROGRAM ROM An alarm (AL-18) occurred on the spindle amplifier unit
SP0019 SSPA:19 EXCESS OFFSET An alarm (AL-19) occurred on the spindle amplifier unit
CURRENT U For details, refer to the Serial Spindle Users Manual.
SP0020 SSPA:20 EXCESS OFFSET An alarm (AL-20) occurred on the spindle amplifier unit
CURRENT V For details, refer to the Serial Spindle Users Manual.
SP0024 SSPA:24 SERIAL TRANSFER An alarm (AL-24) occurred on the spindle amplifier unit
ERROR For details, refer to the Serial Spindle Users Manual.
SP0025 SSPA:25 SERIAL TRANSFER STOP An alarm (AL-25) occurred on the spindle amplifier unit
SP0026 SSPA:26 DISCONNECT CS An alarm (AL-26) occurred on the spindle amplifier unit
VELOCITY DETECTOR For details, refer to the Serial Spindle Users Manual.
SP0027 SSPA:27 DISCONNECT POSITION An alarm (AL-27) occurred on the spindle amplifier unit
CODER For details, refer to the Serial Spindle Users Manual.
SP0028 SSPA:28 DISCONNECT CS An alarm (AL-28) occurred on the spindle amplifier unit
POSITION DETECTOR For details, refer to the Serial Spindle Users Manual.
SP0029 SSPA:29 OVERLOAD An alarm (AL-29) occurred on the spindle amplifier unit
SP0030 SSPA:30 OVERCURRENT INPUT An alarm (AL-32) occurred on the spindle amplifier unit
SP0031 SSPA:31 MOTOR LOCK OR An alarm (AL-31) occurred on the spindle amplifier unit
DISCONNECT DETECTOR For details, refer to the Serial Spindle Users Manual.
SP0032 SSPA:32 SIC-LSI RAM FAULT An alarm (AL-32) occurred on the spindle amplifier unit
SP0033 SSPA:33 SHORTAGE POWER An alarm (AL-33) occurred on the spindle amplifier unit
CHARGE For details, refer to the Serial Spindle Users Manual.
SP0034 SSPA:34 ILLEGAL PARAMETER An alarm (AL-34) occurred on the spindle amplifier unit
SP0035 SSPA:35 ILLEGAL GEAR RATIO An alarm (AL-35) occurred on the spindle amplifier unit
PARAMETER For details, refer to the Serial Spindle Users Manual.
SP0036 SSPA:36 OVERFLOW ERROR An alarm (AL-36) occurred on the spindle amplifier unit
COUNTER For details, refer to the Serial Spindle Users Manual.
SP0037 SSPA:37 ILLEGAL SETTING An alarm (AL-37) occurred on the spindle amplifier unit
VELOCITY DETECTOR For details, refer to the Serial Spindle Users Manual.
SP0039 SSPA:39 ILLEGAL 1REV SIGN OF CS An alarm (AL-39) occurred on the spindle amplifier unit
DETECTOR For details, refer to the Serial Spindle Users Manual.
SP0040 SSPA:40 NO 1REV SIGN OF CS An alarm (AL-40) occurred on the spindle amplifier unit
DETECTOR For details, refer to the Serial Spindle Users Manual.
SP0041 SSPA:41 ILLEGAL 1REV SIGN OF An alarm (AL-41) occurred on the spindle amplifier unit
POSITION CODER For details, refer to the Serial Spindle Users Manual.
SP0042 SSPA:42 NO 1REV SIGN OF An alarm (AL-42) occurred on the spindle amplifier unit
SP0043 SSPA:43 DISCONNECT POSITION An alarm (AL-43) occurred on the spindle amplifier unit
CODER DEF. SPEED For details, refer to the Serial Spindle Users Manual.
SP0044 SSPA:44 ILLEGAL A/D CONVERT An alarm (AL-44) occurred on the spindle amplifier unit
- 762 -

SP0046 SSPA:46 ILLEGAL 1REV SIGN OF An alarm (AL-46) occurred on the spindle amplifier unit
SCREW CUT For details, refer to the Serial Spindle Users Manual.
SP0047 SSPA:47 ILLEGAL SIGNAL OF An alarm (AL-47) occurred on the spindle amplifier unit
SP0049 SSPA:49 DEF. SPEED IS OVER An alarm (AL-49) occurred on the spindle amplifier unit
VALUE For details, refer to the Serial Spindle Users Manual.
SP0050 SSPA:50 SYNCRONOUS VALUE IS An alarm (AL-50) occurred on the spindle amplifier unit
OVER SPEED For details, refer to the Serial Spindle Users Manual.
SP0051 SSPA:51 LOW VOLT POWER An alarm (AL-51) occurred on the spindle amplifier unit
SP0052 SSPA:52 ITP FAULT 1 An alarm (AL-52) occurred on the spindle amplifier unit
SP0053 SSPA:53 ITP FAULT 2 An alarm (AL-53) occurred on the spindle amplifier unit
SP0054 SSPA:54 OVERCURRENT An alarm (AL-54) occurred on the spindle amplifier unit
SP0055 SSPA:55 ILLEGAL POWER LINE An alarm (AL-55) occurred on the spindle amplifier unit
SP0056 SSPA:56 FAN FOR CONTROL An alarm (AL-56) occurred on the spindle amplifier unit
CIRCUIT IS STOP For details, refer to the Serial Spindle Users Manual.
SP0058 SSPA:58 MAIN CIRCUIT OVERLOAD An alarm (AL-58) occurred on the spindle amplifier unit
SP0059 SSPA:59 FAN STOP An alarm (AL-59) occurred on the spindle amplifier unit
Alarms SP001 to SP099 are detected by control units for serial spindles.
For details of alarms with these numbers, refer to the following serial
spindle manuals:
- "FANUC Servo Amplifier series Descriptions (B-65162E)"
- "FANUC Servo Motor series Maintenance Manual
(B-65165E)"

SP0201 MOTOR NUMBER DUPLICATE Two or more of the same motor Nos. other than "0" were
set in parameter No. 5841.
SP0202 SPINDLE SELECT ERROR A spindle No. exceeding the number of spindles were set in
parameter No. 5850.
SP0220 NO SPINDLE AMP. Either the cable connected to a serial spindle amplifier is
broken, or the serial spindle amplifier is not connected.
SP0221 ILLEGAL MOTOR NUMBER The spindle No. and the motor No. are incorrectly matched.
SP0222 CAN NOT USE ANALOG SPINDLE The machine tool does not support analog spindles.
SP0223 CAN NOT USE SERIAL SPINDLE The machine tool does not support digital spindles.
SP0224 ILLEGAL SPINDLE-POSITION The spindle-position coder gear ratio was incorrect.
CODER GEAR RATIO
SP0225 CRC ERROR (SERIAL SPINDLE) A CRC error (communications error) occurred in
communications between the CNC and the serial spindle
amplifier.
SP0226 FRAMING ERROR (SERIAL A framing error occurred in communications between the
SPINDLE) CNC and the serial spindle amplifier.
SP0227 RECEIVING ERROR (SERIAL A receive error occurred in communications between the
SPINDLE) CNC and the serial spindle amplifier.
SP0228 COMMUNICATION ERROR (SERIAL A communications error occurred between the CNC and
SPINDLE) the serial spindle amplifier.
- 763 -

SP0229 COMMUNICATION ERROR SERIAL A communications error occurred between serial spindle
SPINDLE AMP. amplifiers (motor Nos. 1 and 2, or motor Nos. 3-4).
SP0230 MOTOR NUMBER OUT OF RANGE The setting of parameter No. 5841 is out of range.
SP0231 SPINDLE EXCESS ERROR The position deviation during spindle rotation was greater
(MOVING) than the value set in parameters.
SP0232 SPINDLE EXCESS ERROR (STOP) The position deviation during spindle stop was greater than
the value set in parameters.
SP0233 POSITION CODER OVERFLOW The error counter/speed instruction value of the position
coder overflowed.
SP0234 GRID SHIFT OVERFLOW Grid shift overflowed.
SP0235 ORIENTATION COMMAND The orientation speed is too fast.
OVERFLOW
SP0236 DUPLICATE SPINDLE CONTROL An attempt was made to change the spindle mode during
MODE (CHANGING) spindle mode switching.
MODE (SPOS) the spindle positioning mode.
MODE (RIGID TAP) the rigid tapping mode.
MODE (CS) the Cs contour control mode.
SP0240 DISCONNECT POSITION CODER The analog spindle position coder is broken.
SP0241 D/A CONVERTER ERROR The D/A converter for controlling analog spindles is
erroneous.
SP0968 SSPA:XX DECODED ALARM An alarm occurred in the spindle amplifier unit for the serial
spindle. For details, refer to the Serial Spindle Users
Manual.
SP0969 SPINDLE CONTROL ERROR An error occurred in the spindle control software.
SP0970 SPINDLE CONTROL ERROR Initialization of spindle control ended in error.
SP0974 ANALOG SPINDLE CONTROL An error occurred in the spindle control software.
ERROR
SP0975 ANALOG SPINDLE CONTROL An position coder error was detected on the analog spindle.
ERROR
SP0976 SERIAL SPINDLE COMMUNICATION The amplifier No. could not be set to the serial spindle
ERROR amplifier.
SP0977 SERIAL SPINDLE COMMUNICATION An error occurred in the spindle control software.
ERROR
SP0978 SERIAL SPINDLE COMMUNICATION A time-out was detected during communications with the
ERROR serial spindle amplifier.
SP0979 SERIAL SPINDLE COMMUNICATION The communications sequence was no longer correct
ERROR during communications with the serial spindle amplifier.
SP0980 SERIAL SPINDLE AMP. ERROR Defective SIC-LSI on serial spindle amplifier
SP0981 SERIAL SPINDLE AMP. ERROR An error occurred during reading of the data from SIC-LSI
on the analog spindle amplifier side.
SP0982 SERIAL SPINDLE AMP. ERROR An error occurred during reading of the data from SIC-LSI
on the serial spindle amplifier side.
SP0983 SERIAL SPINDLE AMP. ERROR Could not clear on the spindle amplifier side.
SP0984 SERIAL SPINDLE AMP. ERROR An error occurred during re-initialization of the spindle
amplifier.
SP0985 SERIAL SPINDLE CONTROL ERROR Failed to automatically set parameters
SP0986 SERIAL SPINDLE CONTROL ERROR An error occurred in the spindle control software.
SP0987 SERIAL SPINDLE CONTROL ERROR Defective SIC-LSI on the CNC
SP0996 ILLEGAL SPINDLE PARAMETER Illegal spindle and spindle motor setting
SETTING
- 764 -
Reference item
Series15i/150i- Connection Manual 9.3 Spindle control
FANUC SERVO AMPLIFIER series B-65162E
Descriptions
FANUC AC SPINDLE MOTOR series B-65160E
Parameter Manual
Descriptions
FANUC SERVO MOTOR series B-65165E
Maintenance Manual
- 765 -
9.3 SPINDLE CONTROL
General
This section describes spindle speed control. It also explains the
position
coder.
-Command flow of spindle speed control

Outlines of spindle speed control for analog and serial spindles are
shown below.
- 766 -
Analog spindle
Gear change Spindle motor

Position coder mechanism
Spindle Spindle amp. Orientation, gear

switching, addition circuit
Gear selection, Speed arrival signal,

orientation alarm signal, etc.
command, etc.
Return pulse,
one-rotation
signal Operators
Spindle panel
motor Spindle override, etc.
command
D/A converter Contact point I/O
Spindle voltage
output Spindle
motor
command Command voltage
calculation
Spindle actual Actual spindle

speed watching speed
Feed per Spindle override

revolution, thread
cutting
Gear selection
M M03,M04,M05,M19 M code
command Orientation
S code
S Command spindle
Constant spindle Spindle speed

speed check
G92 S Maximum spindle

command speed
$$ <$
- 767 -
Serial spindle
Position coder, Gear change Spindle motor

Cs detector mechanism
Spindle Spindle amp. Gear switching, addition

circuit
Return pulse, Gear selection, Addition circuit, etc.

one-rotation etc.
signal
Spindle motor command Operators
Return pulse, one-rotation signal voltage data, spindle control panel
Spindle status signal (spindle signal (clutch/gear signal,
arrival signal, alarm signal, etc.) orientation signal, etc.) Spindle override, etc.
Communication Contact point I/O

control Spindle control
signal
Spindle status
Spindle voltage signal
Return pulse, calculation Spindle
one-rotation motor
signal command Command voltage
calculation
Spindle actual Actual spindle

speed watching speed
Feed per Spindle override

revolution, thread
cutting
Gear selection
M M03,M04,M05,M19 M code
command
S code
S Command spindle
Constant spindle Spindle speed

speed check
G92 S Maximum spindle

command speed
$$ <$
- 768 -
- S command
The S command specifies the spindle speed entered from machining
programs, etc. for the CNC.
The CNC outputs the specified S command as an S code to the PMC as
is. If constant surface speed control is not performed, the CNC outputs
the specified value to the PMC as is. If constant surface speed control
is being performed, the CNC outputs the value obtained from constant
surface speed control to the PMC as the spindle speed command signal.
- M command
An M command, input from a machining program to the CNC,
specifies spindle control. The CNC outputs the specified M command
as an M code to the PMC as is.
- G92 S command
This command, input from a machining program and so forth to the
CNC, specifies a maximum spindle speed. The CNC outputs the
specified S command as the maximum spindle speed signal to the PMC
as is. Whether the S command specified together with G92 in the same
block is assumed to be a maximum spindle speed command is
determined by bit 6 (SMX) of parameter No. 2402.
- Spindle motor command voltage signal (including sign signal)

Usually, the PMC calculates the spindle motor speed based on the S
code or spindle speed command signal. The calculation is made
considering the gear selection state, spindle override state, orientation
command state, and other states. The PMC then inputs the calculated
voltage data as the spindle motor command voltage signal to the CNC.
The CNC controls output voltage based on the spindle motor command
voltage signal. Any voltage data that is not related to the voltage data,
calculated as mentioned above, may be input to the CNC (for example,
to turn the spindle at a constant speed regardless of the CNC
command).
- Actual spindle speed signal

Based on the feedback signal received from the position coder mounted
on a spindle, the spindle speed is calculated. The CNC outputs the
speed as the actual spindle speed signal to the PMC. When a serial
spindle is used, the spindle speed can be calculated based on the speed
monitor data of the spindle motor, depending on the setting made in bit
4 (ASD) of parameter No. 5820.
- Spindle override processing

Normally, a specified spindle speed is overridden by the PMC. An
override value is posted from a spindle override switch mounted on an
external operators panel to the PMC via contact signal input/output.
- 769 -
- Gear change processing

In response to a specified spindle speed, gear selection and change
processing is normally performed by the PMC. According to the gear
selected by the PMC, gear change is performed by the gear change
function via contact signal input/output.
- Command output to a spindle

According to the speed command output and its polarity determined
through the above processing flow, the following is output to issue a
command to the spindle control unit:
- When a serial spindle is used -> Digital data from 0 to }16383
- When an analog spindle is used -> Analog voltage from 0 to }10 V
- Spindle control signals

When using a serial spindle, do not transfer control signals for the
spindle motor speed amplifier (such as the clutch/gear and orientation
signals) from the PMC to the speed amplifier directly; transfer these
signals via the CNC.
- Spindle status signals
When using a serial spindle, do not transfer status signals from the
spindle motor speed amplifier (such as the speed arrival and alarm
signals) to the PMC directly; transfer these signals via the CNC.
- Gain and offset

The analog spindle may require gain and offset voltage adjustment
depending on the spindle motor speed amplifier being used.
The following parameters are available for such adjustment.
-Offset voltage compensation : Parameter iNo.5613 j
-Gain adjustment data :Parameter iNo.5614 j
- 770 -
-Electrical specification of analog spindle interface

The signals related to analog spindle interface are described below.
The ENB1/2 signal is set to 1 if the command output to the spindle is a
non-zero value. If the command output to the spindle is 0, the ENB1/2
signal is set to 0.
For an analog spindle, this signal can be used as a control signal to
forcibly stop spindle motor rotation when an offset voltage exists in the
spindle motor speed amplifier, which turns the spindle motor at low
speed even if the command output (analog voltage in this case) to the
spindle is 0.
Control unit
Max. +10V SVC

SVC Analog voltage
2mA ES output of spindle Name Connector/pin
ES speed SVC JA8A/7
Output
impedance
100 ES JA8A/5
ENB1 ENB enable
signal output ENB1 JA8A/8
ENB2
ENB2 JA8A/9
CAUTION
Since the analog voltage is a very low-level signal, it
must not be connected via a contact.
-Position coder feed back signal

To perform feed per revolution and threading, a position coder must be
connected. The position coder is used to detect the actual spindle speed
and the one-rotation signal (used for detecting a fixed point on the
spindle during threading). FANUC recommends the connecting of
position coders to spindles on a one-to-one basis. When a gear ratio is
used, set a gear ratio in parameter Nos. 5847 and 5848 to cause position
coder deceleration.
The position coder must always issue a one-rotation signal at a fixed
position on the spindle.
For the connection of a position coder used for operations such as rigid
tapping and spindle positioning, see the descriptions of the relevant
functions.
- 771 -
Signal
Signals common to analog and serial spindles
Spindle speed command signal RO0A-RO15A<F010,F011>:For 1st spindle

RO0B-RO15B<F320,F321>:For 2nd spindle
RO0C-RO15C<F326,F327>:For 3rd spindle
RO0D-RO15D<F332,F333>:For 4th spindle
[Function] Posts a specified spindle speed. When constant surface speed control is
being performed, the spindle speed resulting from constant surface
speed control is posted. This signal consists of 16 binary code output
signals.
{
15 i
} N
Spindle speed = 2 ROi s 10 min
i =0
1
The spindle speed and signal are related as follows:

here, N is the value set in parameter No. 5612.
[Output condition] This signal is always output. The signal value changes only when an
Sxxxx command is specified in a program, unless constant surface
speed control is applied.
Maximum spindle speed signals MR0A-MR15A<F014,F015>:For 1st spindle

MR0B to MR15B<F324,F325>:For 2nd spindle
MR0C to MR15C<F330,F331>:For 3rd spindle
MR0D to MR15D<F336,F337>:For 4th spindle
[Function] Posts a maximum spindle speed specified by G92 Sxxxx. Whether the
spindle speed is clamped to this value only during constant surface
speed control, or whether it is always clamped depends on the PMC
specifications. This signal consists of 16 binary code output signals.
The maximum spindle speed and signal are related as follows:
{
15 i
} N
Spindle speed = 2 MRi s 10 min
i =0
1
Where, N is the value set in parameter No. 5612.

[Output condition] This signal is always output. The signal value changes when G92
Sxxxx is specified in a program.
- 772 -
Spindle motor command voltage signal

RISGNA,RI0A to RI15A<G024,G025>:For 1st spindle
RISGNB,RI0B to RI15B<G232,G233>:For 2nd spindle
RISGNC,RI0C to RI15C<G208,G209>:For 3rd spindle
RISGND,RI0D to RI15D<G216,G217>:For 4th spindle
[Function] Specifies a voltage output to the spindle motor. With this input signal
only, the CNC controls a command voltage output to the spindle motor,
regardless of the spindle speed output by the CNC. Using the spindle
speed specified by the CNC, the PMC may make calculations
according to the selected gear and input the calculation result to this
signal.
Alternatively, the PMC may input a different speed (for example, a
speed for spindle orientation).
This signal consists of polarity signal RISGNs that determines the
voltage polarity and 13 binary code signals RI0s to RI12s. According
to polarity signal RISGNs, the following is output:
When RISGNs is 0, a positive (+) voltage is output.
When RISGNs is 1, a negative (-) voltage is output.
The spindle command voltage and signal are related as follows:
15 i
{
Command voltage = 2 RI i s
i =0
}E
8191
volt
Where, E is the maximum voltage (constant) determined by the

hardware.
Spindle ready signal SRRDYA<F341#0>:For 1st spindle

SRRDYB<F342#0>:For 2nd spindle
SRRDYC<F343#0>:For 3rd spindle
SRRDYD<F344#0>:For 4th spindle
[Function] Spindle ready signal
SRRDYs 1 : The spindle is ready for operation.
0 : The spindle is not ready for operation.
[Output condition] his signal is output when a spindle is set.
- 773 -
Signal related to analog spindles
Spindle gear select signal GS1A,GS2A,GS4A<G026#4,#5,#6>:For 1st spindle

GS1B,GS2B,GS4B<G272#4,#5,#6>:For 2nd spindle
GS1C,GS2C,GS4C<G273#4,#5,#6>:For 3rd spindle
GS1D,GS2D,GS4D<G274#4,#5,#6>:For 4th spindle
[Operation] When an analog spindle is used, these signals are used to post
information about a spindle gear used to the CNC. The signal states
and the selected gears are listed below.
GS4s GS2s GS1s Gear selection

0 0 0 Stage 1
0 0 1 Stage 2
0 1 0 Stage 3
0 1 1 Stage 4
1 0 0 Stage 5
1 0 1 Stage 6
1 1 0 Stage 7
1 1 1 Stage 8
Signals related to serial spindles
Serial spindle clutch/gear signal CTH1A,CTH2A<G227#3,#2>:For 1st spindle

CTH1B,CTH2B<G235#3,#2>:For 2nd spindle
CTH1C,CTH2C<G211#3,#2>:For 3rd spindle
CTH1D,CTH2D<G219#3,#2>:For 4th spindle
[Operation] When a serial spindle is used, these signals are used to post information
about a spindle gear to the CNC. The signal states and selected gears
are listed below.
CTH1s CTH2s Gear selection

0 0 Stage 1 (high)
0 1 Stage 2 (medium high)
1 0 Stage 3 (medium low)
1 1 Stage 4 (low)
All-serial spindle ready signal SRSRDY<F045#5>

[Function] Posts that all serial spindles are ready for operation.
SRRDY 1 :The serial spindles are ready for operation.
0 : The serial spindles are not ready for operation.
[Output condition] This signal is output when serial spindles are set.
- 774 -
Serial spindle motor torque signal SLDM0A to SLDM15A<F232,F233>:For 1st spindle

SLDM0B to SLDM15B<F248,F249>:For 2nd spindle
SLDM0C to SLDM15C<F200,F201>:For 3rd spindle
SLDM0D to SLDM15D<F216,F217>:For 4th spindle
[Function] Posts motor the torque data for a serial spindle. The signal consists of
16 binary code output signals.
15 i
{
Torque = 2 SLDM i s
i =0
}N
16383
%
The torque data and signal are related as follows:

[Output condition] This signal is always output when a serial spindle is set.
Serial spindle motor speed signal SSPD0A to SSPD15A<F234,F235>:For 1st spindle

SSPD0B to SSPD15B<F250,F251>:For 2nd spindle
SSPD0C to SSPD15C<F202,F203>:For 3rd spindle
SSPD0D to SSPD15D<F218,F219>:For 4th spindle
[Function] Posts the motor speed of a serial spindle. The signal consists of 16
binary code output signals. The speed data and signal have the
following relationship:
15 i
{
Spindle speed = 2 SSPDi s
i =0
N
}
32767
min
1

Serial spindle alarm code signal SSPA0A to SSPA7A<F236>:For 1st spindle

SSPA0B to SSPA7B<F252>:For 2nd spindle
SSPA0C to SSPA7C<F204>:For 3rd spindle
SSPA0D to SSPA7D<F220>:For 4th spindle
[Function] Posts an alarm code generated in the serial spindle amplifier unit. This
signal consists of eight binary code output signals. The alarm code and
signal are related as follows:
7 i
{
Alarm code = 2 SSPAi s
i =0
}
For information about alarm codes, refer to the manuals for the serial
spindle.
- 775 -
Other signals
Miscelaneous function code signal M0 to M31<F016 to F019>

Miscelaneous function strobeignal MF<F008#0>
Fnish signal FIN<G005#1>
See Sec. 8.1.
Spindle speed function code signal S0 to S31<F020 to F023>

Spindle speed function strobe signal SF<F008#1>
See Sec. 8.1.
Signal address
-Common to all spindles

#7 #6 #5 #4 #3 #2 #1 #0
G005 FIN
F008 SF MF
F016 M7 M6 M5 M4 M3 M2 M1 M0
F017 M15 M14 M13 M12 M11 M10 M9 M8
F018 M23 M22 M21 M20 M19 M18 M17 M16
F019 M31 M30 M29 M28 M27 M26 M25 M24
F020 S7 S6 S5 S4 S3 S2 S1 S0
F021 S15 S14 S13 S12 S11 S10 S9 S8
F022 S23 S22 S21 S20 S19 S18 S17 S16
F023 S31 S30 S29 S28 S27 S26 S25 S24
F045 SRSRDY
- 776 -
-For first spindle

#7 #6 #5 #4 #3 #2 #1 #0
G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
G025 RISGNA RI12A RI11A RI10A RI9A RI8A
G026 GS4A GS2A GS1A
G227 CTH1A CTH2A
F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
F232 SLDM7A SLDM6A SLDM5A SLDM4A SLDM3A SLDM2A SLDM1A SLDM0A
F233 SLDM15A SLDM14A SLDM13A SLDM12A SLDM11A SLDM10A SLDM9A SLDM8A
F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A
F236 SSPA7A SSPA6A SSPA5A SSPA4A SSPA3A SSPA2A SSPA1A SSPA0A
F341 SRRDYA
- 777 -
-For 2nd spindle

#7 #6 #5 #4 #3 #2 #1 #0
G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B
G233 RISGNB RI12B RI11B RI10B RI9B RI8B
G235 CTH1B CTH2B
G272 GS4B GS2B GS1B
F248 SLDM7B SLDM6B SLDM5B SLDM4B SLDM3B SLDM2B SLDM1B SLDM0B
F249 SLDM15B SLDM14B SLDM13B SLDM12B SLDM11B SLDM10B SLDM9B SLDM8B
F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B
F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B
F252 SSPA7B SSPA6B SSPA5B SSPA4B SSPA3B SSPA2B SSPA1B SSPA0B
F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B
F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B
F342 SRRDYB
- 778 -
-For 3rd spindle

#7 #6 #5 #4 #3 #2 #1 #0
G208 RI7C RI6C RI5C RI4C RI3C RI2C RI1C RI0C
G209 RISGNC RI12C RI11C RI10C RI9C RI8C
G211 CTH1C CTH2C
G273 GS4C GS2C GS1C
F200 SLDM7C SLDM6C SLDM5C SLDM4C SLDM3C SLDM2C SLDM1C SLDM0C
F201 SLDM15C SLDM14C SLDM13C SLDM12C SLDM11C SLDM10C SLDM9C SLDM8C
F202 SSPD7C SSPD6C SSPD5C SSPD4C SSPD3C SSPD2C SSPD1C SSPD0C
F203 SSPD15C SSPD14C SSPD13C SSPD12C SSPD11C SSPD10C SSPD9C SSPD8C
F204 SSPA7C SSPA6C SSPA5C SSPA4C SSPA3C SSPA2C SSPA1C SSPA0C
F326 RO7C RO6C RO5C RO4C RO3C RO2C RO1C RO0C
F330 MR7C MR6C MR5C MR4C MR3C MR2C MR1C MR0C
F343 SRRDYC
- 779 -
-For 4th spindle

#7 #6 #5 #4 #3 #2 #1 #0
G216 RI7D RI6D RI5D RI4D RI3D RI2D RI1D RI0D
G217 RISGND RI12D RI11D RI10D RI9D RI8D
G219 CTH1D CTH2D
G274 GS4D GS2D GS1D
F216 SLDM7D SLDM6D SLDM5D SLDM4D SLDM3D SLDM2D SLDM1D SLDM0D
F217 SLDM15D SLDM14D SLDM13D SLDM12D SLDM11D SLDM10D SLDM9D SLDM8D
F218 SSPD7D SSPD6D SSPD5D SSPD4D SSPD3D SSPD2D SSPD1D SSPD0D
F219 SSPD15D SSPD14D SSPD13D SSPD12D SSPD11D SSPD10D SSPD9D SSPD8D
F220 SSPA7D SSPA6D SSPA5D SSPA4D SSPA3D SSPA2D SSPA1D SSPA0D
F332 RO7D RO6D RO5D RO4D RO3D RO2D RO1D RO0D
F336 MR7D MR6D MR5D MR4D MR3D MR2D MR1D MR0D
F344 SRRDYD
Parameter
E Analog/serial spindle common setting
#7 #6 #5 #4 #3 #2 #1 #0
2204 NOS

" ? '' ' !

"# '
# '
; '' ' 0
'' ' ! @ '' . '
' '
' . % % *, !
32)"!

> %
' '' !
- 780 -
#7 #6 #5 #4 #3 #2 #1 #0
2402 SMX

5 <A ' 0B1)B3" B *
%' #
"# ; -' !
# ; -' ! '
!
#7 #6 #5 #4 #3 #2 #1 #0
5602 NAL

'
/ *8 '' ' ' !
"# '!
# '!
&' "*8< !32"4 "
( .' ' '
% ! . "'' -
!
5611 Number of samples of sampling data for obtaining the mean spindle speed

% '
&' %
",
; =' '% ' .
= ' . % '
' ! ' '%
> !
"# '
# )'
)# ,'
/# 2'
,# 5'
NOTE
Usually, set this parameter to 2.
- 781 -
5612 Unit of spindle speed to be output by DO signals

% '
6
+"CC
&' %
"/
Set the unit of output by the specified spindle speed signal, actual spindle speed
signal, and maximum spindle speed signal.
nit of output spindle speed Setting

-1
1 min 0
-1
0.1 min 1
-1
0.01 min 2
-1
0.001 min 3
#7 #6 #5 #4 #3 #2 #1 #0
5807 ALM

" *8< ' ' ---- ''' '
% !
"# D' !
# % !
( . ' ' ' % !
. "'' - !
5842 Number of pulses of the position coder

% '
6

&' %
/)454
Set the number of pulses of the position coder.
5847 Number of teeth on the position coder gear in speed control (feed per
revolution, threading, and so forth)

% '
&' %
1111
Set the number of teeth on the position coder gear in speed control (feed per
revolution, threading, and so forth).
- 782 -
5848 Number of teeth on the spindle gear in speed control (feed per revolution,
threading, and so forth)

% '
&' %
1111
Set the number of teeth on the spindle gear in speed control (feed per revolution,
threading, and so forth).

%
&' %
",
' ' + !
* ' ' #
' ' '
% 0
' . = ' .
'. %. ' . %%.'

NOTE
- Analog spindle
#7 #6 #5 #4 #3 #2 #1 #0
5603 NDP

'
4 0 0

' %' !
"# <0 0!
# 0 0!
&' /*8 !35") "
'' ' %
' !
- 783 -
5613 Compensation value for the offset voltage of the spindle speed analog
output

% '
6
& '
&' %
"),"),
Set the compensation value for the offset voltage of the spindle speed analog
output.
*:
; 0 : . '' -' ' #
(1) Set the standard setting 0.
(2) Specify the spindle speed at which the spindle speed analog output
becomes 0.
(4) Set the value obtained from the following equation in the
8191 measured voltage (V)

Setting
12.5
parameter.
(5) After setting the parameter, specify the spindle speed again at
which the spindle speed analog output becomes 0, then check that
the output voltage is 0 V.
- 784 -
5614 Data for adjusting the gain of the spindle speed analog output

% '
&' %
4"")3"
Set data for adjusting the gain of the spindle speed analog output.
*:
<0 : '' % -' ' #
(1) Set the standard setting to 800.
(2) Specify the spindle speed at which the spindle speed analog output voltage is
maximized (10 V).
(4) Set the value obtained from the following equation in the
10(V)
Setting 800
Measured voltage (V)
parameter.
(5) After setting the parameter, specify the spindle speed again at which the
spindle speed analog output voltage is maximized, then check that the output
voltage is 10 V.
- Serial spindle
#7 #6 #5 #4 #3 #2 #1 #0
5820 ASD

'
, * ' '' ''
0' !
"# $'' 0' !
# $'' !
Caution
CAUTION
This section mentioned a spindle speed control that
should be prepared on the CNC side. But it is also
necessary to design the signals to the spindle control
unit.
Consult the manual of the spindle control unit used
and take necessary actions on the spindle control
unit.
- 785 -
Alarm and message
-PS alarm
PS0223 ILLEGAL SPINDLE SELECT An attempt was made to execute an instruction that uses
the spindle although the spindle to be controlled has not
been set correctly.
-SP alarm
CODER GEAR RATIO
coder overflowed.
erroneous.
ERROR
Reference item
auxiliary function
9.2 Spindle serial
output/analog output
Descriptions
Parameter Manual
- 786 -
9.4 CONSTANT SURFACE SPEED CONTROL
General
When a surface speed (m/min or feet/min) is specified after an S code,
the spindle speed is controlled to keep the surface speed constant,
regardless of the position of the tool.
Spindle speed N
r
Surface speed S = 2rN
Specify constant surface speed control, as follows:

G96 S_ (surface speed in m/min (metric input)
or in feet/min (inch input))
To cancel constant surface speed control, specify the following:
G97 S_ (spindle speed in min-1)
During constant surface speed control, the spindle speed is calculated
so that the surface speed is held constant, and the calculation result is
output to spindle speed command signal RO0s to RO15s.
When the following command is specified, the maximum spindle speed
is output to the maximum spindle speed signal MR0s to MR15s:
G92 S_ (maximum spindle speed in min-1)
During constant surface speed control using the maximum spindle
speed signal, the spindle speed must be clamped so as not to exceed the
maximum spindle speed.
- Position coderless feed per revolution and constant surface speed control
When a machine with no position coder is used, a feed per revolution is
enabled assuming the value indicated by the spindle speed command
signal RO0s to RO15s to be the spindle speed, even during constant
surface speed control.
- 787 -
Signal
Spindle speed command signal RO0A-RO15A<F010,F011>:For 1st spindle
RO0B-RO15B<F320,F321>:For 2nd spindle
RO0C-RO15C<F326,F327>:For 3rd spindle
RO0D-RO15D<F332,F333>:For 4th spindle
[Function] Posts a specified spindle speed. When constant surface speed control is
being performed, the spindle speed resulting from constant surface
speed control is posted. This signal consists of 16 binary code output
signals. The spindle speed and signal are related as follows:
Speed {
15 i
i =0
} N
2 RO i s 10 min
1

[Output condition] This signal is always output. Unless constant surface speed control is
being applied, the signal value changes only when Sxxxx is specified
by a program.
Maximum spindle speed signal MR0A-MR15A<F014,F015>:For 1st spindle
MR0B-MR15B<F324,F325>:For 2nd spindle
MR0C-MR15C<F330,F331>:For 3rd spindle
MR0D-MR15D<F336,F337>:For 4th spindle
[Function] Posts the maximum spindle speed specified by G92 Sxxxx. Whether
the spindle speed is clamped to this value only during constant surface
speed control or whether it is always clamped depends on the PMC
specifications. This signal consists of 16 binary code output signals.
The maximum spindle speed and signal are related as follows:
Speed
15 i
i =0
{ }
N
2 MRi s 10 min
1

[Output condition]This signal is always output. The signal value changes only when G92
Sxxxx is specified by a program.
Constant surface speed signal CSS<F001#7> :Logical AND of the values for all spindles
CSSA<F341#1> :for first spindle
CSSB<F342#1> :for second spindle
CSSC<F343#1> :for third spindle
CSSD<F344#1> :for fourth spindle
[Function] This signal indicates that constant surface speed control is in progress.
[Operation] "1" indicates that constant surface speed control mode (G96) is in
progress, while "0" indicates it is not.
[Remarks] Constant surface speed control can be exercised for one spindle at a
time. CSSA to CSSD are output for each spindle.
CSS is set to "1" when at least one spindle is in constant surface speed
control mode.
- 788 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F001 CSS
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
#7 #6 #5 #4 #3 #2 #1 #0
F341 CSSA
#7 #6 #5 #4 #3 #2 #1 #0
F342 CSSB
#7 #6 #5 #4 #3 #2 #1 #0
F343 CSSC
#7 #6 #5 #4 #3 #2 #1 #0
F344 CSSD
- 789 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2402 SMX

!" #$
%
0: The maximum spindle speed command is assumed.
1: The maximum spindle speed command is not assumed. (Spindle speed
command is assumed.)
#7 #6 #5 #4 #3 #2 #1 #0
2405 FPR

&' ( ) (( ( )
" (( * #( + + &( + +
&$ ( + + " ,$-
0: Not used.
1: Used.
#7 #6 #5 #4 #3 #2 #1 #0
5602 RSC TLE TPE

. /0 ( ) (( * ".,.1$

( 2 ( -
0: Included.
1: Not included.
, /30 ( ) # *

( 2 ( -
0: Included.
1: Not included. Usually, set this parameter to 1.
- 790 -
'4 ( ) ( #

"55$ ( -
0: Use.
1: Do not use. Instead, the coordinates of an end point are used for constant
surface speed control.

#
6 #
5+.
Set a spindle number to be selected upon power-up/reset.
A selected spindle is used as:
- Spindle displayed on a screen such as the position display screen and program
check screen
- Spindle used for an S command, feed per revolution, constant surface speed
control, threading, canned cycles, rigid tapping, and spindle speed detection
NOTE

#
7(
8985
6 #
5+:

-1
1. min 0
-1
0.1 min 1
-1
0.01 min 2
-1
0.001 min 3
- 791 -
5844 Axis number subject to constant surface speed control

#
6 #
5+22
Specify the ordinal number of an axis that is subject to constant surface speed
control. If an axis is specified in the program (G96P_), constant surface speed
control is applied to the axis.
If no axis is specified in the program (G96P_), or P0 is specified, constant surface
speed control is applied to the axis set in this parameter.
NOTE
If 0 is set, the P value programmed with G96P_ is ignored, and
constant surface speed control is always performed on the X-
axis.
Alarm and message

PS0195 ILLEGAL AXIS SELECTED (G96) An illegal value was specified in P in a G96 block or
parameter No. 5844.
- 792 -
Note
NOTE
1 The S value specified in G96 mode is stored even
when G97 mode is set. The S value is restored
when G96 mode is set again.
G96 S50: 50 m/min or 50 feet/min
-1
G97 S1000: 1000 min
G96 X3000: 50 m/min or 50 feet/min
2 If S (min-1) is not specified in a G97 block upon
switching from G96 mode to G97 mode, the last
speed set in G96 mode is used as the S value for
G97 mode.
-1
N10 G97 S800: 800 min
N20 G96 S100: 100 m/min or 100 feet/min
N30 G97: X min-1
X is the speed in the block immediately before N30.
This means that, upon switching from G96 mode to
G97 mode, the spindle speed remains as is. When
the mode is first changed from G97 mode to G96
mode, S = 0 m/min is set if no S value (min-1) is
specified in the G96 block.
3 In the machine lock state, a constant surface speed
is calculated according to the change in program
coordinates even when the machine does not move.
4 Constant surface speed control is enabled even for
threading. If threading is performed in G96 mode,
however, the spindle speed changes, and the tool
feedrate also changes accordingly, resulting in a
change in the servo delay. This can result in an
incorrect thread pitch being created.
Reference item
Series15i/150i-MA Operators Manual II-9.2 Constant surface speed
(Programming) control
(B-63324EN)
- 793 -
9.5 ACTUAL SPINDLE SPEED OUTPUT
General
Based on a feedback signal from a position coder mounted on a spindle,
the CNC calculates the spindle speed and outputs it to the PMC.
When a serial spindle is used, the spindle speed can also be calculated
based on the speed monitor data of the spindle motor by setting bit 4
(ASD) of parameter No. 5820.
Signal
Actual spindle speed signal AR0A-AR15A<F012,F013>:for first spindle
AR0B-AR15B<F322,F323>:for second spindle
AR0C-AR15C<F328,F329>:for third spindle
AR0D-AR15D<F334,F335>:for fourth spindle
[Function] These 16-bit binary code signals output from the CNC to the PMC the
actual spindle speed obtained by feedback pulses from the position
coder mounted on the spindle. When a serial spindle is used, the
spindle speed can also be calculated based on the speed monitor data of
the spindle motor by setting bit 4 (ASD) of parameter No. 5820.
This signal consists of 16 binary code output signals. The actual
spindle speed and signal are related as follows:
{2 }
15
Speed i
ARi s 10 N min -1
i =0
[Output condition] This signal is always output.
Signal address
- For first spindle
#7 #6 #5 #4 #3 #2 #1 #0
F012 AR7A AR6A AR5A AR4A AR3A AR2A AR1A AR0A
F013 AR15A AR14A AR13A AR12A AR11A AR10A AR9A AR8A
- For second spindle

#7 #6 #5 #4 #3 #2 #1 #0
F322 AR7B AR6B AR5B AR4B AR3B AR2B AR1B AR0B
F323 AR15B AR14B AR13B AR12B AR11B AR10B AR9B AR8B
- For third spindle

#7 #6 #5 #4 #3 #2 #1 #0
F328 AR7C AR6C AR5C AR4C AR3C AR2C AR1C AR0C
F329 AR15C AR14C AR13C AR12C AR11C AR10C AR9C AR8C
- 794 -
- For fourth spindle

#7 #6 #5 #4 #3 #2 #1 #0
F334 AR7D AR6D AR5D AR4D AR3D AR2D AR1D AR0D
F335 AR15D AR14D AR13D AR12D AR11D AR10D AR9D AR8D
Parameter

#
7(
8985
6 #
5+:

-1
1. min 0
-1
0.1 min 1
-1
0.01 min 2
-1
0.001 min 3
#7 #6 #5 #4 #3 #2 #1 #0
5820 ASD

. ; ( ) ( (
( ( ( -
0: Calculated from feedback pulses from the position coder.
1: Calculated from speed monitor data.
Note
NOTE
An absolute error of about 0.5 min-1 exists as a
measuring error.
Reference item
Series15i/150i- Connection Manual 9.2 Spindle serial
MODEL A (This manual) output/analog output
9.3 Spindle control
- 795 -
9.6 SPINDLE POSITIONING
General
This function positions the spindle using the spindle motor and position
coder.
The function has a coarser least command increment compared with

the Cs contour control function and has no interpolation capability with
other axes. However, it can be installed with ease because the position
detector is a position coder.
Generally, the spindle positioning axes are clamped mechanically
except when positioning is under way.
In the turning process, the workpiece is rotated by the spindle to which
it is attached (spindle rotation mode), at the speed specified for the
spindle motor. The value for the spindle speed is input from the spindle
controller to the spindle amplifier.
When the optional spindle positioning function is activated, the spindle
is moved to a defined angle, and the workpiece is repositioned at that
angle.
The specified move distance is input to the error counter, and the
velocity command is issued for the spindle motor through the spindle
amplifier. The position of the spindle is detected by the installed
position coder (Spindle positioning mode).
The spindle positioning function can perform the following operations:
- Release the spindle rotation mode and enter the spindle
positioning mode Specifying a particular M code sets a
reference position in the spindle positioning mode. (This is called
spindle orientation.)
- Position the spindle in the spindle positioning mode
Position an optional angle using address C (H), and position a
semi-fixed angle using a specific M code parameter.
- Release the spindle positioning mode and enter the spindle
rotation mode
Specifying a particular M code parameter changes the spindle to
the spindle rotation mode.
The least command increment, least input increment, and maximum

value for the spindle positioning axis are set as follows:
- Least command increment
360
0.088deg
4096
- Minimum input increment
0.001 deg (IS-B)
- Maximum command value
999999.999 deg
- 796 -
- Control block diagram
Spindle control
Spindle
Error Spindle motor
amplifier
counter
Gear ratio n:m
Position Gear ratio N:M Spindle

coder
The spindle positioning function is enabled only when the number of

pulses from the position coder is 4096, and the gear ratio between the
spindle side and position coder side
1:2n (n: Integer of 0 or greater)
(N:M) is as follows:
The least command increment (detection unit) for each gear ratio is set
as listed below.
Gear ratio between spindle and position coder Least command increment
(detection unit) deg
1:1 0.088 (1360/4096)
1:2 0.176 (2360/4096)
1:4 0.352 (4360/4096)
1:8 0.703 (8360/4096)
: :
1:N (N360/4096)
- Selecting a spindle positioning axis

An arbitrary axis address can be set for an axis on which the spindle is
positioned.
Spindle positioning axes are arranged from the end of controlled axes.
Parameter No. 1020.
Set the servo axis numbers of the spindle positioning axes to 0.
Parameter No. 1023.
Set the spindle motor numbers of the spindles for which spindle
positioning is performed in parameter No. 1027.
Setting example 1:
Servo axis: X, Y, Z
Spindle positioning axis: C (S1)
Number of spindles: 1
- 797 -
Controlled- Parameter Parameter Parameter

axis No. 1020 1023 1027
1 w 1 0
2 89( x) 2 0
3 90( y) 3 0
4 67( b) 0 1
Setting example 2:
Servo axis: X, Z
Spindle positioning axis: C (S1), B (S2)
Controlled- Parameter Parameter Parameter

axis No. 1020 1023 1027
1 88(X) 1 0
2 90(Z) 2 0
3 67(C) 0 1
4 66(B) 0 2
Switching to spindle positioning mode (Spindle orientation)

Orientation is required in advance if spindle positioning is first
performed after the spindle motor is used as a normal spindle, or when
spindle positioning is interrupted. The orientation stops the spindle in a
constant position.
The orientation position can be sifted in the range of }180deg by
setting the parameter (No.5980) for analog spindle and in the range
from 0 to 360 deg by setting the parameter (No.3073) for serial spindle.
To specify orientation, use the M code whose parameter No. 5680.
The orientation direction is specified by using parameters OMI
No.5808 #0 for analog or SVO No. 3000#4 for serial spindles.
- 798 -
- Orientation speed
When an analog spindle is used, the tool moves at the rapid traverse
rate set in parameter No. 5977 until a speed that allows orientation is
reached. After a one-rotation signal is detected, spindle orientation is
performed at the FL feedrate set in parameter No. 5979.
* Speed allowing orientation
Set the speed so that the following condition is satisfied:
F P
1024 pulses

60 G 0.088
F : Feedrate (deg/min)
G : Position gain (1/sec)
P : Gear ratio between the spindle and position coder
If the above condition is not satisfied, a one-rotation signal cannot be
detected, so movement continues at the rapid traverse rate.
* FL feedrate
Set the FL feedrate so that the following condition is satisfied:
FL P
1024
( pulses )
60 G 0.088
FL : Feedrate (deg/min)
G : Position gain (1/sec)
P : Gear ratio between the spindle and position coder
If the above condition is not satisfied, an accurate stop position cannot
be detected, so orientation is performed again stating from the rapid
traverse operation.
The serial spindle stops at the orientation position as soon as the

command is issued. The lower limit to the rapid traverse speed value
does not need to be specified for the serial spindle to reach the
orientation enable speed.
The analog spindle stops after the spindle speed is changed from rapid
traverse to the FL speed. The rapid traverse speed lower limit must be
specified for the analog spindle, or obtaining the orientation enable
speed need not be specified for the serial spindle. However, it must be
specified for the analog spindle.
- Omitting an orientation operation

When reference position return is not required when performing
orientation (for example, when no start position is specified, and only
incremental positioning starting from the current position is needed),
the reference position return operation performed upon orientation can
be omitted by setting bit 0 (ZRN) of parameter No. 1005. In this case,
when an M code for orientation is specified, only change of the spindle
control mode is performed. Then, operation is completed without
reference position return.
- 799 -
- Program origin
The orientation position is regarded as a program origin. It is possible
to modify the program origin using the coordinates system(G92).
Command system
The command system comes in two types: The first positions a semi-
fixed angle; the second positions an optional angle.
- Semi-fixed angle positioning by M code

Specify a 2-digit numeric value following address M. A value from M
to M can be specified. and must be set in parameter Nos. 5896 and
5897 in advance. M to M and the corresponding positioning angles
are listed below. must be set in parameter No. 5898 in advance.
M code Indexing angle (Example)

Example: =30
When = +5
M 30
M (+1) 2 60
M (+2) 3 90
M (+3) 4 120
M (+4) 5 150
M (+5) = M 6 180
The direction of rotation is determined by the sign of .
- Positioning to an arbitrary angle by an axis address

A position is specified using an axis address followed by a signed
numeric value. Specify an axis address in the G00 mode. (In the
subsequent explanation, the axis address is assumed to be the C-axis.)
Example: C-1000
C123.456
A numeric value with a decimal point can be entered. The position of a
decimal point represents the position of "degrees."
Example: C35.0 = C35 degrees
- Absolute and incremental commands

For positioning to a semi-fixed angle based on an M code, incremental
commands must always be used.
For positioning to an arbitrary angle, both absolute and incremental
commands can be used.
- 800 -
Program origin
90
180
Address used and Command of A-B

Command method
G-code on the above Fig.
Absolute command Direct the end point position by
the distance from the program G90,C G90C180.0 ;
origin.
Incremental Command by the distance
G91,C G91C90.0 ;
command between the start and end points.
- Spindle positioning feedrate

As the feedrate used for positioning, the rapid traverse rate specified in
parameter No. 1420 is used.
Spindle positioning reset

A specific M code (parameter no. 5681) must be set when the mode is
changed from spindle positioning to normal spindle rotation.
Spindle positioning mode is also canceled in any of the following

cases:
1. A servo alarm is issued.

2. A spindle alarm is issued.
3. The spindle is stopped during orientation due to a reset, alarm, or
similar.
4. The spindle is stopped upon the cancellation of positioning due to
a reset, alarm, and so forth.
5. When a reset is caused: Depends on bit 4 (IOR) of parameter No.
5605.
6. When an emergency stop is caused: Depends on bit 1 (IOE) of
parameter No. 5809.
- 801 -
Signal
Signals for the spindle positioning function
Spindle unclamp signal SUCLPA<F042#0>:for 1st spindle

SUCLPB<F338#0>:for 2nd spindle
SUCLPC<F339#0>:for 3rd spindle
SUCLPD<F340#0>:for 4th spindle
[Function] This signal specifies that spindle mechanical clamping be released in a
spindle positioning sequence.
When this signal is set to 1, release the clamp of the spindle on the
machine side (for example, release the brake, or pull out the pin).
[Output condition] Refer to the sequence (time chart) in this section.
Spindle unclamp completion signal *SEUCLA<G026#2>:for 1st spindle

*SEUCLB<G272#2>:for 2nd spindle
*SEUCLC<G273#2>:for 3rd spindle
*SEUCLD<G274#2>:for 4th spindle
[Function] This signal indicates that unclamping the spindle is complete in
response to the spindle unclamp signal SUCLPs.
Spindle clamp signal SCLPA<F042#1>:for 1st spindle

SCLPB<F338#1>:for 2nd spindle
SCLPC<F339#1>:for 3rd spindle
SCLPD<F340#1>:for 4th spindle
[Function] This signal specifies that the spindle be clamped mechanically in a
spindle positioning sequence.
When this signal turns to 1, clamp the spindle on the machine (apply
the brakes or insert the pin).
[Output condition] Refer to the sequence (time chart) in this section.
Spindle clamp completion signal *SECLPA<G026#3>:for 1st spindle

*SECLPB<G272#3>:for 2nd spindle
*SECLPC<G273#3>:for 3rd spindle
*SECLPD<G274#3>:for 4th spindle
[Function] This signal indicates that clamping the spindle is complete in response
to the spindle clamp signal SCLPs.
- 802 -
Signals related to miscellaneous function code output
Miscellaneous code signal M0-M31<F016-F019>

Miscellaneous strobe signal MF<F008#0>
See Sec. 8.1.
Signals related to gear change
Spindle gear select signal GS1A,GS2A,GS4A<G026#4,#5,#6>:for 1st spindle

GS1B,GS2B,GS4B<G272#4,#5,#6>:for 2nd spindle
GS1C,GS2C,GS4C<G273#4,#5,#6>:for 3rd spindle
GS1D,GS2D,GS4D<G274#4,#5,#6>:for 4th spindle
[Operation] When an analog spindle is used, this signal posts information about the
spindle gear being used to the CNC.
The signal states and corresponding gear selection states are listed
below:

0 0 0 Stage 1
0 0 1 Stage 2
0 1 0 Stage 3
0 1 1 Stage 4
1 0 0 Stage 5
1 0 1 Stage 6
1 1 0 Stage 7
1 1 1 Stage 8
Serial spindle clutch/gear signal CTH1A,CTH2A<G227#3,#2>:for 1st spindle

CTH1B,CTH2B<G235#3,#2>:for 2nd spindle
CTH1C,CTH2C<G211#3,#2>:for 3rd spindle
CTH1D,CTH2D<G219#3,#2>:for 4th spindle
[Operation] When a serial spindle is used, this signal posts information about the
spindle gear being used to the CNC.
The signal states and the corresponding gear selection states are listed
below.

0 0 Stage 1 (high)
1 1 Stage 4 (low)
- 803 -
Other signals
Spindle stop confirmation signal SPSTPA<G026#0>:for 1st spindle

SPSTPB<G272#0>:for 2nd spindle
SPSTPC<G273#0>:for 3rd spindle
SPSTPD<G274#0>:for 4th spindle
[Function] After checking that this signal has been set to 1, the CNC performs
spindle orientation, spindle positioning, and cancellation of spindle
positioning.
Reference position return completion signal ZP1<F064#0>, ZP2<F068#0>, ...

[Function] Indicates that spindle orientation for a spindle positioning axis has been
completed.
ZPx
x : 1 ... Completion signal for spindle orientation on the first axis
2 ... Completion signal for spindle orientation on the second axis
3 ... Completion signal for spindle orientation on the third axis
: :
: :
[Output condition] When spindle orientation is completed, this signal is set to 1. The
signal is set to 0 when spindle positioning is performed or canceled.
Signal address
- All axes common

#7 #6 #5 #4 #3 #2 #1 #0
G005 FIN
F008 MF
F016 M7 M6 M5 M4 M3 M2 M1 M0
F017 M15 M14 M13 M12 M11 M10 M9 M8
F018 M23 M22 M21 M20 M19 M18 M17 M16
F019 M31 M30 M29 M28 M27 M26 M25 M24
F064 ZP1
the Appendix A.1.
- 804 -
- For 1st spindle

#7 #6 #5 #4 #3 #2 #1 #0
G026 GS4A GS2A GS1A *SECLPA*SEUCLA SPSTPA
G227 CTH1A CTH2A
F042 SCLPA SUCLPA
- For 2nd spindl

#7 #6 #5 #4 #3 #2 #1 #0
G272 GS4B GS2B GS1B *SECLPB *SEUCLB SPSTPB
G235 CTH1B CTH2B
F338 SCLPB SUCLPB
- For 3rd spindl

#7 #6 #5 #4 #3 #2 #1 #0
G211 CTH1C CTH2C
G273 GS4C GS2C GS1C *SECLPC *SEUCLC SPSTPC
F339 SCLPC SUCLPC
- For 4th spindle

#7 #6 #5 #4 #3 #2 #1 #0
G219 CTH1D CTH2D
G274 GS4D GS2D GS1D *SECLPD *SEUCLD SPSTPD
F340 SCLPD SUCLPD
Sequence (time chart)
Spindle orientation
To cancel spindle rotation mode then enter spindle positioning mode,
specify Mxx in a program.
xx must be set in parameter No. 5680 in advance. The sequence pattern
must be set in parameter No. 5895.
1. Assume that Mxx is programmed.

2. A miscellaneous function code signal M0 to M31 is sent, and at
the same time, miscellaneous function strobe signal MF is set to 1.
This sending procedure is the same as that for ordinary
miscellaneous functions.
3. When strobe signal FM is set to 1, the PMC reads the code signal.
After confirming that the code signal is xx, the PMC must respond
appropriately. For example, suppose that Mxx is specified while
the spindle is rotating. The PMC may respond in either of two
- 805 -
ways. Firstly, in response to the Mxx command, the PMC may

stop spindle rotation. Secondly, the PMC may issue an alarm by
using the external data input/output function, assuming that the
Mxx command is not permitted during spindle rotation.
Generally, the second response is recommended because the
spindle is stopped by specifying M05. Regardless of which
response is made, the PMC must set spindle stop confirmation
signal SPSTPs to 1 when the spindle is stopped.
4. As soon as strobe signal MF is set to 1, the CNC checks whether
spindle stop confirmation signal SPSTPs is 1. If the SPSTPs
signal is 1, the control mode for the spindle is changed from
spindle control to position control.
5. If sequence pattern 2, 3, or 4 is set, the CNC places spindle
position control in the servo-on state.
6. Spindle unclamp signal SUCLPs is set to 1.
7. When spindle unclamp signal SUCLPs is set to 1, the PMC
unclamps the spindle. Upon the completion of the unclamp
operation, the PMC must set spindle unclamp completion signal
*SEUCLs to 0.
8. When spindle unclamp completion signal *SEUCLs is set to 0, the
CNC sets spindle unclamp signal SUCLPs to 0 to indicate that the
CNC has received the *SEUCLs signal.
9. If sequence pattern 1 is set, the CNC places spindle position
control in the servo-on state.
10. When spindle unclamp signal SUCLPs is set to 0, the PMC must
set spindle unclamp completion signal *SEUCLs to 1.
11. The CNC rotates the spindle, and stops it at a certain position.
(This operation is generally called spindle orientation.) Then, the
CNC sets reference position return completion signal ZPj (j is the
controlled axis number of the spindle) to 1.
control in the servo-off state.
13. The CNC sets spindle clamp signal SCLPs to 1.
14. When spindle clamp signal SCLPs is set to 1, the PMC clamps the
spindle mechanically by using, for example, the clutch or a shot
pin. After clamping, the PMC sets spindle clamp completion
signal *SECLPs to 0.
15. When spindle clamp completion signal *SECLPs is set to 0, the
CNC sets spindle clamp signal SCLPs to 0 to indicate that the
CNC has received *SECLPs.
17. When spindle clamp signal SCLPs is set to 0, the PMC must set
spindle clamp completion signal *SECLPs to 1.
18. Finally, the PMC must set completion signal FIN for the
miscellaneous function strobe signal MF to 1. In response to this,
the CNC sets the MF signal to 0. Then, the PMC must set the FIN
signal to 0.
If sequence pattern 4 is set, spindle unclamp signal SUCLPs, spindle

unclamp completion signal *SEUCLs, spindle clamp signal SCLPs,
- 806 -
and spindle clamp completion signal *SECLPs, explained above, are

not transmitted between the CNC and PMC.
Timing chart for orientation (sequence pattern 1)
M COMMAND
Mxx
Strobe signal
MF
Spindle stop confirmation

signal
SPSTPs
Spindle position control
servo-on
Spindle unclamp signal
SUCLPs
Spindle unclamp
confirmation signal *SEUCLs
Spindle rotation
Reference position return completion signal
ZPj
Spindle clamp signal
SCLPs
Spindle clamp completion signal
*SECLPs
FIN
- 807 -
M command
Mxx
Strobe signal
MF

signal
SPSTPs
servo-on
SUCLPs
Spindle unclamp confirmation signal
*SEUCLs
Spindle rotation
ZPj
SCLPs
*SECLPs
FIN
- 808 -
M command
Mxx
Strobe signal
MF

signal
SPSTPs
servo-on
SUCLPs
*SEUCLs
Spindle rotation
ZPj
SCLPs
*SECLPs
FIN
- 809 -
M command
Mxx
Strobe signal
MF

signal
SPSTPs
servo-on
Spindle rotation
ZPj
FIN
- 810 -
Spindle positioning
In spindle positioning mode, positioning is performed using one of the
following two methods:
1) Semi-fixed angle positioning by specifying Myy
2) Arbitrary angle positioning by specifying an axis address
The above operations are the same except that, in arbitrary angle
positioning, there is no input/output signal transmission for
yy must be set in parameter Nos. 5896 and 5897 in advance. A
sequence pattern must be set in parameter No. 5895.
1. Suppose that Myy is specified in a program. When Myy is

specified in spindle rotation mode, the CNC sets the alarm state.
2. A miscellaneous function code signal M0 to M31 is sent, and at
the same time, miscellaneous function strobe signal MF is set to 1.
This transmission procedure is the same as that for ordinary
3. When strobe signal MF is set to 1, the PMC reads the code signal.
After confirming that the code signal is yy, the PMC must respond
with an appropriate operation. In this case, however, no particular
operation is required. The PMC must prevent completion signal
FIN for miscellaneous function strobe signal MF from being set to
1 until the operation procedure explained below is completed.
When the spindle is stopped, the PMC sets the spindle stop
confirmation signal SPSTPs to 1.
signal is 1, the CNC sets spindle unclamp signal SUCLPs to 1.
6. When spindle unclamp signal SUCLPs is set to 1, the PMC
unclamps the spindle and, upon completion of the unclamp
operation, the PMC sets spindle unclamp completion signal
*SEUCLs to 0.
7. When spindle unclamp completion signal *SEUCLs is set to 0, the
CNC sets spindle unclamp signal SUCLPs to 0 to indicate that the
CNC has received the *SEUCLs signal.
set spindle unclamp completion signal *SEUCLs to 1. After
setting the SUCLPs signal to 0, the CNC rotates the spindle, then
stops it at the specified position.
10. If sequence pattern 1 is specified, the CNC places spindle position
11. The CNC sets spindle clamp signal SCLPs to 1.
12. When spindle clamp signal SCLPs is set to 1, the PMC clamps the
spindle mechanically as required using, for example, the clutch or
a shot pin. Upon the completion of the clamp operation, the PMC
sets spindle clamp completion signal *SECLPs to 0.
- 811 -
13. When spindle clamp completion signal *SECLPs is set to 0, the

CNC sets spindle clamp signal SCLPs to 0 to indicate that the
CNC has received *SECLPs.
15. When spindle clamp signal SCLPs is set to 0, the PMC must set
spindle clamp completion signal *SECLPs to 1.
signal to 0.
If sequence pattern 4 is set, spindle unclamp signal SUCLPs, spindle

unclamp completion signal *SEUCLs, spindle clamp signal SCLPs,
and spindle clamp completion signal *SECLPs, explained above, are
not transmitted between the CNC and PMC.
- 812 -
Timing chart for positioning (sequence pattern 1)
M command
Myy
Strobe signal
MF

signal SPSTPs
servo-on
SUCLPs
*SEUCLs
Spindle rotation
SCLPs
*SECLPs
FIN
- 813 -
M command
Myy
Strobe signal
MF
signal SPSTPs
servo-on
SUCLPs
*SEUCLs
Spindle rotation
SCLPs
*SECLPs
FIN
- 814 -
M command
Myy
Strobe signal
MF

signal SPSTPs
servo-on
SUCLPs
*SEUCLs
Spindle rotation
SCLPs
*SECLPs
FIN
- 815 -
M command
Myy
Strobe signal
MF

signal
SPSTPs
servo-on
Spindle rotation
FIN
- 816 -
Canceling spindle positioning

To cancel spindle positioning mode and enter spindle rotation mode,
specify Mzz in a program.
zz must be set in parameter No. 5681 in advance. A sequence pattern is
1. Suppose that Mzz is specified in a program.

2. One of miscellaneous function code signal M0 to M31 is sent, and
at the same time, miscellaneous function strobe signal MF is set to
1.
This transmission procedure is the same as that for ordinary
3. When strobe signal MF is set to 1, the PMC reads the code signal.
After confirming that the code signal is zz, the PMC must respond
with an appropriate operation. In this case, however, no particular
operation is required. The PMC must present completion signal
FIN for miscellaneous function strobe signal MF from being set to
1 until the operation procedure explained below is completed.
When the spindle is stopped, the PMC sets spindle stop
confirmation signal SPSTPs to 1.
signal is 1, the CNC sets the spindle unclamp signal SUCLPs to 1.
5. PMC must unclamp the spindle, and upon the completion of the
unclamp operation, the PMC must set spindle unclamp
completion signal *SEUCLs to 0.
6. When the spindle unclamp completion signal *SEUCLs is set to 0,
the CNC sets spindle unclamp signal SUCLPs to 0 to indicate that
the CNC has received the *SEUCLs signal.
set spindle unclamp completion signal *SEUCLs to 1. Also,
while setting the SUCLPs signal to 0, the CNC switches spindle
control from position control to spindle control.
8. If sequence pattern 3 or 4 is set, the CNC places spindle position
control in the servo-off state at the same time.
signal to 0.
If sequence pattern 4 is set, spindle unclamp signal SUCLPs and

spindle unclamp completion signal *SEUCLs, explained above, are not
transmitted between the CNC and PMC.
- 817 -
Timing chart for canceling positioning (sequence patterns 1 and 2)
M command
Mzz
Strobe signal
MF

signal SPSTPs
servo-on
SUCLPs
*SEUCLs
FIN
- 818 -
Timing chart for canceling positioning (sequence patterns 3)
M command
Mzz
Strobe signal
MF

signal SPSTPs
servo-on
SUCLPs
*SEUCLs
FIN
- 819 -
Timing chart for canceling positioning (sequence patterns 4)
M command
Mzz
Strobe signal
MF

signal SPSTPs
servo-on
FIN
CAUTION
The CNC performs servo-on/off control in position
control for an analog spindle by using the ENB1 and
ENB2 signals. Therefore, to perform the servo-on/off
control in spindle position control as shown in the
timing chart, the spindle control unit must turn motor
excitation on and off according to the ENB1 and
ENB2 signals.
Control unit
+10 V max SVC

SVC Spindle speed analog
2mA ES Name @ Connector/pin
voltage output
Output ES SVC @ @ @JA8A/7
impedance
100 ES @ @ @ JA8A/5
ENB1 ENB enable
signal output ENB1 @ @ @JA8A/8
ENB2
ENB2 @ @ @JA8A/9
The ENB1/2 signal is set to 1 when spindle position control is in the

servo-on state, and it is set to 0 when spindle position control is in the
servo-off state.
- 820 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1005 PLZ ALZ ZMG ZRN

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

&

&&)&
&
%
%
%
$
%*)

&
&
&+
0: Issue an alarm ("PS181 ZERO RETURN NOT FINISHED").
1: Do not issue an alarm but execute operation.
For the spindle positioning axis which does not need reference position return, set 1.
!,* &

&

%&& %+
- *
%&
- ,)
$
%
%&
.&
%&
&)/ +
01!

%
%&
&&
&
&
&

*+
- "

& &
&)&
&) &
&

+
&
&
%&
'& &$(&/

&)
%&
&2 &
&
&
+
- 3
%&
&2 & &
&

+
.&
%&
&)/
+
4 1!

% &
&&
)
%$&5 &&

$%
&
&
&+
-
&$%

+)+6)&+
- 0$
+
!#/'
&
#&+7 /$% % &&
&+
.&
%&
&)/
+
- 821 -
#7 #6 #5 #4 #3 #2 #1 #0
1006 DIA ROP ROS ROT

"68 $%
%
%2 %9
&&+
0: Axis requires inch/metric conversion (linear axis).
1: Axis does not require inch/metric conversion (rotation axis).
For the spinlde positioning axis, set 1.
"6 $%

%
% % &&

&
&5 % 5

&
&
&
&&

&+
0: Linear (linear axis)
1: Rotation (rotation axis)
"6 $%

%
% % &&

&&
%

%& &
&&&

&+
4 0 ,& && % )-

0: Radius specification
1: Diameter specification
If bit 5 (PDC) of parameter No. 1001 is 1, DIA has the following meaning:
The scale of the parameter, offset, and graphic screens is indicated using:
- 822 -
#7 #6 #5 #4 #3 #2 #1 #0
1012 ISE ISD ISC ISA

NOTE
After this parameter has been set, the power must be off turned off then
back on for the setting to become effective.
0
:

4 ;

& %

4 ; : 0

(0
(
(:
(
(;
For the spindle positioning axis, reset ISA to ISE to 0, because the increment system
for it is IS-B.
- 823 -
1020 Program axis name for each axis

)
<
) =>(?
The programmed axis name of each controlled axis is set according to the following
table:
Axis name Setting

X 88
Y 89
Z 90
A 65
B 66
C 67
U 85
V 86
W 87
NOTE
1 When the option for tool axis direction tool length compensation
is provided, always set the A, B, or C value.
2 When the axis name extension function (option) is used, the
following addresses can be used as axis names:
Axis name Setting
I 73
J 74
K 75
E 69
1023 Servo axis number of each axis
NOTE

)
<
) (
Specify the number of the servo axis that corresponds to each control axis.
For the spindle positioning axis , set 0.
- 824 -
1027 Spindle number of a spindle positioning axis
NOTE

)
<
) (7

%
'
& % &
&/ &'
&$
%

#&+ 4+

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

)
%'&

%&
&'&
%
+
8%&&$)

&&-
(
&
%& &
&&$% %&
&)&

&'
&+
( 0) &
'&

&
&
&+
( 0&
&)
%'& '

+
( 0&
&)
' &
%& &
&
+
; &- @/A/!

&
&)- :
#'&-
:&
&(

' #&+ #&+ 4 #&+ B
P W W i w j P O
Q W X i x j Q O
R X O i y j R O
S U V i b j O P
; &- @/!

&
&)- : /
#'&-
:&
&(

' #&+ #&+ 4 #&+ B
P W W i w j P O
Q X O i y j Q O
R U V i b j O P
S U U i a j O Q
NOTE
Note that this parameter is changed when automatic setting is
performed on the FSSB setting screen.
- 825 -
1260 Movement of one rotation of a rotary axis

"
3
&
)
,
&
&
%

&
%
<
) &&
?)
&
&

&
%

)
'
C%
%

(/ + (D??????+???
Set the value of movement of one rotation of a rotary axis.
For the spindle positioning axis , set 360.0

"
3
&
9/ %9/)9 %

,
&
&
%

&
%
<
) "
&
%

)
':
C%
%

(/ + (D7 +

%

& %&$%

& E+

)
3
&

<
) (7
Specify the rapid traverse acceleration/deceleration time constant along each axis.
- 826 -


"
3
&
9/ %9/)9 %

,
&
&
%

&
%
<
) "
&
%

)
':
C%
%

(/ + (D??????+???
1820 Command multiplier for each axis (CMR)
NOTE

)
3
&
+>
<
)
&?=
For the spindle positioning axis , set 2
#7 #6 #5 #4 #3 #2 #1 #0
2203 MCN

,:# 8% %&

&&
%:"8-
-
&
%& %& %
%
&
%
&
+
-
&

& %& %
+
For the spindle positioning axis , set 1
- 827 -
#7 #6 #5 #4 #3 #2 #1 #0
5605 IOR

7 6" $%

%
&
%&
&)&&
+
- &&
+
- : +
5680 M code for specifying spindle orientation

)
<
) =(?B

, &&&

&&&
&)
NOTE
- When this parameter is set to 0, all spindle positioning functions
for the spindle are disabled.
- M00 to M05, M30, M98, and M99 cannot be set.
- No other M codes for the spindle positioning function can be
set at the same time.
- M codes used for other functions cannot be set at the same
time.
5681 M code for canceling the spindle positioning mode

)
<
) =(?B

, && )
%&
&)&&
&
&)+
NOTE
- M00 to M05, M30, M98, and M99 cannot be set.
time.
- 828 -
#7 #6 #5 #4 #3 #2 #1 #0
5809 IOE AIT

08 $%
%
&'&'('(
& 5&
&
&)+
- '+
- ;'+
6; $%

%
&
%&
&)&&)

&+
- &&
+
- : +

)
3
&

&
<
) (4B=B
5851 Number of teeth on the position coder gear in the servo mode (first stage)

)
<
) (4B=B

%'&

%&
%&
& &)
%&&
)
)/&
&)/&&
%

)+
5852 Number of teeth on the spindle gear in the servo mode (first stage)

)
<
) (4B=B

%'&

%&
%)
%&&)

)/&
&)/&&
%

)+
- 829 -
5853 Backlash compensation in the servo mode (first stage)

)
3
&

&
<
) (????(????

' 5% &
&
%&&)
)/
&
&)/&&
%

)+
5854 Number of teeth on the position coder gear in the servo mode (second stage)

)
<
) (4B=B

%'&

%&
%&
& &)
%&&
)
)/&
&)/&&
% &
)+
5855 Number of teeth on the spindle gear in the servo mode (second stage)

)
<
) (4B=B

%'&

%&
%)
%&&)

)/&
&)/&&
% &
)+
5856 Backlash compensation in the servo mode (second stage)

)
3
&

&
<
) (????(????

' 5% &
&
%&&)
)/
&
&)/&&
% &
)+
5857 Number of teeth on the position coder gear in the servo mode (third stage)

)
<
) (4B=B

%'&

%&
%&
& &)
%&&
)
)/&
&)/&&
%
%
)+
- 830 -
5858 Number of teeth on the spindle gear in the servo mode (third stage)

)
<
) (4B=B

%'&

%&
%)
%&&)

)/&
&)/&&
%
%
)+
5859 Backlash compensation in the servo mode (third stage)

)
3
&

&
<
) (????(????

' 5% &
&
%&&)
)/
&
&)/&&
%
%
)+
5860 Number of teeth on the position coder gear in the servo mode (fourth stage)

)
<
) (4B=B

%'&

%&
%&
& &)
%&&
)
)/&
&)/&&
%&
%
)+
5861 Number of teeth on the spindle gear in the servo mode (fourth stage)

)
<
) (4B=B

%'&

%&
%)
%&&)

)/&
&)/&&
%&
%
)+
5862 Backlash compensation in the servo mode (fourth stage)

)
3
&

&
<
) (????(????

' 5% &
&
%&&)
)/
&
&)/&&
%&
%
)+
- 831 -
5863 Number of teeth on the position coder gear in the servo mode (fifth stage)

)
<
) (4B=B

%'&

%&
%&
& &)
%&&
)
)/&
&)/&&
%
%
)+
5864 Number of teeth on the spindle gear in the servo mode (fifth stage)

)
<
) (4B=B

%'&

%&
%)
%&&)

)/&
&)/&&
%
%
)+
5865 Backlash compensation in the servo mode (fifth stage)

)
3
&

&
<
) (????(????

' 5% &
&
%&&)
)/
&
&)/&&
%
%
)+
5866 Number of teeth on the position coder gear in the servo mode (sixth stage)

)
<
) (4B=B

%'&

%&
%&
& &)
%&&
)
)/&
&)/&&
%
%
)+
5867 Number of teeth on the spindle gear in the servo mode (sixth stage)

)
<
) (4B=B

%'&

%&
%)
%&&)

)/&
&)/&&
%
%
)+
- 832 -
5868 Backlash compensation in the servo mode (sixth stage)

)
3
&

&
<
) (????(????

' 5% &
&
%&&)
)/
&
&)/&&
%
%
)+
5869 Number of teeth on the position coder gear in the servo mode (seventh
stage)

)
<
) (4B=B

%'&

%&
%&
& &)
%&&
)
)/&
&)/&&
%
%
)+
5870 Number of teeth on the spindle gear in the servo mode (seventh stage)

)
<
) (4B=B

%'&

%&
%)
%&&)

)/&
&)/&&
%
%
)+
5871 Backlash compensation in the servo mode (seventh stage)

)
3
&

&
<
) (????(????

' 5% &
&
%&&)
)/
&
&)/&&
%
%
)+
5872 Number of teeth on the position coder gear in the servo mode (eighth stage)

)
<
) (4B=B

%'&

%&
%&
& &)
%&&
)
)/&
&)/&&
%)%
%
)+
- 833 -
5873 Number of teeth on the spindle gear in the servo mode (eighth stage)

)
<
) (4B=B

%'&

%&
%)
%&&)

)/&
&)/&&
%)%
%
)+
5874 Backlash compensation in the servo mode (eighth stage)

)
3
&

&
<
) (????(????

' 5% &
&
%&&)
)/
&
&)/&&
%)%
%
)+
5875 Effective area in the servo mode using a position coder

)
3
&

&
<
) (????????

%&&)
)/&
&)/
&&
%)&
& &+
5876 Positional deviation limit during movement in the servo mode using a
position coder

)
3
&

&
<
) (????????

&
&
&
)&

%&&
)
)/&
&)/&&
%)&
& &+
5877 Positional deviation limit during a stop in the servo mode using a position
coder

)
3
&

&
<
) (????????
Set a positional deviation limit during a stop in the servo mode (rigid tapping,
spindle positioning) using a position coder.
- 834 -
5895 Operation sequence pattern for the spindle positioning axis

)
<
) (7

&
&2
&
%&
&)+
D
- 3 % &)

&$% %
+ 8%
$% ) &

'
&$
%
%&
&5

+ C
%
%
/
)9 )&
&
&

&

&+
D
- 3 % &)

&$% %
+ 8%
$% )&

&
&

&
&
%
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5896 M code for semi-fixed angular positioning (Min)

)
<
) =(?B
Set an M code (start) specifying the semi-fixed angular positioning of the spindle
positioning axis.
NOTE
- When specifying an M code for semi-fixed angular positioning,
use parameter No. 5896 and No. 5897.
- M00 through M05, M30, M98, and M99 cannot be used.
- No other M codes for the spindle positioning function can be set at
the same time.
- M codes used for other functions cannot be set at the same time.
- 835 -
5897 M code for semi-fixed angular positioning (Max)

)
<
) =(?B

, & )
%()&
&)&
%
&
&)+
NOTE
- When specifying an M code for semi-fixed angular positioning,
use parameter No. 5896 and No. 5897.
- M00 through M05, M30, M98, and M99 cannot be used.
time.
5898 Basic angle for semi-fixed angular positioning

[Data type] Realspindle
[Unit of data] degree
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] -60 - 60
Set a basic angle for semi-fixed angular positioning. Let be the
setting of parameter No. 5896, be the setting of parameter No. 5897,
and be the setting of parameter No. 5898. Then, the relationship
between the specified M code and the amount of movement is as
described below.
M code +1 +2 +3 ...
Angular 2 3 4 ... (-+1)
displacement
- For analog spindles

#7 #6 #5 #4 #3 #2 #1 #0
5808 OMI

6, $%
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- 836 -
5960 Position gain in the servo mode

)
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+ 9
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5961 Position gain multiplier (first stage)

)
<
) (4B=B

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&
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*:&'
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2048000 360 PC E
GC =
PLS SP L
- #'&&

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2048000 360 1 2.2

GC = = 1100
4096 1 360
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- 837 -
5962 Drift compensation value (first stage)

)
3
&
<&
<
) (> (>
Set the drift compensation value of the analog spindle for gear 1 in the servo mode
(rigid tapping, spindle positioning, and so forth).
Drift compensation DC (a voltage equivalent to positional deviation) is obtained
from the following equation:
DC = 0.000000192 G GC ER
G : Position gain in servo mode (0.01/sec)
GC : Position gain multiplier
ER : Positional deviation (detection unit)
5963 Position gain multiplier (second stage)

)
<
) (4B=B
Set the position gain multiplier of the analog spindle for gear 2 in the servo mode
Position gain multiplier GC is obtained from the following equation:
2048000 360 PC E
GC =
PLS SP L
PLS : Number of pulses output from the position coder (pulses/rev)
SP : Number of gear teeth on the spindle side
PC : Number of gear teeth on the position coder side
E : Specified voltage (V) for turning the spindle motor at 1000 rpm
L : Angular displacement of the spindle (degrees) per spindle motor rotation
Example: For the spindle motor and gear ratio given below, GC is calculated as
follows:
PLS = 4096 pulses/rev
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 360 1 2.2
GC = = 1100
4096 1 360
Note)
On the assumption that the spindle motor used turns at 4500 rpm at 10 V, 2.2
V is required to turn the spindle motor at 1000 rpm.
- 838 -
5964 Drift compensation value (second stage)

)
3
&
<&
<
) (> (>
DC = 0.000000192 G GC ER
5965 Position gain multiplier (third stage)

)
<
) (4B=B
2048000 360 PC E
GC =
PLS SP L
follows:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 360 1 2.2
GC = = 1100
4096 1 360
Note)
- 839 -
5966 Drift compensation value (third stage)

)
3
&
<&
<
) (> (>
DC = 0.000000192 G GC ER
5967 Position gain multiplier (fourth stage)

)
<
) (4B=B
2048000 360 PC E
GC =
PLS SP L
follows:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 360 1 2.2
GC = = 1100
4096 1 360
Note)
- 840 -
5968 Drift compensation value (fourth stage)

)
3
&
<&
<
) (> (>
DC = 0.000000192 G GC ER
5969 Position gain multiplier (fifth stage)

)
<
) (4B=B
2048000 360 PC E
GC =
PLS SP L
follows:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 360 1 2.2
GC = = 1100
4096 1 360
Note)
- 841 -
5970 Drift compensation value (fifth stage)

)
3
&
<&
<
) (> (>
DC = 0.000000192 G GC ER
5971 Position gain multiplier (sixth stage)

)
<
) (4B=B
2048000 360 PC E
GC =
PLS SP L
follows:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 360 1 2.2

GC = = 1100
4096 1 360
Note)
- 842 -
5972 Drift compensation value (sixth stage)

)
3
&
<&
<
) (> (>
DC = 0.000000192 G GC ER
5973 Position gain multiplier (seventh stage)

)
<
) (4B=B
2048000 360 PC E
GC =
PLS SP L
follows:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 360 1 2.2

GC = = 1100
4096 1 360
Note)
- 843 -
5974 Drift compensation value (seventh stage)

)
3
&
<&
<
) (> (>
DC = 0.000000192 G GC ER
5975 Position gain multiplier (eighth stage)

)
<
) (4B=B
2048000 360 PC E
GC =
PLS SP L
follows:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 360 1 2.2

GC = = 1100
4096 1 360
Note)
- 844 -
5976 Drift compensation value (eighth stage)

)
3
&
<&
<
) (> (>
DC = 0.000000192 G GC ER
5977 Rapid traverse rate for orientation

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NOTE
Set a rapid traverse rate so that the quantity of errors is within a
range from 128 pulses to 1024 pulses.
5978 Time constant for orientation

)
3
&

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) (7

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- 845 -
5979 FL feedrate for orientation

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NOTE
Set an FL feedrate rate so that the quantity of errors is within a
range from the effective area to 1024 pulses.
5980 Grid shift value for orientation

)
3
&

&
<
) ( 7( 7

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- For serial spindles

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+
NOTE
The orientation (reference position return) direction of
spindle positioning using a serial spindle depends on
the specification of this parameter.
- 846 -
3044 Proportional gain of the velocity loop in the servo mode/synchronization

control mode (high-speed gear)

)
3
&
+ 9
<
) (4B=B

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3045 Proportional gain of the velocity loop in servo mode/synchronization control

mode (low-speed gear)

)
3
&
+ 9
<
) (4B=B

%&&
&)&
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&&)
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&)/&&
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3052 Integral gain of the velocity loop in servo mode/synchronization control

mode (high-speed gear)

)
3
&
+ 9
<
) (4B=B

%
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&&&
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&)
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3053 Integral gain of the velocity loop in servo mode/synchronization control

mode (low-speed gear)

)
3
&
+ 9
<
) (4B=B

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- 847 -
3056 Gear ratio (high-speed gear)

)
3
&
,&
&&

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<
) (4B=B

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)+

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3057 Gear ratio (medium high-speed gear)

)
3
&
,&
&&

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) (4B=B

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3058 Gear ratio (medium low-speed gear)

)
3
&
,&
&&

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) (4B=B

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3059 Gear ratio (low-speed gear)

)
3
&
,&
&&

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) (4B=B

)
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)+

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- 848 -
3065 Position gain in servo mode/synchronization control mode

(high-speed gear)

)
3
&
+ 9
<
) (4B=B

%&
&)&
%%)%()&&)
)/
&
&)/&&
% %&H
& &
&&+

(medium high-speed gear)

)
3
&
+ 9
<
) (4B=B

%&
&)&
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)
)/&
&)/&&
% %&H
&
&
&&+

(medium low-speed gear)

)
3
&
+ 9
<
) (4B=B

%&
&)&
%&$()&&)

)/&
&)/&&
% %&H
& &
&
&+
3068 Position gain in the servo mode/synchronization control mode

(low-speed gear)

)
3
&
+ 9
<
) (4B=B

%&
&)&
%&$()&&)
)/
&
&)/&&
% %&H
& &
&&+
- 849 -
3073 Grid shift in servo mode

)
3
&

&
<
) (7 ?=

%

&%

% &
&&&)
)/
&
&)/&&
%+
Alarm and message
- PS alarm
PS0181 ZERO RETURN NOT FINISHED A move instruction was issued to an axis in which the zero
return instruction was instructed once after the power was
turned ON.
Execute operation after zero return by manual operation or
the G28 code.
This alarm can be suppressed for the machine-locked axis
by setting parameter No. 1200#6 is set to "1".
PS0509 DUPLICATE M-CODE (SPOS AXIS A function to which the same code as this M code is set
ORIENTATION) exists.
(spindle positioning, orientation)
POSITIONING) exists.
(spindle positioning, positioning)
RELEASE) exists.
(spindle positioning, mode cancel)
PS0543 ILLEGAL GEAR SETTING The gear ratio between the spindle and position coder, or the
set position coder number of pulses is illegal in the spindle
position function and the rigid tapping function.
PS0548 ILLGAL AXIS MODE The spindle positioning axis/Cs contour control axis was
specified during switching of the controlled axis mode.
PS0551 DUPLICATE SPOS AXIS COMMAND Two or more axes were specified on a single spindle
positioning axis. (e.g. positioning by an M code or positioning
by an axis address)
PS0552 SPOS AXIS - OTHER AXIS SAME The spindle positioning axis and another axis are specified in
TIME the same block.
PS0553 SPOS AXIS ILLEGAL SEQUENCE Operation sequence pattern setting parameter No. 5895 for
NUMBER spindle positioning is out of range.
PS0555 SPOS AXIS DUPLICATE AXIS The spindle positioning instruction has been issued to a
COMMAND spindle that is currently moving or which the instructed
spindle positioning sequence has not completed.
- SP alarm
CODER GEAR RATIO
SP0231 SPINDLE EXCESS ERROR The position deviation during spindle rotation was greater
(MOVING) than the value set in parameters.
SP0232 SPINDLE EXCESS ERROR (STOP) The position deviation during spindle stop was greater than
the value set in parameters.
coder overflowed.
- 850 -

OVERFLOW
MODE (CHANGING) spindle mode switching.
SP0237 DUPLICATE SPINDLE CONTROL An attempt was made to change the spindle mode during the
MODE (SPOS) spindle positioning mode.
erroneous.
ERROR
Caution
CAUTION
1. During the operations required for spindle
positioning (operations for canceling spindle rotation
mode and entering spindle positioning mode,
operations for positioning the spindle in spindle
positioning mode, and operations for canceling the
spindle positioning mode then entering spindle
rotation mode), automatic operation stop signal *SP
is ignored. Even when the *SP signal is set to 0,
automatic operation is not halted until all the
sequence is completed.
2. Dry run and machine lock are disabled during
spindle positioning.
3. For M codes for the spindle positioning function,
auxiliary function lock is disabled.
4. The spindle positioning axis is handled as one of the
controlled axes. Therefore, signals related to
controlled axes (such as the overtravel signal) must
be set.
5. When using an analog spindle, set the drift
compensation parameters (parameter Nos. 5962 to
5976) accurately. If the drift compensation value is
not appropriate, the following phenomena may
occur during spindle orientation and spindle
positioning:
- The spindle is stopped in the in-position wait state.
- The spindle position is shifted (the spindle does
not reach a specified position or passes a
specified position).
6. For the spindle positioning axis, CMR = 1 and DMR
= 4 are always set.
- 851 -
CAUTION
7. For the spindle positioning axis, set the following
parameters as axis attributes:
1 The increment system is IS-B (0.001 deg).
Bit 0 (ISA) of parameter No. 1012 = 0
Bit 1 (ISC) of parameter No. 1012 = 0
Bit 2 (ISD) of parameter No. 1012 = 0
Bit 3 (ISE) of parameter No. 1012 = 0
2 The grid method is used for reference position
return.
Bit 1 (ZMG) of parameter No. 1005 = 0
3 In automatic reference position return (G28),
return to the reference position is performed in
positioning (rapid traverse) mode.
Bit 2 (ALZ) of parameter No. 1005 = 04
When manual reference position return is
performed, the workpiece coordinate system is
always preset.
Bit 3 (PLZ) of parameter No. 1005 = 1
5 Axis not requiring inch/metric switching (rotation
axis)
Bit 0 (ROT) of parameter No. 1006 = 1
6 The machine coordinate system for stroke check
and automatic reference position return is of the
rotation axis type.
Bit 1 (ROS) of parameter No. 1006 = 1
7 The machine coordinate system for stored pitch
error compensation is of the rotation axis type.
Bit 2 (ROP) of parameter No. 1006 = 1
8 Travel distance on each axis is specified in radius
specification mode.
Bit 3 (DIA) of parameter No. 1006 = 0
9 Command multiply = 1
Parameter No. 1820 = 2
10 The machine position on the indicator is indicated
in degrees.
Bit 1 (MCN) of parameter No. 2203 = 1
11 The travel distance per rotation about the rotation
axis is 360 .
Parameter No. 1260 = 360000
- 852 -
Note
NOTE
1. An M code related to spindle positioning must be
specified in a block containing no other commands.
In that block, no other commands may be specified.
2. An axis address for spindle positioning must be
specified in a block containing no other commands.
In the same block, no commands other than the
following may be specified:
G00, G90, G91, G92, G10
3. Spindle positioning cannot be performed manually.
4. Neither program restart nor block restart can be
performed for spindle positioning. Use MDI
commands.
5. For a spindle positioning axis, the stored stroke limit
check function is disabled.
6. A spindle positioning axis does not allow axis
removal.
7. The pitch error compensation function is disabled
with a serial spindle. For an analog spindle, the
stored pitch error compensation function only is
enabled.
8. When settings are made so that orientation
operation is omitted, the pitch error compensation
function is disabled. The reference position return
completion signal is not set to 1.
9. In orientation, a check for all-axes interlock/axis-by-
axis interlock is made only at the start of a block.
The input of the signal during block execution is
ignored.
Axis-by-axis interlock is enabled or disabled by bit 0
(AIT) of parameter No. 5809.
Note on using the rigid tapping function
Caution
CAUTION
When the rigid tapping function is used together with
the spindle positioning function, rigid tapping mode
must not be specified in spindle indexing mode, and
spindle indexing must not be specified in rigid
tapping mode. (Positioning and rigid tapping for the
same spindle cannot be performed at the same
time.)
- 853 -
Reference item
Series15i/150i- Connection Manual 8.1 Miscelaneous
auxiliary function
9.2 Spindle serial
9.3 Spindle control
Descriptions
Parameter Manual
- 854 -
9.7 Cs CONTOUR CONTROL
General
A spindle motor controlled by the spindle serial output function is
called a serial spindle.
For a serial spindle, positioning and interpolation with other servo axes
can be performed. In other words, linear interpolation, circular
interpolation, and so forth can be specified between the spindle and
servo axis.
Cs contour control can be applied simultaneously to up to four
spindles.
Limitation
- Increment system
Use the IS-B setting for the least input increment.
- Command multiplication
Set 2 (one time) for the command multiplication.
- Reference position return
Specify that the workpiece coordinate system is always preset at
manual reference position return.
Explanation
For a serial spindle, positioning and interpolation between another
servo axis and Cs contour control axis can be performed. In other
words, linear interpolation, circular interpolation, and so forth can be
specified between a Cs contour control axis and servo axis and between
Cs contour control axes.
Rotating a serial spindle with a velocity command is referred to as
spindle rotation control. Controlling the position of a spindle with a
move command is referred to as Cs contour control.
Switching between spindle rotation control and Cs contour control is
performed by the DI signal from the PMC.
Manual and automatic operation for Cs contour control axes are
performed in Cs contour control mode in the same way as for normal
servo axes.
(For an explanation of reference position return operation, see the
explanation of reference position return in this section.)
Setting a Cs contour control axis

Place a Cs contour control axis as one of CNC controlled axes. Any
controlled axis can be selected as a Cs contour control axis.
Set the following parameters for a Cs contour control axis:
1 Servo axis number (set parameter No. 1023 to "0.")
2 Spindle number (parameter No. 1028)
3 Rotation axis setting (set ROT, bit 0 of parameter No. 1006, to "1.")
4 Setting a Cs contour control axis (set CNT, bit 7 of parameter No.
1804, to "1.")
Parameters 1 and 2 can be set by FSSB automatic setting.
- 855 -
Command address
Any address can be selected for a Cs contour control move command.
The value set for parameter No. 1020 is used as the axis name.
Switching between spindle rotation control and Cs contour control

- Switching from the spindle rotation control mode to the Cs
contour control mode
Set DI signal SCNTR1, SCNTR2, SCNTR3, ... <G067#7, G071#7,
G075#7, ...> to "1" to switch the serial spindle to Cs contour
control mode.
When switching to Cs contour control is executed during spindle
rotation, the spindle immediately stops and switching is executed.
- Switching from Cs contour control mode to spindle rotation
control mode
Set DI signal SCNTR1, SCNTR2, SCNTR3, ... <G067#7, G071#7,
G075#7, ...> to "0" to switch the serial spindle to spindle rotation
control mode.
Confirm that the move commands for spindles during both
automatic and manual operation completely terminate, then
execute switching. If switching is executed while the spindle is
rotating, an alarm indicating the interlock state or excess
positional deviation occurs.
- Automatic position gain setting at switching between spindle
rotation control and Cs contour control
1. Switching from spindle rotation control to Cs contour
control
If different position gains are set for the Cs contour control
axis and other servo axes at control switching, linear or
circular interpolation with the Cs contour control axis is not
performed normally.
For this reason, the position gain (parameter No. 3069, 3070,
3071, or 3072) selected by the clutch/gear signal (CTH1A,
CTH2A) is automatically set for servo axes other than the Cs
contour control axis.
When there are two or more Cs contour control axes, the
minimum value among the selected position gains is
automatically set for other Cs contour control axes and servo
axes.
2. Switching from Cs contour control to spindle rotation
control
The original position gain (parameter No. 1825) is
automatically set for the servo axes.
When there are two or more Cs contour control axes and
these axes continue to be used as Cs contour control axes, the
minimum value among the position gains selected for
remaining Cs contour control axes is automatically set for
other Cs contour control axes and servo axes.
3. Switching between spindle rotation control and Cs contour
control during automatic operation
During automatic operation, switching cannot be performed
while the tool is moving along an axis.
- 856 -
Switching from spindle rotation control to Cs contour

control or vice versa may be performed in a block during
automatic operation. In this case, the position gain is not
switched immediately. The CNC automatically sets the
position gain after confirming that all controlled axes stop
completely.
4. The CNC automatically sets the position gain after
confirming that all the controlled axes stop completely when
switching between spindle rotation control and Cs contour
control is performed during other than automatic operation.
5. When the gain is not switched
Gain switching is not required when there is no interpolation
between the Cs contour control axis and another axis and
when the same position gain is set for the Cs contour control
axis and servo axes.
In this case, set no gain switching (set NGC, bit 0 of
parameter No. 5609, to 1).
Reference position return of the Cs contour control axis

Always perform reference position return because the current position
is missing immediately after switching the serial spindle from spindle
rotation control to Cs contour control. However, the tool can be moved
without reference position return when a setting (setting ZRN, bit 0 of
parameter No. 1005, to "1") is made to provide no reference position
return function and the coordinate system need not be established.
Reference position return is performed for the Cs contour control axis
as follows:
- Manual reference position return
When feed axis and direction selection signal (+J1<G65#0>,
+J2<G69#0>, ..., -J1<G65#1>, -J2<J69#1>, ...) is set to "1" in
reference position return mode after the serial spindle is switched
to Cs contour control mode, the spindle starts reference position
return operation. After the spindle is positioned at the reference
position, reference position return end signal ZPn<F06#0>... is set
to "1." When feed axis and direction selection signal +Jn or -Jn is
set to "1," the spindle moves in the reference position return
direction. Set the direction of reference position return using CSO
(bit 3 of parameter No. 3000).
- Reference position return in automatic operation mode (G28
command)
When G28 is issued after the serial spindle is switched to the Cs
contour control mode, the spindle motor stops, then the spindle
moves to the intermediate position. Then, reference position
return is performed. After the spindle is positioned to the
reference position, reference position return end signal ZPn
<F064#0>... is set to "1."
When reference position return is performed once after the serial
spindle is switched to Cs contour control mode, the spindle is
positioned to the reference position and ZPn is set to "1." The
feedrate set for parameter No. 3074 is used for reference position
return.
- 857 -
Set the direction of reference position return using CSO (bit 3 of

parameter No. 3000).
- Stopping reference position return
(i) For manual operation
When the reset, emergency stop, or feed axis and direction
selection signal is set to "0," reference position return is
stopped. Use STJ (bit 2 of parameter No. 5821) to specify
whether reference position return is to be stopped by setting
the feed axis and direction selection signal to "0." After
stopping reference position return, perform reference
position return again from the first step, if required.
(ii) For automatic operation
Reference position return can be stopped by a reset,
emergency stop, or feed hold. In any case, after stopping
reference position return, perform reference position return
again from the first step, if required.
Operating the Cs contour control axis (automatic/manual)

After reference position return after switching to Cs contour control
mode, the axis can be operated in the same way as normal servo axes.
In the spindle rotation control mode, no commands for Cs contour
control axes can be accepted. During automatic operation, alarm
PS0571 or PS0572 occurs.
Perform manual operation for a Cs contour control axis so that it is not
performed in spindle rotation mode by the PMC ladder.
Signal
Cs contour control mode switching signalsSCNTR1, SCNTR2, SCNTR3, ... <G067#7, G071#7,
G075#7, ...>
[Function] These signals are used to switch between spindle rotation control mode
and Cs contour control mode.
These signals are provided for axes on a one-to-one correspondence. A
number appended to a signal name represents a controlled axis number.
Use the signal with the controlled axis number of a Cs contour control
axis.
SCNTRx : x:1 ... Cs contour control mode switching signal for the first axis
2 ... Cs contour control mode switching signal for the second axis
3 ... Cs contour control mode switching signal for the third axis
[Operation] When this signal is set to "0," spindle rotation mode is set. When it is
set to "1," Cs contour control mode is set. Before switching from Cs
contour control mode to spindle rotation control mode, confirm that the
move command for the spindle has terminated completely. The spindle
can be switched from spindle rotation control mode to Cs contour
control mode while it is rotating.
- 858 -
Cs contour control mode switching confirmation signals

MSCNTR1, MSCNTR2, MSCNTR3, ... <F067#7, F071#7, F075#7, ...>
[Function] Indicates that switching between the spindle rotation control mode and
Cs contour control mode is complete. These signals are provided for
axes on a one-to-one correspondence. A number appended to a signal
name represents a controlled axis number.
Use the signal with the controlled axis number of a Cs contour control axis.
MSCNTRx
x: 1 ... Cs contour control mode switching confirmation signal
for the first axis
2 ... Cs contour control mode switching confirmation signal
for the second axis
3 ... Cs contour control mode switching confirmation signal
for the third axis
[Output condition] When Cs contour control mode is set, this signal is set to "1." When
spindle rotation control mode is set, the signal is set to "0."
Timing chart
Spindle rotation control Cs contour control Spindle rotation control
SCNTR
Gear switching and

spindle motor
operation command
must be complete.
MSCNTR
Internal control switching Internal control switching
NOTE
1 Before the SCNTR signal is switched to the Cs
contour control side, gear switching required for Cs
contour control must be complete (mechanical
switching and CTH1A, CTH2A, ... input).
2 If the spindle motor is not ready to operate, a servo
alarm such as an excess error may occur (perform
required serial spindle control signal operations such
as SFRA and SRVA<G227#5 and #4> in advance).
- 859 -
Serial spindle clutch/gear signals CTH1A, CTH2A<G227#3, #2>: for 1st spindle
CTH1B, CTH2B<G235#3, #2>: for 2nd spindle
CTH1C, CTH2C<G211#3, #2>: for 3rd spindle
CTH1D, CTH2D<G219#3, #2>: for 4th spindle
[Operation] When a serial spindle is used, this signal posts information about the
spindle gear being used to the CNC. The signal states and the
corresponding gear selection states are listed below.

0 0 Stage 1 (high)
1 1 Stage 4 (low)
These signals determine which parameter (such as the loop gain) for
each gear is to be used. Do not change these signals in Cs contour
control mode.
Reference position return end signals ZP1<F064#0>, ZP2<F068#0>, ...

[Function] Indicates that reference position return of a Cs contour control axis has
been completed.
ZPx
x: 1 ... Reference position return end signal for the first axis
2 ... Reference position return end signal for the second axis
3 ... Reference position return end signal for the third axis
: :
: :
[Output condition] These signals are set to "1" when manual reference position return or
automatic reference position return command by G28 is complete in Cs
contour control mode and the Cs contour control axis is at the reference
position.
Signals related to manual operation

Feed axis and direction selection signals +J1<G65#0>,
+J2<G69#0>, ..., -J1<G65#1>, -J2<G69#1>, ..., manual handle feed
axis selection signals HS1A to HS1D<G011#0 to #3>, and so forth (see
the related sections in this manual.)
In Cs contour control mode, manual operation other than manual
reference position return can be performed in the same way as for
normal servo axes.
In spindle rotation control mode, do not perform manual operation for
any Cs contour control axis using the PMC ladder.
- 860 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G067 SCNTR1
G227 CTH1A CTH2A
G235 CTH1B CTH2B
G211 CTH1C CTH2C
G219 CTH1D CTH2D
F064 ZP1
F067 MSCNTR1
Parameter
Main related parameters are shown below.
In addition, parameters related to feedrates for axes,
acceleration/deceleration, display, and so forth are available.
#7 #6 #5 #4 #3 #2 #1 #0
1005 PLZ ALZ ZMG ZRN

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0: Issue an alarm ("PS181 ZERO RETURN NOT FINISHED").
1: Do not issue an alarm but execute operation.
For the Cs contouring axis which does not need the reference position return, set 1.
01!

%
%&
&&
&
&
&
*+
0: Return to reference position using positioning control (rapid traverse).
If reference position return has not been performed since power-on, it is
performed using the same operation sequence for manual reference position
return.
1: Use the same operation sequence as for manual reference position return.
For the Cs contouring axis, set 0.
- 861 -
4 1!

% &
&&
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$%
&
&
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0: Preset only when in reset state (e.g. OP signal is off).
1: Always preset.
See ZNP, bit 2 of parameter No. 2402, which is common to all axes.
#7 #6 #5 #4 #3 #2 #1 #0
1006 DIA ROP ROS ROT

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%
%2 %9
&&+
0: Axis requires inch/metric conversion (linear axis).
1: Axis does not require inch/metric conversion (rotation axis).
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%
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%

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4 0 ,& && % )-

If bit 5 (PDC) of parameter No. 1001 is 1, DIA has the following meaning:
The scale of the parameter, offset, and graphic screens is indicated using:
- 862 -
#7 #6 #5 #4 #3 #2 #1 #0
1012 ISE ISD ISC ISA

0
:

4 ;

& %

4 ; : 0

(0
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0
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- 863 -
1020 Program axis name for each axis

)
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) =>(?
The programmed axis name of each controlled axis is set according to the following
table:
Axis name Setting

X 88
Y 89
Z 90
A 65
B 66
C 67
U 85
V 86
W 87
NOTE
1 When the option for tool axis direction tool length compensation
is provided, always set the A, B, or C value.
2 When the axis name extension function (option) is used, the
following addresses can be used as axis names:
Axis name Setting

I 73
J 74
K 75
E 69
1023 Servo axis number of each axis

)
<
) (
Specify the number of the servo axis that corresponds to each control axis.
Normally, set each servo and control axis to the same numbers.
- 864 -
1028 Spindle number of a Cs contour control axis
NOTE

)
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) I7
8%
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&
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%
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%
+
-For controlled axes not to be subjected to Cs contour control, the parameter must
be reset to 0.
-It is impossible to assign one spindle to more than one controlled axis.
-It is possible to set up as many Cs contour controlled axes as the number of
spindles.
-Axis assignment for Cs contour must begin at the largest axis number and proceed
sequentially to a lower axis number.
Example of setting 1) Servo axes: X, Y, Z
Cs contour controlled axis: C(S1)
Controlled Parameter Parameter Parameter
axis number 1020 1023 1028
1 @ 1 0
2 89 A 2 0
3 90 ! 3 0
4 67 ( C ) 0 1
Example of setting 2) Servo axes: X, Z
Cs contour controlled axes: C(S1), B(S2)
Controlled Parameter Parameter Parameter
axis number 1020 1023 1028
1 @ 1 0
2 90 ! 2 0
3 67 : 0 1
4 66 ( B ) 0 2
NOTE
Automatic setting on the FSSB setting screen affects this
parameter.
- 865 -

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For the Cs contouring axis, set 360.0.

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Specifies a rapid traverse acceleration/deceleration time constant for a Cs contour
controlled axis.
- 866 -


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NOTE
When the feedrate is decelerated to the value set in this parameter at
any point regardless of whether during a linear or nonlinear feedrate
increase, the tool moves at that feedrate for the remaining distance
then stops.
#7 #6 #5 #4 #3 #2 #1 #0
1804 CNT

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1820 Command multiplier for each axis (CMR)

)
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- 867 -
#7 #6 #5 #4 #3 #2 #1 #0
2203 MCN

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#7 #6 #5 #4 #3 #2 #1 #0
3000 CSO

4 : 6
&& &
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3021 Maximum speed in Cs contour control mode

)
3
&

3046 Proportional gain of the velocity loop in Cs contour control mode

(high-speed gear)
3047 Proportional gain of the velocity loop in Cs contour control mode

(low-speed gear)

)
3
&
+ 9
<
) (4B=B
Set the proportional gain of the velocity loop in Cs contour control mode.
- 868 -
3054 Integral gain of the velocity loop in Cs contour control mode

(high-speed gear)
3055 Integral gain of the velocity loop in Cs contour control mode

(low-speed gear)

)
3
&
+ 9
<
) (4B=B
Set the integral gain of the velocity loop in the Cs contour control mode.
3069 Position gain in Cs contour control mode (high-speed gear)
3070 Position gain in Cs contour control mode (medium high-speed gear)
3071 Position gain in Cs contour control mode (medium low-speed gear)
3072 Position gain in Cs contour control mode (low-speed gear)

)
3
&
+ 9
<
) (4B=B
Set the position gain in Cs contour control mode.
3074 Feedrate for reference position return in Cs contour

control mode/servo mode

)
3
&

3086 Motor voltage setting in Cs contour control mode
3092 Rate of change in the position gain at reference position

return in Cs contour control mode

)
3
&

- 869 -
3105 Proportional gain data of the current loop in Cs contour control mode
3107 Integral gain data of the current loop in Cs contour control mode

)
3135 Grid shift in Cs contour control mode

)
3
&

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+
3162 Integral gain of the velocity loop in Cs contour control cutting feed mode
(high-speed gear)
3163 Integral gain of the velocity loop in Cs contour control cutting feed mode
(low-speed gear)

)
#7 #6 #5 #4 #3 #2 #1 #0
5609 NGC

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- 870 -
#7 #6 #5 #4 #3 #2 #1 #0
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&L +L
5843 Number of pulses of the position detector for a Cs contour control axis
NOTE

)
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%'&&
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&&: &
& &
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+
5879 Effective area under Cs contour control

)
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: &
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5880 Positional deviation limit during movement under Cs contour control

)
3
&

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&
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: &
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- 871 -
5881 Positional deviation limit during a stop under Cs contour control

)
3
&

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&
&
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&: &
& &
&+
5882 Positional deviation limit during servo-off under Cs contour control

)
3
&

&
<
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&
&
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Alarm and message

PS0571 CS AXIS DUPLICATE AXIS MODE The Cs contour control axis has been specified on an axis
that is not in the Cs contour control mode.
PS0572 CS AXIS DUPLICATE AXIS A currently moving axis has been specified as the Cs
COMMAND contour control axis.
Displaying the positional deviation and other data for a Cs contour control axis
The positional deviation and other data can be checked on the spindle
screen for monitoring the operation status.
For details, refer to "FANUC Series 15i/150i-MODEL A Maintenance
Manual" (B-63325EN).
- 872 -
Caution
CAUTION
1 In Cs contour control mode, do not switch the spindle
gear. Switch the spindle gear in spindle rotation control
mode when required.
2 Straightness compensation and gradient
compensation
These functions are invalid for Cs contour control axes.
3 The following functions are not supported for Cs
contour control axes:
- Index table indexing
- Synchronization control
- Axis switching
- Axis control using the PMC
- Polar coordinate command
4 Removal of controlled axis in Cs contour control mode
When a Cs contour control axis is removed, the spindle
enters spindle rotation control mode. For this reason,
do not remove any controlled axis.
5 A parameter related to axis control such as the
acceleration/deceleration time constant for a Cs
contour control axis in Cs contour control mode does
not become valid immediately after it is changed. Such
a parameter becomes valid after Cs contour control
mode is canceled once, then set again.
6 When automatic setting of the position gain upon
switching to Cs contour control is set (NGC, bit 0 of
parameter No. 5609, is set to 0), parameter No. 3069 to
3072 for the loop gains corresponding to the selected
spindle gear do not become valid immediately after
being changed.
To validate these parameters, cancel the Cs contour
control mode once, then set the mode again. However,
when there are two or more Cs contour control axes,
the new values are compared during selection of the
minimum value among the selected position gains.
Reference item
FANUC SERVO AMPLIFIER series 11.6 Cs contour control
Descriptions (B-65162E)
FANUC AC SPINDLE MOTOR series 2.4 Cs contour control
FANUC SERVO MOTOR series
Maintenance Manual (B-65165E)
- 873 -
9.8 RIGID TAPPING
General
In tapping, the feed amount along the Z-axis per spindle rotation must
equal the thread pitch of the tapper. Therefore, the most desirable
tapping satisfies the following equation:
P = F/S
where, P: Thread pitch of the tapper (mm, inch)
F: Z-axis feedrate (mm/min, inch/min)
S: Spindle speed (rpm)
In the tapping cycle (G84) and reverse tapping cycle (G74), spindle
rotation and Z-axis feed are controlled independently. This means that
the above equation is not always satisfied. At the bottom of a hole, in
particular, spindle rotation and Z-axis feed both decelerate and stop,
then start moving and accelerate in the opposite direction. Since
spindle rotation and Z-axis feed accelerate/decelerate independently, it
is generally difficult to satisfy the above equation. For accurate
tapping, a spring is generally installed inside the holder of the tapper to
provide compensation.
With the rigid tapping cycle (G84.2) and reverse rigid tapping cycle
(G84.3), spindle rotation and Z-axis feed are controlled so that they are
always synchronized. In normal operation, the spindle rotation is
controlled to achieve the desired speed. In rigid tapping, on the other
hand, the spindle rotation is controlled considering the position also.
Spindle rotation and Z-axis feed are therefore controlled based on
two-axis linear interpolation. As a result, the equation P = F/S can also
be satisfied during deceleration and acceleration near the bottom of the
hole, thus enabling accurate tapping.
Use G84.2 for specifying the rigid tapping cycle, and G84.3 for the
reverse rigid tapping cycle.
The explanation given in this section assumes the tapping axis to be the
Z-axis. In actual operation, whether the tapping axis is always set to the
Z-axis or set to a programmed axis can be specified with bit 0 (FXY) of
parameter No. 6200.
- 874 -
Connection Among Spindle, Spindle Motor, and Position Coder

As shown in the figure below a gear can be inserted between the
spindle and spindle motor (n:m), and between the spindle and position
coder (N:M).
Spindle
control
Spindle Spindle motor

Error
amplifier
counter
Gear ratio n:m
Position Gear ratio N:M Spindle

coder
The number of pulses per position coder rotation is

- Gear between spindle and spindle motor

An arbitrary gear ratio can be used. The spindle travel distance per
spindle motor rotation, however, varies depending on the gear ratio, so
that feedrate instructed to the spindle motor must be adjusted
accordingly.
When a serial spindle is used, the gear ratio is set in parameter Nos.
3056 to 3059.
- Gear between spindle and position coder

The position coder is used to detect the position of the spindle.
The position coder is used to detect the position of the spindle. Gearing
of up to eight stages for an analog spindle or up to four stages for a
serial spindle can be installed between the spindle and spindle motor.
The gear ratio between the spindle and position coder is set in
parameter Nos. 5851 to 5873.
- 875 -
Example) For position coder built-in type spindle motor
Built-in position coder
Spindle
motor
1st gear set
2nd gear set
3rd gear set 1st gear set 30 : 70

2nd gear set 50 : 50
3rd gear set 70 : 30
Spindle
Parameter Set value

Meaning
No.
5852 70 Number of teeth of the 1st gear for the spindle side
5855 50 Number of teeth of the 2nd gear for the spindle side
5858 30 Number of teeth of the 3rd gear for the spindle side
5851 30 Number of teeth of the 1st gear for the position coder
side
5854 50 Number of teeth of the 2nd gear for the position
coder side
5857 70 Number of teeth of the 3rd gear for the position coder
side
- Rigid tapping and machines with multiple gears
Note the following points when performing rigid tapping for a machine
having multiple gears.
Using the PMC, determine whether gears need changing, and make the
change if CNC of them.
To perform rigid tapping with the serial spindle, enter the clutch/gear
selection signals. Notify the serial spindle control unit of these signals
via the CNC.
Regardless of the options selection, if the range in which the spindle
speed specified by the S function code does not correspond to the
currently selected gear, the gears are changed.
The following tables list the spindle speed ranges for each gear during
normal machining (assuming no machine restrictions) and rigid
tapping:
- 876 -
Spindle speed range (normal machining)

Gear
Lower limit Upper limit
Low- 1 revolution Maximum low-speed gear speed
speed Maximum spindle motor speedL%
gear =
Low-speed gear ratio
Medium Maximum low-speed Maximum medium-speed gear speed
speed gear speed + 1 Maximum spindle motor speedL%
gear revolution =
Medium speed gear ratio
High- Maximum medium- Maximum high-speed gear speed
speed speed gear speed +1 Maximum spindle motor speedL%
gear revolution =
High-speed gear ratio
NOTE
This table shows an example of three gears. L%
indicates a spindle motor protection constant (up to
100).
Set the spindle speed range for each gear during rigid tapping as listed
in the table below.
Gear Spindle speed range (during rigid tapping)

Lower limit Upper limit
Low- 1 revolution Maximum low-speed gear speed
speed Basic spindle motor speed +
gear =
Low-speed gear ratio
Medium Maximum low-speed Maximum medium-speed gear speed
speed gear speed + 1 Basic spindle motor speed +
gear revolution =
Medium speed gear ratio
High- Maximum medium- Maximum high-speed gear speed
speed speed gear speed +1 Basic spindle motor speed +
gear revolution =
High-speed gear ratio
NOTE
This table show an example of three gears. For the
basic spindle motor speed, refer to the spindle motor
description manual. "+" means that the spindle
motor speed may slightly exceed the basic spindle
motor speed.
- 877 -
Rigid Tapping Specification
- Feed rate
In rigid tapping mode, the tapping axis is fed at a rate specified by F;
the spindle speed is S times 360(deg/min). Override is invalid for both
of them.
The speed of extraction can be overridden by 1% to 200% depending
on the override value set in parameter No. 5883.
CAUTION
The thread pitch of the tapper must equal the pitch (F,
S) specified in a program. If they do not match, the
tool or workpiece may be damaged.
- Acceleration and deceleration

Exponential acceleration/deceleration or linear
acceleration/deceleration can be applied to rigid tapping. This is
selected by bit 1 (TEL) of parameter No. 5605.
The time constant can be changed in four steps, according to the
specified spindle speed, by setting bit 2 (TSC) of parameter No. 5605.
Parameters used when the time constant is not changed

Time constant (TC) FL feedrate (FL) Spindle speed (S)
5751 5752 5757
Acceleration/ Acceleration/
deceleration deceleration
time time
TC TC
S S command S S command
Linear acceleration/deceleration Exponential acceleration/deceleration
Parameters when the time constant is changed

Step (n) Time FL feedrate Spindle Applicable
constant (FLn) speed (Sn) speed
(TCn)
1 5884 5885 5886 S S1
2 5887 5888 5889 S1 < S S2
3 5890 5891 5892 S2 < S S3
4 5893 5894 - S3 < S
- 878 -
Acceleration/deceleration time Acceleration/deceleration time
TC4 TC4
TC3 TC3
TC2 TC2
TC1 TC1
S1 S2 S3 S command S1 S2 S3 S command
Linear acceleration/deceleration Exponential acceleration/deceleration
Example : Linear acceleration/deceleration when the time constant is

not changed
Time constant TC = 800 msec and speed S = 4000 min-1 are set in
parameters.
rpm
4000
800 800 msec
- 879 -
If S2000 is specified, the acceleration/deceleration time is 400 msec. If

S1000 is specified, the acceleration/deceleration time is 200 msec.
This means that, in linear acceleration/deceleration in rigid tapping, the
acceleration is constant.
- Override
Override is invalid for rigid tapping. Override (1 to 200%) can be
applied to withdrawal operations by setting parameter No. 5883.
- Dry run
Dry run is enabled. When dry run is applied to the feedrate of the
tapping axis, tapping is performed accordingly. Note that, as a higher
dry run feedrate is set, the spindle speed also becomes higher.
- Machine lock
Machine lock is enabled. When rigid tapping is executed in the
machine lock state, no movement is performed on the tapping axis.
Therefore, the spindle does not move.
- Interlock
Interlock is enabled.
- Feed hold and single block

When feed hold is enabled during operations 3 to 5, the feed hold lamp
lights immediately, but the spindle continues moving up to operation 6,
then stops.
In single block mode, the spindle stops at the ends of operations 1, 2,
and 6.
Spindle stop
Initial level
Operation1
Operation6
Operation2
Spindle CW Spindle
P stop
Point R Point R level
Operation3 Operation5
: Rapid traverse
Point Z
P : Z axis feed
Operation4
Spindle stop Spindle CCW P : Dwell
- Reset
If a reset occurs during rigid tapping, rigid tapping mode is canceled,
and the spindle motor enters normal mode.
- Manual feed
Rigid tapping cannot be performed in the manual feed mode.
- 880 -
- Backlash compensation
In rigid tapping mode, backlash compensation is performed to
compensate for lost motion upon forward and reverse spindle rotation.
Set the amount of backlash compensation in parameter Nos. 5853 to
5874. For the tapping axis, backlash compensation is always
performed.
- Orientation
When the orientation function is used, the orientation stop position can
be shifted using the grid shift function. For analog spindles, the
position can be shifted within a range of 180 degrees depending on the
setting made in parameter No. 5980. For serial spindles, the position
can be shifted within the range 0 to 360 degrees depending on the
setting made in parameter No. 3073.
- Orientation speed
When an analog spindle is used, movement is made at a rapid traverse
rate set in parameter No. 5977 until a speed that allows orientation is
reached. After a one-rotation signal is detected, orientation is
performed at the FL feedrate set in parameter No. 5979.
* Speed that allows orientation
Set the speed so that the following condition is satisfied:
F P
1024 pulses

60 G 0.088
F: Feedrate (deg/min)
G: Position gain (1/sec)
P: Gear ratio between the spindle and position coder
If the above condition is not satisfied, the one-rotation signal cannot be
detected, so the spindle continues moving at the rapid traverse rate.
* FL feedrate
Set the FL feedrate so that the following condition is satisfied:
FL: Feedrate (deg/min)
FL P
1024 Spindle effective area ( pulses)
60 G 0.088
G: Position gain (1/sec)
P: Gear ratio between the spindle and position coder
If the above condition is not satisfied, an accurate stop position cannot
be detected, so orientation is performed again starting from the rapid
traverse operation.
When a serial spindle is used, the orientation speed is determined by
the spindle.
When orientation is specified, a serial spindle stops immediately at the
orientation position; while an analog spindle first moves at a rapid
traverse rate then at the FL feedrate, then stops at the orientation
position. With serial spindles, therefore, the restriction imposed on the
lower limit of the rapid traverse rate setting to achieve the speed for
orientation, imposed when an analog spindle is used, is eliminated.
- 881 -
- Positional deviation limits

In rigid tapping mode, the position gain for the tapping axis is changed.
The following illustrates when the position gain is changed, and the
limits of the positional deviation in each movement.
Positional deviation limits in rigid tapping mode are used as follows:
Point I
G84.2 Change of the position gain for the
G80
/G84.3 tapping axis (Normal -> rigid tapping)
Change of the position gain for the
tapping axis (Rigid tapping -> normal)
Excessive error check by parameter
Point R No. 1828 (other than the tapping axis)
No. 1828 (tapping axis)
No. 1837 (tapping axis)
Point Z Point Z
- 882 -
Command format
- G84 .2 (Rigid tapping cycle)
G84.2 X_ Y_ Z_ R_ P_ F_ L_ S_ ;
X_ Y_: Hole position data
Z_ : The distance from point R to the bottom of the hole and the position of
the bottom of the hole
R_ : The distance from the initial level to point R level
P_ : Dwell time at the bottom of the hole and at point R when a return is
made
F_ : Cutting feedrate
L_ : Number of repeats (Only for necessity of repeat)
S_ : Spindle speed
G84.2(G98) G84.2(G99)
Spindle stop Spindle stop

Initial level
Operation1
Operation6
Operation2 Spindle stop
Spindle CW
Spindle CW Spindle
P stop
Point R Point R level Point R Point R level
Point Z Point Z
P P
Operation4
Spindle stop Spindle CCW Spindle stop Spindle CCW
: Rapid traverse
: Z axis feed
P : Dwell
The rigid tapping mode cancel command is G80:. Rigid tapping cycle
mode is also canceled by issuing another canned cycle G code or group
01G code which cancels a tapping cycle. In addition, rigid tapping
mode is canceled by the input of a reset (by pressing the reset button or
by making an external reset).
The only difference between the rigid tapping cycle and the reverse
rigid tapping cycle (G84.3) is the direction of spindle rotation.
CAUTION
During cutting feed along the Z-axis, the feedrate
override is assumed to be 100%. However, the
extraction speed (operation 5) can be overridden by
1% to 200% depending on the setting made for
parameter No. 5883.
- 883 -
- G84 .3 (Left-handed Rigid Tapping Cycle)
G84.3 X_ Y_ Z_ R_ P_ F_ L_ S_ ;
Z_ : The distance from point R to the bottom of the hole and the position of the bottom of the hole
P_ : Dwell time at the bottom of the hole and at point R when return is made.
S_ : Spindle speed
G84.3(G98) G84.3(G99)

Initial level
Operation1
Spindle Spindle Spindle
Spindle
CCW stop
CCW P
Point Z Point Z
P P
Spindle stop Spindle CW Spindle stop Spindle CW
Operation4
: Rapid traverse
: Z axis feed
P : Dwell
The rigid tapping mode cancel command is G80:. Rigid tapping cycle
mode is also canceled by issuing another canned cycle G code or group
01G code which cancels a tapping cycle. In addition, rigid tapping
mode is canceled by the input of a reset (by pressing the reset button or
by making an external reset).
The only difference between the rigid tapping cycle and the reverse
rigid tapping cycle (G84.2) is the direction of spindle rotation.
CAUTION
During cutting feed along the Z-axis, the feedrate
override is assumed to be 100%. However, the
extraction speed (operation 5) can be overridden by
1% to 200% depending on the setting made for
parameter No. 5883.
- 884 -
- Orientation function
G84.2 (or G84.3) X_Y_Z_R_P_F_L_I_ ;

Z_ : Distance from point R to a hole bottom, and hole position
R_ : Distance from initial level to point R
P_ : Dwell duration at a hole bottom and upon return to point R
L_ : Number of repeats (only when repeats are required)
I_ : Orientation command
0 : Positive-direction orientation
- 0 : Negative-direction orientation
G84.2 EG84.3 (G98) G84.2 EG84.3 (G99)

Initial level
Operation 1 Operation 6
Spindle Spindle Spindle
Spindle orientation
orientation Operation 2 stop
Forward stop Forward
P spindle
spindle
rotation Point R R point level rotation Point R R point level
Point Z Point Z
P Reverse P Reverse
Spindle spindle Spindle spindle
stop Operation 4 rotation stop rotation
: Rapid traverse
: Z axis feed
P : Dwell
Before rigid tapping, spindle orientation can be performed.
After positioning along the X- and Y-axes, rapid traverse is performed

to the point R level. At the point R level, spindle orientation is
performed. (The only difference between G84.2 and G84.3 is the
direction of spindle rotation in operations 3 and 5.)
- 885 -
CAUTION
1 The orientation function is enabled only when the
number of pulses from the position coder is 4096,
and the gear ratio between the spindle and position
coder is as follows:
n
1 : 2 (n: Integer not less than 0)
2 When a serial interface spindle is used, orientation is
performed in the direction set by bit 4 (SVO) of
parameter No. 3000, regardless of the sign specified
in I.
3 The orientation command is valid only when specified
in the first block that enters rigid tapping mode.
Orientation commands specified in the second and
subsequent blocks in rigid tapping mode are all
ignored.
- 886 -
- Peck Rigid Tapping Cycle
G84.2 (or G84.3) X_ Y_ Z_ R_ P_ Q_ F_ L_ S_ ;

X_ Y_ : Hole position data
Z_ : The distance from point R to the bottom of the hole and the position of the bottom of the hole
P_ : Dwell time at the bottom of the hole and at point R when a return is made
Q_ : Depth of cut for each cutting feed
F_ : The cutting feedrate
L_ : Number of repeats (if required)
S_ : Spindle speed
G84.2 EG84.3 @(G98) G84.2 EG84.3 @(G99)
d=retraction distance
Initial level
q (1) q (1)
(2) d (2) d
EPeck rigid tapping cycle

q q
(1) : Cutting feedrate of the F command d d
(2) : Override can be performed by the
parameter. q q
Point Z Point Z
: Rapid traverse
: Z axis feed
P : Dwell
Tapping a deep hole in rigid tapping mode may be difficult due to chips
sticking to the tool or increased cutting resistance. In such cases, the
peck rigid tapping cycle function can be specified. In this cycle, cutting
is performed several times from point R to point Z.
After positioning along the X-and Y-axes, rapid traverse is performed
to point R. From point R, cutting is performed with depth Q (depth of
cut for each cutting feed). Then, the tool is retracted by distance d set
in parameter No. 6221. The retraction can be overridden by the setting
made in parameter No. 5883. Once point Z has been reached, the
spindle is stopped, then rotated in the opposite direction for retraction.
(The only difference between G84.2 and G84.3 is the direction of
spindle rotation.)
- 887 -
CAUTION
The peck rigid tapping cycle command is valid within
a block containing G84.2 (G84.3), or it is made valid
by specifying the Q command in rigid tapping or
reverse rigid tapping cycle mode.
Rigid tapping command in feed-per-minute/feed-per-revolution mode

Rigid tapping may be specified in feed-per-minute mode (G94) or in
the feed-per-revolution mode (G95).
Example:
To tap a tread with a lead of 1 mm at a spindle speed 1000 rpm in
feed-per-minute mode, specify the following (in feed-per-minute mode,
the thread lead is F/S):
G94 ; Feed-per-minute command
G00 X120.0 Y100.0 ; Positioning
G84.2 Z-100.0 R-20.0 F1000 S1000 ; Rigid tapping
To tap the same thread as mentioned above under the same condition in
feed-per-revolution mode, specify the following (in the feed-per-
revolution mode, the thread lead is F):
G95 ; Feed-per-revolution command
G00 X120.0 Y100.0 ; Positioning
G84.2 Z-100.0 R-20.0 F1 S1000 ; Rigid tapping
NOTE
1 In feed-per-revolution mode, distribution is performed
by conversion to a command for feed per minute. So,
strictly speaking, this mode is not feed per revolution
mode. If spindle rotation is stopped for some reason,
movement along the tapping axis (Z-axis) does not
stop.
- 888 -
Signal
Signals for the rigid tapping function
Rigid tapping in-progress signal RTAP<F040#4>

[Function] This signal notifies the PMC that rigid tapping mode is set.
RTAP 1 : Rigid tapping mode is currently set.
0 : Rigid tapping mode is not currently set.
Spindle rotation direction signals RSPP,RSPM<F155#0,#1>

[Function] During rigid tapping, these signals notify the PMC of whether the
spindle is rotating in the forward or reverse direction.
During rigid tapping, the spindle is:
RSPP 1 : Rotating in the forward direction (CW).
0 : Not rotating in the forward direction.
RSPM 1 : Rotating in the reverse direction (CCW).
0 : Not rotating in the reverse direction.
[Output condition] These signals are output when the spindle is rotating in rigid tapping
mode. This means that, even in rigid tapping mode, these signals are
not output, for example, when the spindle is being positioned to a hole
position, or a dwell operation is in progress at the bottom of a hole or at
an R point.
When the spindle is placed in the interlock stop state, feed hold state, or
single block stop state, these signals are output.
Constant spindle speed signal RSPC<F155#2>

[Function] Reports that the spindle speed during tapping has become constant in
rigid tapping mode.
RSPC 1 : The spindle speed has become constant.
0 : The spindle speed is not constant.
[Output condition] This signal is output once the spindle speed has become constant
during tapping. This signal continues to be output while the spindle
speed is constant.
- 889 -
Reverse spindle rotation signal RSPR<G148#3>

[Function] When the rigid tapping cycle (G84.2) or reverse rigid tapping cycle
(G84.3) command is executed in canned cycle cancel mode (G80), the
direction of the spindle rotation can be reversed during rigid tapping by
using this signal.
RSPR 0 : Does not reverse the direction of rotation.
1 : Reverses the direction of rotation.
Example: When RSPR = 1 during execution of the G84.2 command
G84.2(G98) G84.2(G99)

Initial level
Operation1
Operation6
Spindle CCW
Spindle CCW Spindle
P stop
: Rapid traverse
Point Z Point Z
: Z axis feed P P
Operation4
P : Dwell Spindle stop Spindle CCW Spindle stop Spindle CCW
When RSPR = 1 during execution of the G84.3 command
G84.2(G98) G84.2(G99)

Initial level
Operation1
Operation6
Spindle CCW
Spindle CCW Spindle
P stop
: Rapid traverse
Point Z Point Z
: Z axis feed P P
Operation4
P : Dwell Spindle stop Spindle CCW Spindle stop Spindle CCW
- 890 -
CAUTION
Even when the status of the reverse spindle rotation
signal is changed in rigid tapping mode, the change is
ignored. To change the direction of the spindle
rotation, specify a cancel command (G80), change
the status of the reverse spindle rotation signal, then
specify the G84.2 or G84.3 command.
Example:
N09 G80 ;
N10 G91 G84.3 X10. Z10. R50. F100. S100 ;
N11 X20. Z-50. R-10. ;
N12 X30. Z-50. R-10. ;
:
:
N20 G80 ;
N21 G84.2 X10. Z-50. R-10. F100. S100 ;
N22 Z-100. ;
During execution of the above program, the status of

the reverse spindle rotation signal is recognized
when N10 and N21 are executed. In the other
blocks, the reverse spindle rotation signal is not
recognized even if its status is changed.
- 891 -
Signals related to S code output
Spindle function code signal S0-S31<F020-F023>

Spindle function strobe signal SF<F008#1>
Completion signal FIN<G005#1>
See Sec. 8.1.
Signals related to gear change
Spindle gear select signal GS1A,GS2A,GS4A<G026#4,#5,#6>:For 1st spindle

GS1B,GS2B,GS4B<G272#4,#5,#6>:For 2nd spindle
GS1C,GS2C,GS4C<G273#4,#5,#6>:For 3rd spindle
GS1D,GS2D,GS4D<G274#4,#5,#6>:For 4th spindle
[Operation] When an analog spindle is used, these signals notify the CNC of
information about the spindle gear being used. The signal states and
the corresponding gear selection states are listed below.

0 0 0 Stage 1
0 0 1 Stage 2
0 1 0 Stage 3
0 1 1 Stage 4
1 0 0 Stage 5
1 0 1 Stage 6
1 1 0 Stage 7
1 1 1 Stage 8
Serial spindle clutch/gear signal CTH1A,CTH2A<G227#3,#2>:For 1st spindle

CTH1B,CTH2B<G235#3,#2>:For 2nd spindle
CTH1C,CTH2C<G211#3,#2>:For 3rd spindle
CTH1D,CTH2D<G219#3,#2>:For 4th spindle
[Operation] When a serial spindle is used, these signals notify the CNC of
information about the spindle gear being used. The signal states and
the corresponding gear selection states are listed below.

0 0 Stage 1 (high)
1 1 Stage 4 (low)
- 892 -
Other signals
Spindle stop confirmation signal SPSTPA<G026#0>:For 1st spindle

SPSTPB<G272#0>:For 2nd spindle
SPSTPC<G273#0>:For 3rd spindle
SPSTPD<G274#0>:For 4th spindle
[Function] When the CNC confirms that this signal has been set to 1, the CNC
changes spindle control from speed control mode to position control
mode.
When rigid tapping is canceled, tapping can be terminated after the 0
state of this signal is confirmed. This can be allowed by setting bit 2
(RES) of parameter No. 6201.
Signal address
- All axes common

#7 #6 #5 #4 #3 #2 #1 #0
G005 FIN
G148 RSPR
F008 SF
F020 S7 S6 S5 S4 S3 S2 S1 S0
F021 S15 S14 S13 S12 S11 S10 S9 S8
F022 S23 S22 S21 S20 S19 S18 S17 S16
F023 S31 S30 S29 S28 S27 S26 S25 S24
F040 RTAP
F155 RSPC RSPM RSPP
- For 1st spindle

#7 #6 #5 #4 #3 #2 #1 #0
G026 GS4A GS2A GS1A SPSTPA
G227 CTH1A CTH2A
- For 2nd spindle

#7 #6 #5 #4 #3 #2 #1 #0
G235 CTH1B CTH2B
G272 GS4B GS2B GS1B SPSTPB
- 893 -
- For 3rd spindle

#7 #6 #5 #4 #3 #2 #1 #0
G211 CTH1C CTH2C
G273 GS4C GS2C GS1C SPSTPC
- For 4th spindle

#7 #6 #5 #4 #3 #2 #1 #0
G219 CTH1D CTH2D
G274 GS4D GS2D GS1D SPSTPD
Sequence(Time chart)
The following is an example of the PMC processing procedure used

when rigid tapping is specified:
G84.2 X_ Y_ Z_ R_ P_ F_ L_ S_ ;
Z_ : The distance from point R to the bottom of the hole and the position of
the bottom of the hole
P_ : Dwell time at the bottom of the hole and at point R when a return is
made
S_ : Spindle speed
G84.2(G98) G84.2(G99)

Initial level
Operation1
Operation6
Spindle CW
Spindle CW Spindle
P stop
Point Z Point Z
P P
Operation4
Spindle stop Spindle CCW Spindle stop Spindle CCW
: Rapid traverse
: Z axis feed
P : Dwell
- 894 -
1. Assume that the G84.2 command is specified. The spindle speed

must be specified with an S command in the block containing
G84.2 or in a block before that block.
2. The CNC starts movement along the X- and Y-axes to the tapped
hole position and simultaneously sets rigid tapping signal RTAP
to 1.
3. When the G84.2 command is specified, the spindle may have
already been stopped by M05 which may have been specified
before G84.2, or the spindle may be rotating at a speed specified
by the S command with M03 or M04 maintained. In either case,
when the RTAP signal is set to 1, the machine (PMC) must
perform the following:
(1) Set all the spindle motor command voltage signals to 0 so that
the spindle speed voltage from the CNC becomes 0 V on the
spindle amplifier side. Also reset, to 0, the spindle normal
rotation command SFR and the spindle reverse rotation
command SRV to be sent to the spindle amplifier at the same
time.
Resetting all the spindle motor command signals to 0 sets the
spindle speed voltage sent from the CNC to the spindle
amplifier to 0 V, causing the spindle motor to stop.
(2) When the stop state of the spindle is confirmed by checking
that speed zero signal SST of the spindle amplifier is set to 1,
set torque limit signal TLML to 1 first, which is an output
signal to the spindle amplifier. (Only the FANUC analog
spindle amplifier requires that a torque limit signal be input.
Do not input it for the serial spindle amplifier.) Then, set
forward spindle rotation command SFR to 1, and reverse
spindle rotation command SRV to 0 so that a positive spindle
speed voltage causes forward spindle rotation, and a negative
spindle speed voltage causes reverse spindle rotation. After
waiting at least 400 msec, set spindle stop confirmation
signal SPSTPs to 1. (Only the FANUC analog spindle
amplifier needs to wait at least 400 ms. This is unnecessary
for the serial spindle amplifier, because a parameter is used to
specify a necessary condition.)
4. After setting the RTAP signal to 1, the CNC makes a movement
along the X- and Y-axes to the tapped hole position, then makes a
movement along the Z-axis to point R. These operations are
performed regardless of the PMC processing described in 3.
5. After movement to point R along the Z-axis, the CNC checks
whether the SPSTPs signal is 1. If the signal is 0, the CNC waits
until the signal is set to 1. When the signal is set to 1, the CNC
changes the spindle control mode from speed control mode to
position control mode.
6. After the change of the position control mode is completed, the
CNC starts two-axis linear interpolation between the Z-axis and
the spindle. Before starting the linear interpolation, the CNC sets
the same time constant for each of the acceleration/deceleration
circuits of the Z-axis and spindle. For the position control circuits
- 895 -
of the Z-axis and spindle, the CNC sets the same position gain.
These values are set in parameters in advance.
7. Linear interpolation between the Z-axis and spindle is executed.
8. After dwell, if required, is performed at the bottom of the hole,
linear interpolation between the Z-axis and spindle is executed to
cause retraction from point Z to point R on the Z-axis while the
spindle is being rotated in the reverse direction. The Z-axis and
spindle movement directions are opposite to the directions of the
Z-axis and spindle movements made in 7.
9. After movement to point R along the Z-axis, the CNC restores the
original time constant for the Z-axis. The CNC also restores the
original position gain value for the Z-axis.
10. When initial point return (G98) is specified, movement to the
initial point on the Z-axis is made.
This completes all the operations. If G84.2 is also specified in the next
block, the above procedure is repeated. When the second and
subsequent G84.2 commands are executed, the control mode for the
spindle is already set to position control mode, so the control mode
change processing in 5 is not performed.
If one of the commands explained below is specified in G84.2 mode,

the spindle control mode is changed from position control mode to
speed control mode, then the RTAP signal is set to 0. Then, the next
operation is performed. When the RTAP signal is set to 0, the PMC
must set the torque limit signal TLML to 0. (Only the FANUC analog
spindle amplifier requires that a torque limit signal be manipulated.)
(1) A canned cycle other than G84.3 is specified. For example, G81
is specified.
(2) The hole machining canned cycle is canceled. That is, G80 is
specified, or a G code of group 01 such as G00, G01, or G02 is
specified.
NOTE
The reason why the spindle stop confirmation signal
SPSTP must be set to 1 after at least 400 msec in 3 is
to allow sufficient time for the spindle motor to be fully
excited. This is because there is no means of
confirming the completion of spindle motor excitation.
The time required for excitation varies depending on
the spindle motor and amplifier. As a guideline, 400
ms is assumed.
The timing chart for the procedure described above is shown below.
- 896 -
G84.2 command G80 S100 M04 command
Signal RTAP
Moving of the X
and Y axes, Moving
of the Z axis to R point
RI0s to RI12s
SFR
SRV
SST
(TLML)
(for analog amp.)
Signal SPSTPs
Moving from R point to Z

point and Spindle CW
400msec or more
(for analog amp.)
Moving from Z point to R
point and Spindle CCW
M code output (M04)
RSPP
RSPM
Rated speed Rated speed

RSPC
- 897 -
Parameter
1837 Positioning deviation limit while the tool is moving in the rigid tapping mode

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- 898 -
#7 #6 #5 #4 #3 #2 #1 #0
5608 RSR

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0: Type A
1: Type B
Type A: Command
G84.2 G84.3
Point R Positive direction Reverse rotation Normal rotation
point Z Negative direction Normal rotation Reverse rotation
Type B: Command
G84.2 G84.3
Point R Positive direction Normal rotation Reverse rotation
point Z Negative direction Normal rotation Reverse rotation
5751 Time constant at acceleration/deceleration of the spindle and drilling axis in

rigid tapping (fixed)

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- 899 -
5752 FL feedrate at acceleration/deceleration of the spindle and drilling axis in


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- 900 -
5757 Spindle speed for determining acceleration/deceleration for cutting feed in


96;6
Set a spindle speed when a fixed acceleration/deceleration time constant/FL
feedrate is used for the spindle and drilling axis in rigid tapping (with bit 2 (TSC) of
parameter No. 5602 set to 0).
When the type of acceleration/deceleration used for rigid tapping is linear
acceleration/deceleration (with bit 1 (TEL) of parameter No. 5605 set to 1), the
speed set in this parameter is increased or decreased for the time set in parameter
No. 5751.
Acceleration/dec Acceleration/dec
eleration time eleration time
TC TC
S S S S
command command
Relationship between S Relationship between S
command and actual command and actual
acceleration/deceleration acceleration/deceleration
time during linear time during exponential
acceleration/deceleration acceleration/deceleration
- 901 -
5804 Allowable range for constant spindle speed signal output in exponential
acceleration/deceleration

The constant spindle speed signal is output when the difference in the number of
remaining pulses held in the acceleration/deceleration circuit between two adjacent
distribution periods (ITPs) is zero. In exponential acceleration/deceleration,
however, the difference in the number of remaining pulses between two adjacent
ITPs does not become zero even when a constant speed is kept. In this case, a
constant speed is assumed to be reached when the difference in the number of
remaining pulses is within the range specified in this parameter.
In the figure shown below, the number of pulses accummulated in the

acceleration/deceleration circuit at ITP6 is:
1+2+3+4+5+6
At ITP7, the number of accummulated pulses is:
1+2+3+4+5+6+7
Therefore, the difference in pulses accummulated in the acceleration/deceleration
circuit at ITP6 and ITP7 is 7.
The difference will not become 0 indefinitely.
:

3

6 7
3 5
4
3
2 6
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- 902 -

96;6
5851 Number of teeth on the position coder gear in the servo mode (first stage)

96;6
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5852 Number of teeth on the spindle gear in the servo mode (first stage)

96;6
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5853 Backlash compensation in the servo mode (first stage)

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5854 Number of teeth on the position coder gear in the servo mode (second stage)

96;6
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- 903 -
5855 Number of teeth on the spindle gear in the servo mode (second stage)

96;6
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5856 Backlash compensation in the servo mode (second stage)

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5857 Number of teeth on the position coder gear in the servo mode (third stage)

96;6
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5858 Number of teeth on the spindle gear in the servo mode (third stage)

96;6
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1%
5859 Backlash compensation in the servo mode (third stage)

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1%
- 904 -
5860 Number of teeth on the position coder gear in the servo mode (fourth stage)

96;6
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5861 Number of teeth on the spindle gear in the servo mode (fourth stage)

96;6
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1%
5862 Backlash compensation in the servo mode (fourth stage)

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5863 Number of teeth on the position coder gear in the servo mode (fifth stage)

96;6
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5864 Number of teeth on the spindle gear in the servo mode (fifth stage)

96;6
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1%
- 905 -
5865 Backlash compensation in the servo mode (fifth stage)

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5866 Number of teeth on the position coder gear in the servo mode (sixth stage)

96;6
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5867 Number of teeth on the spindle gear in the servo mode (sixth stage)

96;6
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1%
5868 Backlash compensation in the servo mode (sixth stage)

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5869 Number of teeth on the position coder gear in the servo mode (seventh
stage)

96;6
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1%
- 906 -
5870 Number of teeth on the spindle gear in the servo mode (seventh stage)

96;6
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"
"
"#0

&
&
"10#
"
1%
5871 Backlash compensation in the servo mode (seventh stage)

!
(?"

"#0
&

&
"10#
"
1%
5872 Number of teeth on the position coder gear in the servo mode (eighth stage)

96;6
!

" (

"
"

"#
0
&
&
"10"
"
1%
5873 Number of teeth on the spindle gear in the servo mode (eighth stage)

96;6
!

" (

"
"
"#0

&
&
"10"
"
1%
5874 Backlash compensation in the servo mode (eighth stage)

!
(?"

"#0
&

&
"10"
"
1%
- 907 -
5875 Effective area in the servo mode using a position coder

!

#
"#0
&
&

"1
%
- 908 -
5876 Positional deviation limit during movement in the servo mode using a
position coder

!

#

#

"#
0
&
&
"1
%
Set a positional deviation limit as shown in the following figure:

S 360 100 1.5
Equation =
60 G
S : Maximum spindle speed for rigid tapping
G : Position gain for the rigid tapping axis
: Detection unit
(Calculation example)
In the configuration shown on the left, the positional deviation limit is

obtained as follows:
SPINDLE
@ @S= 3600
MOTOR
@ @G= 3000
Position
Spindle coder @ @L= 360(The spindle rotates through one for each rotation
of the spindle motor.)
@ = La / 4096
@ @ = 720/4096
@ @ = 0.17578
@ La= 720
(The spindle must rotate through two turns to rotate the position
coder one turn = 3602)
1:1:2
36003601001.5
Setting =
6030000.17578
=6144
- 909 -
5877 Positional deviation limit during a stop in the servo mode using a position
coder

!

#

"#0

&
1
%
5883 Return feedrate override in rigid tapping

@

!

#
(

?
% ="&

"
@ %
5884 Acceleration/deceleration time constant for drilling axis cutting feed in rigid
tapping (TC1)

7
!

.

"

$"

"
.

"

$
"

"!0(
0)!21

4%5;5

1%
5885 Cutting feed FL feedrate for the drilling axis in rigid tapping (FL1)

8

.&".&.0"
1
<

"

"

8

"

(021
0="
"

!*&%>7%1
!
3-

"

$"
"
.

"

$
"

"!0(
0)!21
4%5;5

1%
- 910 -
5886 Spindle speed for determining cutting feed acceleration/deceleration in rigid

tapping (S1)

96;6
Set a spindle speed at the first stage when the acceleration/deceleration time
constant for the spindle and drilling axis in rigid tapping is switched according to
the S command (bit 1 (TSC) of parameter No. 5605 is set to 1).
5887 Cutting feed acceleration/deceleration time constant for the drilling axis in
rigid tapping (TC2)

7
!

.

"
$"

"
.

"

$
"

"!0(
0)!21

4%5;5

1%

8

.&".&.0"
1
<

"

"

8

"

(021
0="
"

!*&%>7%1
!
3-

"
$"
"

.

"

$
"

"!0(
0)!21

4%5;5

1%
- 911 -

tapping (S2)

96;6
Set a spindle speed at the second stage when the acceleration/deceleration time
rigid tapping (TC3)

7
!

.

"
"
$"

"
.

"

$
"

"!0(
0)!21

4%5;5

1%

8

.&".&.0"
1
<

"

"

8

"

(021
0="
"

!*&%>7%1
!
3-

"
"
$"
"
.

"

$
"

"!0(
0)!21
4%5;5

1%
- 912 -

tapping (S3)

96;6
Set a spindle speed at the third stage when the acceleration/deceleration time
rigid tapping (TC4)

7
!

.

"
"
$"

"
.

"

$
"

"!0(
0)!21

4%5;5

1%
- 913 -

8

.&".&.0"
1
<

"

"

8

"

(021
0="
"

!*&%>7%1
Set an FL feedrate at the fourth stage when the acceleration/deceleration time
Parameter Nos. 5884 to 5894 are used to change the cutting feed
acceleration/deceleration time constant/FL feedrate on the hole machining axis in
rigid tapping according to the S command. These parameters set the time constant
(TCx)/FL feedrate (FLx) at each level and the spindle speed (Sx) to set levels.
The following show the relationship between the S command and FL feedrate, the
relationship between the S command and actual acceleration/deceleration time in
linear acceleration/deceleration, and the relationship between the S command and
actual acceleration/deceleration time in exponential acceleration/deceleration:
Spindle speed command S FL feedrate

SS1 FL1
S1<SS2 FL2
S2<SS3 FL3
S3<S FL4
Relationship between S command and FL feedrate
- 914 -
Acceleration/deceleration time Acceleration/deceleration time
TC4 TC4
TC3 TC3
TC2 TC2
TC1 TC1
S1 S2 S3 S S1 S2 S3 S command
command Relationship between S command and
Relationship between S command and actual acceleration/deceleration time
actual acceleration/deceleration time in exponential acceleration/deceleration
#7 #6 #5 #4 #3 #2 #1 #0
6200 FXY

*
+ 3AB !$"

"
"
"C

(
"%
/ C

/ :
(
"
#7 #6 #5 #4 #3 #2 #1 #0
6201 RFE RFA RES

*
+ 8,! !"$

%
/ 2
$"
"

"
%
/ 2
$"
"

"

"
%
- 915 -
+9 83: !$"

"
3
"
"

%
/
%
/ %
+6 83, !"$

"

3
%
0: Digits after the decimal point are truncated.
1: Digits specified after the decimal point are valid.
Example of F F10. or F10.0 F10.5
command
RFA=1, F10.0 PS530 (incorrect use of
RFE=0 or RFE=1 decimal point) is issued.
RFA=0, RFE=0 F10.0 F10.0
RFA=0, RFE=1 F10.0 F10.5
6221 Return distance in a peck rigid tapping cycle

!

8

&"0

1
<

"

"

#

0

"

(0*11
0="
"

!*&%> % 1
!

?
%
- For analog spindles

5960 Position gain in the servo mode

%.

!

"#0
&

&
"1% )"

%
- 916 -
5961 Position gain multiplier (first stage)

96;6
2048000 360 PC E
GC =
PLS SP L
follows:
SP =1
PC =1
E = 2.2 V
L = 360 deg
2048000 360 1 2.2

GC = = 1100
4096 1 360
Note)
5962 Drift compensation value (first stage)

55
DC = 0.000000192 G GC ER
- 917 -
5963 Position gain multiplier (second stage)

96;6
2048000 360 PC E
GC =
PLS SP L
follows:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 360 1 2.2

GC = = 1100
4096 1 360
Note)
5964 Drift compensation value (second stage)

55
DC = 0.000000192 G GC ER
- 918 -
5965 Position gain multiplier (third stage)

96;6
2048000 360 PC E
GC =
PLS SP L
follows:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 360 1 2.2
GC = = 1100
4096 1 360
Note)
5966 Drift compensation value (third stage)

55
DC = 0.000000192 G GC ER
- 919 -
5967 Position gain multiplier (fourth stage)

96;6
2048000 360 PC E
GC =
PLS SP L
follows:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 360 1 2.2

GC = = 1100
4096 1 360
Note)
5968 Drift compensation value (fourth stage)

55
DC = 0.000000192 G GC ER
- 920 -
5969 Position gain multiplier (fifth stage)

96;6
2048000 360 PC E
GC =
PLS SP L
follows:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 360 1 2.2

GC = = 1100
4096 1 360
Note)
5970 Drift compensation value (fifth stage)

55
DC = 0.000000192 G GC ER
- 921 -
5971 Position gain multiplier (sixth stage)

96;6
2048000 360 PC E
GC =
PLS SP L
follows:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 360 1 2.2

GC = = 1100
4096 1 360
Note)
5972 Drift compensation value (sixth stage)

55
DC = 0.000000192 G GC ER
- 922 -
5973 Position gain multiplier (seventh stage)

96;6
2048000 360 PC E
GC =
PLS SP L
follows:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 360 1 2.2

GC = = 1100
4096 1 360
Note)
5974 Drift compensation value (seventh stage)

55
DC = 0.000000192 G GC ER
- 923 -
5975 Position gain multiplier (eighth stage)

96;6
2048000 360 PC E
GC =
PLS SP L
follows:
SP = 1
PC = 1
E = 2.2 V
L = 360 deg
2048000 360 1 2.2

GC = = 1100
4096 1 360
Note)
5976 Drift compensation value (eighth stage)

55
DC = 0.000000192 G GC ER
- 924 -
5977 Rapid traverse rate for orientation

8

.
<

"

"

8

"

(021
0="
"

!*&%>7%1
!

#

"#
0
&
&
"1%
NOTE
Set a rapid traverse rate so that the quantity of errors is within a
range from 128 pulses to 1024 pulses.
5978 Time constant for orientation

7
!

"#
0
&
&
"1%
5979 FL feedrate for orientation

8

.
<

"

"

8

"

(021
0="
"

!*&%>7%1
!
3-

"#0

&
&
"1%
NOTE
Set an FL feedrate rate so that the quantity of errors is within a
range from the effective area to 1024 pulses.
- 925 -
5980 Grid shift value for orientation

77
!
"
#
"

"

"#0
&
&

"1%
- For serial spindles

#7 #6 #5 #4 #3 #2 #1 #0
3000 SVO

*

+7 !D

#0
&

&
"1
/ )"

"

?$0#$

"

1%
/ )"

"
?$0#$

"

1%
NOTE
The orientation (reference position return) direction of
spindle positioning using a serial spindle depends on
the specification of this parameter.
3044 Proportional gain of the velocity loop in servo mode

/synchronization control mode (high-speed gear)

%.

96;6
Set the proportional gain of the velocity loop for the high-speed gear in the servo
mode (rigid tapping, spindle positioning, and so forth).
servo mode (rigid tapping, spindle positioning, and so forth).
- 926 -

/synchronization control mode (low-speed gear)

%.

96;6
Set the proportional gain of the velocity loop for the low-speed gear in servo mode
l gain of the velocity loop for the low-speed gear in
3052 Integral gain of the velocity loop in servo mode


%.

96;6
Set the integral gain of the velocity loop for the high-speed gear in servo mode


%.

96;6
Set the integral gain of the velocity loop for the low-speed gear in servo mode (rigid
tapping, spindle positioning, and so forth).
3056 Gear ratio (high-speed gear)

<

~

96;6
Set a gear ratio between the spindle and spindle motor for the high-speed gear.
Set the gear or clutch status corresponding to the clutch/gear signal.
- 927 -
3057 Gear ratio (medium high-speed gear)

<

~

96;6
Set a gear ratio between the spindle and spindle motor for the medium high-speed
gear.
3058 Gear ratio (medium low-speed gear)

<

~

96;6
Set a gear ratio between the spindle and spindle motor for the medium low-speed
gear.
3059 Gear ratio (low-speed gear)

<

~

96;6
Set a gear ratio between the spindle and spindle motor for the low-speed gear.

(high-speed gear)

%.

96;6
Set the position gain for the high-speed gear in servo mode (rigid tapping, spindle
positioning, and so forth) and synchronization control mode.
- 928 -


%.

96;6
Set the position gain for the medium high-speed gear in servo mode (rigid tapping,
spindle positioning, and so forth) and synchronization control mode.

(medium low-speed gear)

%.

96;6
Set the position gain for the medium low-speed gear in servo mode (rigid tapping,
spindle positioning, and so forth) and synchronization control mode.

(low-speed gear)

%.

96;6
Set the position gain for the low-speed gear in servo mode (rigid tapping, spindle
positioning, and so forth) and synchronization control mode.
3073 Grid shift in the servo mode

7 ;
!

"

"

"
#0
&

&
"1%
- 929 -
Alarm and message

- PS alarm
PS0223 ILLEGAL SPINDLE SELECT An attempt was made to execute an instruction that uses the
spindle although the spindle to be controlled has not been set
correctly.
PS0531 ILLEGAL USE OF DECIMAL When the feedrate instruction contains valid data below the
POINT (F-CODE) decimal point, the alarm is set and the F code contains valid
data below the decimal point.
PS0532 ILLEGAL USE OF DECIMAL When the feedrate instruction contains valid data below the
POINT (E-CODE) decimal point, the alarm is set and the E code contains valid
data below the decimal point.
PS0533 ADDRESS F UNDERFLOW (G95) The feedrate for the hole drilling axis calculated from the F and
S codes is too slow in the feed per single rotation mode (G95).
PS0534 ADDRESS F OVERFLOW (G95) The feedrate for the hole drilling axis calculated from the F and
S codes is too fast in the feed per single rotation mode (G95).
PS0535 ADDRESS E UNDERFLOW The feedrate for the hole drilling axis calculated from the E and
(G95) S codes is too slow in the feed per single rotation mode (G95).
PS0536 ADDRESS E OVERFLOW (G95) The feedrate for the hole drilling axis calculated from the E and
S codes is too fast in the feed per single rotation mode (G95).
PS0537 ADDRESS F UNDERFLOW The speed obtained by applying override to the F instruction is
(OVERRIDE) too slow.
PS0538 ADDRESS F OVERFLOW The speed obtained by applying override to the F instruction is
(OVERRIDE) too fast.
PS0539 ADDRESS E UNDERFLOW The speed obtained by applying override to the E instruction is
(OVERRIDE) too slow.
PS0540 ADDRESS E OVERFLOW The speed obtained by applying override to the E instruction is
(OVERRIDE) too fast.
PS0541 S-CODE ZERO "0" has been instructed as the S code.
PS0542 FEED ZERO (E-CODE) "0" has been instructed as the feedrate (E code).
PS0543 ILLEGAL GEAR SETTING The gear ratio between the spindle and position coder, or the
set position coder number of pulses is illegal in the spindle
position function and the rigid tapping function.
- SP alarm
CODER GEAR RATIO
SP0231 SPINDLE EXCESS ERROR The position deviation during spindle rotation was greater than
(MOVING) the value set in parameters.
SP0232 SPINDLE EXCESS ERROR The position deviation during spindle stop was greater than the
(STOP) value set in parameters.
SP0233 POSITION CODER OVERFLOW The error counter/speed instruction value of the position coder
overflowed.
OVERFLOW
SP0238 DUPLICATE SPINDLE CONTROL An attempt was made to change the spindle mode during the
MODE (RIGID TAP) rigid tapping mode.
SP0241 D/A CONVERTER ERROR The D/A converter for controlling analog spindles is erroneous.
ERROR
- 930 -
Caution
NOTES ON SPINDLES
Caution
CAUTION
1 When an analog spindle is used, set drift
compensation parameters (parameter Nos. 5962 to
5976) accurately. If an inappropriate drift
compensation value is used, the following may
occur at point R and at the bottom of the hole:
- The spindle is stopped in the in-position wait
state.
- The spindle position is shifted (the spindle does
not reach the specified position or passes a
specified position).
Note
NOTE
1 In rigid tapping mode, pitch error compensation for
the spindle is not performed.
2 he maximum number of pulses that can be
distributed to the spindle is:
- 32,767 pulses per 8 msec for a serial spindle
- 4,096 pulses per 8 msec for an analog spindle
Notes on using functions such as the spindle positioning function at the same
time
Caution
CAUTION
1 When the spindle positioning function is to be used
at the same time When the spindle positioning
function is to be used together with rigid tapping,
rigid tapping mode must not be specified in spindle
indexing mode, and spindle indexing mode must not
be specified in rigid tapping mode. (Spindle
positioning and rigid tapping cannot be performed
simultaneously for a single spindle.)
2 When the Cs contour control function is also used
When the Cs contour control function with a serial
spindle is used together with rigid tapping, rigid
tapping mode must not be specified in Cs contour
control mode, and Cs contour control mode must not
be specified in rigid tapping mode. (Cs contour
control and rigid tapping cannot be performed with
the same spindle at the same time.)
- 931 -
Position control loop gain switching and serial spindle parameters

In rigid tapping, the position gain for the tapping axis is changed
according to the position gain for the spindle so that the position gains
for position control of the spindle and tapping axis match.
Set the position gains in parameter Nos. 5960 and 5961 to 5975 for an
analog spindle, or in parameter Nos. 3065 to 3068 for a serial spindle.
Analog spindle
GS4s GS2s GS1s Gear selected Parameter No. to be
used
0 0 0 Step 1 5961
0 0 1 Step 2 5963
0 1 0 Step 3 5965
0 1 1 Step 4 5967
5960
1 0 0 Step 5 5969
1 0 1 Step 6 5971
1 1 0 Step 7 5973
1 1 1 Step 8 5975
Serial spindle
CTH1s CTH2s Gear selected Parameter No. to be
used
0 0 Step 1 (High) 3065
3044 3052
0 1 Step 2 (Medium High) 3066
1 0 Step 3 (Medium Low) 3067
3045 3053
1 1 Step 4 (Low) 3068
There is a difference in the change processing between an analog

spindle and serial spindle, as explained below.
- When an analog spindle is used, the position gains for the spindle
and tapping axis are changed according to the parameter settings
and gear select signal.
- When a serial spindle is used, the position gain for the tapping
axis is changed according to the parameter settings and
clutch/gear select signal.
When rigid tapping is performed using a serial spindle, position gain
setting must be made for position control of the spindle in the
parameters of the serial spindle.
The following are the major serial spindle parameters that must be set
or adjusted when using a serial spindle:
For details of the serial spindle parameters, refer to the "FANUC AC
SPINDLE MOTOR series DESCRIPTIONS (B-65152E) or FANUC
AC SPINDLE MOTOR series PARAMETER MANUAL (B-
65160E).
- 932 -




3065 Position gain in servo mode



/synchronization control mode (medium low-speed gear)

Reference item
auxiliary function
9.2 Spindle serial
9.3 Spindle control
11.6 Canned cycle
FANCU SERVO AMPLIFIER series 11.4 Rigid tapping
FANCU AC SPINDLE MOTOR series 2.3 Rigid tapping
Parameter Manual (B-65160E)
FANCU AC SPINDLE MOTOR series
FANCU SERVO MOTOR series
Maintenance Manual (B-65165E)
- 933 -
9.8.1 Rigid Tapping Additional Function
- Overview
- A parameter can be used to specify whether to perform spindle
orientation when rigid tapping is started.
- A parameter can be used to specify to check whether the specified
S command exceeds the maximum spindle rotation speed for an
individual gear.
- A diagnosis screen can be used to check a synchronization error
between the tapping axis and spindle.
- Parameters
#7 #6 #5 #4 #3 #2 #1 #0
5606 ORD ORN

[Data type] Bitspindle
NOTE
After this parameter has been set, the power must
be off turned off then back on for the setting to
become effective.
#6 ORN Specifies whether to perform spindle orientation at the beginning of

rigid tapping as follows:
0: Do not perform.
1: Perform.
#7 ORD Specifies the direction of spindle orientation at the beginning of

analog spindle rigid tapping as follows:
0: Positive direction
1: Negative direction
This parameter is valid when parameter ORN (bit 6 of parameter No.
5606) = 1.
For a serial spindle, bit 4 of parameter No. 3004 is used to specify

the direction of spindle orientation. Refer to the FANUC AC
SPINDLE MOTOR series Parameter Manual (B-65160E) for
details.
NOTE
When this parameter is 0, the direction of spindle
orientation is negative if a G84.2/G84.3 block
issues an I/O command (for specifying a
negative direction). When the parameter is 1,
the direction of spindle orientation is negative
also if a G84.2/G83.3 block issues an I/O
command (for specifying a positive direction).
- 934 -
5711 Maximum spindle speed during rigid tapping (first stage)
5712 Maximum spindle speed during rigid tapping (second stage)
5713 Maximum spindle speed during rigid tapping (third stage)
5714 Maximum spindle speed during rigid tapping (fourth stage)
5715 Maximum spindle speed during rigid tapping (fifth stage)
5716 Maximum spindle speed during rigid tapping (sixth stage)
5717 Maximum spindle speed during rigid tapping (seventh stage)
5718 Maximum spindle speed during rigid tapping (eighth stage)

[Data type] Integerspindle
[Unit of data] min-1
These parameters specify the maximum spindle speed used for each
gear stage during rigid tapping. Issuing an S command having a
value larger than each specified value is results in an alarm.
NOTE
No check is made if all of values specified in
parameter Nos. 5711 to 5718 are 0.
If a nonzero value is specified in a parameter for

the "ath" gear stage, and all the parameters for
gears lower than the "ath" gear stage are reset
to 0, a check is made with a value specified for
the "ath" gear stage if the "ath" stage or a lower
stage is selected.
For example, when parameter Nos. 5711 to

5713 = 0, parameter No. 5714 = 800, and
parameter Nos. 5715 to 5718 = 0, a check is
made with an upper limit of S800 if the fourth
stage or a lower stage is selected.
- Alarm
Number Message Description
PS0544 S-CODE OVER MAX The S command has exceeded the maximum spindle
rotation speed.
- 935 -
- Diagnostic data
1600 Rigid tapping spindle positional deviation

!

)"

#

%
1601 Rigid tapping spindle positional deviation (peak value)

!

)"
?
#
"

%
1602 Rigid tapping tapping-axis positional deviation

!

)"

#
0

1
%
1603 Rigid tapping tapping-axis positional deviation (peak value)

!

)"
?

#
0

1"
%
1604 Rigid tapping synchronization error

!

)"

#

#

#

%
1605 Rigid tapping synchronization error (peak value)

!

)"
?
#
?

#

"
%
- 936 -
9.9 SPINDLE ORIENTATION
General
This function stops the spindle at a specified position. The spindle can
be
stopped in either of the following two ways.
- The spindle is mechanically stopped by using stoppers.
- The spindle is stopped by applying a function of the spindle
control unit.
Mechanical stop
To mechanically stop the spindle by using, for example, a stopper,
rotate the spindle at a constant low speed and drive a stopper or pin into
the spindle.
The spindle can be rotated at a constant speed by applying either of the
following methods.
Using the spindle control unit

Some spindle control units can position the spindle motor by using
sensors and position coders. The CNC itself does not control
positioning by using these units.
Serial spindle orientation by a position coder

In serial spindle orientation by a position coder, the stop position is
specified either by a parameter or by the PMC (spindle orientation
function with the stop position externally set).
Signal
Serial spindle orientation stop position command signal

SH0A-SH11A<G230,G231>:For 1st spindle
SH0B-SH11B<G238,G239>:For 2nd spindle
SH0C-SH11C<G214,G215>:For 3rd spindle
SH0D-SH11D<G222,G223>:For 4th spindle
[Function] This signal sets a stop position when the spindle orientation function
with an externally set stop position is used. This signal specifies an
absolute position in one rotation. This signal consists of 12 binary code
signals. The stop position and signal have the following relationship:
{ 2 SH s} 4096
11
i 360
Stop position (degree) i
i=0
- 937 -
Signal address
- For 1st spindle

#7 #6 #5 #4 #3 #2 #1 #0
G230 SH7A SH6A SH5A SH4A SH3A SH2A SH1A SH0A
G231 SH12A SH11A SH10A SH9A SH8A
- For 2nd spindle

#7 #6 #5 #4 #3 #2 #1 #0
G238 SH7B SH6B SH5B SH4B SH3B SH2B SH1B SH0B
G239 SH12B SH11B SH10B SH9B SH8B
- For 3rd spindle

#7 #6 #5 #4 #3 #2 #1 #0
G214 SH7C SH6C SH5C SH4C SH3C SH2C SH1C SH0C
G215 SH12C SH11C SH10C SH9C SH8C
- For 4th spindle

#7 #6 #5 #4 #3 #2 #1 #0
G222 SH7D SH6D SH5D SH4D SH3D SH2D SH1D SH0D
G223 SH12D SH11D SH10D SH9D SH8D
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
5609 MOM

! "
#$ "
%$ & "
- 938 -
Caution
CAUTION
1 To perform spindle orientation by using the spindle
control unit, the signals of the spindle control unit
must be used.
To perform serial spindle orientation by using a
position coder (to perform serial spindle orientation
with the stop position set externally), the serial
spindle control unit signals must be used.
2 When the spindle orientation function of stop
position external setting type is used, the stop
position parameters in spindle orientation with a
position coder (No. 3031 and 3204) are invalid.
Note
NOTE
Spindle orientation with the spindle positioning
function differs from that described in this section.
For details, see "Spindle Positioning."
Reference item
Series15i/150i- Connection Manual 9.2 Spindle serial
MODEL A (This manual) output/analog output
9.3 Spindle control
FANCU SERVO AMPLIFIER series B-65162E
Descriptions
FANCU AC SPINDLE MOTOR series B-65160E
Parameter Manual
- 939 -
9.10 SPINDLE OUTPUT SWITCHING
General
Spindle output switching switches between the two windings, one for
low speed and the other for high speed, incorporated into the special
spindle motors.
This ensures that the spindle motor demonstrates stable output
characteristics over a wide range.
Since spindle output switching is a function of the spindle control unit,
see also the manual for the spindle control unit being used.
This section describes the relationship between spindle output
switching and the spindle control function in the CNC.
Operation of output-switchable spindle motor

To switch the spindle output characteristics, the windings are usually
switched using a relay. Prior to the completion of winding switching,
the spindle rotates free from drive.
Output switching changes the relationship between a speed command,
issued from the CNC to the spindle, and the output characteristics of
the spindle motor.
However, the relationship between the speed command and spindle
motor speed is not changed.
Output switching timing

During actual machining, the spindle is usually controlled in the
following
way.
(1) Constant spindle speed during cutting, such as milling
(2) Continuously changing spindle speed during cutting, such as in
constant surface speed control
(3) Controlling the position loop including the spindle motor during
rigid tapping, spindle positioning, Cs contour control, etc.
For applications such as those in (1), we recommend switching the
output characteristics for low speed and high speed by using the
spindle motor speed detection signal of the spindle control unit.
For applications such as those described in (2) and (3), the spindle shall
not rotate with no drive applied during cutting or positioning. It is
necessary for the output characteristics to be switched appropriately
before machining or for output switching to be masked by using a PMC
ladder sequence.
Reference item
Connection Manual 9.2 Spindle serial output/analog output
(This manual) 9.3 Spindle control
FANCU SERVO AMPLIFIER series B-65162E
Descriptions
FANCU AC SPINDLE MOTOR series B-65160E
Parameter Manual
- 940 -
9.11 SPINDLE SPEED FLUCTUATION DETECTION
General
If the actual spindle speed becomes lower or higher than that specified
because of the condition of the machine, an overheat alarm (SP0242) is
issued, and spindle speed fluctuation detection alarm signal SPAL is
output. This signal can be used to prevent the guide bushing from
burning out.
Method for detecting spindle speed fluctuation

If a difference between the actual spindle speed and the specified
spindle speed becomes larger than the allowable fluctuation width
specified in the address R and I commands in a G26 command block or
parameter Nos. 5702 and 5721 (if the following two conditions are
satisfied), an alarm is issued to indicate that the fluctuation has become
higher than a permissible level.
(1) |Sc - Sa| Sr
(2) |Sc - Sa| Si
Sc: Specified spindle speed
Sa: Actual spindle speed
Sr: Spindle speed fluctuation range calculated from spindle speed
fluctuation ratio (address R command in a G26 block or
parameter No. 5702)
If parameter FLR (bit 1 of parameter No. 5808) is 0
Sr = Sc * r / 100
If parameter FLR (bit 1 of parameter No. 5808) is 1
Sr = Sc * r / 1000
Si: Permissible range of fluctuation that does not cause a spindle speed
fluctuation detection alarm to be output (address I command in a
G26 block or parameter (No. 5721) setting)
NOTE
Even when the conditions for issuing an alarm related to
spindle speed fluctuation detection have not been
satisfied in spindle speed detection enabled mode (G26),
a spindle speed fluctuation detection overheat alarm is
issued if:
- A spindle speed has been specified, and the actual
spindle speed remains at 0 min-1 for at least one second.
- 941 -
- Specified spindle speed

A spindle speed to be specified for spindle speed fluctuation detection
is determined as described below.
For the spindle motor and each spindle gear, the spindle speed
corresponding to the maximum output is set in parameter Nos. 5621 to
5628.
The spindle speed to be specified for an analog spindle is determined
from the maximum spindle speed parameters (parameter Nos. 5621 to
5628) selected using the spindle gear selection signals (GS1s to GS4s)
and the spindle motor command voltage signals (RI0s to RI12s).
The spindle speed to be specified for a serial spindle is determined
from the maximum spindle speed parameters (parameter Nos. 5621 to
5628) selected using the serial spindle clutch/gear signals (CTH1s and
CTH2s) and the spindle motor command voltage signals (RI0s to
RI12s).
Spindle motor command voltage signals (RI0s to RI12s)
8191
Spindle speed
0
Maximum spindle Maximum spindle Maximum spindle
speed (gear 1) speed (gear 2) speed (gear 3)
The following tables list the relationships among the spindle gear select
signals (GS1s to GS4s), serial spindle clutch/gear signals (CTH1s and
CTH2s), and maximum spindle speed parameters (Nos. 5621 to 5628).
1) Serial spindle
CTH1s CTH2s Maximum spindle speed parameter
0 0 No.5621
0 1 No.5622
1 0 No.5623
1 1 No.5624
2) Analog spindle
GS4s GS2s GS1s Maximum spindle speed parameter
0 0 0 No.5621
0 0 1 No.5622
0 1 0 No.5623
0 1 1 No.5624
1 0 0 No.5625
1 0 1 No.5626
1 1 0 No.5627
1 1 1 No.5628
- 942 -
- Actual spindle speed

The actual spindle speed is calculated from the feedback pulse received
from the position coder mounted on the spindle.
- Conditions for starting spindle speed fluctuation detection

If the specified spindle speed changes after G26 is issued or in spindle
speed fluctuation detection enabled mode, spindle speed fluctuation
detection begins when one of the following conditions is satisfied.
(1) The time specified in parameter No. 5722 elapses since a change
in the specified spindle speed after G26 is issued or in spindle
speed fluctuation detection enabled mode
(2) The actual spindle speed and specified spindle speed permission
ratio becomes lower than or equal to the value specified in
parameter No. 5701, so it is assumed that the specified speed has
been reached.
Actual spindle speed and specified spindle speed permission ratio

= (1 - Actual spindle speed / Specified spindle speed ) * 100
NOTE
Even if a condition for starting spindle speed
fluctuation detection is satisfied, spindle speed
fluctuation detection is not started under any of the
following conditions.
1 The machine is in spindle speed fluctuation detection
disabled mode (G25).
-1
2 The specified spindle speed is 0 min .
3 A search due to program restart is under way.
- 943 -
- Examples of alarms issued for spindle speed fluctuation detection

1) Example where an alarm is issued after the specified spindle speed
is reached
Actual spindle speed
r
i q
Specified spindle
speed
A check No check is A check is made.

is made. made.
Time
The specified spindle A check begins. Spindle speed fluctuation
speed is changed. detection alarm
i: Fluctuation range not triggering an alarm (parameter No. 5721)

q: (Permission ratio at which the attainment of the specified spindle speed is
assumed (parameter No. 5701)) x (specified spindle speed)
r: Fluctuation ratio not triggering an alarm
(parameter No. 5702)) x (specified spindle speed)
2) Example in which an alarm is issued before the specified spindle

speed is attained
Actual spindle speed
r
q
Specified spindle i
speed
Time p
A check No check is
is made. made. A check is made.
Time
The specified spindle A check begins. Spindle speed fluctuation
speed is changed. detection alarm
i: Fluctuation range not triggering an alarm (parameter No. 5721)

q: (Permission ratio at which the attainment of the specified spindle speed is
assumed (parameter No. 5701)) x (specified spindle speed)
r: Fluctuation ratio not triggering an alarm
(parameter No. 5702)) x (specified spindle speed)
p: Time from when the specified spindle speed is changed until a check
begins (parameter No. 5722)
- 944 -
- System with more than one spindle

In a system with more than one spindle, spindle speed fluctuation
detection is performed for the spindle described below.
1) If the system has no spindle control switching function
Spindle speed fluctuation detection is performed for the first
spindle.
2) If the system has a spindle control switching function
Spindle speed fluctuation detection is performed for the spindle
selected in spindle control switching.
Spindle speed fluctuation detection is not performed for a spindle
that is not selected in spindle control switching.
Signal
Spindle speed command signal SPALA<F042#2> : For 1st spindle

SPALB<F338#2> : For 2nd spindle
SPALC<F339#2> : For 3rd spindle
SPALD<F340#2> : For 4th spindle
[Function] Indicates that the actual spindle speed has fluctuated by more than the
permissible amount corresponding to the specified spindle speed.
[Output condition] These signals become 1 when:
- The actual spindle speed fluctuates more than the permissible
amount corresponding to the specified spindle speed.
These signals become 0 when:
- No spindle speed fluctuation detection alarm has been issued, or
- The control unit is reset to cancel the alarm when the signals are 1.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F042 SPALA
F338 SPALB
F339 SPALC
F340 SPALD
- 945 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2409 G26

[Data type] Bit
#4 G26 Specifies whether G25 or G26 mode is selected when the power is
switched on, or in a cleared condition, as follows:
0: G25 mode (spindle speed fluctuation detection disabled)
1: G26 mode (spindle speed fluctuation detection enabled)
5701 Spindle speed permission ratio (q) at which it is assumed that

the spindle has attained the specified spindle speed

[Unit of data] If parameter FLR (bit 1 of parameter No. 5808) is 0: 1.0%
If parameter FLR (bit 1 of parameter No. 5808) is 1: 0.1%
[Valid data range] If parameter FLR (bit 1 of parameter No. 5808) is 0: 1 to 50
If parameter FLR (bit 1 of parameter No. 5808) is 1: 1 to 127
This parameter specifies a spindle speed permission ratio at which

the spindle speed fluctuation detection function assumes that the
spindle has attained the specified speed.
5702 Spindle speed fluctuation ratio (r) not triggering a spindle

speed fluctuation detection alarm

[Unit of data] If parameter FLR (bit 1 of parameter No. 5808) is 0: 1.0%
If parameter FLR (bit 1 of parameter No. 5808) is 1: 0.1%
[Valid data range] If parameter FLR (bit 1 of parameter No. 5808) is 0: 1 to 50
If parameter FLR (bit 1 of parameter No. 5808) is 1: 1 to 127
This parameter specifies a spindle speed fluctuation ratio not

triggering a spindle speed fluctuation detection alarm.
5721 Spindle speed fluctuation range (I) not triggering a spindle

speed fluctuation detection alarm

[Unit of data] min-1
This parameter specifies a permissible fluctuation range that does
not trigger a spindle speed fluctuation detection alarm.
- 946 -
5722 Time (p) allowed from when the specified spindle speed is
changed until spindle speed fluctuation detection begins

[Unit of data] msec
This parameter specifies the time (p) allowed from when the
specified spindle speed is changed until spindle speed fluctuation
detection begins. In other words, spindle speed fluctuation
detection is not performed until the specified time elapses after the
specified spindle speed is changed.
#7 #6 #5 #4 #3 #2 #1 #0
5808 FLR

[Data type] Bitspindle
#1 FLR Specifies the measurement unit for the permission ratio (q) and
fluctuation ratio (r) specified in spindle speed fluctuation detection
parameter Nos. 5701 and 5702, respectively, as follows:
0: 1% units
1: 0.1% units
Alarm and message

SP0242 OVERHEAT Spindle overheating reported because a spindle speed
fluctuation was detected.
- Relax the cutting conditions if the cutting load is heavy.
- Check whether the cutting tool is blunt.
- It is likely that the spindle amplifier is faulty.
- 947 -
Note
NOTE
1 If a spindle speed fluctuation is detected, the message
"SP0242 OVERHEAT" is displayed on the alarm screen.
2 If the "SP0242 OVERHEAT" alarm occurs, automatic
operation is stopped within a single block.
3 If parameter G26 (bit 4 of parameter No. 2409) is 1, the
"SP0242 OVERHEAT" alarm recurs even after it is reset,
unless the cause is removed.
4 If all the spindle motor command voltage signals (RI0s to
RI12s) are 0, spindle speed fluctuation detection is not
performed.
5 In G25 and G26, do not specify addresses in an
unspecified format at the same time.
6 If the spindle is switched in G26 mode (spindle speed
fluctuation detection enabled), the spindle speed
fluctuation detection parameter for the selected spindle
becomes valid.
7 If the spindle is operating normally, spindle speed
fluctuation detection is performed.
- 948 -
B-63323EN-1/03 10.TOOL FUNCTION
10 TOOL FUNCTION
- 949 -
10.TOOL FUNCTION B-63323EN-1/03
10.1 TOOL FUNCTION
General
A tool can be selected by specifying its tool number following address
T. The tool number consists of a numeric value of no more than 10
digits.
When a T code is specified, the code signal for a specified tool number
and strobe signal are sent. These are used for selecting a tool on the
machine side. This code signal is maintained until another T code is
specified.
Only one T code can be specified in one block. The maximum number
of digits can be specified in parameter No. 2032. If a command longer
than the maximum number of digits is specified, an alarm can be
issued.
Values that can be set as the allowable number of digits and the ranges
of valid settings are listed below. When the allowable number of digits
is set to 10, a negative value cannot be specified in the T code.
Table 10.1 Allowable Numbers of Digits in the T Code and Valid Setting Ranges
Allowable number of digits Negative value specification Range of valid settings
Parameter(No.2032) permitted/not permitted (bit 2
(TSN) of parameter No. 2003)
Disabled 0 to 9
1
Enabled -9 to 9
Disabled 0 to 99
2
Enabled -99 to 99
Disabled 0 to 999
3
Enabled -999 to 999
Disabled 0 to 9,999
4
Enabled -9,999 to 9,999
Disabled 0 to 99,999
5
Enabled -99,999 to 99,999
Disabled 0 to 999,999
6
Enabled -999,999 to 999,999
Disabled 0 to 9,999,999
7
Disabled -9,999,999 to 9,999,999
8
Enabled -99,999,999 to 99,999,999
9
Enabled -999,999,999 to 999,999,999
10 Disabled 0 to 4,294,967,295
- 950 -
Signal
See Section 8.1.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2003 TSN

! "
#$ %!
&$ %
NOTE
To enable the use of a minus (-) in a T code, the allowable
number of digits in an T code must be nine or less.
2032 Allowable number of digits in a T code

'
() '
&&#
))!) ! '! "
NOTE
To set the allowable number of digits in a T code to 10, the use of
a minus "-" in a T code must be disabled.
Alarm and message

PS0003 TOO MANY DIGIT Data entered with more digits than permitted in the NC
instruction word. The number of permissible digits varies
according to the function and the word.
Reference item
Series15i/150i-MA Operators Manual II-10.1 Tool selection command
(Programming)
(B-63324EN)
Series15i/150i- Connection Manual 8 Miscellaneous function
- 951 -
10.2 TOOL COMPENSATION VALUE/TOOL COMPENSATION

NUMBER/TOOL COMPENSATION MEMORY
General
Tool compensation values include tool geometry compensation values
and tool wear compensation values.
Standard position
OFSG
OFSW
OFSG : Geometry compensation value

OFSW : Wear compensation value
Fig. 10.2 Geometric compensation and wear compensation

Tool compensation values can be entered into CNC memory from the
CRT/MDI panel or from a program.
A tool compensation value is selected from the CNC memory when the
corresponding code is specified after address H or D in a program.
The value is used for tool length compensation, cutter compensation, or
the tool offset.
Increment system and valid range of tool offset values

The increment system and valid range of tool offset values depend on
the following parameters:
Parameter OFA(No.6002#0)
Parameter OFC(No.6002#1)
Parameter OFD(No.6004#0)
Parameter OFE(No.6007#0)
Table 10.2 (a) Increment and setting range of tool offset value (metric input)
OFE OFD OFC OFA Increment Geometry offset Wear offset value
value
0 0 0 1 0.01 mm 9999.99 mm 9999.99 mm
0 0 0 0 0.001 mm 9999.999 mm 9999.999 mm
0 0 1 0 0.0001 mm 9999.9999 mm 9999.9999 mm
0 1 0 0 0.00001 mm 9999.99999 mm 9999.99999 mm
1 0 0 0 0.000001 mm 999.999999 mm 999.999999 mm
Table 10.2 (b) Increment and setting range of tool offset value (inch input)
OFE OFD OFC OFA Increment Geometry offset Wear offset value
value
0 0 0 1 0.001 inch 999.999 inch 999.999 inch
0 0 0 0 0.0001 inch 999.9999 inch 999.9999 inch
0 0 1 0 0.00001 inch 999.99999 inch 999.99999 inch
0 1 0 0 0.000001 inch 999.999999 inch 999.999999 inch
1 0 0 0 0.0000001 inch 99.9999999 inch 99.9999999 inch
- 952 -
- NUMBER OF TOOL COMPENSATION SETTINGS

(1) 32 tool compensation settings
Applicable offset Nos. (D code/H code) are 0 to 32.
D00 to D32 or H00 to H32
Applicable offset Nos. (D code/H code) are 0 to 200
D00 to D200 or H00 to H499
D00 to D400 or H00 to H999
- Tool compensation memory

Three types of tool offset memory (A, B and C) are provided for setting
tool offsets.
Table. 10.2 (c) Tool Offset Memory and Tool Offset Settings
Tool offset Tool offset Tool offset memory Tool offset
memory A B memory C
Geometric offset The total of the A geometric offset is Individual
corresponding to D geometric offset set with no distinction setting
Geometric offset and wear offset is being made between Individual
corresponding to H set as a tool offset addresses D and H. setting
Wear offset with no distinction A wear offset is set Individual
corresponding to D being made with no distinction setting
Wear offset between being made between Individual
corresponding to H addresses D and addresses D and H. setting
H.
(1) Tool compensation memory A

The memory for geometric compensation and that for wear
compensation are not separated in tool compensation memory A.
Therefore, the sum of the geometric compensation amount and
wear compensation amount is set in the memory.
In addition, the memory for cutter compensation (for D code) and
that for tool length compensation (for H code) are not separated.
(2) Tool compensation memory B
compensation are separated in tool compensation memory B. The
geometric compensation amount and wear compensation amount
can thus be set separately.
However, the memory for cutter compensation (for D code) and
that for tool length compensation (for H code) are not separated.
(3) Tool compensation memory C
compensation are separated in the tool compensation memory C.
The geometric compensation amount and wear compensation
amount can thus be set separately.
- 953 -
In addition, separate memories are provided for cutter

compensation (for D code) and for tool length compensation (for
H code).
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6000 PNH EVO

# *(+ ! ' ,) ' -)!.
! /! ! -)!.! "
#$ () ' -)!. ! /! "
&$ () ' -)!. "
& / ! !!!)! 012!013

'! ! /! ! 4 !)"
#$ '! "
&$ '/! "
5))6 !#"
- 954 -
#7 #6 #5 #4 #3 #2 #1 #0
6002 OFC OFA
#7 #6 #5 #4 #3 #2 #1 #0
6004 OFD
#7 #6 #5 #4 #3 #2 #1 #0
6007 OFE

[Data type] Bit
The increment system and valid setting range of tool offsets are determined.
Metric input
OFE OFD OFC OFA Unit Geometric offset Wear
No.6007#0 No.6004#0 No.6002#1 No.6002#0 compensation
0 0 0 1 0.01 mm 9999.99 mm 9999.99 mm
0 0 0 0 0.001 mm 9999.999 mm 9999.999 mm
0 0 1 0 0.0001 mm 9999.9999 mm 9999.9999 mm
0 1 0 0 0.00001 mm 9999.99999 mm 9999.99999 mm
1 0 0 0 0.000001 mm 999.999999 mm 999.999999 mm
Inch input
OFE OFD OFC OFA Unit Geometric offset Wear
No.6007#0 No.6004#0 No.6002#1 No.6002#0 compensation
0 0 0 1 0.001 inch 999.999 inch 999.999 inch
0 0 0 0 0.0001 inch 999.9999 inch 999.9999 inch
0 0 1 0 0.00001 inch 999.99999 inch 999.99999 inch
0 1 0 0 0.000001 inch 999.999999 inch 999.999999 inch
1 0 0 0 0.0000001 inch 99.9999999 inch 99.9999999 inch
Alarm and message

PS0193 ILLEGAL OFFSET NUMBER An illegal offset No. was specified.
This alarm is also generated when the tool shape offset No.
exceeds the maximum number of tool offset sets in the
case of tool offset memory B.
Reference item
Series15i/150i-MA Operators Manual II-14.6 Tool offset value
(Programming) II-14.7 Number of tool offset
(B-63324EN) value
II-14.8 Changing the number of
tool offset value
- 955 -
10.2.1 Specification of Diameter Entry for Tool Compensation Value
Explanation of specification
The tool compensation value recorded in CNC offset memory can be
used as the diameter.
By setting bit 0 (ODI) of parameter No. 6008 to 1, you can use the tool
compensation value recorded in offset memory as the diameter of the
tool instead of the radius.
When 10.000 mm is recorded in offset memory, for example, actual
compensation is performed with the compensation value set to 5.000
mm.
When tool offset by tool number is valid, the set tool compensation
value can be treated similarly.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6008 ODI

# + !!)! !,) $

0: Used as the radius.
1: Used as the diameter.
- 956 -
10.3 TOOL LIFE MANAGEMENT FUNCTION
General
Tools are grouped and the tool life (use count or use time) is
predetermined for each group. Each time a tool belonging to a group is
used, its life value is incremented. Once the predetermined tool life
value is reached, a new tool is automatically selected according to the
predefined tool order in the group. This allows continuous machining
as well as tool life management.
The tool life management data, including tool group numbers, tool life
values, and tool compensation codes, is stored in the CNC.
Tool group number m

Tool life value l
1 Tool number(T) Code specifying tool The first tool life management data
compensation value(H/D)
2 : : The second tool life management data
: : : :
: : : :
n : : The nth tool life management data
Tool life management data Machining program Machine and CNC operations
Tool group number 1 :
Machine CNC
: :
: Places a Automatically selects,
: Tool
Selected tool in from tool group m, a
Tool group number m selection Command for selecting
The wait state tool whose life has not
: tool group m
expired.
: :
Tool group number p : Attaches the tool Starts counting the life
Tool change command In the wait state of the tool attached to
(M06) To the spindle the spindle.l
: (tool change).
:
Fig. 10.3 (a) Tool life management data/ Machining program/Machine and CNC operations
- 957 -
Tool life management data

Tool life management data consists of tool group numbers, tool
numbers, codes specifying tool compensation values, and tool life
value.
- Tool group number

The Max. number of groups and the number of tools per group that can
be registered are set by parameter (GS1,GS2 No. 7400#0, #1).
Table10.3 (a) The Max. number of groups and tools that can be registered
The Max. number of
The Max. number of The Max. number of
groups and tools
groups and tools groups and tools
without optional function
GS2 GS1 without optional function without optional function

of tool pairs of 512 tool pairs
(No. 7400#1) (No. 7400#0) of 1024 tool pairs
Number Number Number Number Number Number
of group of tool of group of tool of group of tool
0 0 16 16 64 32 128 32
0 1 32 8 128 16 256 16
1 0 64 4 256 8 512 8
1 1 128 2 512 4 1024 4
CAUTION
When bits 0 or 1 of parameter GS1,GS2 No.7400 is
changed, re-register tool life management data with
the G10L3 command (for registering and deleting
data for all groups).
Otherwise, new data pairs cannot be set.
- Tool life value

A tool life value can be specified as a use time or use count by using
parameter LTM (bit 3 of No. 7400) or the count type setting (Q
command). The maximum value is as follows:
LTM(No.7400#3) Life count type Maximum life value
0 Use count 99999999
1 Use time 999 hours
When the life count type is use time, the increments of the life values
specified with address L in a program can be set to 1 m or 0.1 s by using
parameter FGL (bit 1 of No. 7403).
FGL(No.7403#1) Life value Maximum L Example (meaning
increment command value of L1000)
0 1m 59940 Life of 1000 m
1 0.1 s 35964000 Life of 100 s
- Tool number
A tool number is specified using a T code. A number of up to eight
digits (99999999) can be specified.
- 958 -
- Tool offset specification code

Two types of tool offset specification codes are used: H code (for tool
length compensation) and D code (for cutter compensation). A number
not exceeding three digits (999) can be specified as a tool offset
specification code, but a specified number must not exceed the number
of tool offsets usable with the CNC.
NOTE
When codes specifying tool offset values are not
used, registration can be omitted.
- Tool change type

For tool life management, the four tool change types (types A to D)
indicated below are available. The type used varies from one machine
to another. For details, refer to the appropriate manual of each machine
tool builder.
Table 10.3 (b) Tool Change Type

Tool change type A B C D
Parameter CT2,CT1 7 CT1 CT2 CT1 CT2 CT1 CT2 CT1
(No.7401#1, #0) 0 0 0 1 1 0 1 1
Tool group number specified
Previously used
in the same block as the tool Tools to be used next
tools
change command (M06)
Life counting is
performed when a
Life counting is performed for a tool in the specified tool group
tool in the tool group
Tool life count timing when M06 is specified next.
specified in the
.
same block as M06
is specified
If a T command
(return tool group)
after M06 does not
Normally, when a tool group number is
match the tool When only M06 is
specified by itself, type B is used.
group currently specified, P/S
Remarks However, no alarm is raised even if the
being used, an alarm No. 0440 is
tool group number is specified by itself as
alarm (PS0442) is issued.
type C
issued (when bit 6
(ABT) of parameter
No. 7400 = 0).
NOTE
When a tool group number is specified and a new
tool is selected, the new tool selection signal is
output.
- 959 -
Tool service life count and tool selection

A count-based or time-based tool service life count system is selected
using bit 3 (LTM) of parameter No. 7400. Service life counting is
performed group by group. Service life count data is not lost when the
power is turned off.
Tool life count

Count specification Time specification
system
Bit 3 (LTM) of
0 1
parameter No. 7400
Bit 0 (FCO) of
Incremented by 1 for a tool parameter No. 7403
used in a program. 0 : At intervals of 1
Recounting is made possible second
Life count interval
with the M code for tool life 1 : At intervals of 0.1
count restart M code second
(parameter No. 7442). These intervals can be
overridden.
- Count specification (LTM = 0)

When a tool group command (T code) is specified, a tool whose service
life has not expired is selected from the group. Then, the service life
count for the selected tool is incremented by 1 with the tool change
command (M06). Unless the tool service life count restart M code is
used, however, the selection and count-up of a new tool are allowed
using only the first tool group number command and tool change
command after the control unit state is changed from the reset state to
the automatic operation start state.
Therefore, note that even when the same tool group number is specified
more than once in a single process, the count is not incremented, and a
new tool is not selected.
- Time specification (LTM = 1)

Once all the registered tool life management data has been deleted,
programmed tool life management data is registered.
When a tool group command (T code) is specified, a tool whose service
life has not expired is selected from the group. The service life
management for the selected tool is started with the tool change
command (M06). Service management (counting) is performed at
certain intervals (1 second or 0.1 second) while the tool is actually
being used in cutting mode. This service life count interval can be
specified using bit 0 (FCO) of parameter No. 7403. The time required
for single block stop, feed hold, dwell, machine lock, and interlock is
not counted.
By setting bit 3 (LFV) of parameter No. 7401, service life count can be
overridden using the service life count override signal. An override of
0 to 99.8 times can be used. When 0 times is specified, no count is
performed.
- 960 -
Tool life count restart M code

With the count-based tool life count system, when the tool life count
restart M code is specified and the life of at least one tool group has
expired, the tool change signal is output. When a tool group command
(T code) is specified after the tool life count restart M code is specified,
a tool whose life has not expired is selected from the group. Then, the
life count is incremented by 1 with the next tool change command
(M06). Thus, tool life count is enabled with a command other than the
first tool change command (M06) after the control unit status is
changed from the reset state to the automatic operation start state.
Specify the tool life count restart M code using parameter No. 7442.
Signal
Tool change signal TLCHA<F007#6>

[Function] Posts that all the tools of a group have reached the end of their service
lives. Generally, upon receiving this signal, the PMC lights an
indicator on the machine operators panel, asking the operator to
change the tools.
[Output condition] This signal is set to 1 when:
- All the tools of a group have reached the ends of their service
lives.
If time is specified for the life count type, this signal is set to 1
immediately when the life of the last tool in a group has expired.
If frequency is specified as the life count type, this signal is set to
1 when the control unit is reset by a command such as M02 or
M30, or if an M code for restarting tool life count is specified after
the service life of the last tool in a group has expired.
This signal is set to 0 when:
- Every group has tools whose lives have not yet expired.
When this signal is 1, the tool change reset signal TLRST is issued
or an MDI operation is performed from the PMC to notify the
CNC that tool change has been performed for all those groups
whose service lives have expired. Then, this signal is set to 0.
Tool change reset signal TLRST<G010#7>

[Function] Notifies the control unit that all the tools of a group, which have
already reached the ends of their service lives, have been replaced with
new tools. Before inputting this signal, input the tool group signal
(TL1 to TL256) to notify the control unit of the target group for tool
replacement. By setting bit 4 (RAG) of parameter No. 7400 to 1, the
replacement of all registered groups with new tools can be posted
without inputting a tool group number.
[Operation] When this signal status changes from 0 to 1, the control unit operates as
follows:
- When the service lives of all the tools of a group specified by the
tool group signal (TL1 to TL512) have already been reached, the
relevant information is cleared. Therefore, if this group number is
- 961 -
subsequently specified in a program, the first tool is selected again.

If a group specified by the tool group signal (TL1 to TL512)
contains a tool whose service life has not yet been reached, no
operation is performed.
NOTE
Change the status of tool change reset signal
TLRST from 0 to 1 while the control unit is not being
reset (the RST signal is not 1), and the following
state is observed:
1) When bit 5 (TRS) of parameter No. 7401 = 0:
In the reset state (the OP signal is set to 0).
2) When bit 5 (TRS) of parameter No. 7401 = 1:
(1) In the reset state (the OP signal is set to 0).
(2) In the automatic operation stop state (STL and
SPL are set to 0, and OP is set to 1).
(3) In the automatic operation hold state (STL is
set to 0, and SPL is set to 1).
(Tool change reset signal TLRST is ignored in the
automatic operation stop state, automatic operation
hold state, and automatic operation start state (STL
is set to 1) during the execution of a data setting
command (G10L3).)
- 962 -
Tool skip signal TLSKP<G009#7>

[Function] Directs the control unit to skip a tool whose service life has not been
reached and selects the next tool. The following two methods can be
used, one of which can be selected by specifying bit 2 (SIG) of
parameter No. 7400:
- Not specifying a group number with the tool group signal (SIG =
0)
When the status of tool skip signal TLSKP changes from 0 to 1,
the group of the currently selected tool is assumed to have been
specified.
When this group is specified again by a Txxxxxxxx command, the
next tool within the group is newly selected.
- Specifying a group number with the tool group signal (SIG = 1)
The group number of a group to which a tool to be skipped
belongs is specified with the tool group signal (TL1 to TL512),
then the tool skip signal TLSKP is set to 1. When this group is
specified again with a Txxxxxxxx command, the next tool within
the group is selected.
[Operation] When the status of this signal changes from 0 to 1, the control unit
operates as follows:
- Among the tools in a skip operation target group, which have not
yet reached the end of their service lives, a tool having the lowest
tool number in the tool life management table is indicated by #.
When this group is specified again by a Txxxxxxxx command, it
is posted that the marked tool is skipped and the next tool is
selected. If, in the skip operation target group, the tool whose life
has not expired is the last tool in the tool life management table,
tool change signal TLCHA is set to 1 immediately.
CAUTION
Set tool skip signal TLSKP to 1 when the control unit
is in the reset state or automatic operation stop
state. In other words, change the tool skip signal
status from 0 to 1 when automatic operation start
signal STL and automatic operation hold signal SPL
are both 0.
- 963 -
New tool select signal @TLCHB<F007#7>

[Function] This signal notifies the PMC that a new tool in a group is selected. This
signal is used when, for example, the tool length compensation amount
of a new tool is to be measured automatically as the tool is selected.
[Output condition] This signal is set to 1 in the following case:
- When a tool group number is specified by a programmed
Txxxxxxxx command, the service life of the tool being used in the
group has expired, so a new tool is selected.
In this case, the code signal for the new tool is sent, then this
signal is set to 1 at the same time as tool function strobe signal TF
is sent.
- This signal is set to 0 in the following case:
When the status of this signal is 1, completion signal FIN for the
strobe signal TF is set to 1.
T command
Code signal T0 to T31
Strobe signal TF
New tool
select signal TLCHB
End signal FIN
Tool group signals TL01 to TL512 @<G009, G042#0, G043#6, G043#7>

[Function] Specifies a tool group number. Before tool change reset signal TLRST
or tool skip signal TLSKP is input, a target group for tool change reset
operation or tool skip operation is specified using this signal.
[Operation] The table shown below presents several examples of tool group signal
settings and corresponding tool group numbers. A tool group number
is obtained by adding 1 to a binary representation. A group with a
specified number is selected.
- 964 -
TL512 TL256 TL128 TL64 TL32 TL16 TL8 TL4 TL2 TL1 Tool grpup
number
0 0 0 0 0 0 0 0 0 0 1
0 0 0 0 0 0 0 0 0 1 2
0 0 0 0 0 0 0 0 1 0 3
0 0 0 0 0 0 0 0 1 1 4
0 0 0 0 0 0 0 1 0 0 5
0 0 0 0 0 0 1 0 0 1 10
0 0 0 0 0 0 1 1 1 0 15
0 0 0 0 0 1 0 0 1 1 20
0 0 0 0 0 1 1 1 0 1 30
0 0 0 0 1 1 0 0 0 1 40
0 0 0 0 1 1 0 0 0 1 50
0 0 0 1 1 0 0 0 1 1 100
0 0 0 1 1 1 1 1 1 0 127
0 0 0 1 1 1 1 1 1 1 128
0 0 1 1 0 0 0 1 1 1 200
0 0 1 1 1 1 1 1 1 1 256
0 0 0 0 0 0 0 0 0 0 257
0 1 0 0 1 0 1 0 1 1 300
0 1 1 0 0 0 1 1 1 1 400
0 1 1 1 1 1 0 0 1 1 500
0 1 1 1 1 1 1 1 1 1 512
1 0 0 0 0 0 0 0 0 0 513
1 0 0 1 0 1 0 1 1 1 600
1 0 1 0 1 1 1 0 1 1 700
1 1 0 0 0 1 1 1 1 1 800
1 1 1 0 0 0 0 0 1 1 900
1 1 1 1 1 0 0 1 1 1 1000
1 1 1 1 1 1 1 1 1 1 1024
CAUTION
When there is no additional combination option,
TL64 to TL1 are valid. When 512 tool life
management combinations are added, TL256 to
TL1 are valid. When 1024 tool life management
combinations are added, TL512 to TL1 are valid.
- 965 -
Tool life count override signals *TLV0 to *TLV9<G154#0, G154#1, G155>

[Function] If time is specified as the life count type, the life count can be
overridden by setting bit 3 (LFV) of parameter No. 7401 to 1. This
signal consists of ten binary code signals. The signal and override
value are related as follows:
9
+, ,) =
i =0
7i ~(i 8

Where:
When *TLVi is 1, Vi = 0.
When *TLVi is 0, Vi = 1.
Each signal has the following weight:

Signal Magnification
*TLV0 0.1
*TLV1 0.2
*TLV2 0.4
*TLV3 0.8
*TLV4 1.6
*TLV5 3.2
*TLV6 6.4
*TLV7 12.8
*TLV8 25.6
*TLV9 51.2
(Example)
When *TLV7, *TLV6, and *TLV3 are set to "0", the override
value is calculated as follows:
12.8+6.4+0.8=20.0
The life count is multiplied by 20.0.
When all the signals are set to 1, the override value is 0. Set a
value from 0 to 99.9 in 0.1-time steps.
[Operation] The actual cutting time is counted and multiplied by the override value
obtained by the signals. The calculated time is used as the basis for
tool-life management. For example, assume that the override value is
0.1, and the time required for actual cutting is 1000 seconds. Then, the
tool life count time is 100 seconds.
- 966 -
Life end group select signalTLEGS<F043#5>

[Function] Posts notification that a tool group whose life has expired is selected.
[Output condition] This signal is set to 1 in the following cases:
- When time is specified as the life count type:
A tool group selected by a programmed Txxxxxxxx command is
in one of the following conditions:
i) A tool group selected by a programmed Txxxxxxxx
command is in one of the following conditions:
ii) The last tool is currently being used, and a tool skip
operation is being performed.
- When frequency is specified as the life count type
A tool group selected by a programmed Txxxxxxxx command is
in one of the following conditions:
i) The last tool is currently being used, and the life counter
indicates a value greater than or equal to the life value. In
this case, the command is the first command after the reset
mode, or an M code for restarting tool life counting is
specified.
ii) The last tool is currently used, and a tool skip operation is
performed.
This signal is set to 0 in the following case:
- Completion signal FIN for the tool change M code command
(M06) is set to 1.
T command and output

condition
Code signals T0 to T31
Strobe signal TF
Strobe signal MF
Life end group select signal

TLCHB
CAUTION
1 If a T command and tool change M code command
are specified in the same block, this signal is set to 0
when FIN for the tool change M code command in
the same block is set to 1.
2 The signal status is kept as is even when the tool
group life has been recovered or when the CNC is
reset.
- 967 -
Life arrival signal TLARV<F043#4>

[Function] Posts that the service life of a selected tool group has ended.
[Output condition] This signal is set to 1 in the following cases:
- When time is specified as the life count type:
The tool group for which life management is started by the tool
change M code command (M06) is in one of the following
conditions:
indicates a value greater than or equal to the life value.
ii) The last tool is currently being used, and a tool skip operation
is performed.
- When frequency is specified as the life count type
The tool group for which the life counter is incremented by the
tool change M code command (M06) is in one of the following
conditions:
indicates a value greater than or equal to the life value.
ii) The last tool is currently being used, and a tool skip operation
is performed.
This signal is set to 0 in the following case:
- When TLARV is 1, and completion signal FIN for the tool change
M code command (M06) is set to 1.
Output condition
Strobe signal MF
Life arrival signal TLARV
CAUTION
1 The signal status remains as is even when the tool
group service life has been zeroed or when the CNC
is reset.
2 Once the status of this signal changes from 1 to 0
after completion signal FIN for M06 is set to 1,
specifying a T command to select the same group
again does not set this signal to 1 if the tool data is
not yet updated by, for example, the tool change
reset signal (that is, if the tool life expired state is
maintained).
- 968 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G009 TLSKP TL64 TL32 TL16 TL08 TL04 TL02 TL01
G010 TLRST
G042 TL256
G043 TL128 TL512
G154 *TLV7 *TLV6 *TLV5 *TLV4 *TLV3 *TLV2 *TLV1 *TLV0
G155 *TLV9 *TLV8
#7 #6 #5 #4 #3 #2 #1 #0
F007 TLCHB TLCHA
F043 TLEGS TLARV
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7400 TAD ABT SNG RAG LTM SIG GS2 GS1

# 0&
& 0 9!!! - !' ! -
!!!) ' ! !!)) ' ! '!
!))!') $
GS2 GS1 Tool life Tool life Tool life

(#1) (#0) management pairs: management pairs: management pairs:
with no addition 512 pairs 1024 pairs
option
Number of Number Number of Number Number of Number
groups of tools groups of tools groups of tools
0 0 16 16 64 32 128 32
0 1 32 8 128 16 256 16
1 0 64 4 256 8 512 8
1 1 128 2 512 4 1024 4
CAUTION
After changing the setting in this parameter, specify G10 L3; to
set data again.
- 969 -
0 ! ' ! ! !!).'
')"
#$ !! "
&$ "
NOTE
If no group number is specified using a signal, tool skip is
performed for the tool of the group currently used.
: ;4 !!!!)) ! < "

#$ %!!!)) < "
&$ %!!!)) "
NOTE
After changing the setting of this parameter, reenter the data with
G10 L3;.
1 =90 !!) ' ! - ! !!)'
');= "
#$ %) - ! ! ' ! ) ! ' !
- "
&$ %) - ! !)) ' ' !"
> 0 !! ) !!).');? !!)

! ) !' "
#$ . !!)! ' !! ) ! ' !
0! !"@1##"
&$ '! !!).')" !!). !4! !)!
) "
2 9 ! ) !!) ! !

)!'! ) ' !!!) ) 9"
#$ ) #11"

&$ !! ) "
@ 9 ! ) !!
)!.) 4#2!!) ) "
#$ ! ! ) "
&$ ) #11#"
- 970 -
#7 #6 #5 #4 #3 #2 #1 #0
7401 TRU TRS LFV EMD CT2 CT1

# %&
& % 9!!)' ! '! !))!') $
- Tool life management

CT2 CT1 Tool Description
(#1) (#0) change Tool group number Tool life management
type specified in the block that count timing
specifies the tool change
command (M06)
0 0 A Group of tools Life counting is performed for a tool
already used in the specified tool group when M06
0 1 B Tool group to be used is specified next.
1 0 C next
1 1 D Life counting is performed when a
tool in the tool group specified in the
block that specifies M06 is specified.
*4 .A! ' - !!)
) "
#$ ) -!!) "
&$ ) ) - "
: ;B( ) !!, ,) "

#$ !,) "
&$ () "
> = !!)' ');=,) =
! !&! 6 $
#$ C + !#"
&$ C + !#6 !! !
! ; ; !#6 + !&6!
!! !) ; !#6 ; !
&" /! , 6;=,) !! !!
6!! !) 6 !! !
; !& ' '! 0&#;:
- !"
- 971 -
2 =5 !! ) ' ) & ! )
!' ! ;4D&6 ) ! ,)&
! B%+D#"
0: A cutting time less than 1 second is truncated, and is not counted.
1: A cutting time less than 1 second is rounded off to 1 second, and is counted.
NOTE
When the life count interval is 0.1 second (FCO = 1), a cutting
time less than 0.1 second is always rounded off to 0.1 second,
and is counted.
#7 #6 #5 #4 #3 #2 #1 #0
7403 FGL FCO

# B%+ ) ! ,)& ! ! #"& !
!!)) !' ! "
#$ & !
&$ #"& !
9! '! 6 !!!)) ,) !!))
! )E '!))!$
#B%+! !"@1#: # &
; ,) ) !
)E ' & #"&
NOTE
After changing the setting of this parameter, reenter the data with
G10 L3;.
& B0; ) ,) ! ;0&# )

' ! !& ! #"& ! !!))
!' ! "
0: In steps of 1 minute
1: In steps of 0.1 second
7440 Number for ignoring tool life management

'
() '
#FFFFFFFF
,) ' ,) ! 6
,) ! ' ,) ! ,) !
! !!)' ! ! !!)) ' "
- 972 -
7442 M code used to restart tool life counting

'
() '
B !# !'FFFFFFFF*-) '#&6#6:#6F36FF ))'4
!
C !!)) ! !!)
6 !!)' ');%/9 !!)) !!
! !!)' ! - ! !! 4!
! !!)) !'"
! !!)) ' ' !! 4
! ! !!)) !' ) !!)! ) !
- ! ' !" -4#2!
!!)) ! ! "
C !!)) !!) 6
' 4! ! !!)) !' ! !
! !" C # 6 4! !
!!)) !'! "
7443 H code for enabling tool length compensation specified by group number

'
() '
#FFFF
6 6/! ! )'!!)) '! !
) ) ' ! " C #
6! ! ) /FF"
7444 D code for enabling cutter compensation specified by group number

'
() '
#FFFF
6 6! ! )' ! !
) ) ' ! " C #
6! ! ) FF"
- 973 -
Alarm and message

PS0437 ILLEGAL LIFE GROUP NUMBER A tool group number exceeded the maximum value.
The tool group No. (P after G10 L3:) or the group No.
assigned by the T code instruction for tool life management
in the machining program exceeded the maximum value.
PS0438 GROUP NOT FOUND AT LIFE DATA A tool group specified in the machining program was not set
in the tool life management data.
PS0439 OVER MAXIMUM TOOL NUMBER The number of tool specified in a single tool group exceeds
the maximum allowed number.
PS0440 T COMMAND NOT FOUND No T command was specified in a program which sets a tool
group.
The same block as M06 in the machining program does not
contain a T command in tool change method D (parameters
CT2=2, CT1=1: No. 7401#1/#0).
PS0441 NOT USING TOOL IN LIFE GROUP An H99 instruction, D99 instruction or the H/D code specified
in parameters (No. 7443, 7444) has been specified even
though no tool that belongs to a group was being used.
PS0442 ILLEGAL T COMMAND AT M06 The tool group of the tool specified in the tool instruction
(return tool group) after the M06 instruction in the machining
program does not match the current tool group in tool
change method A (parameters CT2=0, CT1=0: No.
7401#1/#0).
This alarm can be suppressed by setting ABT parameter No.
7400#6 to "1".
PS0443 P,L COMMAND NOT FOUND No P (group No. ) or L (tool life) was specified at the
beginning of a program that sets a tool group when tool data
in a group was being loaded during loading tool life
management data.
PS0444 OVER MAXIMUM LIFE GROUP The number of blocks in which P (group No. ) or L (tool life) is
instructed exceeding the maximum number of groups was
found while loading tool life management data.
PS0445 ILLEGAL L COMMAND An illegal range instructed in the L (tool life) instruction was
found while loading tool life management data.
PS0446 ILLEGAL H,D,T COMMAND A value specified by T (tool No. ), D (cutter compensation
No. ) or H (tool length offset No. ) exceeding the maximum
value was found while loading tool life management data.
PS0448 ILLEGAL FORMAT AT LIFE DATA An illegal address was specified in a program (G10 L3: to
G11;) that sets a tool group.
Allowable addresses are P (group No. ), L (tool life) and T
(tool No. ).
PS0449 ILLEGAL TOOL LIFE DATA Tool life management data is damaged for some reason.
Reload the tool group and the corresponding tool data by
G10 L3; or MDI input.
Reference item
Series15i/150i-MA Operators Manual II-10.2 Tool life management
(Programming)
(B-63324EN)
- 974 -
10.4 TOOL COMPENSATION FUNCTION
10.4.1 Tool Length Offset
General
This function can be used by setting the difference between the tool
length assumed during programming and the actual tool length of the
tool used into the offset memory. It is possible to compensate the
difference without changing the program.
Specify the direction of offset with G43 or G44. Select a tool length
offset value from the offset memory by entering the corresponding
address and number (H code).
Tool assumed during Actual tool

programming
Specify this distance as

the value of tool length
offset.
Fig. 10.4.1 (a) Tool length offset
- Direction of the offset

When G43 is specified, the tool length offset value (stored in offset
memory) specified with the H code is added to the coordinates of the
end position specified by a command in the program. When G44 is
specified, the same value is subtracted from the coordinates of the end
position. The resulting coordinates indicate the end position after
compensation, regardless of whether the absolute or incremental mode
is selected.
If movement along an axis is not specified, the system assumes that a
move command that causes no movement is specified. When a positive
value is specified for tool length offset with G43, the tool is moved
accordingly in the positive direction. When a positive value is
specified with G44, the tool is moved accordingly in the negative
direction. When a negative value is specified, the tool is moved in the
opposite direction.
G43 and G44 are modal G codes. They are valid until another G code
belonging to the same group is used. By setting bit 2 (G43) of
parameter No. 2401 or bit 3 (G44) of parameter No. 2401, G43 or G44
can be set upon power-up.
- 975 -
- Specification of the tool length offset value

The tool length offset value assigned to the number (offset number)
specified in the H code is selected from offset memory and added to or
subtracted from the moving command in the program.
The tool length offset value may be set in the offset memory through
the MDI panel.
The range of values that can be set as the tool length offset value is as
follows.
- Specifying offset along two or more axes

When LXY (bit 4 of parameter No. 6000) is set to 1, offset can be
performed along any axes specified in the program. When two or more
axes are specified, offset can be performed along all specified axes.
Offset in X and Y axes:

G43 X_ Y_ H_ ;
- Canceling tool length compensation

To cancel the offset, command a G49 or assign offset H0. When G49 is
commanded, the canceling action is taken immediately.
When LXY, bit 4 of parameter No.6000, is set to 0 (tool length

compensation is applied along the Z-axis), the offset can be canceled
simply by specifying H00.
When LXY, bit 4 of parameter No.6000, is set to 1, tool length
compensation is applied along the axis specified in the program.
G43 X_ H_ ; (specified tool length compensation along the X-axis)
:
G43 X_ H0 ; (Cancels tool length compensation along the X-axis)
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2401 G44 G43

! "! # $%
G43 G44 G43, G44, or G49 mode

0 0 G49 mode
0 1 G44 mode
1 0 G43 mode
- 976 -
#7 #6 #5 #4 #3 #2 #1 #0
2409 K43

& ' ( ! ) *
) + %
,- . %
/- 0 * %
#7 #6 #5 #4 #3 #2 #1 #0
6000 LXY EVO

, 123 ( ! !! ) * ) 4 5
+ ! 4 5 !! %
,- 2 ) 4 5 + ! %
/- 2 ) 4 5!! %
678 ( ! 4 ) "$

9:4 ) 4"!
# $%
,- 9:4 %
/- ; ) 4%
- 977 -
#7 #6 #5 #4 #3 #2 #1 #0
6007 ZMV

& 9#2 < !! ! ) ) "678$

! 0%=,,, ,,"123$! 0%=,,,
/ !! * ! -
0: A block to be buffered next;
1: A block containg the next Z-axis move command or H code command.
This parameter is valid only when bit 4 (LXY) of parameter No. 6000 is set to 0.
ZMV and bit 0 (EVO) of parameter No. 6000 have the following relationship:
ZMV EVO Time when a new offset becomes
(No.6007#5) (No.6000#0) valid
| 0 New offset becomes valid in a block
specifying the next H code.
0 1 New offset becomes valid in a block
to be buffered next.
1 1 New offset becomes valid in a block
specifying the next Z-axis move
command or H code.
Reference item
Series15i/150i-MA Operators Manual II-14.1 Tool length
(Programming) compensation
(B-63324EN)
- 978 -
10.4.2 Tool Offset
General
The programmed travel distance of the tool can be increased or
decreased by a specified tool offset value or by twice the offset value.
The tool offset function can also be applied to an additional axis.
Workpiece
Tool center path Programmed path

Tool
Fig. 10.4.2 (a) Tool offset
- 979 -
- Increase and decrease

As shown in Fig. 10.4.2(a), the travel distance of the tool is increased or
decreased by the specified tool offset value.
In the absolute mode, the travel distance is increased or decreased as
the tool is moved from the end position of the previous block to the
position specified by the block containing G45 to G48.
Table 10.4.2 (a) Increase and decrease of the tool travel distance
G code When a positive tool offset When a negative tool offset
value is specified value is specified
G45
Start position End position Start position End position
G46
G47
G48
If a move command with a travel distance of zero is specified in the

Programmed movement
Tool offset value
Actual movement position
incremental command (G91) mode, the tool is moved by the distance

corresponding to the specified tool offset value.
If a move command with a travel distance of zero is specified in the
absolute command (G90) mode, the tool is not moved.
- Tool offset value

Once selected by D code, the tool offset value remains unchanged until
another tool offset value is selected.
- 980 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6000 PCI PNH EVO

, 123 ( ! !! ) * ) 4 5
+ ! 4 5 !! %
,- 2 ) 4 5 + ! %
/- 2 ) 4 5!! %
/ 0+ ( ! !! ! !! "=>$
! ) + "! # $%
,- ( ! ) %
/- ( ! )+ %
? ,%
. ( ! !! "&>$* !

"! # $%
,- 0* %
/- 2 %
Reference item
Series15i/150i-MA Operators Manual II-14.2 Tool offset
(Programming)
(B-63324EN)
- 981 -
10.4.3 Cutter Compensation
General
When the tool is moved, the tool path can be shifted by the radius of the
tool (Fig. 10.4.3(a)).
To make an offset as large as the radius of the tool, CNC first creates an
offset vector with a length equal to the radius of the tool (start-up).
The offset vector is perpendicular to the tool path. The tail of the
vector is on the workpiece side and the head positions to the center of
the tool.
If a linear interpolation or circular interpolation command is specified
after start-up, the tool path can be shifted by the length of the offset
vector during machining.
To return the tool to the start position at the end of machining, cancel
the cutter compensation mode.
Cutter
compensation
cancel
Start-up
Fig. 10.4.3 (a) Outline of Cutter Compensation C
- 982 -
- Offset cancel mode

At the beginning when power is applied the control is in the cancel
mode. In the cancel mode, the vector is always 0, and the tool center
path coincides with the programmed path.
- Start Up
When a cutter compensation command (G41 or G42, nonzero
dimension words in the offset plane, and D code other than D0) is
specified in the offset cancel mode, the CNC enters the offset mode.
Moving the tool with this command is called start-up.
Specify positioning (G00) or linear interpolation (G01) for start-up. If
circular interpolation (G02, G03) is specified, alarm PS070 occurs.
When reading a start-up block and subsequent blocks, the CNC first
reads the number of blocks specified in parameter No. 6009.
- Offset mode
In the offset mode, compensation is accomplished by positioning (G00),
linear interpolation (G01), or circular interpolation (G02, G03). If two
or more blocks that do not move the tool (miscellaneous function,
dwell, etc.) are processed in the offset mode, the tool will make either
an excessive or insufficient cut. If the offset plane is switched in the
offset mode, alarm PS0271 occurs and the tool is stopped.
- Offset mode cancel

In the offset mode, when a block which satisfies any one of the
following conditions is executed, the CNC enters the offset cancel
mode, and the action of this block is called the offset cancel.
1. G40 has been commanded.
2. 0 has been commanded as the offset number for cutter
compensation.
When performing offset cancel, circular arc commands (G02.2 and
G03.2) are not available. If a circular arc is commanded, an P/S alarm
(No. 034) is generated and the tool stops. In the offset cancel, the
control executes the instructions in that block and the block in the
cutter compensation buffer. In the meantime, in the case of a single
block mode, after reading one block, the control executes it and stops.
By pushing the cycle start button once more, one block is executed
without reading the next block.
Then the control is in the cancel mode, and normally, the block to be
executed next will be stored in the buffer register and the next block is
not read into the buffer for cutter compensation.
Start up
(G41/G42)
Offset cancel mode Offset mode
Offset mode cancel
(G40/D0)
Fig. 10.4.3 (b) Changing the offset mode
- 983 -
- Setting the cutter compensation value

Assign a cutter compensation values to the D codes on the MDI panel.
- Offset vector
The offset vector is the two dimensional vector that is equal to the
cutter compensation value assigned by D code. It is calculated inside
the control unit, and its direction is up-dated in accordance with the
progress of the tool in each block.
The offset vector is deleted by reset.
- Specifying a cutter compensation value

Specify a cutter compensation value with a number assigned to it. The
number consists of 1 to 3 digits after address D (D code). The D code is
valid until another D code is specified. The D code is used to specify
the tool offset value as well as the cutter compensation value.
- Plane selection and vector

Offset calculation is carried out in the plane determined by G17, G18
and G19, (G codes for plane selection). This plane is called the offset
plane.
Compensation is not executed for the coordinate of a position which is
not in the specified plane. The programmed values are used as they are
In simultaneous 3 axes control, the tool path projected on the offset
plane is compensated.
The offset plane is changed during the offset cancel mode. If it is
performed during the offset mode, a alarm (PS0271) is displayed and
the machine is stopped.
- 984 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6001 CNI CNC CSU

, .(? @ A".(.$! 0%=,,

B ! %
CSC CSU Type Operation
0 0 Type A A compensation vector perpendicular to the block next to the
startup block or the block preceding the cancellation block is
output.
Tool center path
G41
Programmed path
N2
N1
0 1 Type B A compensation vector perpendicular to the startup block or

cancellation block and an intersection vector are output.

Tool center
path
Programmed
G41
N2 path
N1
1 0 Type C When the startup block or cancellation block specifies no

1 movement operation, the tool is shifted by the cutter
compensation amount in a direction perpendicular to the block
next to the startup or the block before cancellation block.
Tool center

path
N3

G41 N2 Programmed
path
N1
When the block specifies movement operation, the type is set

according to the CSU setting; if CSU is 0, type A is set, and if
CSU is 1, type B is set.
- 985 -
/ .0. @ =".0$! 0%=,,/

! 5) ! 5 %
CNI CNC Operation
0 0 Interference check is enabled. The direction and the anlgle of
an arc are checked.
0 1 Interference check is enabled. Only the angle of an arc is
checked.
1 | Interference check is disabled.
For the operation taken when the interference check shows the occurrence of an
rference (overcutting), see the description of bit 5 (CAV) of parameter No. 6008.
NOTE
Checking of only the direction cannot be set.
= .0 ( ! ! 5
* %
,- 2 % )/".0.$! 0%=,,/
5 ) 5 %
/- 0* %
#7 #6 #5 #4 #3 #2 #1 #0
6003 CSC

A .(. ( ! ! ! :

! !! :
%
,- @ ; % "< ,".(?$
! 0%=,,/%$
/- @ .%
#7 #6 #5 #4 #3 #2 #1 #0
6005 AIM

- 986 -
/ ;# ( !

! # %
0: Issue no alarm. (In this case, cutter compensation is enabled for commands in
the MDI mode, and an intersection calculation is made. If MDI intervention is
performed, however, no intersection calculation is made, and the previous
vector is held.)
1: Issue an alarm (PS0275).
#7 #6 #5 #4 #3 #2 #1 #0
6008 NAG NAA CAV CCC

... ( ! !
%
,- 6
/- .
& .;2 ( ! ! ! 5

! ! "* )$%
,- ; "(,A$ ) " !
5 !$%
/- @ ) * ! "* )$
) " ! 5* !$%
C ! ! 5 !/".0$!
0%=,,/=".;2$! 0%=,,/%
= 0;; ! ! 5* !D) *
) ! ! !
! * * ! )5 -
,- ; %
! * )
(,A> %
!! ! ! ! * *
(,A %
/- @ * ) %
NOTE
Normally, this bit should be set to 0.
A 0; ! )* )! ! 5* !!
,-
,- ;* ! %
/- ;* ! %
- 987 -
6009 Number of blocks to be read in the cutter compensation mode

( )

)
2 )
:>
( ! ! 5 %
!* E ! !! 5
% !* E ) > !
!!> 5 % ; 5
* )" ! $! ! 5
% * 5 F
) 5 ) E %
@ #

) % @ )!

)%
- 988 -
6010 Limit for ignoring the small movement resulting from cutter compensation

( )

G
?!
"$
#!
! ! 4
2 )
)!!" ! )
";$$
"< (::%:H%$
When the tool moves around a corner in cutter compensation mode, the limit for
ignoring the small travel amount resulting from cutter compensation is set. This
limit eliminates the interruption of buffering caused by the small travel amount
generated at the corner and any change in feedrate due to the interruption.
If VxVlimit and VY
Vlimit, this vector is ignored.
V x
V Y
S
r
Even if VxVlimit and

VYVlimit, vector to single-
block stop point
Tool center path
remains.
Programmed path
Vlimit is determined depending on the setting in parameter No. 6010.
- 989 -
Alarm and message

PS0270 CRC:START_UP /CANCEL BY An attempt was made to execute the cutter compensation
CIRCLE startup or cancel block in the circular interpolation mode or
involute interpolation mode.
PS0271 CRC:PLANE CHANGE An attempt was made to change the plane in the cutter
compensation mode.
To change the plane, cancel the cutter compensation
mode.
PS0272 CRC:INTERFERENCE The depth of the cut is too great during cutter
compensation. Check the program.
The criteria for judging interference are as follows:
(1) The direction of movement of the programmed block
differs from the direction of movement of the corresponding
tool center path block by 90 or more or 270 or less.
The check in this case can be disabled by setting CNC
parameter No. 6001#1 to "1".
(2) In the case of an arc, the difference in angle between
the start and end points of the programmed block differs by
180 or more with the difference in angle between the start
and end points of the corresponding tool center path block.
PS0273 CRC:MOTION IN G39 Corner circular interpolation (G93) during cutter
compensation has been specified not as an individual
instruction but together with a move instruction.
PS0275 CRC:MDI MODE Cutter compensation has been specified in the MDI mode.
This alarm is also generated when the AIM parameter AIM
No. 6005#1 is set to 1.
PS0276 CRC:NO INTERSECTION There is not point of intersection of the compensated tool
center path during cutter compensation.
PS0277 CRC:NO AVOIDANCE Interference cannot be avoided as there no interference
avoidance vector has been specified for the interference
check avoidance function during cutter compensation.
PS0278 RC:DANGEROUS AVOIDANCE Danger was judged when avoidance operation was
executed by the interference check avoidance function
during cutter compensation.
PS0279 CRC:INTERFERENCE TO AVD. Interference occurred again even though the interference
avoidance vector has been calculated by the interference
check avoidance function during cutter compensation.
Reference item
Series15i/150i-MA Operators Manual II-14.3 General of cutter
(B-63324EN) II-14.4 Details of cutter
compensation
- 990 -
10.4.4 Three-dimensional Tool Compensation
General
In cutter compensation, two-dimensional offset is performed for a
selected plane. In three-dimensional tool compensation, the tool can be
shifted three-dimensionally when a three-dimensional offset direction
is programmed.
Surface normal direction

vector(I, J, K)
Three-dimensional tool
compensation vector Tool center coordinate
value (x, y, z)
Tool compensation value
Program coordinate value,

(x, y, z)
Z(K)
Y(J) X(I)
Fig. 10.4.4 (a) Three-dimensional tool compensation value

As shown in Fig. 10.4.4 (a), the tool is moved with the tool center
coordinates (x, y, z) shifted from the programmed coordinates (x, y, z)
by the tool offset value, according to the programmed surface normal
vector (I, J, K). In this case, the three-dimensional tool compensation
vector has the same magnitude as the tool offset value and the same
direction as that of the surface normal vector (I, J, K).
- 991 -
- Three-dimensional tool compensation vector

In three-dimensional tool compensation mode, the following three-
dimensional tool compensation vector is generated at the end of each
block:
Programmed path
Path after three-dimensional tool
compensation
Three-dimensional tool
compensation vector
G40
G41
The three-dimensional tool compensation vector is obtained from the

following expressions:
ir
Vx= (Vector component along the Xp-axis)
p
jr
Vy= (Vector component along the Yp-axis)
p
kr
Vz= (Vector component along the Zp-axis)
p
In the above expressions, i, j, and k are the values specified in addresses
I, J, and K in the block. r is the offset value corresponding to the
specified offset number.
p is the value obtained from the following expression:
2 2 2
p= i + j +k
When the user wants to program the magnitude of a three-dimensional
tool compensation vector as well as its direction, the value of p in the
expressions of Vx, Vy, and Vz can be set as a constant in parameter No.
6011.
If the parameter is set to 0, however, p is determined as follows:
2 2 2
p= i + j +k
- Relationship between three-dimensional tool compensation and other

compensation functions
Tool length The path shifted by three-dimensional tool compensation is
compensation shifted by tool length compensation.
Tool offset In three-dimensional tool compensation mode, no tool offset
can be specified.
Cutter When addresses I, J, and K are all specified at startup,
compensation three-dimensional tool compensation mode is set. When
other than all of the addresses are specified, cutter
compensation mode is set. Therefore, cutter compensation
cannot be specified in three-dimensional tool compensation
mode and three-dimensional tool compensation cannot be
specified in cutter compensation mode.
- 992 -
- Specifying I, J, and K
Addresses I, J, and K must all be specified at startup to start three-
dimensional tool compensation. When even one of the three addresses
is omitted, two-dimensional cutter compensation is activated. When a
block specified in three-dimensional tool compensation mode contains
none of addresses I, J, and K, the same vector as that generated in the
previous block is generated at the end of the block.
- Modal I, J, and K commands

When bit 0 (OKI) of parameter No. 6030 is 1, three-dimensional tool
compensation can be performed even if one or two of the I, J, and K
commands are omitted; the omitted addresses are assumed to be the
same values as the previous values.
Example
N1 G41 X_ Y_ Z_ I_ J_
K_ D_
N2 X_ Y_ Z_ I_ K_ Vector calculation is
performed with the omitted J
value assumed to be the
value in N1.
N3 X_ Y_ Z_ I_ Vector calculation is
performed with the omitted J
value and K value assumed
to be the value in N1 and the
value in N2, respectively.
- Accurate vector command

When bit 0 (ONI) of parameter No. 6029 is 1, up to nine significant
digits (nine digits in the integer part to nine digits in the decimal part)
can be specified in the I, J, and K commands of three-dimensional tool
compensation, regardless of the increment system of the reference axis.
Example
Permitted
.999999999
1.23456789
999999999.
Not permitted (PS0012 is issued.)

0.999999999
1.234567890
999999999.0
- 993 -
NOTE
1 When bit 0 (ONI) of parameter No. 6029 is 1, the
functions using the I, J, and K commands listed
below must not be used in three-dimensional tool
compensation mode. Otherwise, the PS0282
alarm is issued.
Exponential interpolation (I, J, and K commands of
G02.3/G03.2)
Canned cycle shift amount (I and J commands of
G76 and G87)
Type 2 of tool center point control (I, J, and K
commands of G43.5)
Direction of rigid tapping orientation (I command of
G84.2/G84.3)
2 When bit 0 (ONI) of parameter No. 6029 is 1, the I,
J, and K commands must be specified using the
decimal point. If these commands are specified
without the decimal point, a PS0283 alarm is
issued.
3 When bit 0 (ONI) of parameter No. 6029 is 1, macro
variables cannot be used for the I, J, and K
commands.
- Offset vector in interpolation

When circular interpolation, helical interpolation (both specified with
G02, G03), or involute interpolation (G02.2, G03.2) is specified, the
vector generated in the previous block is maintained.
Vector generated in the block before an arc
The same vector is generated.

Programmed path
Path after three-dimensional
tool compensation
Three-dimensional tool compensation vector
- Alarm in three-dimensional tool compensation mode

If one of the following G codes is specified in three-dimensional tool
compensation mode, an alarm is issued:
G31 Skip function (PS alarm No. 0282)
G37 Automatic tool length measurement
(PS alarm No. 0282)
- 994 -
Parameter
6011 Constant denominator for three-dimensional tool compensation or tool
length compensation in a specified direction

!
" #
$ %&%!!!!!!'!!!%(!!!!!!'!!!
) '
$ * I 2 + J 2 + K 2 '
#7 #6 #5 #4 #3 #2 #1 #0
6029 ONI

&
+* ,- . /0 %

12
0: The increment system of the reference axis is used.
1: Up to nine significant digits (nine digits in the integer part to nine digits in the
decimal part) can be specified.
NOTE
When this parameter is set to 1, the I, J, and K commands of
three-dimensional tool compensation must be specified using the
decimal point. If these commands are specified without the
decimal point, alarm PS0283 is issued.
- 995 -
#7 #6 #5 #4 #3 #2 #1 #0
6030 OKI

3

&
+* ,0 . /0 %

2
0: The conventional specifications.
- When the I, J, and K commands are all omitted in three-dimensional tool
compensation mode, the previous vector is maintained.
- When one or two of the I, J, and K commands are omitted in three-dimensional
tool compensation mode, their components are assumed to be 0.
1: The new specifications.
- When the I, J, and K commands are all omitted in three-dimensional tool
compensation mode, the previous vector is maintained.
- When one or two of the I, J, and K commands are omitted in three-dimensional
tool compensation mode, the previous values are assumed.
Alarm and message

PS0282 ILLEGAL COMMAND IN 3-D OFFSET An illegal G code was specified in the 3-dimensional tool
offset mode. Skip instructions and tool length
measurement cannot be specified.
PS0283 ILLEGAL IJK IN 3-D OFFSET When bit 0 (ONI) of parameter No. 6029 is 1, the I, J, and K
commands are specified without the decimal point in
three-dimensional tool compensation mode.
Reference item
Series15i/150i-MA Operators Manual II-14.5 Three dimensional tool
(Programming) offset
(B-63324EN)
- 996 -
10.4.5 Tool Offsets Based on Tool Numbers
General
Cutter compensation data, tool length compensation data, and the tool
pot number can be set for a specific tool number (T code). Up to 300
sets of data can be set. If a certain tool number is specified, the pot
number corresponding to that tool number is output as a T code to the
PMC. If cutter compensation or tool length compensation is specified,
compensation is performed using the cutter compensation or tool
length compensation data set for the tool number.
Tool Data Registration, Modification, and Deletion

- Setting tool data
After all the registered tool data has been deleted, programmed tool
data can be registered.
- Adding or modifying tool data

The tool data programmed for a group can be added to or modified. If a
previously registered tool number is specified, the tool data for that tool
number is updated to specified data.
- Deleting tool data

Registered tool data can be deleted. If an attempt is made to delete the
tool data for the currently selected tool, a PS0425 alarm is issued. Any
attempt to delete tool data by specifying a tool number and pot number
fails if no tool matches the two numbers.
Format
- Registration involving tool data deletion
Format Meaning of command
G10L70; G10L70:Starts the deletion of registered tool data and the
T-P-K-R-; registration of new tool data.
T-P-K-R-; T-:Tool number(0-99999999)
: P-:Pot number(0-9999)
T-P-K-R-; K-:Tool length offset(Caution)
G11; R-:Cutter compensation value(Caution)
M02(M30); G11:Ends the registration of setting data.
- 997 -
- Adding and modifying tool data

G10L71; G10L71:Starts the addition to or modification of registered
T-P-K-R-; tool data.
T-P-K-R-; T-:Tool number(0~99999999)
: P-:Pot number(0~9999)
T-P-K-R-; K-:Tool length offset (Caution)
G11; R-:Cutter compensation value (Caution)
M02(M30); G11:Ends the addition to or modification of setting data.
CAUTION
The unit of data and valid data range of tool length
offsets and cutter compensation values depend on
the settings of bit 0 (OFA) of parameter No. 6002, bit
1 (OFC) of parameter No. 6002, bit 0 (OFD) of
parameter No. 6004, and bit 0 (OFE) of parameter
No. 6007.
Deleting tool data

G10L72; G10L72: Starts the deletion of registered tool data.
T-; T-: Delete tool data for the specified tool number.
: P-: Delete all tool data for the specified pot number.
P-; T- P-: Delete tool data for the specified tool number and
: pot number.
G11: Ends the deletion of setting data.
T- P-;
:
G11;
MO2(M30);
Example:
Tool data setting

N01 G10 L70 ;
N02 T01 P10 K11.0 R12.0 ;
N03 T02 P20 K21.0 R22.0 ;
N04 T03 P20 K31.0 R32.0 ;
N05 T04 P30 K32.0 R42.0 ;
N06 G11 ;
Tool data deleting

N11 G10 L72 ;
N12 T01 ; :Deletes the tool data (set in N02) corresponding to T01.
N13 P20 ; :Deletes the tool data (set in N03 and N04) corresponding to P02.
N14 T04 P30 ; :Deletes the tool data (set in N05) corresponding to T04 and P30.
N15 T04 P20 ; :Issues an alarm.
N16 G11 ;
- 998 -
Tool Offset Based on Tool Numbers
- Tool pot number output

When a tool number (T code) is specified, the corresponding tool pot
number is read from the tool data file, then is output to the machine as a
tool function code signal (T0 to T31) together with the tool function
strobe signal (TF).
- Compensation based on a cutter compensation value and tool length

compensation value
When an M code for tool change is specified, the cutter compensation
value and tool length compensation value of the previously specified
tool number (T code) become valid. Then, compensation is applied
using the valid compensation values when a compensation command
(such as G43 and G41) is executed.
Example F
Tool data setting

N01 G10 L70 ;
N02 T01 P10 K11.0 R12.0 ;
N03 T02 P20 K21.0 R22.0 ;
N04 G11 ;
Compensation based on tool data (when the M code for tool change is M06)
N11 T01 ; : The pot number, 10, corresponding to T01 is output as a code signal.
N12 M06 ; : The cutter compensation value and tool length compensation value
corresponding to T01 become valid.
N13 G43 _ _ _ ; : Tool length compensation is performed using the valid compensation
value (K11.0 of T01).
N14 T02 ; : The pot number, 20, corresponding to T02 is output as a code signal.
N15 G41 _ _ _ ; : Cutter compensation is performed using the valid compensation value
(R12.0 of T02).
N16 G40 G49 ;
N17 M06 ; : The cutter compensation value and tool length compensation value
N18 G43 _ _ _ ; : Tool length compensation is performed using the valid compensation
value (K21.0 of T02).
NOTE
Use parameter No. 2429 to specify an M code for tool
change.
- 999 -
- Tool change methods

The execution of an M code for tool change and tool number (T code)
that are specified in the same block depends on the settings of bit 1
(CT2) and bit 0 (CT1) of parameter No. 7401, as indicated in the table
below. The method that is used depends on the machine. For details,
refer to the relevant manual provided by the machine tool builder.
Table10.4.5 (a) Differences between Tool Change Methods

CT2 CT1 Tool Description
(#1) (#0) change (tool offset based on tool numbers)
method
0 0 A The compensation values corresponding to the previously
specified tool number (T code) become valid, and the tool pot
number corresponding to a tool number specified in a block where
an M code for tool change is specified is output as a code signal.
The compensation values corresponding to this tool number do
not become valid for the next M code for tool change.
0 1 B The compensation values corresponding to the previously
specified tool number (T code) become valid, and the tool pot
number corresponding to a tool number specified in a block where
an M code for tool change is specified is output as a code signal.
The compensation values corresponding to this tool number
become valid for the next M code for tool change.
1 0 C Same as method B
1 1 D The tool pot number corresponding to a tool number specified in a
block where an M code for tool change is specified is output as a
code signal; the compensation values become valid immediately.
- 1000 -
Example
- Tool change method A

Example:
N01 T10 ; : The tool pot number corresponding to T10 is output as a code signal.
N02 M06 T11 ; : The cutter compensation value and tool length compensation value
corresponding to T10 become valid. The T11 tool is returned to the
magazine.
The tool number specified in a block where M06 is specified specifies the number of the tool to
be returned to the magazine. Accordingly, the compensation values corresponding to the tool
number (T11) specified in the block where M06 is specified do not become valid for the next M
code (M06) for tool change.
- Tool change methods B and C

Example: F
N01 T10 ; : The tool pot number corresponding to T10 is output as a code signal.
N02 M06 T11 ; : The cutter compensation value and tool length compensation value
corresponding to T10 become valid, and the tool pot number
corresponding to T11 is output as a code signal.
N03 M06 T10 ; : The compensation values corresponding to T11 become valid, and the
tool pot number corresponding to T10 is output.
- Tool change method D

Example:
N01 T10 M06 ; : The tool pot number corresponding to T10 is output as a code signal, and
the cutter compensation value and tool length compensation value
N02 T11 M06 ; : The tool pot number corresponding to T11 is output as a code signal, and
the cutter compensation value and tool length compensation value
- 1001 -
- Notification output to the machine when tools having the same pot number are
specified
If there are two or more programmed tool numbers having the same pot
number, the pot number duplication signal (TDUP) is output to the
machine.
Example:
Tool data setting

N01 G10 L70 ;
N02 T01 P10 K11.0 R12.0 ;
N03 T02 P20 K21.0 R22.0 ;
N04 T03 P20 K31.0 R32.0 ;
N05 T04 P30 K32.0 R42.0 ;
N06 G11 ;
Compensation based on tool data

N11 T01 ; : The tool pot number, 10, corresponding to T01 is output as a code signal.
N12 T02 ; : The tool pot number, 20, corresponding to T02 is output as a code signal,
and the pot number duplication signal is output to the machine at the
same time.
- T code handling with the program check screen and system variables
Using bit 4 (TLN) of parameter No. 2203, the user can select whether
to use a tool pot number or tool number as a T code to be displayed on
the program check screen and read by a system variable.
CAUTION
Relationship with compensation based on an H code or D code
Compensation can be performed by specifying an
offset number for tool offset with an H code/D code.
However, tool length compensation or cutter
compensation cannot be performed by specifying an
offset number with an H code/D code. If such an
attempt is made, a compensation value of 0 is
assumed. By setting bit 5 (NOT) of parameter No.
0011 to 1, however, tool length compensation or
cutter compensation can be performed by specifying
an offset number with an H code/D code. In such a
case, tool offset based on tool numbers (tool pot
number output, and compensation based on the
compensation value for a tool number) becomes
impossible. Set the parameter to the reset state.
- 1002 -
Relationships with Other Functions

When tool offset based on tool numbers is enabled (when bit 5 (NOT)
of parameter No. 0011 is set to 0), a D code and H code cannot be
registered as tool life management data.
Compensation enable commands (such as H99/D99), specified during

tool life management, cannot be used. If an attempt is made to use a
compensation enable command during tool life management, the
command is ignored.
If tool offset based on tool numbers and tool life management are used
at the same time, rather than a programmed T code (group number), the
actually selected tool number (T code) belonging to that group acts as a
tool number (T code) command for tool offset based on tool numbers.
Example F
Tool life management data
Tool offset data based on tool numbers
Program (the tool life management ignore number is 1000, and the M code for tool
change is 6.)
N1 T1005 ;
N2 M06 ;
(1) As T1005 is specified in N1, tool number 1 in tool life management group 05 is
selected. Then, in tool offsetting based on tool numbers, the pot number (100)
corresponding to T1 is output as a code signal to the machine.
(2) As M06 is specified in N2, life count starts for the tool corresponding to tool
number 1. In tool offset based on tool numbers, the compensation values
(23.456, 1.234) of T1 become valid.
- 1003 -
- Automatic tool length measurement

With the automatic tool length measurement command (G37), the tool
length compensation value for the currently valid tool number is
updated.
Never specify the automatic tool length measurement command in a
block in which an M code for tool change is specified.
- Custom macro system variable

With the system variables used for tool compensation values, tool
offset values cannot be read or updated based on tool numbers.
Signal
Duplicate pot number signal
TDUP<F044#6>
[Function] Notifies the machine that, in tool offset by tool number, a duplicate pot
number exists in the tool data for a specified tool.
[Output condition] This signal is output under the same conditions as those for the tool
function strobe signal (TF).
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F044 TDUP
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0011 NOT

&
+4 -,. 1 .-' -'

'
*2 -' 56 "
'
72 -' 56 "
'
- 1004 -
#7 #6 #5 #4 #3 #2 #1 #0
2203 TLN

3

&
+8 .9- . : . "
1 )"
0: Pot numbers
1: Tool numbers
2429 M code for tool replacement

3

;* !!!!!!!! *7*<=*!>!!

" " ' * ?*?'
- 1005 -
#7 #6 #5 #4 #3 #2 #1 #0
7401 CT2 CT1

3

&
+* @.7
+7 @.< # 1 " 2
- Tool offset by tool number

CT2 CT1 Tool
(#1) (#0) change Description
type
0 0 A The offset value corresponding to the tool number (T code)
specified previously becomes valid, and the tool pot number
for the tool number specified in the block that specifies the
tool change M code is output as a code signal. The offset
value corresponding to this tool number is not made valid by
the next tool change M code.
0 1 B The offset value corresponding to the tool number (T code)
specified previously becomes valid, and the tool pot number
for the tool number specified in the block that specifies the
tool change M code is output as a code signal. The offset
value corresponding to this tool number is made valid by the
next tool change M code.
1 0 C Same as type B.
1 1 D The tool pot number for the tool number specified in the block
that specifies the tool change M code is output as a code
signal, and the corresponding offset value becomes valid
immediately.
#7 #6 #5 #4 #3 #2 #1 #0
7617 DNA

&
+= -# 1 " "

" A7*9B<" '
*2 8<<'
72 ":'
- 1006 -
Alarm and message

PS0421 SETTING COMMAND ERROR The instruction for setting tool data (G10L70 to G11,
G10L71 to G11) is in error.
PS0422 NOT FOUND TOOL DATA The specified tool No. pot No. , for the tool No. , tool length
compensation data, and cutter compensation data has not
been set.
PS0423 TOOL DATA WRITE ERROR Writing occurred simultaneously on tool set data by a tool
No.
PS0424 OVER MAXIMUM TOOL DATA An attempt was made to set tool data exceeding the
maximum number of tool data sets.
PS0425 NOT DELETE TOOL DATA IN Tool data cannot be deleted.
OPERATION
Reference item
Series15i/150i-MA Operators Manual II-14.11.2 Tool offset by tool
(Programming) number
(B-63324EN)
- 1007 -
10.4.6 Tool Axis Direction Tool Length Compensation
General
When a five-axis machine that has two axes for rotating the tool is used,
tool length compensation can be performed in a specified tool axis
direction on a rotation axis. When a rotation axis is specified in tool
axis direction tool length compensation mode, tool length
compensation is applied in a specified tool axis direction on the
rotation axis by the compensation value specified in the H code. That
is, movement is made along the three linear axes (Xp, Yp, Zp).
Unless otherwise noted in the explanation of this function, the two
rotation axes are assumed to be the B-axis and C-axis.
Tool axis direction
B C
Z
Workpiece C
B
Y
Fig. 10.4.6 (a) Tool Axis Direction Tool Length Compensation
- Command for tool axis direction tool length compensation

When G43.1 Hn is specified, tool axis direction tool length
compensation is enabled.
The tool compensation vector changes as the offset value changes or
movement is made on a rotation axis. When the tool compensation
vector changes, movement is made according to the change value along
the X-axis, Y-axis, and Z-axis.
When the command specifies movement on a rotation axis only, the
position of the tool tip is the same both before and after execution of the
command. (During rotation axis movement, however, the tool tip
moves.)
- 1008 -
- Examples of machine configuration and rotation axis calculation formats

Let Vx, Vy, Vz, Lc, a, b, and c be as follows:
Vx,Vy,Vz : Tool compensation vectors along the X-axis, Y-
axis, and Z-axis
Lc : Offset value
a,b,c : Absolute coordinates on the A-axis, B-axis and C-axis
Then, the tool compensation vector on each axis in each machine
configuration is indicated below.
(1) A-axis and C-axis, with the tool axis on the Z-axis
A C
Workpiece C
A
Y
X
Vx = Lc * sin(a) * sin(c)
Vy = -Lc * sin(a) * cos(c)
Vz = Lc * cos(a)
- 1009 -
(2) B-axis and C-axis, with the tool axis on the Z-axis
B C
Z
Workpiece C
B
Y
Vx = Lc * sin(b) * cos(c)
Vy = Lc * sin(b) * sin(c)
Vz = Lc * cos(b)
(3) A-axis and B-axis, with the tool axis on the X-axis
A
Workpiece
X
B
Y
Vx = Lc * cos(b)
Vy = Lc * sin(b) * sin(a)
Vz = -Lc * sin(b) * cos(a)
- 1010 -
(4) A-axis and B-axis, with the tool axis on the Z-axis, and the B-axis
used as the master
B X
Workpiece Y
Vx = Lc * cos(a) * sin(b)
Vy = -Lc * sin(a)
Vz = Lc * cos(a) * cos(b)
(5) A-axis and B-axis, with the tool axis on the Z-axis, and the A-axis
used as the master
Y
B
Workpiece
X
A
Vx = Lc * sin(b)
Vy = -Lc * sin(a) * cos(b)
Vz = Lc * cos(a) * cos(b)
- 1011 -
- Tool holder offset

The machine-specific length from the rotation center of the tool
rotation axes (A- and B-axes, A- and C-axes, and B- and C-axes) to the
tool mounting position is referred to as the tool holder offset. Unlike a
tool length offset value, a tool holder offset value is set in parameter No.
7648. When tool axis direction tool length compensation is applied,
the sum of the tool holder offset and tool length offset is handled as a
tool length for compensation calculation.
Rotation center
Tool holder offset
Tool
length
Tool length offset
Fig. 10.4.6 (b) Tool Holder Offset
- Parameter-based rotation angle specification

A tool compensation vector is found from the coordinates on the
rotation axes for controlling the tool axis direction. However, the
configuration of some machines is such that the tool axis is inclined
using a fixed attachment. In such a case, the rotation angles of the
rotation axes can be set using parameters.
Set bit 1 (RAP) of parameter No. 1014 to 1, and set the coordinates in
parameter No. 7516.
- Rotation axis origin compensation

This function compensates for a slight shift of the rotation axis origin
caused, for example, by thermal displacement. Specify a compensation
value in parameter No. 7518.
When the tool axis is on the Z-axis, and the rotation axes are the B-axis
and C-axis, a compensation vector is calculated as follows:
Xp = Lc * sin(B-Bz) * cos(C-Cz)
Yp = Lc * sin(B-Bz) * sin(C-Cz)
Zp = Lc * cos(B-Bz)
Xp,Yp,Zp: Compensation pulse on each axis after origin shift
compensation
Lc : Offset value
B,C : Machine position on B-axis and C-axis
Bz,Cz : Origin compensation value on B-axis and C-axis
- 1012 -
- Rotation axis offset

Set offsets relative to the rotation angles of the rotation axes in
parameter No. 7517. The compensation vector calculation formula is
the same as that used for rotation axis origin compensation, except that
Bp and Cp are changed to rotation axis offsets.
When rotation axis origin compensation and rotation offsetting are set
at the same time, both compensations are performed.
When the tool axis is on the Z-axis, and the rotation axes are the B-axis
and C-axis, compensation vector calculation is performed as follows:
Xp = Lc * sin(B-(Bz+Bo)) * cos(C-(Cz+Co))
Yp = Lc * sin(B-(Bz+Bo)) * sin(C-(Cz+Co))
Zp = Lc * cos(B-(Bz+Bo))
Bz,Cz :B-axis and C-axis origin compensation values
Bo,Co :B-axis and C-axis rotation axis offset values
NOTE
Even in three-dimensional handle feed/interrupt,
rotation axis origin compensation and rotation axis
offset can be used. Note, however, that a
compensation vector for tool axis direction tool length
compensation is calculated using absolute
coordinates, while machine coordinates are used for
three-dimensional handle feed/interrupt. This means
that, if there is a mismatch between the absolute
coordinates and machine coordinates, a different
compensation calculation result is produced by each
function. So, when using three-dimensional handle
feed/interrupt together with tool axis direction tool
length compensation, ensure that the machine
coordinates and absolute coordinates match.
Limitation
- Automatic reference position return command (G28, G29, G30)

Never specify an automatic reference position return command (G28,
G29, or G30) in tool axis direction tool length compensation mode.
If an automatic reference position return command is specified in tool
axis direction tool length compensation mode, the compensation vector
is cancelled at the time of reference position return. So, correct tool
axis direction tool length compensation is not performed in subsequent
movement along linear axes.
- 1013 -
- Machine coordinate system positioning (G53)

When machine coordinate system positioning (G53) is performed, the
compensation vector is temporarily cancelled in the block, but is
applied when movement is next performed.
G53 Specified
point
G00
Specified
Workpiece coordinate point
system origin
Machine coordinate system origin
Fig. 10.4.6 (c) Machine Coordinate System Positioning during Tool Axis
Direction Tool Length Compensation
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1014 RAP RAM

3

&
+* # 1
%
'
*2 - '
72 '
1
'
+7 #3 1
%
'
*2 ,'
72 3 ' .
'
- 1014 -
1029 Axis number of the linear axis to which a rotation axis belongs

3

*%
When a rotation axis turns about a linear axis, the linear axis is referred to as an axis
to which the rotation axis belongs, and is set using this parameter. For a rotation
axis that belongs to no linear axis, or for a linear axis, 0 is set.
Example:
Axis configuration: X, Y, Z, C, A
Linear axis: X, Y, Z
Rotation axis: A (turning about the X-axis), C (turning about the Z-axis)
In the above case, set the following:
Axis number Axis name Setting

1 X 0
2 Y 0
3 Z 0
4 C 3
5 A 1
#7 #6 #5 #4 #3 #2 #1 #0
2202 DTL

3

&
+< .9 1 "
@. ) " 6
'
*2 . ) '
72 . ) ' .
" '
$ % ) "7'
- 1015 -
7514 Tool axis direction

3

7%=
Enter the tool axis direction when the two rotation axes are set at 0 degree.
Data Tool axis direction
1 X-axis
2 Y-axis
3 Z-axis
7515 Master rotation axis number

3

*%
$ ) "
" '
; % * '
7516 Angular displacement of a rotation axis

3

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

1 " @-@' .
" " "7#3
-'7*78'
- 1016 -
7517 Offset value for angular displacement of a rotation axis

3

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

) '
7518 Origin offset value of a rotation axis

3

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

1 %
'
7548 Tool holder offset for tool axis direction tool length compensation

3

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

1
'
- 1017 -
Alarm and message

PS0360 PARAMETER OUT OF RANGE Illegal parameter setting. (Set value is out of range.)
(TLAC)
PS0361 PARAMTER SETTING ERROR 1 Illegal parameter setting. (axis of rotation setting)
(TLAC)
PS0362 PARAMETER SETTING ERROR 2 Illegal parameter setting (tool axis setting)
(TLAC)
Reference item
Series15i/150i-MA Operators Manual II-14.12 Tool axis direction tool
(Programming) length compensation
(B-63324EN)
- 1018 -
10.4.7 Rotary Table Dynamic Fixture Offset
General
If the position of a workpiece is set as a reference fixture offset with
respect to the position of the rotary table, a fixture offset after rotation
of the rotary table can be automatically calculated from the angular
displacement of the rotary table, and the workpiece coordinate system
can be created accordingly. Once a reference fixture offset is set, the
workpiece coordinate system can be dynamically held for any position
of the rotary table. The sum of the fixture offset and the workpiece
origin offset determines the origin of the workpiece coordinate system.
Y
Y
Y
X
X
F0
F

0
X
Center of
rotation axis
C
W :Workpiece origin offset

0 :Reference angle
Origin of machine F0 :Reference fixture offset
coordinate system :Angular displacement about
the rotation axis
F :Fixture offset
Fig. 10.4.7 (a) Fixture Offset
- Fixture offset command

When the G54.2 Pn command is specified, a fixture offset is calculated
from an angular displacement about the rotation axis and data specified
as n, and the fixture offset function is enabled. If zero is specified for n,
the fixture offset function is cancelled.
- When a movement about a rotation axis is specified in G54.2 mode

If a movement about a rotation axis involved in fixture offset is
specified in G54.2 mode, the coordinate about the rotation axis at the
end of the block is used to calculate the fixture offset. Movement is
made to the position on the workpiece coordinate system determined by
the fixture offset.
- 1019 -
- Operation upon a reset

The setting of the KWZ bit (bit 6 of parameter 2409) determines
whether the fixture offset is cancelled upon a reset. If the setting is 1,
the vector before the reset is held. If the setting is 0, the vector is
cleared. Clearing the vector, however, does not cause any movement
upon a reset.
- Setting data
(1) Groups of three parameters specifying a rotation axis and two
linear axes constituting a rotation plane
(parameters 6068 to 6076)
The first parameter of each group specifies the number of the
rotation axis, and the second and third parameters specify the
numbers of the linear axes. The order in which the two linear axes
are specified must be such that rotation in the positive direction
about the rotation axis agrees with the rotation from the positive
side of the first linear axis to the positive side of the second linear
axis.
Example) Let three axes X, Y, and Z of a four-axis machine form
a right-handed coordinate system and the remaining axis C
be such a rotation axis that the positive rotation about the
axis matches the counterclockwise rotation about the Z-axis
when the negative side of the Z-axis is viewed from the
positive side. Then, the three parameters specify the
following:
First parameter : 4 (C-axis)
Second parameter : 1 (X-axis)
Third parameter : 2 (Y-axis)
Up to three groups of parameters can be specified. In fixture
offset calculation, the data of the rotation axis of the first group is
calculated first. From the result, the data of the second and third
groups is calculated. If there are two or more rotation axes and if
a rotation plane varies with the rotation about another rotation
axis, the rotation plane with the relative rotation axis set to the 0
position should be specified.
(2) Reference angle of the rotation axis and corresponding reference
fixture offset
The position of the rotation axis (reference angle) and the
corresponding fixture offset (reference fixture offset) are
specified.
The data is specified on the fixture offset screen.
Up to eight pairs can be specified.
(3) Parameter for enabling or disabling fixture offset for each
axis(FAX bit (bit 0 of parameter 1007))
The bit is set to 1 for an axis for which fixture offset is enabled.
This setting is unnecessary for a rotation axis.
(4) Parameter specifying a fixture offset type
(FTP bit (bit 1 of parameter 6004))
This parameter specifies whether movement is made according to
a change in the vector of fixture offset (when movement is made
about the rotation axis by the G54.2 command or in G54.2 mode).
- 1020 -
When 0 is specified, movement is made.

(The workpiece coordinates of the current position do not change,
and the corresponding machine coordinates change.)
When 1 is specified, no movement is made.
(The workpiece coordinates of the current position change, but
the corresponding machine coordinates do not change.)
- Input/output of fixture offset

The data can be programmed and can be input from or output to
external equipment, as described below:
(1) Setting a reference fixture offset by G10
G10 L21 PnP;
n: Reference fixture offset number
P: Reference angle or reference fixture offset on each axis
With this command, a reference fixture offset or reference angle
can be programmed.
If the command is executed in G90 mode, the specified value is set
directly. If the command is executed in G91 mode, the sum of the
specified value and the previous value is set.
NOTE
This operation requires the programmable data
input (G10) function.
(2) Reading or writing a system variable of a custom macro

With the following system variable, a reference fixture offset or
reference angle can be read or written:
15001 + 20*(n - 1) + (m - 1)
n: Reference fixture offset number (1 to 8)
m: Axis number (1 to number of controlled axes)
NOTE
This operation requires the use of the custom macro
function.
(3) Reading and writing the PMC window

Data can be read or written as a system variable of a custom macro
in the PMC window.
NOTE
This operation requires the use of an NC window
and a custom macro function.
(4) Output to external equipment

When the punch soft key is selected on the fixture offset screen,
data can be output to external equipment such as a Floppy
Cassette via the RS-232C interface.
Data is output in G10 format without a program number.
- 1021 -
NOTE
This operation requires a reader/punch interface
and a programmable data input function.
(5) Input from external equipment

When the read soft key is selected on the fixture offset screen,
data can be input from external equipment such as a Floppy
Cassette via the RS-232C interface.
Data is input in G10 format without a program number.
NOTE
This operation requires the use of a reader/punch
interface and a programmable data input function.
- Calculating a fixture offset

(1) Relationship between rotation axes and linear axes
First group: 4 (B-axis), 3 (Z-axis), 1 (X-axis)
Second group: 5 (C-axis), 1 (X-axis), 2 (Y-axis)
Third group: 0, 0, 0
(2) Reference angle and reference fixture offset
X:F0X
Y:F0Y
Z:F0Z
B:0
C:0
When the above values are specified for the following:
O : Center of rotary table
W : Workpiece origin offset
F0 : Fixture offset when B equals 0 and C equals 0
FA : Fixture offset (FAX, FAY, FAZ) when B equals 0 and C
equals 0
F : Fixture offset (FX, FY, FZ) when B equals and C equals
the fixture offset is calculated as shown below:
FAX cos( 0 ) 0 sin ( 0 ) cos( 0 ) sin ( 0 ) 0 F 0 X

FAY = 0 1 0 sin ( 0 ) cos( 0 ) 0 F 0Y

FAZ sin ( 0 ) 0 cos( 0 ) 0 0 1 F 0 Z
FX cos( ) sin ( ) 0 cos( ) 0 sin ( ) FAX
FY = sin ( ) cos( ) 0 0 1 0 FAY

FZ 0 0 1 sin ( ) 0 cos( ) FAZ
Limitation
- If data is changed in G54.2 mode

If a parameter setting or reference fixture offset is changed in G54.2
mode, the new data is valid from the next block to be buffered.
- 1022 -
- Movement resulting from a change in the vector of the fixture offset

The movement resulting from a change in the vector of the fixture
offset is made according to the current modal G code of group 01. If
the G code is not G00 or G01 (if the code is G02, G03, etc.), the
movement is temporarily made according to G01.
- If manual intervention is made on the rotation axis

If automatic operation is stopped by a SBK stop or similar in G54.2
mode, and if manual movement is made about the rotation axis, the
vector of the fixture offset does not change. When a rotation axis
command is specified in automatic operation or MDI operation or
when G54.2 is specified, the vector is calculated.
When a movement about the rotation axis is specified in incremental
mode (G91 mode) after manual intervention is made with the ABS bit
(bit 3 of parameter 2409) set to 0 and the manual absolute switch is set
on, the vector is calculated, using coordinates which do not reflect the
amount of manual intervention.
Example)
N1 G90 G00 C10.0;
N2 G54.2 P1;
After executing the program, perform manual intervention with the
manual absolute switch set to on. Then, make a movement of +20.0
about the C-axis. When
N3 G91 C30.0;
is specified, the C coordinate is 60.0 in the workpiece coordinate
system. In the fixture offset calculation, however, C coordinate 40.0 is
used.
If the ABS bit (bit 3 of parameter 2409) is set to 1 when N3 is executed,
programmed C coordinate 40.0 (10.0 + 30.0) is directly used for the
calculation.
- If compensation is made on the rotation axis

The coordinate of the rotation axis in the workpiece coordinate system
is used for the fixture offset calculation. If a tool offset or another
offset is made, the coordinate before the offset is used. If mirror image
or scaling is performed, the coordinate before the operation is used.
- Commands for which fixture offset is not calculated

If any of the following commands is executed for the rotation axis in
G54.2 mode, the vector of fixture offset is not calculated:
Command in the machine coordinate system (G53)
Command for changing the workpiece coordinate system (G54 to
G59, G54.1, G92, G52)
Command related to reference position return (G27, G28, G29,
G30, G30.1)
- Rotation axis used for fixture offset

The rotation axis used for polar coordinate interpolation (G12.1)
cannot be set for fixture offset.
- 1023 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1007 FAX

3

&
+* ;#C 1 ) '
*2 )'
72 '
#7 #6 #5 #4 #3 #2 #1 #0
2409 KWZ

3

&
+? 0$D 1 A48A4! A 1

'
*2 @ ' E A48'
72 - ") '
$ 1 1
'
#7 #6 #5 #4 #3 #2 #1 #0
6004 FTP

3

&
+7 ;.3 '

*2 ) ' #) 1

72 ' -) 1
'
- 1024 -
6068 Rotation axis for fixture offset (first group)
6069 Linear axis 1 for fixture offset (first group)
6070 Linear axis 2 for fixture offset (first group)
6071 Rotation axis for fixture offset (second group)
6072 Linear axis 1 for fixture offset (second group)
6073 Linear axis 2 for fixture offset (second group)
6074 Rotation axis for fixture offset (third group)
6075 Linear axis 1 for fixture offset (third group)
6076 Linear axis 2 for fixture offset (third group)

3

*%
1
' . 1 1
" ) "
1 )
7 ) <'
1 " '

' .
'
F *
'
Alarm and message

PS0898 ILLEGAL PARAMETER IN G54.2 An illegal parameter (Nos. 6068 to 6076) was specified for
fixture offset.
Reference item
Series15i/150i-MA Operators Manual II-14.13 Rotary table dynamic
(Programming) fixture offset
(B-63324EN)
- 1025 -
10.4.8 Three-dimensional Cutter Compensation
General
The three-dimensional cutter compensation function is used with
machines that can control the direction of tool axis movement by using
rotation axes (such as the B- and C-axes). This function performs
cutter compensation by calculating a tool vector from the positions of
the rotation axes, then calculating a compensation vector in a plane
(compensation plane) that is perpendicular to the tool vector.
There are two types of cutter compensation: Tool side compensation
and leading edge compensation. Which is used depends on the type of
machining.
- Tool Side Compensation

Tool side compensation is a type of cutter compensation that performs
three-dimensional compensation on a plane (compensation plane)
perpendicular to a tool direction vector.
Programmed tool path

Tool vector (before compensation)
Cutter compensation
vector
Tool center
path(after
compensation)
Z
Y
X
Compensation
Cutter
plane
compensation amount
Fig.10.4.8 (a) Tool side compensation
- Leading Edge Offset

Leading edge offset is a type of cutter compensation that is used when a
workpiece is machined with the edge of a tool. A tool is automatically
shifted by a specified cutter compensation value on the line where a
plane formed by a tool direction vector and tool movement direction
intersects a plane perpendicular to the tool axis direction.
Tool vector
Tool used
Reference
tool
Tool center path

(after
compensation)
Programmed
Cutter compensation tool path
vector Cutter compensation
amount
Fig. 10.4.8 (b) Reading edge offset
- 1026 -
Parameter
(1) Parameters setting the relationship between the rotation axis and rotation plane with which the tool is
controlled
(1) Relationship between the rotation axis and rotation plane Parameter iNo.6080 to 6089 j
(2) Direction of the tool axis Parameter iNo.6106 to 6107 j
(3) Reference angle for the rotation axis Parameter iNo.6104 to 6105 j
(2) Parameters for tool side compensation
Limit for ignoring the small movement Parameter iNo.6114 j
Interference check at compensation plane switching Parameter NIC iNo.0014#5 j
Parameter iNo.6261 j
(3) Parameter for leading edge offset
Angle variation range Parameter iNo.6115 j
(4) Parameters for cutter compensation
Single block stop in an internally generated block Parameter SBO iNo.0010#7 j
Displayed incremental and absolute positions not including the cutter Parameter DCR iNo.2202#3 j
compensation vector
Validating an offset change starting with the next buffered block Parameter EV0 iNo.6000#0 j
Startup B Parameter CSU iNo.6001#0 j
Making no interference check in the move direction Parameter CNC iNo.6001#1 j
Making no interference check Parameter CNI iNo.6001#6 j
Startup C Parameter CSC iNo.6003#7 j
Limit for ignoring the small movement Parameter iNo.6010 j
For parameters (4), see the section on cutter compensation.
- 1027 -
6080 Rotation axis for three-dimensional cutter compensation and so forth (first
group)
6081 Linear axis 1 for three-dimensional cutter compensation and so forth (first
group)
group)
group)

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

#
$

%
& '!!
( )*%%%%%%"%%%+%%%%%%"%%%!

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

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

(second group)

(second group)
- 1028 -

(second group)

&

!"
- 1029 -
6089 Angle of inclination for the rotation axis for three-dimensional cutter
compensation and so forth (second group)

#
$

%
& '!!
( )*%%%%%%"%%%+%%%%%%"%%%!
Set the angle of rotation for the rotation axis to perform three-dimensional cutter
compensation/spindle unit compensation/inclined rotary head tool length
compensation (second group).
Parameter Nos. 6080 to 6089
First group Second group

Rotation axis 6080 6085
Linear axis 1 6081 6086
Angle of inclination 6084 6089
- These parameters set the relationship between the rotation axis and rotation
plane.
- Two groups can be set. Therefore, machines controlled with two rotation
axes are supported.
- In the calculation of the tool direction, calculation for the rotation axis of the
first group is made first, then based on the calculation result, calculation for the
rotation axis for the second group is made.
- When two rotation axes are used, the rotation plane may be changed by the
rotation of the other rotation axis. In this case, set the rotation plane obtained
when the rotation axis position is 0 degrees.
- When there is one rotation axis, set the rotation axis of the second group to 0.
- In general, the direction vector of a rotation axis has three direction components.
This function supports direction vectors with one direction component and two
direction components. In each case, set the following:
A) When the direction vecotor of a rotation axis has one direction component
(type A)
The rotation axis rotates about one of the basic three axes.
1) Set axis numbers for the rotation axis, linear axis 1, and linear axis 2.
2) Set the linear axis 3 and the angle of inclination to 0.
3) The rotation axis is defined as follows:
- 1030 -
1) Set axis numbers for the rotation axis, linear axis 1, and linear axis 2.
2) Set the linear axis 3 and the angle of inclination to 0.
3) The rotation axis is defined as follows:
-The rotation axis rotates about an axis that perpendicularly intersects
the plane formed by linear axis 1 and linear axis 2.
-When the rotation axis rotates from the positive direction of linear
axis 1 to the positive direction of linear axis 2, the rotation axis is
said to rotate in the positive direction.
Z
C Y
B) When the direction vector of a rotation axis has two direction components
(type B)
The rotation axis rotates about an axis that lies in a plane formed by any
two of the basic three axes.
1) Set axis numbers for the rotation axis, linear axis 1, linear axis 2, and
linear axis 3.
2) The linear axes 1, 2, and 3 form a right-handed coordinate system in
this order.
3) The angle of inclination is defined as follows:
-Rotation is performed in the plane formed by linear axes 3 and 1.
axis 3 to the positive direction of linear axis 1, the angle of
inclination is positive.
-When the rotation axis and linear axis 3 match, the angle of
inclination is 0 degrees.
4) When the angle of inclination is 0 degrees, the rotation axis is defined
as follows:
-The rotation axis rotates about an axis that perpendicularly intersects
the plane formed by linear axes 1 and 2.
axis 1 to the positive direction of linear axis 2, the rotation axis is
said to rotate in the positive direction.
Z
B
Y

: Angle of
inclination
X
- 1031 -
Z
B
Y

: Angle of
inclination
X
6104 Reference angle for the rotation axis for three-dimensional cutter
compensation and so forth (first group)
6105 Reference angle for the rotation axis for three-dimensional cutter
compensation and so forth (second group)

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- 1032 -
6106 Reference angle for the tool axis in the plane formed by linear axes 2 and 3
(RA)
6107 Reference angle for the tool axis in the plane formed by linear axes 3 and 1
(RB)

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- 1033 -
When tool axis and

linear axis 3 match Linear axis 3
Linear axis 2
RA = 0.0
RB = 0.0
Linear axis 1
When tool axis and

linear axis 1 match Linear axis 3
Linear axis 2
RA = 0.0
RB = 90.0
Linear axis 1
6114 Limit for assuming the block as a non-movement block in intersection

calculation for tool side compensation (G41.2, G42.2)

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- 1034 -
#7 #6 #5 #4 #3 #2 #1 #0
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6261 Effective angle in an interference check for three-dimensional cutter

compensation

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A tool direction change is assumed when the angle difference between two tool
direction vectors in three-dimensional cutter compensation is equal to or greater
than the value set in this parameter.
When 0 is set, the specification of 45 degrees is assumed.
Let two tool direction vectors be Va and Vb. When the difference in angle is
degrees or more as shown in the figure below, the tool direction vector is
determined to have been changed.
Va
degrees
Vb
- 1035 -
6115 Angle determination fluctuation value for leading edge offset

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This parameter sets a variation range used to determine whether the included angle
between the tool direction vector (VT) and move direction vector (VM) is 0, 180,
or 90 during leading edge offsetting.
For example, let the included angle between VT and VM be (0180), and the
angle set in this parameter be . Then, is determined as follows:
When 0 =0
When (180-) 180 =180
When (90-) (90 { ) =90
Normally, set around 1.0 in this parameter.
- 1036 -
Alarm and message

PS0271 CRC:PLANE CHANGE An attempt was made to change the plane in the cutter
compensation mode.
To change the plane, cancel the cutter compensation
mode.
PS0272 CRC:INTERFERENCE The depth of the cut is too great during cutter
compensation. Check the program.
The criteria for judging interference are as follows:
(1) The direction of movement of the programmed block
differs from the direction of movement of the corresponding
tool center path block by 90 or more or 270 or less.
The check in this case can be disabled by setting CNC
(2) In the case of an arc, the difference in angle between
the start and end points of the programmed block differs by
180 or more with the difference in angle between the start
and end points of the corresponding tool center path block.
PS0276 CRC:NO INTERSECTION There is not point of intersection of the compensated tool
center path during cutter compensation.
PS0995 ILLEGAL PARAMETER IN The parameter settings (parameter Nos. 6080 to 6089) for
G41.2/G42.2 determining the relationship between the axis of rotation
and the rotation plane are incorrect.
PS0996 G41.3/G40 FORMAT ERROR (1) A move instruction was specified in a block in which the
G41.3 or G40 code is specified.
(2) A G or M code which suppresses buffering was
specified in the block in which the G41.3 code was
specified.
PS0997 ILLEGAL COMMAND IN G41.3 (1) A G code other than G00 or G01 in group 01 was
specified in the G41.3 mode.
(2) An offset (G code in group 07) was specified in the
G41.3 mode.
(3) The block following the block in which G41.3 (startup)
was specified did not contain a move command.
PS0998 G41.3 ILLEGAL START_UP (1) The G41.3 G code (startup) was specified in a group 01
mode for other than G00 and G01.
(2) The angle formed by the tool direction vector and the
movement direction vector was 0 or 180 degrees at
startup.
PS0999 ILLEGAL PARAMETER IN G41.3 The parameter settings (parameter Nos. 6080 to 6089) for
determining the relationship between the axis of rotation
and the rotation plane are incorrect.
Reference item
Series15i/150i-MA Operators Manual II-14.14 Three dimensional tool
(Programming) offset
(B-63324EN)
- 1037 -
10.4.8.1 Three-dimensional cutter compensation at tool center point

For machines with a rotation axis for rotating a tool, this function
performs three-dimensional cutter compensation at the tool tip position
if the program-specified point is specified with a pivot point.
When this function is used, the program-specified point (pivot point) is
converted into a tool tip position (cutting point) and a three-
dimensional cutter compensation vector is calculated for the latter
position. Then, the program-specified point (pivot point) is
compensated for with the three-dimensional cutter compensation
vector.
If the tool side offset (G41.2/G42.2) of three-dimensional cutter
compensation is performed, the operation of this function will be as
follows:
(1) If parameter No. 6130 is 0 (conventional specification)

The three-dimensional cutter compensation vector is calculated at
the program-specified point (pivot point).
(2) If parameter No. 6130 is not 0 (this function)
The three-dimensional cutter compensation vector is calculated at
the tool tip position (cutting point).
Description
This function calculates a vector at the tool tip position for the three-
dimensional cutter compensation function as described below.
(1) Convert the programmed coordinates from a program-specified

point (pivot point) to a tool tip position (cutting point). Parameter
No. 6130 is used to store the distance from the program-specified
point (pivot point) to the tool tip position (cutting point).
(2) Calculate a three-dimensional cutter compensation vector at the
tool tip position (cutting point).
(3) Add the cutter compensation vector to the program-specified point
(pivot point).
- 1038 -
3D cutter compensation vector

according to this specification
Program-specified
point (pivot point)
Conventional 3D cutter
compensation vector
Vector from program-specified point (pivot

point) to tool tip position (cutting point)
Distance from program-specified

Tool center
point (pivot point) to cutting point
(set for parameter)
Tool side
Tool tip position

(cutting point) Tool
3D cutter compensation
vector according to this
specification Workpiece
Fig. 10.4.8.1(a) Basic operation (for G42.2)
- Cautions
CAUTION
1 This function is not effective for leading edge offset.
2 With a command for a rotation axis only, this function
does not calculate a cutter compensation vector.
3 This function cannot be used in three-dimensional
coordinate conversion mode.
4 The cautions for the three-dimensional cutter
compensation function also apply to this function.
- 1039 -
Parameters
(1) Parameters defining the relationship between the rotation axis for controlling the tool and the rotation
plane
1. Relationship between rotation axis and rotation plane Parameters No. 6080 to 6089
2. Direction of the tool axis Parameters No. 6106 to 6107
3. Reference angle for the rotation axis Parameters No. 6104 to 6105
(2) Tool tip position support parameter
Distance from the program-specified point (pivot point) to the tool tip position Parameter No. 6130
(cutting point)
For details of (1), see the section on three-dimensional cutter
compensation.
6130 Distance from the program-specified point (pivot point) to the tool tip
position (cutting point)

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Set the distance from the program-specified point to the actual cutting point to
calculate a three-dimensional cutter compensation vector at the tool tip position.
If this parameter is 0, the tool tip support of the three-dimensional cutter

compensation function is not effective.
Change the setting of this parameter before turning the three-dimensional cutter
compensation mode to on.
Reference items
FANUC Series Connection Manual 10.4.8 Three-dimensional tool
15i/150i-MA iThis manual j compensation
Operators Manual II.14.14 Three-dimensional tool

(B-63324EN)
Parameter Manual 4.4.29 5-Axes control
(B-63330EN) parameters
- 1040 -
10.4.9 Designation Direction Tool Length Compensation
In a five-axis machine tool having three basic axes and two rotation
axes for turning the tool, tool length compensation can be applied in the
direction of the tool axis.
The tool axis direction is specified with I, J, and K; a move command
for the rotation axes is not specified directly. When I, J, and K are
specified in designation direction tool length compensation mode, the
following operation is performed automatically:
- The two rotation axes operate so that the tool axis is oriented in
the direction specified by I, J, and K. (This specifications manual
explains this operation.)
Tool axis direction

iI,J,K j
B C
Z
Workpiece C
B
Y
Fig. 10.4.9 (a) Designation direction tool lenght compensation
- Designation direction tool length compensation

G41 Xp_ Yp_ Zp_ I_ J_ K_ D_ ;
Xp : X-axis or an axis parallel to the X-axis
Yp : Y-axis or an axis parallel to the Y-axis
Zp : Z-axis or an axis parallel to the Z-axis
I , J , K : Direction of tool axis
D : Offset number
- 1041 -
NOTE
1 The format of specified-direction tool length
compensation is the same as that for three-
dimensional tool compensation. When using
specified-direction tool length compensation, set bit
0 (DDT) of parameter No. 7711 to 1.
2 A three-dimensional space in which specified-
direction tool length compensation is to be
performed is determined by the axis addresses
specified in G41. If Xp, Yp, or Zp is not specified,
specified-direction tool length compensation is
performed along the X-axis, Y-axis, or Z-axis.
3 Specify I, J, and K in a G41 block at all times. If any
of I, J, or K is missing, ordinary tool length
compensation is performed.
4 Usually, specified-direction tool length
compensation is started by the G41 command.
When the G42 command is specified, compensation
is performed in the direction opposite to that of G41.
- Canceling designation direction tool length compensation

G40 Xp_ Yp_ Zp_ B_ C_ ;
NOTE
A compensation vector can be cancelled by
specifying G40; only. In this case, no movement is
made on a rotation axis.
- 1042 -
- Operation in the specified-direction tool length compensation mode

(1) Movement is made on all five axes simultaneously to the position
( x, y , z, b, c ) calculated as shown below.
( x, y, z ) x, y , z : Tool center position

b, c : Rotation axis position
X ,Y , Z : tip position
(programmed position)
l
I, J, K : Tool axis direction
l : Tool offset value
(I , J , K )
All positions are represented by absolute
coordinates.
( X ,Y , Z )
I
x= X +l
I + J2 + K2
2
J
y =Y + l
I2 + J2 + K2
K
z=Z +l
I2 + J 2 + K2
I2 + J2
b = tan 1
K
J
c = tan 1
I
Fig. 10.4.9 (b) Expression for Compensation Calculation
(2) When circular interpolation or helical interpolation (G02, G03) is

specified
I, J, and K have no effect on specified-direction tool length
compensation. A compensation vector generated in the previous
block is used as is.
The same vector

is generated.
Tool center path
Compensation vector
of the previous block
Programmed path
Fig. 10.4.9 (c) Compensation Vector in Circular Interpolation
- 1043 -
NOTE
1 In a block in which all of I, J, and K are omitted, the
compensation vector for the previous block is used.
2 If any one of I, J, or K is omitted, 0 is assumed in
place of the omitted value.
3 Shortcut control is exercised on the amount of
movement on a rotation axis so that 180 is not
exceeded.
- Specification of the magnitude of a compensation vector

By setting parameter No. 6011, the magnitude of a compensation
vector can be specified.
I
x = X +l
S
J
y =Y +l
S
K
z = Z +l
S
where,
x, y , z : Tool center position (absolute coordinates)
X ,Y , Z : Tool tip position (absolute coordinates)
(Programmed position)
I, J, K : Tool axis direction
l : Tool offset value
S : Parameter No. 6011
When parameter No. 6011 = 0, however, S = I 2 + J 2 + K 2 .
- Feedrate in the specified-direction tool length compensation mode

As the feedrate used in specified-direction tool length compensation,
the feedrate on the axes excluding the rotation axes is used. When bit 2
(FWR) of parameter No. 7711 is set to 1, however, the feedrate on all
axes including the rotation axes is used.
- 1044 -
- Example of machine configuration and expression for rotation axis calculation

(1) When the rotation axes are the A- and C-axes, and the tool axis is
the Z-axis
A C
Workpiece C
A
Y
X
I2 + J2
a = tan 1
K
I
c = tan 1
J
(2) When the rotation axes are the B- and C-axes, and the tool axis is
the Z-axis
B C
Z
Workpiece C
B
Y
I2 + J2
b = tan 1
K
J
c = tan 1
I
- 1045 -
(3) When the rotation axes are the A- and B-axes, and the tool axis is
the X-axis
A
Workpiece
X
B
Y
J
a = tan 1
K
J 2 + K2
b = tan 1
I
the Z-axis (master axis: B-axis)
B X
Workpiece Y
J
a = tan 1
I + K2
2
I
b = tan 1
K
- 1046 -
the Z-axis (master axis: A-axis)
Y
B
Workpiece
X
A
J
a = tan 1
K
I
b = tan 1
J + K2
2
- 1047 -
Limitation
- Rotation axis specification

A rotation axis must not be specified in specified-direction tool length
compensation mode. Otherwise, an alarm (PS0809) is issued.
- Commands related to reference position return

The specified-direction tool length compensation mode must be
cancelled before any of the following can be specified:
- Reference position return check (G27)
- Return to reference position (G28)
- Return to 2nd reference position (G30)
- Return from reference position (G29)
- Coordinate system rotation, scaling

In specified-direction tool length compensation mode, coordinate
system rotation and scaling are applied to the tool tip position.
- Three-dimensional coordinate conversion

When specified-direction tool length compensation is used during
three-dimensional coordinate conversion, three-dimensional
coordinate conversion is applied to the tool axis directions (I, J, K) as
well.
- Relationships with other compensation functions

(1) Tool length compensation
Tool length compensation is applied to a path resulting from
specified-direction tool length compensation.
(2) Tool offset
The tool offset function cannot be used in specified-direction tool
length compensation mode.
(3) Cutter compensation
If all of I, J, and K are specified in a G41 block, the specified-
direction tool length compensation mode is set. If any one of I, J,
or K is omitted, cutter compensation mode is set. This means that
both modes cannot be set at the same time.
(4) Tool axis direction tool length compensation
In specified-direction tool length compensation mode, tool axis
direction tool length compensation cannot be used.
- 1048 -
Parameter
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1029 Axis number of the linear axis to which a rotation axis belongs

When a rotation axis turns about a linear axis, the linear axis is referred to as an axis
to which the rotation axis belongs, and is set using this parameter. For a rotation
axis that belongs to no linear axis, or for a linear axis, 0 is set.
Example:
Axis configuration: X, Y, Z, C, A
Linear axis: X, Y, Z
Rotation axis: A (turning about the X-axis), C (turning about the Z-axis)
In the above case, set the following:
Axis name Setting
1 X 0
2 Y 0
3 Z 0
4 C 3
5 A 1
- 1049 -
6011 Constant denominator for three-dimensional tool compensation or tool

length compensation in a specified direction

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7514 Tool axis direction

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Data Tool axis

direction
1 X-axis
2 Y-axis
3 Z-axis
7515 Master rotation axis number

( 2 &
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- 1050 -
Caution
CAUTION
Always set the following parameters to 1 for the
rotation axis for designation direction tool length
compensation:
Parameter ROT iNo.1006#0 j
Parameter ROL iNo.1009#2 j
Alarm and message

PS0809 ILLEGAL COMMAND IN G41/G42 Specified direction tool length compensation parameters
are incorrect.
A move instruction for a axis of rotation was specified in the
specified direction tool length compensation mode.
Reference item
Series15i/150i-MA Operators Manual II-14.15 Designation direction
(Programming) tool length
(B-63324EN) compensation
- 1051 -
10.4.10 Tool Center Point Control
On a five-axis machine having two rotation axes that turn a tool, tool
length compensation can be performed momentarily even in the middle
of a block.
This tool length compensation is classified into two types by the
difference in programming method. In the explanation of this function,
the two rotation axes are assumed to be the B- and C-axes.
(1) Type 1
The rotation axis position (B, C) is specified.
The CNC applies tool length compensation by the compensation
amount along the tool axis of which orientation is calculated from
the specified rotation axis position. This means that
compensation is performed by moving the three linear axes.
(2) Type 2
The tool axis orientation (I, J, K) is specified.
The CNC controls the two rotation axes so that the tool is oriented
as specified, and performs tool length compensation along the tool
axis by the compensation amount. This means that compensation
is performed by moving the two rotation axes and three linear
axes.
Tool center point control (type 1) differs from tool length
compensation along the tool axis as shown below:
Tool center point control (type 1)
The path of the tool tip center is linear as specified.
Tool pivot point

= interpolation path
(not linear)
Tool tip center path

(linear)
Tool length compensation along the tool axis
The path of the tool tip center is not linear.
Tool pivot point

= interpolation path
(linear)

(not linear)
Fig. 10.4.10 (a) Difference between Tool Center Point Control and Tool Length
Compensation along the Tool Axis
- 1052 -
NOTE
The length from the tool tip to tool pivot point must
equal the sum of the tool length compensation and
tool holder offset.
The difference between tool center point control (type 2) and

designation direction tool length compensation is also the same as
shown in Fig. 10.4.10 (a).
Format
- Specifying tool center point control (type 1)
G43.4 H_ G
H : Offset number
- Specifying tool center point control (type 2)

G43.5 I_ J_ K_ H_ Q_ G
I,J,K : Tool axis orientation
H : Offset number
Q : Tool inclination angle (degrees)
NOTES
1 The command format of tool center point control (type
2) is very different from the command format of
designation direction tool length compensation
(G41I_J_K_D_).
2 When I, J, and K are all omitted form a block, the
compensation vector in the previous block is used.
3 When any of I, J, and K is omitted, the omitted I, J, or K
is assumed to be 0.
4 Movement of the rotation axes is controlled by a
shortcut control so that the amount of movement
does not exceed 180.
- Canceling tool center point control

G49 G
NOTE
The command for canceling tool center point control
(type 2) differs from the command for canceling
designation direction tool length compensation
(G40).
- 1053 -
Description
- Specification of tool center point control
The tool compensation vector changes in the following cases:
Type 1 : The offset value is changed, or the rotation axis position
(B, C) is specified.
Type 2 : The offset value is changed, or the tool axis orientation (I,
J, K) is specified
As the tool compensation vector changes, movement occurs along the
X-, Y-, and Z-axes by the amount of the change. The time at which the
tool compensation vector is calculated is as follows:
Tool center point control : Calculated momentarily even in the
middle of a block.
Tool length compensation along the tool axis : Calculated only at
the end point of a block.
Designation direction tool length compensation : Calculated only
at the end of a block
When only the rotation axis position is specified in tool center point
control (type 1) mode, and when only I, J, and K are specified in tool
center point control (type 2) mode, the tool tip center position remains
unchanged before and after the specification. (Also while the rotation
axes are being moved, the tool tip center does not move.)
- Inclination angle of the tool
For tool center point control (type 2), the inclination angle of the tool
can be specified with address Q of G43.5. The inclination angle of the
tool is the difference in the angle between the tool orientation specified
by (I, J, K) and the tool orientation set for actual machining.
If the tool orientation specified by (I, J, K) matches the tool orientation
set for actual machining, Q need not be specified.
Tool orientation specified by Tool orientation during actual machining

(I,J,K)
Inclination angle of the tool
Machining direction
Example: For machining with the tool tilted toward the machining
direction by 2 degrees, specify the following:
G43.5 I_ J_ K_ H_ Q2.0
- 1054 -
- Programmed point
In programming, the position of the tool tip center is specified.
Ball-end mill
Tool tip center
Programmed path
Flat-end mill
Tool tip center
Programmed path
Corner-radius-end mill
Tool tip center
Programmed path
- Linear interpolation (G01)

When linear interpolation (G01) is specified in tool center point control
mode, the feedrate is controlled so that the tool tip center moves at a
specified feedrate.
Also in tool center point control (type 2), the feedrate is controlled so
that the tool tip center moves at a specified feedrate regardless of the
setting of bit 2 (FWR) of parameter No. 7711.
- 1055 -
- Specification of rotation axes

(1) Type 1
When only the rotation axes are specified in tool center point
control (type 1) mode, the feedrate of the rotation axes is set to the
maximum cutting feedrate (parameter No. 1422).
(2) Type 2
In tool center point control (type 2) mode, the rotation axes cannot
be specified. If the rotation axes are specified, alarm (PS1061)
occurs.
- Positioning (G00)
NOTE
1 Set the following parameters:
(1) Bit 4 (LRP) of parameter No.1400 = 1: Linear type
rapid traverse
(2) Bit 5 (FRP) of parameter No.1603 = 1:
Acceleration/deceleration before interpolation is used
in rapid traverse.
(3) Parameter No.1671: Acceleration of
acceleration/deceleration before interpolation for
rapid traverse
(4) Parameter No.1672: Acceleration change period
of bell-shaped acceleration/deceleration before
interpolation for rapid traverse
2 If the above settings are not made, or if look-ahead
acceleration/deceleration before interpolation is not
valid, axis movement may be performed at a higher
feedrate than the rapid traverse rate.
- Operation at start and cancellation

(1) Type 1
When tool center point control (type 1) starts (G43.4H_) and
when it is canceled (G49), the CNC calculates the compensation
vector only at the end of the block.
(2) Type 2
When tool center point control (type 2) starts (G43.5H_) and
when it is canceled (G49), the CNC calculates the compensation
vector only at the end of the block.
- Operation of tool center point control (type 1)

The following items are the same as for tool length compensation along
the tool axis:
-Machine configuration example and equation for rotation axis
calculation
-Tool holder offset
-Specification of angular displacement in a parameter
-Zero-point compensation for the rotation axes
-Rotation axis offset
- 1056 -
- Operation of tool center point control (type 2)

The following item is the same as for tool length compensation along
the tool axis:
- Tool holder offset
The following items are the same as for tool length compensation in a
specified direction:
- Operation in tool length compensation in a specified direction
- Machine configuration example and equation for rotation axis
calculation
- Tool offset by tool number
When the tool offset by tool number is used, the tool length
compensation amount corresponding to a tool number (T code) is used
for tool center point control.
When tool life management is used, the tool length compensation
amount of the tool used is used for tool center point control.
- Three-dimensional cutter compensation
Tool center point control and three-dimensional cutter compensation
can be used at the same time.
Three-dimensional cutter compensation is applied to a specified tool
tip point. Three-dimensional cutter compensation, however, is not
performed momentarily in the middle of a block; it is performed only at
the end of a block.
- Three-dimensional coordinate conversion
When tool center point control (type 2) is used during three-
dimensional coordinate conversion, the tool axis orientation (I, J, K) is
also subjected to three-dimensional coordinate conversion.
- Rotation axis rollover
NOTE
Whenever using tool center point control (type 2), set
bit 2 (ROL) of parameter No. 1009 to 1 to perform
rotation axis rollover.
Restrictions
- Axis name extension
NOTE
When I, J, and K are used as axis names by axis
name extension, tool center point control (type 2)
cannot be used.
- Manual intervention
When manual intervention is made for a rotation axis with the manual
absolute switch set to off, the compensation vector is calculated using
the rotation axis position that was found just before the manual
intervention.
Example: When the manual absolute switch is turned off with B
positioned to 30.0, then a manual intervention by 1.0 degree is
made for the B-axis, the machine coordinate position of the B-axis
is 31.0. Then, starting automatic operation sets the absolute
coordinate position of the B-axis to 30.0. In tool center point
- 1057 -
control, therefore, the compensation vector is calculated with B

set to 30.0.
- Look-ahead acceleration/deceleration before interpolation

When using tool center point control, also use look-ahead
acceleration/deceleration before interpolation. If look-ahead
acceleration/deceleration before interpolation is not used, the feedrate
may exceed the maximum cutting feedrate as a result of tool center
point control, which will cause alarm OT0553.
Example:
Interpolation path
In the above example, the feedrate is controlled so that the tool tip
center moves at a specified feedrate. As a result, a higher feedrate than
the specified feedrate is detected on the interpolation path. In such a
case, if look-ahead acceleration/deceleration before interpolation is
used, the feedrate is clamped so that the feedrate on the interpolation
path does not exceed the maximum cutting feedrate. If look-ahead
acceleration/deceleration before interpolation is not used, a higher
feedrate on the interpolation path than the maximum cutting feedrate
results in alarm OT0553.
- Functions resulting in the same operation as tool length compensation along the
tool axis
- Functions resulting in the same operation as tool length compensation in a
specified direction
When the following functions are used in tool center point control
mode, the same operation as tool length compensation along the tool
axis (type 1) or tool length compensation in a specified direction (type
2) results:
-Specification of an axis not related to tool center point control
-Skip function (G31 to G31.9)
-Unidirectional positioning (G60)
-The following G functions of group 01:
Circular interpolation, helical interpolation, spiral interpolation,
conical interpolation (G02, G03)
Circular threading B (G2.1, G3.1)
Involute interpolation (G2.2, G3.2)
Three-dimensional circular interpolation (G2.4, G3.4)
Threading (G33)
-Selection of a workpiece coordinate system (G54 to G59)
-Setting of a workpiece coordinate system (G92)
- 1058 -
-Feed per revolution (G95)

-Inverse time feed (G93)
- Unavailable functions 1
In tool center point control mode, the functions listed below cannot be
used.
If these functions are used, the compensation vector of the previous
block is used as is.
-The following G functions of group 01:
Exponential interpolation (G2.3, G3.3)
Spline interpolation (G6.1)
Smooth interpolation (G5.1Q2)
NURBS interpolation (G6.2)
-Cylindrical interpolation (G7.1)
-Polar coordinate interpolation (G12.1)
-Normal-direction control (G41.1, G42.1)
- Unavailable functions 2
In tool center point control mode, the functions listed below cannot be
used.
To use these functions, specify G49 to cancel tool center point control,
then specify these functions.
-Reference position return check (G27)
-Automatic reference position return command (G28, G29, G30)
-Positioning of the machine coordinate system (G53)
Parameters
The parameters used are the same as those for tool length compensation
along the tool axis and tool length compensation in a specified
direction.
Parameters common to types 1 and 2

Parameter No. Data type Description
1014#0 Bit axis Rotation axis selection

1014#1 Bit axis Parameter axis selection
1029 Integer axis Linear axis as the center about which
the rotation axis rotates
7514 Integer Tool axis orientation
7515 Integer Axis number of the master axis of
rotation axes
7548 Real Tool holder offset
number
- 1059 -
Parameters for type 1

Parameter No. Data type Description
7516 Real Angular displacement of the rotation

number axis axes
7517 Real Offset of angular displacement of the
number axis rotation axes
7518 Real Rotation axis reference position
number axis compensation amount
Alarms and messages
No. Message Description

PS0217 ILLEGAL OFFSET VALUE The offset number is illegal.
PS1060 ILLEGAL PARAMETER IN There is an illegal parameter relating to tool center point
G43.4/G43.5 control.
PS1061 ILLEGAL COMMAND IN G43.4/G43.5 Rotation axes are specified in tool center point control (type
2).
OT0553 EXCESS VELOCITY IN G43.4/G43.5 As a result of tool center point control, the feedrate along an
axis exceeds the maximum cutting feedrate.
Reference
FANUC Series Connection Manual 10.4.6 Tool length
15i/150i-MA (Function) compensation along tool
(B-63323EN-1) axis
10.4.9 Designation direction tool
length compensation
- 1060 -
10.4.11 Control Point Compensation of Tool Length Compensation

Along Tool Axis
Normally, the control point of tool length compensation along the tool
axis is the point of intersection of the centers of two rotation axes. The
machine coordinates also indicate this control point.
This section explains the compensation performed when the centers of
the two rotation axes do not intersect and also explains how to place the
control point at a convenient position on the machine.
Description
- Compensation of the rotation centers of two rotation axes
Compensation when the rotation centers of two rotation axes do not
match is performed.
The length from the tool mounting position to the first rotation axis
center is set as the tool holder offset value in parameter No. 7548.
The vector from the first rotation axis center to the second rotation axis
center is set as the rotation center compensation vector in parameter No.
7519. Since parameter No. 7519 is an axis type parameter, the
compensation amount for three axes (X, Y, and Z) can be set in this
parameter.
B axis center
Rotation center
compensation vector B
Tool holder
offset
A A axis Z
center
Tool length
X
compensation amount Y B
A
Workpiece
Fig. 10.4.11 (a) Compensation of Rotation Centers of Two Rotation Axes
- 1061 -
According to the machine type, set the values listed in the following
table:
Table 10.4.11 (a) Setting the Tool Holder Offset and Rotation Center
Compensation Vector
Machine type Tool holder offset Rotation center
Parameter No. 7548 compensation vector
Parameter No. 7519
(1) A- and C- axes. Tool Length from tool mounting Vector from A-axis center
axis is Z-axis. position to A-axis center to C-axis center
(2) B- and C-axes. Tool Length from tool mounting Vector from B-axis center
axis is Z-axis. position to B-axis center to C-axis center
(3) A- and B-axes. Tool Length from tool mounting Vector from B-axis center
axis is X-axis. position to B-axis center to A-axis center
(4) A- and B-axes. Tool Length from tool mounting Vector from A-axis center
axis is Z-axis. position to A-axis center to B-axis center
B-axis is master.
(5) A- and B-axes. Tool Length from tool mounting Vector from B-axis center
axis is Z-axis. position to B-axis center to A-axis center
A-axis is master.
NOTE
When using the spindle center compensation
described below, set the length from the tool
mounting position to the spindle center as the tool
holder offset.
- Spindle center compensation
Compensation of the spindle center is performed.
The amount of spindle center compensation is set in parameter No.
7520. Since parameter No. 7520 is an axis type parameter, the
compensation amount for three axes (X, Y, and Z) can be set in this
parameter.
- 1062 -
Second rotation axis

center (control point)
Rotation center compensation
vector parameter iNo. 7519 j
First rotation axis center
Spindle center compensation

vector parameter (No. 7520 j
Spindle center
Tool holder offset
parameter (No. 7548 j
Tool mounting position
Tool length
compensation amount
Tool tip
(programmed point)
Workpice coordinate origin

Machine coordinate origin
Fig. 10.4.11 (b) Spindle Center Compensation
Shifting the control point

Conventionally, the center of a rotation axis was used as the control
point. The control point can now be shifted as shown in the figure
below.
Then, when the rotation axis is at the 0-degree position also in tool
length compensation along the tool axis (G43.1), the control point can
be set to the same position as that for ordinary tool length compensation
(G43).
The control point here is indicated with machine coordinates.
When linear interpolation is specified, for example, this control point
moves linearly.
- 1063 -
Ordinary tool length Tool length compensation along Tool length compensation along
compensation iG43 j tool axis (G43.1 j: tool axis iG43.1 jF
When tool is not tilted When tool is tilted
Control
point before
shift
Shift
vector
Control Control
point point
Tool length
compensation
vector
Workpiece coordinate origin
Machine coordinate origin

Fig. 10.4.11 (c) Shift of the Control Point
The method of shifting the control point can be selected using the
following parameters:
Table 10.4.11 (b) Methods of Shifting the Control Point

Bit 5 (SVC) of Bit 4 (SBP) of Shift of control point
parameter No. parameter No.
7540 7540
0 - As in the conventional case, the control point is not shifted.
1 0 The control point is shifted, and the shift vector is calculated automatically as
follows:
- (rotation center compensation vector (parameter No. 7519))
+ spindle center compensation vector (parameter No. 7520))
+ tool holder offset along tool axis (parameter No. 7548)))
1 1 The control point is shifted, and the shift vector is the vector set in parameter
No. 7745.
- 1064 -
- Equation for each machine type

Vx, Vy, Vz :Tool length compensation vector
A, B, C :Absolute coordinates of A-, B-, and C-axes
To :Tool offset value
Ho :Tool holder offset value
Jx, Jy, Jz :Rotation center compensation vector
Cx, Cy, Cz :Spindle center compensation vector
Sx, Sy, Sz:Shift vector
Suppose the above. Then, the tool length compensation vector for each
axis is calculated depending on the machine type, as follows:
(1) A- and C-axes. The tool axis is the Z-axis.
Vx cos C sin C 0 1 0 0 Cx Jx Sx
Vy = sin C + Jy + Sy
cos C 0 0 cos A sin A Cy
Vz 0 0 1 0 sin A cos A To + Ho + Cz Jz Sz
(2) B- and C-axes. The tool axis is the Z-axis.
Vx cos C sin C 0 cos B 0 sin B Cx Jx Sx
Vy = sin C + Jy + Sy
cos C 0 0 1 0 Cy
Vz 0 0 1 sin B 0 cos B To + Ho + Cz Jz Sz
(3) A- and B-axes. The tool axis is the X-axis.
Vx 1 0 0 cos B 0 sin B To + Ho + Cx Jx Sx
Vy = 0 cos A sin A 0 0 + Jy + Sy
1 Cy
Vz 0 sin A cos A sin B 0 cos B Cz Jz Sz
(4) A- and B-axes. The tool axis is the Z-axis, and the B-axis is the
master.
Vx cos B 0 sin B 1 0 0 Cx Jx Sx
Vy = 0 + Jy + Sy
1 0 0 cos A sin A Cy
Vz sin B 0 cos B 0 sin A cos A To + Ho + Cz Jz Sz
(5) A- and B-axes. The tool axis is the Z-axis, and the A-axis is the
master.
Vx 1 0 0 cos B 0 sin B Cx Jx Sx
Vy = 0 cos A sin A 0 + Jy + Sy
1 0 Cy

Vz 0 sin A cos A sin B 0 cos B To + Ho + Cz Jz Sz
The shift vector (Sx, Sy, Sz) is calculated as follows:

(A) When bit 5 (SVC) of parameter No.7540 = 0, the vector is set to 0.
(B) When bit 5 (SVC) of parameter No.7540 = 1, and bit 4 (SBP) of
parameter No. 7540 = 0:
When the machine type is other than (3)
Sx Cx + Jx
Sy = Cy + Jy

Sz Cz + Jz + Ho
When the machine type is (3)
Sx Cx + Jx + Ho
Sy = Cy + Jy

Sz Cz + Jz
(C) When bit 5 (SVC) of parameter No.7540 = 1, and bit 4 (SBP) of
parameter No. 7540 = 1, the vector specified in parameter No.
7745 is set.
- 1065 -
- Tool center point control

Control point compensation of tool length compensation along the tool
axis is also enabled for tool center point control.
Parameters
7519 Rotation center compensation vector in tool length compensation along tool
axis

# &
$
* !

1 ? , "

-
& '!"!
> )*%%%%%%"%%%+%%%%%%"%%%!
In the function for tool length compensation along the tool axis, set the vector from
the first rotation axis center to second rotation axis center.
7520 Spindle center compensation vector in tool length compensation along tool
axis

# &
$
* !

1 ? , "

-
& '!"!
> )*%%%%%%"%%%+%%%%%%"%%%!
In the function for tool length compensation along the tool axis, set the
compensation vector of the spindle center.
#7 #6 #5 #4 #3 #2 #1 #0
7540 SVC SBP

)
9@ ) *

4
0: Calculated automatically.
1: The setting in parameter No. 7745.
- 1066 -
9: ; * 4
0: Not shifted.
1: Shifted.
The shift method is specified with bit 4 (SBP) of parameter No. 7540.
7719 Rotation center compensation vector for head 2 in parallel axis control and
twin-table control

# &
$
* !

1 ? , "

-
& '!"!
> )*%%%%%%"%%%+%%%%%%"%%%!
In the function for tool length compensation along the tool axis, set the vector from
the first rotation axis center to second rotation axis center.
7738 Spindle center compensation vector for head 2 in parallel axis control and
twin-table control

# &
$
* !

1 ? , "

-
& '!"!
> )*%%%%%%"%%%+%%%%%%"%%%!
In the function for tool length compensation along the tool axis, set the spindle
center compensation vector.
- 1067 -
7745 Shift vector in tool length compensation along tool axis

# &
$
* !

1 ? , "

-
& '!"!
> )*%%%%%%"%%%+%%%%%%"%%%!
In the function for tool length compensation along the tool axis, set the control
point shift vector. This parameter is valid when bit 5 (SVC) of parameter No.
7540 is 1 and bit 4 (SBP) of parameter No. 7540 is 1.
7746 Shift vector of tool length compensation along tool axis for head 2 in parallel
axis control and twin-table control

# &
$
* !

1 ? , "

-
& '!"!
> )*%%%%%%"%%%+%%%%%%"%%%!
In the function for tool length compensation along the tool axis, set the control
point shift vector. This parameter is valid when bit 5 (SVC) of parameter No.
7540 is 1 and bit 4 (SBP) of parameter No. 7540 is 1.
Reference
FANUC Series Connection Manual 10.4.6 Tool length
15i/150i-MA (Function) compensation along tool
(B-63323EN-1) axis
10.4. Tool Center Point Control
- 1068 -
10.4.12 Grinding Wheel Wear Compensation
On a specified compensation plane, a compensation vector is created

on an extension of a straight line starting from a specified point
(compensation center) toward a command end point.
Compensation vector
Compensation center Programmed path
Tool center path
Fig. 10.4.12 (a) Grinding Wheel Wear Compensation
Format
- Grinding wheel wear compensation (start of grinding wheel wear compensation)
G41 P_ D_ G
P_ : Number of compensation center position
P1 (Selection of first compensation center)
P2 (Selection of second compensation center)
P3 (Selection of third compensation center)
D_ : Non-zero offset number
- Canceling the compensation vector

D0 G
Cancels just the compensation vector.
- - Maintaining the compensation vector

G40 G
When a D code with a non-zero value has been specified,
specifying G40 sets the mode in which the compensation
vector is maintained.
- Canceling grinding wheel wear compensation

G40 D0 G
- 1069 -
Description
- Grinding wheel wear compensation (start of grinding wheel wear compensation)
Up to three compensation center positions can be set. Set the
coordinates (in the workpiece coordinate system) of these
compensation center positions in parameter Nos. 6050 to 6055.
With the Pn (n = 1, 2, or 3) command, select the number of a
compensation center position.
P1 ---- Selects the first compensation center.

P2 ---- Selects the second compensation center.
P3 ---- Selects the third compensation center.
When G41P_ (selection of a compensation center position) and a D

code with a non-zero value are specified, a compensation vector is
created, and movement takes place even if there is no move command
specified in the block.
The D code may be specified in a block before or after G41P_.
Example
G41 P1 G Selects the first compensation center.
D2 G Creates a compensation vector and performs movement.
NOTE
1 Specify the P_ command and G41 command at the
same time. If they are not specified at the same time,
or if a value other than 1 to 3 is specified in the P_
command, alarm PS618 is issued.
2 When the selected compensation center position
and absolute coordinate match on an axis, the
compensation vector component on that axis
becomes 0.
- Canceling the compensation vector

Specifying D0 cancels the compensation vector.
When D0 is specified in a block, movement due to the cancellation
takes place even if the block contains no move command.
Then, when a D code with a non-zero value is specified again, a
compensation vector is created, and movement takes place.
- Maintaining the compensation vector

When a D code with a non-zero value has been specified, specifying
G40 sets the mode that maintains the created compensation vector.
When compensation vector maintenance mode has been entered, the
command end position is shifted by the amount of the maintained
vector.
To create a new compensation vector again, specify the grinding wheel
wear compensation start command (G41 P_ D_). To cancel the
maintained vector, specify D0. Specifying D0 cancels grinding wheel
wear compensation, therefore, canceling the maintained vector. In this
case, movement due to the cancellation takes place.
- 1070 -
- Canceling grinding wheel wear compensation

When G40 and D0 are specified at the same time, the compensation
vector is canceled, movement due to the cancellation takes place, then
grinding wheel wear compensation is canceled.
When D0 has been canceled, specifying G40 cancels grinding wheel
wear compensation without causing movement due to the
compensation vector cancellation. This is because the compensation
vector has already been canceled by the D0 command.
- Grinding wheel wear compensation status

G code D code Mode and its meaning
G41 Other than 0 Grinding wheel wear compensation mode

(A compensation vector is created.)
0 Compensation vector cancel mode

(No compensation vector is created.)
G40 Other than 0 Compensation vector maintenance mode

(A compensation vector is maintained.)
0 Grinding wheel wear compensation cancel
mode
(Grinding wheel wear compensation is
canceled.)
- Compensation plane
In grinding wheel wear compensation mode or compensation vector
maintenance mode, a compensation vector is always created for the
axes on the compensation plane determined by parameter Nos. 6056
and 6057.
If an axis on the compensation plane is changed in this mode, alarm
PS619 is issued in a block for obtaining the movement end position.
- Compensation vector
A compensation vector is created only on the plane (compensation
plane) of the axes (compensation axes) set in parameter Nos. 6056 and
6057.
On an extension of a straight line starting from the compensation center
and directed toward the command end position, a compensation vector
is created, where the length of the vector equals the offset value
specified by the offset number in a D code. (See Fig. 10.4.12 (a).)
If the offset value is negative, a compensation vector whose direction is
from the compensation center toward the command end position is
added to the command end position. (See Fig. 10.4.12(b).)
If the offset value is positive, a compensation vector whose direction is
from the command end position toward the compensation center is
added to the command end position. (See Fig. 10.4.12(c).)
The direction of the compensation vector can be changed by bit 3
(WCD) of parameter No. 6008.
- 1071 -
CAUTION
The offset value is used as a radius. It can also be
used as a diameter by setting bit 0 (ODI) of
parameter No. 6008 to 1.
Compensation vector
Z
Tool center path
Compensation Programmed path

center
Y
Fig. 10.4.12 (b) Offset Value (-)
Compensation vector
Z

Tool center path
center
Y
Fig. 10.4.12 (c) Offset Value (+)
- 1072 -
- Compensation plane and plane selection by G17/G18/G19

Creation of a compensation vector is not related to plane selection by
G17/G18/G19.
For example, while circular interpolation is being performed on the XY
(G17) plane, compensation can be applied to a compensation plane
(such as the YZ plane). In grinding wheel wear compensation mode, if
the creation of a compensation vector results in a change in the vector
component, movement along a compensation axis is performed even
when no move command is specified for that axis.
Example 1
With the Y- and Z-axes set as the compensation axes,
a linear interpolation command is executed for the X-
and Y-axes.
Programmed path a->b Path after compensation a->b
Y a Y a
Vay Vay Va
a a
Vaz
Compensation
b center b
Vby Vby Vb
b Vbz
b
X Z
Example 2
With the Y- and Z- axes set as the compensation axes,
an arc command is executed for the X- and Y-axes.
Programmed path a->b Path after compensation a->b
Y a Y a
Vay Vay Va
a a
Compensa- Vaz
tion center
b b
Vby Vby Vb
b b Vbz
X Z
- 1073 -
- Circular interpolation/helical interpolation

When circular interpolation (G02/G03) is specified in grinding wheel
wear compensation mode, the radius at the start point of an arc differs
from the radius at the end point, which prevents a correct arc from
being formed, unless the compensation center and arc center match. As
a result, a spiral is formed.
Likewise, this occurs in helical interpolation.
Compensation vector
Arc center
Tool center path
Compensation center
Programmed path
Fig. 10.4.12 (d) Arc Interpolation in Grinding Wheel Wear Compensation Mode
Also, for the value obtained after compensation, a check of the arc
radius error limit (parameter No. 2410) is made.
When arc interpolation is specified in compensation vector

maintenance mode, the end position and arc center are shifted by the
amount of the compensation vector. As a result, an arc is formed
instead of a spiral.
Maintained vector
Tool center path

Programmed arc center
Programmed path
Fig. 10.4.12 (e) Arc Command in Compensation Vector Maintenance Mode

(G40)
- Exponential interpolation
When exponential interpolation is specified in grinding wheel wear
compensation mode, a compensation vector is created for each of the
points approximating a straight line in exponential interpolation.
- Power-up and reset

When a power-up or reset operation is performed, grinding wheel wear
compensation cancel mode is set.
- 1074 -
- Available compensation functions

The commands listed below can be used in grinding wheel wear
compensation mode. In these command modes, grinding wheel wear
compensation can also be used.
- Tool length compensation (G43, G44, G49)
- Position offset (G45 to G48)
Restrictions
- Changing a compensation axis
Before changing a compensation axis, set compensation vector cancel
mode, or cancel grinding wheel wear compensation.
- Changing the coordinate system

Before changing the coordinate system, set compensation vector cancel
mode, or cancel grinding wheel wear compensation.
- Commands related to reference position return

Before issuing the following commands, set compensation vector
cancel mode, or cancel grinding wheel wear compensation:
- Reference position return check (G27)
- Reference position return (G28)
- Second reference position return (G30)
- Return from the reference position (G29)
- Floating reference position return (G30.1)
- Relation with other compensation functions

For a system having the grinding wheel wear compensation function,
the following functions cannot be added:
- Functions belonging to G code group 07 except this function
Cutter compensation (G40, G41, G42), three-dimensional tool
compensation (G40, G41), three-dimensional cutter
compensation (G41.3, G41.2, G42.2), tool length compensation in
a specified direction (G41)
The grinding wheel wear compensation function cannot be used when

the tool offset function by tool number is valid. Before using the
grinding wheel wear compensation function, disable the tool offset
function by tool number by setting bit 5 (NOT) of parameter No. 0011
to 1.
The commands listed below are invalid for the coordinates of the
compensation center of grinding wheel wear compensation. When
these commands are executed in grinding wheel wear compensation
mode, a compensation vector is created on an extension of the line
connecting the compensation center and the command end position of
the following functions:
- Scaling (G51)
- Coordinate system rotation (G68)
- 1075 -
- Relation with compensation functions

The commands listed below cannot be used in grinding wheel wear
compensation function mode. Before using these commands, cancel
grinding wheel wear compensation. Also, grinding wheel wear
compensation cannot be used in a mode of these commands.
- Three-dimensional circular interpolation (G02.4, G03.4)
- Hypothetical axis interpolation (G07)
- Polar coordinate interpolation (G12.1, G13.1)
- Cylindrical interpolation (G07.1)
- Spline interpolation (G06.1)
- Smooth interpolation (G05.1)
- NURBS interpolation (G06.2)
- Relation with functions that simplify programming
The following command is invalid for the coordinates of the

compensation center of grinding wheel wear compensation:
- Programmable mirror image (G51.1)
A compensation vector is created on an extension of the line
connecting the compensation center and the command end position
to which programmable mirror image is applied.

grinding wheel wear compensation. Also, in mode of these commands,
grinding wheel wear compensation cannot be used.
- Chamfering at an arbitrary angle, corner rounding
- Figure copy (G72.1, G72.2)
- Normal direction control (G40.1, G41.1, G42.1)
- Three-dimensional coordinate conversion (G68, G69)
- Relation with measurement functions

grinding wheel wear compensation.
- Skip function/multiple-command skip function (G31)
- Multistage skip (G31.1 to G31.4)
- Automatic tool measurement (G37)
- Relation with other functions

- Background drawing
A program producing a spiral tool center path cannot be drawn
correctly.
- Binary input operation by a remote buffer
This function cannot be used in grinding wheel wear compensation
function mode. Before using this function, cancel grinding wheel
wear compensation.
- 1076 -
Parameters
6050 First axis coordinate of compensation center 1 in grinding wheel wear

compensation
6051 Second axis coordinate of compensation center 1 in grinding wheel wear

compensation

compensation

compensation

compensation

compensation

# &
$
* !

1 , "

-
& '!"!
> )*%%%%%%"%%%+%%%%%%"%%%!
Set the coordinates (in the workpiece coordinate system) of a compensation center
in grinding wheel wear compensation.
6056 Axis number of the first axis of the compensation plane in grinding wheel
wear compensation
6057 Axis number of the second axis of the compensation plane in grinding wheel
wear compensation

/ &
Set the controlled-axis numbers of the first and second linear axes to which
grinding wheel wear compensation is applied.
NOTE
Before changing an axis of the compensation plane, set
compensation vector cancel mode, or cancel grinding wheel wear
compensation.
- 1077 -
#7 #6 #5 #4 #3 #2 #1 #0
6008 WCD

)
93 (; 2
2 , , "
Offset value in D code

Negative Positive
6008#3 0 From compensation center From command end
toward command end position toward
position compensation center
1 From command end From compensation center
position toward toward command end
compensation center position
Compensation vector
Z
Tool center path

center
From compensation center toward command end position
Compensation vector
Z

Tool center path
center
From command end position toward compensation center
- 1078 -
Alarms and messages

PS0618 ILLEGAL P-DATA (WHEEL WEAR The P data for selecting the compensation center in
COMPENSATION) grinding wheel wear compensation is illegal.
PS0619 ILLEGAL AXIS(WHEEL WEAR A compensation axis has been changed in grinding wheel
COMPENSATION) wear compensation mode or compensation vector
maintenance mode. Alternatively, the settings in
parameter Nos. 6056 and 6057 that determine the target
axes for grinding wheel wear compensation are illegal.
- 1079 -
10.4.13 Cutter Compensation for Rotary Table
For machines having a rotary table, such as that shown in the figure
below, cutter compensation can be performed.
C A
'
1&

)
B C

A
B

Fig.10.4.13 (a) Machine having a rotary table
Format
- Startup (cutter compensation start)
G41.4 (or G42.4) IP_ D_ ;
G41.4: Cutter compensation, left (group 07)
G42.4: Cutter compensation, right (group 07)
IP_ : Value specified for moving an axis
D_ : Code specifying the cutter compensation amount
(1 to 3 digits)
- Cutter compensation cancellation
G40 IP_ ;
G40 : Cutter compensation cancellation (group 07)
IP_ : Value specified for axis moving
- Selection of an offset plane
Offset plane Plane selection IP_
command
XpYp G17 ; Xp_Yp_
ZpXp G18 ; Xp_Zp_
YpZp G19 ; Yp_Zp_
The selected plane, or two axes, must be included in the three linear
axes (parameters Nos. 6140 to 6142) handled by this function.
Select the plane vertical to the tool (XpYp plane in Fig.10.4.13 (a)).
- 1080 -
Description
- Cutter compensation
The cutter compensation for Rotary table basically performs operations
in conformance with cutter compensation. The operations different
from those of cutter compensation are described below. For a
description of the specifications and cautions not mentioned here, see
the description of cutter compensation.
- Startup
If the cutter compensation for Rotary table (G41.4 or G42.4, a
command with a dimension word other than 0 and a D code other than
D0 on the offset plane) is issued in offset cancellation mode, the CNC
enters offset mode.
Startup is specified with positioning (G00) or linear interpolation
(G01).
If circular interpolation (G02, G03) or involute interpolation (G02.2,
G03.2) is specified, alarm PS0270 is issued.
- Offset mode
In offset mode, compensation is performed for positioning (G00) and
linear interpolation (G01).
NOTE
In G41.4 or G42.4 mode, circular interpolation (G02,
G03) or involute interpolation (G02.2, G03.2) cannot
be specified.
- Offset mode cancellation

If a block satisfying either of the following conditions is executed in
offset mode, the CNC enters offset cancellation mode.
1 G40 is specified.
2. 0 is specified for the code for specifying the cutter
compensation amount (D code).
If offset cancellation is to be performed, circular interpolation (G02,
G03) or involute interpolation (G02.2, G03.2) must not be specified
Otherwise, alarm PS0270 is issued.
- 1081 -
Example
- Parameter specification example

On the machine shown in Fig.10.4.13 (a) parameters must be specified
as follows:
The axis numbers are assumed as follows: X = 1, Y = 2, Z = 3, A = 4, B
=5
Parameter Setting Description

No.
6140 1 (X) Axis number of linear axis 1
6141 2 (Y) Axis number of linear axis 2
6142 3 (Z) Axis number of linear axis 3
6143 -5 (B) Axis number of rotation axis (first set)
6144 2 (Y) Axis number of the linear axis corresponding to the
rotation axis (first set)
6145 -4 (A) Axis number of rotation axis (second set)
6146 1 (X) Axis number of the linear axis corresponding to the
rotary axis (second set)
6150 0.0 Reference angle for the rotation axis (first set)
6151 0.0 Reference angle for the rotation axis (second set)
- Formulas
With the above settings, the cutter compensation vector at end point N2
in the following program is calculated as follows:
(1) Part program
A part program is created in the workpiece coordinate system.
G42.4 D1
N1 X x1 Y y1 Z z1 A a1 B b1
N2 X x 2 Y y 2 Z z2 A a2 B b2
N3 X x3 Y y 3 Z z3 A a3 B b3
(2) Definitions
P1 = ( x1 , y1 , z1 ) , P2 = ( x 2 , y 2 , z2 ) , P3 = ( x3 , y 3 , z3 )
P0 : Origin of the table coordinate system (parameter No. 6154)
(3) Calculation of the matrix for conversion from the workpiece
coordinate system to the table coordinate system
Reference angle conversion matrix
1 0 0 cos b0 0 sin b0
M 0 = 0 cos a0 sin a0 0 1 0
0 sin a0 cos a0 sin b0 0 cos b0
where a0 and b0 are the reference angles specified for
parameters Nos. 6150 and 6151.
P1 conversion matrix
1 0 0 cos b1 0 sin b1
M 1 = 0 cos a1 sin a1 0 1 0
- 1082 -
1 0 0 cos b2 0 sin b2

M 2 = 0 cos a 2 sin a2 0 1 0
1 0 0 cos b3 0 sin b3
M 3 = 0 cos a3 sin a3 0 1 0
(3) Calculation of three points P1 , P2 , P3 used to calculate cutter

compensation
P1 , P2 , and P3 are converted to P1 , P2 , and P3 using the
following formulas:
P1 = M 2 1 M 1 M 0 1 ( P1 P0 ) + P0
P2 = M 0 1 ( P2 P0 ) + P0
P3 = M 2 1 M 3 M 0 1 ( P3 P0 ) + P0
The cutter compensation vector is calculated using these three
points.
If the reference angle is 0
P2=P2
P3
Y
P1
P3
Cutter
X
compensation
vector
Z
P1
Restrictions
- Interference check
In G41.4 or G42.4 mode, an interference check is performed using a
specified position in the workpiece coordinate system and a
compensation vector. The interference check avoidance function
cannot be used.
- Corner arc (G39)
In G41.4 or G42.4 mode, G39 cannot be specified. Specifying G39
causes alarm PS1062 to be issued.
- Manual intervention
In G41.4 or G42.4 mode, manual intervention must not be performed
on the rotation axis.
- 1083 -
Parameters
6140 Axis number of linear axis 1 in the cutter compensation for Rotary table

/ &
Set the axis numbers of the three linear axes used for the cutter compensation for
Rotary table.
(The linear axes correspond to the coordinate axes in the workpiece coordinate
system.)
6143 Axis number of the rotation axis in the cutter compensation for Rotary table
(first set)
6144 Axis number of the linear axis corresponding to the rotation axis in the cutter
compensation for Rotary table (first set)
6145 Axis number of the rotation axis in the cutter compensation for Rotary table
(second set)
- 1084 -
6146 Axis number of the linear axis corresponding to the rotation axis in the cutter
compensation for Rotary table (second set)

2
> / &
Set the axis numbers of the rotation axes used for the cutter compensation for
Rotary table, as well as the axis numbers of the linear axes corresponding to the
rotation axes. Up to two sets can be set. The orientation of the rotation axis in
the first set depends on the angle of the rotation axis in the second set. If there is
only one rotation axis, set 0 for parameter No. 6145.
The axis numbers of the linear axes corresponding to the rotation axes indicate the
linear axes about which the rotation axes rotate. See the table below.
Linear axis about Value set for Rotation direction of the rotation Direction with an angular
which a rotation parameter No. axis displacement of 0
axis rotates 6144 or 6146
Linear axis 1 Axis number of Foward direction of linear axis 2 to Forward direction of linear axis
linear axis 1 forward direction of linear axis 3 2
If the rotation direction of the rotation axis is the reverse of what is described in the
table above, set a negative value for parameter No. 6143 or 6145.
If the direction with an agular displacement of 0 differs from what is described in
the table above, specify parameters Nos. 6150 and 6151, assuming that the angle of
the rotation axis in relation to the direction described in the table above as the
reference angle.
- 1085 -
6150 Reference angle of the rotation axis in the cutter compensation for Rotary
table (first set)
6151 Reference angle of the rotation axis in the cutter compensation for Rotary
table (second set)

#
$

>, "

% "
& '!"!
> )*%%%%%%"%%%+%%%%%%"%%%!

# & "
6154 Workpiece coordinates of the origin of the table coordinate system in the
cutter compensation for Rotary table

#
$
* !

>, "

% "
& '!"!
> )*%%%%%%"%%%+%%%%%%"%%%!
Set the workpiece coordinates of the origin of the table coordinate system used for
the cutter compensation for Rotary table. Specify the parameter for the three axes
specified for parameters Nos. 6140 to 6142. The intersection of two rotation axes
is assumed to be the origin of the table coordinate system.
Alarm and message

PS1062 ILLEGAL USE OF G41.4/G42.4 (1) Any of the parameters Nos. 6140 to 6146, related to the
cutter compensation for Rotary table, is not correct.
(2) At the start of the rotary table support of cutter
compensation (G41.4/G42.4), axes other than those
specified for parameters Nos. 6140 to 6142 were
selected as a plane.
(3) In the mode of the cutter compensation for Rotary table
(G41.4/G42.4), a move command other than G00/G01
(such as G02) was issued.
- 1086 -
Reference item
FANUC Series OPERATORS II.14.3 CUTTER
15i/150i-MA MANUAL(PROGRAM COMPENSATION C
MING)
(B-63324EN)
- 1087 -
11.PROGRAM COMMAND B-63323EN-1/03
11 PROGRAM COMMAND
- 1088 -
B-63323EN-1/03 11.PROGRAM COMMAND
11.1 DECIMAL POINT PROGRAMMING/POCKET CALCULATOR

TYPE DECIMAL POINT PROGRAMMING
General
Numerical values can be entered with a decimal point. A decimal point
can be used when entering a distance, time, or speed. Decimal points
can be specified with the following addresses:
X, Y, Z, U, V, W, A, B, C, I, J, K, Q, R, F, S
There are two types of decimal point notation: calculator-type notation

and standard notation.
When calculator-type decimal point notation is used, a value without
decimal point is considered to be specified in millimeters, inches or
degree. When standard decimal point notation is used, such a value is
considered to be specified in least input increments. Select either
calculator-type or standard decimal point notation by using the DPI bit
(bit 0 of parameter 2400). Values can
be specified both with and without decimal point in a single program.
Program command Pocket calculator type Standard type decimal

decimal point point programming
programming
X1000 1000mm 1mm
Command value without Unit : mm Unit : Least input
decimal point increment (0.001 mm)
X1000.0 1000mm 1000mm
Command value without Unit : mm Unit : mm
decimal point
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
2400 DPI

!
"
# $$ % $ &'
"
- 1089 -
Alarm And message

PS0007 ILLEGAL USE OF DECIMAL POINT A decimal point (.) was specified at an address where no
decimal point may be specified, or two decimal points were
specified.
Reference item
Series15i/150i-MA Operators Manual II-8.4 Decimal point
(Programming) programming/pocket
(B-63324EN) calculator type decimal
point programming
- 1090 -
11.2 PROGRAM CONFIGURATION
General
A program consists of the following components:
Table. 11.2 Program components

Components Descriptions
Tape start Symbol indicating the start of a program file
Leader section Used for the title of a program file, etc.
Program start Symbol indicating the start of a program
Program section Commands for machining
Comment section Comments or directions for the operator
Tape end Symbol indicating the end of a program file
Leader section
Tape start % TITLE G Program start
O0001 ;
Program section (COMMENT) Comment section
M30 ;
% Tape end
Fig. 11.2 Program components
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0000 CTV TVC

( %

)* ( ) +

#
# *) ( ) + %
*
#
- 1091 -
#7 #6 #5 #4 #3 #2 #1 #0
2200 NM9 NPE

, -. / % $01$0,$ 022

3 %
# - % $ +
% %
4 -02 / % $022

3 %
# - %
% 5 -.6 - $
022$01 0,
% % % %$ -.-02#
#7 #6 #5 #4 #3 #2 #1 #0
7616 EXT

, .7 ( ' 5 %

#
/ % ' 5 %
$0#28 0
#7 #6 #5 #4 #3 #2 #1 #0
2404 SFL

9 (&: ( %
' 5 %
( %
# (
- 1092 -
2431 M code to execute external device subprogram calls

( %

%
) %
;22222222
( 0 ' ' 5 % /
$0#28 0#$01$0,$028$022
' ' 5 % / %5 $#$
1$,$28$ 22 $0#28 ' '
5 %
Alarm And message

PS0590 TH ERROR A TH error was detected during reading from an input
device.
The read code that caused the TH error and how many
statements it is from the block can be verified in the
diagnostics screen.
PS0591 TV ERROR An error was detected during the single-block TV error.
The TV check can be suppressed by setting TVC
PS0592 END OF RECORD The EOR (End of Record) code is specified in the middle of
a block.
This alarm is also generated when the percentage at the
end of the NC program is read.
Reference item
Series15i/150i-MA Operators Manual II-12 Program configuration
(Programming)
(B-63324EN)
- 1093 -
11.3 INCH/METRIC CONVERSION
General
Either inch or metric input can be selected by G code.
Signal
Inch input signal INCH<F001#3>

[Function] This signal indicates that inch input mode is in progress.
[Output condition] "1"indicates that the inch input mode (G20) is in progress, and "0"
indicates that metric input mode (G21) is in progress.
This signal changes to the corresponding state when modes are
switched using the setting data display on the MDI panel.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F001 INCH
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0010 INI

( %

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

# -0 ( '

0 "
# "
- 1094 -
NOTE
After this parameter has been set, the power must be
off turned off then back on for the setting to become
effective.
#7 #6 #5 #4 #3 #2 #1 #0
1006 ROP ROS ROT

'
NOTE
<! ( ' = > 5
3' = > 5 '"
# 3' = > 5 '"
# <!( ( + +

: '"
# < '"
& '$ ?
% -#1@
$ A18$A,"

% ' ,@ % 3
-#1@
1 <! (

: '"
# < '"
/ $ %

,@ % 3
-9419
- 1095 -
#7 #6 #5 #4 #3 #2 #1 #0
2400 G70 F41

# &4# & A24 "
$
#>
# #>
$ >
NOTE
It is not effective if the increment system is IS-A.
1 AB
A1 "A1# "
# AB "AB# "
#7 #6 #5 #4 #3 #2 #1 #0
2203 MCN

# 0*- *<

5
#
Note
NOTE
1 When the least input increment and the least
command increment systems are different, the
maximum error is half of the least command
increment. This error is not accumulated.
2 For the first G28 command after switching from inch
input to metric input or vice versa, low-speed
reference position return is performed.
3 Inch input and metric input can also be switched
using bit 0 (INI) of parameter No. 0010.
Reference item
Series15i/150i-MA Operators Manual II-8.3 Inch/metric system
(Programming) conversion
(B-63324EN)
- 1096 -
11.4 DIAMETER SPECIFICATION AND RADIUS SPECIFICATION
If the CNC is programmed to control a lathe, the dimension of the

workpiece, which generally has a round cross section, can be specified
by a diameter or radius.
X
A
B R2
D1 D2 R1
D1 , D2 - - - - Diameter Specification
R1 , R2 - - - - Radius Specification
Diameter specification involves specifying the dimension with a

diameter while radius specification involves specifying the dimension
with a radius. Radius specification or diameter specification is
specified for each axis in the DIA bit (bit 3 of parameter 1006).
When selecting diameter specification for the X-axis, for instance, note
the conditions listed in the table below:
Item Description
X-axis command Specified by diameter
Incremental X-axis command Specified by diameter.
B and A in the figure shown above
are specified by D1 and D2.
Coordinate system specification The X-axis coordinate is specified
(G92) with a diameter.
Radius of circular interpolation Specified with a radius
(R, I, J, K)
Feedrate in X-axis direction Change in radius per revolution
Change in radius per minute
X-axis position display Displayed by diameter
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1006 DIA

'
, 3 05 ' %
<
#
- 1097 -
Reference item
Series15i/150i-MA Operators Manual II-8.5 Diameter specification
(Programming) and radius specification
(B-63324EN)
- 1098 -
B-63323EN-1/03 11. PROGRAM COMMAND
11.5 CUSTOM MACRO
11.5.1 Custom Macro
General
Although subprograms are useful for repeating the same operation, the
custom macro function also allows use of variables, arithmetic and
logic operations, and conditional branches for easy development of
general programs such as pocketing and user-defined canned cycles. A
machining program can call a custom macro with a simple command,
just like a subprogram.
Machining program Custom macro
O0001 ; O9010 ;
: #1=#18/2 ;
: G01 G42 X#1 Y#1 F300 ;
:
G65P9010 R50.0 L2 ; G02 X#1 Y-#1 R#1 ;
: :
: :
:
M30 ;
M99 ;
This means that a function of general use can be formed when

programming a certain function as a custom macro. That is, programs
can be written using variables for data that might change or be
unknown. This can be further applied to group technology.
Similar workpieces can be collected as a group and a universal custom
macro
body can be programmed using variables applicable to each group. In
this way,
programming is not required for the workpieces in the group.
The programmer only need to assign actual values to the variables.
- 1099 -
11. PROGRAM COMMAND B-63323EN-1/03
Bolt hole circles as shown in the above figure can be made easily.
Once a custom macro body for the bolt hole circle is programmed and
registered, the CNC can operate as if it has the bolt hole circle cutting
function.
Programmers can use the bolt hole circle function by using the
following command only:
G65 Pp Rr A B Kk ;
P : Macro number of bolt hole circle
r : Radius
: Start angle
: Angle between circles
k : Number of circles
Signal
Custom Macro Input Signal

UI000 to UI031<G048 to G051>, UI100 to UI131<G052 to G055>
UI200 to UI231<G056 to G059>, UI300 to UI331<G060 to G063>

[Function] No function is provided for the control unit. These signals can be read
by a custom macro as a type of system variable, and are used for
interface signals between custom macros and the PMC.
These signals correspond to system variables as indicated below.
Signals Qty Variables Correspondence of values
UI000 1 #1000
UI001 1 #1001
UI002 1 #1002
UI003 1 #1003 "0" at "0" and "1" at "1"
: : :
UI030 1 #1030
U031 1 #1031
*1
UI000 to UI031 32 #1032 32-bit binary code
*1
*1
*1
{ }
30
*1
Variable value #(1032+n) = 2i u | Q

u
i=0
Where Vi=0 when UIni is 0

and Vi=1 when UIni is 1
n : 0 to 3
These system variables cannot be used on the left-hand side of the

assignment statement.
- 1100 -
Custom Macro Output Signal

UO000 to UO031<F048 to F051>, UO000 to UO031<F052 to F055>
UO200 to UO231<F056 to F059>, UO300 to UO331<F060 to F063>

[Function] No function is provided for the control unit. These signals can be read
or written by a custom macro as a type of system variable, and are used
for interface signals between custom macros and the PMC.
These signals correspond to system variables as indicated below.
Signals Qty Variables Correspondence of values

UO000 1 #1100
UO001 1 #1101
UO002 1 #1102
UO003 1 #1103 "0" at "0" and "1" at "1"
: : :
UO014 1 #1114
UO015 1 #1115
*1
UO000 to UO031 32 #1132 32-bit binary code
*1
*1
*1
{ }
30
*1
Variable value #(1132+n) = 2i u | Q

u
i=0
Where Vi=0 when UOni is 0

and Vi=1 when UOni is 1
n : 0 to 3
These system variables can be used on the left side of an assignment
statement as well as on the right side.
The value assigned to the system variable used on the left side last is
used for the value of the system variable to be assigned on the right
side.
Cumulative cutting time count request signal CCT<G045#6>

[Function] This signal requests to count the cumulative cutting time during
automatic operation.
[Operation] When this signal is "1" and parameter CTM (bit 4 of parameter No.
7710) is 1, the cumulative cutting time set in parameters (Nos. 103 and
104) are counted unconditionally.
- 1101 -
Signal address
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G045 CCT
G048 UI007 UI006 UI005 UI004 UI003 UI002 UI001 UI000
- 1102 -
#7 #6 #5 #4 #3 #2 #1 #0
F048 UO007 UO006 UO005 UO004 UO003 UO002 UO001 UO000
- 1103 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0010 SBM SB8 SB7

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

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

"
# " + , - &
(- &
"
$# "
% & "
#7 #6 #5 #4 #3 #2 #1 #0
0011 ND8 NE8

./( & ( (!!! "

# 0 & "
$# & "
- 1104 -
$ .( & 1 &
( (!!!"
# 1 &"
$# & 1 &"
2 &&
1 &- $"
#7 #6 #5 #4 #3 #2 #1 #0
2201 SB9 ND9 NE9

0

./! & ! !!!! &"

# . &
$# 0 &
$ .! ! !!!! & &
1 &"
# &
$# .& &
3 ! ,&

! !!!!"
# .,&
$# 4&
NOTE
Specify 1 when you want to check programs 09000 to 09999
containing custom macro statements.
#7 #6 #5 #4 #3 #2 #1 #0
7000 PRT CLV GMP CVA MGE BCS SCS TCS

0

%5 %& "

# %& "
$# 5%& "
$ 5 & "

# & "
$# 5& "
- 1105 -
3 5 &1

& "
# &1& "
$# 5 &1& "
*6/ 6& && ,
"
# * , 7 8, 699:"
$# * 7 8, 699"$:
' 54; % &#

0: Arguments are passed in NC format without modifications.
1: Arguments are converted to macro format then passed.
Example: When G65 P_ X10 ; is specified, the value in local variable #24 in
the calling program is set as follows:
Command CVA=0 CVA=1
#24 0.01 0.01
ADP[#24] 10.0 0.01
NOTE
External operations are the same unless the ADP function is used.
) 6*0 *--%-&& & 6&

&-& 6& & *--%-
&& &"
0: Allow.
1: Do not allow (executed as ordinary M, S, T, B, and G codes).
9 5<4 , $

$!!7 & &: "
# "
$# 5 "
0=% & & >

0=.%"
# "
$# "
- 1106 -
#7 #6 #5 #4 #3 #2 #1 #0
7002 DPG

0

) 06 6& & &"
# "
$# ;"
#7 #6 #5 #4 #3 #2 #1 #0
7003 DSM ATN

0

$ ;%. , ;%;.7

:"
0: -180 ATAN[y]/[x] 180
1: 0 ATAN[y]/[x] 360
3 * , &7 :

& *
"
0: Cannot be rewritten.
1: Can be rewritten.
#7 #6 #5 #4 #3 #2 #1 #0
7004 ISO

0

$
# 2 /;& &- ." $ ."
$( & & &-
--?-@-A-B-C-
&D"
$# 2 E;5& &- ." $
." $( & & & -
--?-@-A-B-
C-&D"
- 1107 -
#7 #6 #5 #4 #3 #2 #1 #0
7010 [7 [6 [5 [4 [3 [2 [1 [0
7011 ]7 ]6 ]5 ]4 ]3 ]2 ]1 ]0
7012 #7 #6 #5 #4 #3 #2 #1 #0
7013 *7 *6 *5 *4 *3 *2 *1 *0
7014 =7 =6 =5 =4 =3 =2 =1 =0
7015 ?7 ?6 ?5 ?4 ?3 ?2 ?1 ?0
7016 @7 @6 @5 @4 @3 @2 @1 @0
7017 &7 &6 &5 &4 &3 &2 &1 &0
7018 _7 _6 _5 _4 _3 _2 _1 _0

0

# % /;E;5& & "

# % /;E;5& &
"
# % /;E;5& & "
? ? # % /;E;5& & ? "
@ @ # % /;E;5& & @ "
A A # % /;E;5& & A "
B B# % /;E;5& & B "
C C # % /;E;5& & C "
D D # % /;E;5& & D "
# ; & "
$# ; & $"
- 1108 -
7036 Start number of common variables to be protected among the common

variables (#500 to #999)
7037 End number of common variables to be protected among the common


0

4&&
) F!!!
; , 7) !!!:-
, & &7
&F:" 7 & :& -
70 $$9: &"
NOTE
Set 0 in both parameter No. 7036 and No. 7037 not to protect
common variables.
7038 Start number of common variables to be protected among the common

7039 End number of common variables to be protected among the common


0

4&&
3 F'!!
; , 73 '!!:-
, & &7
&F:" 7 & :& -
70 $$9: &"
NOTE
Set 0 in both parameter No. 7036 and No. 7037 not to protect
common variables. This parameter has no effect when the
option for 900 common variables is not selected.
- 1109 -
7050 G code used to call the custom macro of program number 9010

0

4&&
7GF!!! !!! 1& -)-9)-99&9:
6& & ! $
! $!" + , - , ,
- &" G 1 -
F$$- && &6$$" 2 &
8, 699699"$& &7*6/:
." "
- 1110 -
7060 G code with a decimal point used to call the custom macro of program
number 9040
number 9041
number 9042
number 9043
number 9044
number 9045
number 9046
number 9047
number 9048
number 9049

0

4&&
F!!!F!!!
Set the G codes used to call the custom macros of program numbers 9040 through
9049. However, note that when a negative value is set in this parameter, it
becomes a modal call. For example, if this parameter is set to -11, the modal call
mode is entered by G1.1. Whether the modal call is equivalent to G66 or G66.1
depends on bit 3 (MGE) of parameter No. 7000. Set G codes in the format Gm.n.
The value expressed by (m*10+n) is set in the parameter. The values m and n
must satisfy the following relationships: 0 m 99, 0 n 9.
- 1111 -
7071 M code used to call the subprogram of program number 9001

0

4&&
7G !!!!!!!! 1& -!(&!!:
*& & ! $
! !"
NOTE
If the same M code is set in these parameters, the younger
number is called preferentially. For example, if 100 is set in
parameter No. 7071 and 7072, and programs O9001 and O9002
both exist, O9001 is called when M100 is specified.
- 1112 -
7080 M code used to call the custom macro of program number 9020

0

4&&
7G !!!!!!!! 1& -!(&!!:
Set the M codes used to call the custom macros of program numbers 9020 through
9029. The simple call mode is set.
NOTE
1. If the same M code is set in these parameters, the younger
number is called preferentially. For example, if 200 is set in
parameter No. 7081 and No. 7082, and programs O9021 and
O9022 both exist, O9021 is called when M200 is specified.
2. If the same M code is set in a parameter (No. 7071 to No. 7079)

used to call subprograms and in a parameter (No. 7080 to No.
7089) used to call custom macros, a custom macro is called
preferentially. For example, if 300 is set in parameter No. 7071
and No. 7081, and programs O9001 and O9021 both exist,
O9021 is called when M300 is specified.
- 1113 -
7090 Start G code used to call a custom macro
7091 Start program number of a custom macro called by G code
7092 Number of G codes used to call custom macros

0

4&&
." ! #F!!!!!!
." !$#$!!!!!!!!
." !3# 3))
Set this parameter to define multiple custom macro calls using G codes at a time.
With G codes as many as the value set in parameter No. 7092 starting with the G
code set in parameter No. 7090, the custom macros of program numbers as many as
the value set in parameter No. 7092 starting with the program number set in 7091
can be called. Set 0 in parameter No. 7092 to disable this mode of calling.
If a negative value is set in parameter No. 7090, the modal call mode is entered.
Whether the modal call is equivalent to G66 or G66.1 depends on bit 3 (MGE) of
parameter No. 7000.
Example 1:
When parameter No. 7090 = 900, parameter No. 7091 = 10000000, and
parameter No. 7092 = 100 are set, a set of 100 custom macro calls (simple calls)
is defined as follows:
G900 -> O10000000
G901 -> O10000001
G902 -> O10000002
:
G999 -> O10000099
When the setting of parameter No. 7090 is changed to -900, the same set of custom
macro calls (modal calls) is defined.
NOTE
1. When the following conditions are satisfied, all calls using these
parameters are disabled:
(1) When a value not within the specifiable range is set in
each parameter
(2) (Value of parameter No. 7091 + value of parameter No.
97092 - 1) > 99999999
2. The specification of a mixture of simple calls and modal calls is
not allowed.
3. If a range of G codes set by these parameters duplicate G codes
specified in parameter No. 7050 through No. 7059, the calls
specified by parameter No. 7050 through 7059 are made
preferentially.
- 1114 -
7093 Start G code with a decimal point used to call a custom macro
7094 Start program number of a custom macro called by G code with a decimal point
7095 Number of G codes with a decimal point used to call custom macros

0

4&&
." !#F!!!!!!
." !'#$!!!!!!!!
." !)# 3))
Set this parameter to define multiple custom macro calls using G codes with a
decimal point at a time. With G codes with a decimal point as many as the value
set in parameter No. 7095 starting with the G code with a decimal point set in
parameter No. 7093, the custom macros of program numbers as many as the value
set in parameter No. 7095 starting with the program number set in 7094 can be
called. Set 0 in parameter No. 7095 to disable this mode of calling.
If a negative value is set in parameter No. 7093, the modal call mode is entered.
Whether the modal call is equivalent to G66 or G66.1 depends on bit 3 (MGE) of
parameter No. 7000.
Example:
parameter No. 7095 = 100 are set, a set of 100 custom macro calls (simple calls)
is defined as follows:
G90.0 -> O20000000
G90.1 -> O20000001
G90.2 -> O20000002
:
G99.9 -> O20000099
When the setting of parameter No. 7093 is changed to -900, the same set of custom
macro calls (modal calls) is defined.
NOTE
each parameter
7095 - 1) > 99999999
(3) When bit 5 (DPG) of parameter No. 7002 = 0 (to disable
calls using G codes with a decimal point)
2. The specification of a mixture of simple calls and modal calls is
not allowed.
3. If a range of G codes set by these parameters duplicate G codes
preferentially.
- 1115 -
7096 Start M code used to call a subprogram
7097 Start program number of a subprogram called by M code
7098 Number of M codes used to call subprograms (number of subprograms

called by M codes)

0

4&&
." !9#F!!!!!!!!
." !#$F!!!!!!!!
." !(# F39
Set this parameter to define multiple subprogram calls using M codes at a time.
With M codes as many as the value set in parameter No. 7098 starting with the M
code set in parameter No. 7096, the subprograms of program numbers as many as
Example 1:
parameter No. 7098 = 100 are set, a set of 100 subprogram calls is defined as
follows:
M80000000 -> O30000000
M80000001 -> O30000001
M80000002 -> O30000002
:
M80000099 -> O30000099
NOTE
each parameter
7098 - 1) > 99999999
2. If a range of M codes set by these parameters duplicate M codes
preferentially.
- 1116 -
7099 Start M code used to call a custom macro
7100 Start program number of a custom macro called by M code
7101 Number of M codes used to call custom macros (number of custom macros
called by M codes)

0

4&&
." !!#F!!!!!!!!
."$ #$F!!!!!!!!
."$ $# F39
Set this parameter to define multiple custom macro calls using M codes at a time.
With M codes as many as the value set in parameter No. 7101 starting with the M
code set in parameter No. 7099, the custom macros of program numbers as many as
Example:
parameter No. 7101 = 100 are set, a set of 100 custom macro calls (simple calls) is
defined as follows:
M90000000 -> O40000000
M90000001 -> O40000001
M90000002 -> O40000002
:
M90000099 -> O40000099
NOTE
each parameter
7101 - 1) > 99999999
2. If a range of M codes set by these parameters duplicate M codes
preferentially.
- 1117 -
#7 #6 #5 #4 #3 #2 #1 #0
7710 CTM

0

' 5%* &, 7."

$ &$ ':& -#
0: Condition a
1: Condition b
Condition a (CTM = 0) Condition b (CTM = 1)
CCT<G045#6>=0 CCT<G045#6>=1
G01/G02/G03 command block G01/G02/G03 command block Unconditional
being executed being executed
Dry run not specified Dry run not specified
(Signal DRN<G004#1> = "0") (Signal DRN<G004#1> = "0")
Machine lock not specified Machine lock not specified
(Signal MLK<G004#7> = "0") (Signal MLK<G004#7> = "0")
Interlock state not specified Interlock state not specified
(Signals *IT<G000#0>, (Signals *IT<G000#0>,
*AIT<G001#0>, *IT1<G64#4>, *AIT<G001#0>, *IT1<G64#4>,
*IT2<G68#4>, ..., *IT2<G68#4>, ...,
*BSL<G001#1>, and *BSL<G001#1>, and
*CSL<G000#1> are all "1", *CSL<G000#1> are all "1",
where *IT1, *IT2, ... represent where *IT1, *IT2, ... represent
the axes of interest.) the axes of interest.)
A feedrate override value is not
0%.
(Signals *FV0 to *FV<G012>)
The second feedrate override
value is not 0%.
(Signals *AFV0 to
*AFV7<G013>/*AFV0B to
*AFV15B<G146 to G147>)
One of the spindle stop
confirmation signals (SPSTPA
to SPSTPD<G026#0, G272#0,
G273#0, and G274#0>) for all
spindles is "0".
If CTM = 1 (condition b), setting the cumulative cutting time count request signal CCT<G045#6> to
"1" nullifies the count conditions for the cumulative cutting time parameters (Nos. 103 and 104).
- 1118 -
Alarm And message

PS0090 DUPLICATE NC,MACRO An NC statement and macro statement were specified in
STATEMENT the same block.
PS0091 DUPLICATE SUB-CALL WORD More than one subprogram call instruction was specified in
the same block.
PS0092 DUPLICATE MACRO-CALL WORD More than one macro call instruction was specified in the
same block.
PS0093 DUPLICATE NC-WORD & M99 An address other than O, N, P or L was specified in the
same block as M99 during the macro modal call state.
PS0094 USE G AS ARGUMENT Address G was used as the argument of a custom macro
call. Address G can be used as the argument in individual
block call (G66.1).
PS0095 TOO MANY TYPE-2 ARGUMENT More than ten sets of I, J and K arguments were specified in
the type-II arguments (A, B, C, I, J, K, I, J, K, ...) for custom
macros.
PS0096 ILLEGAL VARIABLE NAME An illegal variable name was specified.
A code that cannot be specified as a variable name was
specified.
[#_OFSxx] does not match the tool offset memory option
configuration.
PS0097 TOO LONG VARIABLE NAME The specified variable name is too long.
PS0098 NO VARIABLE NAME The specified variable name cannot be used as it is not
registered.
PS0099 ILLLEGAL SUFFIX [ ] A suffix was not specified to a variable name that required a
suffix enclosed by [ ].
A suffix was specified to a variable name that did not
require a suffix enclosed by [ ].
The value enclosed by the specified [ ] was out of range.
PS0100 CANCEL WITHOUT MODAL CALL Call mode cancel (G67) was specified even though macro
continuous-state call mode (G66) was not in effect.
PS0101 ILLEGAL CNC STATEMENT IRT. An interrupt was made in a state where a custom macro
interrupt containing a move instruction could not be
executed.
PS0110 OVERFLOW :INTEGER An integer went out of range during arithmetic calculations.
PS0111 OVERFLOW :FLOATING A decimal point (floating point number format data) went
out of range during arithmetic calculations.
PS0112 ZERO DIVIDE An attempt was made to divide by zero in a custom macro.
PS0114 VARIABLE NO. OUT OF RANGE An illegal No. was specified in a local variable, common
variable or a system variable in a custom macro.
A non-existent custom macro variable No. was specified in
the EGB axis skip function (G31.8), or there are not enough
custom macro variables for storing the skip position.
PS0115 READ PROTECTED VARIABLE An attempt was made in a custom macro to use on the right
side of an expression a variable that can only be used on
the left side of an expression.
PS0116 WRITE PROTECTED VARIABLE An attempt was made in a custom macro to use on the left
side of an expression a variable that can only be used on
the right side of an expression.
PS0118 TOO MANY BRACKET NESTING Too many brackets "[]" were nested in a custom macro.
The nesting level including function brackets is 5.
PS0119 ARGUMENT VALUE OUT OF RANGE The value of an argument in a custom macro function is out
of range.
- 1119 -

PS0120 ILLEGAL ARGUMENT FORMAT PS0120
The specified argument in the argument function (ATAN,
POW) is in error.
PS0121 OO MANY SUB,MACRO NESTING The total number of subprogram and macro calls exceeds
the permissible range.
Another subprogram call was executed during an external
memory subprogram call.
PS0122 TOO MANY MACRO NESTING Too many macro calls were nested in a custom macro. The
nesting level is 5.
PS0123 MISSING END STATEMENT The END instruction corresponding to the DO instruction
was missing in a custom macro.
PS0124 MISSING DO STATEMENT The DO instruction corresponding to the END instruction
was missing in a custom macro.
PS0125 ILLEGAL EXPRESSION FORMAT The format used in an expression in a custom macro
statement is in error. The parameter tape format is in error.
PS0126 ILLEGAL LOOP NUMBER DO and END Nos. in a custom macro are in error, or
exceed the permissible range (valid range: 1 to 3).
PS0128 SEQUENCE NUMBER OUT OF The jump destination sequence No. in a custom macro
RANGE statement GOTO instruction was out of range (valid range:
1 to 99999999).
PS0131 MISSING OPEN BRACKET The number of left brackets ([) is less than the number of
right brackets (]) in a custom macro statement.
PS0132 MISSING CLOSE BRACKET The number of right brackets (]) is less than the number of
left brackets ([) in a custom macro statement.
PS0133 MISSING = An equal sign (=) is missing in the arithmetic calculation
instruction in a custom macro statement.
PS0134 MISSING , A delimiter (,) is missing in a custom macro statement.
PS0135 MACRO STATEMENT FORMAT The format used in a macro statement in a custom macro is
ERROR in error.
PS0137 IF STATEMENT FORMAT ERROR The format used in the IF statement in a custom macro is in
error.
PS0138 WHILE STATEMENT FORMAT The format used in the WHILE statement in a custom
ERROR macro is in error.
PS0139 SETVN STATEMENT FORMAT The format used in the SETVN statement in a custom
ERROR macro is in error.
PS0141 ILLEGAL CHARACTER IN VAR. The SETVN statement in a custom macro contacts a
NAME character that cannot be used in a variable name.
PS0142 TOO LONG V-NAME (SETVN) The variable name used in a SETVN statement in a custom
macro exceeds 8 characters.
PS0143 BPRNT/DPRNT STATEMENT The format used in the BPRINT statement or DPRINT
FORMAT ERROR statement is in error.
- 1120 -
Caution
CAUTION
Machine tool builders: You are requested to attach
your custom macro program tape or program list to
the CNC unit without fail.
If it is necessary to replace part program storage
memory due to a failure, FANUC servicemen or end
user in charge of maintenance should know the
contents of your custom macro for the purpose of
repairing the trouble immediately.
Reference item
Series15i/150i-MA Operators Manual II-17 Custom macro
(Programming)
(B-63324EN)
- 1121 -
11.5.2 Interruption Type Custom Macro
General
When a program is being executed, another program can be called by
inputting an interrupt signal (UINT) from the machine. This function is
referred to as an interruption type custom macro function. Program an
interrupt command in the following format:
M96Pxxxxxxxx ; Enables custom macro interrupt

M97; Disables custom macro interrupt
Use of the interruption type custom macro function allows the user to
call a program during execution of an arbitrary block of another
program. This allows programs to be operated to match situations
which vary from time to time.
(1) When a tool abnormality is detected, processing to handle the
abnormality is started by an external signal.
(2) A sequence of machining operations is interrupted by another
machining operation without the cancellation of the current
operation.
(3) At regular intervals, information on current machining is read.
Listed above are examples like adaptive control applications of
the interruption type custom macro function.
M96 Pxxxxxxxx;
Interrupt signal
(UINT) O xxxxxxxx;
Interrupt signal
(UINT) *
M99 (Qxxxxxxxx) ;
Nxxxxxxxx ;
M97 ; Interrupt signal

(UINT) *
Fig. 11.5.2 Interruption type custom macro function
- 1122 -
When M96Pxxxx is specified in a program, subsequent program

operation can be interrupted by an interrupt signal (UINT) input to
execute the program specified by Pxxxx.
When the interrupt signal (UINT, marked by * in Fig. 11.5.2 is input
during execution of the interrupt program or after M97 is specified, it is
ignored.
Signal
Interrupt Signal for Custom Macro UINT<G000#2>

[Function] This signal calls and executes a program in memory.
During execution, a program in automatic operation is suspended.
To enable this signal to be accepted, a particular miscellaneous
function must be specified in a command program for automatic
operation. In addition, automatic operation must already be started to
accept this signal.
The particular miscellaneous function code is set by parameter 7033.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G000 UINT
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7002 MIN TSE MPR MSB MUS

!!" #! $ %
%
&!" #! $ % '
(
&!" #! %
'# % (
- 1123 -
) * $ $ #! $#!

+,-+.
$ ' /.00 /.01(
0 23 $% %% %%
%!
$% %% ' % $% (
%%
1 / 4 5/5 %
34 5/5 # % #!6# % 4 $
$ % ' (
34 5/5 #!6 $
% # 4 $' )(
7033 M code for turning on custom macro interrupt
7034 M code for turning off custom macro interrupt

%
7!$$ %
8 0 %++++++++' 4!$%09+:$++(
; #)'*( /.) 99
$ $ #!%-$#!%
9 $
Alarm And message

PS0101 ILLEGAL CNC STATEMENT IRT. An interrupt was made in a state where a custom macro
interrupt containing a move instruction could not be
executed.
Reference item
Series15i/150i-MA Operators Manual II-17.14 Interruption type custom
(Programming) macro
(B-63324EN)
- 1124 -
11.6 CANNED CYCLE SPINDLE CONTROL
General
Canned cycles make it easier for the programmer to create programs.
With a canned cycle, a frequently-used machining operation can be
specified in a single block with a G function; without canned cycles,
normally more than one block is required. In addition, the use of
canned cycles can shorten the program to save memory.
For operation in a canned cycle, refer to the operators manual. This
section explains those functions requiring spindle control.
- Types of spindle control

There are two types of canned cycles, as follows, depending on the
signals used for spindle control in a canned cycle:
Canned cycle I: Dedicated signals (such as SSP and SRV) are used.
Canned cycle II: Ordinary miscellaneous functions (such as M03 and
M05) are used.
The canned cycle type to be used is selected by bit 0 (FXB) of
parameter No. 6201.
Canned cycle
- Functions require spindle control

The following four functions require spindle control:
Table. 11.6 (a) Functions require spindle control for canned cycle I
G code Operation on the hole Use
bottom
G74 Spindle CW Left-hand tapping
G84 Spindle CCW Tapping
G86 Spindle stop Boring
G88 Dwell spindle stop Boring
NOTE
1 The fine boring cycle (G76) requires spindle
orientation. Since no special signals are provided for
spindle orientation, this cycle cannot be used in
canned cycle I.
2 G87 is used as an ordinary boring cycle; it is not used
as the back boring cycle that requires spindle
orientation. Therefore, spindle control is not required
in canned cycle I.
- 1125 -
- Basic transmission procedure

The following four functions require spindle control:
Table. 11.6 (b) Dedicated Signals for Spindle Control

Function Input Output
signal signal
Spindle stop SSP
Reverse spindle rotation SRV
Canned cycle auxiliary signal FMF
read
Canned cycle auxiliary signal FFIN
completion
Procedure when the SSP or SRV signal is set to 1

1. The CNC sets SSP or SRV to 1 at the necessary positions in a
canned cycle.
2. When SSP or SRV is set to 1, the PMC must perform the
following:
- When SSP is set to 1, stops the spindle.
- When SRV is set to 1, rotates the spindle in the reverse
direction.
3. At the same time as when setting SSP or SRV to 1, the CNC sets
the canned cycle auxiliary signal FMF to 1.
4. After completing an appropriate operation, the PMC must set the
canned cycle auxiliary signal completion signal FFIN to 1.
5. When the FFIN signal is set to 1, the CNC sets the auxiliary
function read signal FMF to 0 to notify the PMC of the reception
of the FFIN signal.
6. When the FMF signal is set to 0, the PMC must set the completion
signal FFIN to 0.
7. When the FFIN signal is set to 0, the CNC proceeds to the next
operation.
The above procedure is usually used. When bit 6 (NFM) of parameter

No. 6201 is set to 1, confirmation steps 3 to 7 are omitted.
Procedure when the SSP or SRV signal is set to 0

Generally, the SSP and SRV signals can just be set to 0; no
confirmation steps are performed. By setting bit 5 (FM2) of parameter
No. 6201 to 1, however, confirmation steps 3 to 7, mentioned above,
can also be performed.
When many holes spaced at short intervals are to be machined, the
spindle speed may not reach the required level before the start of
machining for the next hole. In such cases, the above parameter is set.
In this case, both the SSP and SRV signals are in the 0 state. Check that
the operation corresponding to the signal state is completed, then set
the FFIN signal to 1.
- 1126 -
Using the FIN signal instead of the FFIN signal

When bit 4 (FIN) of parameter No. 6201 is set to 1, completion signal
FIN, normally used for ordinary auxiliary functions, can be used
instead of the FFIN signal. In this case, the FIN signal is also used as
the completion signal for functions such as miscellaneous functions
and tool functions. So, some conditions need to be established on the
PMC.
The following shows the timing charts for canned cycles:
- Canned cycle I (G74 : Left-hand tapping cycle)
X,Y
X,Y
+Z +R
Z
-R -Z
SRV
FMF
FFIN
Spindle CCW CW CCW

rotation
SRV is set to 1 when distribution for -Z cutting feed has terminated.

SRV is set to 1 before the delay incurred in acceleration/deceleration
and that incurred by the servo are eliminated. (The in-position check is
not performed.)
- Canned cycle I (G84 : Tapping cycle)

This cycle is the same as the G74 cycle except that the direction of
spindle rotation is reversed.
- 1127 -
- Canned cycle I (G86 : Boring cycle)
X,Y
X,Y
+Z +R
Z
-R -Z
SSP
FMF
FFIN
Stop
Spindle CW CW
rotation
- Canned cycle I (G88 : Boring cycle)

This cycle is the same as the G86 cycle except that dwell is inserted
after -Z cutting.
Canned cycle II
- Functions requiring spindle control

The following six functions require spindle control:
Table. 11.6 (c) Functions Requiring Spindle Control in Canned Cycle II

G code Operation at hole bottom Use
G74 Forward spindle rotation Reverse tapping
G76 Spindle orientation Fine boring
G84 Reverse spindle rotation Tapping
G86 Spindle stop Boring
G87 Forward spindle rotation Back boring
G88 Dwell -> spindle stop Boring
- Miscellaneous functions used

To control the spindle, the following ordinary miscellaneous functions
are used:
Table. 11.6 (d) Miscellaneous Functions for Spindle Control

M code Function
M03 Forward spindle rotation
M04 Reverse spindle rotation
M05 Spindle stop
M19 Spindle orientation
Other miscellaneous functions cannot be used to implement the

functions listed above.
- 1128 -
- Sending M05 when rotating the spindle in the reverse direction

When the spindle is rotated in the reverse direction (from M03 to M04
or vice versa), whether to send M05 can be selected by setting bit 1
(NM5) of parameter No. 6201.
- Canned cycle II (G84 : Tapping cycle)
X,Y
X,Y
+Z +R
Z
-R -Z
DEN
M05 M04 M05 M03

M code
MF
FIN
FMF
- Canned cycle II (G74 : Reverse tapping cycle)

This cycle is the same as the G84 cycle except that M03 and M04 are
switched.
- Canned cycle II (G86, G88 : Boring cycle)
X,Y
X,Y
+Z,+R
Z
-R -Z
DEN
M05 M03
M code
MF
FIN
- 1129 -
- Canned cycle II (G87 : Back boring cycle)
Shift Shift
X,Y Reverse shift Reverse shift
X,Y
+Z
Z
-R Initial point
DEN
M05 M19 M03 M05 M19 M03

M code
MF
FIN
- Canned cycle II (G76 : Fine boring cycle)
Shift
X,Y Reverse shift
X,Y
+Z,+R
Z
-R -Z
DEN
M05 M19 M03

M code
MF
FIN
Signal
Canned cycle spindle stop command signal SSP<F008#7>

[Function] Specifies stopping of the spindle.
While this signal is 1, the spindle stopped state must be maintained and,
when the signal is set to 0, the previous state must be restored.
[Output condition] See the basic transmission procedure for canned cycle I.
Canned cycle spindle reverse command signal SRV<F008#6>

[Function] Specifies reversal of the spindle rotation direction.
While this signal is 1, the reversed spindle rotation state must be
maintained and, when the signal is set to 0, the previous state must be
restored.
- 1130 -
Canned cycle auxiliary signal read signal FMF<F008#5>

[Function] Enables read of the spindle stop command signal and spindle reverse
command signal.
By means of handshaking using this signal and the FFIN signal, the
completion of spindle stop or reverse spindle rotation is posted.
Canned cycle auxiliary signal completion signal FFIN<G005#2>

[Function] Posts that execution of the spindle stop signal or reverse spindle
rotation signal has been completed.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G005 FFIN
#7 #6 #5 #4 #3 #2 #1 #0
F008 SSP SRV FMF
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1400 TDR

2* $ # $ $%$

%$
5# $
5# $
#7 #6 #5 #4 #3 #2 #1 #0
6200 EXC UIL FCU SIJ DWL FXY

8<= $ !!%4 $! >4!!
4 ! $# %
>4!!
?4 ! $# %
- 1131 -
;& # $$ !!$% $!

"!$
/"!$
7!$
) @ ! $ $$

$! # % #6# % $!
! $ # /,)19$
$ % 'A(
! $ $$ % '9@9B(
0 85 6 " $ !!% $!

?! $ "
$ " %$ 'C(9$ !
! $ 'C 9C)9C0(
1 & % !! " ! %
% $!
%
5% 2 % # !
! " !
D 3<5 C: $ $! 4 !

$
C: $!
C: 4 ! $
#7 #6 #5 #4 #3 #2 #1 #0
6201 NFM FM2 FIN NM5 FXB

8< ! $! $!

5 ! $! #% $! $%!'(
$ $! " $%!'*7(' $!
( $%$
5 ! $! #%$ '0919D(' $!
(
- 1132 -
/D D $

$! % $ $'0( " '1( " "
$!
ED 29D# 0 1
'D1 D0(
D 29D# 0 1

2 "!$ #'8<( /,)

1 8/ %!# $$
$! $%!'( $! "
$%!'*7(# ! $
88/%!'! %!$ $ $ $*7
%!(
8/%!'! %! 9929$$ (
2 "!$ #'8<( /,)

D 8) $ 88%! *
! $! $%!'( $!
" $%!'*7(
$ 88%!'$ $% $*7
%!(
$ 88%!
2 "!$ #,'/8( /,)

, /8 $ 88%! $!
$%!'( $! " $%!'*7(

$ 88%!'$ $% $*7
%!(
$ 88%!
6210 Return distance in canned cycle G73

%

* !
$
9'(
$
$ 4
7!$$ %
+$%$' $ $ %
#! '?((
'; 9+++++++++F+++++++++(
$ $! C.0
- 1133 -
6211 Clearance in canned cycle G83

%

* !
$
9'(
$
$ 4
7!$$ %
+$%$' $ $ %
#! '?((
'; 9+++++++++F+++++++++(
! $! C:0
6240 Tool retraction direction after G86.1 and G87 orientation

% 4
7!$$ %

! 4$$ $ $!
$! C:, C:) 8 $ !!%49 !
4$$ # 4#
!%%'F ( $
34! !!%

; $ !!%4 <49 ! $
=
; $ !!%4 =49 ! $
F>
; $ !!%4 >49 ! $
<
2 9 !!'% 49 $
49$ $4 <49=49$>4(
4)' ! $
=(
$40' ! $
F>(
$4 ' ! $
<(
4
- 1134 -
Alarm And message

PS0196 ILLEGAL DRILLING AXIS SELECTED An illegal axis was specified for drilling in a canned cycle for
drilling.
If the zero point of the drilling axis is not specified or parallel
axes are specified in a block containing a G code in a
canned cycle, simultaneously specify the parallel axes for
the drilling axis.
Caution
CAUTION
During tapping in a tapping cycle (G84) or reverse
tapping cycle (G74), the feedrate override is ignored.
The machine does not stop even with feed hold until
return operation is complete.
Reference item
Series15i/150i-MA Operators Manual II-13.1 Canned cycle
(Programming)
(B-63324EN)
- 1135 -
11.7 EXTERNAL MOTION FUNCTION
General
Upon completion of positioning in each block in the program, an
external operation function signal can be output to allow the machine to
perform specific operation.
G81 IP ; (The IP_ is axis move command )
Every time positioning for the IP_ move command is completed, the
CNC sends an external operation signal to the machine. An external
operation signal is output for each positioning operation until canceled
by G80 or a group 01 G code.
- Basic procedure
1. Once positioning for a move command has been completed, the
CNC sets the external operation signal EF to 1.
2. When the EF signal is set to 1, the PMC executes drilling or
another operation. Once the operation has been completed, the
PMC sets completion signal FIN to 1.
3. The CNC resets the EF signal to 0 upon the elapse of the time
(TFIN) specified in parameter No. 3011 after the FIN signal is set
to 1.
4. When the EF signal is set to 0, the PMC resets the FIN signal to 0.
5. The CNC starts executing the next block.
The timing diagram is shown below:
G81 command
Next block
Positioning EF
Machine operation FIN
TFIN
Signal
External Operation Signal EF<F008#4>
[Function] Reports that the positioning of G81 has been completed in the external
motion function, and that a special external operation is required.
[Output condition] For details of the output condition and procedure, see the "basic
procedure", described previously.
- 1136 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
F008 EF
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6200 EXC

D 3<5 C: $ $! 4 !

$
0: G81 specifies a canned cycle.
1: G81 specifies an external operation command.
Caution
CAUTION
1. When this function is used, canned cycles (G73, G74,
G76, and G82 to G89) cannot be used.
2. When the canned cycle II (bit 0 (FXB) of parameter No.
6201 is set to 1) is selected, FIN signal is used.
While, when the canned cycle I (bit 0 (FXB) of
parameter No. 6201 is set to 0) is selected, it is
decided which signal FIN or FFIN to use by setting the
bit 4 (FIN) of parameter No. 6201.
Reference item
Series15i/150i-MA Operators Manual II-13.3 External motion function
(Programming)
(B-63324EN)
- 1137 -
11.8 INDEX TABLE INDEXING FUNCTION
General
By specifying indexing positions (angles) for the indexing axis (one
rotation axis, A, B, or C), the index table of the machining center can be
indexed.
Before and after indexing, the index table is automatically unclamped
or clamped.
- Basic Procedure
The positioning angle for the index table is commanded by the numeric
following "B" in the program command, which is an independent block.
Both absolute and incremental commands are possible, but the value
after "B" is the integer times the numeric set by the parameter:
(Example) G00G90B100000; Absolute command
(Positioning angle 10 degrees)
G00G91B20.0; Incremental command
(Move distance 20 degrees)
There are two variations of the procedure (type A and type B) to set the
index table position; the difference is in the ON/OFF timing of the
position control servo. The sequence of events and the difference
between the variations are described below, followed by time charts
showing them graphically.
(1) Assume Bbbbb is ordered by the command program.
(2) The CNC turns the B axis unclamp signal BUCLP to "1". (Type B
-- When BUCLP is turned to " 1 ", the position control servo for
the B axis is turned ON.)
(3) On the PMC side, the clamp of the B axis is released; when
completed, the B axis unclamp completion signal *BEUCL turns
to "0".
(4) The CNC then turns the B axis unclamp signal BUCLP to "0", to
indicate it received the *BEUCL signal.
(5) When the PMC is notified that BUCLP has been turned to "0", the
PMC should turn *BEUCL to "1".
In type B, B-axis unclamp signal BUCLP is turned to "0", B-axis
position control is made in servo-on state, B-axis is rotated, and
the B axis is stopped at the specified position. B axis always
moves at rapid traverse.
(6) When the B axis stops at the specified position, CNC turns B-axis
clamp signal BCLP to 1. In type A, signal BCLP is set to "1" and
B-axis position control is made in servo-off state.
(7) When BCLP is turned to "1" on the PMC side, the B axis is
clamped mechanically (with a clutch or shot pin, for example).
When the clamp is completed, the B axis clamp completion signal
*BECLP is turned to "0".
(8) When *BECLP is turned to "0", the CNC then turns BCLP to "0",
informing it received the *BECLP signal. (Type B -- When BCLP
turns to "0", the B axis position control servo is turned off.)
(9) On the PMC side, when BCLP changes to "0", *BECLP is turned
to "1".
- 1138 -
This completes the sequence.

The time charts for these operations are shown in the figures below.
(1) (2) (3) (4) (5) (6) (7) (8) (9)
B command (independent)
B axis servo on for position control
B axis unclamp signal BUCLP
B axis unclamp completion signal

*BEUCL
B axis rotation
B axis clamp signal BCLP
B axis clamp completion signal *BECLP
Fig. 11.8 (a) Time chart for positioning index table (type A)
(1) (2) (3) (4) (5) (6) (7) (8) (9)
B command (independent)
B axis servo on for position control
B axis unclamp completion signal *BEUCL
B axis rotation
Fig. 11.8 (b) Time chart for positioning index table (type B)
The figure below shows the timing chart for type-A manual reference
position return of the B axis.
- 1139 -
B axis manual feed selection signal +J
B axis position control servo ON
B axis unclamp completion signal *BEUCL
B axis rotation
B axis deceleration signal *DEC
B axis return completion signal ZP
Fig. 11.8 (c) Manual reference position return of B axis time chart (type A)
- Type A and Type B

As described in the basic procedure, type A differs from type B in that
the servo used for B-axis position control is turned on or off at the
different timing.
Type A is suitable for a system in which the B-axis is clamped with
shot pins.
Type B is suitable for a system in which the B-axis is clamped with a
clutch.
- Indexing axis setting

Set a rotation axis as an index table indexing axis. That is, set the
following:
Bit 0 (ROT) of parameter No. 1006 = 1
Bit 1 (ROS) of parameter No. 1006 = 1
Bit 2 (ROP) of parameter No. 1006 = 1
Disable the servo-off signal for an index table indexing axis. That is,
set the following:
Bit 1 (SVF) of parameter No. 1802 = 0
Usually, the servo-off state is set for an index table indexing axis.
- Absolute/incremental programming
One of the following indexing positions is used, depending on bit 3
(G90) of parameter No. 7602:
0: Value according to an absolute/incremental G code (G90/G91)
1: Absolute value at all times
An indexing position assumes a positive value for the counterclockwise
direction, and a negative value for the clockwise direction.
- 1140 -
A Command value from A to B (when parameter

G90 (bit 3 of parameter No. 7602) = 0)
G90 B-45.0; or
G91 B-105.0;
+60
0
-45
Fig. 11.8 (d) Absolute/Incremental Programming
- Indexing direction
If a value other than 0 is set in the M code for specifying negative
direction rotation (parameter No. 7632), movement in the negative
direction is made only when a move command is specified together
with the M code. In this case, movement is performed in the negative
direction, regardless of whether absolute/incremental programming is
used.
If 0 is set in the M code for specifying negative direction rotation
(parameter No. 7632), the rotation direction in G90 mode is determined
by bit 4 (INC) of parameter No. 7602, as described below.
The rotation direction in G90 mode is
0: Not shortcut direction
1: Shortcut direction (The amount of movement is always less
than 180 degrees.)
For information about which is used, refer to the manual provided by
the machine tool builder.
- Minimum indexing angle

The minimum index table indexing angle set in parameter No. 7682 is
used. An integral multiple of a set value can be specified as an
indexing angle. If a value other than an integral multiple is specified,
an alarm (PS0561) is issued.
- Feedrate
The table is always rotated around the indexing axis in rapid traverse
mode.
Dry run cannot be executed for the indexing axis.
- Index table clamping/unclamping

Before or after index table indexing axis movement, the index table is
automatically clamped or unclamped.
- Reset
If a reset is performed in the clamp or unclamp completion wait state,
the clamp or unclamp signal is cleared, and the CNC exits from the
completion wait state.
- 1141 -
- Index table indexing function and other functions
Item Explanation
Relative position display This value can be rounded by setting bit 2 (REL) of parameter No.
7602.
Absolute position display This value is rounded at all times.
Automatic return from the reference Return is impossible.
position (G29)
Second reference position return (G30)
Machine coordinate system selection No movement is allowed.
(G53)
Single direction positioning (G60) Not specifiable
Second auxiliary function Ensure that a second auxiliary function axis name does not duplicate
an indexing axis name.
Operation during index table indexing axis Unless otherwise processed by the machine, feed hold, interlock, and
movement emergency stop can be executed during index table indexing axis
movement.
Machine lock can be executed after indexing has been completed.
Servo-off signal Disable the servo-off signal for the index table indexing
axis. That is, set bit 1 (SVF) of parameter No. 1802 to 0.
Usually, the index table indexing axis is in the servo-off
state.
Incremental command for the When incremental programming is used for index table
index table indexing axis indexing (when bit 3 (G90) of parameter No. 7602 is set to
0), the workpiece origin offset of the index table axis must
always be 0. That is, there must always be a match
between the workpiece coordinate system and machine
coordinate system of an index table indexing axis.
Operation for an index table Operation in jog/step/handle mode for an index table
indexing axis indexing axis is disabled. However, manual reference
position return is possible. If the axis selection signal is
set to 0 during manual reference position return, the
movement stops immediately, and the clamp command is
not executed.
Limitation
- Simultaneous specification together with other controlled axes

Specify an indexing command singly in a block. If an indexing
command is specified in a block that specifies other controlled axes as
well, an alarm (PS0564) is issued.
- Command specifying zero move amount

When the amount of movement is 0, a clamp/unclamp operation is not
performed. In automatic reference position return based on G28,
clamp/unclamp is performed even if the amount of movement is 0.
- 1142 -
Signal
B axis clamp signal BCLP<F007#1>

[Function] Instructs the PMC side to clamp the B axis mechanically with a clutch
or shot pin.
[Output condition] The output condition and procedure are the same as those described in
the basic procedure for positioning the index table.
B axis clamp completion signal BECLP<G019#7>

[Function] Notifies the CNC of completion of the B axis clamp operation.
[Operation] The output condition and procedure are the same as those described in
B axis unclamp signal BUCLP<F007#0>

[Function] Instructs the PMC side to release the B axis from the mechanical clamp.
[Output condition] The output condition and procedure are the same as those described in
B axis unclamp completion signal BEUCL<G019#6>

[Function] Notifies the CNC of completion of the release of the B axis from the
mechanical clamp.
[Operation] The output condition and procedure are the same as those described in
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G019 *BECLP *BEUCL
#7 #6 #5 #4 #3 #2 #1 #0
F007 BCLP BUCLP
- 1143 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
7602 DDP INC G90 REL TYB

2= G $ 4#! $ 4%4
?
2 ?
2
) *3& $$ 4#! $ 4%4$!
!" $
$
*$
0 C+ $ 4#! $ 4%4!!
#! $ - !$ $#
$#! $
8!! #! - !$
? $# #! $!!
1 /5 $ $
C+$ $ %" $
' /.,0)(
$
$
D " ! 4 $
$$ ! $ 4#! $ 4%4

5" !
84 $
7631 Controlled axis number of an index table indexing axis

%
7!$$ %
44
Set the controlled axis number of an index table indexing axis.
When 0 is set, the fourth axis is assumed.
- 1144 -
7632 M code used to specify the negative-direction rotation of an index table

indexing axis

%
7!$$ %
).
2 $ $ 4#! $ 4%4$ $
# % $$
). 2 $ $ 4#! $ 4%4
!" 2 $ %" ! "
$ $% $
7682 Minimum positioning angle for an index table indexing axis

* !
$
$ %
$
$ 4
7!$$ %
+$%$' $ $ %
#! '?((
'; 9+++++++++F+++++++++(
%%! '%! $! ( $ 4
#! $ 4%4 ?%! $! %
!# % !!! %
; $9%! $! 6
$
/!$#! $ %$ 6
% 6 $ %%!
- 1145 -
Alarm And message

PS0560 INDEX TABLE AXIS ERROR A conflict has arisen in the CNC during the execution of an
index table axis command.
PS0561 ILLEGAL INDEXING ANGLE The specified angle of rotation is not an integer multiple of
the minimum indexing angle.
PS0562 INDEX TABLE AXIS COMMAND CAN The specified index table indexing sequence is illegal.
NOT START
PS0563 EXCESS ERROR OF INDEXING The specified index table indexing angle is illegal.
ANGLE
PS0564 INDEX TABLE AXIS - OTHER AXIS The index table indexing axis and another axis have been
SAME TIME specified in the same block.
PS0566 INDEX TABLE AXIS DUPLICATE A move instruction has been issued to an axis that is not an
AXIS MODE index table indexing axis.
PS0567 INDEX TABLE AXIS DUPLICATE Index table indexing was specified during axis movement or
AXIS COMMAND on an axis for which the index table indexing sequence was
not completed.
Caution
CAUTION
1 While the index table is being positioned, input
signals that reset the CNC, such as emergency stop,
feed hold, and interlock are functional.
If a stop at an any position is not suitable for the
machine, appropriate processing is required on the
machine.
2 If the axis selection signal is set to 0 during manual
reference position return, movement is stopped
immediately, and the clamp command is not
executed. If this proves inconvenient, measures
must be taken on the machine side so that, after the
axis selection signal is set to 1, it is not set to 0 until
reference position return is completed.
3 If a reset is made during indexing of the index table,
a reference position return must be made before the
index table is indexed subsequently.
4 When an incremental command is used for indexing
the index table (when bit 3 (G90) of parameter No.
7602 is 0), the workpiece origin offset for the index
table axis must always be 0. This means that the
workpiece coordinate system and machine
coordinate system of the index table axis must
always match.
Note
NOTE
Dry run cannot be used for positioning the index table
indexing axis.
- 1146 -
Reference item
Series15i/150i-MA Operators Manual II-13.6 Index table indexing
(Programming) function
(B-63324EN)
- 1147 -
11.9 MULTIPLE ROTARY CONTROL AXIS FUNCTION
General
A rotary axis is specified in the ROT bit (bit 1 of parameter 1008).
When incremental programming is specified for the rotary axis, a
specified value directly determines the travel distance. When absolute
programming is selected, either of the following two operations can be
specified by the RSR bit (bit 2 of parameter 1007).
(1) The NC unit rounds down the value specified in the absolute
command (G90) to a value indicating a full turn or less. The
difference between the rounded value and the current position is
the angular displacement. When the bit 5(INC) in parameter No.
1007 is specified, short-cut control can be executed. When the
difference between the rounded value and the current position
indicates more than a half turn, the short-cut control function
allows reverse rotation up to the specified position.
(2) The sign of the specified value indicates the direction of rotation.
(The plus sign (+) indicates counterclockwise rotation and the
minus sign (-) clockwise rotation). The absolute value of the
specified value indicates the destination.
An absolute value of a position relative to the rotary axis is represented
by an equivalent value within the amount of travel for a single
revolution as specified in parameter 1260.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1007 INC REL G90 RSR

4
) ** ; #! $ 4 $' /59#D /

.9 (9 $ $ $
# % "! $# $
/$ $
$#$"! ' !6 "!
" $!6 "! %" (
0 C+ $ $ !4
3 #! !$$ $#C+ C+
$
?#! $
- 1148 -
1 *3& !4
!" $ $! $ "! $ $

/ $
$
D /5 4 !9 /5" $"!
$%"! $ # %
% $ $ %! $! % 4#
$9# " $
H $! C+$
0: Do not turn to closest direction.
1: Turn to closest direction.
#7 #6 #5 #4 #3 #2 #1 #0
1008 ROT

4
*E2
/!! !4
!! !4

* !4
$
$ %
$
$ ! $4
7!$$ %
" +$%$' $ $
%#! '((
'; 9F+++++++++(
Note
NOTE
This function is effective only for a rotary axis.
Reference item
Series15i/150i-MA Operators Manual II-19.8 Multiple rotary control
(Programming) axis function
(B-63324EN)
- 1149 -
11.10 SCALING
General
A programmed figure can be magnified or reduced (scaling).
Two types of scaling are supported. One type applies the same rate of
magnification to all axes (X, Y, and Z). The other type applies a
different rate of magnification to each axis.
Unless specified in the program, the magnification rate specified in the
parameter is applied.
- Scaling along all axes at the same rate of magnification

Set bit 4 (XSC) of parameter No. 7611 to 0. If scaling magnification
rate P is not specified, the magnification specified in parameter No.
6410 is assumed
Scaling up or down along all axes at the same rate of magnification

G51 X_Y_Z_P_ ; Scaling start X_Y_Z_ : Absolute command for center
@ @ @: Scaling is effective. coordinate value of scaling
@ @ @: (Scaling mode) P_ : Scaling magnification
G50 ; Scaling cancel
P4
P3
P4 P3
P0
P1 P2
P1 P2
O X
P0 : Scaling center
P1-P4 : Figures of machining program
P1-P4 : Figures after scaling
Fig. 11.10 (a) Scaling
- 1150 -
- Scaling along each axis at a different rate of magnification

Set bit 4 (XSC) of parameter No. 7611 to 1. If scaling magnification
rates I, J, and K are not specified, the magnification set in parameter No.
6421 is used. Set a non-zero value in parameter No. 6421.
Scaling up or down along each axes at a different rate of magnification

G51 X_Y_Z_I_J_K_ ;Scaling start X_Y_Z_ : Absolute command for center
@ @ @: Scaling is effective. coordinate value of scaling
@ @ @: (Scaling mode) I_J_K : Scaling magnification for X
G50 ; Scaling cancel axis Y axis and Z axis
respectively
a/b : Scaling magnification of X axis

c/d : Scaling magnification of Y axis
Y axis 0 : Scaling center
Programmed figure
p
Scaled figure
C
a X axis
Fig. 11.10 (b) Scaling of each axis
- Axes for which scaling is enabled

For each axis for which scaling is to be enabled, set bit 1 (SCL) of
parameter No. 0012 to 1.
- Least input increment for specifying rates of magnification

The least input increment for specifying rates of magnification is 0.001
or 0.00001. When bit 1 (SCR) of parameter No. 6400 is set to 0, 0.0001
is used; when the bit is set to 1, 0.001 is used.
- 1151 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
0012 SCL

!

"# !
# $ !
#7 #6 #5 #4 #3 #2 #1 #0
6400 SCR

%&

' & ()*+!

"# "!""""
# "!""
6410 Scaling (G51) magnification

$
, -"!"""!"""" & '
(.!/0""+!
1
2333333
& ! 4 5 &
& &
(%+ &!
6421 Scaling magnification for each axis

$
, -"!"""!"""" & '
(.!/0""+!
1
2333333
& !
- 1152 -
#7 #6 #5 #4 #3 #2 #1 #0
7611 XSC

0 6 2-2 & 5 !

"# .5 !
# 1 !
Reference item
Series15i/150i-MA Operators Manual II-14.9 Scaling
(Programming)
(B-63324EN)
- 1153 -
11.11 COORDINATE SYSTEM ROTATION (G68,G69)
General
A programmed shape can be rotated. By using this function it becomes
possible, for example, to modify a program using a rotation command
when a workpiece has been placed with some angle rotated from the
programmed position on the machine. Further, when there is a pattern
comprising some identical shapes in the positions rotated from a shape,
the time required for programming and the length of the program can
be reduced by preparing a subprogram of the shape and calling it after
rotation.
Angle of rotation
Center of rotation
X
O
Fig. 11.11 Coordinate system rotation
Format
Format
G17
G18 @ @G68 _ _ R_ ; Start rotation of a coordinate system.
G19
@: Coordinate system rotation mode
@:
G69 ; Coordinate system rotation cancel command
Meaning of command
G17(G18 or G19) : Select the plane in which contains the figure to be rotated.
_ _ : Absolute command for two of the x_, y_, and Z_ axes that
correspond to the current plane selected by a command
(G17, G18, or G19). The command specifies the
coordinates of the center of rotation for the values specified
subsequent to G68.
R_ : Angular displacement with a positive value indicates counter
clockwise rotation.
- 1154 -
- Least input increment for specifying coordinate system rotation angles

The least input increment for specifying coordinate system rotation
angles is 0.001 degree or 0.00001 degree. When bit 2 (RTR) of
parameter No. 6400 is set to 0, 0.00001 degree is used; when the bit is
set to 1, 0.001 degree is used.
- specify angular displacement (R_)

Bit 0 of parameter 6400 selects whether the specified angular
displacement is always considered an absolute value or is considered
an absolute or incremental value depending on the specified G code
(G90 or G91).
When R_ is not specified, the value specified in parameter 6411 is
assumed as the angular displacement.
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
6400 RTR RIN

%&

" '. - 5
('+ &()/7+!
"# $ - 5 & !
# & (- & ()3"+ & &
()3++!
8 '4' &
2 & 5 ()/7+!
"# "!""""
# "!""
6411 Rotation angle for coordinate system rotation (G68)

$
"!"" "!"""" & '4'
(.!/0""8+!
1
&29/"""" 9/""""29/"""""" 9/""""""
& '4'(.!/0""8+!
&! 4 5
&
& & ('+
&!
- 1155 -
Reference item
Series15i/150i-MA Operators Manual II-14.10 Coordinate system
(Programming) rotation
(B-63324EN)
- 1156 -
11.12 THREE-DIMENSIONAL COORDINATE CONVERSION
General
Coordinate conversion about an axis can be carried out if the center of
rotation, direction of the axis of rotation, and angular displacement are
specified. This function is very useful in three-dimensional machining
by a die-sinking machine or similar machine. For example, if a
program specifying machining on the XY plane is converted by the
three-dimensional coordinate conversion function, the identical
machining can be executed on a desired plane in three-dimensional
space.
X Three-dimensional coordinate conversion
Z Y
In three-dimensional coordinate conversion mode (G68), the following

two types of manual operation (jog feed, manual incremental feed, and
manual handle feed) are supported:
(1) Operation in a workpiece coordinate system (with three-
dimensional coordinate conversion not applied)
(2) Operation in a program coordinate system (with three-
dimensional coordinate conversion applied)
For information about which type is used, refer to the manual provided
by the machine tool builder.
- 1157 -
Z
Z
Y Y
X
X, Y ,Z : Coordinate system before conversion (workpiece

coordinate system)
X, Y ,Z : Coordinate system after conversion (program
coordinate system)
When manual movement is made along the Z-axis:
(1) A movement is made in the Z direction.
(2) A movement is made in the Z direction.
In three-dimensional coordinate conversion mode, three-dimensional

coordinate conversion manual intervention switch signal NOT3DM
can be used to switch the manual intervention operation between the
following two types:
(1) Operation in the program coordinate system (Three-dimensional
coordinate conversion is applied.)
(2) Operation in the workpiece coordinate system (Three-
dimensional coordinate conversion is not applied.)
Signal
Three-dimensional coordinate conversion manual intervention switch signal M3R<G031#3>

[Function] Specifies whether to perform three-dimensional coordinate conversion
for manual operation (jog feed, manual incremental feed, or manual
handle feed) in three-dimensional coordinate conversion mode.
[Operation] If this signal is set to 0, three-dimensional coordinate conversion is not
performed. (Movement is made in the workpiece coordinate system.)
If this signal is set to 1, three-dimensional coordinate conversion is
performed. (Movement is made in the programmed coordinate
system.)
Three-dimensional coordinate conversion mode signal D3ROT<F159#3>

[Function] Posts whether three-dimensional coordinate conversion mode is
currently set.
[Operation] If this signal is set to 1, three-dimensional coordinate conversion mode
is currently set.
- 1158 -
Three-dimensional coordinate conversion manual interrupt switch signal NOT3DM<G157#7>

[Function] Specifies whether to perform three-dimensional coordinate conversion
for manual interrupt in three-dimensional coordinate conversion mode.
[Operation] If this signal is set to 0, three-dimensional coordinate conversion is
performed. (Movement is made in the programmed coordinate
system.)
If this signal is set to 1, three-dimensional coordinate conversion is not
performed. (Movement is made in the workpiece coordinate system.)
Three-dimensional coordinate conversion manual interrupt mode signal D3MI<F157#5>

[Function] Posts whether three-dimensional coordinate conversion manual
interrupt mode is currently set.
[Operation] This signal is set to 1 only when the following conditions are all
satisfied:
(1) Manual/automatic simultaneous operation mode is set.
(2) Three-dimensional coordinate conversion mode is set.
(3) Cutting mode is set.
(4) When none of the handle feed and handle interrupt with the tool
axis direction, direction perpendicular to the tool axis, and
rotation about the tool tip specified is selected.
(5) The playback function is not currently being executed.
(6) The three-dimensional coordinate conversion manual interrupt
switch signal NOT3DM is set to 0.
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G031 M3R
#7 #6 #5 #4 #3 #2 #1 #0
G157 NOT3DM
#7 #6 #5 #4 #3 #2 #1 #0
F157 D3MI
#7 #6 #5 #4 #3 #2 #1 #0
F159 D3ROT
- 1159 -
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1200 DSC

%&

* - :
&& &5- *"/*"7"(;<%+
2 & 5 & !
0: Coordinates in the coordinate system for which coordinate conversion is not
performed (workpiece coordinate system)
1: Coordinates in the coordinate system for which coordinate conversion has been
performed (program coordinate system)
NOTE
When the skip signal position is read in a mode other than three-
dimensional coordinate conversion mode (G69 mode),
coordinates in the coordinate system for which coordinate
conversion is not performed (workpiece coordinate system) are
read.
For an explanation of system variables #5041 to #5060 (ABSOT),

see the explanation of D3M (bit 5 of parameter No. 6400).
#7 #6 #5 #4 #3 #2 #1 #0
1400 LRP

%&

0 '% & ()""+!

"# .2 ( &5
5 +
# ( +
= 2 & 5 !
- 1160 -
#7 #6 #5 #4 #3 #2 #1 #0
1404 D3E

%&

" 9> 5

2 &
5 & !
"# 4 &&&
5 !
# 4 5 5 !
#7 #6 #5 #4 #3 #2 #1 #0
2005 D3A

%&

0 9; 2 & 5 & &5 &
#
"# ? &&& !
# ? 5 !
#7 #6 #5 #4 #3 #2 #1 #0
2202 DCR DTL

%&

8 4 & -
'4 5 - & @
& !
"# 4 5 !
# 4 5 ! (4
- & !+
= 2 & 5 -!
9 ' & -
'4 5 - & !
"# 4 5 !
# 4 5 ! (4
- & !+
= 2 & 5 -!
- 1161 -
#7 #6 #5 #4 #3 #2 #1 #0
2204 DAK

%&

8 ;< &
&: &-
2 & 5 & !
"# & &!
# : &!
#7 #6 #5 #4 #3 #2 #1 #0
2208 D3D DMK

%&

" ,< &5

& &: &!
"# % & &( & 5 +
# =: &( &- 5 +
* 9 2 & 5 &
&- &5
"# ;- & &!
# ;- : &!
#7 #6 #5 #4 #3 #2 #1 #0
6400 D3M D3R RTR

%&

8 '4' &
2 & 5 ()/7+!
"# "!""""
# "!""
- 1162 -
0 9' 2 & 5 &

!
"# 4 2 & 5 & -
)/3&& >'>%''= &
%,!
# 4 2 & 5 &
- )/3&& !
* 9, -
: & && &
5- *"0*"/"(;?4+ 2 &
5 & !
0: Coordinates in the coordinate system for which coordinate conversion is not
performed (workpiece coordinate system)
1: Coordinates in the coordinate system for which coordinate conversion has been
performed (program coordinate system)
NOTE
When the current tool position is read in a mode other than
three-dimensional coordinate conversion mode (G69 mode),
coordinates in the coordinate system for which coordinate
conversion is not performed (workpiece coordinate system) are
read.
For system variables #5061 to #5080 (ABSKP), see the

explanation of DSC (bit 5 of parameter No. 1200).
2052 Rapid traverse rate for a drilling cycle in the three-dimensional coordinate
conversion mode

%&

'
$
&&@&@& @&(& +
,&&
& &
1
' & - (+
(= & &2"!"2A80""""!"+
Specify the rapid traverse rate for a drilling cycle in the three-dimensional
coordinate conversion mode.
(1) Rapid traverse to point R
(2) Retraction to point R
(3) Rapid traverse to the initial point
When 0 is specified, a dry run feedrate is used. A cutting override is applied to
motions (1) to (3) because cutting-mode operation is performed in the three-
dimensional coordinate conversion mode.
- 1163 -
Alarm And message

PS0625 TOO MANY G68 NESTING 3-dimensional coordinate conversion was specified more
than twice.
Cancel 3-dimensional coordinate conversion before
executing new coordinate conversion.
PS0626 G68 FORMAT ERROR There is a format error in the 3-dimensional coordinate
conversion block. The alarm occurs in the following cases:
(1) When I, J or K is missing from the block in which 3-
dimensional coordinate conversion is specified (when the
coordinate rotation option is not available)
(2) When I, J and K specified in the block in which 3-
dimensional coordinate conversion is specified are all "0"
(3) When angle of rotation R is not specified in the block in
which 3-dimensional coordinate conversion is specified
Reference item
Series15i/150i-MA Operators Manual II-13.9 Three dimensional
(Programming) coordinate conversion
(B-63324EN)
- 1164 -
11.13 AXIS INTERCHANGE
General
Machine axes along which actual movement is made by the X, Y, and Z
commands specified in memory operation, DNC operation, and MDI
operation are changed by setting data (No. 1049) or input signals
AXC4, AXC2, and AXC1.
This is useful when the coordinates assumed by a program command

differ from those where the workpiece is actually mounted, as in the
following example:
Change an X-axis command into a Y-axis command

Y Y
Change a Y-axis command into an X-axis command
Change a Z-axis command into a Z-axis command
X X
Coordinates assumed by a program command Coordinates where the workpiece is mounted
Explanation
- Axis interchange number

This function allows six patterns of axis interchange. The table below
shows the correspondence between program addresses X, Y, and Z and
machine axes x, y, and z.
Axis interchange Program address

number X Y Z
(Note)
0 x y z
1 x z y
2 y x z
3 y z x
4 z x y
5 z y x
(Note) The axes are not interchanged.
- Specifying axis interchange

(1) Specification with the setting data
Set the desired axis interchange number (0 to 5) for the setting
data.
(2) Specification by input signals

A binary code is set as the axis switch number by using axis
switch signals AXC4, AXC2, and AXC1.
- 1165 -
The relationships between the specification with the setting data

and that with the switches on the machine operators panel are as
given below.
Setting data Switch on machine

Valid specification
(No. 1049) operators panel
1 0 0 Axis interchange is disabled.
2 1 to 5 0 Specification with the setting
data
3 0 1 to 5 Specification with switches on
the machine operators panel
4 1 to 5 1 to 5 Specification with switches on
the machine operators panel
When axis interchange need not be performed, set both the setting data
and the switch on the machine operators panel to "0."
- Cases in which axis interchange is disabled

For the following commands, axis interchange is disabled.
(1) Manual operation commands
(2) Move command used to move the tool to a particular machine
position, command related to machine coordinates, and
coordinate system setting command
(a) Automatic reference position return
G28 AG30
(b) Floating reference position return
G30.1
(c) Return from the reference position
G29
By setting 1 for parameter RPC (bit 0 of No. 1001), axis
interchange is enabled for the G29 command.
(d) Stored stroke limit
G22 AG23
(e) Coordinate system setting
G92
(f) Offset setting
G10
(g) Dwell
G04
(h) Machine coordinate positioning
G53
- 1166 -
Signal
Axis switch signals

AXC4<G41#2>, AXC2<G41#1>, AXC1<G41#0>
[Function] Post an axis switch number to the control unit.
[Operation] A binary code is set as the axis switch number.
Axis interchange Signal
number AXC4 AXC2 AXC1
0 0 0 0
1 0 0 1
2 0 1 0
3 0 1 1
4 1 0 0
5 1 0 1
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G041 AXC4 AXC2 AXC1
Parameter
#7 #6 #5 #4 #3 #2 #1 #0
1001 RPC

" '%
()83+ & !
"# ; !
# ; !
- 1167 -
1049 Axis switching number

1
"2*
&- 5- ! 4 &
&- ! 4 & B
& 6C D#
Axis switching Program address

number X Y Z
0 x y z
1 x z y
2 y x z
3 y z x
4 z x y
5 z y x
; &- "& & !
- 1168 -
Note
NOTE
1 If the same program is used with and without axis
interchange, the amount of travel and the direction
assumed with axis interchange differ from those
assumed without axis interchange, depending on
the start position and whether the command is an
incremental or absolute command.
(Example) Case in which the start position is the same

and the direction of travel for the incremental
command differs with axis interchange
Change an X-axis command into a Y-axis command
Change a Y-axis command into an X-axis command

Y Y
Change a Z-axis command into a Z-axis command
Start position Start position
X X
Coordinates assumed by Coordinates after
the program command axis interchange
2 The drilling axis in a canned cycle or in tool length

compensation and the axis subject to tool length
compensation can be fixed to the Z-axis, using
parameter LXY (bit 4 of No. 6000) and parameter
FXY (bit 0 of No. 6200). Even when these axes are
fixed to the Z-axis, if program address Z is changed
to machine axis x or y using axis interchange, the
drilling axis and the axis subject to tool length
compensation are also changed to x or y.
Reference item
Series15i/150i-MA Operators Manual II-19.1 Axis interchange
(Programming)
(B-63324EN)
- 1169 -
11.14 OILING SIGNAL (CANNED CYCLE)
Overview
A oiling(lubrication) signal, OIL, can be issued to the PMC during
movement from point R to point Z in hole making canned cycles (G73,
G74, G76, and G81 to G89).
Two modes, types A and B, can be used to issue the OIL signal. Type
A resets the OIL signal to "0" by specifying the lubrication time. Type
B resets the OIL signal to "0" by returning an lubrication completion
signal, OILF, from the PMC.
Which type to use can be selected using a parameter. Whether to use
the OIL signal can also be specified using a parameter.
Operation 1
Rapid traverse
Cutting feed
- - - Point R
- - - Point Z
Operation 4
Fig. 11.14(a) Tool Movement
- 1170 -
Function details
Type A
The OIL signal is set to "1" simultaneously with the start of operation 3.
It is reset to "0" when the time e has elapsed. The time e is specified
using address word E.
If operation 3 ends before the time e elapses, however, the OIL signal
becomes "0" at the end of operation 3.
(Example) G81 X_ Y_ Z_ R_ Ee ;
The time e must be represented using a floating-point number (in
second units).
The time e can range from 0.0 to 9999.0 seconds.
If a value larger than 9999.0 is specified, the time e is assumed to
be 9999.0 seconds.
Operation Operation
2 3
OIL signal Time e
Lubrication
Fig. 11.14(b) Type A Lubrication Signal

Type B
The OIL signal is set to "1" simultaneously with the end of operation 2.
It is reset to "0" when the OILF signal is received from the PMC.
The PMC resets the OILF signal to "0" when it detects that the OIL
signal has become "0".
When the OILF signal becomes "0", axis movement in operation 3
begins.
Operation Operation
2 3
OIL signal
Lubrication
OILF signal
Fig. 11.14(c) Type B Lubrication Signal
- 1171 -
NOTE
1 When the OIL signal is "1", executing a reset turns the
OIL signal to "0" regardless of the state of the OILF
signal.
2 The OIL signal is valid even if a hole making canned
cycle is specified in three-dimensional coordinate
conversion mode (G68).
3 In type A, the OIL signal is not issued if E0 is
specified.
4 If feed is put on hold in a block that will issue the OIL
signal, the machine behaves as follows:
1) OIL signal
- Type A
Even when feed is on hold, the counting of the
programmed signal issuing time continues.
Therefore, the OIL signal becomes "0" when the
specified time elapses regardless of whether feed
is on hold.
- Type B
The signal exchange is monitored even when feed
is on hold.
Therefore, the OIL signal becomes "0" when the
signal exchange is completed regardless of
whether feed is on hold.
2) Restart
Feed-hold restart will exert no influence to the OIL
signal.
The OIL signal stays in the state where it was
before restart.
5 The OIL signal is issued whenever cut-in begins in
pecking directed by G73 (high-speed peck drilling
cycle)/G83 (peck drilling cycle) or G84.2/G84.3 (rigid
tapping).
6 The OIL signal is not issued during execution of an
auxiliary function block.
7 The OIL signal is not issued at program restart.
- 1172 -
Parameters
#7 #6 #5 #4 #3 #2 #1 #0
6400 OLT OLN

%&

/ ?. ? !

0: Do not issue.
1: Issue.
NOTE
Once this parameter is re-set, switch the power off and on again.
E ?4 & ? !

0: Type A
(The OIL signal is reset to "0" by specifying the lubrication time.)
1: Type B
(The OIL signal is reset to "0" by receiving the OILF signal from the PMC.)
Signals
Lubrication completion signal
OILF<G031#2>
[Function] After lubrication for hole-making canned cycle is directed by program,
this signal indicates when lubrication is completed.
The signal is used only in type B.
[Operation] The OIL signal is set to "1" simultaneously with the beginning of
operation 3. It is reset to "0" when the OILF signal is received from the
PMC.
The PMC resets the OILF signal to "0" when it detects that the OIL
signal has become "0".
When the OILF signal becomes "0", axis movement in operation 3
begins.
Lubrication signal
OIL<F156#3>
[Function] This signal indicates that lubrication during hole making canned cycle
has been directed by program.
[Operation] The signal becomes "1" when:
- The program specifies lubrication during hole making canned
cycle.
It becomes "0" when:
- A reset occurs, or
- Type A: The specified time has elapsed since the output of the
OIL signal.
- Type B: The OILF signal becomes "1".
- 1173 -
Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G31 OILF
F156 OIL
- 1174 -
B-63323EN-1/03 INDEX
INDEX
NOTE
Volume 1 : Up to 614 / Volume 2 : Page 615 1174 / Volume 3 : Page 1175 or later
Brightness Adjustment Screen for Monochrome Display

<Number>
Unit with Graphic Function ................................................ 1236
128 straightness compensation points................................. 60
2-LCD-unit Connection Function....................................... 1243 <C>
2ND REFERENCE POSITION RETURN/3RD, 4TH CANNED CYCLE SPINDLE CONTROL......................... 1125
REFERENCE POSITION RETURN ................................. 446 CHANGING ACTIVE OFFSET VALUE WITH
3-DIMENSIONAL CIRCULAR INTERPOLATION MANUAL MOVE .............................................................. 1317
(G02.4 AND G03.4) ........................................................... 613 Changing Blinking Displays in G05.1 Q1 Mode ................ 1246
CHOPPING FUNCTION ................................................... 232
<A>
CIRCULAR INTERPOLATION........................................ 552
ABNORMAL LOAD DETECTION................................... 339
Clock Function ................................................................... 1176
Absolute Position Detection ............................................... 131
CNC to PMC ...................................................................... 1423
ACCELERATION AND DECELERATION CONTROL.. 677
Command Description (G80.5, G81.5)............................... 246
Acceleration/Deceleration before Interpolation of Linear
Configuration Examples of Controlled Axes ...................... 253
Type Rapid Traverse........................................................... 708
Configuration of Synchronous Control Axes...................... 186
ACTIVE BLOCK CANCEL .............................................. 519
CONSTANT SURFACE SPEED CONTROL.................... 787
ACTUAL SPINDLE SPEED OUTPUT ............................. 794
Control Point Compensation of Tool Length Compensation
Addition of 5000 Pitch Error Compensation Points ........... 96
Along Tool Axis ................................................................. 1061
ADDRESS LIST................................................................. 1402
Controlled Axes Detach...................................................... 14
Advanced Preview Control................................................. 651
COORDINATE SYSTEM ROTATION (G68,G69)........... 1154
Alarm Display..................................................................... 1179
Corner Control.................................................................... 704
ALARM SIGNALS ............................................................ 319
Cs CONTOUR CONTROL ................................................ 855
Automatic Corner Override ................................................ 638
CUSTOM MACRO ............................................................ 1099
Automatic Feedrate Control by Area .................................. 672
Custom Macro .................................................................... 1099
AUTOMATIC OPERATION ............................................. 466
Cutter Compensation .......................................................... 982
Automatic phase matching function with electronic gear
Cutter Compensation for Rotary Table ............................... 1080
box...................................................................................... 258
Cutting Feedrate Clamp ...................................................... 620
Automatic Sequence Number Insertion .............................. 1259
Cutting/Rapid Traverse In-position Check ......................... 165
AUTOMATIC TOOL LENGTH MEASUREMENT (G37)1288
CYCLE START/FEED HOLD........................................... 467
AUXILIARY FUNCTION LOCK ..................................... 725
Cyclic second pitch error compensation ............................. 70
AXIS CONTROL ............................................................... 1
CYLINDRICAL INTERPOLATION ................................. 582
AXIS INTERCHANGE...................................................... 1165
CYLINDRICAL INTERPOLATION CUTTING POINT
Axis Name .......................................................................... 3
CONTROL ......................................................................... 586
<B>
<D>
Background Editing............................................................ 1256
Deceleration Based on Acceleration during Circular
Backlash Compensation...................................................... 44
Interpolation ....................................................................... 646
Bidirectional Pitch Error Compensation............................. 79
DECELERATION STOP AT POWER FAILURE............. 283
BLOCK RESTART ............................................................ 499
i-1
INDEX B-63323EN-1/03
NOTE
DECIMAL POINT PROGRAMMING/POCKET FEEDRATE CONTROL .................................................... 616

CALCULATOR TYPE DECIMAL POINT FEEDRATE CONTROL/ACCELERATION AND
PROGRAMMING.............................................................. 1089 DECELERATION CONTROL........................................... 615
Description of Commands Compatible with Those for a Feedrate Inverse Time Specification................................... 629
Hobbing Machine ............................................................... 249 Feedrate Specification on a Virtual Circle for a Rotary
Designation Direction Tool Length Compensation ............ 1041 Axis..................................................................................... 668
DI/DO Monitor Function.................................................... 1231 Fine HPCC.......................................................................... 653
DIAMETER SPECIFICATION AND RADIUS Fine Torque Sensing........................................................... 1238
SPECIFICATION............................................................... 1097 FLOATING REFERENCE POSITION RETURN ............. 449
DISPLAY/SET/EDIT ......................................................... 1175 Follow-up ........................................................................... 22
DISPLEY/SET ................................................................... 1176 FSSB Setting ...................................................................... 134
DNC OPERATION ............................................................ 526
<G>
DNC OPERATION FROM MEMORY CARD
Gradient Compensation ...................................................... 76
INTERFACE ...................................................................... 543
Grinding Wheel Wear Compensation ................................. 1069
DNC OPERATION FROM OPEN CNC SELECTING
SIGNAL.............................................................................. 541 <H>
DO Signal Output by Soft Key ........................................... 1261 Hardware/Software System Configuration Screen.............. 1186
Dry Run .............................................................................. 479 HELICAL INTERPOLATION ........................................... 568
HELICAL INTERPOLATION B ....................................... 570
<E>
HIGH SPEED HRV MODE ............................................... 285
EDITING............................................................................ 1249
High-speed High-precision Machining Setting Screen....... 1217
Editing a Running Program ................................................ 1260
HIGH-SPEED M/S/T/B INTERFACE ............................... 730
EGB AXIS SKIP FUNCTION ........................................... 276
High-speed Measuring Position Reached Signal ................ 1295
ELECTRONIC GEAR BOX .............................................. 246
High-speed Skip Signal ...................................................... 1302
EMERGENCY STOP......................................................... 297
HYPOTHETICAL AXIS INTERPOLATION.................... 602
Enhancement of Distance Coded Linear Scale ................... 461
ERROR COMPENSATION............................................... 32 <I>
EXACT STOP/EXACT STOP MODE/TAPPING INCH/METRIC CONVERSION........................................ 1094
MODE/CUTTING MODE ................................................. 524 Increment System................................................................ 6
EXPONENTIAL INTERPOLATION ................................ 597 INDEX TABLE INDEXING FUNCTION......................... 1138
EXTERNAL DATA INPUT............................................... 1377 INTERFACE BETWEEN CNC AND PMC....................... 1401
External Deceleration ......................................................... 643 INTERLOCK...................................................................... 322
EXTERNAL MOTION FUNCTION ................................. 1136 Interpolated pitch error compensation ................................ 68
EXTERNAL WORKPIECE NUMBER SEARCH............. 1393 Interpolated straightness compensation .............................. 57
INTERPOLATION FUNCTION........................................ 546
<F>
Interruption Type Custom Macro ....................................... 1122
F1-digit Feed ...................................................................... 625
INVOLUTE INTERPOLATION........................................ 572
Feed Forward in Rapid Traverse......................................... 707
Feed Per Minute ................................................................. 621 <J>
Feed Per Revolution/Feed Per Revolution Without Position JOG FEED/INCREMENTAL FEED.................................. 348
Coder .................................................................................. 623
<K>
Feed Stop Function............................................................. 645
KEY INPUT FROM PMC.................................................. 1397
i-2
NOTE
Number of Programs Stored ............................................... 1250

<L>
NURBS INTERPOLATION............................................... 607
LINEAR INTERPOLATION ............................................. 549
NURBS Interpolation Additional Functions....................... 610
LINEAR SCALE WITH REFERENCE MARKS .............. 452
LOADING OF MULTIPLE SERVO PROGRAMS........... 294 <O>
Look-ahead Acceleration/Deceleration Before OILING SIGNAL (CANNED CYCLE) ............................. 1170
interpolation........................................................................ 687 Operating Monitor Screen .................................................. 1193
Operation/Alarm History Screen......................................... 1177
<M>
Operator Message Display.................................................. 1181
Machine Coordinate System............................................... 158
OPTIONAL BLOCK SKIP/ADDITION OF OPTIONAL
Machine Lock..................................................................... 476
BLOCK SKIP ..................................................................... 489
Machined Part Count and Operation Time Display............ 1187
Outputting the Movement State of an Axis......................... 17
Machining Time Stamp ...................................................... 1194
Override .............................................................................. 630
Machining type in HPCC screen programming .................. 667
OVERTRAVEL CHECK ................................................... 303
Maintenance Information Screen........................................ 1216
Overtravel Signal ................................................................ 303
MANUAL ABSOLUTE ON/OFF ...................................... 486
MANUAL ARBITRARY-ANGLE FEED.......................... 416 <P>
MANUAL HANDLE CONNECTED TO I/O LINK.......... 362 PARALLEL AXIS CONTROL .......................................... 169
MANUAL HANDLE FEED............................................... 357 Periodic Maintenance Screen.............................................. 1214
MANUAL HANDLE INTERRUPTION............................ 366 Pitch Error Compensation Screen....................................... 1220
MANUAL INTERRUPTION FUNCTION FOR THREE- Playback.............................................................................. 1257
DIMENSIONAL COORDINATE CONVERSION............ 409 PMC AXIS CONTROL...................................................... 1327
MANUAL NUMERIC COMMAND ................................. 412 PMC CONTROL FUNCTION ........................................... 1326
MANUAL OPERATION ................................................... 347 PMC to NC ......................................................................... 1402
MANUAL REFERENCE POSITION RETURN ............... 422 POLAR COORDINATE INTERPOLATION .................... 579
MEASUREMENT.............................................................. 1279 Position Switch................................................................... 26
Memory Protection Keys .................................................... 1251 POSITIONING ................................................................... 547
Menu Switches ................................................................... 1196 Post-interpolation Automatic Acceleration/Deceleration ... 677
Mirror Image....................................................................... 19 Power Mate CNC Manager Function ................................. 1222
MISCELLANEOUS FUNCTION ...................................... 712 PREAPARATIONS FOR OPERATION............................ 296
MISCELLANEOUS FUNCTION/2ND AUXILIARY PROGRAM COMMAND .................................................. 1088
FUNCTION ........................................................................ 713 PROGRAM CONFIGURATION ....................................... 1091
MODE SELECTION.......................................................... 327 Program Encryption............................................................ 1252
MULTIPLE M COMMANDS IN A SIGLE BLOCK ........ 726 PROGRAM RESTART ...................................................... 493
MULTIPLE ROTARY CONTROL AXIS FUNCTION..... 1148
<R>
Multi-step Skip ................................................................... 1303
Rapid Traverse Rate............................................................ 617
<N> READER/PUNCHER INTERFACE .................................. 1269
Nano Interpolation.............................................................. 652 READY SIGNALS............................................................. 301
Nano Interpolation Type Error Compensation.................... 87 Recovery from Excessive Synchronous Error Alarm.......... 195
National Language Display................................................. 1206 REFERENCE POSITION ESTABLISHMENT ................. 421
NORMAL DIRECTION CONTROL ................................. 593 REFERENCE POSITION RETURN.................................. 444
NUMBER OF CONTROLLED AXES .............................. 2 REFERENCE POSITION SHIFT ...................................... 439
i-3
INDEX B-63323EN-1/03
NOTE
REGAINING A MANUAL INTERVENTION AMOUNT Spindle Adjustment Screen................................................. 1183

DURING AUTOMATIC OPERATION............................. 528 SPINDLE CONTROL ........................................................ 766
RESET AND REWIND...................................................... 472 SPINDLE FUNCTION....................................................... 734
RETRACE .......................................................................... 507 SPINDLE ORIENTATION ................................................ 937
Retraction Function ............................................................ 256 SPINDLE OUTPUT SWITCHING .................................... 940
RIGID TAPPING ............................................................... 874 SPINDLE POSITIONING.................................................. 796
Rigid Tapping Additional Function.................................... 934 SPINDLE SERIAL OUTPUT/SPINDLE ANALOG
Rotary Table Dynamic Fixture Offset................................. 1019 OUTPUT ............................................................................ 737
Rotation Axis Roll-over...................................................... 162 SPINDLE SPEED FLUCTUATION DETECTION ........... 941
Rotation Axis Specification ................................................ 10 SPINDLE SPEED FUNCTION (S CODE OUTPUT)........ 735
SPIRAL INTERPOLATION, CONICAL
<S>
INTERPOLATION............................................................. 603
SCALING........................................................................... 1150
SPLINE INTERPOLATION .............................................. 578
Screen Clear Function and Automatic Screen Clear
STATUS OUTPUT SIGNAL ............................................. 334
Function.............................................................................. 1207
Stored Pitch Error Compensation ....................................... 32
Self-diagnosis ..................................................................... 1185
Stored Stroke Check 1 ........................................................ 306
SEQUENCE NUMBER COMPARISON AND STOP ...... 492
Straightness Compensation................................................. 52
Servo Adjustment Screen.................................................... 1182
Stroke Check 2.................................................................... 310
Servo Off (Mechanical handle)........................................... 24
Stroke Limit Check Prior to Performing Movement........... 316
Servo Parameter.................................................................. 119
Synchronization Alignment ................................................ 190
SETTING EACH AXIS...................................................... 3
SYNCHRONOUS CONTROL........................................... 185
SETTING THE REFERENCE POSITION WITHOUT
Synchronous Error Check................................................... 193
DOGS ................................................................................. 435
Synchronous Error Compensation ...................................... 188
SETTINGS RELATED TO COORDINATE SYSTEMS ... 158
SETTINGS RELATED TO SERVO CONTROLLED <T>
AXES.................................................................................. 118 TANDEM CONTROL........................................................ 175
SETUP OF FSSBs IF USING HIGH SPEED HRV Tape Length for Part Program Storage ............................... 1249
CONTROL ......................................................................... 288 TESTING A PROGRAM ................................................... 476
SIGNAL LIST .................................................................... 1444 Thermal Growth Compensation along tool vector .............. 98
Signal List (In Order of Address) ....................................... 1516 THREADING ..................................................................... 558
Signal List (In Order of Symbol) ........................................ 1444 Threading............................................................................ 558
SIMULTANEOUS AUTOMATIC AND MANUAL Threading Based on an Arbitrary Spindle Gear Ratio ........ 561
OPERATION...................................................................... 534 THREE-DIMENSIONAL COORDINATE
Single Block ....................................................................... 483 CONVERSION .................................................................. 1157
SINGLE DIRECTION POSITIONING.............................. 566 Three-dimensional Cutter Compensation ........................... 1026
SKIP FUNCTION .............................................................. 1297 THREE-DIMENSIONAL ERROR COMPENSATION..... 111
Skip Function ..................................................................... 1297 THREE-DIMENSIONAL HANDLE FEED....................... 367
Smooth Backlash Compensation ........................................ 89 Three-dimensional Tool Compensation.............................. 991
SMOOTH INTERPOLATION ........................................... 599 Tool Axis Direction Tool Length Compensation................ 1008
Software Operators Panel................................................... 1197 Tool Center Point Control .................................................. 1052
Specification of Diameter Entry for Tool Compensation TOOL COMPENSATION FUNCTION............................. 975
Value .................................................................................. 956
i-4
NOTE
TOOL COMPENSATION VALUE/TOOL

COMPENSATION NUMBER/TOOL COMPENSATION
MEMORY .......................................................................... 952
TOOL FUNCTION............................................................. 949
TOOL FUNCTION............................................................. 950
Tool Length Compensation in Tool Axis Direction with
Twin Table Control ............................................................ 224
TOOL LENGTH MANUAL MEASUREMENT................ 1280
Tool Length Offset ............................................................. 975
TOOL LENGTH/WORKPIECE ORIGIN
MEASUREMENT.............................................................. 1282
TOOL LIFE MANAGEMENT FUNCTION...................... 957
Tool Offset.......................................................................... 979
Tool Offsets Based on Tool Numbers................................. 997
Tool Path Drawing and Background Drawing.................... 1191
Torque Difference Alarm Detection for Synchronous
Control................................................................................ 197
Torque Limit Skip .............................................................. 1311
Touch Panel........................................................................ 1210
TURNING MODE AND COMPENSATION CLAMP OF
DUAL POSITION FEEDBACK ........................................ 280
TWIN-TABLE CONTROL ................................................ 219
<V>
Vertical Axis Drop Prevention Function ............................ 30
VRDY OFF ALARM IGNORE SIGNAL .......................... 336
<W>
Waveform Diagnosis Display ............................................. 1184
WITHDRAWING AND RETURNING A TOOL .............. 512
Workpiece Coordinate System/Addition of Workpiece
Coordinate System Pair ...................................................... 159
WORKPIECE ORIGIN MANUAL SETTING................... 1281
i-5
Revision Record
FANUC Series 15i/150i-MODEL A CONNECTION MANUAL (FUNCTION) (B-63323EN-1)
Following functions (STEP 4 to 6) were added :

Nano interpolation type error compensation, Smooth
backlash compensation, Addition of 5000 pitch error
compensation points, Thermal growth compensation
along tool vector, Cutting/rapid traverse in-position check
turning mode and compensation clamp of dual position
feedback, Deceleration stop at power failure, High speed
HRV mode, Setup of FSSBs if using high speed HRV
control, Loading of multiple servo programs, NURBS
interpolation additional functions, Feedrate specification
on a virtual circle for a rotary axis, Automatic feedrate
03 Oct., 2000 control by area, Acceleration/deceleration before
interpolation of linear type rapid traverse, Rigid tapping
additional function, Specification of diameter entry for tool
compensation value, Tool center point control, Control
point compensation of tool length compensation along
tool axis, Grinding wheel wear compensation, Cutter
compensation for rotary table, Oiling signal (canned
cycle), Fine torque sensing, 2-LCD-unit connection
function, Changing blinking displays in G05.1 Q1 mode,
Do signal output by soft key, and Changing active offset
value with manual move
Following functions (STEP 2 and 3) were added :

- Power Mate CNC manager
Feb., 2000 - 3-dimensional circular interpolation

02
- Spindle speed fluctuation detection
- DNC Operation from Memory card interface
- Enhancement of Smooth interpolation
01 Feb., 1999
Edition Date Contents Edition Date Contents

No part of this manual may be
reproduced in any form.
All specifications and designs

are subject to change without
notice.

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GE Fanuc Automation

Computer Numerical Control Products

Series 15 i / 150 iModel A

Connection Manual (Function)

GFZ-63323EN-1/03 October 2000

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

Copyright 2000 GE Fanuc Automation North America, Inc.

DEFINITION OF WARNING, CAUTION, AND NOTE

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

TABLE OF CONTENTS (Volume 1 of 3)

1.6.2 Workpiece Coordinate System/Addition of Workpiece Coordinate System

2.4 ALARM SIGNALS ......................................................................................319

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

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

TABLE OF CONTENTS (Volume 2 of 3)

7 FEEDRATE CONTROL/ACCELERATION AND DECELERATION

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

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

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

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

TABLE OF CONTENTS (Volume 1 of 3)

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

7.1 FEEDRATE CONTROL

7.1.1 Rapid Traverse Rate

Rapid traversing signal RPD<F001#5>

            

    0 1/  !   " " $%2(

1420 Rapid traverse feedrate along each axis

7.1.2 Cutting Feedrate Clamp

Alarm and message

Number Message Contents

7.1.3 Feed Per Minute

Feed amount per minute

Fig. 7.1.3 Feed per minute

    0 2=> "    "!  

Alarm and message

Number Message Contents

7.1.4 Feed Per Revolution/Feed Per Revolution Without Position

- Feed per revolution

F Feed amount per spindle revolution

Fig. 7.1.4 (a) Feed per revolution

Position-coder-less feed per revolution

    ? 7 /        "    

7.1.5 F1-digit Feed

F1-digit feed select signal F1D<G005#3>

  '!  

C      "  '*  3   !  B

7 3)  :  "  ! 7)70%)0?(

1460 Upper feedrate limit for F1 to F4

1461 Upper feedrate limit for F5 to F9

7.1.6 Feedrate Inverse Time Specification

Alarm and message

7.1.7.1 Rapid traverse override

Rapid traverse rate Override 50% 5m/min

- 1% step rapid traverse override selection signal

Rapid traverse override signal

Table. 7.1.7 (a) ROV1/2signals and Override value

1% step rapid traverse override signals

     /8;   * "   " *   "  

1412 Percentage value for rapid traverse override F1

1421 F0 feedrate for each axis for rapid traverse override

7.1.7.2 Feedrate override

Feedrate 100 mm/min

Fig. 7.1.7 (b) Feedrate override

0 1/ ! " " $%2(

0 2=> " "!

? 7/ "

'!

C " '* 3 ! B

73) : " ! 7)70%)0?(

/8; * " " * "

G147 AFV15B AFV14B AFV13B AFV12B AFV11B AFV10B AFV9B AFV8B

45 62$ % 1 "

4, 89: % 1 "

$ ";2<6 2);>5> -